摘要：【中文】本发明公开了一种介入手术机器人导管自动夹紧打开装置，包括导管夹持端和检测端：导管夹持端包括步进电机、舵机、主动摩擦轮、从动摩擦轮、舵机连杆、导轨连接板、微型直线导轨、滑块、从动轮连接件、拉簧等；检测端连接消毒盒的盒盖，盒盖处于盖住状态时，检测端发出关闭信号；盒盖处于打开状态时，检测端发出打开信号；舵机接收到打开信号和关闭信号后，带动舵机连杆以及从动轮连接件实现主动摩擦轮与从动摩擦轮的分离以及重新咬合。本发明装置用于介入手术中对导管的夹紧和松开自动控制，使得机器人的推进装置可以快速更换球囊或支架导管，方便医生操作，同时具有整体结构简单、紧凑，便于拆装组合的优点。 【EN】The invention discloses an automatic clamping and opening device for a catheter of an interventional operation robot, which comprises a catheter clamping end and a detection end, wherein the catheter clamping end comprises a base and a clamping head, and the detection end comprises a base and a clamping head, the base comprises a base, a clamping head and a clamping head, the base comprises a base, the: the catheter clamping end comprises a stepping motor, a steering engine, a driving friction wheel, a driven friction wheel, a steering engine connecting rod, a guide rail connecting plate, a micro linear guide rail, a sliding block, a driven wheel connecting piece, a tension spring and the like; the detection end is connected with a box cover of the disinfection box, and when the box cover is in a covered state, the detection end sends a closing signal; when the box cover is in an open state, the detection end sends an open signal; after the steering engine receives the opening signal and the closing signal, the steering engine connecting rod and the driven wheel connecting piece are driven to separate and re-engage the driving friction wheel and the driven friction wheel. The device is used for automatically controlling the clamping and the loosening of the catheter in the interventional operation, so that the propelling device of the robot can quickly replace the balloon or the bracket catheter, the operation of a doctor is convenient, and the device has the advantages of simple and compact integral structure and convenience in disassembly and assembly.

摘要：【中文】本发明公开了一种介入手术机器人导丝夹紧和搓动装置，包括导丝夹紧装置、导丝搓动装置：导丝夹紧装置包括第一夹紧丝杠步进电机、第二夹紧丝杠步进电机以及平行固定于装置机壳内壁两侧的第一微型直线导轨和第二微型直线导轨；所述导丝搓动装置包括后板丝杠步进电机、前板丝杠步进电机、前侧基准安装板以及所述后侧基准安装板。本发明介入手术机器人导丝夹紧和搓动装置用于介入手术中对导丝的夹紧和松开以及导丝的旋转搓动控制，使得机器人的推进装置可以推动导丝进入患者体内指定位置，从而实现介入手术治疗的目的，避免医生受到X射线伤害的风险。该装置采用丝杠电机，可以精准控制，达到同医生实际介入手术操作一样的效果。 【EN】The invention discloses a guide wire clamping and twisting device of an interventional surgical robot, which comprises a guide wire clamping device and a guide wire twisting device: the guide wire clamping device comprises a first clamping screw rod stepping motor, a second clamping screw rod stepping motor, a first micro linear guide rail and a second micro linear guide rail which are fixed on two sides of the inner wall of the device shell in parallel; the guide wire twisting device comprises a rear plate screw rod stepping motor, a front side reference mounting plate and a rear side reference mounting plate. The guide wire clamping and twisting device of the interventional operation robot is used for clamping and loosening the guide wire and controlling the rotation and twisting of the guide wire in the interventional operation, so that the propelling device of the robot can push the guide wire to enter the designated position in the body of a patient, the aim of interventional operation treatment is fulfilled, and the risk that a doctor is injured by X rays is avoided. The device adopts lead screw motor, can accurate control, reaches the effect the same with the operation of doctor's actual intervention operation.

摘要：【中文】本发明公开了一种介入手术机器人自动交替夹紧松开导丝装置，包括基准安装板、动力组件、凸轮组件和移动组件；动力组件包括步进电机、齿轮组，步进电机带动齿轮组转动；凸轮组件包括两个直角连接件、一个凸轮轴以及数个凸轮，齿轮组带动凸轮轴转动；移动组件包括一直线长导轨、滑块一、连接件、短导轨、滑块二、方管连接件、拉簧等。本发明装置整体结构简单，成本低廉，采用模块化结构设计，拆装组合简便，结构紧凑。该装置采用交替夹紧、松开导丝，辅助实现了往复运动的过程，可以在很小的体积范围内，达到同医生实际介入手术操作一样的效果。 【EN】The invention discloses an automatic alternate clamping and loosening guide wire device of an interventional operation robot, which comprises a reference mounting plate, a power assembly, a cam assembly and a moving assembly, wherein the reference mounting plate is fixedly connected with the cam assembly; the power assembly comprises a stepping motor and a gear set, and the stepping motor drives the gear set to rotate; the cam component comprises two right-angle connecting pieces, a cam shaft and a plurality of cams, and the cam shaft is driven to rotate by the gear set; the moving assembly comprises a straight long guide rail, a first sliding block, a connecting piece, a short guide rail, a second sliding block, a square pipe connecting piece, a tension spring and the like. The device has the advantages of simple integral structure, low cost, simple and convenient assembly and disassembly and compact structure by adopting a modular structural design. The device adopts alternate clamping and loosening of the guide wire, assists in realizing the reciprocating process, and can achieve the same effect as the actual interventional operation of a doctor in a very small volume range.

摘要：【中文】本发明公开了一种介入手术机器人往复推拉导丝和测距装置，包括基准安装板、驱动部件、齿轮传动部件、连杆传动部件和测距部件；驱动部件包括步进电机、连轴伞状齿轮；齿轮传动部件包括连接伞状齿轮、伞状齿轮、长柄直齿轮、短柄直齿轮、齿轮固定连接件；连杆传动部件包括微型直线导轨、滑块一、滑块二、连接件一、连接件二、直线连杆、曲柄连杆；测距部件包括定栅和容栅传感器。本发明主要解决的是如何让该介入手术机器人实现往复推拉的动作，通过该往复推拉动作再加上后续的前后交替夹紧松开动作，可以模拟实现人手的实际操作动作。本发明通过合理的结构设计，大大减小了装置体积，并且结合容栅传感器，可以准确的测出导丝移动的距离。 【EN】The invention discloses a reciprocating push-pull guide wire and distance measuring device of an interventional operation robot, which comprises a reference mounting plate, a driving part, a gear transmission part, a connecting rod transmission part and a distance measuring part, wherein the reference mounting plate is fixedly connected with the driving part; the driving part comprises a stepping motor and a connecting shaft bevel gear; the gear transmission part comprises a connecting bevel gear, a long-handle straight gear, a short-handle straight gear and a gear fixing connecting piece; the connecting rod transmission part comprises a miniature linear guide rail, a first sliding block, a second sliding block, a first connecting piece, a second connecting piece, a linear connecting rod and a crank connecting rod; the distance measuring component comprises a fixed grid and a capacitive grid sensor. The invention mainly solves the problem of how to realize the reciprocating push-pull action of the interventional operation robot, and the actual operation action of a human hand can be simulated and realized through the reciprocating push-pull action and the subsequent front-back alternate clamping and loosening action. The invention greatly reduces the volume of the device through reasonable structural design, and can accurately measure the moving distance of the guide wire by combining the capacitive grating sensor.

摘要：【中文】本发明涉及一种介入手术机器人主端控制装置，包括：基板，基板固定于机器人壳体上，其顶部平行布置有第一导轨和第二导轨，且第一导轨长度小于第二导轨长度值；两组限位板，两组限位板对称固定于第一导轨两端；主动推杆组件，主动推杆组件底部具有沿第一导轨、且可滑动于两组限位板之间的推杆滑块；定栅尺，定栅尺固定于基板上，且位于第一导轨和第二导轨之间；容栅传感器，主动推杆组件靠近定栅尺一侧固定有与定栅尺配合的容栅传感器；两组电机驱动组件，两组电机驱动组件对称布置于第二导轨上，且其输出部分可相对移动使主动推杆组件回位或夹紧；其中主动推杆组件、容栅传感器和电机驱动组件均与机器人控制系统电性连接。 【EN】The invention relates to a main end control device of an interventional operation robot, which comprises: the base plate is fixed on the robot shell, a first guide rail and a second guide rail are arranged on the top of the base plate in parallel, and the length of the first guide rail is smaller than that of the second guide rail; the two groups of limiting plates are symmetrically fixed at two ends of the first guide rail; the bottom of the driving push rod component is provided with a push rod sliding block which is arranged along the first guide rail and can slide between the two groups of limiting plates; the grid positioning ruler is fixed on the substrate and is positioned between the first guide rail and the second guide rail; the side, close to the fixed grid ruler, of the driving push rod assembly is fixedly provided with the grid sensor matched with the fixed grid ruler; the two groups of motor driving assemblies are symmetrically arranged on the second guide rail, and output parts of the two groups of motor driving assemblies can move relatively to enable the driving push rod assembly to return or clamp; wherein the active push rod assembly, the capacitive grating sensor and the motor driving assembly are all electrically connected with the robot control system.

摘要：【中文】本发明涉及介入手术机器人导管导丝推进装置，包括壳体，其底部具有敞口，在其内部形成安装空间，其顶部与无菌盒磁性连接；导丝驱动机构、导管驱动机构及检测机构均连接于安装空间内，且均与控制器电性连接；其中检测机构的检测杆可伸出于壳体顶部，无菌盒的上盖开启和关闭状态改变检测杆的伸出量；控制器根据检测杆的伸出量信号控制导丝驱动机构带动无菌盒内的导丝驱动组件推进和旋转导丝，及导管驱动机构带动导管驱动组件推进导管。控制器控制导丝驱动机构、导管驱动机构推动导丝和导管进入患者体内指定位置，达到导管和导丝可同时控制的目的；防止导丝打滑，结构紧凑、体积小，机械结构稳定性好，满足介入手术使用需求。 【EN】The invention relates to a catheter guide wire propelling device of an interventional operation robot, which comprises a shell, wherein the bottom of the shell is provided with an opening, an installation space is formed in the shell, and the top of the shell is magnetically connected with a sterile box; the guide wire driving mechanism, the catheter driving mechanism and the detection mechanism are all connected in the installation space and are all electrically connected with the controller; the detection rod of the detection mechanism can extend out of the top of the shell, and the opening and closing state of the upper cover of the sterile box changes the extension amount of the detection rod; the controller controls the guide wire driving mechanism to drive the guide wire driving component in the sterile box to push and rotate the guide wire according to the extension signal of the detection rod, and the catheter driving mechanism drives the catheter driving component to push the catheter. The controller controls the guide wire driving mechanism and the catheter driving mechanism to push the guide wire and the catheter to enter the designated position in the body of the patient, so that the aim of controlling the catheter and the guide wire simultaneously is fulfilled; prevent that the seal wire from skidding, compact structure, small, mechanical structure stability is good, satisfies and intervenes operation user demand.

摘要：【中文】本发明公开了一种介入手术机器人导丝摩擦力测量装置，包括方管连接件；微型直线导轨，微型直线导轨安装于方管连接件底部上表面；滑块，滑块滑动安装在微型直线导轨上；直角连接件，直角连接件固定安装在滑块上方；微型拉压力传感器，微型拉压力传感器沿微型直线导轨轴向方向的两端为测力端，其中一测力端与直角连接件固定，另外一测力端与方管连接件固定；电磁铁，电磁铁安装于直角连接件上，用以吸附导丝夹持件。本发明装置采用了间接测力的方式，解决了导丝和测力装置不方便安装的问题，保障了导丝的无菌环境；通过测量微型拉压力传感器的推拉力，从而判断出导丝轴向摩擦力的受力变化情况，能及时给予医生操作提醒，保护病人安全。 【EN】The invention discloses a guide wire friction force measuring device of an interventional operation robot, which comprises a square pipe connecting piece; the miniature linear guide rail is arranged on the upper surface of the bottom of the square pipe connecting piece; the sliding block is arranged on the miniature linear guide rail in a sliding manner; the right-angle connecting piece is fixedly arranged above the sliding block; the two ends of the miniature pull pressure sensor along the axial direction of the miniature linear guide rail are force measuring ends, one force measuring end is fixed with the right-angle connecting piece, and the other force measuring end is fixed with the square pipe connecting piece; and the electromagnet is arranged on the right-angle connecting piece and used for adsorbing the guide wire clamping piece. The device adopts an indirect force measuring mode, solves the problem that the guide wire and the force measuring device are inconvenient to install, and ensures the sterile environment of the guide wire; the push-pull force of the miniature pull pressure sensor is measured, so that the stress change condition of the axial friction force of the guide wire is judged, the operation prompt can be given to a doctor in time, and the safety of a patient is protected.

摘要：【中文】本发明公开了一种介入手术机器人四点式触觉力反馈装置，包括方管连接件；薄膜压力传感器，所述薄膜压力传感器内部中点位置的上下左右设有至少四个所述压力感应触点；压力触点连接件，所述压力触点连接件上还设有能够与所述压力感应触点相贴合的凸出小圆台；所述压力触点连接件、所述薄膜压力传感器与所述方管连接件通过通孔和锁紧螺丝顺次连接起来；电磁铁，所述电磁铁用以吸附导丝夹持件。本发明装置采用了间接测力的方式，解决了导丝和测力装置不方便安装的问题，保障了导丝的无菌环境；通过多触点对比检测，结合对应算法，可以判断出导丝受力变化情况。 【EN】The invention discloses a four-point type tactile force feedback device of an interventional operation robot, which comprises a square pipe connecting piece; the film pressure sensor is provided with at least four pressure sensing contacts at the upper, lower, left and right sides of the midpoint position in the film pressure sensor; the pressure contact connecting piece is also provided with a small protruding round table which can be attached to the pressure sensing contact; the pressure contact connecting piece, the film pressure sensor and the square pipe connecting piece are sequentially connected through a through hole and a locking screw; the electromagnet is used for adsorbing the guide wire clamping piece. The device adopts an indirect force measuring mode, solves the problem that the guide wire and the force measuring device are inconvenient to install, and ensures the sterile environment of the guide wire; through multi-contact comparison detection and combination of corresponding algorithms, the stress change condition of the guide wire can be judged.