The invention provides a vascular intervention operation guide-wire and catheter operating device and vascular intervention operation guide-wire and catheter operating modules. The device comprises two vascular intervention operation guide-wire and catheter operating modules arranged on a machine seat, and a rotating component each module comprises a rack and a propelling component which comprises a support, a driving wheel, a driven wheel, a pressurizing component, a propelling motor, an input guide pipe and an output guide pipe, the supports the input guide pipes and the output guide pipes are arranged on the corresponding racks, the propelling motors, the driving wheels and the driven wheels are arranged on the corresponding supports, the pressurizing components are arranged on the corresponding supports and push and press the corresponding driven wheels, the driving wheels are connected with the corresponding propelling motors, and a guide-wire and catheter is clamped between the driving wheels and the driven wheels. The rotating component comprises a gear set, a gear mounting frame, a rotating motor and an electroconductive slip ring, the gear mounting frame is arranged on the racks, and the gear set and the rotating motor are arranged on the gear mounting frame. The vascular intervention operation guide-wire and catheter operating device and the vascular intervention operation guide-wire and catheter operating modules are in working efficiency, so that working intensity of doctors can be lowered.

Vascular intervention operation guide-wire and catheter operating device and vascular intervention operation guide-wire and catheter operating modules

A master end operator device of a master slave minimal invasive blood vessel interventional surgical assistant system is characterized by comprising an axial force feedback damper unit, a torsion feedback output unit, a clamp unit, an operation information unit, a catheter, a linear guide rail and a height-adjustable base; a work method of the device comprises detection, transmission, processing and action of signals; the device has the advantages that the catheter is directly operated, and the ergonomic demands are met; real-time and intuitive feedback is realized, and the surgical safety and operation demands of a doctor are met; axial operation information is obtained by a friction-free magnetic induction mode, and efficiency is realized without adding the load; the height is adjustable.

Master end operator device of master slave minimal invasive blood vessel interventional surgical assistant system

The invention provides a teleoperation vascular interventional operation robot system and method which comprises a lifting portion, a near-end operation portion and a far-end operation portion. The near-end operation portion is arranged on the lifting portion; the far-end operation portion is used for driving the near-end operation portion; the near-end operation portion can move or rotate inside the three-dimensional space. The teleoperation vascular interventional operation robot system and method has the advantages that the structure is compact, the operation mobility is high, and the operation requirement of common clinic interventional operation is met; a mechanical hand is controlled through the far-end operation portion for performing the operation, the operation is flexible and precise, and the interventional operation quality is improved; the mechanical hand is controlled by the far-end operation portion for performing the operation, doctors of an intervention department are liberated from the radial environment, and accumulated radial injures are reduced.

Teleoperation vascular interventional operation robot system and method

MRI-guided robotics offers possibility for physicians to perform interventions remotely on confined anatomy. While the pathological and physiological changes could be visualized by high-contrast volumetric MRI scan during the procedure, robots promise improved navigation with added dexterity and precision. In cardiac catheterization, however, maneuvering a long catheter (1-2 meters) to the desired location and performing the therapy are still challenging. To meet this challenge, the robot presents an MRI-conditional catheter robotic system that integrates intra-operative MRI, MR-based tracking units and enhanced visual guidance with catheter manipulation. This system differs fundamentally from existing master/slave catheter manipulation systems, of which the robotic manipulation is still challenging due to the very limited image guidance. This system provides a means of integrating intra-operative MR imaging and tracking to improve the performance of tele-operated robotic catheterization.

Robotic catheter system for mri-guided cardiovascular interventions

The invention relates to a surgical instrument with an instrument handle, an instrument shank connected to the instrument handle, an instrument tip with a work point, which instrument tip is connected to the instrument shank, and a first locator arranged on the instrument handle or the instrument shank. During a use of the surgical instrument, the instrument shank can be deflected, e.g. on account of transverse forces, at least between the first locator and the work point. A second locator is arranged at a distance from the first locator and, by comparison with the latter, closer to the work point, wherein the second locator is designed to detect five degrees of freedom.

Surgical instrument and method for detecting the position of a surgical instrument

The invention discloses a catheter robot system for a minimally invasive interventional operation in a blood vessel, relating to a robot system for assisting the minimally invasive interventional operation in the blood vessel, which aims to lower the radiation hazard to patients and doctors on site, realize compartmental interventional operation at different sites and feed back the conveying force of a catheter. A main hand handle and a computer mainframe are arranged in a control room; a control cabinet, a catheter handle, master and slave intervention devices, a magnetic field generator and a controllable catheter are arranged in an operation room; a pose signal of the main hand handle is delivered to the control cabinet after processed by the computer mainframe; the control cabinet is internally provided with a motion control card and a driver; the motion control card receives a command to send an instruction to the driver; the driver delivers a control signal to the motors of the master and slave intervention devices, thereby controlling the intervention devices to realize the pushing/pulling, rotation and bending operations of the controllable catheter; a pose sensor acquires pose information on a controllable bent section, and the pose signal is delivered by the motion control card to the computer mainframe for signal processing. The invention is used for the minimally invasive interventional operation in the blood vessel.

Catheter robot system for minimally invasive interventional operation in blood vessel

The invention relates to a catheter intervention device with the conveying resistance feedback function, belonging to a catheter intervention device, and aiming at solving the problems that the existing catheter intervention device is not compact in structure, does not have the conveying resistance feedback function and is operated at the surgical site by doctors getting involved the surgery. Output shafts of a left and a right motors are fixedly sheathed with a left side driving gear and a first-stage driving gear; the left side driving gear is meshed with a left side driven gear; the first-stage driving gear is meshed with a first-stage driven gear; a second-stage driving bevel gear is fixedly connected with the first-stage driven gear; the second-stage driving bevel gear is meshed witha second-stage driven bevel gear; a third-stage driving gear is fixedly connected with the second-stage driven bevel gear; the third-stage driving gear is meshed with a third-stage driven gear; a driving friction inner wheel is fixedly provided with a touch force sensor; the driving friction inner wheel is connected with a driving friction outer wheel by the touch force sensor; a signal output end of the touch force sensor is connected with a signal input end of an amplification circuit board; and an amplifying signal output end of the amplification circuit board is connected with a signal input end of an inner ring of a second electric conduction sliding ring. The catheter intervention device is used for continuously conveying a catheter and feedback of the force.

Catheter intervention device with conveying resistance feedback function

The invention provides an operation device of a radio frequency electrode ablation catheter handle, which relates to an operation device of a catheter handle. The invention solves the problems that in the catheter intervene type operation, the intervene process of the radio frequency electrode ablation catheter needs the manual operation of a doctor, so the operation difficulty is great, the precision is not easy to control, and the doctor can not avoid the radiation. An outer sun wheel is arranged on an inner sun wheel shaft through an outer sun wheel connecting disc, a planetary wheel is arranged between the outer sun wheel and an inner sun wheel, outer teeth of the planetary wheel are respectively engaged with inner teeth of the outer sun wheel and outer teeth of the inner sun wheel, a ball nut is arranged on a lead screw, the other end of the planetary wheel shaft is connected with one end of the lead screw through a sleeve barrel shaft coupler, and a slide button clamping and grasping element of the catheter handle is fixed on the ball nut. The invention controls the rotation of the radio frequency electrode ablation catheter handle and the slide of the slide button on the handle through a differential planetary wheel system mechanism, the deflection rotation of the far end of the catheter connected with the handle is further realized, the operation and the control are accurate and convenient, and in addition, the operation is easy.

Hao Liu

Papers

Catheter robot system for minimally invasive interventional operation in blood vessel

Catheter intervention device with conveying resistance feedback function

Operation device of radio frequency electrode ablation catheter handle