Force feedback operating device for intravascular interventional surgery robot

Abstract

The present invention relates to a force feedback operating device for an intravascular interventional surgical robot in the field of medical equipment technology, comprising a base plate, a support block, a wire feeding simulation mechanism, and a pull rod; two support blocks are spaced apart on the base plate, one end of the pull rod passes through the two support blocks in sequence and is slidably connected to the two support blocks, a threaded shaft is sleeved on the middle part of the pull rod, and the threaded shaft is located between the two support blocks; the wire feeding simulation mechanism is meshed with the threaded shaft for transmission, and when the pull rod is pushed and pulled for axial movement, the pull rod drives the wire feeding simulation mechanism to rotate, and the wire feeding simulation mechanism can feedback the force of the axial movement of the guidewire catheter. The present invention has a simple structure and can realize the functions of axial movement force feedback and circumferential torsional force feedback of the guidewire catheter, effectively improving the operation accuracy of the intravascular interventional surgical robot.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a force feedback operating device for an intravascular interventional surgical robot. Background Art

[0002] Minimally invasive surgery is a procedure that uses endoscopes and various imaging technologies to allow surgeons to perform procedures without inflicting significant incisions on patients. In minimally invasive vascular interventional surgery (MIS), primarily for cardiovascular and cerebrovascular diseases, doctors, guided by imaging equipment such as CT scans, manually insert guidewires, catheters, and balloons into the body's blood vessels, following the pathology to the affected area, where they then perform surgical treatment.

[0003] With the rapid development of minimally invasive vascular interventional procedures, interventional surgical robots have also advanced rapidly. These robots operate in a specialized environment, demanding high reliability and demanding mechanical design and control. The human body's vascular system is complex, with thin walls and numerous branches, making delivery operations significantly challenging. Therefore, manual operation demands high operator skill, and the inevitable hand shake and fatigue from prolonged operation significantly reduce surgical reliability. Therefore, building on the research of predecessors, research on more reliable robotics and intelligent control, and improving the operability of the overall robotic system, are key goals in the development of interventional surgical robots. However, currently used intravascular interventional surgical robots focus primarily on high-precision push-pull and twisting movements, as well as detection of push resistance. They lack timely force feedback during feeding and twisting, potentially leading to misjudgment when determining guidewire catheter positioning, and are unable to adapt to the clamping force requirements of different guidewire catheters.

[0004] A prior art search revealed a Chinese utility model patent with the publication number CN208693445U, which discloses a guidewire / catheter operation torque detection device for an intravascular interventional surgical robot. The torque detection device is provided with a transmission gear for achieving guidewire / catheter twisting operation, and a spring coil is fixedly connected to the inner circumference of the transmission gear. The spring coil consists of a concentric outer ring and an inner ring connected by four spring plates. The four spring plates are evenly distributed along the circumference of the spring coil to form a cross-shaped structure. Four resistance strain gauges are respectively fixed to the four spring plates, and the four resistance strain gauges are connected to form a full-bridge circuit. The full-bridge circuit is connected to an external output signal circuit via a conductive slip ring. This patented technology has the above-mentioned related problems. Summary of the Invention

[0005] In view of the defects in the prior art, the purpose of the present invention is to provide a force feedback operating device for an intravascular interventional surgical robot.

[0006] According to the present invention, a force feedback operating device for an intravascular interventional surgical robot includes a base plate, a support block, a wire feeding simulation mechanism, and a pull rod;

[0007] The two support blocks are spaced apart and arranged on the base plate. One end of the pull rod passes through the two support blocks in sequence and is then slidably connected to the two support blocks. A threaded shaft is sleeved on the middle portion of the pull rod, and the threaded shaft is located between the two support blocks.

[0008] The wire feeding simulation mechanism is meshed with the threaded shaft for transmission. When the pull rod is pushed and pulled for axial movement, the pull rod drives the wire feeding simulation mechanism to rotate. The wire feeding simulation mechanism can feed back the force of the axial movement of the guide wire catheter.

[0009] In some embodiments, the wire feeding simulation mechanism includes a wire feeding gear, a first force sensor and a wire feeding motor. The wire feeding gear is meshed with the threaded shaft, and the wire feeding gear is rotationally connected to the wire feeding motor through the first force sensor. The first force sensor obtains the transmission force during the axial movement of the guide wire catheter, and the transmission force is used to overcome the output resistance of the wire feeding motor.

[0010] In some embodiments, the wire feeding motor is provided with a first encoder, and the first encoder is used to display the displacement or speed of the axial movement of the guide wire catheter.

[0011] In some embodiments, a twisting simulation mechanism is further included, wherein the twisting simulation mechanism includes a twisting gear, a second force sensor, and a twisting motor, wherein the twisting gear is meshedly connected to the threaded shaft;

[0012] The pull rod is connected to the support block in a sliding manner and is also connected in a rotational manner. When the pull rod is rotated, the pull rod drives the twisting gear to rotate via the threaded shaft, and the twisting gear drives the twisting motor to rotate.

[0013] The second force sensor acquires the torsional force during the torsional process of the guidewire catheter, and the torsional force is used to overcome the output resistance of the twisting motor.

[0014] In some embodiments, the twisting motor is provided with a second encoder, and the second encoder is used to display the displacement or speed of the twisting of the guidewire catheter.

[0015] In some embodiments, a shaft sleeve is further included, and the pull rod is slidably connected and rotatably connected to the support block through the shaft sleeve.

[0016] In some embodiments, a controller is further included, wherein the controller collects data transmitted by the first force sensor to control the output resistance of the wire feeding motor, and the controller collects data transmitted by the second force sensor to control the output resistance of the twisting motor.

[0017] In some embodiments, a thin film pressure sensor is provided on the grip portion of the pull rod, and the thin film pressure sensor is used to detect the force applied to the pull rod and determine whether it is a normal operation.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention has a simple structure and can realize the function of axial movement force feedback of the guidewire catheter, effectively improving the operation accuracy of the robot used for intravascular interventional surgery.

[0020] 2. The present invention sets up a twisting simulation mechanism that engages with the threaded shaft for transmission, so that the same threaded shaft can drive the wire feeding simulation mechanism and the twisting simulation mechanism respectively, thereby expanding the function of the device while reducing the space occupied by the device and improving the operating accuracy of the robot used for intravascular interventional surgery.

[0021] 3. The present invention connects an encoder to the wire feeding motor and the twisting motor, and the encoder can display the displacement or speed of the axial movement and axial rotation of the guidewire catheter in real time, thereby further improving the operating accuracy of the robot used for intravascular interventional surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent upon reading the detailed description of non-limiting embodiments with reference to the following drawings:

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 This is a schematic diagram of the meshing structure between the threaded shaft and the wire feeding gear of the present invention;

[0025] Figure 3 Schematic diagram of the wire feeding mechanism structure of the present invention;

[0026] Figure 4 This is a schematic diagram of the meshing structure of the threaded shaft and the twisting gear of the present invention;

[0027] Figure 5 It is a schematic structural diagram of the twisting mechanism of the present invention. DETAILED DESCRIPTION

[0028] The present invention will be described in detail below with reference to specific embodiments. The following examples will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those skilled in the art, several changes and improvements can be made without departing from the scope of the present invention. These all fall within the scope of protection of the present invention.

[0029] Example 1

[0030] The present invention provides a force feedback operating device for an intravascular interventional surgical robot, such as Figure 1-5 As shown, the invention comprises a support block 2, a pull rod 4 connected to the support block 2 and capable of axial movement and circumferential rotation relative to the support block 2, and a wire feeding simulation mechanism 3 connected to the pull rod 4. Preferably, the two support blocks 2 are arranged parallel and spaced apart on a base plate 1, which provides a reference plane that meets the requirements for the support blocks 2 and other mechanical components. One end of the pull rod 4 passes through the axis of the two support blocks 2 in sequence and is connected to the two support blocks 2 in a slidable and rotatable manner. Preferably, the support block 2 is provided with an axial hole, and a shaft sleeve 6 is installed in the axial hole. The outer circumferential surface of the shaft sleeve 6 contacts the axial hole of the support block 2, and the shaft sleeve 6 can slide axially and rotate circumferentially relative to the axial hole. The pull rod 4 is sleeved on the shaft sleeve 6 and the two remain relatively stationary. When the pull rod 4 is pushed or pulled, the axial movement of the shaft sleeve 6 relative to the axial hole causes the pull rod 4 to move axially relative to the support block 2. When the pull rod 4 is rotated, the circumferential rotation of the shaft sleeve 6 relative to the axial hole causes the pull rod 4 to move circumferentially relative to the support block 2. A threaded shaft 41 is sleeved on the pull rod 4 , and the threaded shaft 41 is located between the two support blocks 2 .

[0031] The wire feeding simulation mechanism 3 includes a wire feeding gear 31, a first force sensor 32 and a wire feeding motor 33. The wire feeding gear 31, the wire feeding motor 33 and the first force sensor 32 are installed in the housing. The wire feeding gear 31 is connected to the wire feeding motor 33 through the first force sensor 32. The wire feeding motor 33 is driven to rotate by the rotation of the wire feeding gear 31. At this time, the first force sensor 32 obtains the force value applied to the pull rod 4 to overcome the resistance of the wire feeding motor 33. The force applied to the pull rod 4 obtained by the controller is compared with the output resistance value of the wire feeding motor 33, and then the output resistance of the wire feeding motor 33 is controlled to make the guide wire catheter move at a predetermined speed, thereby realizing the function of axial movement force feedback of the guide wire catheter. Preferably, a controller 7 is installed in the system, and the controller 7 is used to obtain data collected by the first force sensor 32. The controller 7 obtains the axial thrust applied by the pull rod 4 according to the first force sensor 32, and compares the axial thrust with the output resistance of the wire feeding motor 33. By adjusting the output resistance of the wire feeding motor 33 or the external force applied to the pull rod 4, the guide wire catheter moves at a predetermined speed. The controller 7 and the first force sensor 32 as well as the controller 7 and the wire feeding motor 33 may be connected via signals or electrically.

[0032] The working principle of the present invention is as follows: when the pull rod 4 is pulled by external force, the threaded shaft 41 moves axially with the pull rod 4 under the sliding cooperation between the sleeve 6 and the axial hole opened by the support block 2, thereby driving the rotation of the wire feeding gear 31 meshing with the threaded shaft 41, and the wire feeding gear 31 drives the wire feeding motor 33 to rotate through the first force sensor 32. At this time, the controller 7 collects the axial thrust applied by the pull rod 4 and the output resistance of the wire feeding motor 33 obtained by the first force sensor 32, and adjusts the output resistance of the wire feeding motor 33 or changes the axial thrust applied to the pull rod 4, so that the guidewire catheter moves at a preset speed under the action of the wire feeding gear 31. The axial thrust on the pull rod 4 obtained by the first force sensor and the output resistance of the wire feeding motor realize the function of axial movement force feedback of the guidewire catheter, effectively improving the operation accuracy of the robot used for intravascular interventional surgery.

[0033] Preferably, the external force applying part of the pull rod 4 is also equipped with a thin film pressure sensor 42, which can detect and display the magnitude of the external force applied to the pull rod 4, and then judge whether the force applied to the pull rod 4 is a normal force, as well as the gripping force of the hand through the thin film pressure sensor 42, thereby realizing the control of the guide wire clamping force.

[0034] Example 2

[0035] This embodiment 2 is formed on the basis of embodiment 1. By providing a twisting simulation device that meshes with the threaded shaft, the same threaded shaft can drive the wire feeding simulation mechanism and the twisting simulation mechanism respectively. This expands the function of the device while reducing the space occupied by the device and improving the operating accuracy of the intravascular interventional surgery robot. Specifically:

[0036] The force feedback operation device for an intravascular interventional surgery robot provided in this embodiment 2 is further provided with a twisting mechanism 5, such as Figure 1-5 As shown, the twisting mechanism 5 includes a twisting gear 51, a second force sensor 52, and a twisting motor 53. The twisting gear 53 is meshed and transmission-connected with the threaded shaft 41. The twisting gear 51 is rotationally connected to the twisting motor 53 via the second force sensor 52. The controller 7 is used to obtain data collected by the second force sensor 52. The controller 7 controls the output resistance of the twisting motor 53 based on the force data obtained by the second force sensor 52 during the circumferential rotation of the guidewire catheter. The controller 7 and the second force sensor 52, as well as the controller 7 and the twisting motor 53, can be connected via signals or electricity.

[0037] Its operating principle is as follows: when the pull rod 4 is rotated by an external force, the threaded shaft 41 rotates circumferentially along with the pull rod 4 under the rotational cooperation between the sleeve 6 and the axial hole defined in the support block 2. The threaded shaft 41 then drives the twisting gear 51 to rotate, and the twisting gear 51 drives the twisting motor 53 to rotate via the second force sensor 52. At this time, the second force sensor 52 obtains the circumferential rotational force of the guidewire catheter through the rotation of the twisting gear 51. The second force sensor 52 then transmits the obtained circumferential rotational force data of the guidewire catheter to the controller 7. The controller 7 controls the output resistance of the twisting motor 53 based on the circumferential rotational force data of the guidewire catheter, thereby realizing the function of feedback of the circumferential rotational force of the guidewire catheter.

[0038] At this time, the controller 7 collects the circumferential rotational force exerted by the pull rod 4 and the output resistance of the twisting motor 53 obtained by the second force sensor 52, and adjusts the output resistance of the twisting motor 53 or changes the circumferential torsion applied to the pull rod 4, so that the guidewire catheter moves at a preset speed under the action of the twisting gear 51. The circumferential torsion on the pull rod 4 and the output resistance of the twisting motor 53 obtained by the second force sensor 52 realize the function of circumferential movement force feedback of the guidewire catheter, effectively improving the operation accuracy of the intravascular interventional surgery robot.

[0039] Example 3

[0040] This embodiment 3 is formed on the basis of embodiment 2. By connecting encoders to the wire feeding motor and the twisting motor, the encoders can display the displacement or speed of the axial movement and axial rotation of the guidewire catheter in real time, further improving the operating accuracy of the intravascular interventional surgery robot. Specifically:

[0041] like Figure 1-5 As shown, the wire feeding motor 33 is connected to the first encoder 34. The rotating wire feeding motor 33 drives the first encoder 34 to rotate, and then the first encoder 34 generates a numerical change. The numerical change generated by the first encoder 34 is converted into the displacement or speed of the guide wire tube moving forward and backward that executes the hand wire feeding mechanism, that is, the displacement or speed of the axial movement of the guide wire tube.

[0042] Further preferably, the twisting motor 53 is connected to a second encoder 54, and the rotating twisting motor 53 drives the second encoder 54 to rotate, and then the second encoder 54 produces a numerical change. The numerical change produced by the second encoder 54 is converted into the torsional displacement or torsional speed of the guide wire tube of the hand-executed wire feeding mechanism, that is, the displacement of the circumferential rotation of the guide wire tube or the speed of the circumferential rotation.

[0043] In the description of this application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on this application.

[0044] The above describes specific embodiments of the present invention. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art may make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. The embodiments of this application and the features in the embodiments may be combined with each other in any manner unless there is a conflict.

Claims

1. A force feedback operating device for an intravascular interventional surgical robot, characterized in that: It comprises a base plate (1), a support block (2), a wire feeding simulation mechanism (3) and a pull rod (4); The two support blocks (2) are spaced apart and arranged on the base plate (1); one end of the pull rod (4) passes through the two support blocks (2) in sequence and is then slidably connected to the two support blocks (2); a threaded shaft (41) is sleeved on the middle part of the pull rod (4); and the threaded shaft (41) is located between the two support blocks (2); The wire feeding simulation mechanism (3) is meshed with the threaded shaft (41) for transmission. When the pull rod (4) is pushed and pulled for axial movement, the pull rod (4) drives the wire feeding simulation mechanism (3) to rotate. The wire feeding simulation mechanism (3) can feedback the force of the axial movement of the guide wire catheter; The wire feeding simulation mechanism (3) comprises a wire feeding gear (31), a first force sensor (32) and a wire feeding motor (33); the wire feeding gear (31) is meshedly connected to the threaded shaft (41); the wire feeding gear (31) is rotationally connected to the wire feeding motor (33) via the first force sensor (32); the first force sensor (32) obtains the transmission force during the axial movement of the guide wire catheter; the transmission force is used to overcome the output resistance of the wire feeding motor (33).

2. The force feedback operating device for an intravascular interventional surgical robot according to claim 1, characterized in that: The wire feeding motor (32) is provided with a first encoder, and the first encoder is used to display the displacement or speed of the axial movement of the guide wire catheter.

3. The force feedback operating device for an intravascular interventional surgical robot according to claim 1, characterized in that: It also includes a twisting simulation mechanism (5), the twisting simulation mechanism (5) including a twisting gear (51), a second force sensor (52) and a twisting motor (53), the twisting gear (51) being meshedly connected to the threaded shaft (41); The pull rod (4) is slidably connected to the support block (2) and is also rotatably connected. When the pull rod (4) is rotated, the pull rod (4) drives the twisting gear (51) to rotate via the threaded shaft (41), and the twisting gear (51) drives the twisting motor (53) to rotate. The second force sensor (52) obtains the torsional force during the torsional process of the guidewire catheter, and the torsional force is used to overcome the output resistance of the twisting motor (53).

4. The force feedback operating device for an intravascular interventional surgical robot according to claim 3, characterized in that: The twisting motor (52) is provided with a second encoder, and the second encoder is used to display the displacement or speed of the twisting of the guidewire catheter.

5. The force feedback operating device for an intravascular interventional surgical robot according to claim 3 or 4, characterized in that: It also includes a shaft sleeve (6), and the pull rod (4) is connected to the support block (2) in a sliding and rotational manner through the shaft sleeve (6).

6. The force feedback operating device for an intravascular interventional surgical robot according to claim 5, characterized in that: The invention also includes a controller (7), wherein the controller (7) collects data transmitted by the first force sensor (32) to control the output resistance of the wire feeding motor (33), and the controller (7) collects data transmitted by the second force sensor (52) to control the output resistance of the twisting motor (53).

7. The force feedback operating device for an intravascular interventional surgical robot according to any one of claims 1 to 4 or 6, characterized in that: The gripping portion of the pull rod (4) is provided with a film pressure sensor (42), and the film pressure sensor (42) is used to detect the force applied to the pull rod (4) and determine whether it is a normal operation.

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