A main-end operating device for an interventional surgery robot

Abstract

A master-side operating device for an interventional surgical robot, used to control a slave-side robot to perform corresponding actions, comprises a frame, a manipulator mounted on the frame, and a controller. The manipulator includes a linkage assembly and a return assembly, which engages or disengages with the linkage assembly using a clutch. This eliminates the electromagnetic induction effect and resulting interference current that may be generated when the operator operates the master-side operating device, which drives the return assembly. This not only effectively protects the electronic components of the master-side operating device, but also avoids the reaction force of interference current on the operation, effectively improving the operating precision of the master-side operating device.

Description

Technical Field

[0001] The present invention relates to a device in the field of medical instrument robots, and in particular to a main end operating device of an interventional surgery robot. Background Art

[0002] Because vascular interventional procedures expose doctors to long-term X-ray radiation, remotely controlled master-slave vascular interventional surgical robots have been developed for engineering purposes. These robots can operate in environments with strong radiation, allowing doctors to control them from outside the environment. Currently, interventional surgical robots have two control methods: a touch screen and a joystick. The joystick simulates the doctor's two-handed control of a catheter or guidewire. For example, a doctor typically grasps a catheter or guidewire between the thumb and middle finger of each hand and advances or retracts it a certain distance. Then, they release their thumbs and middle fingers and return their hands to their original position. This allows the doctor to maintain their position and deliver the catheter or guidewire using both hands. Catheter or guidewire rotation generally does not require manual movement, so there's no need to return the hands after rotation. The master end typically has two handles, allowing both hands to operate simultaneously.

[0003] The master-side manipulation of the operating device must be precisely transmitted to the slave-side robot, and the resistance encountered by the slave-side robot while delivering or rotating the catheter or guidewire must also be accurately fed back to the master-side. This allows the doctor to operate the master-side operation as if they were in the operating room, creating a strong sense of presence. To ensure accurate and timely transmission of the master-side manipulation information to the slave-side robot and accurate and timely feedback of the resistance encountered by the slave-side robot to the master-side, the master-side utilizes numerous precision components and sensors to detect and transmit this information. Resetting the joystick after movement is typically achieved using a high-precision motor. Specifically, the doctor operates the master-side manipulation device by pinching the joystick between their thumb and index finger to move or rotate the slave-side robot to deliver or rotate the catheter or guidewire. After moving a certain distance, the joystick must be released to reset it. Therefore, the joystick is typically connected to a motor through a corresponding mechanism, with the motor's rotation driving the reset of the joystick. However, the movement of the joystick also drives the motor's rotation. Due to electromagnetic effects, the motor becomes a "generator" generating electricity, significantly impacting the master-side manipulation device's precision electronic components. Furthermore, the motor generates reverse resistance, significantly affecting the master-side manipulation device's operational accuracy. Summary of the Invention

[0004] Based on this, it is necessary to provide a new interventional surgical robot master-end operating device to address the deficiencies in the existing technology.

[0005] A master-end operating device for an interventional surgical robot, used to control a slave-end robot to perform corresponding actions, includes a frame, an operator installed on the frame, and a controller, characterized in that: the operator includes a linkage component and a return component, the return component and the linkage component can be separated or engaged, the operator also includes an operating rod that can slide axially between an initial position and a non-initial position, the operating rod is connected to the linkage component, when the operating rod is loosened in the non-initial position, the controller controls the return component to engage with the linkage component, the return component operates to drive the operating rod back to the initial position, when the operating rod is operated to slide from the initial position to the non-initial position, the controller controls the return component to separate from the linkage component, the return component includes a motor and an electromagnetic clutch connected to the motor.

[0006] Furthermore, the electromagnetic clutch allows the power of the motor to be transmitted to the linkage assembly or not.

[0007] Furthermore, the linkage assembly includes a first gear, and the output end of the electromagnetic clutch is provided with a second gear, and the second gear is engaged with the first gear.

[0008] Furthermore, the linkage assembly further includes a guide rail, and the guide rail is designed to be installed on the rack.

[0009] Furthermore, the linkage assembly further includes a sliding block, and the sliding block is slidably mounted on the guide rail.

[0010] Furthermore, the sliding block includes a horizontal section and a vertical section, the horizontal section is provided with a rack meshing with the first gear, and the vertical section is fixedly connected to one end of the operating rod.

[0011] Furthermore, the operating rod also includes an adjusting cap, which is small in the middle and large at both ends, and the outer peripheral surface of the adjusting cap is provided with a notch extending along the axial direction.

[0012] Furthermore, the linkage assembly includes a damper, and the linkage assembly and the operator move under the action of the damper.

[0013] The beneficial effect of the present invention is that by separating the movement of the return component and the linkage component, the electromagnetic interference generated by the operator when operating the main-end operating device is eliminated, the reaction force on the operation is avoided, and the operating accuracy of the main-end operating device is effectively improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the master-end operating device of the interventional surgery robot of the present invention;

[0015] Figure 2 for Figure 1 The schematic diagram of the structure of the main end operating device of the interventional surgery robot from another angle after removing the motor mounting frame is shown;

[0016] Figure 3 This is a diagram showing the working principle of the master-end operating device of the interventional surgery robot and the slave-end robot when they cooperate with each other. DETAILED DESCRIPTION

[0017] In order to make the purpose, technical solutions and advantages of the invention more clearly understood, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not intended to limit the invention.

[0018] like Figures 1 to 3 As shown, the present invention provides a master-side operating device 100 for an interventional surgical robot, which is used by an operator to remotely control a slave-side robot 200 to perform corresponding catheter or guidewire manipulations, simulating a doctor manually manipulating a catheter or guidewire in an operating room. The device comprises a housing 10, a pair of manipulators 20, and a controller 30. The corresponding movements of the pair of manipulators 20 are transmitted to the slave-side robots 200 via the controller 30, thereby controlling the slave-side robots 200 to perform the corresponding movements. The resistance encountered by the slave-side robots 200 during the execution of the corresponding movements is also fed back to the corresponding manipulators 20 via the controller 30, providing the operator with a sense of presence. This is achieved by providing a damper 40.

[0019] A pair of operators 20 are mirrored on the frame 10 to facilitate two-handed operation. The frame 10 includes a base frame 11, a pair of support frames 12, and an intermediate frame 13. The pair of support frames 12 and the intermediate frame 13 are fixedly mounted on the base frame 11, and the pair of support frames 12 are symmetrically arranged about the intermediate frame 13. Each operator 20 includes an operating rod 21, a linkage assembly 22, a return assembly 23, and a damper 40. The damper 40 is fixedly mounted on the base frame 11. Preferably, the damper 40 is an electromagnetic damper to reduce internal friction and increase the product's service life.

[0020] The operating rod 21 includes a rod core 24, an adjustment rod 25, and an adjustment cap 26. One end of the rod core 24 is fixedly mounted on the intermediate frame 13. The adjustment rod 25 is provided with an axially extending tube hole. The adjustment rod 25 is fitted onto the other end of the rod core 21 through the tube hole and then mounted on the support frame 12. The adjustment rod 25 can rotate along the axis of the rod core 26 and slide axially between the initial position and the non-initial position. The adjustment cap 26 is fixedly mounted on the adjustment rod 25. Preferably, to facilitate the operator's finger grip, it is formed of a plastic with good anti-slip properties. The adjustment cap 26 is in the shape of a dumbbell with a small center and large ends. The outer peripheral surface is provided with fine grooves extending along the axial direction, similar to fingerprints.

[0021] The linkage assembly 22 includes a guide rail 221, a linkage block 222 and a first gear 223. The guide rail 221 is fixedly mounted on the base frame 11 of the frame 10. The linkage block 222 is in the shape of "┛" (or "┗") and includes a horizontal section and a vertical section. The vertical section of the linkage block 222 is fixedly connected to one end of the adjustment rod 25. The horizontal section of the linkage block 222 is provided with a rack that cooperates with the first gear 233 and can be slidably mounted on the guide rail 221. The first gear 223 is mounted on the output shaft of the damper 40.

[0022] The return assembly 23 includes a motor 231 and a clutch 232. The motor 231 is fixed to the base frame 11 via a mounting bracket. The clutch 232 is also fixedly mounted to the base frame 11. The output end of the motor 231 is coaxially fixedly connected to the input end of the clutch 232. The output end of the clutch 232 is provided with a second gear 233 that meshes with the first gear 223. When the clutch 232 is de-energized, the input and output ends of the clutch 232 are disengaged. When the clutch 232 is energized, the input and output ends of the clutch 232 are engaged. Preferably, the clutch 232 is an electromagnetic clutch, which has fast response, good durability, and is easy to assemble.

[0023] The adjusting cap 26, the clutch 232, the motor 231 and the damper 40 are electrically connected to the controller 30. Specifically, when the operator holds the adjusting cap 26 and operates the adjusting rod 25 to slide along the rod core 24 from the initial position to the non-initial position, and then releases the adjusting cap 26 at the non-initial position, the controller 30 controls the clutch 232 and the motor 231 to be energized. In other cases, the clutch 232 and the motor 231 are in a power-off state.

[0024] Specifically, when the operator holds the adjusting cap 26 and operates the adjusting rod 25 to slide along the rod core 24 from the initial position to the non-initial position, the adjusting rod 25 drives the linkage block 222 to slide on the guide rail 221, and drives the first gear 223 to rotate through the rack on the linkage block 222. At this time, because the clutch 232 is in the power-off state, the input and output ends of the clutch 232 are separated, and the first gear 223 drives the second gear 233 to rotate, but does not drive the motor 231 to rotate, so that electromagnetic induction power generation will not occur and no interference current will be generated. Therefore, not only The precision electronic components of the controller 30 will not be damaged, and the operating accuracy is improved. During the sliding of the positioning rod 25 from the initial position to the non-initial position, the controller 30 obtains the displacement of the positioning rod 25 in real time and then controls the slave robot 200 to operate the catheter or guidewire to perform the corresponding movement in real time, and feeds back the resistance encountered by the catheter or guidewire during the movement to the controller 30 in real time. The controller 30 controls the damper 40 to adjust the corresponding damping force, and transmits the adjusted damping force to the positioning rod 25 in real time through the linkage component 22, so that the operator has a strong sense of presence. When the operator loosens the adjusting cap 26 in the non-initial position, the controller 30 controls the motor 231 to be energized and the clutch 232 to be energized, the input end and the output end of the clutch 232 are engaged, the motor 231 is energized and rotates, and drives the second gear 233 to rotate through the clutch 232, and then drives the first gear 223 to rotate and drives the linkage block 222 to slide on the guide rail 221 through the rack of the linkage block 222, so that the adjusting rod 25 returns to the initial position. When the adjusting rod 25 returns to the initial position, the controller 30 controls the motor 231 and the clutch 232 to be de-energized.

[0025] The beneficial effect of the present invention is that the movement separation of the return component 23 and the linkage component 22 is achieved by separating the input end and the output end of the clutch 232, that is, when needed, the return component 23 uses the clutch 232 to engage with the linkage component 22, and when not needed, the return component 23 uses the clutch 232 to achieve movement separation with the linkage component 22, thereby eliminating the electromagnetic induction effect and the interference current generated when the operator operates the main-end operating device 100 to drive the motor 231 to move, which not only effectively protects the precision electronic components of the main-end operating device 100, but also avoids the reaction force of the interference current on the operation, effectively improving the operating accuracy of the main-end operating device 100.

[0026] The above-described embodiment merely represents one embodiment of the invention, and while the description is relatively specific and detailed, it should not be construed as limiting the scope of the patent. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the inventive concept, and these modifications and improvements fall within the scope of the invention. Therefore, the scope of patent protection for an invention shall be determined by the appended claims.

Claims

1. A master-side operating device for an interventional surgical robot, used to control a slave-side robot to perform corresponding actions, comprising a frame, a manipulator mounted on the frame, and a controller, characterized in that: The operator includes a linkage assembly and a return assembly, and the return assembly can be separated or engaged with the linkage assembly. The operator also includes an operating rod that can slide axially between an initial position and a non-initial position. The operating rod is connected to the linkage assembly. When the operating rod is released from the non-initial position of the operating rod, the controller controls the return assembly to engage with the linkage assembly, and the return assembly operates to drive the operating rod back to the initial position. When the operating rod is operated to slide from the initial position to the non-initial position, the controller controls the return assembly to separate from the linkage assembly. The return assembly includes a motor and an electromagnetic clutch connected to the motor.

2. The interventional surgery robot master-end operating device according to claim 1, characterized in that: The electromagnetic clutch allows the power of the motor to be transmitted to the linkage assembly or not.

3. The interventional surgery robot master-end operating device according to claim 2, characterized in that: The linkage assembly includes a first gear, and the output end of the electromagnetic clutch is provided with a second gear, and the second gear is meshed with the first gear.

4. The interventional surgery robot master-end operating device according to claim 3, characterized in that: The linkage assembly further comprises a guide rail, which is provided for installation on the rack.

5. The interventional surgery robot master-end operating device according to claim 4, characterized in that: The linkage assembly further comprises a sliding block which is slidably mounted on the guide rail.

6. The interventional surgery robot master-end operating device according to claim 5, characterized in that: The sliding block includes a horizontal section and a vertical section. The horizontal section is provided with a rack meshing with the first gear, and the vertical section is fixedly connected to one end of the operating rod.

7. The interventional surgery robot master-end operating device according to claim 1, characterized in that: The operating rod further comprises an adjusting cap, which is in a shape of being small in the middle and large at both ends, and an outer peripheral surface of the adjusting cap is provided with notches extending along the axial direction.

8. The interventional surgery robot master-end operating device according to claim 1, characterized in that: The linkage assembly includes a damper, and the linkage assembly and the operator move under the action of the damper.

Images