FIELD: medicine.
SUBSTANCE: inventions group relates to medicine, namely to a device and method of frictional feedback of a guide wire for an interventional surgical robot. The device includes two sets of driven ends, driven ends and clamping parts. The sets of parts are symmetrically positioned along the guide wire (101). Each set of drive end includes a U-slot connector, a high precision force transducer, a first slider, a first micro-linear guide, an angled connector plate, and a drive end connector. The upper part of the drive end connecting piece is slidable along a direction parallel to the guide wire along the longitudinal direction of the rectangular bottom plate. The rectangular bottom plate drives the drive end of the mechanism. The lower part of the corner connecting plate is slidable perpendicular to the direction of the guide wire on the upper part of the driving end connecting part. The outer side of the vertical plate, attached to one end of the corner connecting plate, contacts the camshaft (102). The upper part of the other end is connected to a first microlinear guide parallel to the direction of the guide wire (101). The first slider is designed to slide along the first microlinear guide. A U-slot connector is attached to the top of the first slider to resist the clamping force of the guide wire (101). The high precision force transducer is positioned perpendicular to the guide wire (101). One end of the high precision force transducer (202) is secured to the inside of the vertical plate. The other end of the high precision force transducer is inserted into a notch in the U-slot connector. In this case, the width of the recess is greater than the width of the high-precision force sensor for measuring the friction force on the guide wire (101). The side away from the recess of the U-slot connector is connected to one end of the first clamping portion. Each set of driven end portion includes a second clamping portion located in correspondence with the first clamping portion and a driven end connector (104) located in accordance with the drive end connecting portion for clamping and pushing the guide wire (101). When executing the method, a frictional feedback device for a guide wire is used for an interventional surgical robot in combination with a reciprocating device for an interventional surgical robot. In this case, alternately clamping and moving, with the help of two sets of clamping parts, the wire guide during the reciprocating movement of the wire guide. The frictional force during the movement of the guide wire is measured by detecting a force change signal from a high-precision force transducer to indirectly reflect the force at the end of the guide wire. The data is transmitted to the control side of the driving end of the motor mechanism of the robot to provide timely feedback to the doctor.
EFFECT: inventions group provides a method and device for frictional feedback of a guide wire for an interventional surgical robot.
7 cl, 4 dwg
