A main operating device for a pan-vascular interventional surgery robot that simulates a doctor's operation

Abstract

The present invention relates to a main-end operating device of a pan-vascular interventional surgery robot that simulates a doctor's operation, comprising a base plate, a linear push transmission mechanism, a grip rod and a twisting transmission mechanism. The linear push transmission mechanism comprises a guide rail, a slider and a horizontal sliding plate. The grip rod comprises a grip rod mounting shaft and a finger twisting roller. The slider moves horizontally along the guide rail. The horizontal sliding plate is mounted on the slider. The grip rod is mounted on the vertical mounting plate of the twisting transmission mechanism through the grip rod mounting shaft. The vertical mounting plate is mounted on the horizontal sliding plate. The grip rod and the twisting transmission mechanism move horizontally along the guide rail together with the linear push transmission mechanism. The active pulley of the twisting transmission mechanism is mounted on the grip rod mounting shaft and assembled with the finger twisting roller. The active pulley rotates by twisting the finger twisting roller. The present invention can assist doctors in completing complex interventional surgery without changing the doctor's operating habits, effectively reducing the degree of dependence of complex surgery on the doctor's experience.

Description

[Technical field]

[0001] The present invention relates to the field of minimally invasive vascular interventional surgical robots, and in particular to a main-end operating device of a pan-vascular interventional surgical robot that simulates a doctor's operation. [Background Technology]

[0002] Currently, vascular interventional procedures require doctors to wear heavy lead vests and other protective equipment while exposed to X-rays. Doctors observe images captured by the angiography system and, under its guidance, manually manipulate interventional devices such as guidewires, catheters, and balloon stents to reach the site of vascular lesions for diagnosis or treatment. Because human blood vessels are tortuous, narrow, and have numerous branches, and their walls are relatively fragile, this places high demands on the doctor's operating precision and requires extremely delicate techniques. Prolonged, meticulous surgical procedures inevitably cause fatigue and can easily lead to problems such as hand tremors, which can affect the effectiveness of the surgery. Furthermore, even wearing radiation-proof lead vests cannot guarantee that doctors will not be exposed to radiation. The heavy lead vest not only affects the doctor's operating precision, but also places a heavy burden on the doctor's body when worn for a long time, resulting in chronic health consequences.

[0003] Pan-vascular interventional surgical robots are gaining more and more attention. Robotic systems generally adopt a master-slave operation mode, where the slave-end actuator is exposed to X-rays to perform the surgery. The doctor controls the slave-end actuator by remotely operating the master-end device outside the ward, thus avoiding X-ray radiation. At the same time, the use of robotic technology can greatly improve the accuracy and stability of surgical operations. However, the main feature of the master-end operating device used in the existing technology is that it adopts a mode different from the doctor's manual operation, such as using a joystick instead of the doctor's hand-held interventional instrument operation, and there is no force feedback, which means that the doctor needs special training to perform the correct operation. For senior doctors, this means that the experience accumulated over a long period of time will become an obstacle to mastering new operating methods, leading to problems such as misoperation and reduced surgical quality.

[0004] Furthermore, the joystick design is fundamentally different from the linear push and twist method doctors use their fingers to manipulate interventional devices like guidewires and catheters during vascular interventional procedures. While some technologies have attempted to simulate a doctor's movements, these technologies suffer from poor tactile feel, inconsistent control displacement and speed outputs with the doctor's expectations, and a lack of force feedback, making them incompatible with current finger-based manipulation.

[0005] Therefore, it is an urgent problem for technical personnel in this field to provide a pan-vascular interventional surgical robot main-end operating device that can meet the actual surgical operation requirements, truly simulate the surgical process, and be accurate, convenient, and have force feedback. [Summary of the invention]

[0006] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a main-end operating device of a pan-vascular interventional surgery robot that simulates the doctor's operation. It can assist the doctor in completing complex interventional surgery without changing the doctor's operating habits, effectively reducing the dependence of complex surgery on the doctor's experience.

[0007] In order to achieve the above-mentioned purpose, a main-end operating device of a pan-vascular interventional surgery robot that simulates the operation of a doctor is designed, comprising a base plate 1, a linear push transmission mechanism 2, a grip 3 and a twist transmission mechanism 4, wherein the linear push transmission mechanism 2 comprises a guide rail 201, a slider 202 and a horizontal sliding plate 209, the grip 3 comprises a grip mounting shaft 301 and a finger twist roller 302, the twist transmission mechanism 4 comprises a vertical mounting plate 401, a driving pulley 402, a driven pulley 403, a belt 404, a twist angle sensor 405 and a twist angle sensor connecting shaft 407; the slider 202 is slidably mounted on the guide rail 201 and moves horizontally along the guide rail 201, and a horizontal sliding plate 209 is mounted on the slider 202. 9. The grip 3 is mounted on the vertical mounting plate 401 of the twist transmission mechanism 4 through the grip mounting shaft 301. The vertical mounting plate 401 is mounted on the horizontal sliding plate 209. The grip 3 and the twist transmission mechanism 4 move horizontally along the guide rail 201 together with the linear push transmission mechanism 2. The active pulley 402 of the twist transmission mechanism 4 is mounted on the grip mounting shaft 301 and assembled with the finger twisting roller 302. The active pulley 402 rotates when the finger twists the finger twisting roller 302. The active pulley 402 is connected to the driven pulley 403 through a belt 404. The driven pulley 403 is assembled with the twist angle sensor 405 through the twist angle sensor connecting shaft 407.

[0008] Furthermore, the front and rear sides of the horizontal sliding plate 209 are respectively provided with spring mounting blocks 206, and the front and rear spring mounting blocks 206 are respectively connected by front springs 207 and rear springs 208. The horizontal sliding plate 209 uses the front springs 207 and rear springs 208 to achieve automatic centering and resetting.

[0009] Furthermore, a push displacement sensor 214 is installed on the horizontal sliding plate 209, and the push displacement sensor 214 is connected to the gear 203 through the displacement sensor connecting shaft 215. The gear 203 rotates along the rack 204, and the rack 204 is installed on the base plate 1. The gear 203 drives the displacement sensor connecting shaft 215 to rotate, and the push displacement sensor 214 is used to detect the rotation angle and angular velocity of the gear 203.

[0010] Furthermore, the grip 3 also includes an enabling sensor 304, which is electrically connected to the main controller. The enabling sensor 304 is mounted on an enabling sensor mounting block 303, and the enabling sensor mounting block 303 is mounted on the grip mounting shaft 301. The enabling sensor 304 is provided with an enabling sensor trigger 305 and an enabling sensor trigger compression spring 306. When the enabling sensor trigger 305 is pressed, the enabling sensor trigger compression spring 306 is compressed to move downward and thereby trigger the enabling sensor 304. When the enabling sensor trigger 305 is not pressed, it is bounced up under the elastic force of the enabling sensor trigger compression spring 306 and thereby the enabling sensor 304 is not triggered.

[0011] Furthermore, the push displacement sensor 214 and the twist angle sensor 405 are electrically connected to the main controller respectively, and when the enable sensor 304 is triggered, the data fed back by the push displacement sensor 214 and the twist angle sensor 405 are fed back to the main controller.

[0012] Furthermore, a protective cover is provided around the enabling sensor 304 and the enabling sensor trigger 305 , and the protective cover is composed of a handle upper cover 307 and a handle lower cover 308 .

[0013] Furthermore, the linear push transmission mechanism 2 also includes an electromagnetic brake 210, a brake spring 211, an electromagnetic brake baffle 212 and an electromagnetic brake bolt 213. The electromagnetic brake 210 is arranged between the horizontal sliding plate 209 and the base plate 1. A brake spring 211 and an electromagnetic brake baffle 212 are provided above the horizontal sliding plate 209. The electromagnetic brake 210, brake spring 211 and electromagnetic brake baffle 212 are installed as a whole through the electromagnetic brake bolt 213. When the electromagnetic brake 210 has suction, it moves downward and fits with the base plate 1. When the electromagnetic brake 210 has no suction, it resets upward through the elastic force of the brake spring 211.

[0014] Furthermore, the linear push transmission mechanism 2 also includes a limit block 205, which is assembled on the base plate 1 and arranged on both sides of the guide rail 201. The limit block 205 is used to prevent the movement stroke of the linear push transmission mechanism 2 from exceeding the total length of the guide rail 201.

[0015] Furthermore, the twist angle sensor 405 is mounted and fixed on a twist angle sensor mounting plate 406 , and the twist angle sensor mounting plate 406 is mounted on the vertical mounting plate 401 of the twist transmission mechanism 4 .

[0016] Compared with the existing technology, the present invention provides a pan-vascular interventional surgical robot main-end operating device that meets the actual surgical operation needs, truly simulates the surgical process, is accurate and convenient, and has force feedback. The device is suitable for the main-end operation of the pan-vascular interventional surgical robot, has a force feedback function, and can completely reproduce the original scenario of directly operating the catheter and guide wire clamps. It conforms to the doctor's original operating habits and ergonomics, maintains the original surgical feel, and allows doctors to apply existing experience, avoid thinking mode changes, and can skillfully operate the main operating table without long-term training, reducing the requirements for doctors; in addition, the overall structure of the present invention is simple, easy to operate, easy to install, ergonomically designed, small in size, light in weight, easy to place and transfer, and worthy of promotion and application. [Brief Description of the Drawings]

[0017] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0018] Figure 2 It is a front structural schematic diagram of the present invention;

[0019] Figure 3 It is a schematic diagram of the back structure of the present invention;

[0020] Figure 4 is an exploded view of the grip of the present invention;

[0021] Figure 5 It is an operational flow chart of the present invention;

[0022] In the figure: 1, base plate 2, linear push transmission mechanism 3, grip 4, twist transmission mechanism 201, guide rail 202, slider 203, gear 204, rack 205, limit block 206, spring mounting block 207, front spring 208, rear spring 209, horizontal sliding plate 210, electromagnetic brake 211, brake spring 212, electromagnetic brake baffle 213, electromagnetic brake bolt 214, push displacement sensor 215, displacement sensor connecting shaft 301, grip mounting shaft 302, finger twist roller 303, enable sensor mounting block 304, enable sensor 305, enable sensor trigger 306, enable sensor trigger compression spring 307, grip upper cover 308, grip lower cover 401, vertical mounting plate 402, driving pulley 403, driven pulley 404, belt 405, twist angle sensor 406, twist angle sensor mounting plate 407, twist angle sensor connecting shaft. [Specific implementation method]

[0023] The present invention will be further described below in conjunction with the accompanying drawings:

[0024] As attached Figure 1 To the attached Figure 4 As shown, the present invention provides a main end operating device of a pan-vascular interventional surgery robot that simulates a doctor's operation, including a base plate 1, a linear push transmission mechanism 2, a grip 3 and a twist transmission mechanism 4; the linear push transmission mechanism 2 includes a guide rail 201, a slider 202, a gear 203, a rack 204, a limit block 205, a spring mounting block 206, a front spring 207, a rear spring 208, a horizontal sliding plate 209, an electromagnetic brake 210, a brake spring 211, an electromagnetic brake baffle 212, an electromagnetic brake bolt 213, and a push displacement sensor 214. And the displacement sensor connecting shaft 215; the grip 3 includes a grip mounting shaft 301, a finger twisting roller 302, an enable sensor mounting block 303, an enable sensor 304, an enable sensor trigger 305, an enable sensor trigger compression spring 306, a grip upper cover 307 and a grip lower cover 308; the twist transmission mechanism 4 includes a vertical mounting plate 401, a driving pulley 402, a driven pulley 403, a belt 404, a twist angle sensor 405, a twist angle sensor mounting plate 406 and a twist angle sensor connecting shaft 407.

[0025] Guide rail 201, rack 204, stop block 205, and spring mounting block 206 are assembled on base plate 1. Slider 202 is slidably mounted on guide rail 201, allowing horizontal movement on guide rail 201. A horizontal sliding plate 209 is mounted on slider 202, enabling horizontal movement of linear push transmission mechanism 2 on guide rail 201. The grip 3 is mounted on the vertical mounting plate 401 of the twist transmission mechanism 4 via the grip mounting shaft 301. The vertical mounting plate 401 of the twist transmission mechanism 4 is mounted on the horizontal sliding plate 209 of the linear push transmission mechanism 2. This allows the linear push transmission mechanism 2, twist transmission mechanism 4, and grip 3 to form a single unit. The grip 3 and twist transmission mechanism 4 can move horizontally along the guide rail 201 along with the linear push transmission mechanism 2.

[0026] The electromagnetic brake 210 is located between the horizontal sliding plate 209 and the base plate 1. A brake spring 211 and an electromagnetic brake block 212 are located above the horizontal sliding plate 209. The electromagnetic brake 210 is mounted to the brake spring 211 and the electromagnetic brake block 212 via an electromagnetic brake bolt 213. When the electromagnetic brake 210 has suction, it moves downward to contact the base plate 1, compressing the brake spring 211. When the brake loses suction, the brake spring 211 returns to its original position due to its elastic force. The electromagnetic suction of the electromagnetic brake 210 is related to the magnitude of the supplied current. The greater the current, the greater the electromagnetic suction, and the greater the frictional resistance between the brake and the base plate 1. Therefore, the resistance to the horizontal movement of the linear push transmission mechanism 2, that is, the resistance to the horizontal movement of the handle 3, can be adjusted by adjusting the current, thereby achieving force feedback for hand operation.

[0027] A push displacement sensor 214 is mounted on the horizontal sliding plate 209 and is connected to the gear 203 via a displacement sensor connecting shaft 215. Rotation of the gear 203 along the rack 204 drives the displacement sensor connecting shaft 215. The push displacement sensor 214 detects the angle and angular velocity of the gear 203's rotation, thereby detecting the horizontal displacement and velocity of the handle 3. Spring mounting blocks 206 are provided on the front and rear sides of the horizontal sliding plate 209, respectively. The horizontal sliding plate 209 is connected to the spring mounting blocks 206 via a front spring 207 and a rear spring 208. The tension of the front and rear springs 207 and 208 allows the horizontal sliding plate 209 to automatically return to its original center, eliminating the need for manual resetting.

[0028] The driving pulley 402 of the twist transmission mechanism 4 is mounted on the grip mounting shaft 301 of the grip 3. The driving pulley 402 is assembled with the finger twist roller 302 of the grip 3. The driving pulley 402 rotates when the finger twists the finger twist roller 302. The driving pulley 402 is connected to the driven pulley 403 via a belt 404, transmitting the rotational motion of the finger twist roller 302 to the driven pulley 403. The driven pulley 403 is assembled with the twist angle sensor 405 via a twist angle sensor connecting shaft 407. The twist angle sensor 405 can detect the rotation angle and angular velocity of the driven pulley 403, and thus the rotation angle and angular velocity of the finger twist roller 302. The twist angle sensor mounting plate is mounted on the vertical mounting plate of the twist transmission mechanism 4, and the twist angle sensor is fixed to the twist angle sensor mounting plate.

[0029] The enabling sensor 304 of the grip 3 is electrically connected to the main controller. The enabling sensor 304 is mounted on the enabling sensor mounting block 303, which is in turn mounted on the grip mounting shaft 301. The enabling sensor 304 is provided with an enabling sensor trigger 305 and an enabling sensor trigger compression spring 306. When a person's hand lightly presses the enabling sensor trigger 305, it compresses the enabling sensor trigger compression spring 306, causing it to move downward, thereby triggering the enabling sensor 304. When the person's hand is removed, the enabling sensor trigger 305 springs upward under the elastic force of the enabling sensor trigger compression spring 306, and the enabling sensor 304 is no longer triggered. A protective cover is provided around the enabling sensor 304 and the enabling sensor trigger 305. The protective cover consists of an upper grip cover 307 and a lower grip cover 308.

[0030] In the present invention, to simulate the traditional practice of pinching the interventional instrument with the fingers to push or twist it, when using this device, the doctor pinches the finger twist roller 302 with his fingers to push or twist it. During the finger pushing process, when the fingers are released, the linear push transmission mechanism 2 will quickly return to the middle position under the action of the spring tension, thus avoiding manual reciprocating motion. To prevent the linear push transmission mechanism 2 from moving beyond the total length of the guide rail 201, the linear push transmission mechanism 2 also includes a limit block 205. The limit block 205 is assembled on the base plate 1 and is arranged on both sides of the guide rail 201. The limit block 205 plays a role in limiting protection. The push displacement sensor 214 and the twist angle sensor 405 are electrically connected to the main controller respectively. During operation, the feedback information of the push displacement sensor 214 is used to control the movement displacement and speed of the interventional instrument; the information feedback from the twist angle sensor 405 is used to control the rotation angle and angular velocity of the interventional instrument; after the main controller collects the amount of resistance encountered by the interventional instrument during its movement in the blood vessel, it uses the electromagnetic brake 210 to convey the amount of resistance encountered by the interventional instrument during its movement to the doctor.

[0031] To prevent doctors from triggering the operation by mistake, the present invention only sends the data fed back by the displacement sensor 214 and the twist angle sensor 405 to the main controller when the enable sensor 304 is triggered, thereby ensuring the safety and reliability of the operation.

[0032] In summary, this invention is specifically suited for the master-side operation of interventional surgical robots. It realistically simulates existing physician operating habits, providing a convenient, reliable, and highly precise method for assisting physicians in completing complex interventional procedures, effectively reducing the reliance on physician experience. Furthermore, the operating device has a simple overall structure, is easy to install, and features an ergonomic design. Its compact size and light weight make it easy to place and transport.

[0033] The contents not described in detail in this specification belong to the existing technology known to professional and technical personnel in this field. The standard parts used can be purchased from the market, and special-shaped parts can be customized according to the description in the specification and drawings. The specific connection methods of each part adopt mature conventional means such as bolts, rivets, welding, etc. in the existing technology. The machinery, parts and equipment all adopt conventional models in the existing technology, and the circuit connections adopt conventional connection methods in the existing technology, which will not be described in detail here.

[0034] The present invention is not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A master-end operating device for a pan-vascular interventional surgery robot that simulates a doctor's operation, characterized by: The invention comprises a base plate (1), a linear push transmission mechanism (2), a gripping rod (3) and a twisting transmission mechanism (4), wherein the linear push transmission mechanism (2) comprises a guide rail (201), a slider (202) and a horizontal sliding plate (209), the gripping rod (3) comprises a gripping rod mounting shaft (301) and a finger twisting roller (302), and the twisting transmission mechanism (4) comprises a vertical mounting plate (401), a driving pulley (402), a driven pulley (403), a belt (404), a twisting angle sensor (405) and a twisting angle sensor (406). The sensor connecting shaft (407); the slider (202) is slidably mounted on the guide rail (201) and moves horizontally along the guide rail (201); a horizontal sliding plate (209) is mounted on the slider (202); the grip (3) is mounted on the vertical mounting plate (401) of the twisting transmission mechanism (4) through the grip mounting shaft (301); the vertical mounting plate (401) is mounted on the horizontal sliding plate (209); the grip (3) and the twisting transmission mechanism (4) move along the linear push transmission mechanism (2) together. The guide rail (201) moves horizontally; the driving pulley (402) of the twist transmission mechanism (4) is mounted on the grip mounting shaft (301) and assembled with the finger twist roller (302); the driving pulley (402) rotates when the fingers twist the finger twist roller (302); the driving pulley (402) and the driven pulley (403) are connected via a belt (404); the driven pulley (403) and the twist angle sensor (405) are assembled via a twist angle sensor connecting shaft (407); The linear push transmission mechanism (2) further comprises a limit block (205), the limit block (205) being mounted on the bottom plate (1) and arranged on both sides of the guide rail (201), the limit block (205) being used to prevent the movement stroke of the linear push transmission mechanism (2) from exceeding the total length of the guide rail (201); the twist angle sensor (405) being mounted and fixed on a twist angle sensor mounting plate (406), and the twist angle sensor mounting plate (406) being mounted on the vertical mounting plate (401) of the twist transmission mechanism (4).

2. The master-end operating device for a pan-vascular interventional surgery robot simulating a doctor's operation according to claim 1, characterized in that: The front and rear sides of the horizontal sliding plate (209) are respectively provided with spring mounting blocks (206), and the front and rear spring mounting blocks (206) are respectively connected via a front spring (207) and a rear spring (208). The horizontal sliding plate (209) is automatically reset to the center by using the front spring (207) and the rear spring (208).

3. The master-end operating device for a pan-vascular interventional surgery robot simulating a doctor's operation according to claim 1 or 2, characterized in that: A push displacement sensor (214) is installed on the horizontal sliding plate (209). The push displacement sensor (214) is connected to the gear (203) via a displacement sensor connecting shaft (215). The gear (203) rotates along a rack (204). The rack (204) is installed on the bottom plate (1). The gear (203) drives the displacement sensor connecting shaft (215) to rotate. The push displacement sensor (214) is used to detect the rotation angle and angular velocity of the gear (203).

4. The master-end operating device for a pan-vascular interventional surgery robot simulating a doctor's operation as claimed in claim 3, characterized in that: The grip (3) further comprises an enabling sensor (304), wherein the enabling sensor (304) is electrically connected to the main controller, and the enabling sensor (304) is mounted on an enabling sensor mounting block (303), and the enabling sensor mounting block (303) is mounted on the grip mounting shaft (301). An enabling sensor trigger (305) and an enabling sensor trigger compression spring (306) are provided at the enabling sensor (304). When the enabling sensor trigger (305) is pressed, the enabling sensor trigger compression spring (306) is compressed to move downward, thereby triggering the enabling sensor (304). When the enabling sensor trigger (305) is not pressed, it is bounced up under the elastic force of the enabling sensor trigger compression spring (306), thereby de-activating the enabling sensor (304).

5. The master-end operating device for a pan-vascular interventional surgery robot simulating a doctor's operation as claimed in claim 4, characterized in that: The push displacement sensor (214) and the twist angle sensor (405) are respectively electrically connected to the main controller, and when the enable sensor (304) is triggered, the data fed back by the push displacement sensor (214) and the twist angle sensor (405) are fed back to the main controller.

6. The master-end operating device for a pan-vascular interventional surgery robot simulating a doctor's operation as claimed in claim 4, characterized in that: A protective cover is provided on the periphery of the enabling sensor (304) and the enabling sensor trigger (305), and the protective cover is composed of a grip upper cover (307) and a grip lower cover (308).

7. The master-end operating device for a pan-vascular interventional surgery robot simulating a doctor's operation according to claim 1, characterized in that: The linear push transmission mechanism (2) further includes an electromagnetic brake (210), a brake spring (211), an electromagnetic brake baffle (212) and an electromagnetic brake bolt (213). The electromagnetic brake (210) is arranged between the horizontal sliding plate (209) and the bottom plate (1). A brake spring (211) and an electromagnetic brake baffle (212) are provided above the horizontal sliding plate (209). The electromagnetic brake (210), the brake spring (211) and the electromagnetic brake baffle (212) are installed as a whole through the electromagnetic brake bolt (213). When the electromagnetic brake (210) has suction, it moves downward and fits with the bottom plate (1). When the electromagnetic brake (210) has no suction, it resets upward by the elastic force of the brake spring (211).

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