Guidewire catheter control and force feedback device for intravascular interventional surgery robot

Abstract

The present invention provides a guidewire catheter control and force feedback device for an intravascular interventional surgical robot in the field of medical equipment technology. The control and force feedback device is fixedly mounted on an operating table and includes a manipulation handle assembly, an axial resistance feedback assembly, and a switch assembly. The manipulation handle assembly includes a handle rod, a linear guide rail, and a seat bearing. The linear guide rail is mounted on the operating table, the seat bearing is sleeved on the handle rod, and the seat bearing is slidably mounted on the linear guide rail via a slider. A control rotator is provided at the end of the handle rod. The switch assembly is mounted on the seat bearing via a fixed base plate. The switch assembly includes a switch handle and a microswitch. A toggle plate is provided at the end of the switch handle. The axial resistance feedback assembly includes a stator component, a mover component, and a force sensor. The stator component is mounted on the operating table, the mover component is mounted on the stator component, and the force sensor is correspondingly mounted on one side of the stator component. The present invention realizes the push-pull and rotation actions of the handle rod in a simple and convenient manner.

Description

Technical Field

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

[0002] Endovascular technology has become a basic means of vascular treatment, and most vascular reconstruction surgeries currently performed require this technology. Guidewire-catheter operation is the core content of endovascular technology and determines the quality of the surgery. Currently, doctors in clinical practice use digital silhouette angiography (DSA) to manually complete the positioning of the guidewire-catheter in the patient's blood vessels. Conventional passive guidewires, guide catheters, and balloon catheters are the basic instruments used in surgery. Using a robotic device to perform guidewire (catheter or other instrument) positioning operations is beneficial for improving positioning accuracy, reducing doctor fatigue, and improving surgical quality.

[0003] Force feedback technology has always been an important factor restricting the widespread clinical application of intravascular interventional surgical robots. The force feedback technology in the vascular interventional surgical robot system refers to the process of using the robot to position and push the guidewire from the end, and feeding back the resistance encountered by the guidewire when it moves in the blood vessel to the robot operator, so that the operator can synchronously feel the state of the guidewire in the blood vessel cavity. The existing technical solution for measuring the pushing force of the guidewire in intravascular interventional surgery has the problem of multi-stage transmission between the guidewire and the force sensor. The pushing force is seriously lost during the transmission process, resulting in insufficient resolution of the pushing force measurement and loss of detailed information. In addition, during the multi-stage transmission process, mechanical vibration can easily mix large noise into the measurement process.

[0004] A prior art search revealed a Chinese invention patent publication numbered CN208693445U, which discloses a guidewire / catheter operation torque detection device for an intravascular interventional surgical robot. This device belongs to the field of medical equipment manufacturing technology. The torque detection device is equipped 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 suffers from the aforementioned 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 guidewire catheter control and force feedback device for an intravascular interventional surgical robot.

[0006] According to the present invention, a guidewire catheter control and force feedback device for an intravascular interventional surgical robot is provided. The control and force feedback device is fixedly mounted on the operating table and includes a manipulation handle assembly, an axial resistance feedback assembly, and a switch assembly.

[0007] The operating handle assembly includes a handle rod, a linear guide rail and a seat bearing, wherein the linear guide rail is arranged on the operating table, the seat bearing is sleeved on the handle rod, and the seat bearing is slidably arranged on the linear guide rail through a slider, and a control rotator for monitoring the rotation state of the handle rod is provided at the end of the handle rod;

[0008] The switch assembly is arranged on the seat bearing through a fixed base plate, and the switch assembly includes a switch handle and a micro switch for outputting a signal for controlling the clamping and releasing of the actuator hand. A toggle plate is provided at the end of the switch handle, and the toggle plate presses the micro switch as the switch handle rotates;

[0009] The axial resistance feedback component includes a stator component, a mover component and a force sensor that outputs the applied force value. The stator component is arranged on the operating table, the mover component is arranged on the stator component, and the force sensor is correspondingly arranged on one side of the stator component.

[0010] In some embodiments, a left induction plate and a right induction plate are fixed at both ends of the stator component, respectively. The left induction plate is correspondingly arranged on the left hard limit, and the right induction plate is correspondingly arranged on the right hard limit. The left hard limit and the right hard limit are respectively arranged on the operating table. A grating scale is provided under the stator component, and a reading head is correspondingly provided on the grating scale.

[0011] In some embodiments, a V-shaped groove is provided on the operating table, the limit block is arranged corresponding to the V-shaped groove through a ball head elastic plunger, and the limit block is arranged below the stator component; the left photoelectric switch is provided on one side of the left hard limit, and the right photoelectric switch is provided on one side of the right hard limit.

[0012] In some embodiments, the control and force feedback device further includes a controller for power supply and signal transmission to the sensor and the motor, and the controller is respectively connected to the handle assembly, the axial resistance feedback assembly, and the switch assembly.

[0013] In some embodiments, a tank chain is fixedly provided on one side of the switch assembly, and the other end of the tank chain is fixedly provided on the operating table.

[0014] In some embodiments, the switch assembly further includes a compression spring and a pin shaft, the toggle plate is rotatably arranged around the pin shaft, and the compression spring is arranged between the toggle plate and the upper fixed plate.

[0015] In some embodiments, the operating handle assembly further includes a pressure sensor, which is arranged around the handle rod. A slip ring is sleeved on the handle rod, and the slip ring is rotatably arranged on the handle rod. The seat bearing and the control rotator are connected via a connecting plate.

[0016] In some embodiments, the control and force feedback device is provided in two groups, and the two groups of the control and force feedback device are rotationally symmetrically distributed on the operating table.

[0017] In some implementations, the control rotator employs an encoder.

[0018] In some implementations, the control rotator uses a motor assembly with a torque sensor.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The present invention realizes the push-pull and rotation of the handle bar by setting a manipulation handle assembly, a pressure sensor and a control rotator, and provides a switch assembly, which can realize the control of forward and backward twisting and opening and closing of the clip with one hand, which is simple and convenient;

[0021] 2. The present invention provides an encoder as a control rotator. When the handle rod rotates, the encoder can detect its rotation angle and direction. A servo motor assembly with a torque sensor can also be provided as a control rotator to provide a force feedback function of the torsional direction.

[0022] 3. The present invention provides a handle assembly and an axial resistance feedback assembly, wherein the handle assembly realizes rotational direction control and structural protection of the directional force feedback, and the axial resistance feedback assembly realizes axial control and structural protection of the directional force feedback;

[0023] 4. The present invention arranges control and force feedback devices in a rotationally symmetrical distribution on the operating table, so that doctors can conveniently control the two manipulators at the front end to move independently through two sets of axial resistance feedback components. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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:

[0025] Figure 1 This is a schematic structural diagram of the guidewire catheter control and force feedback device of the intravascular interventional surgery robot of the present invention;

[0026] Figure 2 is a schematic structural diagram of the handle assembly of the present invention;

[0027] Figure 3It is a structural schematic diagram of the switch assembly of the present invention;

[0028] Figure 4 The structure diagram of the axial resistance feedback component of the present invention is shown in FIG. Figure 1 ;

[0029] Figure 5 The structure diagram of the axial resistance feedback component of the present invention is shown in FIG. Figure 2 ;

[0030] Figure 6 is a cross-sectional schematic diagram of the axial resistance feedback assembly of the present invention;

[0031] Figure 7 This is a schematic structural diagram of the ball-end elastic plunger of the present invention;

[0032] Reference numerals:

[0033] DETAILED DESCRIPTION

[0034] 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.

[0035] Example 1

[0036] like Figure 1 The figure shows the structure diagram of the guidewire catheter control and force feedback device of the intravascular interventional surgical robot. The control and force feedback device is fixedly set on the operating table 6. The control and force feedback device includes a control handle assembly 1, an axial resistance feedback assembly 5 and a switch assembly 2.

[0037] The control and force feedback device also includes a controller 3, which provides cable interfaces for the sensors and motors, providing power, signal control, and transmission. Controller 3 is connected to the control handle assembly 1, the axial resistance feedback assembly 5, and the switch assembly 2. In this embodiment, two sets of control and force feedback devices are provided, rotationally symmetrically distributed on the operating table 6.

[0038] like Figure 2 The figure shows a schematic structural diagram of the operating handle assembly. The operating handle assembly 1 includes a handle rod 11, a linear guide 14 and a seat bearing 16. The linear guide 14 is set on the operating table 6. The seat bearing 16 is sleeved on the handle rod 11, and the seat bearing 16 is slidably set on the linear guide 14 through a slider 15. A control rotator 18 for monitoring the rotation state of the handle rod 11 is provided at the end of the handle rod 11.

[0039] like Figure 3 Figure 2 shows the structure of the switch assembly. The switch assembly 2 is mounted on a seated bearing 16 via a fixed base plate 26 and controls the opening and closing of the actuator grip. The switch assembly 2 includes a switch handle 23 and a microswitch 25 that outputs signals for tightening and loosening the actuator grip. A toggle plate 24 is attached to the end of the switch handle 23, which presses the microswitch 25 as the switch handle 23 rotates.

[0040] The switch assembly 2 further includes a compression spring 21 and a pin 27. The toggle plate 24 is arranged to rotate around the pin 27. The compression spring 21 is arranged between the toggle plate 24 and the upper fixed plate 22. Figure 3 As shown in the figure, the position shown is the natural state, at which the micro switch 25 is not actuated. When the switch handle 23 is toggled, the toggle plate 24 rotates clockwise around the pin 27, causing one side of the toggle plate 24 to press the roller of the micro switch 25 to switch the contact state, while the other end compresses the compression spring 21. When the toggle plate 24 is released, the compression spring 21 pushes the toggle plate 24 back to its original position, automatically resetting the micro switch 25. This causes the micro switch 25 to output a switch signal, thereby controlling the corresponding clamping and releasing signals of the front actuator.

[0041] like Figure 4 The diagram shows the structure of the axial resistance feedback component. Figure 1 ,like Figure 5 The diagram shows the structure of the axial resistance feedback component. Figure 2 ,like Figure 6 The figure shows a cross-sectional schematic diagram of the axial resistance feedback assembly 5, which includes a stator 54, a mover 55, and a force sensor 52 that outputs the applied force value. The stator 54 is mounted on the operating table 6, the mover 55 is mounted on the stator 54, and the force sensor 52 is mounted on one side of the stator 54. A first force sensor bracket and a second force sensor bracket are respectively mounted on both sides of the force sensor.

[0042] A left induction plate 60 and a right induction plate 57 are fixed at both ends of the stator component 54 respectively. The left induction plate 60 is correspondingly set on the left hard limit 61, and the right induction plate 57 is correspondingly set on the right hard limit 58. The left hard limit 61 and the right hard limit 58 are respectively set on the operating table 6. A grating scale 63 is provided under the stator component 54, and a reading head 64 is correspondingly provided on the grating scale 63.

[0043] A V-shaped groove is provided on the operating table 6, and the limit block 59 is provided corresponding to the V-shaped groove through the ball elastic plunger 66, and the limit block 59 is provided below the stator member 54; Figure 7 The figure shows the structure of the ball head elastic plunger. A left photoelectric switch 62 is provided on one side of the left hard limit 61 , and a right photoelectric switch 56 is provided on one side of the right hard limit 58 .

[0044] When force is applied to the axial direction of the handle rod 11, the two side components connected to the force sensor 52 move in the vertical direction, and the force sensor 52 outputs the actual magnitude and direction of the force. The movable component 55 outputs the resistance at this time according to the actual force value of the robot's execution hand, so that the force sensor 52 value in this mechanism is equal to the actual force value of the robot's execution hand, thereby realizing the force feedback function during the doctor's operation.

[0045] A tank chain 4 is fixed to one side of the switch assembly 2, while the other end of the chain is fixed to the operating table 6. In this embodiment, the chain 4 consists of joints and links, each hinged to the other, allowing the links to rotate through a certain angle. The joint is fixed, with one end secured to the fixed side and the other to the movable side. When the movable side moves, the chain links follow. The movable side of the chain 4 is secured to the seated bearing 16 via a chain mounting bracket, while the fixed side of the chain 4 is directly fixed to the operating table 6. The chain 4 is used for cable routing, pulling and protecting the cables.

[0046] The handlebar assembly 1 also includes a pressure sensor 12, which is arranged around the handle bar 11. The handle bar 11 is sleeved with a slip ring 13, which is rotatably mounted on the handle bar 11. A seated bearing 16 is connected to the control rotator 18 via a connecting plate 17. The slip ring 13 includes a stator, brush wires, a metal ring, a rotor, a fixed-side wire, and a rotor-side wire. The stator, brush wires, and fixed-side wires form a fixed unit, while the rotor, metal ring, and fixed-rotor-side wires form a rotating unit. When the rotor rotates, the brush wires 2 in the fixed unit always maintain contact with the metal ring, ensuring that the rotor-side wires and the fixed-side wires are always connected in a one-to-one manner. This solves the problem of wire entanglement.

[0047] In this embodiment, an encoder is used to control the rotator 18. The inner ring of the encoder is fixed to the handle bar 11. When the handle bar 11 rotates, the inner ring of the encoder rotates with the handle bar 11. Its code disk and the outer ring of the encoder are fixed. At this time, the encoder will output pulses. The controller 3 can determine the rotation angle of the handle bar 11 by reading the number of pulses. This rotation angle serves as the input value of the rotation angle of the robot's execution hand to drive the guidewire catheter to rotate.

[0048] Example 2

[0049] This embodiment 2 is formed on the basis of embodiment 1, by replacing the rotary encoder with a servo motor system with a torque sensor. Specifically: the control rotator 18 adopts a motor assembly with a torque sensor, and the motor assembly with a torque sensor can provide rotational force feedback. In this structure, the resistance value when the robot performs hand rotation is used as the input value in this component, which is equal to the motor output resistance value, and the torque sensor serves as part of the closed-loop control in this component.

[0050] 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.

[0051] 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 guidewire catheter control and force feedback device for an intravascular interventional surgery robot, wherein the control and force feedback device is fixedly mounted on an operating table (6), and is characterized in that: The control and force feedback device comprises a handle assembly (1), an axial resistance feedback assembly (5) and a switch assembly (2); The operating handle assembly (1) comprises a handle bar (11), a linear guide rail (14) and a seat bearing (16); the linear guide rail (14) is arranged on the operating table (6); the seat bearing (16) is sleeved on the handle bar (11), and the seat bearing (16) is slidably arranged on the linear guide rail (14) through a slider (15); and a control rotator (18) for monitoring the rotation state of the handle bar (11) is provided at the end of the handle bar (11); The switch assembly (2) is arranged on the seat bearing (16) through a fixed base plate (26), and the switch assembly (2) includes a switch handle (23) and a micro switch (25) for outputting a control hand clamping and releasing signal, and a toggle plate (24) is provided at the end of the switch handle (23), and the toggle plate (24) presses the micro switch (25) as the switch handle (23) rotates; The axial resistance feedback assembly (5) comprises a stator component (54), a mover component (55), and a force sensor (52) for outputting an applied force value; the stator component (54) is arranged on the operating table (6); the mover component (55) is arranged on the stator component (54); and the force sensor (52) is correspondingly arranged on one side of the stator component (54).

2. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 1, characterized in that: A left induction plate (60) and a right induction plate (57) are fixed to both ends of the stator component (54), respectively. The left induction plate (60) is correspondingly arranged on the left hard limit (61), and the right induction plate (57) is correspondingly arranged on the right hard limit (58). The left hard limit (61) and the right hard limit (58) are respectively arranged on the operating table (6). A grating ruler (63) is provided below the stator component (54), and a reading head (64) is correspondingly provided on the grating ruler (63).

3. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 2, characterized in that: A V-shaped groove is provided on the operating table (6), and the limit block (59) is arranged corresponding to the V-shaped groove through a ball-end elastic plunger (66), and the limit block (59) is arranged below the stator component (54); a left photoelectric switch (62) is provided on one side of the left hard limit (61), and a right photoelectric switch (56) is provided on one side of the right hard limit (58).

4. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 1, characterized in that: The control and force feedback device further comprises a controller (3) for power supply and signal transmission to the sensor and the motor, and the controller (3) is respectively connected to the operating handle assembly (1), the axial resistance feedback assembly (5), and the switch assembly (2).

5. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 1, characterized in that: A tank chain (4) is fixedly arranged on one side of the switch assembly (2), and the other end of the tank chain (4) is fixedly arranged on the operating platform (6).

6. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 1, characterized in that: The switch assembly (2) further comprises a compression spring (21) and a pin shaft (27); the toggle plate (24) is rotatably arranged around the pin shaft (27); and the compression spring (21) is arranged between the toggle plate (24) and the upper fixed plate (22).

7. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 1, characterized in that: The operating handle assembly (1) further comprises a pressure sensor (52) (12), wherein the pressure sensor (52) (12) is arranged around the handle rod (11), a slip ring (13) is sleeved on the handle rod (11), and the slip ring (13) is rotatably arranged on the handle rod (11), and the seat bearing (16) and the control rotator (18) are connected via a connecting plate (17).

8. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 1, characterized in that: The control and force feedback devices are provided in two groups, and the two groups of control and force feedback devices are rotationally symmetrically distributed on the operating table (6).

9. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 1, characterized in that: The control rotator (18) adopts an encoder.

10. The guidewire catheter control and force feedback device for an intravascular interventional surgery robot according to claim 1, characterized in that: The control rotator (18) adopts a motor assembly with a torque sensor.

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