Interventional surgery robot guide wire friction feedback device and method

Abstract

The present invention relates to a guidewire friction force feedback device and method for an interventional surgical robot. The friction force feedback device comprises: two groups of active end components, driven end components and clamping components arranged symmetrically along the guidewire; the structure is relatively simple, compact and stable; when the clamping component is subjected to a force in the clamping direction of the guidewire, the force is transmitted to a right-angle connecting plate through a U-groove connector, a first slider and a first micro linear guide rail, and a high-precision weighing sensor only measures the axial force of the guidewire, that is, the friction force exerted on the guidewire, thereby judging the force change of the axial friction force of the guidewire, and timely giving doctors operation reminders to protect patients' safety. The present invention adopts an indirect force measurement method to solve the problems that the guidewire and the force measuring device are inconvenient to install, the existing interventional surgical robot has no force detection for the axial friction force of the guidewire, the force detection device is difficult to install and cannot meet clinical needs, and the like.

Description

Technical Field

[0001] The present invention relates to the field of minimally invasive vascular technology, and more particularly to a guidewire friction force feedback device and method for an interventional surgery robot. Background Art

[0002] Minimally invasive cardiovascular interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. Compared with traditional surgical operations, it has obvious advantages such as small incisions and short postoperative recovery time. Cardiovascular interventional surgery is a process in which doctors manually insert catheters, guide wires, stents and other devices into the patient's body to complete the treatment.

[0003] Interventional surgery has the following problems. During the operation, since DSA emits X-rays, the doctor's physical strength will decline rapidly, and his concentration and stability will also decline, which will lead to a decrease in operation accuracy. Accidents such as vascular endothelial damage and vascular perforation and rupture caused by improper pushing force are prone to occur, which may endanger the patient's life. Secondly, the cumulative damage of long-term ionizing radiation will greatly increase the doctor's chance of suffering from leukemia, cancer and acute cataracts. The phenomenon of doctors accumulating radiation because of interventional surgery has become a problem that cannot be ignored, which damages the professional life of doctors and restricts the development of interventional surgery.

[0004] By using robot technology, this problem can be effectively addressed, and the accuracy and stability of surgical operations can be greatly improved. At the same time, it can effectively reduce the damage of radiation to interventional doctors and reduce the probability of intraoperative accidents. Therefore, cardiovascular and cerebrovascular interventional surgery assisting robots are increasingly attracting people's attention and gradually becoming the key research and development target of medical robots in various technological powers today. However, as we all know, robots have no feelings, and how to ensure safety during surgery is a problem that people have always been concerned about. How to make robots feel like doctors and be able to sense in time when encountering danger is an issue that needs to be considered.

[0005] There are several problems with force feedback detection of guidewires for interventional surgery robots in China: (1) The structure is relatively bulky and complex, and the force feedback detection device of the guidewire makes it inconvenient to install and replace the guidewire on the robot; (2) Directly using sensors to measure the force changes on the guidewire cannot effectively ensure a sterile environment; (3) There is no good indirect method to measure the axial friction force of the guidewire; and (4) The clamping force of the guidewire greatly interferes with the measurement of the friction force of the guidewire, making it difficult to measure the friction force.

[0006] Therefore, how to provide a guide wire friction force feedback device for an interventional surgery robot is an urgent problem that those skilled in the art need to solve. Summary of the invention

[0007] The present invention aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent.

[0008] To this end, one purpose of the present invention is to propose a guide wire friction force feedback device for an interventional surgical robot, which solves the problem in the prior art that the structure is relatively bloated and complicated, and the force feedback detection device of the guide wire makes it inconvenient to install and replace the guide wire on the robot, and provides an indirect measurement device.

[0009] The present invention provides an interventional surgical robot guide wire friction feedback device, comprising: two groups of active end components, driven end components and clamping components arranged symmetrically along the guide wire;

[0010] Each group of active end components includes: a U-shaped groove connector, a high-precision weighing sensor, a first slider, a first micro linear guide, a right-angle connecting plate and a main end connector; the top of the main end connector slides in the length direction of the rectangular bottom plate of the main end of the propulsion mechanism in a direction parallel to the guide wire, and the bottom of the right-angle connecting plate slides in the direction perpendicular to the guide wire on the top of the main end connector, and the outer side of the vertical plate connected to one end thereof abuts against the cam shaft, and the first micro linear guide is fixed to the top of the other end thereof in parallel to the guide wire direction, and the first slider slides on the first micro linear guide, and the U-shaped groove connector is fixed to the top of the first slider to offset the clamping force of the guide wire, and the high-precision weighing sensor is arranged perpendicular to the guide wire, and one end of the U-shaped groove connector is fixed on the inner side of the vertical plate, and the other end is inserted into the notch of the U-shaped groove connector, and the notch width is greater than the width value of the high-precision weighing sensor, and is used to measure the friction force exerted on the guide wire, and the U-shaped groove connector is fixed to one end of the first clamping component away from the notch side;

[0011] Each group of driven end components includes a second clamping component corresponding to the first clamping component, and a slave end connecting component corresponding to the main end connecting component, which are used for clamping and pushing the guide wire.

[0012] It can be seen from the above technical scheme that compared with the prior art, the present invention discloses a guidewire friction force feedback device for an interventional surgical robot, which has a relatively simple and compact structure and good stability; when the clamping component is subjected to force in the clamping direction of the guidewire, the force is transmitted to the right-angle connecting plate through the U-groove connector, the first slider, and the first micro linear guide rail, and the high-precision weighing sensor only measures the axial force of the guidewire, that is, the push-pull force felt by the high-precision weighing sensor (that is, the friction force exerted on the guidewire), thereby judging the force change of the axial friction force of the guidewire, and can promptly give doctors operation reminders to protect patients' safety. The present invention adopts an indirect force measurement method to solve the problem of inconvenient installation of the guidewire and the force measuring device.

[0013] Furthermore, each group of active end components also includes a second slider and a second micro linear guide; a second slider is fixed to the bottom of the right-angle connecting plate along the direction perpendicular to the guide wire, and a second micro linear guide is arranged on the top of the main end connecting member to slide with the second slider.

[0014] Furthermore, each group of active end components also includes a spring and a polytetrafluoro patch. The two ends of the spring are respectively hung and fixed between the outer side of the vertical plate and the polytetrafluoro patch. The polytetrafluoro patch is always in contact with the camshaft.

[0015] Furthermore, each group of driven end components also includes: a third slider, a driven end connecting plate and a third miniature linear guide; the driven connecting plate and the right-angle connecting plate are arranged opposite to each other, and a driven end connecting piece is fixed on it close to the guide wire side; a third miniature linear guide is fixed on its top parallel to the guide wire direction, and a second clamping component is fixed on the top of the third slider and can slide on the third miniature linear guide.

[0016] Furthermore, each group of first clamping components includes a first cylindrical electromagnet and an active movable block. One end of the first cylindrical electromagnet with its axis perpendicular to the wire guide direction is fixed on the U-shaped groove connector, and the other end is magnetically connected to the active movable block.

[0017] Furthermore, each group of second clamping components includes a second cylindrical electromagnet and a passive movable block; the second cylindrical electromagnet is vertically fixed to the top of the third slider, the plane where its axis is located is parallel to the plane where the guide wire is located, and the top is magnetically connected to a passive movable block that is rubbed with the active movable block.

[0018] The present invention provides a method for feedback of the friction force exerted on the guide wire by the robot during interventional surgery. The above-mentioned feedback device for the friction force exerted on the guide wire by the robot during interventional surgery is used in conjunction with the reciprocating motion device of the interventional surgery robot. When the guide wire is reciprocating, two groups of clamping components alternately clamp the guide wire to move. The friction force in the guide wire movement is measured by detecting the force change signal emitted by the high-precision weighing sensor, thereby indirectly reflecting the force applied to the guide wire end. The data is then transmitted to the main control end of the robot propulsion mechanism to provide timely feedback to the doctor. Therefore, the present invention adopts an indirect force measurement method to solve the problem of inconvenient installation of the guide wire and the force measuring device. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying creative work.

[0020] Figure 1 The accompanying drawing is a stereoscopic view of a guide wire friction force feedback device for an interventional surgery robot provided by the present invention;

[0021] Figure 2 The accompanying drawing is a stereoscopic view of an active end component of a guidewire friction force feedback device for an interventional surgery robot provided by the present invention;

[0022] Figure 3 The attached figure is Figure 2 A partial schematic diagram of

[0023] Figure 4 The accompanying drawing shows an exploded view of a guide wire friction force feedback device for an interventional surgery robot provided by the present invention;

[0024] In the figure: 101-guide wire, 102-cam group, 103-first cylindrical electromagnet, 1031-second cylindrical electromagnet, 104-slave end connecting piece, 105-passive movable block, 106-active movable block, 107-third slider, 108-slave end connecting plate, 109-third micro linear guide, 201-U-groove connecting piece, 202-high-precision weighing sensor, 203-first slider, 204-first micro linear guide, 205-right-angle connecting plate, 206-second slider, 207-second micro linear guide, 208-polytetrafluoroethylene patch, 209-left main end connecting piece, 300-gear transmission group, D-rectangular bottom plate. DETAILED DESCRIPTION

[0025] Embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and should not be construed as limiting the present invention.

[0026] In the description of the present invention, it is necessary to understand that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0027] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0028] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0029] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0030] See attached Figure 1 The present invention provides a guide wire friction feedback device for an interventional surgical robot, comprising: two groups of active end components, driven end components and clamping components arranged symmetrically along the guide wire 101;

[0031] Each set of active end components includes: a U-shaped groove connector 201, a high-precision weighing sensor 202, a first slider 203, a first micro linear guide 204, a right-angle connecting plate 205 and a main end connector 209; the top of the main end connector 209 slides in the length direction of the rectangular bottom plate D of the main end of the propulsion mechanism in a direction parallel to the guide wire 101, and the bottom of the right-angle connecting plate 205 slides in the direction perpendicular to the guide wire 101 on the top of the main end connector 209, and the outer side of the vertical plate connected to one end thereof abuts against the cam shaft 102, and the top of the other end thereof is fixed parallel to the guide wire 101. There is a first micro linear guide rail 204, a first slider 203 slides on the first micro linear guide rail 204, a U-shaped groove connector 201 is fixed to the top of the first slider 203, and is used to offset the clamping force of the guide wire 101, a high-precision weighing sensor 202 is arranged perpendicular to the guide wire 101, one end of which is fixed on the inner side of the vertical plate, and the other end is inserted into the notch of the U-shaped groove connector 201, and the width of the notch is greater than the width value of the high-precision weighing sensor 202, and is used to measure the friction force on the guide wire 101, and the U-shaped groove connector 201 is fixed to one end of the first clamping component away from the notch side;

[0032] Each set of driven end components includes a second clamping component corresponding to the first clamping component, and a slave end connecting component 104 corresponding to the main end connecting component 209 , which is used for clamping and pushing the guide wire 101 .

[0033] The present invention discloses a guidewire friction force feedback device for an interventional surgical robot, which has a relatively simple and compact structure and good stability. When a clamping component is subjected to a force in the clamping direction of the guidewire, the force is transmitted to a right-angle connecting plate through a U-groove connector, a first slider, and a first micro linear guide rail. A high-precision weighing sensor only measures the axial force of the guidewire, that is, the push-pull force felt by the high-precision weighing sensor (that is, the friction force exerted on the guidewire), thereby determining the force change of the axial friction force of the guidewire, and providing timely operation reminders to doctors to protect patient safety. The present invention adopts an indirect force measurement method to solve the problem of inconvenient installation of the guidewire and the force measuring device.

[0034] See attached Figure 2 and 3 Each group of active end components also includes a second slider 206 and a second micro linear guide 207; a second slider 206 is fixed to the bottom of the right-angle connecting plate 205 along the direction perpendicular to the guide wire 101, and a second micro linear guide 207 sliding with the second slider 206 is arranged on the top of the main end connecting piece 209.

[0035] Advantageously, each group of active end components further includes a spring and a polytetrafluoro patch 208 , and both ends of the spring are respectively hung and fixed between the outer side of the vertical plate and the polytetrafluoro patch 208 , and the polytetrafluoro patch 208 is always in contact with the camshaft 102 .

[0036] See attached Figure 4 Each group of driven end components also includes: a third slider 107, a driven end connecting plate 108 and a third micro linear guide 109; the driven connecting plate 108 is arranged opposite to the right-angle connecting plate 205, and a driven end connecting piece 104 is fixed on it close to the guide wire 101 side; a third micro linear guide 109 is fixed on its top in a direction parallel to the guide wire 101, and a second clamping component is fixed on the top of the third slider 107, and can slide on the third micro linear guide 109.

[0037] See attached Figure 1 and 2 Each set of first clamping components includes a first cylindrical electromagnet 103 and an active movable block 106. One end of the first cylindrical electromagnet 103 is fixed on the U-shaped groove connector 201 with its axis perpendicular to the guide wire 101, and the other end is magnetically connected to the active movable block 106.

[0038] See attached Figure 4Each group of second clamping components includes a second cylindrical electromagnet 1031 and a passive movable block 105; the second cylindrical electromagnet 1031 is vertically fixed to the top of the third slider 107, and the plane where its axis is located is parallel to the plane where the guide wire 101 is located, and the top is magnetically connected to the passive movable block 105 that is rubbed with the active movable block 106.

[0039] In the present invention, the active end parts, the driven end parts and the clamping parts have two groups on the left and right sides, which have the same shape and size and the same function, but they work at different positions and times. This device is used in a reciprocating propulsion mechanism, and there are two groups of clamping parts to clamp the guide wire, and under the action of the cam group 102 and the gear transmission group 300 (the gear transmission group structure is shown in patent document 201911259494.4), the two connecting rods in the gear transmission group are respectively connected to the two groups of main end connectors, which can drive the two groups of active end parts to slide along the length direction of the rectangular bottom plate, and then complete the clamping and propulsion with the clamping parts of the driven end parts; the four cams set on the camshaft have a certain angle difference, ensuring that at the same time, there is only one group of cams that push the active end parts to make the guide wire clamping parts tighten the guide wire 101. Therefore, only when the guide wire is clamped, the tactile force feedback device (high-precision weighing sensor) will collect signals, and when the guide wire is released, there is no need to collect the sensor signal. The passive movable block 105 at the driven end of the propulsion mechanism is used to assist in tightening the guide wire. The polytetrafluoroethylene patch 208 is glued to the vertical surface of the right-angle connecting plate 205. Under the action of the spring, the polytetrafluoroethylene patch 208 is always in contact with the cam group 205. When a group of active movable blocks 106 and passive movable blocks 105 clamp the guide wire 101, and the first electromagnet is subjected to the force in the clamping direction of the guide wire, the force is transmitted to the right-angle connecting plate 205 through the U-groove connector 201, the first slider 203, and the first micro linear guide rail 204. The high-precision weighing sensor 202 only measures the axial force of the guide wire, that is, the friction force on the guide wire.

[0040] The present invention also provides a method for feedback of the friction force exerted on the guide wire by the robot during interventional surgery. The above-mentioned friction force feedback device exerted on the guide wire by the robot during interventional surgery is used in conjunction with the reciprocating motion device of the interventional surgery robot. When the guide wire reciprocates, the two groups of clamping components alternately clamp the guide wire to move. The friction force in the guide wire movement is measured by detecting the force change signal emitted by the high-precision weighing sensor, thereby indirectly reflecting the force condition of the guide wire end. The data is then transmitted to the main control end of the robot propulsion mechanism to provide timely feedback to the doctor.

[0041] The high-precision weighing sensor in the present invention has a precision of less than or equal to 0.01N.

[0042] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification.

[0043] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A guide wire friction force feedback device for an interventional surgery robot, characterized in that: include: Two groups of active end components, driven end components and clamping components are arranged symmetrically along the guide wire (101); Each group of active end components comprises: a U-shaped groove connector (201), a high-precision weighing sensor (202), a first slider (203), a first micro linear guide rail (204), a right-angle connecting plate (205) and a main end connector (209); the top of the main end connector (209) slides in the length direction of the rectangular bottom plate (D) of the main end of the propulsion mechanism in a direction parallel to the guide wire (101), the bottom of the right-angle connecting plate (205) slides in the direction perpendicular to the guide wire (101) on the top of the main end connector (209), the outer side of the vertical plate connected to one end of the main end connector abuts against the cam shaft (102), and the top of the other end of the main end connector is fixed with the first guide wire (101) in a direction parallel to the guide wire (101). A micro linear guide rail (204), the first slider (203) slides on the first micro linear guide rail (204), the U-shaped groove connector (201) is fixed to the top of the first slider (203) and is used to offset the clamping force of the guide wire (101), the high-precision weighing sensor (202) is arranged perpendicular to the guide wire (101), one end of the high-precision weighing sensor (202) is fixed to the inner side of the vertical plate, and the other end is inserted into the notch of the U-shaped groove connector (201), and the width of the notch is greater than the width value of the high-precision weighing sensor (202), and is used to measure the friction force on the guide wire (101), and the U-shaped groove connector (201) is fixed to one end of the first clamping component away from the notch; Each group of the driven end components includes a second clamping component corresponding to the first clamping component, and a slave end connecting component (104) corresponding to the master end connecting component (209), which is used for clamping and pushing the guide wire (101); Each group of active end components further comprises a spring and a polytetrafluoro patch (208), the two ends of the spring are respectively hung and fixed between the outer side of the vertical plate and the polytetrafluoro patch (208), and the polytetrafluoro patch (208) is always in contact with the camshaft (102); Each group of the driven end components further comprises: a third slider (107), a slave end connecting plate (108) and a third micro linear guide rail (109); the slave end connecting plate (108) is arranged opposite to the right-angle connecting plate (205), and the slave end connecting member (104) is fixed on the slave end connecting plate near the guide wire (101); the third micro linear guide rail (109) is fixed on the top of the slave end connecting plate in parallel with the guide wire (101), and the second clamping component is fixed on the top of the third slider (107) and can slide on the third micro linear guide rail (109); Each group of the first clamping components comprises a first cylindrical electromagnet (103) and an active movable block (106); one end of the first cylindrical electromagnet (103) is fixed on the U-shaped groove connector (201) with its axis perpendicular to the direction of the guide wire (101), and the other end is magnetically connected to the active movable block (106).

2. The guide wire friction force feedback device for an interventional surgery robot according to claim 1, characterized in that: Each group of active end components further comprises a second slider (206) and a second micro linear guide rail (207); the second slider (206) is fixed to the bottom of the right-angle connecting plate (205) in a direction perpendicular to the guide wire (101), and the second micro linear guide rail (207) sliding with the second slider (206) is arranged at the top of the main end connecting member (209).

3. The guide wire friction force feedback device for an interventional surgery robot according to claim 1, characterized in that: Each group of the second clamping components comprises a second cylindrical electromagnet (1031) and a passive movable block (105); the second cylindrical electromagnet (1031) is vertically fixed to the top of the third slider (107), the plane where its axis is located is parallel to the plane where the guide wire (101) is located, and the top of the second cylindrical electromagnet is magnetically connected to the passive movable block (105) that is threaded with the active movable block (106).

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