Operating handle mechanism for a vascular endovascular intervention robot

Abstract

The application provides an operating handle mechanism for a vascular endovascular intervention robot, which comprises a base, a clamping mechanism, a rotating mechanism and a forward and backward mechanism. The clamping mechanism is installed on the base, has a clamping state and a non-clamping state and can guide the action switching of the matching clamping and non-clamping of the surgical robot. The rotating mechanism is installed on the clamping mechanism, and the rotating signal collected when the rotating mechanism is operated can guide the matching rotating action of the surgical robot. The forward and backward mechanism follows the clamping mechanism and can transmit the obtained forward and backward signals to guide the matching action of the surgical robot. The resistance signal in the forward or backward movement of the surgical robot is received and matched with the damping action on the forward and backward mechanism. The application does not change the user's operation habit of the guide wire catheter, completely imitates the action of the hand clamping, twisting and advancing and retreating the guide wire catheter, realizes the infinite advancing and retreating of the guide wire catheter in operation, and can effectively avoid the misoperation caused by the original habit.

Description

Technical Field

[0001] This invention relates to the field of endovascular interventional surgical robot technology, and more specifically, to an operating handle mechanism for an endovascular interventional surgical robot. Background Technology

[0002] In recent years, with the rise of interventional vascular therapy in my country, several emerging disciplines have formed, including cardiovascular interventional therapy, cerebrovascular interventional therapy, vascular surgery, and interventional radiology. Due to continuous advancements in interventional vascular therapy techniques and the emergence and application of various endovascular devices, many lesions that were previously unsuitable for interventional therapy can now benefit from this minimally invasive treatment, and the safety, effectiveness, and long-term efficacy of interventional vascular therapy are constantly improving. However, current interventional vascular therapy also has its limitations.

[0003] During interventional vascular procedures, doctors rely on X-ray-based digital subtraction angiography (DSA) for guidance. While doctors wear lead-lined protective suits, these cannot completely protect their upper limbs and head from X-ray radiation. Furthermore, due to the complexity of interventional vascular procedures, prolonged exposure to X-rays is often required, resulting in significant cumulative radiation exposure for doctors. Wearing heavy lead-lined suits for extended periods increases the pressure load on the spine, and numerous reports indicate that interventional vascular surgeons have a significantly higher incidence of thyroid cancer, radiation-induced lens injury, and lumbar spine disorders than doctors in other specialties. With approximately 700,000 medical personnel nationwide performing endovascular procedures, and over ten million such procedures performed annually, X-ray-related occupational injuries have become an unavoidable problem, seriously threatening the health of doctors and the long-term development of interventional vascular surgery.

[0004] Most existing robotic operating mechanisms used in endovascular interventional surgery are typically joystick mechanisms. Their disadvantages are: 1. Advancing and retracting the guidewire / catheter requires a change in user habits, as it's achieved by swinging the joystick back and forth, a speed-based method that lacks the tactile feedback of manual guidewire / catheter movement; 2. Rotating the guidewire / catheter also requires a change in user habits, as the rotation mechanism is on the joystick, also a speed-based method, and similarly lacks the tactile feedback of manual guidewire / catheter rotation; 3. Clamping the guidewire / catheter also requires a change in user habits, achieved through buttons on the joystick, again lacking the tactile feedback of manual guidewire / catheter rotation.

[0005] Patent document CN107049499B discloses a remotely operated vascular interventional surgery robot system and method, including a hoisting unit, a proximal operating unit, and a distal operating unit, wherein: the proximal operating unit is disposed on the hoisting unit; the distal operating unit is used to drive the proximal operating unit; the proximal operating unit is capable of moving or rotating in three-dimensional space. Another example is patent document CN107184274B, which discloses a tactile vascular interventional surgery robot operating handle and its control method, including an operating device, a force loading mechanism, and a torque loading mechanism disposed on a gantry; the operating device issues operating commands for rotating and / or pushing / pulling the catheter guidewire; the force loading mechanism feeds back the pushing / pulling resistance experienced when pushing / pulling the catheter guidewire to the operating device; the torque loading mechanism feeds back the resistance torque experienced when rotating the catheter guidewire to the operating device; the pushing / pulling resistance is generated by the elastic force formed between the force loading mechanism and one end of the handle of the operating device; the resistance torque is generated by the frictional force formed between the torque loading mechanism and the operating device. For example, patent document CN109199588A discloses an electromagnetic damping rotary force feedback operating handle for vascular intervention, characterized by comprising an operating rod (8), a frame (22), and further comprising any one or more of the following mechanisms mounted on the operating rod (8): a push-pull force feedback mechanism, a rotational torque feedback mechanism, a rotational movement measuring mechanism, and a non-contact reset mechanism; the operating handle (8) is supported on the frame (22) via a left linear bearing (9) and a right linear bearing (17), and the operating rod (8) is made of ferromagnetic material. All of the above prior art requires changing the doctor's habits, cannot simulate the realism of surgical procedures, and has poor practicality. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the present invention aims to provide an operating handle mechanism for an endovascular interventional surgical robot.

[0007] An operating handle mechanism for an endovascular interventional surgical robot, provided by the present invention, includes:

[0008] The base is used for support;

[0009] The clamping mechanism, mounted on the base, has a clamping state and a non-clamping state and can transmit signals to guide the surgical robot to switch between clamping and non-clamping actions accordingly.

[0010] The rotating mechanism, mounted on the clamping mechanism, transmits rotation signals collected when the rotating mechanism is operated, guiding the surgical robot to perform matching rotational movements.

[0011] The forward and backward movement mechanism follows the forward and backward movement of the clamping mechanism and can transmit the obtained forward and backward movement signals to guide the surgical robot to perform matching actions. It receives the resistance signals of the surgical robot moving forward or backward and applies matching damping to the forward and backward movement mechanism, thereby generating matching resistance for the forward and backward movement of the clamping mechanism.

[0012] Preferably, the base includes a base housing, and the base housing is provided with operation keys, the operation keys having an on state and an off state, wherein:

[0013] When in the open position, the surgical robot performs a clamping action;

[0014] When in the closed state, the manual robot receives and executes the signals transmitted by the gripping mechanism.

[0015] Preferably, the clamping mechanism includes a forward / backward direction guide rail, a forward / backward direction guide rail slide, a first clamping plate, a second clamping plate, a clamping direction guide rail, a clamping direction guide rail slide, a clamping mechanism support base, and a signal acquisition structure;

[0016] The forward and backward direction guide rail is mounted on the base, the forward and backward direction guide rail slide is slidably mounted on the forward and backward direction guide rail, the lower part of the clamping mechanism support seat is mounted on the forward and backward direction guide rail slide, and the clamping direction guide rail is mounted on the upper part of the clamping mechanism support seat.

[0017] The clamping direction guide slide is slidably mounted on the clamping direction guide rail, wherein the second clamping plate is fixedly mounted on one end of the clamping direction guide slide, and the first clamping plate is slidably mounted on the other end of the clamping direction guide slide, and the forward and backward direction is perpendicular to the clamping direction;

[0018] When force is applied to the first clamping plate and / or the second clamping plate in the forward and backward direction, the forward and backward direction guide slide can be driven to slide on the forward and backward direction guide rail. When force is applied to the first clamping plate in the clamping direction, the first clamping plate can move closer to or further away from the second clamping plate. The signal acquisition structure can obtain the clamping state signal or the non-clamping state signal and transmit the signal to the surgical robot.

[0019] Preferably, the signal acquisition structure includes a clamping sensor and a clamping sensor trigger plate;

[0020] The clamping sensor is mounted on the clamping mechanism support, and the clamping sensor trigger plate is mounted on the first clamping plate. When the first clamping plate moves closer to or away from the second clamping plate, the clamping sensor trigger plate moves closer to or away from the clamping sensor, thereby triggering a sensing signal.

[0021] Preferably, a return spring is provided between the first clamping plate and the second clamping plate, and the return spring is always in a stretched state.

[0022] Preferably, the clamping mechanism further includes a first baffle and a second baffle. The first baffle is installed at one end of the clamping mechanism support to limit the movement stroke of the first clamping plate, and the second baffle is installed at the other end of the clamping mechanism support to limit the movement stroke of the second clamping plate.

[0023] Preferably, the rotating mechanism includes a first rotating sensor, a rotating sensor support, a main knob, and an auxiliary knob;

[0024] The first clamping plate has a first operating space, and the second clamping plate has a second operating space. The auxiliary knob is rotatably installed in the first operating space, and the main knob is rotatably installed in the second operating space. The first rotation sensor is installed on the outside of the second clamping plate through a rotation sensor support base, and the first rotation sensor can be driven to rotate when the main knob is rotated. The main knob and the auxiliary knob are respectively installed on opposite sides of the second clamping plate and the first clamping plate.

[0025] Preferably, the rotating mechanism includes an auxiliary knob central shaft, a first bearing, and a second bearing, and the first rotating sensor includes a first sensor wheel body and a first sensor wheel axle;

[0026] The auxiliary knob is mounted on the central shaft of the auxiliary knob, and both ends of the central shaft of the auxiliary knob are mounted on the first clamping plate through the first bearing;

[0027] One end of the main knob is mounted on the second clamping plate via a second bearing, and the other end of the main knob passes through the side wall of the second clamping plate and is securely connected to the first sensor wheel axle. The first sensor wheel body is fitted onto the outside of the first sensor wheel axle.

[0028] Preferably, the forward and backward mechanism includes a first bracket, a second rotation sensor, a rotation sensor support, a damping motor, a damping motor support, four synchronous pulleys, a synchronous belt, and the second bracket.

[0029] The first bracket and the second bracket are respectively mounted on the base and are located on both sides of the first clamping plate and the second clamping plate;

[0030] Four synchronous pulleys are respectively installed on the upper part of the first bracket, the lower part of the first bracket, the upper part of the second bracket, and the lower part of the second bracket. The synchronous belt is sequentially fitted onto the four synchronous pulleys to form a closed loop structure. The second rotation sensor is installed on the first bracket through a rotation sensor support and connected to one synchronous pulley. The damping motor is installed on the second bracket through a damping motor support and connected to another synchronous pulley. The first clamping plate and the second clamping plate are each provided with a first tooth structure on their opposite sides. The synchronous pulleys are each provided with a second tooth structure on both sides. The first tooth structure matches the second tooth structure.

[0031] When the first clamping plate and the second clamping plate are in the clamping state, the first toothed structure and the second toothed structure contact and mesh, driving the first clamping plate and the second clamping plate to move in the forward and backward directions at the same time, which can drive the synchronous belt to rotate around the four synchronous pulleys, thereby driving the second rotary sensor and the damping motor to move.

[0032] The second rotation sensor and the damping motor are respectively connected to the surgical robot for signal transmission.

[0033] Preferably, the forward and backward mechanism includes 6 bearing pressure plates, 2 first synchronous pulley support shafts, 8 third bearings, and 2 second synchronous pulley support shafts;

[0034] Both ends of the first synchronous pulley support shaft are mounted on the upper part of the first bracket by two third bearings, and the two third bearings are respectively positioned by the sensor support seat and the bearing pressure plate mounted on the first bracket. The first synchronous pulley is fitted on the first synchronous pulley support shaft.

[0035] Both ends of the first second synchronous pulley support shaft are mounted on the lower part of the first bracket by two third bearings, and the two third bearings are respectively positioned by two bearing pressure plates mounted on the first bracket. The second synchronous pulley is fitted onto the first second synchronous pulley support shaft.

[0036] Both ends of the second first synchronous pulley support shaft are mounted on the upper part of the second bracket by two third bearings, and the two third bearings are respectively positioned by the damping motor support seat and the bearing pressure plate mounted on the second bracket. The third synchronous pulley is fitted on the second first synchronous pulley support shaft.

[0037] Both ends of the second synchronous pulley support shaft are mounted on the lower part of the second bracket via two third bearings, and the two third bearings are respectively positioned by two bearing pressure plates mounted on the second bracket. The fourth synchronous pulley is fitted onto the second synchronous pulley support shaft.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] 1. This invention does not change the user's operating habits of the guidewire and catheter. It completely imitates the clamping, twisting and advancing / retracting actions of the guidewire and catheter by hand. Through the cyclical reciprocating characteristics of the synchronous pulley and synchronous belt mechanism, the guidewire and catheter can be advanced and retracted infinitely in operation. The advancing and retracting distance of the synchronous belt can be imitated proportionally or proportionally to the advancing and retracting distance of the guidewire and catheter by hand, which can effectively avoid misoperation caused by the original habits.

[0040] 2. This invention uses a damping motor to transmit the force feedback from the hand to the handle in real time, so that the user can still feel the operation even when operating at a distance or remotely, resulting in a good user experience.

[0041] 3. The present invention is equipped with priority operation keys, which correspond to the clinical need to keep the guidewire and catheter clamped. Therefore, the addition of operation keys can reduce the fatigue caused by finger pressure. At the same time, when the operation keys are not used, the clamping mechanism realizes clamping and releasing movements. That is, the main and auxiliary knobs for finger clamping and releasing correspond in real time with the clamping and releasing of the hand end, which provides a good user experience and strong practicality. Attached Figure Description

[0042] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0043] Figure 1 This is a schematic diagram of the structure of the present invention;

[0044] Figure 2 This is a schematic diagram showing the arrangement of the clamping mechanism, rotating mechanism, and forward / backward mechanism.

[0045] Figure 3 This is a schematic diagram of the cover plate structure;

[0046] Figure 4 A schematic diagram of the base housing and operating keys;

[0047] Figure 5 This is a schematic diagram of the clamping mechanism;

[0048] Figure 6 This is a three-dimensional structural diagram of the rotating mechanism;

[0049] Figure 7 This is a cross-sectional schematic diagram of the rotating mechanism;

[0050] Figure 8 A schematic diagram of the structure on which the advancing and retreating mechanism is arranged on the base;

[0051] Figure 9 A three-dimensional structural diagram of the advancing and retreating mechanism;

[0052] Figure 10 This is a top view schematic diagram of the forward and backward mechanism;

[0053] Figure 11 for Figure 10 Schematic diagram of sectional view along the middle AA direction

[0054] Figure 12 for Figure 10 Schematic diagram of cross-section along the CC direction;

[0055] Figure 13 This is a schematic diagram of the structure with two clamping plates and a synchronous belt.

[0056] The diagram shows:

[0057] Base housing 1 Damping motor 24

[0058] Cover plate 2 Damping motor support 25

[0059] Operation key 3, Synchronization wheel 26

[0060] Forward and backward guide rail 4, synchronous belt 27

[0061] Forward and backward guide slide 5, bearing pressure plate 28

[0062] Clamping sensor 6 First synchronous pulley support shaft 29

[0063] Clamping sensor trigger piece 7 Third bearing 30

[0064] First clamping plate 8; Second synchronous pulley support shaft 31

[0065] Return spring 9 Second bearing 32

[0066] Second clamping plate 10 First sensor wheel 33

[0067] Clamping direction guide rail 11 First sensor wheel axle 34

[0068] Clamping direction guide slide 12 Second baffle 35

[0069] Clamping mechanism support seat 13 Second bracket 36

[0070] First baffle 14 Second sensor wheel 37

[0071] First rotation sensor 15; Second sensor axle 38

[0072] Rotary sensor support 16 First tooth structure 39

[0073] Main knob 17 Second tooth structure 40

[0074] Auxiliary knob 18

[0075] Auxiliary knob center shaft 19, base 100

[0076] First bearing 20 Clamping mechanism 200

[0077] First support 21 Rotating mechanism 300

[0078] Second rotary sensor 22, forward / reverse mechanism 400

[0079] Rotary sensor support 23 Detailed Implementation

[0080] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0081] Example 1:

[0082] This invention provides an operating handle mechanism for an endovascular interventional surgical robot, such as... Figure 1 , Figure 2 As shown, the surgical robot includes a base 100, a clamping mechanism 200, a rotating mechanism 300, and an advancing / retreating mechanism 400. The base 100 serves as a support structure for bearing weight. The clamping mechanism 200 is mounted on the base 100 and has clamping and non-clamping states. It can transmit signals to guide the surgical robot to switch between clamping and non-clamping actions accordingly. The clamping mechanism 200 has a structure suitable for simulating on-site operation by human hands. This structure allows surgeons to perform robotic surgery remotely or over long distances without changing their operating habits for guidewires and catheters. The rotating mechanism 300 is mounted on the clamping mechanism 200. When the rotating mechanism 300 is operated, the rotation signals collected by the rotating mechanism 300 can be transmitted to the surgical robot and guide the surgical robot. The operator performs a matching rotational motion to achieve the operation of the surgical robot, thus completing the rotation of the guidewire and catheter. When the clamping mechanism 200 moves in the forward and backward direction, the forward and backward mechanism 400 can follow the forward and backward motion of the clamping mechanism 200 under the drive of the clamping mechanism 200. The forward and backward mechanism 400 can obtain the forward and backward signals and transmit the obtained forward and backward signals to the surgical robot to guide the surgical robot to perform matching actions. At the same time, the forward and backward mechanism 400 receives the resistance signal of the surgical robot moving forward or backward and applies matching damping to the forward and backward mechanism 400, thereby generating matching resistance in the forward and backward movement of the clamping mechanism 200. The resistance can then be fed back to the handle, allowing the doctor operating remotely to feel the tactile sensation of the operation on-site.

[0083] Specifically, the base 100 includes a base housing 1, such as Figure 4As shown, the base housing 1 is equipped with an operation key 3 and an indicator light that matches the operation key 3. The operation key 3 has an open state and an closed state. When it is in the open state, the indicator light is lit, and the surgical robot receives the execution signal transmitted by the operation key 3 and performs the clamping action.

[0084] It should be noted that the operation key 3 in this invention has a first priority execution level. When the operation key 3 is in the open state, the execution command of the operation key 3 is executed first. When the operation key 3 is in the closed state, the manual robot receives and executes the signal transmitted by the clamping mechanism 200. The clamping mechanism 200 has a second priority execution level.

[0085] Example 2:

[0086] This embodiment is a preferred example of Embodiment 1.

[0087] In this embodiment, the base 100 has a cover plate 2, such as Figure 3 As shown, the cover plate 2 is detachably installed on the base housing 1. The cover plate 2 serves a protective function. When the operating handle mechanism is not in use, the cover plate 2 can be covered for storage to prevent dust from entering. In specific settings, the cover plate 2 can be set as a detachable and separable structure, or the end of the cover plate 2 can be set as a structure that can be rotatably hinged to the base housing 1, which is simple to operate.

[0088] like Figure 5 As shown, the clamping mechanism 200 includes a forward / backward direction guide rail 4, a forward / backward direction guide rail slide 5, a first clamping plate 8, a second clamping plate 10, a clamping direction guide rail 11, a clamping direction guide rail slide 12, a clamping mechanism support base 13, and a signal acquisition structure. The forward / backward direction guide rail 4 is mounted on the base 100. Specifically, the forward / backward direction guide rail 4 is fixed on the base housing 1. The forward / backward direction guide rail slide 5 matches the forward / backward direction guide rail 4 and is slidably mounted on the forward / backward direction guide rail 4. The lower part of the clamping mechanism support base 13 is fastened to the forward / backward direction guide rail slide 5 by bolts, and the clamping direction guide rail 11 is mounted on the upper part of the clamping mechanism support base 13.

[0089] Furthermore, the clamping direction guide slide 12 is slidably mounted on the clamping direction guide 11, wherein the second clamping plate 10 is fixedly mounted on one end of the clamping direction guide slide 12, and the first clamping plate 8 is slidably mounted on the other end of the clamping direction guide slide 12, wherein the forward and backward direction is perpendicular to the clamping direction. The present invention can realize remote or long-distance clamping and releasing operations and control the surgical robot to operate the guide wire and catheter forward and backward movements in the clamping state through two sets of sliding pairs.

[0090] In actual operation, when the clamping mechanism 200 is in the clamping state, when force is applied to the first clamping plate 8 and / or the second clamping plate 10 in the forward and backward direction, the forward and backward direction guide slide 5 can be driven to slide on the forward and backward direction guide rail 4. When force is applied to the first clamping plate 8 in the clamping direction, the first clamping plate 8 can move closer to or further away from the second clamping plate 10. The signal acquisition structure can obtain the clamping state signal or the non-clamping state signal and transmit the signal to the surgical robot. When the signal acquired by the signal acquisition structure is the clamping state signal, the clamping state signal is transmitted to the surgical robot. When the surgical robot receives the clamping state signal, it performs the operation of clamping the guide wire and catheter. When the surgical robot receives the non-clamping state signal, it performs the operation of releasing the guide wire and catheter.

[0091] In this embodiment, the signal acquisition structure includes a clamping sensor 6 and a clamping sensor trigger piece 7. The clamping sensor 6 is mounted on the clamping mechanism support 13. The clamping sensor 6 is preferably a photoelectric sensor and has a photoelectric sensing groove. The clamping sensor trigger piece 7 is mounted on the first clamping plate 8. When the first clamping plate 8 can move closer to or away from the second clamping plate 10, the clamping sensor trigger piece 7 moves closer to or away from the clamping sensor 6. When the clamping sensor trigger piece 7 moves into the photoelectric sensing groove, the photoelectric sensor obtains a signal that the first clamping plate 8 has moved to the clamping state and transmits the signal to the surgical robot. The surgical robot performs a clamping action on the guidewire and catheter. When the clamping sensor trigger piece 7 moves from the photoelectric sensing groove to the outside, the photoelectric sensor 6 detects a signal that the first clamping plate 8 is in a non-clamping state and transmits the signal to the surgical robot. The surgical robot performs a releasing action on the guidewire and catheter.

[0092] In this embodiment, a return spring 9 is provided between the first clamping plate 8 and the second clamping plate 10. The return spring 9 is always in a stretched state. That is, in the natural state, under the action of the return spring 9, the first clamping plate 8 and the second clamping plate 10 have an elastic force that brings them closer together. Therefore, the operator can use less force to clamp the first clamping plate 8 and the second clamping plate 10.

[0093] like Figure 5 As shown, the clamping mechanism 200 also includes a first baffle 14 and a second baffle 35. The first baffle 14 is installed at one end of the clamping mechanism support 13 to limit the movement stroke of the first clamping plate 8, and the second baffle 35 is installed at the other end of the clamping mechanism support 13 to limit the movement stroke of the second clamping plate 10. Therefore, the first clamping plate 8 and the second clamping plate 10 can only move in the area between the first baffle 14 and the second baffle 35 under the limitation of the two baffles.

[0094] like Figure 6As shown, the rotating mechanism 300 includes a first rotation sensor 15, a rotation sensor support 16, a main knob 17, and an auxiliary knob 18. A first clamping plate 8 has a first operating space, and a second clamping plate 10 has a second operating space. The auxiliary knob 18 is rotatably mounted in the first operating space, and the main knob 17 is rotatably mounted in the second operating space. The sizes of both the first and second operating spaces allow a hand to reach inside to operate the main knob 17 and the auxiliary knob 18. The first rotation sensor 15 is mounted outside the second clamping plate 10 via the rotation sensor support 16, and rotating the main knob 17 causes the first rotation sensor 15 to rotate. The first rotation sensor 15 detects the rotation angle of the main knob 17 and transmits the obtained detection signal to the surgical robot, causing the surgical robot to perform a corresponding rotational action. The main knob 17 and the auxiliary knob 18 are respectively mounted on opposite sides of the second clamping plate 10 and the first clamping plate 8 to facilitate operation by the index finger and thumb.

[0095] Specifically, such as Figure 7 As shown, the rotating mechanism 300 includes an auxiliary knob central shaft 19, a first bearing 20, and a second bearing 32. The first rotating sensor 15 includes a first sensor wheel body 33 and a first sensor wheel axle 34. The auxiliary knob 18 is mounted on the auxiliary knob central shaft 19, and both ends of the auxiliary knob central shaft 19 are mounted on the first clamping plate 8 through the first bearing 20. One end of the main knob 17 is mounted on the second clamping plate 10 through the second bearing 32, and the other end of the main knob 17 passes through the side wall of the second clamping plate 10 and is fastened to the first sensor wheel axle 34. The first sensor wheel body 33 is mounted on the outside of the first sensor wheel axle 34.

[0096] like Figure 8 , Figure 9 As shown, the forward and backward mechanism 400 includes a first bracket 21, a second rotation sensor 22, a rotation sensor support 23, a damping motor 24, a damping motor support 25, four synchronous pulleys 26, a synchronous belt 27, and a second bracket 36. The first bracket 21 and the second bracket 36 are respectively mounted on the base 100 and are located on both sides of the first clamping plate 8 and the second clamping plate 10.

[0097] Furthermore, such as Figure 9 , Figure 10As shown, four synchronous pulleys 26 are respectively installed on the upper part of the first bracket 21, the lower part of the first bracket 21, the upper part of the second bracket 36, and the lower part of the second bracket 36. A synchronous belt 27 is sequentially fitted onto the four synchronous pulleys 26 to form a closed loop structure. A second rotation sensor 22 is installed on the first bracket 21 via a rotation sensor support 23 and connected to one of the synchronous pulleys 26. Specifically, the second rotation sensor 22 includes a second sensor wheel body 37 and a second sensor wheel axle 38. The second sensor wheel axle 38 is connected to the first synchronous pulley support shaft 29, and the second sensor wheel body 37 is fitted onto the outside of the second sensor wheel axle 38. A damping motor 24 is installed on the second bracket 36 via a damping motor support 25 and connected to another synchronous pulley 26. The first clamping plate 8 and the second clamping plate 10 each have a first toothed structure 39 on their opposite sides, and the synchronous pulleys 26 each have a second toothed structure 40 on both sides. Figure 13 As shown, the first toothed structure 39 matches the second toothed structure 40. When the first clamping plate 8 and the second clamping plate 10 are in the clamping state, the first toothed structure 39 and the second toothed structure 40 contact and mesh. When the first clamping plate 8 and the second clamping plate 10 move simultaneously in the forward and backward direction, the synchronous belt 27 can rotate around the four synchronous pulleys 26, which in turn can drive the second rotation sensor 22 and the damping motor 24 to move.

[0098] Furthermore, the second rotation sensor 22 and the damping motor 24 are respectively connected to the surgical robot for signal transmission. The synchronous belt 27 achieves cyclic reciprocating motion through the synchronous pulleys 26 at both ends. The rotation data of the first synchronous pulley support shaft 29 can be obtained through the second rotation sensor 22 and then transmitted to the surgical robot. The surgical robot then executes the forward or backward movement corresponding to the rotation data. The force feedback signal from the execution hand is transmitted to the damping motor 24 in real time. The damping force generated by the damping motor 24 directly acts on the synchronous pulley 26. Therefore, when the operator moves the synchronous belt 27 forward or backward, they will feel the feedback force from the execution hand in real time, providing a more realistic tactile experience.

[0099] In this embodiment, as Figure 9 , Figure 10 , Figure 11 , Figure 12 As shown, the forward and backward mechanism 400 includes 6 bearing pressure plates 28, 2 first synchronous pulley support shafts 29, 8 third bearings 30, and 2 second synchronous pulley support shafts 31.

[0100] Both ends of the first synchronous pulley support shaft 29 are mounted on the upper part of the first bracket 21 by two third bearings 30, and the two third bearings 30 are respectively positioned by the sensor support seat 23 and the bearing pressure plate 28 mounted on the first bracket 21. The first synchronous pulley 26 is fitted on the first synchronous pulley support shaft 29.

[0101] Both ends of the first second synchronous pulley support shaft 31 are mounted on the lower part of the first bracket 21 by two third bearings 30, and the two third bearings 30 are respectively positioned by two bearing pressure plates 28 mounted on the first bracket 21. The second synchronous pulley 26 is fitted on the first second synchronous pulley support shaft 31.

[0102] Both ends of the second first synchronous pulley support shaft 29 are mounted on the upper part of the second bracket 36 through two third bearings 30, and the two third bearings 30 are respectively positioned by the damping motor support seat 25 and the bearing pressure plate 28 mounted on the second bracket 36. The third synchronous pulley 26 is fitted on the second first synchronous pulley support shaft 29.

[0103] Both ends of the second synchronous pulley support shaft 31 are mounted on the lower part of the second bracket 36 by two third bearings 30, and the two third bearings 30 are respectively positioned by two bearing pressure plates 28 mounted on the second bracket 36. The fourth synchronous pulley 26 is fitted on the second synchronous pulley support shaft 31.

[0104] The working principle of this invention is as follows:

[0105] Press your thumb and forefinger on the main knob 17 and auxiliary knob 18 respectively. Since the second clamping plate 10 has a toothed structure that mates with the timing belt 27, press the main knob 17 and auxiliary knob 18 firmly. The toothed structure on the second clamping plate 10 and the teeth on the timing belt 27 will nest together. At the same time, the clamping sensor trigger baffle 7 will trigger the clamping sensor 6. The clamping sensor 6 will transmit the signal to the execution hand of the surgical robot. The surgical robot will then start the execution hand to clamp the guide wire and catheter.

[0106] The thumb and forefinger rub the main knob 17 and auxiliary knob 18 up and down. The rotation of the main knob 17 drives the rotation of the first sensor axle 34 on the first rotation sensor 15. Thus, the first rotation sensor 15 transmits rotational data to the surgical robot, enabling the surgical robot to control and execute hand movements. The thumb and forefinger press the main knob 17 and auxiliary knob 18 together, pressing the first clamping plate 8 and the second clamping plate 10 together. This causes the first toothed structure 39 on the second clamping plate 10 to engage with the second toothed structure 40 on the synchronous belt 27. The components are nested together, allowing the synchronous belt 27 to be driven forward or backward by hand. The synchronous pulley 26 drives the two synchronous pulley support shafts to rotate, thereby driving the central shaft of the second sensor wheel 37 on the second rotation sensor 22 to rotate. The second rotation sensor 22 transmits data to the actuator hand, and at the same time, the force feedback signal from the actuator hand is transmitted to the damping motor 24 in real time. The damping force generated by the damping motor 24 acts directly on the synchronous pulley 26. Therefore, when the operator moves the synchronous belt 27 forward or backward, they will feel the feedback force from the actuator hand in real time.

[0107] When using the clamping mechanism 200 and the operation key 3, the clamping mechanism 200 realizes clamping and releasing movements. That is, the main knob 17 and the auxiliary knob 18 for clamping and releasing the fingers correspond in real time with the clamping and releasing of the hand end. Clinically, there is a need to keep the guidewire and catheter clamped. Therefore, adding the operation key 3 can reduce the fatigue caused by finger pressure.

[0108] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They 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, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0109] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. An operating handle mechanism for an endovascular interventional surgical robot, characterized in that, include: The base (100) is used for support; The clamping mechanism (200) is mounted on the base (100), has a clamping state and a non-clamping state, and is able to transmit signals to guide the surgical robot to perform matching clamping and non-clamping action switching; A rotating mechanism (300) is mounted on a clamping mechanism (200). When the rotating mechanism (300) is operated, the collected rotation signal can be transmitted to guide the surgical robot to perform a matching rotation action. The advancing and retreating mechanism (400) follows the advancing and retreating movements of the clamping mechanism (200) and can transmit the obtained advancing and retreating signals to guide the surgical robot to perform matching movements. It receives the resistance signals of the surgical robot moving forward or backward and applies matching damping to the advancing and retreating mechanism (400), thereby causing the advancing and retreating movements of the clamping mechanism (200) to generate matching resistance. The clamping mechanism (200) includes a forward and backward direction guide rail (4), a forward and backward direction guide rail slide (5), a first clamping plate (8), a second clamping plate (10), a clamping direction guide rail (11), a clamping direction guide rail slide (12), a clamping mechanism support base (13), and a signal acquisition structure; The forward and backward direction guide rail (4) is mounted on the base (100), the forward and backward direction guide rail slide (5) is slidably mounted on the forward and backward direction guide rail (4), the lower part of the clamping mechanism support seat (13) is mounted on the forward and backward direction guide rail slide (5), and the clamping direction guide rail (11) is mounted on the upper part of the clamping mechanism support seat (13). The clamping direction guide slide (12) is slidably mounted on the clamping direction guide (11), wherein the second clamping plate (10) is fixedly mounted on one end of the clamping direction guide slide (12), and the first clamping plate (8) is slidably mounted on the other end of the clamping direction guide slide (12), and the forward and backward direction is perpendicular to the clamping direction; When force is applied to the first clamping plate (8) and / or the second clamping plate (10) in the forward and backward direction, the forward and backward direction guide slide (5) can be driven to slide on the forward and backward direction guide rail (4). When force is applied to the first clamping plate (8) in the clamping direction, the first clamping plate (8) can move closer to or further away from the second clamping plate (10). The signal acquisition structure can obtain the clamping state signal or the non-clamping state signal and transmit the signal to the surgical robot. The rotating mechanism (300) includes a first rotating sensor (15), a first rotating sensor support (16), a main knob (17), and an auxiliary knob (18). The first clamping plate (8) has a first operating space, and the second clamping plate (10) has a second operating space. The auxiliary knob (18) is rotatably installed in the first operating space, and the main knob (17) is rotatably installed in the second operating space. The first rotation sensor (15) is installed outside the second clamping plate (10) through the first rotation sensor support (16), and the main knob (17) can drive the first rotation sensor (15) to rotate when it rotates. The main knob (17) and the auxiliary knob (18) are respectively installed on opposite sides of the second clamping plate (10) and the first clamping plate (8). The forward and backward mechanism (400) includes a first bracket (21), a second rotation sensor (22), a second rotation sensor support (23), a damping motor (24), a damping motor support (25), four synchronous pulleys (26), a synchronous belt (27), and a second bracket (36). The first bracket (21) and the second bracket (36) are respectively installed on the base (100) and are located on both sides of the first clamping plate (8) and the second clamping plate (10); Four synchronous pulleys (26) are respectively installed on the upper part of the first bracket (21), the lower part of the first bracket (21), the upper part of the second bracket (36), and the lower part of the second bracket (36). The synchronous belt (27) is sequentially fitted onto the four synchronous pulleys (26) to form a closed loop structure. The second rotation sensor (22) is installed on the first bracket (21) through the second rotation sensor support (23) and connected to one synchronous pulley (26). The damping motor (24) is installed on the second bracket (36) through the damping motor support (25) and connected to another synchronous pulley (26). The first clamping plate (8) and the second clamping plate (10) are each provided with a first tooth structure (39) on their opposite sides. The synchronous belt (27) is provided with a second tooth structure (40) on both sides. The first tooth structure (39) matches the second tooth structure (40). When the first clamping plate (8) and the second clamping plate (10) are in the clamping state, the first tooth structure (39) and the second tooth structure (40) engage in contact, driving the first clamping plate (8) and the second clamping plate (10) to move simultaneously in the forward and backward direction, which can drive the synchronous belt (27) to rotate around the four synchronous pulleys (26), thereby driving the second rotation sensor (22) and the damping motor (24) to move; The second rotation sensor (22) and the damping motor (24) are respectively connected to the surgical robot signal.

2. The operating handle mechanism for an endovascular interventional surgical robot according to claim 1, characterized in that, The base (100) includes a base housing (1), on which an operation key (3) is provided. The operation key (3) has an open state and a closed state, wherein: When in the open position, the surgical robot performs a clamping action; When in the closed state, the manual robot receives and executes the signals transmitted by the gripping mechanism (200).

3. The operating handle mechanism for an endovascular interventional surgical robot according to claim 1, characterized in that, The signal acquisition structure includes a clamping sensor (6) and a clamping sensor trigger plate (7). The clamping sensor (6) is mounted on the clamping mechanism support base (13), and the clamping sensor trigger piece (7) is mounted on the first clamping plate (8). When the first clamping plate (8) can move closer to or further away from the second clamping plate (10), the clamping sensor trigger piece (7) moves closer to or further away from the clamping sensor (6), thereby triggering the sensing signal.

4. The operating handle mechanism for an endovascular interventional surgical robot according to claim 1, characterized in that, A return spring (9) is provided between the first clamping plate (8) and the second clamping plate (10), and the return spring (9) is always in a stretched state.

5. The operating handle mechanism for an endovascular interventional surgical robot according to claim 1, characterized in that, The clamping mechanism (200) further includes a first baffle (14) and a second baffle (35). The first baffle (14) is installed at one end of the clamping mechanism support (13) to limit the movement of the first clamping plate (8), and the second baffle (35) is installed at the other end of the clamping mechanism support (13) to limit the movement of the second clamping plate (10).

6. The operating handle mechanism for an endovascular interventional surgical robot according to claim 1, characterized in that, The rotating mechanism (300) includes an auxiliary knob central shaft (19), a first bearing (20) and a second bearing (32), and the first rotating sensor (15) includes a first sensor wheel body (33) and a first sensor wheel axle (34). The auxiliary knob (18) is fitted on the auxiliary knob central shaft (19), and both ends of the auxiliary knob central shaft (19) are mounted on the first clamping plate (8) through the first bearing (20); One end of the main knob (17) is mounted on the second clamping plate (10) via the second bearing (32), and the other end of the main knob (17) passes through the side wall of the second clamping plate (10) and is fastened to the first sensor wheel axle (34). The first sensor wheel body (33) is fitted on the outside of the first sensor wheel axle (34).

7. The operating handle mechanism for an endovascular interventional surgical robot according to claim 1, characterized in that, The forward and backward mechanism (400) includes 6 bearing pressure plates (28), 2 first synchronous pulley support shafts (29), 8 third bearings (30) and 2 second synchronous pulley support shafts (31). Both ends of the first synchronous pulley support shaft (29) are mounted on the upper part of the first bracket (21) by two third bearings (30), and the two third bearings (30) are respectively positioned by the sensor support seat (23) and the bearing pressure plate (28) mounted on the first bracket (21). The first synchronous pulley (26) is fitted on the first synchronous pulley support shaft (29). Both ends of the first second synchronous pulley support shaft (31) are mounted on the lower part of the first bracket (21) by two third bearings (30), and the two third bearings (30) are respectively positioned by two bearing pressure plates (28) mounted on the first bracket (21). The second synchronous pulley (26) is fitted on the first second synchronous pulley support shaft (31). The two ends of the second first synchronous pulley support shaft (29) are mounted on the upper part of the second bracket (36) by two third bearings (30), and the two third bearings (30) are respectively positioned by the damping motor support seat (25) and the bearing pressure plate (28) mounted on the second bracket (36). The third synchronous pulley (26) is fitted on the second first synchronous pulley support shaft (29). The two ends of the second synchronous pulley support shaft (31) are mounted on the lower part of the second bracket (36) by two third bearings (30), and the two third bearings (30) are respectively positioned by two bearing pressure plates (28) mounted on the second bracket (36). The fourth synchronous pulley (26) is fitted on the second synchronous pulley support shaft (31).

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