An interventional surgical robot guide wire clamping force control device and control method

Abstract

The present invention relates to a control device and a control method for the clamping force of a guide wire of an interventional surgical robot. The control device includes: a driving end, with a driving part correspondingly connected to each of its two sides, and the two driving parts synchronously drive the driving end to move forward or backward along a direction perpendicular to the advancing direction of the guide wire; a driven end includes a connecting plate, a high-precision weighing sensor, a driven-end micro linear guide rail, a driven-end slider, a driven-end connecting piece and a passive thread rolling part; a high-precision weighing sensor is fixed on one side surface of the connecting plate close to the guide wire, a driven-end micro linear guide rail is fixed at its top, a driven-end connecting piece is fixed at the top of the driven-end slider and slides on the driven-end micro linear guide rail, and a passive thread rolling part that cooperates with the active thread rolling part of the driving end to roll threads is fixed at the top of the driven-end connecting piece; the sensor receives the force change signal during the clamping process and transmits it to the main control end of the robot propulsion mechanism, and by comparing the change of the feedback force value, the change of the clamping force is detected, and the driving part is controlled to adjust the clamping force magnitude.

Description

Technical Field

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

[0002] Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases 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 and cerebrovascular interventional surgery is a process in which doctors manually insert catheters, guidewires, stents and other instruments into the patient's body to complete the treatment. There are two problems with interventional surgery. First, during the operation, since DSA will emit X-rays, the doctor's physical strength will decline rapidly, and his attention and stability will also decline, which will lead to a decrease in operation accuracy, and it is easy to cause accidents such as vascular intimal damage and vascular perforation and rupture caused by improper pushing force, which will 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 that doctors continue to accumulate radiation because of interventional surgery has become a problem that cannot be ignored in damaging the doctor's professional life and restricting the development of interventional surgery. 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 attracting more and more attention and are gradually becoming the key research and development target in the field of medical robots in today's technological powers.

[0003] During robot surgery, the clamping of the guide wire is the basis for advancement and rotation, but problems such as over-tightening or over-loosening may easily occur during clamping. Over-tightening may easily cause damage to the guide wire, while over-loosening may cause slipping during pushing or rotation. However, there is generally no device for measuring the clamping force in the prior art, and thus the clamping force of the guide wire cannot be adjusted at any time. Therefore, how to provide a guide wire clamping force control device for an interventional surgery robot is an urgent problem that needs to be solved by those skilled in the art. Summary of the invention

[0004] To this end, the purpose of the present invention is to provide a guidewire clamping force control device for an interventional surgical robot to solve the problem that the guidewire clamping force cannot be measured and adjusted as needed.

[0005] The present invention provides a guide wire clamping force control device for an interventional surgery robot, comprising:

[0006] Active end, two sides of the active end are respectively connected with a driving part, and the two driving parts synchronously drive the active end to move forward or backward along the vertical guide wire advancement direction;

[0007] The driven end includes a connecting plate, a high-precision weighing sensor, a slave-end micro linear guide, a slave-end slider, a slave-end connecting piece and a passive thread rolling part; a high-precision weighing sensor is fixed on one side of the connecting plate close to the guide wire, a slave-end micro linear guide is fixed on the top of the connecting plate, a slave-end connecting piece is fixed on the top of the slave-end slider and slides on the slave-end micro linear guide, and a passive thread rolling part that cooperates with the active thread rolling part of the active end is fixed on the top of the slave-end connecting piece; the high-precision weighing sensor will transmit the force change signal received during the thread rolling clamping process to the main end control end of the robot propulsion mechanism.

[0008] It can be known from the above technical scheme that compared with the prior art, the present invention discloses a guide wire clamping force control device for an interventional surgical robot. The present invention drives the active end to move forward or backward relative to the driven end along the vertical guide wire advancement direction through the driving part. The high-precision weighing sensor arranged on the connecting plate receives the force change signal during the thread rolling and clamping process and transmits it to the main end control end of the robot propulsion mechanism. The main end control end of the robot propulsion mechanism detects the clamping force change by comparing the feedback force value change, and adjusts the clamping degree of the guide wire according to the force condition, so that the robot uses appropriate clamping force to complete the surgical operation, and the protection operation can be carried out safely and reliably. At the same time, when the clamping force is abnormal (too large or too small), the main end control end of the robot propulsion mechanism can give the operator a timely reminder, which is a safety protection device to assist doctors in better performing interventional surgical treatment.

[0009] Furthermore, the connecting plate includes a lower connecting plate and an upper connecting plate; the lower connecting plate includes an integrally connected horizontal plate and a vertical plate, a first sensor fixing plate is arranged at the top of the horizontal plate near the guide wire side; a second sensor fixing plate is arranged staggered with the first sensor fixing plate at the bottom of the upper connecting plate near the guide wire side; the first sensor fixing plate and the second sensor fixing plate have the same size and are both provided with a first mounting hole, a second mounting hole corresponding to the position of the first mounting hole is provided on the high-precision weighing sensor, and the first mounting hole and the second mounting hole are fixed by bolts. Thus, the high-precision weighing sensor connects the upper connecting plate and the lower connecting plate together.

[0010] Furthermore, the passive thread rolling part includes a fixed plate, a slave end electromagnet and a slave end movable block; the fixed plate is fixed to the top of the slave end connecting piece, and the slave end electromagnet is vertically fixed on it, and the slave end electromagnet is magnetically connected to the slave end movable block that clamps the guide wire with the main end movable block.

[0011] Further, each driving part includes a motor bracket, a lead screw stepping motor, a driving connecting plate, a lead screw nut, a driving micro linear guide and a driving slider; the bottom of the motor bracket is fixed on the housing, and the lead screw stepping motor is rotatably supported in the middle thereof perpendicular to the wire guiding and rubbing direction. The output end of the lead screw stepping motor penetrates through the driving connecting plate and cooperates with the lead screw nut fixed on the driving connecting plate. The driving connecting plate is fixed on the side of the active end, and a driving slider is arranged on its side, and the driving slider slides on the driving micro linear guide fixed on the side wall of the housing. Brief Description of the Drawings

[0012] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only the embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the provided drawings.

[0013] Figure 1 The drawings are schematic structural diagrams of a guide wire clamping force control device for an interventional surgical robot provided by the present invention;

[0014] Figure 2 The drawings show an overall schematic diagram of the driven end;

[0015] Figure 3 The drawings show an exploded view of the driven end;

[0016] In the drawings: 100 - active end, 200 - driven end, 201 - connecting plate, 2011 - lower connecting plate, 2012 - upper connecting plate, 2013 - first sensor fixing plate, 2014 - second sensor fixing plate, 2015 - first mounting hole, 2016 - second mounting hole, 202 - high-precision weighing sensor, 203 - driven micro linear guide, 204 - driven slider, 205 - driven connecting piece, 206 - passive wire rubbing part, 2061 - fixing plate, 2062 - driven electromagnet, 2063 - driven movable block, 300 - driving part, 301 - motor bracket, 302 - lead screw stepping motor, 303 - driving connecting plate, 304 - lead screw nut, 305 - driving micro linear guide, 306 - driving slider, 400 - guide wire. Detailed Embodiments

[0017] The following will describe in detail the embodiments of the present invention. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions from beginning to end. The embodiments described below with reference to the drawings are exemplary and are intended to explain the present invention, and should not be construed as a limitation of the present invention.

[0018] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is 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 should not be construed as a limitation on the present invention.

[0019] In addition, the terms "first" and "second" are only used for descriptive purposes and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0020] In the present invention, unless otherwise clearly defined and limited, the terms "mounted", "connected", "connected to", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0021] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "below", "under" and "beneath" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature.

[0022] See the attached Figure 1 , the embodiment of the present invention discloses a guide wire clamping force control device for an interventional surgical robot, including:

[0023] A driving end 100, with a driving part 300 correspondingly connected to each side of the driving end 100. The two driving parts 300 synchronously drive the driving end 100 to move forward or backward along the direction perpendicular to the advancing direction of the guide wire 400;

[0024] The driven end 200 includes a connecting plate 201, a high-precision weighing sensor 202, a slave-end micro linear guide 203, a slave-end slider 204, a slave-end connector 205 and a passive thread rolling part 206; a high-precision weighing sensor 202 is fixed on one side of the connecting plate 201 close to the guide wire 400, a slave-end micro linear guide 203 is fixed on the top of the connecting plate 201, a slave-end connector 205 is fixed on the top of the slave-end slider 204, and slides on the slave-end micro linear guide 203, a passive thread rolling part 206 that cooperates with the active thread rolling part of the active end 100 to roll the thread is fixed on the top of the slave-end connector 205; the high-precision weighing sensor 202 will transmit the force change signal received during the thread rolling and clamping process to the main end control end of the robot propulsion mechanism.

[0025] The present invention discloses a guide wire clamping force control device for an interventional surgical robot. The present invention drives the active end to move forward or backward relative to the driven end along the vertical guide wire advancement direction through a driving unit. The high-precision weighing sensor arranged on the connecting plate receives the force change signal during the thread rolling and clamping process and transmits it to the main end control end of the robot propulsion mechanism. The main end control end of the robot propulsion mechanism detects the clamping force change by comparing the feedback force value change, and adjusts the clamping degree of the guide wire according to the force condition, so that the robot uses appropriate clamping force to complete the surgical operation, and the protection operation can be carried out safely and reliably. At the same time, when the clamping force is abnormal (too large or too small), the main end control end of the robot propulsion mechanism can give the operator a timely reminder, which is a safety protection device to assist doctors in better performing interventional surgical treatment.

[0026] See attached Figure 2 and 3 The connecting plate 201 includes a lower connecting plate 2011 and an upper connecting plate 2012; the lower connecting plate 2011 includes a horizontal plate and a vertical plate connected in one piece, and a first sensor fixing plate 2013 is arranged at the top of the horizontal plate near the guide wire 400 side; a second sensor fixing plate 2014 is arranged at the bottom of the upper connecting plate 2012 near the guide wire 400 side, which is staggered with the first sensor fixing plate 2013; the first sensor fixing plate 2013 and the second sensor fixing plate 2014 are of the same size and are both provided with a first mounting hole 2015, and a second mounting hole 2016 corresponding to the position of the first mounting hole 2015 is provided on the high-precision weighing sensor 202, and the first mounting hole 2015 and the second mounting hole 2016 are fixed by bolts.

[0027] Specifically, the passive thread rolling part 206 includes a fixed plate 2061, a slave end electromagnet 2062 and a slave end movable block 2063; the fixed plate 2061 is fixed to the top of the slave end connector 205, and the slave end electromagnet 2062 is vertically fixed thereon, and the slave end electromagnet 2062 is magnetically connected to the slave end movable block 2063 which clamps the guide wire 400 with the main end movable block.

[0028] Advantageously, each driving part 300 includes a motor bracket 301, a lead screw stepper motor 302, a driving connection plate 303, a lead nut 304, a driving micro linear guide 305 and a driving slider 306; the bottom of the motor bracket 301 is fixed on the housing, and the middle part thereof rotatably supports the lead screw stepper motor 302 perpendicular to the rubbing direction of the wire guide 400. The output end of the lead screw stepper motor 302 penetrates through the driving connection plate 303 and cooperates with the lead nut 304 fixed on the driving connection plate 303. The driving connection plate 303 is fixed on the side of the active end 100, and a driving slider 306 is arranged on its side. The driving slider 306 slides on the driving micro linear guide 305 fixed on the side wall of the housing.

[0029] The present invention provides a method for controlling the clamping force of a guide wire of an interventional surgical robot. By using the above-mentioned device for controlling the clamping force of the guide wire of the interventional surgical robot, the driving part drives the active end to move forward or backward perpendicular to the wire rubbing direction of the guide wire. During the process of rubbing and clamping the guide wire, the high-precision weighing sensor receives the change of force and feeds it back to the main control end of the robot propulsion mechanism. The main control end of the robot propulsion mechanism detects the clamping force by comparing the change of the feedback force value, and adjusts the driving part according to the use requirement to change the magnitude of the clamping force.

[0030] In the present invention, the high-precision weighing sensor is a weighing sensor with an accuracy less than or equal to 0.01 N. The high-precision weighing sensor has an appropriate size and high sensitivity. When the movable block clamps the guide wire, a slight change can be brought to the high-precision weighing sensor during the transmission of each component. The main control end of the robot propulsion mechanism detects the clamping force by comparing the change of the value of the high-precision weighing sensor. Both ends of the high-precision weighing sensor are respectively fixed to the upper connection plate and the lower connection plate. A driving micro linear guide and a slave end electromagnet are installed on the upper connection plate. The lower connection plate is fixed to the housing through a guide rail. The active end for clamping the guide wire, under the action of the stepping lead screw motor, cooperates with the high-precision weighing sensor, and can realize the control of the clamping force of the guide wire, that is, when the motor rotates forward, the whole active end moves forward, driving the movable block adsorbed by the electromagnet of the active end to move forward and approach the movable block of the passive end, thereby increasing the clamping force of the guide wire. On the contrary, when the motor rotates reversely, the clamping force decreases.

[0031] The device for controlling the clamping force of the guide wire can adjust the clamping force well during the initialization after the guide wire is placed. The magnitude of the clamping force can be set by itself, and can be adjusted to be a little tighter or looser according to the actual situation. Moreover, the change of the clamping force can be observed at any time during the operation, and the clamping force can be adjusted at any time when necessary, making it more flexible in actual use.

[0032] Therefore, the present invention adopts a high-precision weighing sensor to measure the clamping force with high accuracy. The size of the clamping force can be adjusted at any time through the control of the lead screw stepping motor to meet the clinical needs. The overall structure is simple, compact, with good stability and convenient operation, which is an important part of the overall robot.

[0033] In the description of this specification, the description with reference to terms such as "one embodiment", "some embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in connection 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 can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0034] Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and should not be construed as limiting the present invention. Those of ordinary skill in the art can make changes, modifications, substitutions, and variations to the above embodiments within the scope of the present invention.

Claims

1. An interventional surgical robot wire clamping force control device, characterized in that, Comprising: A driving end (100), with a driving part (300) correspondingly connected to each side of the driving end (100), and the two driving parts (300) synchronously drive the driving end (100) to move forward or backward along the direction perpendicular to the advancement direction of the wire guide (400); A driven end (200), the driven end (200) includes a connecting plate (201), a high-precision weighing sensor (202), a driven-end micro linear guide (203), a driven-end slider (204), a driven-end connecting part (205) and a driven thread rolling part (206); on one side surface of the connecting plate (201) close to the wire guide (400), the high-precision weighing sensor (202) is fixed, at its top, the driven-end micro linear guide (203) is fixed, at the top of the driven-end slider (204), the driven-end connecting part (205) is fixed and slides on the driven-end micro linear guide (203), and at the top of the driven-end connecting part (205), the driven thread rolling part (206) that cooperates with the driving thread rolling part of the driving end (100) to roll the thread is fixed; the high-precision weighing sensor (202) transmits the force change signal received during the thread rolling and clamping process to the main control end of the robot propulsion mechanism; The connecting plate (201) includes a lower connecting plate (2011) and an upper connecting plate (2012); the lower connecting plate (2011) includes a horizontally integrated plate and a vertically integrated plate, and a first sensor fixing plate (2013) is arranged on the top of the horizontally integrated plate close to the wire guide (400); a second sensor fixing plate (2014) which is arranged staggeredly with the first sensor fixing plate (2013) is arranged on the bottom of the upper connecting plate (2012) close to the wire guide (400); the first sensor fixing plate (2013) and the second sensor fixing plate (2014) have the same size and are both provided with first mounting holes (2015), the high-precision weighing sensor (202) is provided with second mounting holes (2016) corresponding to the positions of the first mounting holes (2015), and the first mounting holes (2015) and the second mounting holes (2016) are fixed by bolts; The driven thread rolling part (206) includes a fixing plate (2061), a driven-end electromagnet (2062) and a driven-end movable block (2063); the fixing plate (2061) is fixed to the top of the driven-end connecting part (205), and the driven-end electromagnet (2062) is vertically fixed thereon, and the driven-end movable block (2063) which clamps the wire guide (400) with the driving-end movable block is magnetically connected to the driven-end electromagnet (2062).

2. The wire clamping force control device of an interventional surgical robot according to claim 1, wherein Each of the driving parts (300) includes a motor bracket (301), a lead screw stepping motor (302), a driving connecting plate (303), a lead nut (304), a driving micro linear guide (305) and a driving slider (306); the bottom of the motor bracket (301) is fixed on the housing, and the lead screw stepping motor (302) is rotationally supported in the middle thereof perpendicular to the rubbing direction of the wire guiding (400). The output end of the lead screw stepping motor (302) penetrates through the driving connecting plate (303) and cooperates with the lead nut (304) fixed on the driving connecting plate (303). The driving connecting plate (303) is fixed on the side of the active end (100), and the driving slider (306) is arranged on its side surface. The driving slider (306) slides on the driving micro linear guide (305) fixed on the side wall of the housing.

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