A bidirectional point-touch interventional robot guide wire force detection device and method

Abstract

The present invention relates to the field of medical equipment, and specifically to a bidirectional point-touch interventional robot guide wire force detection device and method, the device comprising: a carrier module; a guide wire module, which is arranged on a support module and is used for performing interventional work; a front-end calibration module, which is arranged on the carrier module and aligned with the guide wire module, and the front-end calibration module is used to detect the actual resistance exerted on the tip of the guide wire module; a backward force detection module, which is arranged on the carrier module and is used to detect the proximal force of the guide wire module, and send the proximal force to a trained neural network model for analysis to obtain the actual proximal force; the actual proximal force is compared with the actual resistance to obtain the actual obstruction accuracy error, and then the error is fed back to the doctor for the next step of adjustment operation; the application is simple to operate, and has fast data processing and accurate prediction, which can assist doctors in establishing a sense of force presence for the guide wire.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a device and method for detecting guide wire force from the end of a bidirectional point-touch interventional robot. Background Art

[0002] Coronary heart disease (CAD), also known as coronary atherosclerotic heart disease (CAD), is sometimes called ischemic heart disease. It refers to heart disease caused by myocardial ischemia and hypoxia due to atherosclerosis of the coronary arteries. The coronary arteries are the only blood vessels supplying the heart, and their shape resembles a crown, hence the name. These vessels, like other blood vessels throughout the body, can become hardened and atherosclerotic, disrupting blood circulation to the heart, leading to myocardial ischemia and hypoxia, a condition known as CAD. CAD is a common and life-threatening disease among middle-aged and elderly people. Most people experience no symptoms and continue to work, study, and live their lives as normal. However, signs of myocardial ischemia, such as chest discomfort or fatigue, can often be present. Although these symptoms are mild, a timely electrocardiogram (ECG) can reveal the presence of myocardial ischemia, allowing for early prevention. These symptoms are often latent. Some patients experience more obvious symptoms, such as frequent pain behind the sternum or in the left side of the heart. These pains are often transient and short-lived, indicating an inadequate blood supply to the heart. During an acute attack, symptoms such as severe pain in the precordial area, weak pulse, profuse sweating, and cyanosis of the lips indicate a myocardial infarction and require emergency treatment before being rushed to the hospital.

[0003] Vascular intervention is a procedure that uses instruments such as puncture needles, guidewires, and catheters to perform diagnostic and therapeutic procedures through blood vessels under the guidance of medical imaging equipment. However, traditional vascular interventionalists are exposed to long-term ionizing radiation from X-rays and wear heavy lead vests, which can damage their skeletal system. The rapid development of intelligent technology and medicine, as well as the cross-disciplinary integration of different disciplines, has made the development of vascular interventional robots a reality. Vascular interventional robots are essentially a combination of surgical robots and vascular interventional technology. Robots manipulate interventional surgical instruments, can operate in environments hostile to doctors, accurately locate themselves with reference to medical images, and can perform continuous movements without tremors. They can quickly and accurately navigate complex trajectories to precisely locate and reach the target blood vessel, ultimately completing the vascular interventional procedure under the doctor's command or autonomously.

[0004] Currently, when doctors use the existing master-slave vascular interventional surgical robot, they are unable to sense the actual resistance to the guidewire / catheter tip, which may lead to unsafe factors such as vascular rupture during the interventional surgery. Summary of the Invention

[0005] The embodiments of the present invention provide a device and method for detecting guidewire force from the end of a bidirectional point-touch interventional robot, so as to at least solve the current technical problem of being unable to sense the actual force applied to the guidewire.

[0006] According to one embodiment of the present invention, a bidirectional point-touch interventional robot guide wire force detection device is provided, comprising:

[0007] Carrier module;

[0008] A guidewire module is provided on the carrier module and is used for interventional work;

[0009] A front-end calibration module is provided on the carrier module and aligned with the guidewire module. The front-end calibration module is used to detect the actual resistance experienced by the tip of the guidewire module.

[0010] The backward force detection module is provided on the carrier module and is used to detect the proximal force of the guidewire module and input the proximal force into the trained neural network model for analysis to obtain the true proximal force;

[0011] The true proximal force is compared with the true resistance to obtain the true resistance accuracy error.

[0012] Furthermore, the front-end calibration module includes a guide rail fixing plate, a second micro guide rail, a front-end calibration sensor and a guide shaft disk, the guide rail fixing plate is arranged on the carrier module, the micro guide rail is arranged on the guide rail fixing plate, and the guide shaft disk is movably arranged on the second micro guide rail;

[0013] The front end calibration sensor is aligned with the guide shaft disc and is arranged on the carrier plate, and the guide wire module is aligned with the guide shaft disc.

[0014] Furthermore, the backward force detection module includes a backward pressure-resistance plate, a first backward cylindrical pin, a first pressure sensor, a second pressure sensor, a second backward cylindrical pin, and a first micro guide rail;

[0015] A rear sensor support plate is provided on the carrier module, a first pressure sensor and a second pressure sensor are provided on the rear sensor support plate, and the first pressure sensor is provided above the second pressure sensor;

[0016] The first micro guide rail is set on the carrying module, the rear pressure resistance plate is installed on the first micro guide rail, the first rear cylindrical pin and the second rear cylindrical pin are arranged up and down on the rear pressure resistance plate, the first rear cylindrical pin and the second rear cylindrical pin 14 are aligned with the first pressure sensor and the second pressure sensor, and the guide wire module passes through the rear sensor support plate.

[0017] Furthermore, the detection device also includes a clamping module and a forward force detection module for detecting the inertial buffering force of the guide wire module. The forward force detection module is arranged on the supporting module, and the clamping module is arranged between the forward force detection module and the backward force detection module. The guide wire module passes through the backward force detection module, the clamping module and the forward force detection module in sequence.

[0018] Furthermore, the forward force detection module includes a forward pressure-resistance plate, a forward cylindrical pressure sensor and a forward cylindrical pin. The forward pressure-resistance plate is arranged on the supporting module, the forward cylindrical pressure sensor is installed on the forward pressure-resistance plate, the forward cylindrical pin is arranged on the clamping module, and the forward cylindrical pressure sensor and the forward cylindrical pin are aligned.

[0019] Furthermore, the detection device also includes a module for driving the rotation transmission module, the guide wire module passes through the rotation transmission module, and the rotation transmission module promotes the movement of the guide wire module.

[0020] Furthermore, the rotary transmission module includes a rotary motion stepper motor, a first-stage gear and a second-stage gear. A motor support plate is provided on the carrier module. The rotary motion stepper motor is installed on the motor support plate. The first-stage gear is installed on the rotary motion stepper motor. The second-stage gear is installed on the pipe of the clamping module.

[0021] Furthermore, a forward support plate 5 is provided on the carrier module, the pipe of the clamping module passes through the forward support plate, and the secondary gear is on the side of the forward support plate away from the clamping module; the guide wire module passes through the pipe of the clamping module and out of the secondary gear.

[0022] Furthermore, a limiting block for limiting the backward force detection module is also provided on the carrier module, and the first micro guide rail is located between the limiting block and the backward sensor support plate.

[0023] A method for detecting guidewire force from the end of a bidirectional point-touch interventional robot comprises the following steps:

[0024] The guidewire module performs interventional work based on the control signal;

[0025] During the access work, the front-end calibration module detects the actual resistance experienced by the tip of the guidewire module;

[0026] During access, the backward force detection module detects the proximal force of the guidewire module and inputs the proximal force into the trained neural network model for analysis to obtain the true proximal force.

[0027] The true proximal force is compared with the true resistance to obtain the true resistance accuracy error.

[0028] The bidirectional point-touch interventional robot in the embodiment of the present invention has a guidewire force detection device and method from the end, and the device includes a carrier module; a guidewire module, which is arranged on the support module and is used for interventional work; a front-end calibration module, which is arranged on the carrier module and aligned with the guidewire module, and the front-end calibration module is used to detect the actual resistance exerted on the tip of the guidewire module; a backward force detection module, which is arranged on the carrier module, is used to detect the proximal force of the guidewire module, and analyze the proximal force with a trained neural network model to obtain the actual proximal force; the actual proximal force is compared with the actual resistance to obtain the actual obstruction accuracy error, and then the error is fed back to the doctor for the next adjustment operation; the application is simple to operate, and the data processing is fast and the prediction is accurate, which can assist the doctor in establishing a sense of force presence for the guidewire. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0030] Figure 1 This is a structural diagram of the guide wire force detection device from the end of the bidirectional point-touch interventional robot of the present invention;

[0031] Figure 2 This is another structural diagram of the guide wire force detection device from the end of the bidirectional point-touch interventional robot of the present invention;

[0032] Figure 3 This is a diagram of the gear installation structure of the present invention;

[0033] Figure 4 This is a top view of the structure of the guide wire force detection device from the end of the bidirectional point-touch interventional robot of the present invention;

[0034] Figure 5 This is a structural diagram of the front-end calibration module of the present invention;

[0035] Figure 6 This is a structural diagram of the rotary transmission module of the present invention;

[0036] Figure 7 This is a structural diagram of the forward force detection module of the present invention;

[0037] Figure 8 This is a structural diagram of the backward force detection module of the present invention;

[0038] Figure 9 Schematic diagram of the structure of the force detection algorithm of the neural network model of the present invention;

[0039] Figure 10 Flowchart of the method for detecting guide wire force from the end of a bidirectional point-touch interventional robot according to the present invention.

[0040] 1-carrying module, 2-first stage gear, 3-wire guide module, 4-second stage gear, 5-forward support plate, 6-conductive slip ring, 7-forward force detection module, 8-clamping module, 9-rearward pressure resistance plate, 10-first rearward cylindrical pin, 11-first pressure sensor, 12-rearward sensor support plate, 13-second pressure sensor, 14-second rearward cylindrical pin, 15-first micro guide rail, 16-limit block, 17-forward cylindrical pin, 18-forward cylindrical pressure sensor, 19-rotational motion stepper motor, 20-motor support plate, 21-guide rail fixing plate, 22-second micro guide rail, 23-front end calibration sensor, 24-guide shaft disk. DETAILED DESCRIPTION

[0041] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0042] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0043] Example 1

[0044] According to one embodiment of the present invention, a bidirectional point-touch interventional robot guide wire force detection device is provided. Figures 1 to 9, including: a bidirectional point-touch interventional robot guide wire force detection device and method, the device includes a carrier module 1; a guide wire module 3, which is arranged on the carrier module 1 and is used for interventional work; a front-end calibration module, which is arranged on the carrier module 1 and aligned with the guide wire module 3, and the front-end calibration module is used to detect the actual resistance exerted on the tip of the guide wire module 3; a backward force detection module, which is arranged on the carrier module 1, is used to detect the proximal force of the guide wire module 3, and analyze the proximal force to a trained neural network model to obtain the actual proximal force; the actual proximal force is compared with the actual resistance to obtain the actual obstruction accuracy error, and then the error is fed back to the doctor for the next adjustment operation; the application is simple to operate, and the data processing is fast and the prediction is accurate, which can assist the doctor in establishing a force sense of the guide wire.

[0045] The neural network model is specifically:

[0046] Reset the guide wire module 3 to the position where the front calibration sensor 23 and the guide shaft disk 24 have zero contact and no force is generated; automatically advance the slave device with a step size of 0.01mm and a displacement of 1mm to realize the loading calibration process; when the advancement action is completed, retract the slave device with a step size of 0.01mm and a displacement of 1mm to realize the unloading calibration process; repeat the above loading calibration and unloading calibration processes five times; record the force value data of the front calibration sensor 23, the forward cylindrical pressure sensor 18, the first pressure sensor 11, and the second pressure sensor 13 to complete the static calibration.

[0047] After completing the static calibration, reset the position of the guide wire module 3 to the position where the front calibration sensor 23 and the guide shaft disk 24 have zero contact and no force is generated; advance or retract the slave device arbitrarily, repeat the action 10,000 times, and repeat three groups; record the force value data of the front calibration sensor 23, the forward cylindrical pressure sensor 18, the first pressure sensor 11, and the second pressure sensor 13 to complete the dynamic calibration.

[0048] The values ​​of the first pressure sensor 11, the second pressure sensor 13 and the front-end calibration sensor 23 are used as training data and sent to the neural network for training to obtain a trained neural network model; the constructed neural network model includes three hidden layers, each hidden layer includes seven neurons, such as Figure 9 ; Through the trained neural network model, the actual resistance encountered by the tip of the guidewire module 3 during the operation is predicted.

[0049] In the embodiment, the front-end calibration module includes a guide rail fixing plate 21, a second micro guide rail 22, a front-end calibration sensor 23 and a guide shaft disk 24. The guide rail fixing plate 21 is arranged on the carrier module 1, the micro guide rail is arranged on the guide rail fixing plate 21, and the guide shaft disk 24 is movably arranged on the second micro guide rail 22; the front-end calibration sensor 23 is aligned with the guide shaft disk 24 and is arranged on the carrier plate, and the guide wire module 3 is aligned with the guide shaft disk 24.

[0050] The front-end calibration sensor 23 is installed on the carrier module 1 by means of fasteners in a threaded connection manner, the guide shaft disk 24 is installed on the second micro guide rail 22 by means of fasteners in a threaded connection manner, the second micro guide rail 22 is installed on the guide rail fixing plate 21 by means of fasteners in a threaded connection manner, and the guide rail fixing plate 21 is installed on the carrier module 1 by means of fasteners in a threaded connection manner.

[0051] In the embodiment, the backward force detection module includes a backward pressure resistance plate 9, a first backward cylindrical pin 10, a first pressure sensor 11, a second pressure sensor 13, a second backward cylindrical pin 14, and a first micro guide rail 15; a backward sensor support plate 12 is provided on the carrier module 1, the first pressure sensor 11 and the second pressure sensor 13 are provided on the backward sensor support plate 12, and the first pressure sensor 11 is provided above the second pressure sensor 13; the first micro guide rail 15 is provided on the carrier module 1, the backward pressure resistance plate 9 is installed on the first micro guide rail 15, the first backward cylindrical pin 10 and the second backward cylindrical pin 14 are arranged up and down on the backward pressure resistance plate 9, the first backward cylindrical pin 10 and the second backward cylindrical pin 14 are aligned with the first pressure sensor 11 and the second pressure sensor 13, and the guide wire module 3 passes through the backward sensor support plate 12.

[0052] The rear pressure-resistance plate 9 is mounted on the first micro guide rail 15 in a threaded connection manner through fasteners, the first micro guide rail 15 is mounted on the carrier module 1 in a threaded connection manner through fasteners, the first rear cylindrical pin 10 is mounted on the rear pressure-resistance plate 9 by means of its own external thread connection, the second rear cylindrical pin 14 is mounted on the rear pressure-resistance plate 9 by means of its own external thread connection, the first pressure sensor 11 is mounted on the rear sensor support plate 12 in a threaded connection manner through fasteners, and the second pressure sensor 13 is mounted on the rear sensor support plate 12 in a threaded connection manner through fasteners.

[0053] In an embodiment, the detection device also includes a clamping module 8 and a forward force detection module 7 for detecting the inertial buffering force of the guide wire module 3. The forward force detection module 7 is arranged on the carrier module 1, and the clamping module 8 is arranged between the forward force detection module 7 and the backward force detection module. The guide module passes through the backward force detection module, the clamping module 8 and the forward force detection module 7 in sequence; the clamping module 8 is installed on the forward support plate 5 and the backward sensor support plate 12 in a bearing connection manner through fasteners.

[0054] In the embodiment, the forward force detection module 7 includes a forward pressure-resistance plate, a forward cylindrical pressure sensor 18 and a forward cylindrical pin 17. The forward pressure-resistance plate is arranged on the supporting module 1, the forward cylindrical pressure sensor 18 is installed on the forward pressure-resistance plate, the forward cylindrical pin 17 is arranged on the clamping module 8, and the forward cylindrical pressure sensor 18 and the forward cylindrical pin 17 are aligned.

[0055] The forward cylindrical pressure sensor 18 is installed on the forward pressure resistance plate in a threaded connection manner through fasteners, the forward pressure resistance plate is installed on the forward pressure resistance plate connecting rod in a threaded connection manner through fasteners, the forward pressure resistance plate connecting rod is installed on the carrier module 1 in a threaded connection manner through fasteners, and the forward cylindrical pin 17 is installed on the clamping module 8 through the forward cylindrical pin 17 with its own external thread connection.

[0056] In an embodiment, the detection device also includes a device for driving a rotation transmission module, the guide wire module 3 passes through the rotation transmission module, and the rotation transmission module pushes the movement of the guide wire module 3; the rotation transmission module includes a rotational motion stepper motor 19, a first-stage gear 2 and a second-stage gear 4, and a motor support plate 20 is provided on the carrier module 1, the rotational motion stepper motor 19 is installed on the motor support plate 20, the first-stage gear 2 is installed on the rotational motion stepper motor 19, and the second-stage gear 4 is installed on the pipe of the clamping module 8.

[0057] The rotary motion stepper motor 19 is mounted on the motor support plate 20 in a threaded connection manner through fasteners, the first-stage gear 2 is mounted on the clamping module in a threaded connection manner through fasteners, and the second-stage gear 4 is mounted on the clamping module in a threaded connection manner through fasteners; the guide wire module 3 is mounted on the clamping module 8, and the resistance exerted on the tip of the guide wire module 3 is measured by the backward force detection module, and the inertial buffer force exerted on the clamping module 8 is measured by the forward force detection module 7.

[0058] In embodiment 89, a forward support plate 5 is provided on the carrier module 1, the pipeline of the clamping module 8 passes through the forward support plate 5, and the secondary gear 4 is on the side of the forward support plate 5 away from the clamping module 8; the guide wire module 3 passes through the pipeline of the clamping module 8 from the secondary gear 4; a limit block 16 is also provided on the carrier module 1, and the first micro guide rail 15 is located between the limit block 16 and the rear sensor support plate 12.

[0059] The motor support plate 20 is threadedly mounted on the carrier module 1 via fasteners. The forward support plate 5 is threadedly mounted on the carrier module 1 via fasteners. The rear sensor support plate 12 is threadedly mounted on the carrier module 1 via fasteners. The limit block 16 is threadedly mounted on the carrier module 1 via fasteners. A conductive slip ring 6 is provided between the forward support plate 5 and the forward force detection module 7, through which the guide wire module 3 passes.

[0060] In the embodiment, the fasteners include a first fastener installed on the motor support plate 20 and the carrier module 1, a second fastener installed on the forward support plate 5 and the carrier module 1, a third fastener installed on the rear sensor support plate 12 and the carrier module 1, a fourth fastener installed on the limit block 16 and the carrier module 1, a fifth fastener installed on the front calibration sensor 23 and the carrier module 1, a sixth fastener installed on the guide shaft disk 24 and the second micro guide rail 22, a seventh fastener installed on the second micro guide rail 22 and the guide rail fixing plate 21, an eighth fastener installed on the guide rail fixing plate 21 and the carrier module 1, a ninth fastener installed on the forward cylindrical pressure sensor 18 and the forward pressure resistance plate, and a tenth fastener installed on the forward pressure resistance plate and the forward pressure resistance plate connecting rod. Fasteners, an eleventh fastener installed on the forward pressure-resistance plate connecting rod and the carrier module 1, a twelfth fastener installed on the rearward pressure-resistance plate 9 and the first micro guide rail 15, a thirteenth fastener installed on the first micro guide rail 15 and the carrier module 1, a fourteenth fastener installed on the first pressure sensor 11 and the rearward sensor support plate 12, a fifteenth fastener installed on the second pressure sensor 13 and the rearward sensor support plate 12, a sixteenth fastener installed on the clamping module 8, the forward support plate 5 and the rearward sensor support plate 12, a seventeenth fastener installed on the rotary motion stepper motor 19 and the motor support plate 20, an eighteenth fastener installed on the primary gear 2 and the clamping module 8, and a nineteenth fastener installed on the secondary gear 4 and the clamping module 8.

[0061] One end of the first fastener is provided with a hexagonal cylindrical head, and the other end of the first fastener is provided with an external thread. The carrier module 1 is connected to the external thread of the first fastener through the internal thread, so that the motor support plate 20 can be fixedly installed on the carrier module 1; one end of the second fastener is provided with a hexagonal cylindrical head, and the other end of the second fastener is provided with an external thread. The carrier module 1 is connected to the external thread of the second fastener through the internal thread, so that the forward support plate 5 can be fixedly installed on the carrier module 1; one end of the third fastener is provided with a hexagonal cylindrical head, and the other end of the third fastener is provided with an external thread. The carrier module 1 is connected to the external thread of the third fastener through the internal thread, so that the rear sensor support plate 12 can be fixedly installed on the carrier module 1; one end of the fourth fastener A hexagonal cylindrical head is provided, and the other end of the fourth fastener is provided with an external thread. The carrier module 1 is connected to the external thread of the fourth fastener through the internal thread, so that the limit block 16 can be fixedly installed on the carrier module 1; a hexagonal cylindrical head is provided at one end of the fifth fastener, and the other end of the fifth fastener is provided with an external thread. The carrier module 1 is connected to the external thread of the fifth fastener through the internal thread, so that the front-end calibration sensor 23 can be fixedly installed on the carrier module 1; a hexagonal cylindrical head is provided at one end of the sixth fastener, and the other end of the sixth fastener is provided with an external thread. The second micro guide rail 22 is connected to the external thread of the sixth fastener through the internal thread, so that the guide shaft disk 24 can be fixedly installed on the second micro guide rail 22; a hexagonal cylindrical head is provided at one end of the seventh fastener, and the external thread is provided at the other end of the fifth fastener. An internal hexagonal cylindrical head is provided at one end of the eighth fastener, and an external thread is provided at the other end of the seventh fastener. The guide rail fixing plate 21 is connected to the external thread of the seventh fastener through an internal thread, so that the second micro guide rail 22 can be fixedly mounted on the guide rail fixing plate 21; an internal hexagonal cylindrical head is provided at one end of the eighth fastener, and an external thread is provided at the other end of the eighth fastener. The carrier module 1 is connected to the external thread of the eighth fastener through an internal thread, so that the guide rail fixing plate 21 can be fixedly mounted on the carrier module 1; an internal hexagonal cylindrical head is provided at one end of the ninth fastener, and an external thread is provided at the other end of the ninth fastener. The forward pressure resistance plate is connected to the external thread of the ninth fastener through an internal thread, so that the forward cylindrical pressure sensor 18 can be fixedly mounted on the forward pressure resistance plate; an internal hexagonal cylindrical head is provided at one end of the tenth fastener, and an external thread is provided at the other end of the eighth fastener. A hexagonal cylindrical head, an external thread is provided at the other end of the tenth fastener, and the forward pressure resistance plate connecting rod is connected to the external thread of the tenth fastener through an internal thread, so that the forward pressure resistance plate can be fixedly mounted on the forward pressure resistance plate connecting rod; an eleventh fastener is provided with an inner hexagonal cylindrical head at one end, and the other end of the eleventh fastener is provided with an external thread, and the carrier module 1 is connected to the external thread of the eleventh fastener through the internal thread, so that the forward pressure resistance plate connecting rod can be fixedly mounted on the carrier module 1; a twelfth fastener is provided with an inner hexagonal cylindrical head at one end, and the other end of the twelfth fastener is provided with an external thread, and the first micro guide rail 15 is connected to the external thread of the twelfth fastener through the internal thread, so that the backward pressure resistance plate 9 can be fixedly mounted on the first micro guide rail 15;One end of the thirteenth fastener is provided with a hexagonal cylindrical head, and the other end of the thirteenth fastener is provided with an external thread. The carrier module 1 is connected to the external thread of the thirteenth fastener through the internal thread, so that the first micro guide rail 15 can be fixedly installed on the carrier module 1; one end of the fourteenth fastener is provided with a hexagonal cylindrical head, and the other end of the fourteenth fastener is provided with an external thread. The rear sensor support plate 12 is connected to the external thread of the fourteenth fastener through the internal thread, so that the first pressure sensor 11 can be fixedly installed on the rear sensor support plate 12; one end of the fifteenth fastener is provided with a hexagonal cylindrical head, and the other end of the fifteenth fastener is provided with an external thread. The rear sensor support plate 12 is connected to the external thread of the fifteenth fastener through the internal thread, so that the second pressure sensor 13 can be fixedly installed on the rear sensor support plate 12; one end of the sixteenth fastener is provided with a hexagonal cylindrical head, and the other end of the sixteenth fastener is provided with an external thread. The front support plate 5 and The rear sensor support plate 12 is connected to the external thread of the sixteenth fastener through a hole and a shaft, allowing the clamping module 8 to be fixedly mounted on the forward support plate 5 and the rear sensor support plate 12; the seventeenth fastener is provided with a hexagonal cylindrical head at one end and an external thread at the other end, and the rotary motion stepping motor 19 is connected to the external thread of the seventeenth fastener via the internal thread, allowing the rotary motion stepping motor 19 to be fixedly mounted on the motor support plate 20; the eighteenth fastener is provided with a hexagonal cylindrical head at one end and an external thread at the other end, and the primary gear 2 is connected to the external thread of the eighteenth fastener via the internal thread, allowing the primary gear 2 to be fixedly mounted on the clamping module 8; the nineteenth fastener is provided with a hexagonal cylindrical head at one end and an external thread at the other end, and the secondary gear 4 is connected to the external thread of the nineteenth fastener via the internal thread, allowing the secondary gear 4 to be fixedly mounted on the clamping module 8.

[0062] The front-end calibration module is fixedly mounted on the carrier module 1 by fasteners and is coaxial and concentric with the front end of the guide wire module 3; the front-end calibration sensor 23 is mounted on the carrier module 1 by a threaded connection through the fifth fastener, the guide shaft disk 24 is mounted on the second micro guide rail 22 by a threaded connection through the sixth fastener, the second micro guide rail 22 is mounted on the guide rail fixing plate 21 by a threaded connection through the seventh fastener, and the guide rail fixing plate 21 is mounted on the carrier module 1 by a threaded connection through the eighth fastener.

[0063] The forward force detection module 7 is fixedly installed on the supporting module 1 through fasteners; the forward force detection module 7 includes a forward pressure resistance plate, a forward cylindrical pressure sensor 18, and a forward cylindrical pin 17. The forward cylindrical pressure sensor 18 is installed on the forward pressure resistance plate in a threaded connection manner through the ninth fastener, and the forward pressure resistance plate is installed on the forward pressure resistance plate connecting rod in a threaded connection manner through the tenth fastener. The forward pressure resistance plate connecting rod is installed on the supporting module 1 in a threaded connection manner through the eleventh fastener, and the forward cylindrical pin 17 is installed on the clamping module 8 through the forward cylindrical pin 17 with its own external thread connection.

[0064] The backward force detection module includes a backward pressure resistance plate 9, a first backward cylindrical pin 10, a first pressure sensor 11, a second pressure sensor 13, a second backward cylindrical pin 14, and a first micro guide rail 1515; the backward pressure resistance plate 9 is installed on the first micro guide rail 15 by a twelfth fastener in a threaded connection manner, and the first micro guide rail 15 is installed on the carrier module 1 by a thirteenth fastener in a threaded connection manner, the first backward cylindrical pin 10 is installed on the backward pressure resistance plate 9 by a cylindrical pin 1 with its own external thread connection, the second backward cylindrical pin 14 is installed on the backward pressure resistance plate 9 by its own external thread connection, the first pressure sensor 11 is installed on the backward sensor support plate 12 by a threaded connection manner through the fourteenth fastener, and the second pressure sensor 13 is installed on the backward sensor support plate 12 by a threaded connection manner through the fifteenth fastener.

[0065] The rotary motion stepper motor 19 is mounted on the motor support plate 20 in a threaded connection manner through the seventeenth fastener, the first-stage gear 2 is mounted on the clamping module in a threaded connection manner through the eighteenth fastener, and the second-stage gear 4 is mounted on the clamping module in a threaded connection manner through the nineteenth fastener.

[0066] Example 2

[0067] See also Figure 1 、 2 According to another embodiment of the present invention, a device for detecting guide wire force from the slave end of a bidirectional touch interventional robot is provided, comprising:

[0068] S101: The guidewire module performs intervention based on the control signal;

[0069] S102: During the access operation, the front-end calibration module detects the actual resistance experienced by the tip of the guidewire module;

[0070] S103: During the access operation, the backward force detection module detects the proximal force of the guidewire module and inputs the proximal force into the trained neural network model for analysis to obtain the true proximal force;

[0071] S104: Compare the actual proximal force with the actual resistance to obtain an actual resistance accuracy error.

[0072] This application compares the actual proximal force with the actual resistance to obtain the actual obstruction accuracy error, and then feeds the error back to the doctor for the next adjustment operation; this application is simple to operate, and the data processing is fast and the prediction is accurate, which can assist the doctor in establishing a sense of force presence for the guidewire.

[0073] Specifically, the force sensing feedback manipulation using the main end of the interventional surgery robot includes the following steps:

[0074] The torque is provided by the rotary motion stepper motor 19;

[0075] The first gear 2 is directly connected to the output shaft of the rotary stepping motor 19 via a set screw;

[0076] The secondary gear 4 is directly connected to the clamping module 8 via a set screw;

[0077] The first gear 2 and the second gear 4 mesh with each other to transmit torque, thereby realizing the rotation of the clamping module 8;

[0078] Reset the guidewire module 3 to a position where the front calibration sensor 23 and the guide shaft disk 24 have zero contact and no force is generated;

[0079] With a step size of 0.01 mm and a displacement of 1 mm, the slave device is advanced to realize the loading calibration process;

[0080] When the pushing action is finished, the slave device is automatically retracted with a displacement of 1mm in steps of 0.01mm to complete the unloading calibration process.

[0081] Repeat the above loading calibration and unloading calibration process five times;

[0082] When the clamping module 8 moves, the forward force detection module 7 detects the inertial buffer force due to the action of inertia;

[0083] When the front end of the guidewire module 3 collides with the front end calibration module, the front end calibration module detects the real resistance, and the backward force detection module detects the proximal force;

[0084] Static calibration is completed by performing regression analysis on the actual resistance and proximal force through force detection algorithm;

[0085] The front-end calibration module is collided with by random displacement. The front-end calibration module detects the real resistance, and the rear force detection module detects the proximal force. The proximal force is substituted into the neural network model for analysis to obtain the real proximal force and complete the dynamic calibration.

[0086] The true proximal force obtained after substituting the results into the neural network model is compared with the true resistance to obtain the true resistance accuracy error.

[0087] Compared with the prior art, the present invention has the following beneficial effects:

[0088] The embodiment of the present invention provides a method for detecting the guidewire force from the end of a bidirectional point-touch vascular interventional surgical robot. The method detects the real resistance experienced by the tip of the guidewire module 3 through a front-end calibration module, detects the inertial buffering force of the guidewire module 3 through a forward force detection module 7, detects the proximal force of the guidewire module 3 through a backward force detection module, and predicts the real resistance experienced by the tip of the guidewire module 3 through a force detection algorithm, which is then fed back to the doctor for the next adjustment operation. The present invention is simple to operate and has accurate measurement, and can assist doctors in establishing a sense of force and telepresence for the guidewire. It can accurately detect the inertial buffering force of the clamping module 8 and the real proximal force of the front end of the guidewire module 3 during the guidewire delivery movement, and feed back the real force and telepresence to the doctor, facilitating the doctor to make reasonable judgments on the next intervention operation, and effectively ensuring the safety and reliability of the surgical process.

[0089] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A bidirectional point-touch interventional robot guide wire force detection device, characterized in that: include: Carrier module; A guidewire module, provided on the carrier module, for performing interventional work; a front-end calibration module, disposed on the carrier module and aligned with the guidewire module, the front-end calibration module being used to detect the actual resistance experienced by the tip of the guidewire module; A backward force detection module is provided on the carrier module, and is used to detect the proximal force of the guidewire module and input the proximal force into a trained neural network model for analysis to obtain the true proximal force; Comparing the true proximal force with the true resistance to obtain a true resistance accuracy error; The backward force detection module includes a backward pressure resistance plate, a first backward cylindrical pin, a first pressure sensor, a second pressure sensor, a second backward cylindrical pin, and a first micro guide rail; A rearward sensor support plate is provided on the carrier module, the first pressure sensor and the second pressure sensor are provided on the rearward sensor support plate, and the first pressure sensor is provided above the second pressure sensor; The first micro guide rail is arranged on the carrying module, the rear pressure resistance plate is installed on the first micro guide rail, the first rear cylindrical pin and the second rear cylindrical pin are arranged up and down on the rear pressure resistance plate, the first rear cylindrical pin and the second rear cylindrical pin are aligned with the first pressure sensor and the second pressure sensor, and the guide wire module passes through the rear sensor support plate.

2. The bidirectional touch interventional robot guide wire force detection device according to claim 1, characterized in that: The front-end calibration module includes a guide rail fixing plate, a second micro guide rail, a front-end calibration sensor and a guide shaft disk, wherein the guide rail fixing plate is arranged on the carrier module, the second micro guide rail is arranged on the guide rail fixing plate, and the guide shaft disk is movably arranged on the second micro guide rail; The front end calibration sensor is aligned with the guide shaft disk and is arranged on the carrier module, and the guide wire module is aligned with the guide shaft disk.

3. The bidirectional point-touch interventional robot guide wire force detection device according to claim 2, characterized in that: The detection device also includes a clamping module and a forward force detection module for detecting the inertial buffering force of the guide wire module. The forward force detection module is arranged on the supporting module, and the clamping module is arranged between the forward force detection module and the backward force detection module. The guide wire module passes through the backward force detection module, the clamping module and the forward force detection module in sequence.

4. The bidirectional touch interventional robot guide wire force detection device according to claim 3, characterized in that: The forward force detection module includes a forward pressure-resistance plate, a forward cylindrical pressure sensor and a forward cylindrical pin. The forward pressure-resistance plate is arranged on the supporting module, the forward cylindrical pressure sensor is installed on the forward pressure-resistance plate, the forward cylindrical pin is arranged on the clamping module, and the forward cylindrical pressure sensor and the forward cylindrical pin are aligned.

5. The bidirectional point-touch interventional robot guide wire force detection device according to claim 4, characterized in that: The detection device further includes a rotation transmission module, the guide wire module passes through the rotation transmission module, and the rotation transmission module is used to promote the movement of the guide wire module.

6. The bidirectional point-touch interventional robot guide wire force detection device according to claim 5, characterized in that: The rotary transmission module includes a rotary motion stepper motor, a primary gear and a secondary gear. A motor support plate is provided on the carrier module. The rotary motion stepper motor is mounted on the motor support plate. The primary gear is mounted on the rotary motion stepper motor. The secondary gear is mounted on the pipe of the clamping module.

7. The bidirectional point-touch interventional robot guide wire force detection device according to claim 6, characterized in that: A forward support plate is provided on the carrying module, the pipe of the clamping module passes through the forward support plate, and the secondary gear is located on the side of the forward support plate away from the clamping module; the guide wire module passes through the pipe of the clamping module and out of the secondary gear.

8. The device for detecting guide wire force from the end of a bidirectional touch interventional robot according to claim 7, characterized in that: The carrier module is further provided with a limiting block for limiting the rearward force detection module, and the first micro guide rail is located between the limiting block and the rearward sensor support plate.

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