# US 12,594,136 B2 · Slave-end guidewire/catheter driving apparatus of interventional surgical robot with force detection function > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,594,136 B2 - Document ID: US12594136B2 - Status: Granted - Kind: B2 - Application number: 17/916,098 - Filed: 2022-06-29 - Published: 2024-06-27 - Granted: 2026-04-07 - Earliest claimed: 2021-08-10 - Assignees: Shenzhen Institute of Advanced Biomedical Robot Co., Ltd. - Applicants: Shenzhen Institute of Advanced Biomedical Robot Co., Ltd. - Inventors: Haiyun Deng - Web page: https://patentgrep.com/patent/US12594136B2 ## CPC - A61B 34/37: Leader-follower robots (A61B34/35 takes precedence) - A61B 34/76: {Manipulators having means for providing feel, e.g. force or tactile feedback} - A61B 90/06: {Measuring instruments not otherwise provided for} - A61M 25/01: Introducing, guiding, advancing, emplacing or holding catheters (A61M25/10 takes precedence) - A61B 34/30: Surgical robots - A61B 2034/301: {for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes} - A61B 2090/064: {for measuring force, pressure or mechanical tension} - A61B: DIAGNOSIS; SURGERY; IDENTIFICATION (usefulness limited to only animals A61D) - A61M: DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY (introducing media into or onto the bodies of animals A61D7/00; means for inserting tampons A61F13/26; devices for administering food or medicines orally A61J; containers for collecting, storing or administering blood or medical fluids A61J1/05); DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY (surgery A61B; chemical aspects of surgical articles A61L); DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR {(Electrotherapy, e.g. producing anaesthesia by the use of alternating or intermittent currents A61N1/36021)} ## Abstract Disclosed is a slave-end guidewire/catheter driving apparatus with a force detection function, disposed at a slave end of an interventional surgical robot, and configured to clamp and drive a guidewire/catheter. The apparatus includes an inner frame, a rubbing mechanism, and a first force detection module. The rubbing mechanism is disposed on the inner frame, and includes two opposite clamping sets and a driving component driving the two sets to approach or move away from each other along a first direction to clamp or unclamp the guidewire/catheter. The first force detection module is at the bottom of the inner frame, and configured to detect advancement resistance in an advancement direction, perpendicular to the first direction, of the guidewire/catheter when the two sets clamp the guidewire/catheter. This application allows doctors to learn about resistance in time, which increases a sense of presence and improves surgery safety with high practicability and wide application. ## Claims ### Claim 1 A slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function, disposed at a slave end of an interventional surgical robot, and configured to implement clamping and driving of a guidewire/catheter, wherein the apparatus comprises an inner frame, a rubbing mechanism, and a first force detection module, the rubbing mechanism is disposed on the inner frame, the rubbing mechanism comprises two oppositely arranged clamping sets and a driving component, the driving component drives the two clamping sets to move close to or away from each other along a first direction to clamp or unclamp the guidewire/catheter, the first force detection module is disposed at the bottom of the inner frame, and when the two clamping sets clamp the guidewire/catheter, the first force detection module is configured to detect advancement resistance in an advancement direction, perpendicular to the first direction, of the guidewire/catheter; and wherein the apparatus further comprises a second force detection module comprising a second force measurement sensor and a connecting plate connecting the driving component and the second force measurement sensor in the first direction, wherein the second force measurement sensor is configured to detect clamping force of the two clamping sets that acts on the guidewire/catheter by measuring a pressure that is applied by the connecting plate. ### Claim 2 (depends on 1) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 1, further comprising an auxiliary module cooperating with the first force detection module in detecting the advancement resistance. ### Claim 3 (depends on 2) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 2, wherein the auxiliary module comprises a slide rail and a slider disposed slidable on the slide rail, the slider is fixed to the bottom of the inner frame, and an installation direction of the slide rail is parallel to the advancement direction of the guidewire/catheter. ### Claim 4 (depends on 1) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 1, wherein the first force detection module comprises a first force measurement sensor installed at the bottom of the inner frame, a fixing base, and an elastic member located between the first force measurement sensor and the fixing base. ### Claim 5 (depends on 4) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 4, wherein the elastic member is a compression spring extending along the advancement direction of the guidewire/catheter, and its two ends are respectively abutted between the first force measurement sensor and the fixing base. ### Claim 6 (depends on 4) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 4, wherein the first force measurement sensor and the compression spring are located inside the fixing base. ### Claim 7 (depends on 1) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 1, wherein the driving component comprises two first underframes and a driver that drives the two first underframes to move along the first direction, and the two clamping sets are respectively installed on the two first underframes. ### Claim 8 (depends on 7) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 7, wherein the driving component further comprises a first linkage wheel connected to both the two first underframes, the two first underframes are arranged opposite to each other, and the first linkage wheel is located between the two first underframes. ### Claim 9 (depends on 8) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 8, wherein both inner sides of the two first underframes are provided with teeth, an outer surface of the first linkage wheel is provided with teeth, and the first linkage wheel is engaged with both the first underframes of the two clamping sets through the teeth. ### Claim 10 (depends on 7) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 7, wherein the second force measurement sensor is installed on one of the two first underframes and the connecting plate connecting the driver and the second force measurement sensor in the first direction, and when the two clamping sets unclamp the guidewire/catheter, the connecting plate enables the second force measurement sensor to generate a predetermined pressure; or when the two clamping sets clamp the guidewire/catheter, the first underframe drives the second force measurement sensor to displace to change the predetermined pressure, so as to measure clamping force of the two clamping sets that acts on the guidewire/catheter. ### Claim 11 (depends on 10) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 10, wherein a baffle plate is disposed on the first underframe on which the second force measurement sensor is installed, a side surface, away from the driver, of the baffle plate is provided with an assembly groove, the second force measurement sensor is disposed in the assembly groove, the second force measurement sensor protrudes from the assembly groove, a side that is close to the first underframe and that is of the connecting plate is provided with an opening, and the opening is sleeved on the baffle plate and the second force measurement sensor. ### Claim 12 (depends on 10) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 10, wherein the second force measurement sensor is a pressure sensor. ### Claim 13 (depends on 7) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 7, wherein the inner frame is further provided with two bearings, the two first underframes of the driving component are respectively disposed on the two bearings, and each of the first underframes is slidable on a corresponding bearing along the first direction. ### Claim 14 (depends on 7) The slave-end guidewire/catheter driving apparatus of an interventional surgery robot with a force detection function according to claim 7, wherein the driver is an electromagnetic driver. ### Claim 15 (depends on 1) The slave-end guidewire/catheter driving apparatus of an interventional surgical robot with a force detection function according to claim 1, wherein the driving apparatus further comprises a rack, and the rack is sleeved on an outer side of the inner frame and the rubbing mechanism to isolate the rubbing mechanism from the outside.