A two-finger manipulator for catheters and guidewires and its safe operation method

Abstract

This invention discloses a two-finger manipulator for guidewires and catheters and its safe operation method. The two-finger manipulator includes a main base and an index finger assembly, a thumb assembly, and a SEA assembly fixedly installed on the main base. The main base is used to fix it to the end of a robotic arm. The index finger assembly and thumb assembly are used to clamp, twist, and extend the guidewire or catheter through relative movement, and to measure the delivery force and sense the sliding state of the guidewire or catheter between the index finger assembly and thumb assembly. The SEA assembly is used to measure and control the clamping force between the index finger assembly and thumb assembly. The above-mentioned two-finger manipulator can realize the functions of clamping, twisting, delivering, and clamping force closed-loop control of guidewires and catheters, achieve accurate measurement of delivery force and sensing of the sliding state of the instrument between the fingers, and can also stop the increase of abnormal delivery force in real time while meeting the delivery force requirements for completing the current task, ensuring surgical safety.

Description

Technical Field

[0001] This invention relates to the field of surgical robot technology, specifically to a two-finger manipulator for catheters and guidewires and its safe operation method. Background Technology

[0002] Cardiovascular disease poses a significant threat to human health. According to statistics from the World Health Organization's "World Health Report 2022," the number of deaths from cardiovascular disease (CVD) worldwide increased by 25.1% in 2019 compared to 2000. Over the past 20 years (2000-2019), CVD has consistently been the leading cause of death globally, with heart disease remaining the "number one killer," and its incidence rate continuing to rise rapidly.

[0003] Percutaneous coronary intervention (PCI) has become a major treatment for cardiovascular diseases due to its minimally invasive nature and rapid recovery. However, the procedure generates X-ray radiation, causing cumulative harm to the surgeon's health. Vascular interventional surgical robots, with their master-slave remote operation capabilities, circumvent these drawbacks. Surgeons can remotely control a slave surgical robot inside the operating room using the master end controller of a master-slave vascular interventional surgical robot from outside the operating room, isolating them from radiation and protecting the surgeon's health. However, existing master end controllers often differ from actual surgical instruments, making it difficult for surgeons to accurately perceive the instrument's operating status. This can affect the surgeon's decision-making based on their own surgical experience, leading to reduced surgical safety. Summary of the Invention

[0004] In view of this, the present invention provides a two-finger manipulator for catheters and guidewires and its safe operation method. The two-finger manipulator can realize the functions of clamping, twisting, delivering and clamping force closed-loop control of guidewires and catheters, realize the accurate measurement of delivery force and the sensing of the sliding state of the instrument between the fingers. While meeting the delivery force requirements to complete the current task, it can also stop the increase of abnormal delivery force in real time to ensure surgical safety.

[0005] The present invention adopts the following specific technical solution:

[0006] This invention provides a two-finger manipulator for catheters and guidewires, which includes a main end base, an index finger assembly, a thumb assembly, and a SEA (Series Elastic Actuator) assembly.

[0007] The main end base is used to fix it to the end of the robotic arm;

[0008] The index finger assembly, the thumb assembly, and the SEA assembly are all fixedly installed on the main end base;

[0009] The index finger assembly and the thumb assembly are used to perform clamping, twisting, and retraction operations on the guidewire or catheter through relative movement, and to measure the delivery force and sense the sliding state of the guidewire or catheter between the index finger assembly and the thumb assembly.

[0010] The SEA component is used for measuring and closed-loop control of the clamping force between the index finger component and the thumb component.

[0011] Furthermore, the index finger assembly includes an index finger motor, an index finger first bevel gear, an index finger first link assembly, an index finger working link assembly, an index finger second link assembly, an index finger encoder base, an index finger second bevel gear, and an index finger encoder;

[0012] The index finger motor is fixedly connected to the main end base;

[0013] The first bevel gear of the index finger is coaxially and fixedly connected to the output shaft of the index finger motor;

[0014] One end of the index finger first link assembly is rotatably connected to the main end base and meshes with the index finger first bevel gear, and the other end is rotatably connected to the middle of the index finger working link assembly.

[0015] One end of the index finger working link assembly is rotatably connected to one end of the index finger second link assembly, and the other end is tangent to the guide wire;

[0016] The other end of the index finger second link assembly is rotatably connected to the main end base, and is driven by the index finger second bevel gear and the index finger encoder.

[0017] The index finger encoder is fixedly connected to the main end base;

[0018] The main end base, the first index finger link assembly, the second index finger link assembly, and the index finger working link assembly form a parallelogram mechanism.

[0019] Furthermore, the thumb assembly includes a thumb motor, a first bevel gear of the thumb, a first link assembly of the thumb, a working link assembly of the thumb, a second link assembly of the thumb, a second bevel gear of the thumb, a thumb encoder, a thumb encoder base, and a guide rail assembly;

[0020] The thumb motor is fixedly connected to the thumb encoder base;

[0021] The first bevel gear of the thumb is coaxially and fixedly connected to the output shaft of the thumb motor;

[0022] One end of the thumb first link assembly is rotatably connected to the thumb encoder base and meshes with the thumb first bevel gear;

[0023] One end of the thumb working link assembly is rotatably connected to the first thumb link assembly, the middle part is rotatably connected to one end of the second thumb link assembly, and the other end is tangent to the guide wire;

[0024] The other end of the second thumb linkage assembly is rotatably connected to the thumb encoder base;

[0025] The second bevel gear of the thumb meshes with the other end of the second link assembly of the thumb and is coaxially fixed to the output shaft of the thumb encoder.

[0026] The thumb encoder is fixedly connected to the thumb encoder base by screws;

[0027] The thumb encoder base is slidably connected to the main end base via the guide rail assembly, and the sliding direction is perpendicular to the plane where the two rotating shafts of the thumb working link assembly are located.

[0028] The thumb encoder base, the first thumb link assembly, the second thumb link assembly, and the thumb working link assembly form a parallelogram mechanism, which is identical to the parallelogram mechanism of the index finger assembly.

[0029] Furthermore, the SEA assembly includes an SEA motor, an SEA first gear, an SEA first rack, an SEA spring top plate, an SEA spring, an SEA second rack, an SEA second gear, and an SEA encoder;

[0030] The SEA motor is fixedly connected to the main end base;

[0031] The first gear of the SEA is coaxially and fixedly connected to the output shaft of the SEA motor;

[0032] The SEA first rack is slidably connected to the main end base via the guide rail assembly and meshes with the SEA first gear.

[0033] The SEA spring top plate is fixedly connected to the SEA first rack by screws;

[0034] The SEA spring is fitted onto the extended shaft of the thumb encoder base, and its two end faces respectively abut against the thumb encoder base and the top plate of the SEA spring.

[0035] The second rack of the SEA is fixedly connected to the thumb encoder base by screws;

[0036] The SEA second gear meshes with the SEA second rack and is coaxially fixed to the SEA encoder;

[0037] The SEA encoder is fixedly connected to the SEA first rack;

[0038] The guide rail assembly is a dual-slider linear guide rail. The first SEA rack is fixedly connected to one slider of the guide rail assembly, and the thumb encoder base is fixedly connected to the other slider of the guide rail assembly.

[0039] Furthermore, the index finger first link assembly includes a first flange bearing, a first bearing end cap, two index finger hinge hole bolts, a first bearing sleeve, an index finger bevel gear link, an index finger nut, a second flange bearing, a second bearing end cap, and a second bearing sleeve;

[0040] The outer ring of the first flange bearing is transitionally fitted with the mounting hole of the main end base, and the two end faces of the outer ring are respectively fitted with the main end base and the first bearing end cover;

[0041] The first bearing end cover is fixed to the main end base by bolts, which is used to realize the axial positioning of the first flange bearing on the main end base;

[0042] The smooth part of an index finger hinged hole bolt is coaxially transition-fitted with the inner ring of the first flange bearing and the connecting hole of the index finger bevel gear connecting rod.

[0043] The index finger bevel gear connecting rod extends horizontally, and one end is fixedly connected to the inner ring of the first flange bearing through an index finger hinge hole bolt, the first bearing sleeve and the index finger nut, so as to realize the rotational connection between one end of the index finger bevel gear connecting rod and the main end base through the first flange bearing;

[0044] The outer ring of the second flange bearing is transitionally fitted with the connecting hole at the other end of the index finger bevel gear connecting rod. The two end faces of the outer ring are respectively fitted with the index finger bevel gear connecting rod and the second bearing end cover. The second bearing end cover is fixedly connected to the index finger bevel gear connecting rod by bolts to realize the axial positioning of the second flange bearing.

[0045] The smooth part of the other index finger hinged hole bolt is coaxially transition-fitted with the inner ring of the second flange bearing and the connecting hole at one end of the index finger working link assembly.

[0046] The other end of the index finger bevel gear connecting rod is fixedly connected to the inner ring of the second flange bearing through another index finger hinge hole bolt, the second bearing sleeve and the index finger nut, so as to realize the rotational connection between the other end of the index finger bevel gear connecting rod and the middle part of the index finger working connecting rod assembly.

[0047] The second link assembly of the index finger has the same structure as the first link assembly of the index finger and is arranged in parallel.

[0048] Furthermore, the index finger working linkage assembly includes an index finger working linkage, an index finger pad bearing, an index finger pad slider, an index finger pad silicone pad, a limit block, and a limit switch;

[0049] The index finger working link extends vertically, with one end rotatably connected to the index finger bevel gear link of the first index finger link assembly, and the middle part along the vertical direction rotatably connected to the index finger bevel gear link of the second index finger link assembly.

[0050] The four index finger pad bearings are arranged in a rectangular pattern and are all fixedly connected to the index finger working link by bolts;

[0051] The index finger pad slider has a track, which is tangentially engaged with the outer ring of the four index finger pad bearings and also engages with the two end faces of the outer ring of the four index finger pad bearings, so that the index finger pad slider can be slidably connected to the index finger working link through the four index finger pad bearings.

[0052] The limiting block is fixedly connected to the index finger working link by bolts, and is used to limit the sliding range of the index finger pad slider;

[0053] The limit switch is fixedly connected to the index finger working link and can be triggered within the sliding range of the index finger pad slider;

[0054] The silicone pad on the index fingertip is fixedly connected to the slider on the index fingertip and is tangentially fitted with the guide wire.

[0055] Furthermore, the thumb first link assembly includes a third flange bearing, a third bearing end cap, a thumb hinge hole bolt, a third bearing sleeve, a thumb bevel gear link, a thumb nut, a fourth flange bearing, a fourth bearing end cap, and a fourth bearing sleeve;

[0056] The outer ring of the third flange bearing is coaxially transition-fitted with the mounting hole of the thumb encoder base, and the two end faces of the outer ring are respectively fitted with the thumb encoder base and the end cover of the third bearing.

[0057] The third bearing end cap is fixedly connected to the thumb encoder base by bolts, which is used to realize the axial positioning of the third flange bearing on the thumb encoder base;

[0058] The smooth portion of a thumb-hinged bolt is coaxially transition-fitted with the inner ring of the third flange bearing and the connecting hole of the thumb bevel gear connecting rod.

[0059] The thumb bevel gear connecting rod extends horizontally, and one end is fixedly connected to the inner ring of the third flange bearing through the thumb hinge hole bolt, the third bearing sleeve and the thumb nut, so as to realize the rotational connection between the thumb bevel gear connecting rod and the thumb encoder base through the third flange bearing.

[0060] The outer ring of the fourth flange bearing is transitionally fitted with the connecting hole at the other end of the thumb bevel gear connecting rod, and the two end faces of the outer ring are respectively fitted with the thumb bevel gear connecting rod and the end cap of the fourth bearing.

[0061] The fourth bearing end cap is fixedly connected to the thumb bevel gear connecting rod by bolts, and is used to realize the axial limit of the fourth flange bearing;

[0062] The smooth portion of the other thumb hinge bolt is coaxially transition-fitted with the inner ring of the fourth flange bearing and the connecting hole at one end of the thumb working link assembly.

[0063] The other end of the thumb bevel gear connecting rod is fixedly connected to the inner ring of the fourth flange bearing through the thumb hinge hole bolt, the fourth bearing sleeve and the thumb nut, so as to realize the rotational connection between the thumb bevel gear connecting rod and the thumb encoder base through the fourth flange bearing;

[0064] The second thumb link assembly has the same structure as the first thumb link assembly and is arranged in parallel.

[0065] Furthermore, the thumb working linkage assembly includes a thumb working linkage, a thumb pad bearing, a thumb pad slider, a thumb pad silicone pad, and a delivery force sensor;

[0066] The thumb working link extends vertically, with one end rotatably connected to the thumb bevel gear link of the first thumb link assembly, and the middle part rotatably connected to the thumb bevel gear link of the second thumb link assembly.

[0067] The four thumb pad bearings are arranged in a rectangular shape and are respectively fixedly connected to the thumb working link by bolts;

[0068] The thumb pad slider has a track, which is tangentially engaged with the outer ring of the four thumb pad bearings and engages with the two end faces of the outer ring of the four thumb pad bearings. The thumb pad slider is slidably connected to the thumb working link through the four thumb pad bearings.

[0069] One end face of the delivery force sensor is fixedly connected to the thumb working link by a screw, and the other end face is fixedly connected to the thumb pad slider by a screw, for measuring the force between the thumb working link and the thumb pad slider in the sliding direction;

[0070] The silicone pad for the thumb's fingertip is fixedly connected to the slider for the thumb's fingertip and is tangentially fitted to the guide wire.

[0071] In addition, the present invention also provides a safe operating method for the two-finger operator as described above, the operating method comprising the following steps:

[0072] Step 1: Control the index finger component and thumb component with an initial clamping force F via the SEA component. initial Clamp the guidewire or catheter and deliver it;

[0073] Step 2: When the guidewire or catheter slips, obtain the delivery status of the guidewire or catheter in the blood vessel;

[0074] If the delivery status is "entering the target branch," it indicates that the current delivery force threshold is insufficient to complete the current delivery task. The SEA component is used to increase the clamping force to increase the delivery force threshold.

[0075] F(t) = F(t-1) + F grad ;

[0076] In the above formula, F(t) is the clamping force at time t; F(t-1) is the clamping force at time t-1; and when t=1, F(0) is the initial clamping force F. initial ;F grad Increase the gradient to increase the clamping force;

[0077] If the delivery status indicates entry into a non-target branch, it means the current guidewire or catheter is not in the target area. Retract and twist the guidewire or catheter while maintaining the clamping force.

[0078] F(t) = F(t-1);

[0079] Step 3: Continue delivery. If the guidewire or catheter slips, repeat step 2.

[0080] Beneficial effects:

[0081] 1. The catheter and guidewire dual-finger manipulator of the present invention achieves clamping, twisting, and retraction operations on the guidewire or catheter through the relative movement of the index finger component and the thumb component. It realizes the measurement of delivery force and the sensing of the sliding state of the guidewire or catheter between the index finger component and the thumb component. The SEA component realizes the measurement and closed-loop control of the clamping force between the index finger component and the thumb component, providing more comprehensive operation information. Therefore, the above-mentioned dual-finger manipulator can realize the functions of clamping, twisting, delivery, and clamping force closed-loop control of guidewire and catheter, realize the accurate measurement of delivery force and the sensing of the sliding state of the instrument between the fingers. While meeting the delivery force requirements to complete the current task, it can also stop the increase of abnormal delivery force in real time to ensure surgical safety. It does not require modeling of complex vascular environment, has simple logic, and high versatility.

[0082] 2. The catheter and guidewire two-finger manipulator of this invention is based on a double-equivalent parallelogram design of the index finger component and the thumb component. The working surfaces of the two fingers are parallel to each other, and surgical instruments of different thicknesses can be clamped by controlling the distance between the two fingers. It is especially suitable for clamping extremely fine guidewires and catheters. Compared with traditional insert-type guidewire and catheter holders, the open two-finger manipulator is more convenient for switching surgical instruments. The clamping and twisting movements of the two-finger manipulator are decoupled and controlled separately by the index finger motor and the thumb motor, which is easy to control. The clamping force control function can achieve non-destructive clamping of guidewires and catheters. The clamping force control closed loop based on SEA is smoother than the traditional force sensor-based solution. The position encoder used has a higher signal-to-noise ratio than the force sensor, is lower in cost, and has better signal stability.

[0083] 3. The safe operation method of this invention, based on the sliding state of the guidewire and catheter between the index finger and thumb components and the delivery state of the guidewire and catheter in the blood vessel sensed by the two-finger manipulator, controls the delivery force threshold suitable for the current vascular delivery environment by autonomously adjusting the clamping force. This not only completes the current delivery task but also eliminates the need for modeling and calculating the vascular environment to actively set the delivery force threshold, making it applicable to all vascular environments and more versatile. When abnormally increased delivery resistance occurs, the abnormal increase in instrument delivery force can be stopped by passive sliding based on the friction between the two fingers and the guidewire and catheter, promptly preventing further increases in unexpected delivery force. This provides high real-time performance and high safety. In contrast, traditional active safety intervention strategies based on algorithm processing and logical judgment intervene in dangerous operations after measuring current delivery information, algorithmic logic processing, and motor driving, which inevitably introduces time lag and has limited improvement in surgical safety. Therefore, the above-mentioned safe operation method realizes the robot's autonomous adjustment of the clamping force based on the coupling relationship between the guidewire and catheter clamping force and its delivery force threshold. It can not only meet the delivery force requirements for completing the current task, but also stop the increase of abnormal delivery force in real time, ensuring surgical safety. It does not require modeling of complex vascular environment, has simple logic, and high versatility. Attached Figure Description

[0084] Figure 1 This is a three-dimensional structural schematic diagram of the catheter and guidewire two-finger manipulator of the present invention;

[0085] Figure 2 for Figure 1 A three-dimensional structural diagram of the middle and index finger components;

[0086] Figure 3 for Figure 1 A three-dimensional structural diagram of the middle thumb component;

[0087] Figure 4 for Figure 1 A three-dimensional structural diagram of the SEA component;

[0088] Figure 5 for Figure 2 A three-dimensional structural diagram of the first link assembly of the middle and index fingers;

[0089] Figure 6 for Figure 2 A three-dimensional structural diagram of the middle and index finger working linkage assembly;

[0090] Figure 7 for Figure 3 A three-dimensional structural diagram of the first link assembly of the middle thumb;

[0091] Figure 8 for Figure 3 A three-dimensional structural diagram of the middle thumb working linkage assembly;

[0092] Figure 9 This is a flowchart of the safe operation method of the present invention;

[0093] Figure 10 This is a graph showing the change in minimum delivery force as a function of vascular depth in a given vascular environment.

[0094] Among them, 1-main end base, 2-index finger assembly, 3-thumb assembly, 4-SEA assembly, 5-robotic arm end effector, 6-guide wire, 21-index finger motor, 22-index finger first bevel gear, 23-index finger first link assembly, 24-index finger working link assembly, 25-index finger second link assembly, 26-index finger encoder base, 27-index finger second bevel gear, 28-index finger encoder, 231-first flange bearing, 232-first bearing end cover, 233 - Index finger reamed hole bolt, 234- First bearing sleeve, 235- Index finger bevel gear connecting rod, 236- Index finger nut, 237- Second flange bearing, 238- Second bearing end cap, 239- Second bearing sleeve, 241- Index finger working connecting rod, 242- Index finger pad bearing, 243- Index finger pad slider, 244- Index finger pad silicone pad, 245- Limit stop, 246- Limit switch, 31- Thumb motor, 32- Thumb first bevel gear 33-Thumb first link assembly, 34-Thumb working link assembly, 35-Thumb second link assembly, 36-Thumb second bevel gear, 37-Thumb encoder, 38-Thumb encoder base, 39-Guide rail assembly, 331-Third flange bearing, 332-Third bearing end cap, 333-Thumb reamer bolt, 334-Third bearing sleeve, 335-Thumb bevel gear connecting rod, 336-Thumb nut, 337-Fourth flange bearing, 338-Fourth bearing end cap, 339-Fourth bearing sleeve, 341-Thumb working link, 342-Thumb pad bearing, 343-Thumb pad slider, 344-Thumb pad silicone pad, 345-Delivery force sensor, 41-SEA motor, 42-SEA first gear, 43-SEA first rack, 44-SEA spring top plate, 45-SEA spring, 46-SEA second rack, 47-SEA second gear, 48-SEA encoder. Detailed Implementation

[0095] The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0096] Example 1

[0097] This embodiment provides a two-finger manipulator for catheters and guidewires, such as Figure 1 As shown, it includes a main base 1, an index finger assembly 2, a thumb assembly 3, and an SEA assembly 4; wherein:

[0098] like Figure 1As shown, the main end base 1 is fixedly connected to the end of the robotic arm 5; the index finger assembly 2, thumb assembly 3, and SEA assembly 4 are all fixedly installed on the main end base 1; the index finger assembly 2 and thumb assembly 3 are used to perform clamping, twisting, and retraction operations on the guidewire 6 or catheter through relative movement, and are also used to measure the delivery force and sense the sliding state of the guidewire 6 and catheter between the index finger assembly 2 and thumb assembly 3; the SEA assembly 4 is used for measuring the clamping force between the index finger assembly 2 and thumb assembly 3 and for closed-loop control.

[0099] like Figure 2 As shown, the index finger assembly 2 includes an index finger motor 21, an index finger first bevel gear 22, an index finger first link assembly 23, an index finger working link assembly 24, an index finger second link assembly 25, an index finger second link assembly 25, an index finger second bevel gear 27, and an index finger encoder 28.

[0100] The index finger motor 21 is fixedly connected to the main end base 1 by screws; the index finger first bevel gear 22 is coaxially fixedly connected to the output shaft of the index finger motor 21; one end of the index finger first link assembly 23 is rotatably connected to the main end base 1 and meshes with the index finger first bevel gear 22 for transmission, and the other end is rotatably connected to the middle part of the index finger working link assembly 24; one end of the index finger working link assembly 24 is rotatably connected to one end of the index finger second link assembly 25, and the other end is tangent to the guide wire 6; the other end of the index finger second link assembly 25 is rotatably connected to the main end base 1 and meshes with the index finger second bevel gear 27; the index finger second bevel gear 27 is coaxially fixedly connected to the output shaft of the index finger encoder 28; the index finger encoder 28 is fixedly connected to the main end base 1 through the index finger encoder base 26; the main end base 1, the index finger first link assembly 23, the index finger second link assembly 25 and the index finger working link assembly 24 form a parallelogram mechanism.

[0101] like Figure 3 As shown, the thumb assembly 3 includes a thumb motor 31, a first thumb bevel gear 32, a first thumb linkage assembly 33, a thumb working linkage assembly 34, a second thumb linkage assembly 35, a second thumb bevel gear 36, a thumb encoder 37, a thumb encoder base 38, and a guide rail assembly 39, wherein:

[0102] The thumb motor 31 is fixedly connected to the thumb encoder base 38 by screws; the thumb first bevel gear 32 is coaxially fixedly connected to the output shaft of the thumb motor 31; one end of the thumb first connecting rod assembly 33 is rotatably connected to the thumb encoder base 38 and meshes with the thumb first bevel gear 32; one end of the thumb working connecting rod assembly 34 is rotatably connected to the thumb first connecting rod assembly 33, the middle part of the thumb working connecting rod assembly 34 is rotatably connected to one end of the thumb second connecting rod assembly 35, and the other end of the thumb working connecting rod assembly 34 is tangent to the guide wire 6; the other end of the thumb second connecting rod assembly 35 is rotatably connected to the thumb encoder base 38; the thumb second bevel gear 36 is rotatably connected to the other end of the thumb second connecting rod assembly 35. The bevel gear at the end meshes and is coaxially fixed to the output shaft of the thumb encoder 37; the thumb encoder 37 is fixed to the thumb encoder base 38 by screws; the thumb encoder base 38 is slidably connected to the main end base 1 through the guide rail assembly 39, and the sliding direction is perpendicular to the plane where the two rotating shafts of the thumb working link assembly 34 are located; the thumb encoder base 38, the thumb first link assembly 33, the thumb second link assembly 35 and the thumb working link assembly 34 form a parallelogram mechanism, which is congruent to the parallelogram mechanism of the index finger assembly 2; the two parallelogram mechanisms move in the same direction to realize the extension and retraction of the two fingers, and move in opposite directions to realize the twisting operation of the guide wire 6, catheter and other clamped instruments.

[0103] like Figure 4 As shown, the SEA assembly 4 includes an SEA motor 41, an SEA first gear 42, an SEA first rack 43, an SEA spring top plate 44, an SEA spring 45, an SEA second rack 46, an SEA second gear 47, and an SEA encoder 48, wherein:

[0104] SEA motor 41 is fixedly connected to main end base 1 by screws; SEA first gear 42 is coaxially fixedly connected to the output shaft of SEA motor 41; SEA first rack 43 is slidably connected to main end base 1 through guide rail assembly 39 and meshes with SEA first gear 42; SEA spring top plate 44 is fixedly connected to SEA first rack 43 by screws; SEA spring 45 is fitted into the protruding shaft of thumb encoder base 38 and its two end faces abut against thumb encoder base 38 and SEA spring top plate 44 respectively, that is, one end face of SEA spring 45 abuts against thumb encoder base 38, and the other end face of SEA spring 45 abuts against the thumb encoder base 38. The SEA spring 45 rests on the top plate 44 of the SEA spring; the SEA second rack 46 is fixedly connected to the thumb encoder base 38 by screws; the SEA second gear 47 meshes with the SEA second rack 46 and is coaxially fixedly connected to the SEA encoder 48; the SEA encoder 48 is fixedly connected to the SEA first rack 43 by screws; the guide rail assembly 39 is a double-slider linear guide rail, with the SEA first rack 43 and the thumb encoder base 38 respectively fixedly connected to the two sliders of the guide rail assembly 39, that is, the SEA first rack 43 is fixedly connected to one slider of the guide rail assembly 39, and the thumb encoder base 38 is fixedly connected to the other slider of the guide rail assembly 39. First, the SEA spring 45 is experimentally calibrated to obtain its elastic coefficient K. s Then, when the SEA spring 45 is compressed, its compression is transmitted through the SEA second rack 46 and the SEA second gear 47 and measured by the SEA encoder 48. The elastic force F of the SEA spring 45 is then measured. s for:

[0105] F s =θ s ·r s ·K s ;

[0106] Among them, F s For the spring force, θ s r is the rotation angle of the SEA encoder 48. s K is the pitch circle radius of the second gear 47 of SEA. s The spring constant of the SEA spring 45 is given.

[0107] Since the SEA spring is placed horizontally at 45 degrees, the spring force is equal to the clamping force of the two-finger manipulator, that is:

[0108] F = F s ;

[0109] Where F is the clamping force of the two-finger manipulator.

[0110] The SEA motor 41 can control the compression of the SEA spring 45 through the transmission of the SEA first gear 42 and the SEA first rack 43. Based on PID (proportional integral derivative control) control, a clamping force closed loop is constructed to achieve precise control of the clamping force.

[0111] like Figure 5 As shown, the index finger first connecting rod assembly 23 includes a first flange bearing 231, a first bearing end cap 232, an index finger reaming hole bolt 233, a first bearing sleeve 234, an index finger bevel gear connecting rod 235, an index finger nut 236, a second flange bearing 237, a second bearing end cap 238, and a second bearing sleeve 239, wherein:

[0112] The outer ring of the first flange bearing 231 is coaxial with and transition-fitted to the mounting hole of the main end base 1. The two end faces of the outer ring of the first flange bearing 231 respectively mate with the main end base 1 and the first bearing end cover 232; that is, one end face of the outer ring of the first flange bearing 231 mates with the main end base 1, and the other end face mates with the first bearing end cover 232. The first bearing end cover 232 is bolted to the main end base 1 to achieve axial limitation of the first flange bearing 231 on the main end base 1. The unthreaded portion of an index finger reamed bolt 233, i.e., the smooth rod portion, is coaxially transition-fitted with the inner ring of the first flange bearing 231 and the connecting hole of the index finger bevel gear connecting rod 235, respectively; the index finger bevel gear connecting rod 235 extends horizontally, and the end with the bevel gear is fixedly connected to the inner ring of the first flange bearing 231 through the index finger reamed bolt 233, the first bearing sleeve 234, and the index finger nut 236, for realizing the connection of the end of the index finger bevel gear connecting rod 235 with the bevel gear through the first flange bearing 231. The flange bearing 231 is rotatably connected to the main end base 1; the outer ring of the second flange bearing 237 is transitionally fitted to the connecting hole at the non-bevel gear end of the index finger bevel gear connecting rod 235; the two end faces of the outer ring of the second flange bearing 237 are respectively fitted to the index finger bevel gear connecting rod 235 and the second bearing end cover 238; the second bearing end cover 238 is fixedly connected to the index finger bevel gear connecting rod 235 by bolts to achieve axial positioning of the second flange bearing 237; another index finger reamer bolt 233 is unthreaded. The bare rod portion is coaxially transition-fitted with the inner ring of the second flange bearing 237 and the connecting hole at one end of the index finger working link assembly 24. The end of the index finger bevel gear link 235 without bevel gear is fixedly connected to the inner ring of the second flange bearing 237 through another index finger reamer bolt 233, the second bearing sleeve 239 and the index finger nut 236, so that the end of the index finger bevel gear link 235 without bevel gear is rotatably connected to the middle part of the index finger working link assembly 24 through the second flange bearing 237.

[0113] The index finger second link assembly 25 has the same structure as the index finger first link assembly 23 and is arranged in parallel, but their connection positions with the main end base 1 and the index finger working link assembly 24 are different.

[0114] like Figure 6 As shown, the index finger working linkage assembly 24 includes an index finger working linkage 241, an index finger pad bearing 242, an index finger pad slider 243, an index finger pad silicone pad 244, a limit stop 245, and a limit switch 246. The index finger working linkage 241 is arranged vertically, with one end rotatably connected to the index finger bevel gear linkage 235 of the first index finger linkage assembly 23, and the middle part rotatably connected to the index finger bevel gear linkage of the second index finger linkage assembly 25. The four index finger pad bearings 242 are arranged in a rectangle and are fixed to the index finger working linkage 241 by bolts. The index finger pad slider 243 has a track, which is connected to the outer ring of the four index finger pad bearings 242 respectively. The index fingertip slider 243 is tangentially fitted to the outer rings of the four index fingertip bearings 242 and slidably connected to the index finger working link 241, allowing the index fingertip slider 243 to slide in a horizontal direction perpendicular to the vertical direction of the index finger working link 241. A limit stop 245 is bolted to the index finger working link 241 to limit the sliding position range of the index fingertip slider 243. A limit switch 246 is fixed to the index finger working link 241 and can be triggered within the sliding position range of the index fingertip slider 243. An index fingertip silicone pad 244 is fixed to the index fingertip slider 243 and tangentially fitted to the guide wire 6. The index fingertip slider 243 can slide freely along the delivery direction of the guide wire 6, and sliding will trigger the limit switch 246.

[0115] like Figure 7As shown, the thumb first link assembly 33 includes a third flange bearing 331, a third bearing end cap 332, a thumb reamer bolt 333, a third bearing sleeve 334, a thumb bevel gear link 335, a thumb nut 336, a fourth flange bearing 337, a fourth bearing end cap 338, and a fourth bearing sleeve 339. The outer ring of the third flange bearing 331 is coaxially transition-fitted with the mounting hole of the thumb encoder base 38. The two end faces of the outer ring of the third flange bearing 331 respectively mate with the thumb encoder base 38 and the third bearing end cap 332, that is, one end face of the outer ring mates with the thumb encoder base 38. The outer ring's other end face mates with the third bearing end cover 332; the third bearing end cover 332 is bolted to the thumb encoder base 38 to achieve axial positioning of the third flange bearing 331 on the thumb encoder base 38; the unthreaded portion of a thumb-hinged bolt 333 coaxially transition-fits with the inner ring of the third flange bearing 331 and the connecting hole of the thumb bevel gear connecting rod 335; the thumb bevel gear connecting rod 335 extends horizontally, and the end with the bevel gear is connected to the third flange bearing 331 via a thumb-hinged bolt 333, the third bearing sleeve 334, and the thumb nut 336. The inner ring is fixedly connected to enable the thumb bevel gear connecting rod 335 with the bevel gear to be rotatably connected to the thumb encoder base 38 via the third flange bearing 331; the outer ring of the fourth flange bearing 337 is transitionally fitted with the connecting hole at the end of the thumb bevel gear connecting rod 335 without the bevel gear; the two end faces of the outer ring of the fourth flange bearing 337 are respectively fitted with the thumb bevel gear connecting rod 335 and the fourth bearing end cover 338, that is, one end face of the outer ring of the fourth flange bearing 337 is fitted with the thumb bevel gear connecting rod 335, and the other end face of the outer ring is fitted with the fourth bearing end cover 338; the fourth bearing end cover 338 is bolted to... The thumb bevel gear connecting rod 335 is fixedly connected to achieve axial positioning of the fourth flange bearing 337; the unthreaded part of another thumb hinge bolt 333 is coaxially transition-fitted with the inner ring of the fourth flange bearing 337 and the connecting hole at one end of the thumb working connecting rod assembly 34, respectively. The unbeveled end of the thumb bevel gear connecting rod 335 is fixedly connected to the inner ring of the fourth flange bearing 337 through another thumb hinge bolt 333, the fourth bearing sleeve 339, and the thumb nut 336, so that the unbeveled end of the thumb bevel gear connecting rod 335 is rotatably connected to the thumb encoder base 38 through the fourth flange bearing 337.

[0116] The thumb second link assembly 35 has the same structure as the thumb first link assembly 33 and is arranged in parallel, but their connection positions with the thumb encoder base 38 and the thumb working link assembly 34 are different.

[0117] like Figure 8As shown, the thumb working linkage assembly 34 includes a thumb working linkage 341, a thumb pad bearing 342, a thumb pad slider 343, a thumb pad silicone pad 344, and a delivery force sensor. The thumb working linkage 341 extends vertically, with one end rotatably connected to the thumb bevel gear linkage of the first thumb linkage assembly 33, and the middle part rotatably connected to the thumb bevel gear linkage of the second thumb linkage assembly 35. The four thumb pad bearings 342 are arranged in a rectangle and are fixed to the thumb working linkage 341 by bolts. The thumb pad slider 343 has a track, which connects to the four thumb pad bearings. The outer ring of the fingertip bearing 342 is tangentially fitted to the outer ring of the four thumb fingertip bearings 342, and is fitted to the two end faces of the outer ring of the four thumb fingertip bearings 342. The thumb fingertip slider 343 is slidably connected to the thumb working link 341 through the four thumb fingertip bearings 342. One end face of the force sensor is fixed to the thumb working link 341 by a screw, and the other end face is fixed to the thumb fingertip slider 343 by a screw. The force sensor is used to measure the force between the thumb working link 341 and the thumb fingertip slider 343 in the sliding direction. The thumb fingertip silicone pad 344 is fixed to the thumb fingertip slider 343 and is tangentially fitted to the guide wire 6.

[0118] When the clamped guide wire 6 encounters delivery resistance, since the index finger pad slider 243 and thumb pad slider 343, whose working surfaces contact the guide wire 6, experience almost no resistance in the sliding direction, the force measured by the delivery force sensor 345 is the delivery force of the guide wire 6, which is also the frictional force between the guide wire 6 and the thumb pad silicone pad 344. When the maximum static frictional force between the guide wire 6 and the thumb pad silicone pad 344 is less than the delivery resistance, passive sliding will occur between the guide wire 6 and the thumb pad silicone pad 344. Consequently, the guide wire 6 will drive the index finger pad slider 243 to slide and trigger the limit switch 246, thus obtaining a sliding signal for the guide wire 6.

[0119] In the above embodiments, the fastening can be achieved by means of screws, riveting, welding, etc.

[0120] The clamping force control principle of the above-mentioned catheter guidewire two-finger manipulator is as follows: SEA component 4 is used for clamping force measurement and control. First, SEA spring 45 is calibrated to obtain its elastic coefficient. Then, the compression of SEA spring 45 is measured by SEA encoder 48 through the transmission of SEA second gear 47 and SEA second rack 46, and the clamping force is calculated. SEA motor 41 can drive SEA first gear 42 and SEA first rack 43 to compress SEA spring 45, thereby realizing clamping force control. Then, clamping force closed loop is realized based on PID controller.

[0121] The principle behind the aforementioned two-finger manipulator for sensing slippage signals between the guidewire and catheter is as follows: the maximum static friction force between the guidewire and catheter and the clamping force on the working surfaces of the two fingers is coupled. That is, the maximum static friction force, i.e., the maximum delivery force, can be controlled by controlling the clamping force between the two fingers. When the delivery resistance of the guidewire and catheter exceeds the maximum delivery force that the two fingers can provide under a certain clamping force, the guidewire and catheter will passively slide between the two fingers, thereby causing the slider 243 of the index finger to slide and trigger the limit switch 246, sending a signal that the guidewire and catheter have passively slipped.

[0122] The aforementioned two-finger manipulator for guidewires and catheters achieves clamping, twisting, and retraction operations through the relative movement of the index finger and thumb components. It also measures the delivery force and senses the sliding state of the guidewire or catheter between the index finger and thumb components. Furthermore, the SEA component enables the measurement and closed-loop control of the clamping force between the index finger and thumb components, providing more comprehensive operational information. Therefore, the two-finger manipulator can realize the functions of clamping, twisting, delivery, and clamping force closed-loop control of guidewires and catheters, achieving precise measurement of delivery force and sensing of the instrument's sliding state between the fingers. While meeting the delivery force requirements for completing the current task, it can also stop the increase of abnormal delivery force in real time, ensuring surgical safety. It does not require modeling of complex vascular environments, has simple logic, and high versatility.

[0123] Furthermore, the aforementioned two-finger manipulator for guidewires and catheters is based on a double parallelogram design with the index finger and thumb components. The working surfaces of the two fingers are parallel to each other, allowing for the clamping of surgical instruments of different thicknesses by controlling the distance between the two fingers. It is particularly suitable for clamping extremely fine guidewires and catheters. Compared to traditional insert-type guidewire and catheter holders, the open-type two-finger manipulator makes it easier to switch surgical instruments. The clamping and twisting movements of the two-finger manipulator are decoupled, controlled separately by the index finger motor and the thumb motor, making it easy to control. The clamping force control function enables non-destructive clamping of guidewires and catheters. The SEA-based clamping force control closed loop provides smoother control compared to traditional force sensor-based solutions. The position encoder used has a higher signal-to-noise ratio than force sensors, is lower in cost, and has better signal stability.

[0124] Example 2

[0125] This embodiment provides a safe operating method for the catheter and guidewire two-finger manipulator described in the above embodiments, such as... Figure 9 As shown, this safe operating method includes the following steps:

[0126] The clamping force between the index finger and thumb components is controlled by the SEA component, with a small initial clamping force F. initialClamping and delivering the guidewire and catheter; if the guidewire / catheter slippage is detected by the two-finger manipulator during delivery, the delivery status of the guidewire / catheter in the blood vessel can be obtained through manual observation or image processing algorithms. In image processing, the current blood vessel position sequence coordinates are first obtained through threshold segmentation based on the digital subtraction angiography (DSA) image, and the target blood vessel region is labeled as 1, with other regions labeled as 0. Because the guidewire and catheter tips contain radiopaque material, their specific positions will be visible under X-ray. Therefore, the contour coordinates of the guidewire and catheter images under real-time X-ray irradiation are obtained through threshold segmentation. Whether the guidewire / catheter coordinates are located within the labeled 1 region or the labeled 0 region determines the current guidewire / catheter delivery status. The delivery status of the guidewire / catheter in the blood vessel is divided into two types: I. Entering the target branch; II. Entering a non-target branch. If the delivery status is "Entering the target branch," it indicates that the current delivery force threshold is insufficient to complete the current delivery task. Figure 10 As shown, it is necessary to increase the clamping force through the SEA component to increase the delivery force threshold, i.e.: F(t) = F(t-1) + F grad In the formula, F(t) is the clamping force at time t; F(t-1) is the clamping force at time t-1; and when t=1, F(0) is the initial clamping force F. initial ;F grad Increase the clamping force gradient; if the guidewire or catheter enters a non-target branch state, it indicates that the current guidewire or catheter is not in the target area. Retract the guidewire or catheter and twist the guidewire or catheter while keeping the clamping force unchanged, i.e., F(t) = F(t-1); then continue to try delivery. If the guidewire or catheter slips again during the continued delivery process, repeat the above clamping force adjustment steps.

[0127] The aforementioned safety operation method can autonomously adjust the clamping force based on the current delivery status of the guidewire and catheter, as well as their slippage between the two fingers of the two-finger manipulator. This adjustment, based on friction, achieves a delivery force threshold that not only meets the delivery force requirements of the current vascular environment but also allows for real-time cutoff of abnormal delivery forces due to passive slippage of the guidewire and catheter between the fingers, ensuring surgical safety in real time. Compared to traditional proactive safety intervention strategies based on algorithmic processing and logical judgment, this method eliminates the need for modeling and calculating the vascular environment to actively set the delivery force threshold, making it applicable to all vascular pathways and offering greater versatility.

[0128] Therefore, the above-mentioned safe operation method, which realizes the robot's autonomous adjustment of the clamping force based on the coupling relationship between the guidewire and catheter clamping force and its delivery force threshold, can not only meet the delivery force requirements for completing the current task, but also stop the increase of abnormal delivery force in real time, ensuring surgical safety. It does not require modeling of complex vascular environment, has simple logic, and high versatility.

[0129] 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 two-finger manipulator for catheters and guidewires, characterized in that, Includes main base, index finger assembly, thumb assembly, and SEA assembly; The main end base is used to fix it to the end of the robotic arm; The index finger assembly, the thumb assembly, and the SEA assembly are all fixedly installed on the main end base; The index finger assembly and the thumb assembly are used to perform clamping, twisting, and retraction operations on the guidewire or catheter through relative movement, and to measure the delivery force and sense the sliding state of the guidewire or catheter between the index finger assembly and the thumb assembly. The SEA component is used for measuring and closed-loop control of the clamping force between the index finger component and the thumb component; The index finger assembly includes an index finger motor, an index finger first bevel gear, an index finger first link assembly, an index finger working link assembly, an index finger second link assembly, an index finger encoder base, an index finger second bevel gear, and an index finger encoder; The index finger motor is fixedly connected to the main end base; The first bevel gear of the index finger is coaxially and rigidly connected to the output shaft of the index finger motor; One end of the index finger first link assembly is rotatably connected to the main end base and meshes with the index finger first bevel gear, and the other end is rotatably connected to the middle of the index finger working link assembly. One end of the index finger working link assembly is rotatably connected to one end of the index finger second link assembly, and the other end is tangent to the guide wire; The other end of the index finger second link assembly is rotatably connected to the main end base, and is driven by the index finger second bevel gear and the index finger encoder. The index finger encoder is fixedly connected to the main end base; The main end base, the first index finger link assembly, the second index finger link assembly, and the index finger working link assembly form a parallelogram mechanism.

2. The two-finger operator as described in claim 1, characterized in that, The thumb assembly includes a thumb motor, a first bevel gear of the thumb, a first link assembly of the thumb, a working link assembly of the thumb, a second link assembly of the thumb, a second bevel gear of the thumb, a thumb encoder, a thumb encoder base, and a guide rail assembly; The thumb motor is fixedly connected to the thumb encoder base; The first bevel gear of the thumb is coaxially and fixedly connected to the output shaft of the thumb motor; One end of the thumb first link assembly is rotatably connected to the thumb encoder base and meshes with the thumb first bevel gear; One end of the thumb working link assembly is rotatably connected to the first thumb link assembly, the middle part is rotatably connected to one end of the second thumb link assembly, and the other end is tangent to the guide wire; The other end of the second thumb linkage assembly is rotatably connected to the thumb encoder base; The second bevel gear of the thumb meshes with the other end of the second link assembly of the thumb and is coaxially fixed to the output shaft of the thumb encoder. The thumb encoder is fixedly connected to the thumb encoder base by screws; The thumb encoder base is slidably connected to the main end base via the guide rail assembly, and the sliding direction is perpendicular to the plane where the two rotating shafts of the thumb working link assembly are located. The thumb encoder base, the first thumb link assembly, the second thumb link assembly, and the thumb working link assembly form a parallelogram mechanism, which is identical to the parallelogram mechanism of the index finger assembly.

3. The two-finger operator as described in claim 2, characterized in that, The SEA assembly includes an SEA motor, an SEA first gear, an SEA first rack, an SEA spring top plate, an SEA spring, an SEA second rack, an SEA second gear, and an SEA encoder; The SEA motor is fixedly connected to the main end base; The first gear of the SEA is coaxially and fixedly connected to the output shaft of the SEA motor; The SEA first rack is slidably connected to the main end base via the guide rail assembly and meshes with the SEA first gear. The SEA spring top plate is fixedly connected to the SEA first rack by screws; The SEA spring is fitted onto the extended shaft of the thumb encoder base, and its two end faces respectively abut against the thumb encoder base and the top plate of the SEA spring. The second rack of the SEA is fixedly connected to the thumb encoder base by screws; The SEA second gear meshes with the SEA second rack and is coaxially fixed to the SEA encoder; The SEA encoder is fixedly connected to the SEA first rack; The guide rail assembly is a dual-slider linear guide rail. The first SEA rack is fixedly connected to one slider of the guide rail assembly, and the thumb encoder base is fixedly connected to the other slider of the guide rail assembly.

4. The two-finger operator as described in claim 3, characterized in that, The index finger first connecting rod assembly includes a first flange bearing, a first bearing end cap, two index finger reaming hole bolts, a first bearing sleeve, an index finger bevel gear connecting rod, an index finger nut, a second flange bearing, a second bearing end cap, and a second bearing sleeve. The outer ring of the first flange bearing is transitionally fitted with the mounting hole of the main end base, and the two end faces of the outer ring are respectively fitted with the main end base and the first bearing end cover; The first bearing end cover is fixed to the main end base by bolts, which is used to realize the axial positioning of the first flange bearing on the main end base; The smooth part of an index finger hinged hole bolt is coaxially transition-fitted with the inner ring of the first flange bearing and the connecting hole of the index finger bevel gear connecting rod. The index finger bevel gear connecting rod extends horizontally, and one end is fixedly connected to the inner ring of the first flange bearing through an index finger hinge hole bolt, the first bearing sleeve and the index finger nut, so as to realize the rotational connection between one end of the index finger bevel gear connecting rod and the main end base through the first flange bearing; The outer ring of the second flange bearing is transitionally fitted with the connecting hole at the other end of the index finger bevel gear connecting rod. The two end faces of the outer ring are respectively fitted with the index finger bevel gear connecting rod and the second bearing end cover. The second bearing end cover is fixedly connected to the index finger bevel gear connecting rod by bolts to realize the axial positioning of the second flange bearing. The smooth part of the other index finger hinged hole bolt is coaxially transition-fitted with the inner ring of the second flange bearing and the connecting hole at one end of the index finger working link assembly. The other end of the index finger bevel gear connecting rod is fixedly connected to the inner ring of the second flange bearing through another index finger hinge hole bolt, the second bearing sleeve and the index finger nut, so as to realize the rotational connection between the other end of the index finger bevel gear connecting rod and the middle part of the index finger working connecting rod assembly. The second link assembly of the index finger has the same structure as the first link assembly of the index finger and is arranged in parallel.

5. The two-finger operator as described in claim 4, characterized in that, The index finger working linkage assembly includes an index finger working linkage, an index finger pad bearing, an index finger pad slider, an index finger pad silicone pad, a limit block, and a limit switch. The index finger working link extends vertically, with one end rotatably connected to the index finger bevel gear link of the first index finger link assembly, and the middle part along the vertical direction rotatably connected to the index finger bevel gear link of the second index finger link assembly. The four index finger pad bearings are arranged in a rectangular pattern and are all fixedly connected to the index finger working link by bolts; The index finger pad slider has a track, which is tangentially engaged with the outer ring of the four index finger pad bearings and also engages with the two end faces of the outer ring of the four index finger pad bearings, so that the index finger pad slider can be slidably connected to the index finger working link through the four index finger pad bearings. The limiting block is fixedly connected to the index finger working link by bolts, and is used to limit the sliding range of the index finger pad slider; The limit switch is fixedly connected to the index finger working link and can be triggered within the sliding range of the index finger pad slider; The silicone pad on the index fingertip is fixedly connected to the slider on the index fingertip and is tangentially fitted with the guide wire.

6. The two-finger operator as described in claim 5, characterized in that, The thumb first link assembly includes a third flange bearing, a third bearing end cap, a thumb hinge hole bolt, a third bearing sleeve, a thumb bevel gear link, a thumb nut, a fourth flange bearing, a fourth bearing end cap, and a fourth bearing sleeve. The outer ring of the third flange bearing is coaxially transition-fitted with the mounting hole of the thumb encoder base, and the two end faces of the outer ring are respectively fitted with the thumb encoder base and the end cover of the third bearing; The third bearing end cap is fixedly connected to the thumb encoder base by bolts, which is used to realize the axial positioning of the third flange bearing on the thumb encoder base; The smooth portion of a thumb-hinged bolt is coaxially transition-fitted with the inner ring of the third flange bearing and the connecting hole of the thumb bevel gear connecting rod. The thumb bevel gear connecting rod extends horizontally, and one end is fixedly connected to the inner ring of the third flange bearing through the thumb hinge hole bolt, the third bearing sleeve and the thumb nut, so as to realize the rotational connection between the thumb bevel gear connecting rod and the thumb encoder base through the third flange bearing. The outer ring of the fourth flange bearing is transitionally fitted with the connecting hole at the other end of the thumb bevel gear connecting rod, and the two end faces of the outer ring are respectively fitted with the thumb bevel gear connecting rod and the end cap of the fourth bearing. The fourth bearing end cap is fixedly connected to the thumb bevel gear connecting rod by bolts, and is used to realize the axial limit of the fourth flange bearing; The smooth portion of the other thumb hinge bolt is coaxially transition-fitted with the inner ring of the fourth flange bearing and the connecting hole at one end of the thumb working link assembly. The other end of the thumb bevel gear connecting rod is fixedly connected to the inner ring of the fourth flange bearing through the thumb hinge hole bolt, the fourth bearing sleeve and the thumb nut, so as to realize the rotational connection between the thumb bevel gear connecting rod and the thumb encoder base through the fourth flange bearing; The second thumb link assembly has the same structure as the first thumb link assembly and is arranged in parallel.

7. The two-finger operator as described in claim 6, characterized in that, The thumb working link assembly includes a thumb working link, a thumb pad bearing, a thumb pad slider, a thumb pad silicone pad, and a delivery force sensor. The thumb working link extends vertically, with one end rotatably connected to the thumb bevel gear link of the first thumb link assembly, and the middle part rotatably connected to the thumb bevel gear link of the second thumb link assembly. The four thumb pad bearings are arranged in a rectangular shape and are respectively fixedly connected to the thumb working link by bolts; The thumb pad slider has a track, which is tangentially engaged with the outer ring of the four thumb pad bearings and engages with the two end faces of the outer ring of the four thumb pad bearings. The thumb pad slider is slidably connected to the thumb working link through the four thumb pad bearings. One end face of the delivery force sensor is fixedly connected to the thumb working link by a screw, and the other end face is fixedly connected to the thumb pad slider by a screw, for measuring the force between the thumb working link and the thumb pad slider in the sliding direction; The silicone pad for the thumb's fingertip is fixedly connected to the slider for the thumb's fingertip and is tangentially fitted to the guide wire.

Images