A surgical robot main end force sensing feedback control device and method

Abstract

The present invention relates to the field of medical devices, and specifically to a main-end force sensing feedback control device and method for a surgical robot. The device comprises: a carrying module, the carrying module comprising a carrying body; a sensing body, disposed on the carrying body and used to sense the pressure on a guidewire or catheter; a data acquisition module, mounted on the carrying body and connected to the sensing body, used to collect pressure data sensed by the sensing body in real time, wherein the data acquisition module performs multi-channel real-time data acquisition; and a data processing module, mounted on the carrying body, used to calculate the pressure data collected by the data acquisition module and display the pressure value. The present invention achieves force perception by calculating the force collected by the data acquisition module through the data processing module, providing feedback for the main-end pressure perception of the vascular interventional surgical robot, so as to enable the control module to flexibly clamp or loosen the guidewire / catheter, greatly increasing the maneuverability of the robot.

Description

Technical Field

[0001] The present invention relates to the field of medical instruments, and in particular to a main end force sensing feedback manipulation device and method for a surgical 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 cannot sense the actual force applied by the human hand to the guidewire / catheter, that is, they cannot flexibly clamp or loosen the guidewire / catheter, which may lead to unsafe factors during the operation. Summary of the Invention

[0005] The embodiments of the present invention provide a main end force sensing feedback manipulation device and method for a surgical robot, so as to at least solve the technical problem that existing interventional surgical robots are unable to sense the actual pressure applied to a guide wire or catheter.

[0006] According to one embodiment of the present invention, a main end force sensing feedback manipulation device of a surgical robot is provided, comprising:

[0007] The carrying module includes a carrying body;

[0008] A sensing body, provided on the carrying body, for sensing the pressure on the guide wire or catheter of the robot;

[0009] The data acquisition module is installed on the carrier body and connected to the sensing body, and is used to collect the pressure data sensed by the sensing body in real time. The data acquisition module collects multi-channel data in real time;

[0010] The data processing module is installed on the carrier body and is used to calculate the pressure data collected by the data acquisition module and display the pressure value;

[0011] The control module is connected to the data processing module and is used to control the degree of clamping or loosening of the guide wire or catheter by the robot according to the calculated pressure value.

[0012] Furthermore, the device also includes a front module installed on the carrier body, the data processing module and the data acquisition module are connected through the front module, the front module is connected with analog switch 1, analog switch 2, flexible circuit board 1 interface and flexible circuit board 2 interface, the flexible circuit board 1 interface is connected to the flexible circuit board interface of the data processing module through flexible circuit board flexible cable 1.

[0013] Furthermore, the analog switch 1, the analog switch 2, the flexible circuit board 1 interface and the flexible circuit board 2 interface are connected to the front module by welding.

[0014] Furthermore, the carrier module also includes a first placement slot cover and a second placement slot cover. The first placement slot cover is used to seal the data processing module on the carrier body, and the second placement slot cover is used to seal the front module on the carrier body.

[0015] Furthermore, the first placement slot cover is fastened to the carrier body by a first fastener, and the second placement slot cover is fastened to the carrier body by a second fastener.

[0016] Furthermore, the sensing body is fastened to the bearing body via a third fastener.

[0017] Furthermore, a card slot is provided on the sensing body, and the data acquisition module is adhered to the card slot of the sensing body. The data acquisition module is connected to the flexible circuit board second interface of the front module through the flexible circuit board flexible cable second.

[0018] Furthermore, the data acquisition module is installed on the sensing body by adhesive bonding.

[0019] Furthermore, the device also includes a battery module, and the battery module is arranged on the carrying body.

[0020] A method for force sensing and feedback manipulation of a main end of a surgical robot comprises the following steps:

[0021] sensing pressure on a guidewire or catheter;

[0022] Real-time collection of induced pressure data, including multi-channel data collection;

[0023] Calculate the collected pressure data and display the pressure value.

[0024] The main-end force sensing feedback control device and method of the surgical robot in the embodiment of the present invention include: a load-bearing module, which includes a load-bearing body; a sensing body, which is arranged on the load-bearing body and is used to sense the pressure on the guidewire or catheter; a data acquisition module, which is installed on the load-bearing body and connected to the sensing body, and is used to collect pressure data sensed by the sensing body in real time, and the data acquisition module is multi-channel real-time data acquisition; a data processing module, which is installed on the load-bearing body and is used to calculate the pressure data collected by the data acquisition module and display the pressure value. The present invention realizes force perception by calculating the size of the force collected by the data acquisition module through the data processing module, providing feedback for the main-end pressure perception of the vascular interventional surgical robot, so that the control module can flexibly clamp or loosen the guidewire / catheter, greatly increasing the maneuverability of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] 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:

[0026] Figure 1 This is a schematic diagram of the structure of the main end force sensing feedback control device of the surgical robot of the present invention. Figure 1 ;

[0027] Figure 2 This is a schematic diagram of the structure of the main end force sensing feedback control device of the surgical robot of the present invention. Figure 2 ;

[0028] Figure 3 This is a schematic diagram of the structure of the main end force sensing feedback control device of the surgical robot of the present invention. Figure 3 ;

[0029] Figure 4 It is a structural schematic diagram of the carrier body of the present invention;

[0030] Figure 5 This is a schematic structural diagram of the first placement slot cover plate of the present invention;

[0031] Figure 6 This is a schematic structural diagram of the second placement slot cover plate of the present invention;

[0032] Figure 7 This is a schematic diagram of the structure of the sensing subject of the present invention;

[0033] Figure 8 This is a schematic structural diagram of the power module of the present invention;

[0034] Figure 9 Schematic diagram of the structure of the data processing module of the present invention;

[0035] Figure 10 is another structural schematic diagram of the data processing module of the present invention;

[0036] Figure 11 It is a structural diagram of the front module of the present invention;

[0037] Figure 12 Schematic diagram of the structure of the data acquisition module of the present invention;

[0038] Figure 13 is a schematic structural diagram of a first fastener of the present invention;

[0039] Figure 14 is a schematic structural diagram of a second fastener of the present invention;

[0040] Figure 15 is a schematic structural diagram of a third fastener of the present invention;

[0041] Figure 16 This is a structural diagram of a flexible flat cable according to the present invention;

[0042] Figure 17 This is a schematic diagram of the second structure of the flexible flat cable of the present invention;

[0043] Figure 18 This is a demonstration diagram of the collection results when the data collection module is pressed in the present invention;

[0044] Figure numerals: 1-sensing body, 2-data acquisition module, 3-carrying body, 4-power module, 5-first placement slot cover, 6-data processing module, 7-first fastener, 8-third fastener, 9-second placement slot cover, 10-second fastener, 11-front module, 12-microcontroller unit, 13-power management module, 14-Bluetooth module, 15-flexible circuit board interface, 16-lithium battery pin, 17-charging interface, 18-switch module, 19-analog switch 1, 20-analog switch 2, 21-flexible circuit board interface 1, 22-flexible circuit board interface 2, 23-flexible circuit board flexible cable 1, 24-crystal oscillator, 25-flexible circuit board flexible cable 2. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] According to one embodiment of the present invention, a main end force sensing feedback control device of a surgical robot is provided. Figure 1 ,include:

[0048] A carrying module, the carrying module comprising a carrying body 3;

[0049] A sensing body 1 is provided on the carrying body 3 and is used to sense the pressure on the guidewire or catheter;

[0050] The data acquisition module 2 is installed on the carrier body 3 and connected to the sensing body 1, and is used to collect the pressure data sensed by the sensing body 1 in real time. The data acquisition module 2 collects multi-channel data in real time;

[0051] The data processing module 6 is installed on the carrier body 3 and is used to calculate the pressure data collected by the data acquisition module 2 and display the pressure value;

[0052] The control module (not shown in the figure) is connected to the data processing module 6 and is used to control the degree of clamping or loosening of the guide wire or catheter by the robot according to the calculated pressure value.

[0053] The present invention realizes force perception by calculating the magnitude of the force collected by the data acquisition module 2 through the data processing module 6, and provides feedback for the main end pressure perception of the vascular interventional surgical robot, so as to enable the control module to flexibly clamp or release the guide wire / catheter, greatly increasing the maneuverability of the robot.

[0054] When using the present invention, a flexible pressure sensor is provided on the perception body 1 (sensing module) to detect the pressure of the doctor's fingers holding the main end of the robot. The pressure value applied by the doctor's fingers on the perception module is collected through the data acquisition module 2, and the data processing module 6 and the data acquisition module 2 are connected through the front module 11. The data processing module 6 calculates and processes the collected pressure value and displays the force value. The data acquisition module 2 of the present invention is a multi-channel real-time data acquisition, for example, a 32-channel real-time data acquisition. The pressure value of the robot's main end will be communicated to the robot's slave end in real time via Bluetooth to control the degree of clamping or loosening of the guide wire or catheter by the surgical robot's slave end.

[0055] The device of the present invention also includes a power supply module 4 and a support member. The carrying module includes a carrying body 3, a first placement slot cover plate 5 and a second placement slot cover plate 9. The first placement slot cover plate 5 is used to seal the data processing module 6 on the carrying body 3, and the second placement slot cover plate 9 is used to seal the front module 11 on the carrying body 3; the data processing module 6 is installed on the carrying body 3 through the support member in a threaded connection manner; the front module 11 is installed on the carrying body 3 through the support member in a threaded connection manner; the power supply module 4 is installed on the carrying body 3 in a glue-backed manner; the first placement slot cover plate 5 is installed on the carrying body 3 in a threaded connection manner through the support member; the second placement slot cover plate 9 is installed on the carrying body 3 in a threaded connection manner through the support member; the sensing body 1 is installed on the carrying body 3 in a threaded connection manner through the support member, and the data acquisition module 2 is installed on the sensing body 1 in a glue-backed manner; the data processing module 6 calculates the magnitude of the force collected by the data acquisition module 2 to realize force perception.

[0056] The fasteners include a first fastener 7 installed on the first placement slot cover plate 5 and the carrier body 3, a second fastener 10 installed on the second placement slot cover plate 9 and the carrier body 3, and a third fastener 8 installed on the sensing body 1 and the carrier body 3; wherein, the first placement slot cover plate 5 is fastened to the carrier body 3 through the first fastener 7; the second placement slot cover plate 9 is fastened to the carrier body 3 through the second fastener 10, and the front module 11 and the second placement slot cover plate 9 are connected and fixed with the internal thread of the carrier body 3 through the external thread of the second fastener 10; the sensing body 1 is fastened to the carrier body 3 through the third fastener 8.

[0057] Furthermore, a hexagonal cylindrical head is provided at one end of the first fastener 7, and an external thread is provided at the other end of the first fastener 7. The load-bearing body 3 is connected to the external thread of the first fastener 7 through the internal thread, so that the first placement slot cover plate 5 can be fixedly installed on the load-bearing body 3; a hexagonal cylindrical head is provided at one end of the second fastener 10, and an external thread is provided at the other end of the second fastener 10. The load-bearing body 3 is connected to the external thread of the second fastener 10 through the internal thread, so that the second placement slot cover plate 9 can be fixedly installed on the load-bearing body 3; a hexagonal cylindrical head is provided at one end of the third fastener 8, and an external thread is provided at the other end of the third fastener 8. The load-bearing body 3 is connected to the external thread of the third fastener 8 through the internal thread, so that the sensing body 1 can be fixedly installed on the load-bearing body 3.

[0058] The data processing module 6 is fixed to the carrier module by bolts. The data processing module 6 also includes a microcontroller unit 12, a power management module 13, a Bluetooth module 14, a flexible circuit board interface 15, a lithium battery pin 16, a charging interface 17, a switch module 18, a crystal oscillator 24, etc.; the power management module 13, the Bluetooth module 14, the lithium battery pin 16, and the crystal oscillator 24 are directly fixed to the back of the data processing module 6 by welding, and the microcontroller unit 12, the flexible circuit board interface 15, the charging interface 17, and the switch module 18 are fixed to the front of the data processing module 6 by welding.

[0059] A card slot is provided on the sensing body 1, and the data acquisition module 2 is glued into the card slot of the sensing body 1; the data acquisition module 2 is glued into the card slot of the sensing body 1, and the pins of the data acquisition module 2 are connected to the flexible circuit board second interface 22 in the front module 11 through the flexible circuit board soft cable 25.

[0060] The device also includes a battery module, which is arranged on the carrier body 3; the power module 47 is connected and fixed to the carrier body 33 by adhesive bonding; and the data acquisition module 2 is installed on the sensing body 1 by adhesive bonding.

[0061] In the embodiment, the front module 11 is fixed to the carrier module by bolts, and the front module 11 is connected to the analog switch 19, the analog switch 2, the flexible circuit board interface 1 21, and the flexible circuit board interface 22; the analog switch 1 19, the analog switch 2, the flexible circuit board interface 1 21, and the flexible circuit board interface 2 22 are connected to the front module 11 by welding, and the flexible circuit board interface 1 21 is connected to the flexible circuit board interface 15 of the data processing module 6 via a flexible circuit board flexible cable 1 23.

[0062] The main-end force sensing feedback control device of the vascular interventional surgical robot of the present invention collects the magnitude of the force applied by the doctor's fingers on the force sensing control device through the data acquisition module 2, calculates and displays the force value in real time through the data processing module 6, and feeds back to the doctor for the next adjustment operation; the sampling frequency is high, 32 channels are collected in real time, and multiple channels can reflect the subtle changes of each finger of the doctor in real time. After calculation, the sampling frequency can reach 18KHZ / per channel; and the main-end force sensing feedback control device of the vascular interventional surgical robot of the present invention can realize flexible clamping or loosening of the guide wire / catheter, which greatly increases the maneuverability of the robot, has a simple operation method, and can assist the doctor in improving the control accuracy of the guide wire / catheter.

[0063] The present invention has a compact structure, small size, and is easy to disinfect, making it easy to promote and apply on different surgical robots. It can collect the doctor's different grip strengths and remotely transmit them from the robot's main end to the slave end to control the degree of clamping or loosening of the guide wire or catheter by the surgical robot's slave end, effectively ensuring the safety and reliability of the surgical process.

[0064] According to an embodiment of the present invention, a method for force sensing and feedback manipulation of a surgical robot main end is provided. Figure 1 , including the following steps:

[0065] sensing pressure on a guidewire or catheter;

[0066] Real-time collection of induced pressure data, including multi-channel data collection;

[0067] Calculate the collected pressure data and display the pressure value.

[0068] The main-end force sensing feedback manipulation method of the vascular interventional surgical robot of the present invention collects the magnitude of the force applied by the doctor's fingers on the force sensing manipulation device in real time, that is, in traditional interventional surgery, imitates the magnitude of the force applied by the doctor's fingers on the guide wire / catheter, calculates and displays the force value in real time, and feeds back to the doctor for the next adjustment operation; the sampling frequency is high, and multi-channel real-time acquisition is carried out. The multi-channel can reflect the subtle changes of each finger of the doctor in real time, and the sampling frequency can reach 18KHZ / per channel after calculation; and the main-end force sensing feedback manipulation device of the vascular interventional surgical robot of the present invention can realize flexible clamping or loosening of the guide wire / catheter, which greatly increases the maneuverability of the robot, and the operation method is simple, which can assist the doctor in improving the control accuracy of the guide wire / catheter.

[0069] 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 main end force sensing feedback control device for a surgical robot, characterized in that: include: A carrying module, the carrying module comprising a carrying body; a sensing body, provided on the carrying body, for sensing the pressure on the guide wire or catheter of the robot; A data acquisition module is installed on the carrier body and connected to the sensing body, and is used to collect pressure data sensed by the sensing body in real time. The data acquisition module collects data in real time through multiple channels; the data acquisition module collects data in real time through 32 channels, reflecting the subtle changes of each doctor's finger in real time, and the sampling frequency can reach 18KHZ / channel; A data processing module is mounted on the carrier body and is used to calculate the pressure data collected by the data acquisition module and display the pressure value. The data processing module calculates the force collected by the data acquisition module to achieve force perception, providing feedback for the pressure perception of the main end of the vascular interventional surgery robot, so as to enable the control module to flexibly clamp or release the guidewire or catheter. The data processing module is fixed to the carrier module by bolts and includes a microcontroller unit, a power management module, a Bluetooth module, a flexible circuit board interface, a lithium battery pin, a charging interface, a switch module, and a crystal oscillator. a control module connected to the data processing module, and configured to control the degree of clamping or loosening of the guidewire or catheter by the robot according to the calculated pressure value; The device also includes a front module mounted on the carrier body, the data processing module and the data acquisition module are connected via the front module, the front module is connected to analog switch 1, analog switch 2, flexible circuit board interface 1, and flexible circuit board interface 2, the flexible circuit board interface 1 being connected to the flexible circuit board interface of the data processing module via flexible circuit board flexible cable 1; the analog switch 1, analog switch 2, flexible circuit board interface 1, and flexible circuit board interface 2 are connected to the front module by welding; The sensing body is provided with a flexible pressure sensor for detecting the pressure of the doctor's fingers holding the main end of the robot; the sensing body is provided with a card slot, and the data acquisition module is adhered to the card slot of the sensing body. The data acquisition module is connected to the flexible circuit board interface 2 of the front module via a flexible circuit board flexible cable 2; The carrier module further includes a first placement slot cover plate and a second placement slot cover plate, wherein the first placement slot cover plate is used to cover the data processing module on the carrier body, and the second placement slot cover plate is used to cover the front module on the carrier body; the first placement slot cover plate is fastened to the carrier body by a first fastener, and the second placement slot cover plate is fastened to the carrier body by a second fastener; The device further includes a battery module, and the battery module is arranged on the carrying body.

2. The main end force sensing feedback manipulation device of the surgical robot according to claim 1, characterized in that: The sensing body is fastened to the carrying body via a third fastener.

3. The main end force sensing feedback manipulation device of the surgical robot according to claim 1, characterized in that: The data acquisition module is mounted on the sensing body in a manner of adhesive bonding.

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