FIELD: medicine.
SUBSTANCE: inventions group relates to medicine, namely to methods and devices for controlling the clamping force of a guide wire for an interventional surgical robot. The device contains a drive unit and a slave unit. The two sides of the drive unit are connected to the drive end. The two drive parts are configured to synchronously drive the drive unit to move forward or backward along a direction perpendicular to the direction of advancement of the guide wire. The driven unit includes a connecting plate, a strain gauge, a microlinear rail guide of the driven unit, a sliding block of the driven unit, a connecting element of the driven unit, and a passive winding unit. A strain gauge is fixed on one side of the connecting plate. A microlinear rail guide of the driven unit is fixed on the upper side. On the upper part of the sliding block of the driven unit, a connecting element of the driven unit is fixedly fixed, made with the possibility of sliding along the microlinear rail guide of the driven unit. On the upper part of the connecting element of the driven unit, a passive winding unit is fixedly fixed, coupled with the active winding unit of the drive unit. The load cell is configured to transmit a varying signal of the received force during clamping when winding the wire guide onto the control end of the drive unit of the robot drive mechanism.
EFFECT: ability to measure and adjust the clamping force of the wire guide as the need arises is achieved.
5 cl, 3 dwg
