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|1. (WO2018176458) CATHETER ADVANCING CONTROLLING METHOD AND CATHETER ADVANCING DEVICE FOR VESSEL INTERVENTIONAL SURGERY ROBOT|
|Applicants:||SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES
|Title:||CATHETER ADVANCING CONTROLLING METHOD AND CATHETER ADVANCING DEVICE FOR VESSEL INTERVENTIONAL SURGERY ROBOT|
A catheter advancing controlling method and a catheter advancing device for a vessel interventional surgery robot, wherein the catheter advancing controlling method comprises a force measuring step and an adjusting and controlling step. The adjusting and controlling step comprises providing a controller for adjusting and controlling motion parameters of a catheter (2) during the advancement thereof, to prevent the catheter (2) from puncturing a vessel during the advancement thereof. The force measuring step comprises: providing, on a friction block component (1) for clamping and twisting the catheter (2) to rotate, a pressure sensor (51) for measuring the force of pressure exerted by the friction block component (1) on the catheter (2); and providing, on a supporting base (6), a torque sensor (52) that allows the catheter (2) to pass therethrough and is for measuring the torque on the catheter (2). This indirect measuring method can measure, at the same time, the resistance at the tip of the catheter (2) and the torque on the catheter (2), so as to achieve the goal of effective displacement control of the catheter (2). The indirect measuring method enables remote control by a doctor, significantly reducing surgical risks to medical staff and a patient.