Medical robotic operating device

Abstract

The present invention provides a medical robot operating device, which relates to the field of medical robot technology. The present invention includes a rotating component, a transmission component, a passive component, a sensor and a shell; the rotating component is installed outside the shell; the passive component is installed inside the shell, and the rotating component drives the passive component to perform rotational motion through the transmission component; the sensor is installed inside the shell, and is used to monitor the real-time motion state of the passive component, and then transmit it to an external controller, and the controller controls the medical robot execution end to perform the operation of delivering the interventional instrument. The interventional instrument is controlled to move forward or backward by the rotating component, which is convenient to operate and easier to achieve precise control of the progressive distance; in addition, the rapid switching of the sliding direction of the rotating component can achieve rapid back and forth shaking of the interventional instrument, thereby realizing the "stabbing" action commonly used in interventional surgery, which is particularly beneficial for the interventional instrument to pass through calcified lesions or blood vessels with complex lesions.

Description

Technical Field

[0001] The present invention relates to the technical field of medical robots, and in particular to a medical robot operating device. Background Art

[0002] Cardiovascular interventional therapy is the primary treatment for cardiovascular and cerebrovascular diseases. Currently, vascular interventional medical robots are a successful application of robotic technology in vascular interventional therapy. Specifically, doctors use a control device outside the catheterization laboratory to control the interventional medical robot inside the operating room to deliver and rotate catheters and guidewires, deliver balloons and stents, and assist in angiography and PCI procedures.

[0003] In the existing technology, a push rod device is usually used to control the interventional medical robot to complete the delivery of the above-mentioned interventional instruments. Considering that the vascular interventional surgery process is complicated and the interventional instruments have a small diameter and are difficult to operate, the conventional push rod control technology cannot truly restore the doctor's actual operation of interventional instruments such as catheters and guidewires at the main end. The non-finger control makes it impossible to make good use of existing experience. Therefore, it is necessary to provide an alternative method for delivering interventional instruments that is more convenient and easier. Summary of the Invention

[0004] (1) Technical problems solved

[0005] In view of the shortcomings of the existing technology, the present invention provides a medical robot operating device, which solves the technical problem of poor operability of the existing device in delivering interventional instruments.

[0006] (2) Technical solution

[0007] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0008] A medical robot operating device includes a rotating component, a transmission component, a passive component, a sensor and a housing;

[0009] The rotating component is installed outside the housing;

[0010] The passive component is installed in the housing, and the rotating component drives the passive component to rotate through the transmission component;

[0011] The sensor is installed inside the shell and is used to monitor the real-time motion state of the passive component and then transmit it to an external controller. The controller controls the medical robot execution end to perform the operation of delivering the interventional instrument.

[0012] Preferably, the passive component includes a damping device, which generates a damping force for providing force feedback to the rotating component during the rotational movement.

[0013] Preferably, the damping device includes a magnetic damper, and the magnetic damper includes a reluctance rotor and a reluctance stator; the reluctance stator forms a magnetic field when energized, and the reluctance rotor generates a magnetic damping force for providing force feedback to the rotating component during the rotational motion in the magnetic field.

[0014] Preferably, the external controller is further configured to receive the resistance value experienced by the interventional instrument via a force sensor on the execution end of the medical robot, and adjust the intensity of the magnetic field according to the resistance value.

[0015] Preferably, the magnitude of the electrical signal input to the magnetic resistance stator is adjusted according to the magnitude of the resistance value, thereby adjusting the strength of the magnetic field.

[0016] Preferably, both the reluctance rotor and the reluctance stator adopt a tooth slot structure, and the reluctance rotor generates a discrete magnetic damping force for providing force feedback to the rotating component during the rotational motion in the magnetic field.

[0017] Preferably, the shape of the reluctance rotor in a horizontal cross section is a regular polygon or a circle as a whole, and the rotor poles are arranged in a circumferential array along the central axis of the reluctance rotor;

[0018] The reluctance stator is coaxially arranged with the reluctance rotor, and its shape in horizontal cross section is adapted to that of the reluctance rotor. The stator teeth are arranged in a circumferential array along the central axis of the reluctance stator.

[0019] Preferably, the rotating component includes a matching roller and a roller hub; the transmission component includes a driving wheel shaft, a driving wheel and a driven wheel; the roller is fixedly connected to the roller hub, and the roller hub is vertically fixed to a position near the top of the housing through the transmission component;

[0020] The driving wheel shaft has one end outside the housing fixedly connected to the roller hub, and one end inside the housing fixedly connected to the driving wheel. The driving wheel is used to drive the driven wheel to rotate, and the driven wheel is coaxially fixedly connected to the passive component.

[0021] Preferably, the product of the number of magnetic pole pairs in the circumferential array of the reluctance rotor about its own central axis and the transmission ratio between the driven wheel and the driving wheel is twenty.

[0022] Preferably, the medical robot operating device further comprises a connecting shaft and a swinging component;

[0023] The connecting shaft passes through and is fixed at the bottom of the shell, and is movably connected to the swinging component. A sensor reader is set in the swinging component. The sensor reader is used to identify the position change signal when the shell swings, and then transmit it to an external controller. The external controller controls the medical robot execution end to perform the operation of rotating the interventional instrument.

[0024] (3) Beneficial effects

[0025] The present invention provides a medical robot operating device. Compared with the prior art, it has the following advantages:

[0026] The present invention includes a rotating component, a transmission component, a passive component, a sensor and a housing; the rotating component is installed outside the housing; the passive component is installed inside the housing, and the rotating component drives the passive component to perform rotational motion through the transmission component; the sensor is installed inside the housing, and is used to monitor the real-time motion state of the passive component, and then transmit it to an external controller, and the controller controls the operation of the medical robot execution end to deliver the interventional instrument. The interventional instrument is controlled to move forward or backward by the rotating component that can be directly contacted by the doctor's fingers. The operation is very real and convenient, and it is also easier to achieve precise control of the progressive distance; in addition, the rapid switching of the sliding direction of the rotating component can achieve rapid back and forth shaking of the interventional instrument, thereby realizing the "stabbing" action commonly used in interventional surgery, which is particularly beneficial for the interventional instrument to intervene in parts of the human body that require it to move back and forth at a certain frequency to pass through. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0028] Figure 1 A three-dimensional diagram of a medical robot operating device provided in Examples 1 to 9 of the present invention;

[0029] Figure 2 A schematic diagram of the use of a medical robot operating device provided in Examples 1 to 9 of the present invention;

[0030] Figure 3 A cross-sectional view of a medical robot operating device provided in embodiments 3, 6, and 9 of the present invention;

[0031] Figure 4 This is a schematic diagram of the principle of a magnetic damper provided in Examples 5, 7, 8 and 9 of the present invention.

[0032] Among them, the rotating part 1, the roller 11, the roller hub 12, the transmission part 2, the driving wheel shaft 21, the driving wheel 22, the driven wheel 23, the sensor 3, the magnetic damper 4, the reluctance rotor 41, the reluctance stator 42, the magnetic damping mechanism mounting frame 400, the connecting shaft 5 and the swinging part 6. DETAILED DESCRIPTION

[0033] To make the objectives, technical solutions, and advantages of the embodiments of the present invention more clear, the technical solutions in the embodiments of the present invention are clearly and completely described. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments derived by persons of ordinary skill in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0034] The embodiments of the present application solve the technical problem of poor operability of interventional instruments delivered by existing devices by providing a medical robot operating device. It can control the interventional instrument forward or backward only by rotating the component, and quickly switch the rotation direction of the rotating component to achieve rapid forward and backward shaking of the interventional instrument, thereby facilitating the execution of the "stabbing" action commonly used in surgery at the operating end.

[0035] The technical solution in the embodiments of the present application is to solve the above technical problems, and the overall idea is as follows:

[0036] The medical robotic manipulation device provided by the embodiments of the present invention can be used for a variety of medical purposes, including surgery, diagnosis, and treatment. As long as there is a need to deliver interventional devices in a specific application scenario, it should be understood to be within the scope of protection sought by this application. In particular, the embodiments of the present invention can be used, but not limited to, for cardiovascular interventional surgery. In this specific application scenario, it is used to control a medical robot to deliver and / or rotate guidewires and catheters, as well as deliver balloons and stents.

[0037] Specifically, in the embodiment of the present invention, the rotating component is installed outside the shell; the passive component is installed inside the shell, and the rotating component drives the passive component to perform rotational motion through the transmission component; the sensor is installed inside the shell to monitor the real-time motion state of the passive component, and then transmit it to an external controller, and the controller controls the medical robot execution end to perform the operation of delivering the interventional instrument.

[0038] The interventional instrument can be controlled to move forward or backward through a rotating component that can be directly touched by the doctor's fingers. The operation is very realistic and convenient, and it is also easier to accurately control the progressive distance. In addition, by quickly switching the sliding direction of the rotating component, the interventional instrument can be quickly shaken back and forth, thereby realizing the "stabbing" action commonly used in interventional surgery. This is especially beneficial for interventional instruments to intervene in parts of the human body that require them to move back and forth at a certain frequency to pass through, such as calcified lesions or blood vessels with complex lesions.

[0039] In order to better understand the above technical solution, the above technical solution will be described in detail below with reference to the accompanying drawings and specific implementation methods.

[0040] Example 1:

[0041] like Figure 1 As shown, an embodiment of the present invention provides a medical robot operating device, including a rotating component 1, a transmission component 2, a passive component, a sensor 3 and a housing.

[0042] The rotating component 1 is installed outside the housing;

[0043] The passive component is installed in the housing, and the rotating component 1 drives the passive component to rotate through the transmission component 2;

[0044] The sensor 3 is installed in the housing and is used to monitor the real-time motion state of the passive component. Figure 2 As shown, it is then transmitted to an external controller, which controls the medical robot execution end to perform the operation of delivering the interventional instrument.

[0045] It should be noted that: first, the sensor 3 can be a magnetic encoder (either absolute or incremental) or a photoelectric encoder (either absolute or incremental). For example, in the embodiment of the present invention, a magnetic encoder is used, and the magnet of the magnetic encoder is fixedly connected to the passive component. The rotation of the passive component drives the magnet to rotate, and the displacement of the magnet is converted into a digital signal or an analog signal and transmitted to an external controller.

[0046] Secondly, in the application scenario of the above-specified cardiovascular interventional surgery, the interventional device includes at least a guide wire, a catheter, a delivery balloon and a stent.

[0047] Finally, the embodiments of the present invention are not limited to the specific connection relationship between the interventional instrument and the medical robot's actuator. For example, a friction wheel mounted inside the medical robot's actuator can rotate to drive the interventional instrument forward or backward, and the friction wheel can revolve to drive the interventional instrument.

[0048] In an embodiment of the present invention, the interventional instrument is controlled to move forward or backward by a rotating component that can be directly contacted by the doctor's fingers. The operation is very realistic and convenient, and it is also easier to achieve precise control of the progressive distance. In addition, by quickly switching the sliding direction of the rotating component, the interventional instrument can be quickly shaken back and forth, thereby realizing the "stabbing" action commonly used in interventional surgery. This is particularly beneficial for interventional instruments to intervene in parts of the human body that require them to move back and forth at a certain frequency to pass through, such as calcified lesions or blood vessels with complex lesions.

[0049] Specifically: Different from the prior art method of using a push rod device to control the interventional medical robot to complete the delivery of the interventional instrument, in the embodiment of the present invention, a rotating component 1 is used to control the advancement of the interventional instrument. Assuming that sliding the rotating component clockwise corresponds to controlling the interventional instrument to move forward, and sliding the rotating component counterclockwise corresponds to controlling the interventional instrument to move backward, the operation is very realistic and convenient, and it is also easier to achieve precise control of the advancement distance.

[0050] Furthermore, existing interventional instruments cannot achieve oscillating advancement, which is unsuitable for doctors' frequent "stabbing" movements during cardiovascular interventional procedures (e.g., passing an interventional instrument through a calcified or complex lesioned blood vessel). In contrast, the present invention allows for this to be easily achieved at the operating end simply by quickly switching the sliding direction of the rotating component 1.

[0051] Example 2:

[0052] In the technology of Example 1, further: the passive component includes a damping device, and the damping device generates a damping force for providing force feedback to the rotating component 1 during the rotational movement.

[0053] Currently, interventional medical robots on the market use images to display the maximum resistance threshold or real-time resistance value when delivering guidewires, catheters, balloons, or stents, but fail to provide force feedback to the controller. This prevents doctors from intuitively sensing the resistance level, significantly reducing the product's surgical coverage.

[0054] In order to address this technical defect, the passive component in the embodiment of the present invention can be set as a damping device, which generates a damping force for providing force feedback to the rotating component 1 during the rotational movement, so that the doctor can intuitively feel the resistance of the interventional instrument in the body, which is convenient for making the next decision.

[0055] Those skilled in the art should understand that the damping device can be any one of the products on the market, such as oil dampers, solid viscous dampers, air dampers, friction dampers, magnetic dampers, etc., or a reasonable combination thereof. As long as the basic technical concept of providing force feedback mentioned above is met, it should be understood to be included in the scope of protection required by this application.

[0056] Example 3:

[0057] like Figure 3 As shown, based on the technology of Example 2, further: the damping device includes a magnetic damper 4, and the magnetic damper 4 includes a reluctance rotor 41 and a reluctance stator 42; the reluctance stator 42 forms a magnetic field after being energized, and the reluctance rotor 41 generates a magnetic damping force for providing force feedback to the rotating component 1 during the process of rotating motion in the magnetic field.

[0058] That is, this embodiment takes the damping device as the magnetic damper 4 as an example.

[0059] When the interventional robot is operating, the doctor grips the control housing (handle) and slides the roller 11 clockwise or counterclockwise, causing the driving wheel 22 to rotate. This in turn drives the driven wheel 23, which is fixedly connected to the reluctance rotor 41, thereby rotating the reluctance rotor 41 (this process generates a magnetic damping force). The sensor 3 transmits the speed and position information of the reluctance rotor 41 to an external controller, which controls the robot's actuator to deliver the interventional instrument and control the speed and position of the advancement.

[0060] Example 4:

[0061] Based on the technology of Example 3, further: the external controller is also used to receive the resistance value of the interventional instrument through the force sensor on the execution end of the medical robot, and adjust the intensity of the magnetic field according to the size of the resistance value.

[0062] Example 3 only provides force feedback, which is obviously unable to truly simulate the changes in the resistance value encountered by the interventional instrument in the blood vessel. The external controller in this embodiment is also used to receive the resistance value encountered by the interventional instrument through the force sensor on the execution end of the medical robot, and adjust the strength of the magnetic field according to the size of the resistance value.

[0063] Specifically, when the reluctance rotor 41 cuts the magnetic lines of force, it generates a reluctance torque that hinders the rotational motion. When the magnetic field strength changes, the torque value changes accordingly, thereby increasing the magnetic damping force when the resistance value increases, and reducing the magnetic damping force when the resistance value decreases, thereby truly restoring the force conditions of the interventional device.

[0064] The method for adjusting the strength of the magnetic field can be set as: adjusting the size of the electrical signal input to the magnetic resistance stator 42 according to the size of the resistance value, thereby adjusting the strength of the magnetic field. The electrical signal can be a current or voltage signal.

[0065] Example 5:

[0066] like Figure 4 As shown, based on the technology of Example 3, further: the reluctance rotor 41 and the reluctance stator 42 both adopt a tooth slot structure, and the reluctance rotor 41 generates a discrete magnetic damping force for providing force feedback to the rotating component 1 during the rotational motion in the magnetic field.

[0067] In the prior art, when an interventional medical robot delivers interventional devices such as guidewires, catheters, balloons or stents, every time the interventional device moves a fixed distance (for example, every time it moves 1 mm), the robot prompts the doctor through a "beep" or other sound that the robot has executed the movement command and has moved the interventional device a set fixed distance.

[0068] However, in a complex operating room environment, the use of "beep" or other sound prompts can easily be confused with the prompt sounds of other interventional instruments, causing doctors to misjudge the information; and as moving movements are frequently used during surgery, the prompt sounds produced can easily make doctors feel irritated during high-intensity surgeries.

[0069] In contrast, embodiments of the present invention provide a more reasonable method for prompting an interventional medical robot to execute a travel command. Specifically, the reluctance rotor 41 and the reluctance stator 42 both utilize a slotted structure. During the reluctance rotor 41's rotational motion within the magnetic field, the slotted effect generates a discrete magnetic damping force that provides force feedback to the rotating component 1. This allows the finger to feel a discrete tactile sensation while sliding the rotating component 1, effectively notifying the doctor that a unit travel command has been completed and clarifying the actual distance traveled by the interventional device.

[0070] The slot effect specifically refers to the following: when both the reluctance rotor 41 and the reluctance stator 42 adopt a slot structure, the teeth are used to guide the magnetic lines of force and reduce the magnetic resistance, and the slots in the reluctance stator 42 are used to embed the windings and interlink with the magnetic lines of force in the teeth. The different magnetic permeabilities of the teeth and slots cause the reluctance rotor 41 to have different numbers of magnetic lines of force at different positions. When the magnetic poles of the reluctance rotor 41 are aligned with the teeth of the reluctance stator 42, the ferromagnetic attraction occurs, hindering the rotation of the reluctance rotor 41.

[0071] Example 6:

[0072] In the technology of any one of Examples 1 to 5, further: the transmission relationship and / or transmission ratio between the rotating component 1 and the transmission component 2 are not absolutely limited in the embodiments of the present invention.

[0073] Those skilled in the art should be able to understand that as long as the above functional requirements of the rotating component 1 and the transmission component 2 are met, both can adopt any device structure in the prior art.

[0074] For example, a worm gear transmission is adopted: the doctor's finger rotates the roller (rotating component 1), the roller drives the worm to rotate, the worm drives the turbine to rotate (the transmission component 2 includes the worm and the turbine), and the turbine drives the damper to rotate; or a direct drive form is adopted: the roller (rotating component 1) is directly linked to the damper (the transmission component 2 is equivalent to the link structure); or a wire rope, pulley, spur gear transmission, etc. can also be used.

[0075] like Figure 3 As shown, the embodiment of the present invention only exemplarily provides a situation where the transmission between the two is through bevel gears, and the content about the transmission ratio will be further introduced in the subsequent content.

[0076] Specifically, the rotating component 1 includes a matching roller 11 and a roller hub 12; the transmission component 2 includes a driving wheel shaft 21, a driving wheel 22, and a driven wheel 23; the roller 11 is fixedly connected to the roller hub 12, and the roller hub 12 is vertically fixed to a position near the top of the housing through the transmission component 2;

[0077] The driving wheel shaft 21 has one end outside the housing fixedly connected to the roller hub 12, and one end inside the housing fixedly connected to the driving wheel 22. The driving wheel 22 is used to drive the driven wheel 23 to rotate, and the driven wheel 23 is coaxially fixedly connected to the passive component.

[0078] At this time, the magnetic damper 4 is fixed in the housing via a magnetic damping mechanism mounting frame 400 ; the upper end of the reluctance rotor 41 is fixedly connected to the driven wheel 23 , and the lower end is fixedly connected to the magnet of the magnetic encoder.

[0079] Example 7:

[0080] In the technology of Example 6, further, the shape of the reluctance rotor 41 in the horizontal cross section is generally a regular polygon or a circle, preferably a circle; the rotor poles are arranged in a circumferential array along the central axis of the reluctance rotor 41.

[0081] The reluctance stator 42 is coaxially arranged with the reluctance rotor 41 , and its shape in horizontal cross section is adapted to that of the reluctance rotor 41 ; the stator teeth are arranged in a circumferential array along the central axis of the reluctance stator 42 .

[0082] by Figure 4 As shown in the figure as an example, the shape of the reluctance rotor 41 in the horizontal cross section is circular as a whole, the reluctance stator 42 is a single winding and the direction of the input current does not change, so the direction of the current space vector of the reluctance stator 4 remains unchanged, and the direction of the generated magnetic field remains unchanged, wherein the stator tooth poles are arranged as a pair of S poles and N poles arranged at the top.

[0083] At this time, the discrete advancement angle of the roller 11 can be determined by the following formula.

[0084]

[0085] Wherein, θ represents the angle of discrete propulsion of the roller 11; p represents the number of magnetic pole pairs of the circular array of the reluctance rotor 41 about its own central axis; and i represents the transmission ratio between the driven wheel 23 and the driving wheel 22.

[0086] Example 8:

[0087] In the technology of Example 7, further, the product of the number of magnetic pole pairs of the circular array of the reluctance rotor 41 about its own central axis and the transmission ratio between the driven wheel 23 and the driving wheel 22 is twenty.

[0088] It has been verified in practice that it is a better choice to generate a discrete tactile sensation every time the roller 11 slides 18°. Therefore, the product of p*i needs to be set to 20, for example, p=10 and i=2, p=5 and i=4, p=4 and i=5, or p=2 and i=10.

[0089] like Figure 4 As shown, the embodiment of the present invention only takes the case of p=10 and i=2 as an example. Since there are 10 pairs of poles on the reluctance rotor 41, the torque curve received by the reluctance rotor 41 during each rotation of 36° is a sine wave curve, and is transmitted to the roller 11 through the driven wheel 23, the driving wheel 22, the driving wheel shaft 21, and the roller hub 12. The roller 11 feeds back the torque to the doctor's finger, and finally the doctor's finger feels a discrete touch every time the roller 11 slides 18°, indicating that the unit travel instruction has been completed, so that the doctor can clearly understand the actual distance traveled by the interventional instrument.

[0090] Example 9:

[0091] In the technology of any one of embodiments 1 to 8, further, when the embodiment of the present invention needs to control the interventional medical robot to rotate an interventional device such as a guide wire or a catheter, correspondingly, Figure 3 As shown, the medical robot operating device further includes a connecting shaft 5 and a swinging component 6.

[0092] The connecting shaft 5 extends through and is fixed to the bottom of the housing, movably connected to the swinging member 6. A sensor reader is disposed within the swinging member 6. The sensor reader is used to detect position changes during the housing's swinging and transmit signals to an external controller, which controls the medical robot's actuator to rotate the interventional instrument. Similar to Example 1, this embodiment of the present invention does not strictly limit the connection and mating relationship between the interventional instrument and the medical robot's actuator. For example, the interventional instrument may be driven to rotate by the orbital rotation of a friction wheel mounted within the medical robot's actuator.

[0093] When the medical robot is working, the shell (handle) swings (which can be achieved by the doctor holding the shell with his right hand and pulling it toward the inside of his right hand), which will drive the connecting shaft 5 to swing. The sensor reader in the swinging mechanism 6 recognizes it and sends a position change signal during the swing to an external controller. The controller controls the medical robot's executive end to rotate the interventional device clockwise or counterclockwise, and controls the rotation speed of the intravascular interventional device; and the larger the pulling angle, the higher the rotation speed of the interventional device.

[0094] As can be seen from the above description, the present invention utilizes a rotational control method for interventional device advancement and wrist movement for rotation. Therefore, the two-degree-of-freedom (DOF) movements of interventional device delivery and rotation can be performed single-handed by the physician, meeting ergonomic requirements. This eliminates the inconvenience of current medical robots requiring two hands to control the advancement and rotation of a single guidewire or catheter.

[0095] In summary, compared with the existing technology, the present invention has the following beneficial effects:

[0096] 1. In an embodiment of the present invention, the interventional instrument is controlled to move forward or backward by a rotating component that can be directly contacted by the doctor's fingers. The operation is very realistic and convenient, and it is also easier to achieve precise control of the progressive distance. In addition, by quickly switching the sliding direction of the rotating component, the interventional instrument can be quickly shaken back and forth, thereby realizing the "stabbing" action commonly used in interventional surgery. This is particularly beneficial for interventional instruments to intervene in parts of the human body that require them to move back and forth at a certain frequency to pass through.

[0097] 2. In an embodiment of the present invention, the passive component can be configured as a damping device, which generates a damping force for providing force feedback to the rotating component during rotational motion, so that the doctor can intuitively feel the resistance of the interventional instrument in the body, facilitating the next decision.

[0098] 3. In an embodiment of the present invention, the external controller is further configured to receive the resistance value experienced by the interventional instrument via a force sensor on the medical robot's actuator, and to adjust the strength of the magnetic field based on the resistance value. When the reluctance rotor cuts through magnetic flux lines, it generates a reluctance torque that hinders rotational motion. As the magnetic field strength changes, the torque value changes accordingly, thereby increasing the magnetic damping force as the resistance value increases and decreasing it as the resistance value decreases, thus realistically reproducing the force conditions experienced by the interventional instrument.

[0099] 4. In an embodiment of the present invention, both the reluctance rotor and the reluctance stator adopt a slot structure. During the rotational motion of the reluctance rotor in the magnetic field, a discrete magnetic damping force is generated through the slot effect to provide force feedback to the rotating component. That is, during the sliding of the rotating component, the fingers can feel a discrete tactile sensation, which facilitates prompting the doctor that the unit travel instruction has been completed, so that the doctor can clearly understand the actual distance traveled by the interventional device.

[0100] 5. In the embodiment of the present invention, the two-degree-of-freedom movements of interventional instrument delivery and rotation can be completed by the doctor with one hand and meet the requirements of ergonomics, which resolves the inconvenience of medical robots on the market currently requiring two hands to cooperate in operation when controlling the advancement and rotation of a single guide wire or catheter.

[0101] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply the existence of any such actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0102] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A medical robot operating device, characterized in that: It includes a rotating component (1), a transmission component (2), a passive component, a sensor (3) and a housing; The rotating component (1) is mounted outside the housing; The passive component is installed in the housing, and the rotating component (1) drives the passive component to perform rotational motion through the transmission component (2); The sensor (3) is installed in the housing and is used to monitor the real-time motion state of the passive component and transmit it to an external controller, and the controller controls the medical robot execution end to perform the operation of delivering the interventional instrument; The passive component comprises a damping device, which generates a damping force for providing force feedback to the rotating component (1) during the rotational movement; The damping device comprises a magnetic damper (4), and the magnetic damper (4) comprises a reluctance rotor (41) and a reluctance stator (42); the reluctance stator (42) forms a magnetic field when energized, and the reluctance rotor (41) generates a magnetic damping force for providing force feedback to the rotating component (1) during rotational motion within the magnetic field; The external controller is further configured to receive the resistance value experienced by the interventional instrument through a force sensor on the execution end of the medical robot, and adjust the intensity of the magnetic field according to the resistance value; The rotating component (1) includes a roller (11) and a roller hub (12) used in conjunction with each other; the transmission component (2) includes a driving wheel shaft (21), a driving wheel (22) and a driven wheel (23); The angle of discrete advancement of the roller (11) satisfies: in, represents the angle of discrete advancement of the roller (11); Represents the number of magnetic pole pairs on the reluctance rotor (41) in a circumferential array about its own central axis; Indicates the transmission ratio between the driven wheel (23) and the driving wheel (22).

2. The medical robot operating device according to claim 1, wherein: According to the magnitude of the resistance value, the magnitude of the electrical signal input to the magnetic resistance stator (42) is adjusted, thereby adjusting the magnitude of the intensity of the magnetic field.

3. The medical robot operating device according to claim 1, wherein: The reluctance rotor (41) and the reluctance stator (42) both adopt a tooth slot structure, and the reluctance rotor (41) generates a discrete magnetic damping force for providing force feedback to the rotating component (1) during the process of rotating movement in the magnetic field.

4. The medical robot operating device according to claim 3, wherein: The shape of the reluctance rotor (41) in a horizontal cross section is generally a regular polygon or a circle, and the rotor tooth poles are arranged in a circumferential array along the central axis of the reluctance rotor (41); The reluctance stator (42) is coaxially arranged with the reluctance rotor (41), and its shape in a horizontal cross section is adapted to that of the reluctance rotor (41), and stator tooth poles are arranged in a circumferential array along the central axis of the reluctance stator (42).

5. The medical robot operating device according to any one of claims 1 to 4, wherein: The roller (11) is fixedly connected to the roller hub (12), and the roller hub (12) is vertically fixed to a position near the top of the housing through the transmission component (2); The end of the driving wheel shaft (21) located outside the housing is fixedly connected to the roller hub (12), and the end located inside the housing is fixedly connected to the driving wheel (22). The driving wheel (22) is used to drive the driven wheel (23) to rotate. The driven wheel (23) is coaxially fixedly connected to the passive component.

6. The medical robot operating device according to claim 5, wherein: The product of the number of magnetic pole pairs in the circumferential array of the reluctance rotor (41) about its own central axis and the transmission ratio between the driven wheel (23) and the driving wheel (22) is twenty.

7. The medical robot operating device according to any one of claims 1 to 4, wherein: It also includes a connecting shaft (5) and a swinging component (6); The connecting shaft (5) passes through and is fixed to the bottom of the shell, and is movably connected to the swing component (6). A sensor reader is provided in the swing component (6). The sensor reader is used to identify a position change signal when the shell swings, and then transmits it to an external controller. The external controller controls the medical robot execution end to perform the operation of rotating the interventional instrument.

8. The medical robot operating device according to claim 5, wherein: It also includes a connecting shaft (5) and a swinging component (6); The connecting shaft (5) passes through and is fixed to the bottom of the shell, and is movably connected to the swing component (6). A sensor reader is provided in the swing component (6). The sensor reader is used to identify a position change signal when the shell swings, and then transmits it to an external controller. The external controller controls the medical robot execution end to perform the operation of rotating the interventional instrument.

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