Master console for a vascular intervention robot

Abstract

The application discloses a master operating device for a vascular interventional surgery robot, which comprises a rack, an operating rod mechanism, a force feedback output mechanism, a displacement information acquisition mechanism and a controller; the operating rod, a nonmetal sleeve, an iron cylinder and a copper cylinder of the force feedback output mechanism are coaxially and fixedly connected in sequence from inside to outside along the radial direction of the operating rod; a plurality of permanent magnets are uniformly distributed in the magnet holder in the circumferential direction; the force feedback output mechanism generates axial output resistance through the axial relative displacement of the permanent magnet and the iron cylinder, generates eddy current through the circumferential relative rotation angular velocity of the permanent magnet and the copper cylinder and the iron cylinder, and generates circumferential output resistance through the interaction of the induced magnetic field generated by the eddy current and the permanent magnetic field generated by the permanent magnet. The master operating device can realize circumferential force feedback and axial force feedback, provides a simulated interventional surgery catheter stress environment for doctors, and solves the problem that axial force and circumferential force are difficult to decouple in force feedback.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and specifically to a master end operating device for a vascular interventional surgery robot. Background Technology

[0002] Cardiovascular disease is the leading cause of death from non-communicable diseases worldwide and a significant threat to human health globally. With socioeconomic development and improved living standards, the threat posed by the "three highs" (hyperglycemia, hyperlipidemia, and hypertension) to human health is constantly increasing. People with these symptoms are more prone to cardiovascular and cerebrovascular diseases such as cerebral hemorrhage, cerebral thrombosis, arterial stenosis, and aneurysms. Modern medical technology and medications have diversified treatment options for cardiovascular and cerebrovascular diseases. Doctors can choose from medications, endovascular treatment, open surgery, or multimodal combined treatments based on the patient's condition.

[0003] Currently, minimally invasive interventional surgery has become the mainstream treatment for cardiovascular and cerebrovascular diseases. However, minimally invasive interventional surgery often involves prolonged radiation exposure, posing a threat to the health of both patients and doctors. To reduce the radiation impact on doctors' health, various medical research institutions and universities have begun to develop and use master-slave surgical robot systems. Furthermore, because doctors perform interventional surgery by manipulating catheters and guidewires through the master end, there is a lack of real surgical feedback. The force feedback solutions currently available for master-end manipulators on the market, such as those providing force feedback through friction pads, motor torque, or electrorheological fluid, all have certain shortcomings.

[0004] Meanwhile, most manipulators only provide main devices such as levers or buttons, which cannot fully utilize the surgeon's experience and skills in traditional surgery. This operating method limits the surgeon's flexibility and precision in minimally invasive vascular interventional surgery. Summary of the Invention

[0005] This invention provides a master end operating device for a vascular interventional surgical robot. The master end operating device uses the permanent magnet eddy current braking principle to achieve circumferential force feedback and applies the magnetic attraction principle to provide axial force feedback, providing doctors with a simulated force environment for interventional surgical catheters, which conforms to the traditional operating methods of doctors and solves the problem of difficulty in decoupling axial force and circumferential force in force feedback.

[0006] The present invention adopts the following specific technical solution:

[0007] A master-end operating device for a vascular interventional surgical robot, comprising a lever mechanism, a force feedback output mechanism, a displacement information acquisition mechanism, a controller, and a frame; wherein:

[0008] The operating lever mechanism includes an operating lever that can be slidably mounted on the top of the frame along the axial direction; the operating lever is used to realize two degrees of freedom of movement: axial delivery and circumferential rotation;

[0009] The force feedback output mechanism includes a first motor, a second motor, a magnet holder, permanent magnets, a copper cylinder, an iron cylinder, and a non-metallic sleeve; the operating rod, the non-metallic sleeve, the iron cylinder, and the copper cylinder are coaxially fixed together in sequence from the inside to the outside along the radial direction of the operating rod; the magnet holder is rotatably sleeved on the outer periphery of the copper cylinder around the operating rod; a plurality of permanent magnets are evenly distributed along the circumference of the operating rod and held between the copper cylinder and the magnet holder by the magnet holder; the first motor is used to drive the frame to move axially along the operating rod; the second motor is used to drive the permanent magnets to rotate around the operating rod;

[0010] The displacement information acquisition mechanism is located at the bottom of one end of the operating rod and has a gap, and is used to acquire the axial movement information and circumferential rotational motion information of the operating rod;

[0011] The controller is used to electrically connect with the displacement information acquisition mechanism, the first motor and the second motor, and calculate the axial relative displacement and circumferential relative rotational angular velocity between the permanent magnet and the copper cylinder based on the information obtained from the displacement information acquisition mechanism. It controls the first motor to drive the frame to move so that the permanent magnet generates the corresponding axial relative displacement, and controls the second motor to drive the permanent magnet to generate the corresponding circumferential relative rotational angular velocity.

[0012] The force feedback output mechanism generates axial output resistance through the axial relative displacement between the permanent magnet and the iron cylinder, and generates eddy currents through the circumferential relative rotational angular velocity between the permanent magnet and the copper cylinder and the iron cylinder, and generates circumferential output resistance through the interaction of the magnetic field generated by the eddy current and the magnetic field generated by the permanent magnet.

[0013] Furthermore, the operating lever mechanism also includes two linear bearings slidably sleeved on the operating lever and a first rolling bearing corresponding to each of the linear bearings;

[0014] The inner ring of the first rolling bearing is coaxially fixed to the outer circumference of the corresponding linear bearing, and the outer ring is fixedly installed in the bearing seats at both ends of the frame.

[0015] Furthermore, it also includes linear guides;

[0016] The linear guide includes a base, a lead screw, and a ball bearing slide.

[0017] The lead screw is rotatably supported on the base and is coaxially fixed to the output shaft of the first motor;

[0018] The ball bearing slide is helically engaged with the lead screw.

[0019] The frame is fixedly installed on the top of the ball bearing slide.

[0020] Furthermore, it also includes a gear transmission mechanism that drives between the second motor and the magnet holder.

[0021] Furthermore, the gear transmission mechanism includes a motor shaft gear, an intermediate gear, and the output gear that mesh sequentially.

[0022] The motor shaft gear is coaxially and fixedly connected to the output shaft of the second motor;

[0023] The intermediate gear is rotatably mounted on the frame about its own axis;

[0024] The output gear is coaxially and fixedly connected to the magnet cage;

[0025] The second motor is fixedly installed at the bottom of the frame.

[0026] Furthermore, the force feedback output mechanism also includes a cage mounting plate and a second rolling bearing;

[0027] The cage mounting plate is mounted to the frame via the second rolling bearing;

[0028] The cage mounting plate is coaxially fixed to the magnet cage.

[0029] Furthermore, the magnet holder is a hollow cylindrical structure with a flange at one end, and the hollow interior area is used to place the permanent magnet and the copper cylinder.

[0030] Furthermore, the displacement information acquisition mechanism includes an LED light source and a photoelectric displacement sensor.

[0031] Furthermore, the gap between the displacement information acquisition mechanism and the operating lever is 2mm.

[0032] Furthermore, both the first motor and the second motor are stepper motors;

[0033] The control lever is made of carbon fiber tubing.

[0034] Beneficial effects:

[0035] The main operating device of this invention includes an operating lever mechanism, a force feedback output mechanism, a displacement information acquisition mechanism, a controller, and a frame. The operating lever, non-metallic sleeve, iron cylinder, copper cylinder, permanent magnet, and magnet holder of the force feedback output mechanism are arranged sequentially from the inside to the outside along the radial direction of the operating lever. The iron and copper cylinders are used as conductors, and the permanent magnet forms a permanent magnetic field. The axial force is generated by the attractive force between the permanent magnet and the iron cylinder. The force feedback output mechanism generates axial output resistance through the axial relative displacement between the permanent magnet and the iron cylinder, thus realizing the feedback of the axial force. The circumferential relative rotational angular velocity between the permanent magnet and the copper and iron cylinders generates eddy currents. The induced magnetic field generated by the eddy currents interacts with the permanent magnet... The interaction of the permanent magnetic field generates circumferential output resistance, the magnitude of which depends on the difference between the rotational angular velocity of the magnetic field generated by the permanent magnet and the rotational angular velocity of the conductor, thus realizing circumferential force feedback. The force feedback output mechanism generates axial and circumferential force feedback through the difference in relative displacement and relative motion velocity between the coaxially arranged permanent magnet and the copper and iron cylinders. Therefore, the above-mentioned main end operating device uses the permanent magnet eddy current braking principle to realize circumferential force feedback and applies the magnetic attraction principle to provide axial force feedback, providing doctors with a simulated force environment for interventional surgical catheters, which conforms to the traditional operating methods of doctors and solves the problem of difficulty in decoupling axial and circumferential forces in force feedback. Attached Figure Description

[0036] Figure 1 This is a three-dimensional structural diagram of the main operating device of the present invention;

[0037] Figure 2 An exploded structural diagram of the force feedback output mechanism in the main operating device;

[0038] Figure 3 Left view of the force feedback output mechanism;

[0039] Figure 4 Right view of the force feedback output mechanism;

[0040] Among them, 1-operating lever mechanism, 2-force feedback output mechanism, 3-linear guide rail, 4-displacement information acquisition mechanism, 5-gear transmission mechanism, 6-frame, 11-operating lever, 12-linear bearing, 13-first rolling bearing, 21-second rolling bearing, 22-magnetic cage, 23-permanent magnet, 24-copper cylinder, 25-iron cylinder, 26-non-metallic sleeve, 27-first motor, 28-second motor, 29-cage mounting plate, 31-base, 32-lead screw, 33-ball bearing slide, 51-motor shaft gear, 52-intermediate gear, 53-output gear Detailed Implementation

[0041] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown in the diagram, this embodiment provides a master-end operating device for a vascular interventional surgical robot. The master-end operating device includes an operating lever mechanism 1, a force feedback output mechanism 2, a displacement information acquisition mechanism 4, a controller, and a frame 6; wherein:

[0043] like Figure 1 and Figure 2 As shown, the operating lever mechanism 1 includes an operating lever 11 that is slidably mounted on the top of the frame 6 along the axial direction; the operating lever 11 is made of carbon fiber tubing; the operating lever 11 is used to achieve two degrees of freedom of movement: axial delivery and circumferential rotation; to achieve the sliding fit between the operating lever 11 and the frame 6, the operating lever mechanism 1 also includes two linear bearings 12 slidably sleeved on the operating lever 11 and a first rolling bearing 13 corresponding to each linear bearing 12; as shown Figure 2 As shown, two linear bearings 12 are spaced apart in the middle of the operating lever 11. A first rolling bearing 13 is fitted on the outer periphery of each linear bearing 12. The inner ring of the first rolling bearing 13 is coaxially fixed to the outer periphery of the corresponding linear bearing 12, and the outer ring is fixedly installed in the bearing seats at both ends of the frame 6.

[0044] like Figure 1 and Figure 2As shown in the structure, the force feedback output mechanism 2 includes a first motor 27, a second motor 28, a magnet holder 22, a permanent magnet 23, a copper cylinder 24, an iron cylinder 25, and a non-metallic sleeve 26; the operating rod 11, the non-metallic sleeve 26, the iron cylinder 25, and the copper cylinder 24 are coaxially fixed together in sequence from the inside to the outside along the radial direction of the operating rod 11; the non-metallic sleeve 26, the iron cylinder 25, and the copper cylinder 24 all move and rotate with the operating rod 11; the magnet holder 22 is rotatably fitted around the operating rod 11 on the outer periphery of the copper cylinder 24; the magnet holder 22 is a hollow cylindrical structure with a flange at one end, and the hollow area inside is used to place the permanent magnet 23 and the copper cylinder 24; multiple permanent magnets 23 are evenly distributed along the circumference of the operating rod 11. The cloth is held between the copper cylinder 24 and the magnet holder 22 by the magnet holder 22; the number of permanent magnets 23 can be 10, 12, 15, etc.; the first motor 27 is used to drive the frame 6 to move axially along the operating rod 11; the second motor 28 is used to drive the permanent magnets 23 to rotate around the operating rod 11; both the first motor 27 and the second motor 28 can be stepper motors; in order to realize the second motor 28 driving the permanent magnets 23 to rotate, the main end operating device can also include a gear transmission mechanism 5 that is transmitted between the second motor 28 and the magnet holder 22, and the power of the second motor 28 is transmitted to the magnet holder 22 through the gear transmission mechanism 5, and the permanent magnets 23 are driven to rotate through the magnet holder 22; such as Figure 2 and Figure 3 As shown, the gear transmission mechanism 5 includes a motor shaft gear 51, an intermediate gear 52, and an output gear 53 that mesh sequentially; the motor shaft gear 51 is coaxially and fixedly connected to the output shaft of the second motor 28; the intermediate gear 52 is rotatably mounted on the frame 6 around its own axis; the output gear 53 is coaxially and fixedly connected to the magnet holder 22; the second motor 28 is fixedly mounted on the bottom of the frame 6; the motor shaft gear 51, the intermediate gear 52, and the output gear 53 can all be spur gears, helical gears, etc.; the non-metallic sleeve 26 can be a plastic sleeve.

[0045] The displacement information acquisition mechanism 4 is located at the bottom of one end of the operating rod 11 and has a gap, used to acquire the axial movement information and circumferential rotational motion information of the operating rod 11; the gap between the displacement information acquisition mechanism 4 and the operating rod 11 can be 2mm; the displacement information acquisition mechanism 4 may include an LED light source and a photoelectric displacement sensor, which acquires the axial movement information and circumferential rotational motion information of the operating rod 11; since there is a gap between the displacement information acquisition mechanism 4 and the operating rod 11, it is a non-contact measurement, which effectively avoids the influence of mechanical friction and wear caused by measurement on the effect of influence feedback;

[0046] The controller is electrically connected to the displacement information acquisition mechanism 4, the first motor 27, and the second motor 28. Based on the information obtained from the displacement information acquisition mechanism 4, it calculates the axial relative displacement and circumferential relative rotational angular velocity between the permanent magnet 23 and the copper cylinder 24. It controls the first motor 27 to move the frame 6 so that the permanent magnet 23 generates the corresponding axial relative displacement, and controls the second motor 28 to drive the permanent magnet 23 to generate the corresponding circumferential relative rotational angular velocity. The controller can be an Arduino-mega2560.

[0047] The force feedback output mechanism 2 generates axial output resistance through the axial relative displacement between the permanent magnet 23 and the iron cylinder 25, and generates eddy currents through the circumferential relative rotational angular velocity between the permanent magnet 23 and the copper cylinder 24 and the iron cylinder 25. The circumferential output resistance is generated through the interaction between the magnetic field generated by the eddy current and the magnetic field generated by the permanent magnet 23.

[0048] Based on the above embodiments, the main operating device also includes a linear guide rail 3; as shown Figure 3 As shown, the linear guide 3 includes a base 31, a lead screw 32, and a ball bearing slide 33. The lead screw 32 is rotatably supported on the base 31 and is coaxially fixed to the output shaft of the first motor 27. The ball bearing slide 33 is helically engaged with the lead screw 32. The frame 6 is fixedly mounted on the top of the ball bearing slide 33. The first motor 27 drives the lead screw 32 to rotate, and the helical engagement between the ball bearing slide 33 and the lead screw 32 enables the ball bearing slide 33 to move linearly along the axis of the lead screw 32, thereby driving the frame 6 to move axially along the operating lever 11.

[0049] Furthermore, the force feedback output mechanism 2 also includes a cage mounting plate 29 and a second rolling bearing 21; the cage mounting plate 29 is mounted on the frame 6 via the second rolling bearing 21; the cage mounting plate 29 is coaxially fixed to the magnet cage 22. The rotation of the magnet cage 22 relative to the operating lever 11 is achieved through the coaxial fixed connection between the second rolling bearing 21, the cage mounting plate 29, and the magnet cage 22.

[0050] The aforementioned main operating device includes an operating lever mechanism 1, a force feedback output mechanism 2, a displacement information acquisition mechanism 4, a controller, and a frame 6. The operating lever 11, non-metallic sleeve 26, iron cylinder 25, copper cylinder 24, permanent magnet 23, and magnet holder 22 of the force feedback output mechanism 2 are arranged sequentially from the inside to the outside along the radial direction of the operating lever 11. The iron cylinder 25 and copper cylinder 24 are used as conductors, and the permanent magnet 23 forms a permanent magnetic field. The axial force is generated by the attractive force between the permanent magnet 23 and the iron cylinder 25. The force feedback output mechanism 2 generates axial output resistance through the axial relative displacement between the permanent magnet 23 and the iron cylinder 25, thus realizing the feedback of the axial force. The circumferential relative rotational angular velocity between the permanent magnet 23 and the copper cylinder 24 and the iron cylinder 25 generates eddy currents, which are then transmitted through the eddy currents. The induced magnetic field generated by the current interacts with the permanent magnetic field generated by the permanent magnet 23 to produce circumferential output resistance. The magnitude of the circumferential output resistance depends on the difference between the rotational angular velocity of the magnetic field generated by the permanent magnet 23 and the rotational angular velocity of the conductor, thus realizing circumferential force feedback. The force feedback output mechanism 2 generates axial and circumferential force feedback through the difference in relative displacement and relative motion speed between the coaxially arranged permanent magnet 23 and the copper cylinder 24 and iron cylinder 25. Therefore, the above-mentioned main end operating device uses the permanent magnet eddy current braking principle to realize circumferential force feedback and applies the magnetic attraction principle to provide axial force feedback, providing doctors with a simulated force environment for interventional surgical catheters, which conforms to the traditional operating methods of doctors and solves the problem of difficulty in decoupling axial force and circumferential force in force feedback.

[0051] The working principle of the above-mentioned main end operating device is as follows: the force feedback output mechanism 2 generates axial output resistance through the axial relative displacement between the permanent magnet 23 and the iron cylinder 25, and generates eddy currents through the circumferential relative rotational angular velocity between the permanent magnet 23 and the copper cylinder 24 and the iron cylinder 25. The magnetic field generated by the eddy current interacts with the permanent magnetic field generated by the permanent magnet 23 to generate circumferential output resistance. By establishing the axial relative displacement-axial output resistance calculation model and the circumferential relative rotational angular velocity-circumferential output resistance calculation model, the force feedback output mechanism 2 can control the permanent magnet 23 to generate corresponding motion to simulate the hand output resistance of the operator based on the resistance signal collected from the end. When a certain axial force feedback is required, the relative displacement between the permanent magnet 23 and the iron cylinder 25 is calculated based on the following motion. The first motor 27 controls the relative displacement between the permanent magnet 23 and the iron cylinder 25, thereby generating a magnetic force along the axial direction and realizing axial force feedback. In circumferential force feedback, a permanent magnet eddy current resistance device is implemented based on Faraday-Lenz law. The permanent magnet 23 is placed in the magnet holder 22, and the second motor 28 controls the permanent magnet 23 to rotate around the axis, forming a rotating magnetic field. The copper cylinder 24 and the iron cylinder 25 act as conductors. The rotating magnetic field will have a dragging effect on the copper cylinder 24 and the iron cylinder 25. The magnitude of the dragging force is related to the difference between the rotational angular velocity of the magnetic field and the rotational angular velocity of the conductor in the magnetic field, thereby realizing circumferential force feedback.

[0052] Obviously, those skilled in the art can make various modifications and variations to the embodiments of the present invention without departing from the spirit and scope of the invention. Therefore, if these modifications and variations fall within the scope of the claims of the present invention and their equivalents, the present invention also intends to include these modifications and variations.

Claims

1. A master-end operating device for a vascular interventional surgical robot, characterized in that, include: frame; The control lever mechanism includes a control lever that can be slidably mounted on the top of the frame along the axial direction; the control lever is used to realize two degrees of freedom of movement: axial delivery and circumferential rotation. A force feedback output mechanism includes a first motor, a second motor, a magnet holder, permanent magnets, a copper cylinder, an iron cylinder, and a non-metallic sleeve. The operating rod, the non-metallic sleeve, the iron cylinder, and the copper cylinder are coaxially fixed together in sequence from the inside to the outside along the radial direction of the operating rod. The magnet holder is rotatably fitted around the operating rod on the outer periphery of the copper cylinder. A plurality of permanent magnets are evenly distributed along the circumference of the operating rod and held between the copper cylinder and the magnet holder by the magnet holder. The first motor drives the frame to move axially along the operating rod; the second motor drives the permanent magnets to rotate around the operating rod. A displacement information acquisition mechanism is located at the bottom of one end of the operating lever and has a gap, used to acquire axial movement information and circumferential rotational motion information of the operating lever; The controller is used to electrically connect to the displacement information acquisition mechanism, the first motor and the second motor, and to calculate the axial relative displacement and circumferential relative rotational angular velocity between the permanent magnet and the copper cylinder based on the information obtained from the displacement information acquisition mechanism. The controller controls the first motor to drive the frame to move so that the permanent magnet generates the corresponding axial relative displacement, and controls the second motor to drive the permanent magnet to generate the corresponding circumferential relative rotational angular velocity. The force feedback output mechanism generates axial output resistance through the axial relative displacement between the permanent magnet and the iron cylinder, and generates eddy currents through the circumferential relative rotational angular velocity between the permanent magnet and the copper cylinder and the iron cylinder, and generates circumferential output resistance through the interaction of the magnetic field generated by the eddy current and the magnetic field generated by the permanent magnet.

2. The main-end operating device as described in claim 1, characterized in that, The operating lever mechanism also includes two linear bearings slidably sleeved on the operating lever and a first rolling bearing corresponding to each of the linear bearings; The inner ring of the first rolling bearing is coaxially fixed to the outer circumference of the corresponding linear bearing, and the outer ring is fixedly installed in the bearing seats at both ends of the frame.

3. The master-end operating device as described in claim 1, characterized in that, It also includes linear guides; The linear guide includes a base, a lead screw, and a ball bearing slide. The lead screw is rotatably supported on the base and is coaxially fixed to the output shaft of the first motor; The ball bearing slide is helically engaged with the lead screw. The frame is fixedly installed on the top of the ball bearing slide.

4. The master-end operating device as described in claim 1, characterized in that, It also includes a gear transmission mechanism that drives the second motor and the magnet holder.

5. The master-end operating device as described in claim 4, characterized in that, The gear transmission mechanism includes a motor shaft gear, an intermediate gear, and an output gear that mesh in sequence. The motor shaft gear is coaxially and fixedly connected to the output shaft of the second motor; The intermediate gear is rotatably mounted on the frame about its own axis; The output gear is coaxially and fixedly connected to the magnet cage; The second motor is fixedly installed at the bottom of the frame.

6. The master-end operating device as described in claim 5, characterized in that, The force feedback output mechanism also includes a cage mounting plate and a second rolling bearing; The cage mounting plate is mounted to the frame via the second rolling bearing; The cage mounting plate is coaxially fixed to the magnet cage.

7. The master-end operating device as described in claim 1, characterized in that, The magnet holder is a hollow cylindrical structure with a flange at one end, and the hollow area inside is used to place the permanent magnet and the copper cylinder.

8. The master-end operating device according to any one of claims 1-7, characterized in that, The displacement information acquisition mechanism includes an LED light source and a photoelectric displacement sensor.

9. The master-end operating device according to any one of claims 1-7, characterized in that, The gap between the displacement information acquisition mechanism and the operating rod is 2mm.

10. The master-end operating device according to any one of claims 1-7, characterized in that, Both the first motor and the second motor are stepper motors; The control lever is made of carbon fiber tubing.

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