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1. (WO2018176458) CATHETER ADVANCING CONTROLLING METHOD AND CATHETER ADVANCING DEVICE FOR VESSEL INTERVENTIONAL SURGERY ROBOT

Pub. No.:    WO/2018/176458    International Application No.:    PCT/CN2017/079270
Publication Date: Fri Oct 05 01:59:59 CEST 2018 International Filing Date: Sun Apr 02 01:59:59 CEST 2017
IPC: A61M 25/01
A61M 25/08
A61B 34/00
Applicants: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES
中国科学院深圳先进技术研究院
Inventors: REN, Lingxue
任岭雪
ZHANG, Yi
张一
YAN, Weiwei
严伟玮
WANG, Lei
王磊
Title: CATHETER ADVANCING CONTROLLING METHOD AND CATHETER ADVANCING DEVICE FOR VESSEL INTERVENTIONAL SURGERY ROBOT
Abstract:
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.