[1]王 颖,叶长龙,李 蒙,等.血管介入手术机器人送丝装置设计与分析[J].机械与电子,2025,(07):54-59.
　WANG Ying,YE Changlong,et al.Design and Analysis of Wire Feeding Device for Vascular Interventional Robot[J].Machinery & Electronics,2025,(07):54-59.
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血管介入手术机器人送丝装置设计与分析()
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《机械与电子》[ISSN:1001-2257/CN:52-1052/TH]

卷:
期数:
2025年07期
页码:
54-59
栏目:
智能制造
出版日期:
2025-07-27

文章信息/Info

Title:
Design and Analysis of Wire Feeding Device for Vascular Interventional Robot
文章编号:
1001-2257 ( 2025 ) 07-0054-06
作者:
王 颖 1 ; 2 ; 叶长龙 1 ; 李 蒙 3 ; 唐 蓉 1 ;  2 ; 于苏洋 1
1. 沈阳航空航天大学机电工程学院,辽宁 沈阳 110136 ;
2. 飞行器快速试制技术研究教育部重点实验室,辽宁 沈阳 110136 ;3. 上海神玑医疗科技有限公司,上海 201306
Author(s):
WANG Ying1 ;  2 ;  YE Changlong1 ;  LI Meng3 ;  TANG Rong1 ;  2 ;  YU Suyang1
( 1.School of Mechatronics Engineering , Shenyang Aerospace University , Shenyang 110136 , China ;?
2.Key Laboratory of Rapid Developmentand Manufacturing Technology for Aircraft , Ministry of Education , Shenyang 110136 , China ;?
3.Shanghai Shenji Medical Technology Co. , Ltd. , Shanghai 201306 , China )
关键词:
血管介入手术机器人; 送丝装置; 无菌环境; 运动仿真
Keywords:
vascular interventional robot ;  wire delivery device ;  aseptic environment ;  motion simulation
分类号:
TP242 ;TH122
文献标志码:
A
摘要:
针对目前血管介入手术机器人消毒难、递送距离和旋转角度有限,以及夹持距离调节不便等问题,提出了一种适用于无菌环境的轻巧型血管介入手术机器人送丝装置。该装置通过实现无菌操作部分和非无菌驱动部分的隔离,有效解决机器人在无菌环境中的消毒问题。实现了单次任意距离和角度的连续递送旋转导丝或微导管,且具备夹持距离调节功能,适配多种规格的介入器械。基于临床需求,对送丝装置进行详细设计,建立了三维模型,并通过运动学分析和运动仿真验证了装置的可行性和实用性。
Abstract:
To address the challenges of difficult sterilization , limited insertion distance and rotation angle , and inconvenient adjustment of clamping distance in orthopedic intervention robots , a lightweight orthopedic intervention robot wire delivery device is developed.This device achieves isolation between the sterility operation region and the non-sterile driving mechanism , effectively solving the sterilization issues faced by robots in sterility environments.It realizes the continuous delivery of rotating guidewires or microcatheters at any distance and angle at a single time , and has the function of clamping distance adjustment , which is suitable for a variety of interventional devices.Based on clinical needs , a detailed design of the wire delivery device is carried out , and a three-dimensional motion model is established.Through motion analysis and motion simulation , the feasibility and practicality of the device are validated.

参考文献/References:

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备注/Memo

备注/Memo:
收稿日期: 2025-02-21
基金项目:辽宁省教育厅科研项目( LJ222410143019 )
作者简介:王 颖 ( 2000- ),女,河南安阳人,硕士研究生,研究方向为机器人机构与控制,通信作者, E-mail : 1148887541@qq.com ; 叶长龙 ( 1974- ),男,辽宁锦州人,博士,教授,硕士研究生导师,研究方向为仿生机器人、机器人控制和机器人机构等。
更新日期/Last Update: 2025-09-02