A vascular intervention surgery robot master operator and a force feedback method thereof

Abstract

The application discloses a vascular interventional operation robot master operator and a force feedback method thereof. The operator comprises a master base, a delivery guide rail, a delivery rack, a right-hand operating component and a left-hand operating component. The delivery rack and the delivery guide rail are fixedly installed on one side of the master base in parallel. The right-hand operating component comprises a right-hand delivery assembly and a right-hand rotary clamping assembly. The left-hand operating component comprises a left-hand delivery assembly and a left-hand clamping assembly. The right-hand delivery assembly and the left-hand delivery assembly are in sliding fit with the delivery guide rail, and are provided with end gears in engagement with the delivery rack. The operator has the force feedback function, the operation object is a real surgical instrument, the operation skill of a doctor is reserved, the training cycle of the doctor is shortened, and the force sense of the doctor in remote operation can be collected in real time to build the force sense of the doctor in remote operation.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medicine, in particular to a blood vessel intervention surgery robot master operator and a force feedback method thereof. BACKGROUND

[0002] Cardiovascular diseases greatly threaten human health. According to the statistical data of the 2020 World Health Report published by the WHO (World Health Organization), in 2016, a total of 17.9 million people died of cardiovascular and cerebrovascular diseases (CVD) in the world, accounting for 44% of the number of deaths from non-communicable diseases, and the mortality rate is much higher than that of cancer (22%), chronic respiratory diseases (9%) and diabetes (4%), and the incidence rate is still on the rise, becoming the first killer threatening human health.

[0003] PCI (Percutaneous Coronary Intervention, Percutaneous Coronary Intervention) has become one of the main means for treating cardiovascular diseases due to its small trauma, fast postoperative recovery and other advantages. However, with the development of interventional surgery, artificial interventional surgery gradually exposes obvious drawbacks in safety and flexibility-the cumulative damage to the doctor during the operation process; the doctor's operation is prone to fatigue, resulting in insufficient precision; the operation experience is required to be high. The blood vessel intervention surgery robot avoids the above-mentioned drawbacks due to its master-slave remote operation, high precision, high degree of digitization, fast calculation speed and other characteristics. The doctor can control the slave surgery robot in the operating room using the master operator of the master-slave blood vessel intervention surgery robot outside the operating room to perform surgery, which isolates the radiation in the operating room and protects the doctor's physical health. Among them, retaining the doctor's original operation skills and real force feedback are crucial to shorten the doctor's learning period and ensure the safety of the operation.

[0004] However, the existing surgery robot master operator generally does not consider retaining the doctor's operation skills, and the operation object is not the real surgical instrument, which not only increases the learning period of the doctor using the robot for remote surgery, but also the inaccurate and unreal force feedback is difficult to ensure the safety of the remote surgery. SUMMARY

[0005] Therefore, the application provides a vascular interventional surgery robot master operator and a force feedback method thereof, which is used for remotely controlling a vascular interventional surgery robot, has a force feedback function, adopts a finger sleeve type design, and has a real surgical instrument as an operation object, thereby retaining a doctor's operation skill, shortening a doctor's training period, and being capable of collecting force position information of a doctor in real time and constructing a doctor's remote operation force sense.

[0006] The application adopts the following specific technical solutions:

[0007] The application provides a vascular interventional surgery robot master operator, which comprises a master base, a delivery guide rail, a delivery rack, a right-hand operation component, and a left-hand operation component.

[0008] A side of the master base is fixedly provided with the delivery rack and the delivery guide rail which are arranged in parallel.

[0009] The right-hand operation component comprises a right-hand delivery assembly and a right-hand twisting and clamping assembly, and the left-hand operation component comprises a left-hand delivery assembly and a left-hand clamping assembly.

[0010] The right-hand delivery assembly and the left-hand delivery assembly are both in sliding fit with the delivery guide rail, and are both provided with an end gear which is in mesh with the delivery rack.

[0011] Furthermore, the right-hand delivery assembly comprises a right-hand base, a first brushless motor assembly, a force measuring gear, a force measuring encoder, a first force measuring spring, a second force measuring spring, a first spring limiting block, a second spring limiting block, and a first sliding assembly.

[0012] The right-hand base is in sliding fit with the delivery guide rail and is fixedly connected with the first brushless motor assembly.

[0013] An output end of the first brushless motor assembly is provided with an end gear.

[0014] The force measuring encoder is fixedly connected with the right-hand base, and an output shaft thereof is coaxially fixedly connected with the force measuring gear.

[0015] Two limiting shafts which are parallel to the delivery guide rail are arranged on a side of the right-hand base which faces the first brushless motor assembly, one of the limiting shafts is coaxially fixedly connected with one end of the first force measuring spring, and the other limiting shaft is coaxially fixedly connected with one end of the second force measuring spring.

[0016] The other end of the first force measuring spring is fixedly connected with the first spring limiting block, and the other end of the second force measuring spring is fixedly connected with the second spring limiting block.

[0017] The guide rail of the first sliding assembly is fixedly connected with the right-hand base and has the same sliding direction as the first force measuring spring and the second force measuring spring.

[0018] Further, the right-hand twisting and clamping assembly comprises a right-hand clamping assembly, a right-hand twisting assembly, a right-hand clamping and twisting base, and a force measuring rack.

[0019] The right-hand clamping and twisting base is slidingly connected with the right-hand base through the first sliding assembly and is fixedly connected with the first spring limiting block and the second spring limiting block; the force measuring rack is fixedly connected with the right-hand clamping and twisting base and is engaged with the force measuring gear.

[0020] Further, the right-hand clamping assembly comprises a right-hand clamping moving part, a right-hand clamping fixed part, a second sliding assembly, a first pressure sensor, and a third sliding assembly; the right-hand clamping moving part is slidingly connected with the right-hand clamping fixed part through the second sliding assembly and has one end in contact with the force measuring surface of the first pressure sensor; the first pressure sensor is fixedly connected with the right-hand clamping fixed part; and the right-hand clamping fixed part is slidingly connected with the right-hand clamping and twisting base through the third sliding assembly.

[0021] Further, the right-hand twisting assembly comprises a right-hand twisting support, a bearing end cover, a twisting bearing, a twisting coupling, a twisting encoder, an encoder support, a limiting sleeve, a clamping spring, and a twisting guide pipe; the right-hand twisting support is fixedly connected with the right-hand clamping and twisting base through bolts; the encoder support is fixedly connected with the right-hand twisting support and is fixedly connected with the twisting encoder; the twisting coupling is coaxially fixedly connected with the output shaft of the twisting encoder and is rotationally connected with the right-hand twisting support through the twisting bearing; the outer ring of the twisting bearing is fixed on the step of the right-hand twisting support and the end face of the bearing end cover; one side end face of the limiting sleeve abuts against the inner ring of the twisting bearing and the other side end face abuts against the clamping spring; one end of the twisting guide pipe is coaxially fixedly connected with the twisting coupling, and the outer surface thereof is tangent to the right-hand clamping moving part.

[0022] Further, the left-hand delivery assembly comprises a left-hand base and a second brushless motor assembly; the left-hand base is slidingly connected with the delivery guide rail and is fixedly connected with the second brushless motor assembly; and the output end of the second brushless motor assembly is provided with an end gear.

[0023] The left-hand clamping assembly comprises a left-hand clamping moving piece, a left-hand clamping fixed piece, a fourth sliding assembly and a second pressure sensor; the left-hand clamping moving piece is in sliding cooperation with the left-hand clamping fixed piece through the fourth sliding assembly, and the end protrusion is in contact with the force measuring surface of the second pressure sensor; the left-hand clamping fixed piece is fixedly connected with the left-hand base through screws.

[0024] Further, the first brushless motor assembly and the second brushless motor assembly adopt the same structure, and both comprise a brushless motor rear end cover, a magnetic encoder, a first transition piece, a mirror image magnet, a brushless motor, a second transition piece and the end gear;

[0025] The brushless motor rear end cover is fixedly connected with the right-hand base through screws;

[0026] The magnetic encoder is fixedly connected with the brushless motor rear end cover coaxially through screws;

[0027] The first transition piece is fixedly connected with the brushless motor rear end cover coaxially through screws, and is fixedly connected with one side end surface of the brushless motor coaxially through screws;

[0028] The mirror image magnet is magnetically adsorbed to the center axis end of the brushless motor through its own magnetism, and is coaxial with the magnetic encoder at a distance of 1mm-2mm;

[0029] The second transition piece is fixedly connected with the other side end surface of the brushless motor and the end gear coaxially through screws.

[0030] Further, the right-hand operating part further comprises a right-hand first sliding block in sliding cooperation with the delivery guide rail; the right-hand first sliding block is fixedly connected with the right-hand base;

[0031] The left-hand operating part further comprises a left-hand first sliding block in sliding cooperation with the delivery guide rail; the left-hand first sliding block is fixedly connected with the left-hand base;

[0032] The sliding direction of the first sliding assembly is coincident with the extension direction of the delivery guide rail;

[0033] The third sliding assembly slides along the vertical direction;

[0034] The sliding direction of the second sliding assembly is perpendicular to the extension direction of the delivery guide rail and the sliding direction of the third sliding assembly.

[0035] Further, the main end base is an L-shaped plate structure, comprising a horizontal flat plate and a vertical standing plate;

[0036] The delivery guide rail extends along the horizontal direction and is fixedly installed on the side surface of the standing plate facing the flat plate;

[0037] The delivery rack is fixedly installed on the lower side of the delivery guide rail.

[0038] In addition, the application also provides a delivery force feedback method of the master operator in any one of the above technical solutions, and the delivery force feedback method comprises the following steps:

[0039] Calibrating the first force spring and the second force spring to determine the elastic coefficients of the first force spring and the second force spring;

[0040] Measuring the compression amount of the first force spring and the second force spring in parallel by using a force encoder, and the right-hand delivery force is the interaction force between the right-hand delivery assembly and the right-hand twisting clamping assembly, which can be expressed as:

[0041] F real (t)=k c ·l(t);

[0042] k c =k1+k2;

[0043] l(t)=θ(t)·r;

[0044] Wherein, F real (t) represents the right-hand delivery force at time t, k c represents the total elastic coefficient of the two parallel force springs, k1 represents the elastic coefficient of the first force spring, k2 represents the elastic coefficient of the second force spring, l(t) represents the spring compression amount at time t, and θ(t) represents the rotation angle of the force encoder shaft at time t.

[0045] The delivery force closed-loop control is composed of a PID (Proportional-Integral-Derivative) control algorithm and the first brushless motor assembly, and the right-hand delivery force is controlled.

[0046] Advantages:

[0047] 1. The master operator of the vascular interventional surgery robot adopts a finger sleeve design, and the operation object is a real-size surgical instrument, which overcomes the problem that the existing master-slave vascular interventional surgery robot master has a large difference between the operation object form and the operated surgical instrument, retains the doctor's operation skill, and shortens the doctor's training period.

[0048] 2. The master operator of the vascular interventional surgery robot collects the operator's twisting motion information through a twisting encoder and collects the operator's hand clamping force through a first pressure sensor, and the collection of the clamping force can be used to control the clamping force of the catheter and the guide wire of the slave end of the vascular interventional surgery robot, so as to realize lossless clamping, safe delivery based on controllable clamping force and other functions.

[0049] 3. The delivery force feedback method of the vascular interventional surgery robot master operator in the embodiment of the application is based on a SEA (Series Elastic Actuator, elastic series driver) to construct a master delivery force feedback closed loop, and the elastic force generated by compressing two force measuring springs is converted into the measurement of the compression amount of the force measuring spring by the SEA composed of a force measuring gear, a force measuring encoder, a first force measuring spring, a second force measuring spring, a first sliding assembly and a force measuring rack, so that the method has the characteristics of being easier to implement and having stable measurement results. Compared with directly using a conventional force sensor, the elastic element of the SEA makes the human-computer interaction more flexible and friendly, the SEA can relieve the impact in the operation process at the physical level, and the clamping object and the clamp are protected, the force measurement scheme of the SEA composed of two force measuring springs and one force measuring encoder is more inexpensive than the conventional force sensor, and the cost is saved, and the absolute value encoder used has a higher signal-to-noise ratio than the force sensor, and the signal acquisition is more stable. BRIEF DESCRIPTION OF DRAWINGS

[0050] Figure 1 FIG. 1 is a schematic diagram of the three-dimensional structure of the master operator in the embodiment of the application;

[0051] Figure 2 FIG. 2 is a side view of the main components of the master operator in the embodiment of the application; Figure 1

[0052] Figure 3 FIG. 3 is another side view of the main components of the master operator in the embodiment of the application; Figure 1

[0053] Figure 4 FIG. 4 is a schematic diagram of the three-dimensional structure of the right hand operation component in the embodiment of the application; Figure 1

[0054] Figure 5 FIG. 5 is a structure three-dimensional view of the right hand rotation and clamping assembly in the embodiment of the application; Figure 4

[0055] Figure 6 FIG. 6 is a schematic diagram of the three-dimensional structure of the left hand operation component in the embodiment of the application; Figure 1

[0056] Figure 7 FIG. 7 is a schematic diagram of the three-dimensional structure of the first brushless motor assembly in the embodiment of the application; Figure 4

[0057] Figure 8 FIG. 8 is a delivery force closed loop control block diagram of the delivery force feedback method in the embodiment of the application.

[0058] ​​​​​​Wherein, 1-main end base, 2-delivery guide rail, 3-delivery rack, 4-right hand operation part, 5-left hand operation part, 6-right hand, 7-left hand, 41-right hand delivery assembly, 42-right hand twisting clamping assembly, 43-right hand first sliding block, 411-right hand base, 412-first brushless motor assembly, 413-force measuring gear, 414-force measuring encoder, 415-first force spring, 416-second force spring, 417-first spring limiting block, 418-second spring limiting block, 419-first sliding assembly, 4121-brushless motor rear end cover, 4122-magnetic encoder, 4123-first transition piece, 4124-mirror image magnet, 4125-brushless motor, 4126-second transition piece, 4127-end gear, 421-right hand clamping assembly, 422-right hand twisting assembly, 423-right hand clamping and twisting base, 424-force measuring rack, 4211-right clamping moving piece, 4212-right clamping fixed piece, 4213-second sliding assembly, 4214-first pressure sensor, 4215-third sliding assembly, 4221-right twisting support, 4222-bearing end cover, 4223-twisting bearing, 4224-twisting shaft coupling, 4225-twisting encoder, 4226-encoder support, 4227-limiting sleeve, 4228-clamp spring, 4229-twisting guide pipe, 51-left hand delivery assembly, 52-left hand clamping assembly, 53-left hand first sliding block, 511-left hand base, 512-second brushless motor assembly, 521-left clamping moving piece, 522-left clamping fixed piece, 523-fourth sliding assembly, 524-second pressure sensor. DETAILED DESCRIPTION

[0059] The application will be described in detail below with reference to the drawings and examples.

[0060] Example One

[0061] The application provides a vascular interventional surgery robot master operator, as shown in Figure 1 、 Figure 2 and Figure 3 , which comprises a main end base 1, a delivery guide rail 2, a delivery rack 3, a right hand operation part 4 and a left hand operation part 5; wherein:

[0062] One side of the main end base 1 is fixedly installed with the delivery rack 3 and the delivery guide rail 2 arranged in parallel; as Figure 1 and Figure 2As shown, the main end base 1 can be an L-shaped plate structure, and includes a horizontal flat plate and a vertical upright plate, which are used as mounting platforms for various components in the main end operator; the delivery guide rail 2 extends in the horizontal direction and is fixedly installed on the side surface of the upright plate facing the flat plate, for guiding the movement of the right-hand operating component 4 and the left-hand operating component 5; the delivery rack 3 is arranged in parallel with the delivery guide rail 2, and the delivery rack 3 is fixedly installed on the lower side of the delivery guide rail 2, and through the engagement of the end gear 4127 of the brushless motor assembly in the right-hand operating component 4 and the left-hand operating component 5, the brushless motor assembly drives the left-hand operating component 5 and the right-hand operating component 4 to reciprocate along the delivery rack 3 and the delivery guide rail 2;

[0063] The right-hand delivery assembly 4 and the left-hand delivery assembly 5 are both in sliding fit with the delivery guide rail 2, and are both provided with an end gear 4127 engaged with the delivery rack 3; the left-hand operating component 5 and the right-hand operating component 4 are spaced apart along the extension direction of the delivery guide rail 2, and are both capable of sliding along the delivery guide rail 2;

[0064] As shown in Figure 3 , the right-hand operating component 4 includes a right-hand delivery assembly 41, a right-hand twisting clamping assembly 42, and a right-hand first sliding block 43; the right-hand first sliding block 43 is in sliding fit with the delivery guide rail 2, and the sliding fit of the right-hand first sliding block 43 with the delivery guide rail 2 realizes the sliding of the right-hand operating component 4 along the delivery guide rail 2, so as to reciprocate;

[0065] As shown in Figure 4 and Figure 5 , the right-hand delivery assembly 41 includes a right-hand base 411, a first brushless motor assembly 412, a force measuring gear 413, a force measuring encoder 414, a first force measuring spring 415, a second force measuring spring 416, a first spring limiting block 417, a second spring limiting block 418, and a first sliding assembly 419; the right-hand base 411 is fixedly connected with the right-hand first sliding block 43 and with one end of the first brushless motor assembly 412; the end gear 4127 of the first brushless motor assembly 412 is engaged with the delivery rack 3; the force measuring encoder 414 is fixedly connected with the right-hand base 411, and the output shaft of the force measuring encoder 414 is coaxially fixedly connected with the force measuring gear 413; the right-hand base 411 is provided on the side facing the first brushless motor assembly 412 with two limiting shafts parallel to the delivery guide rail 2, one of which is coaxially fixedly connected with one end of the first force measuring spring 415, and the other of which is coaxially fixedly connected with one end of the second force measuring spring 416; the other end of the first force measuring spring 415 is fixedly connected with the first spring limiting block 417, and the other end of the second force measuring spring 416 is fixedly connected with the second spring limiting block 418; the guide rail of the first sliding assembly 419 is fixedly connected with the right-hand base 411 and the sliding direction thereof is the same as the extension direction of the first force measuring spring 415 and the second force measuring spring 416;

[0066] As shown in Figure 4 andFigure 5 As shown, the right-hand twisting and clamping assembly 42 comprises a right-hand clamping assembly 421, a right-hand twisting assembly 422, a right-hand clamping and twisting base 423, and a force measuring rack 424; the right-hand clamping and twisting base 423 is slidingly connected with the right-hand base 411 through the first sliding assembly 419, and is fixedly connected with the first spring limiting block 417 and the second spring limiting block 418; the force measuring rack 424 is fixedly connected with the right-hand clamping and twisting base 423, and is engaged with the force measuring gear 413;

[0067] As shown, Figure 5 The right-hand clamping assembly 421 comprises a right-hand clamping moving part 4211, a right-hand clamping fixed part 4212, a second sliding assembly 4213, a first pressure sensor 4214, and a third sliding assembly 4215; the right-hand clamping moving part 4211 is slidingly connected with the right-hand clamping fixed part 4212 through the second sliding assembly 4213, and one end thereof is in contact with a force measuring surface of the first pressure sensor 4214; the first pressure sensor 4214 is fixedly connected with the right-hand clamping fixed part 4212; the right-hand clamping fixed part 4212 is slidingly connected with the right-hand clamping and twisting base 423 through the third sliding assembly 4215; the sliding direction of the first sliding assembly 419 coincides with the extension direction of the delivery guide rail 2; the third sliding assembly 4215 slides in the vertical direction; the sliding direction of the second sliding assembly 4213 is perpendicular to the extension direction of the delivery guide rail 2 and the sliding direction of the third sliding assembly 4215;

[0068] As shown, Figure 5 The right-hand twisting assembly 422 comprises a right-hand twisting bracket 4221, a bearing end cover 4222, a twisting bearing 4223, a twisting coupling 4224, a twisting encoder 4225, an encoder bracket 4226, a limiting sleeve 4227, a clamping spring 4228, and a twisting catheter 4229; the right-hand twisting bracket 4221 is fixedly connected with the right-hand clamping and twisting base 423 through bolts; the encoder bracket 4226 is fixedly connected with the right-hand twisting bracket 4221, and is fixedly connected with the twisting encoder 4225; the twisting coupling 4224 is coaxially fixedly connected with an output shaft of the twisting encoder 4225, and is rotationally connected with the right-hand twisting bracket 4221 through the twisting bearing 4223; the outer ring of the twisting bearing 4223 is fixed through the step of the right-hand twisting bracket 4221 and the end surface of the bearing end cover 4222; one side end surface of the limiting sleeve 4227 abuts against the inner ring of the twisting bearing 4223, and the other side end surface abuts against the clamping spring 4228; one end of the twisting catheter 4229 is coaxially fixedly connected with the twisting coupling 4224, and the outer surface thereof is tangent to the right-hand clamping moving part 4211;

[0069] As shown, Figure 3 The left-hand operation part 5 comprises a left-hand delivery assembly 51, a left-hand clamping assembly 52, and a left-hand first sliding block 53;

[0070] As shown, Figure 6As shown, the left-hand delivery assembly 51 comprises a left-hand base 511 and a second brushless motor assembly 512; the left-hand base 511 is fixedly connected with the left-hand first slider 53 by screws and is fixedly connected with one end of the second brushless motor assembly 512, and the end gear 4127 of the second brushless motor assembly 512 is engaged with the delivery rack 3; the left-hand first slider 53 is in sliding fit with the delivery guide rail 2, and the sliding of the left-hand first slider 53 with the delivery guide rail 2 realizes the sliding of the left-hand operating component 5 along the delivery guide rail 2, thereby realizing the reciprocating movement;

[0071] As shown in FIG. 1, the left-hand delivery assembly 51 comprises a left-hand base 511 and a second brushless motor assembly 512; the left-hand base 511 is fixedly connected with the left-hand first slider 53 by screws and is fixedly connected with one end of the second brushless motor assembly 512, and the end gear 4127 of the second brushless motor assembly 512 is engaged with the delivery rack 3; the left-hand first slider 53 is in sliding fit with the delivery guide rail 2, and the sliding of the left-hand first slider 53 with the delivery guide rail 2 realizes the sliding of the left-hand operating component 5 along the delivery guide rail 2, thereby realizing the reciprocating movement; Figure 6 As shown, the left-hand clamping assembly 52 comprises a left-hand clamping moving part 521, a left-hand clamping fixed part 522, a fourth sliding assembly 523 and a second pressure sensor 524; the left-hand clamping moving part 521 is in sliding fit with the left-hand clamping fixed part 522 through the fourth sliding assembly 523, and the end protrusion is in contact with the force measuring surface of the second pressure sensor 524; the left-hand clamping fixed part 522 is fixedly connected with the left-hand base 511 by screws.

[0072] As shown in FIG. 1, the left-hand delivery assembly 51 comprises a left-hand base 511 and a second brushless motor assembly 512; the left-hand base 511 is fixedly connected with the left-hand first slider 53 by screws and is fixedly connected with one end of the second brushless motor assembly 512, and the end gear 4127 of the second brushless motor assembly 512 is engaged with the delivery rack 3; the left-hand first slider 53 is in sliding fit with the delivery guide rail 2, and the sliding of the left-hand first slider 53 with the delivery guide rail 2 realizes the sliding of the left-hand operating component 5 along the delivery guide rail 2, thereby realizing the reciprocating movement; Figure 7 As shown in FIG. 1, the left-hand delivery assembly 51 comprises a left-hand base 511 and a second brushless motor assembly 512; the left-hand base 511 is fixedly connected with the left-hand first slider 53 by screws and is fixedly connected with one end of the second brushless motor assembly 512, and the end gear 4127 of the second brushless motor assembly 512 is engaged with the delivery rack 3; the left-hand first slider 53 is in sliding fit with the delivery guide rail 2, and the sliding of the left-hand first slider 53 with the delivery guide rail 2 realizes the sliding of the left-hand operating component 5 along the delivery guide rail 2, thereby realizing the reciprocating movement;

[0073] The above-mentioned vascular intervention surgery robot master operator is used as follows: Figure 1As shown, the left hand 7 operates the left hand operating component 5, the right hand 6 operates the right hand operating component 4, and the left hand operating component 5 and the right hand operating component 4 correspond to control the front and rear two execution modules of the slave robot respectively; the right hand operating component 4 is the main operating component, which is used to collect the operation information of the right hand of the doctor, and then controls the clamping, rotation and advancement of the slave instrument; the left hand operating component 5 mainly plays an auxiliary role, which is used to assist the clamping instrument and adjust the clamping position. The index finger of the right hand of the doctor is inserted into the right clamping fixed part 4212, the thumb of the right hand presses the rotation catheter 4229 on the plane outside the right clamping moving part 4211, and cooperates with the index finger of the right hand to twist the rotation catheter 4229; the clamping force between the right hand thumb and the index finger during the operation is measured by the first pressure sensor 4214; the rotation angle of the rotation catheter 4229 is measured by the rotation encoder 4225; the right hand pushes and pulls the right hand operating component 4 and drives through the end gear 4127 and the delivery rack 3, and the pushing and pulling position is converted into the angle measured by the magnetic encoder 4122 of the first brushless motor assembly 412 to calculate, and the calculation formula is as follows:

[0074] x right (t)=θ right (t)·r right ;

[0075] Wherein, x right (t) represents the right hand pushing and pulling position, θ right (t) represents the angle measured by the magnetic encoder 4122, and r right represents the pitch circle radius of the end gear 4127.

[0076] The index finger of the left hand is inserted into the left clamping fixed part 522, and the thumb of the left hand presses on the plane outside the left clamping moving part 521; the clamping force between the left hand thumb and the index finger during the operation is measured by the second pressure sensor 524; the left hand pushes and pulls the left hand operating component 5 and drives through the end gear of the second brushless motor assembly 512 and the delivery rack 3, and the pushing and pulling position is converted into the angle measured by the magnetic encoder of the second brushless motor assembly 512 to calculate, and the calculation formula is as follows:

[0077] xleft(t)=θleft(t)·rleft;

[0078] Wherein, x left (t) represents the left hand pushing and pulling position, θ left (t) represents the angle measured by the magnetic encoder of the second brushless motor assembly 512, and r le ft represents the pitch circle radius of the end gear of the second brushless motor assembly 512.

[0079] The above vascular interventional surgery robot master operator decouples the hand movement of the doctor's right hand 6 and left hand 7 through the right hand operation part 4 and the left hand operation part 5, and collects the twist, delivery, clamping force and other operation information of the hand through the twist encoder 4225, the magnetic encoder 4122 of the brushless motor 4125 and the pressure sensor respectively; the right hand 6 and the left hand 7 adopt a finger sleeve design, the right hand operation part 4 and the left hand operation part 5 cooperate with each other to realize the operation of the vascular interventional surgery instrument, and the operation object is the actual surgical interventional instrument, which overcomes the problem that the difference between the master-slave type vascular interventional surgery robot master operation object form and the operated surgical instrument is large, retains the doctor's operation skill, and shortens the doctor's training period; the twist encoder 4225 collects the operator's twist movement information, and the first pressure sensor 4214 collects the hand clamping force of the operator at the same time, and the collection of the clamping force can be used to control the clamping force of the vascular interventional surgery robot slave end to the catheter and the guide wire, so as to realize the functions of lossless clamping, safe delivery based on controllable clamping force and the like.

[0080] Embodiment two

[0081] The delivery force feedback method of the master operator in the above embodiment provided by the embodiment of the application comprises the following steps:

[0082] Calibrate the first force spring 415 and the second force spring 416, and determine the elastic coefficients of the first force spring 415 and the second force spring 416;

[0083] The force encoder 414 is used to measure the compression amount of the parallel first force spring 415 and second force spring 416 through the transmission of the force gear 413 and the force rack 424, and the right hand delivery force is the interaction force between the right hand delivery assembly 41 and the right hand twist clamping assembly 42, which can be expressed as:

[0084] F real (t)=k c ·l(t);

[0085] k c =k1+k2;

[0086] l(t)=θ(t)·r;

[0087] Wherein, F real (t) represents the right hand delivery force at time t, k c represents the total elastic coefficient of the two parallel force springs, k1 represents the elastic coefficient of the first force spring 415, k2 represents the elastic coefficient of the second force spring 416, l(t) represents the spring compression amount at time t, θ(t) represents the rotation angle of the force encoder 414 shaft at time t, and r represents the division circle radius of the force gear 413;

[0088] A closed-loop control system for delivering force is formed based on a PID control algorithm and the first brushless motor component 412 to control the right-hand delivery force. The specific control flowchart is as follows: Figure 8 As shown: First, SEA measures and calculates the current human-computer interaction force F. real (t-1), and the delivery force F from the end. insert (t) The difference is used to obtain the master-slave delivery force error e. F After adjustment by the PID controller, the resulting current signal I(t) is transmitted to the brushless motor via FOC (Field-Oriented Control) to drive the motor and adjust its torque T. motor (t), which is converted into a feedback force F along the pushing and pulling direction of the hand through gear and rack transmission. Feedback (t), and then proceed to the next cycle, continuously detecting and correcting the master-slave delivery force error.

[0089] The aforementioned force feedback method for the master end manipulator of the vascular interventional surgery robot is based on a force feedback loop constructed using a force-measuring axle (SEA). The SEA, composed of a force-measuring gear 413, a force encoder 414, a first force-measuring spring 415, a second force-measuring spring 416, a first sliding component 419, and a force-measuring rack 424, transforms the measurement of the elastic force generated by compressing two force-measuring springs into the measurement of the spring compression amount. This method is easier to implement and provides more stable measurement results. Compared to directly using conventional force sensors, the elastic elements of the SEA make human-machine interaction more flexible and user-friendly. The SEA can physically mitigate impacts during operation, protecting the clamped object and the gripper. The force measurement scheme of the SEA, consisting of two force-measuring springs and a force encoder 414, is cheaper than conventional force sensors, saving costs. The absolute encoder used has a higher signal-to-noise ratio than force sensors, resulting in more stable signal acquisition.

[0090] In the above embodiments, the fastening can be achieved by means of screws, riveting, welding, etc.

[0091] In summary, the above are merely preferred embodiments of the present invention and are not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A master-end manipulator for a vascular interventional surgical robot, characterized in that, The main end base, the delivery guide rail, the delivery rack, the right-hand operating part, and the left-hand operating part are included. The delivery rack and the delivery guide rail are fixedly installed on one side of the main end base in parallel. The right-hand operating part includes a right-hand delivery assembly and a right-hand twisting and clamping assembly, and the left-hand operating part includes a left-hand delivery assembly and a left-hand clamping assembly. The right-hand delivery assembly and the left-hand delivery assembly are both in sliding fit with the delivery guide rail and are both provided with an end gear in engagement with the delivery rack. The right-hand base is in sliding fit with the delivery guide rail and is fixedly connected with the first brushless motor assembly. The output end of the first brushless motor assembly is provided with an end gear. The force measuring encoder is fixedly connected with the right-hand base and has its output shaft coaxially fixedly connected with the force measuring gear. The right-hand base is provided on the side facing the first brushless motor assembly with two limiting shafts in parallel with the delivery guide rail, one of which is coaxially fixedly connected with one end of the first force spring, and the other of which is coaxially fixedly connected with one end of the second force spring. The other end of the first force spring is fixedly connected with the first spring limiting block, and the other end of the second force spring is fixedly connected with the second spring limiting block. The guide rail of the first sliding assembly is fixedly connected with the right-hand base and has the same sliding direction as the extension and retraction directions of the first force spring and the second force spring. The right-hand twisting and clamping assembly includes a right-hand clamping assembly, a right-hand twisting assembly, a right-hand clamping and twisting base, and a force measuring rack.

2. The master operator of claim 1, wherein The right-hand clamping and twisting base is in sliding connection with the right-hand base through the first sliding assembly and is fixedly connected with the first spring limiting block and the second spring limiting block; the force measuring rack is fixedly connected with the right-hand clamping and twisting base and is in engagement with the force measuring gear. The right-hand clamping assembly includes a right-hand clamping moving part, a right-hand clamping fixed part, a second sliding assembly, a first pressure sensor, and a third sliding assembly; the right-hand clamping moving part is in sliding connection with the right-hand clamping fixed part through the second sliding assembly and has one end in contact with the force measuring surface of the first pressure sensor; the first pressure sensor is fixedly connected with the right-hand clamping fixed part; and the right-hand clamping fixed part is in sliding connection with the right-hand clamping and twisting base through the third sliding assembly.

3. The master operator of claim 2, wherein ​ 4. The master operator of claim 3, wherein The right-hand twisting assembly comprises a right-hand twisting support, a bearing end cover, a twisting bearing, a twisting coupling, a twisting encoder, an encoder support, a limiting sleeve, a clamping spring and a twisting catheter; the right-hand twisting support is fixedly connected to the right-hand clamping twisting base through bolts; the encoder support is fixedly connected to the right-hand twisting support and the twisting encoder; the twisting coupling is coaxially fixedly connected to the output shaft of the twisting encoder, and is rotationally connected to the right-hand twisting support through the twisting bearing; the outer ring of the twisting bearing is fixed through the step of the right-hand twisting support and the end face of the bearing end cover; one end face of the limiting sleeve abuts against the inner ring of the twisting bearing, and the other end face abuts against the clamping spring; one end of the twisting catheter is coaxially fixedly connected to the twisting coupling, and the outer surface is tangent to the right-hand clamping moving part.

5. The master operator of claim 4, wherein, The left-hand delivery assembly comprises a left-hand base and a second brushless motor assembly; the left-hand base is in sliding fit with the delivery guide rail and is fixedly connected to the second brushless motor assembly; the output end of the second brushless motor assembly is provided with an end gear; The left-hand clamping assembly comprises a left-hand clamping moving part, a left-hand clamping fixed part, a fourth sliding assembly and a second pressure sensor; the left-hand clamping moving part is in sliding fit with the left-hand clamping fixed part through the fourth sliding assembly, and the end protrusion is in contact with the force measuring surface of the second pressure sensor; the left-hand clamping fixed part is fixedly connected to the left-hand base through screws.

6. The master operator of claim 5, wherein, The first brushless motor assembly and the second brushless motor assembly adopt the same structure, and each comprises a brushless motor rear end cover, a magnetic encoder, a first transition part, a mirror image magnet, a brushless motor, a second transition part and the end gear; The brushless motor rear end cover is fixedly connected to the right-hand base through screws; The magnetic encoder is coaxially fixedly connected to the brushless motor rear end cover through screws; The first transition part is coaxially fixedly connected to the brushless motor rear end cover through screws, and is coaxially fixedly connected to one side end face of the brushless motor through screws; The mirror image magnet is magnetically adsorbed to the center shaft end of the brushless motor through its own magnetism, and is coaxially spaced apart from the magnetic encoder by 1mm to 2mm; The second transition part is coaxially fixedly connected between the other side end face of the brushless motor and the end gear through screws.

7. The master operator of claim 5, wherein, The right-hand operating part further comprises a right-hand first sliding block in sliding fit with the delivery guide rail; the right-hand first sliding block is fixedly connected to the right-hand base; The left-hand operating part further comprises a left-hand first sliding block in sliding fit with the delivery guide rail; the left-hand first sliding block is fixedly connected to the left-hand base; The sliding direction of the first sliding assembly coincides with the extension direction of the delivery guide rail; The third sliding assembly slides in the vertical direction; The sliding direction of the second sliding assembly is perpendicular to the extension direction of the delivery guide rail and the sliding direction of the third sliding assembly.

8. The master operator of any of claims 1-7, wherein, The main end base is an L-shaped plate structure comprising a horizontal plate and a vertical plate; The delivery guide rail extends in the horizontal direction and is fixedly installed on one side surface of the vertical plate facing the horizontal plate; The delivery rack is fixedly installed on the lower side of the delivery guide rail.

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