Telepresence surgical robotic control console and method of controlling a telepresence surgical robotic control console

Abstract

The application discloses a virtual operation handle for an intervention surgery robot control end and a control method thereof, wherein the virtual operation handle comprises an operation wire segment, a wire winding and unwinding device, a motion detection device and a force feedback detection device; the motion detection device is used for detecting the rotation angle and displacement of the operation wire segment; the force feedback detection device comprises a rotation resistance setting mechanism and a displacement resistance setting mechanism; the rotation resistance setting mechanism is arranged below the operation wire segment; and the displacement resistance setting mechanism is arranged at the wire winding and unwinding device. A control device can receive force feedback data from the operation slave end, and respectively apply rotation resistance and displacement resistance to the operation wire segment through the rotation resistance setting mechanism and the displacement resistance setting mechanism. The application can provide an operation handle of a virtual guide wire catheter, direct and accurate handle motion track measurement and force feedback setting, and a more real operation experience.

Description

Technical Field

[0001] This invention relates to the field of surgical robot operation, and more particularly to a realistic operating handle for the control end of an interventional surgical robot and its control method. Background Technology

[0002] Conventional minimally invasive vascular interventional surgery relies on DSA imaging and image navigation technology. The surgeon is located in the operating room next to the patient and directly manipulates the guidewire and catheter with both hands to perform the procedure. However, surgeons performing conventional vascular interventional surgery must wear heavy protective clothing and are frequently and for extended periods in close proximity to radiation sources in the operating room. This makes surgeons prone to fatigue during surgery, affecting the precision and effectiveness of the procedure. Furthermore, the long-term cumulative damage from ionizing radiation seriously threatens their lives and health.

[0003] Emerging technologies have designed vascular interventional surgical robots with separate control handles and robotic arms. Surgeons are trained to use joysticks, buttons, or other mechanical handle combinations mounted on a control console to remotely control the robotic arm in the operating room, driving guidewires and catheters to complete the procedure. However, the control handles on existing vascular interventional surgical robot control consoles differ significantly in appearance from real guidewires and catheters; the actual operating space and feel are also limited by the designed handle shape and guide rails; they do not provide force feedback or provide indirect / non-closed-loop force feedback, resulting in unsatisfactory accuracy. This increases the learning cost for surgeons and prevents the continuation of years of accumulated experience and techniques. Furthermore, the handles are directly mounted on the tabletop, lacking appropriate protective measures.

[0004] Therefore, based on years of experience and practice in related industries, the inventor proposes a realistic operating handle for the control end of interventional surgical robots and its control method to overcome the shortcomings of existing technologies. Summary of the Invention

[0005] The purpose of this invention is to provide a realistic operating handle and its control method for the control end of an interventional surgical robot, which can provide a simulated guidewire catheter operating handle and direct and accurate measurement of handle movement trajectory and force feedback, resulting in a more realistic operating experience.

[0006] The above-mentioned objectives of the present invention can be achieved by the following technical solutions:

[0007] This invention provides a simulated operating handle for the control end of an interventional surgical robot, comprising an operating line segment for rotation and / or displacement when gripped; a wire retraction device rotatably connected to both ends of the operating line segment and capable of pulling and traction; a motion detection device connected to the operating line segment for detecting the rotation angle and displacement of the operating line segment; and a control device controlling the rotation or retraction of the guidewire catheter at the operating end based on the data detected by the motion detection device; a force feedback detection device including a rotation resistance setting mechanism and a displacement resistance setting mechanism, the rotation resistance setting mechanism being located below the operating line segment and the displacement resistance setting mechanism being located at the wire retraction device; and the control device receiving force feedback data from the operating end and applying rotational resistance and displacement resistance to the operating line segment through the rotation resistance setting mechanism and the displacement resistance setting mechanism, respectively.

[0008] In a preferred embodiment of the present invention, the cable rewinding device includes a rewinding mechanism, two traction ropes, and at least two fulcrums. The two ends of the operating line segment are rotatably connected to the first ends of the two traction ropes, respectively. The rewinding mechanism is connected to the second ends of both traction ropes and can drive the two traction ropes to rewind and unwind. The at least two fulcrums are used to support the two traction ropes and / or at least two positions of the operating line segment.

[0009] In a preferred embodiment of the present invention, both ends of the operating line segment are connected to the corresponding traction ropes via unobstructed connectors, the end of the traction rope is fixedly connected to the unobstructed connector, and the end of the operating line segment is rotatably inserted into the unobstructed connector.

[0010] In a preferred embodiment of the present invention, the take-up and release mechanism includes a spring reel, a torsion reel, a reel bracket, and a synchronous belt; two support shafts are pivotally connected to both ends of the reel bracket, the spring reel is sleeved on one of the support shafts and connected to the support shaft through a spring, and the torsion reel is sleeved and fixed on the other support shaft; the second end of one traction rope is coiled inside the spring reel, the second end of the other traction rope is coiled inside the torsion reel, and the two support shafts are connected by a synchronous belt.

[0011] In a preferred embodiment of the present invention, the rotational resistance setting mechanism includes a push rod motor and a push rod. At least the top of the push rod is covered with an elastic layer. The push rod is located below the operating line segment. The push rod of the push rod motor is connected to the push rod and can push the push rod to move up and down. A one-dimensional force sensor is connected between the push rod and the push rod.

[0012] In a preferred embodiment of the present invention, the displacement resistance setting mechanism includes a drive motor and a torque sensor. The drive motor is fixedly connected to a support shaft passing through a torque wheel and is used to drive the support shaft to rotate. The torque sensor is fixedly mounted on the torque wheel.

[0013] In a preferred embodiment of the present invention, the motion detection device includes a trackball module and an encoder. The operating line segment passes through the trackball module and contacts the trackball in the trackball module. The trackball module is used to detect the rotation angle and displacement of the operating line segment. The encoder is located at the rear end of the motor shaft of the drive motor and is used to detect the traction stroke of the traction rope connected to the torsion pulley. The control device can select the smaller value between the displacement of the operating line segment and the traction stroke of the traction rope, and use the smaller value as the displacement of the guide wire guide to control the forward and backward movement of the guide wire guide.

[0014] In a preferred embodiment of the present invention, the simulated operating handle for the control end of the interventional surgical robot further includes a lifting support device. The lifting support device includes a lifting drive mechanism and two vertical support rods spaced apart, with the upper ends of the two vertical support rods forming two fulcrums. The lifting drive mechanism is connected to the two vertical support rods and can drive the two vertical support rods to rise and fall to the same or different heights.

[0015] This invention also provides a control method for a simulated operating handle for the control end of an interventional surgical robot, comprising: acquiring motion data of an operating line segment, the motion data including the rotation angle, forward displacement, or backward displacement of the operating line segment; generating an action command for the guidewire catheter at the operating slave end based on the motion data of the operating line segment, the action command including a rotation command, forward command, or backward command for the guidewire catheter; receiving resistance data of the guidewire catheter, the resistance data including the rotational resistance or forward resistance of the guidewire catheter; applying a corresponding rotational resistance or forward resistance to the operating line segment based on the resistance data of the guidewire catheter; detecting and determining whether the rotational resistance or forward resistance applied to the operating line segment is equal to the rotational resistance or forward resistance of the guidewire catheter, and if so, stopping the application.

[0016] In a preferred embodiment of the present invention, the two ends of the operating line segment are rotatably connected to the first ends of two traction ropes, and the take-up and release mechanism is connected to the second ends of both traction ropes and can drive the two traction ropes to take up and release; the displacement resistance setting mechanism can drive the torque sheave connected to the second end of one traction rope to rotate; generating the forward command of the guidewire conduit based on the forward displacement of the operating line segment includes: detecting the forward displacement of the operating line segment; detecting the forward traction stroke of the traction rope connected to the torque sheave; selecting the smaller value between the forward displacement and the forward traction stroke, using the smaller value as the forward displacement of the guidewire conduit and generating the forward command of the guidewire conduit; generating the backward command of the guidewire conduit based on the backward displacement of the operating line segment includes: detecting the backward displacement of the operating line segment; detecting the backward traction stroke of the traction rope connected to the torque sheave; selecting the smaller value between the backward distance and the displacement traction stroke, using the smaller value as the backward displacement of the guidewire conduit and generating the backward command of the guidewire conduit.

[0017] As described above, this invention is applicable to surgical robots with a separate control unit and robotic arm, allowing surgeons to perform surgery away from radiation sources. The motion detection device directly detects the rotation and trajectory of the operating line segment, ensuring accurate and reliable data recording and more precise guidewire / catheter movements within the operating room. Through the coordination of the force feedback detection device and the guidewire / catheter take-up / retractor, the same rotational resistance as a real guidewire / catheter is applied when the operating line segment is twisted and rotated, and the same pushing resistance is applied when the operating line segment is pushed. This allows for more precise and realistic feedback force feedback from the surgeon's hand during surgery, enabling the full utilization of years of accumulated experience and techniques. Attached Figure Description

[0018] The accompanying drawings are intended only to illustrate and explain the present invention and do not limit the scope of the invention.

[0019] in:

[0020] Figure 1 : This is a schematic diagram illustrating a usage scenario of the simulated operating handle provided by the present invention.

[0021] Figure 2 : A simplified structural diagram of the simulated operating handle provided by the present invention.

[0022] Figure 3 This is a schematic diagram illustrating the structure and functions of each part of the simulated operating handle provided by the present invention.

[0023] Figure 4 : This is a schematic diagram of the structure of the simulated operating handle and the desktop provided by the present invention.

[0024] Figure 5 : A schematic diagram showing the operation line segment provided by the present invention and its interaction with the rear unblocked connector.

[0025] Figure 6 : A cross-sectional view of the operation line segment, the rear traction rope, and the rear unobstructed connector provided by the present invention.

[0026] Figure 7 : A schematic diagram of the structure of the simulated operating handle provided by the present invention Figure 1 .

[0027] Figure 8 : This is a partial enlarged view of the coil spring sheave provided by the present invention.

[0028] Figure 9 : A schematic diagram of the structure of the simulated operating handle provided by the present invention Figure 2 .

[0029] Figure 10: A partial enlarged view of the rotational resistance setting mechanism provided by the present invention.

[0030] Figure 11 : A schematic diagram of the structure of the simulated operating handle provided by the present invention Figure 3 .

[0031] Figure 12 : A schematic diagram of the simulated operating handle provided by the present invention after the preoperative operating line segment extends out of the table.

[0032] Figure 13 This is a schematic diagram of the simulated operating handle provided by the present invention after the operating line segment is retracted to the desktop.

[0033] Figure 14 : A side view of the simulated operating handle and desktop provided by the present invention.

[0034] Figure 15 : A schematic diagram of the simulated operating handle provided by the present invention in a horizontal position on the desktop along the operating line segment.

[0035] Figure 16 : A schematic diagram of the simulated operating handle provided by the present invention in a forward tilted posture on the operating line segment.

[0036] Figure 17 : A schematic diagram of the simulated operating handle provided by the present invention in a backward tilted posture on the operating line segment.

[0037] Figure 18 : A schematic diagram of the operation process of the simulated operating handle provided by the present invention. Detailed Implementation

[0038] To provide a clearer understanding of the technical features, objectives, and effects of the present invention, specific embodiments of the present invention will now be described with reference to the accompanying drawings.

[0039] like Figures 1 to 3 As shown, this application provides a realistic operating handle (hereinafter referred to as realistic operating handle 100) for the control end of an interventional surgical robot, comprising:

[0040] The control device comprises: an operating segment 1 for rotation and / or displacement when held; a take-up / delivery device 3 rotatably connected to both ends of the operating segment 1 and capable of pulling and traction; a motion detection device 4 connected to the operating segment 1 for detecting the rotation angle and displacement of the operating segment 1; and a control device controlling the rotation or retraction of the guidewire at the operating end based on the data detected by the motion detection device 4; a force feedback detection device 5 including a rotation resistance setting mechanism 51 and a displacement resistance setting mechanism 52, wherein the rotation resistance setting mechanism 51 is located below the operating segment 1 and the displacement resistance setting mechanism 52 is located at the take-up / delivery device 3; and a control device receiving force feedback data (including the rotation resistance and displacement resistance of the guidewire) from the operating end, and applying rotation resistance and displacement resistance to the operating segment 1 respectively through the rotation resistance setting mechanism 51 and the displacement resistance setting mechanism 52.

[0041] The operating segment 1 can simulate the guidewire catheter at the execution end 200 (i.e., the operating slave end). The motion detection device 4 can detect the rotation angle and displacement of the operating segment 1. The patient-end robotic arm drives the rotation or forward / backward movement of the guidewire catheter based on the detected motion trajectory data. The control device controls the rotation resistance setting mechanism 51 to apply corresponding rotation resistance to the operating segment 1 based on the rotation resistance of the guidewire catheter. It can also control the displacement resistance setting mechanism 52 to drive the take-up and release device 3 to pull the operating segment 1 based on the forward resistance of the guidewire catheter, thereby applying corresponding forward resistance to the operating segment 1. Application scenarios include... Figure 1 As shown, patient 400 lies on a bed in the operating room. The instrument above patient 400 can perform DSA imaging on patient 400. A display screen is placed on the table 500 outside the operating room for DSA image display. The simulated operating handle 100 and the execution end 200 are located outside and inside the operating room, respectively. Doctor 300 only needs to push and rotate the operating line segment 1 at the control end away from radiation to simulate the operation of the guidewire and catheter. The robotic arm 201 in the operating room will synchronously and accurately perform the corresponding actions on the guidewire and catheter actually used in the surgery. The resistance it receives will also be accurately fed back to the operating line segment 1 at the control end, so that doctor 300 can obtain a realistic operating feel.

[0042] Therefore, the simulated operating handle 100 in this application can be applied to surgical robots with the control end and robotic arm separated, allowing the surgeon 300 to perform surgery away from the radiation source. The motion detection device 4 can directly detect the rotation and forward / backward trajectory of the operating line segment 1, ensuring accurate and reliable data recording and more precise guidewire / catheter movements within the operating room. Through the cooperation of the force feedback detection device 5 and the guidewire / catheter 3, the same rotational resistance as a real guidewire / catheter can be applied to the operating line segment 1 during twisting and rotation, and the same pushing resistance as a real guidewire / catheter can be applied when pushing the operating line segment 1. This makes the surgeon 300's operating hand feel the feedback force more accurately and realistically during surgery, allowing years of accumulated experience and techniques to be fully utilized.

[0043] In the specific implementation method, refer to Figure 4 The cable retraction device 3 includes a retraction mechanism 33, two traction ropes, and at least two fulcrums. The two ends of the operating line segment 1 are rotatably connected to the first ends of the two traction ropes, respectively. The retraction mechanism 33 is connected to the second ends of both traction ropes and can drive the two traction ropes to retract or extend. The at least two fulcrums are used to support the two traction ropes and / or at least two positions in the operating line segment 1.

[0044] These two traction ropes are designated as the front traction rope 31 and the rear traction rope 32, respectively. The number of fulcrums and their specific support positions can be determined according to actual needs, as long as they ultimately support the operating line segment 1. They can support the operating line segment 1 simultaneously, the same traction rope simultaneously, different traction ropes simultaneously, or one traction rope and the operating line segment 1 separately. In this embodiment, at least two fulcrums support the operating line segment 1 and the rear traction rope 32 respectively, making the structure more compact, the operating line segment 1 relatively shorter, and the entire device smaller. The front and rear traction ropes, the retraction mechanism 33, and the operating line segment 1 are connected to form a closed-loop structure, which can provide pushing force feedback to the operating line segment 1, while also providing flexible handle movement space and operational technique support, ensuring that the doctor's operation during the 300 surgical process is flexible and natural.

[0045] It should be noted that "front" in the text refers to the left hand direction of the doctor 300 when the doctor 300 is facing the operating handle, and "back" refers to the right hand direction of the doctor 300 when the doctor 300 is facing the operating handle.

[0046] Both ends of the operating line segment 1 are preferably connected to the corresponding traction rope via a free-resistance connector 2. The end of the traction rope is fixedly connected to the free-resistance connector 2, and the end of the operating line segment 1 is rotatably threaded through the free-resistance connector 2. The free-resistance connector 2 can ensure that the operating line segment 1 rotates without resistance, reducing the influence of external factors on the simulated operation.

[0047] Specifically, refer to Figure 5 and Figure 6 The unobstructed connector 2 includes a housing 23, with mounting holes on both ends of the housing 23. The end of the operating line segment 1 is provided with a circular plate 11 with an increased diameter. The end of the operating line segment 1 extends into one of the mounting holes, and a thrust bearing 24 is clamped between the circular plate 11 and the inner end face of the housing 23. The first end of the traction rope is inserted and fixed in the other mounting hole.

[0048] Generally, the housing 23 is a cylindrical body. The inner end faces of the circular plate 11 and the housing 23 are fixed to the two side clamps of the thrust bearing 24 respectively. When the operating line segment 1 rotates, it only drives the circular plate 11 and the clamps and steel balls connected to the circular plate 11 in the thrust bearing 24, while the traction rope remains stationary, thereby achieving unobstructed rotation of the operating line segment 1.

[0049] To facilitate the raising and lowering of the traction rope, refer to Figure 7 and Figure 8 The take-up and release mechanism 33 includes a spring reel 331, a torque reel 332, a reel bracket 333, and a linkage timing belt 334. Two support shafts are pivotally connected to both ends of the reel bracket 333. The spring reel 331 is sleeved on one of the support shafts and connected to the support shaft through a spring 3312. The torque reel 332 is sleeved and fixed on the other support shaft. The second end of one traction rope is coiled inside the spring reel 331, and the second end of the other traction rope is coiled inside the torque reel 332. The two support shafts are connected by the linkage timing belt 334.

[0050] In this embodiment, the two unobstructed connectors 2 are designated as the front unobstructed connector 21 and the rear unobstructed connector 22, respectively, and the two support shafts are designated as the front support shaft 3311 and the rear support shaft, respectively. The front support shaft 3311 and the rear support shaft are located at the front and rear ends of the reel bracket 333, respectively. The first end of the front traction rope 31 is fixed to the front unobstructed connector 21, and the second end is coiled in the spring reel 331; the first end of the rear traction rope 32 is fixed to the rear unobstructed connector 22, and the second end is coiled in the torque reel 332. The two traction ropes can be made of flexible steel wire rope or other flexible materials that can be coiled in the reel; this embodiment is only for illustrative purposes.

[0051] The two traction ropes should be wound in opposite directions on the spring reel 331 and the torque reel 332 to ensure that when one traction rope is relaxed, the other traction rope retracts, maintaining a constant tension on the traction ropes. The spring reel 331 is rotatably mounted on the front support shaft 3311, and the inner end of the spring 3312 is fixed to the front support shaft 3311, while its outer end is connected to the spring reel 331. The torque reel 332 is mounted and fixed on the rear support shaft. Figure 7As shown, there are two support points on the operating line segment 1 and the rear traction rope 32 respectively. After initial installation, the portion of the operating line segment 1 located between these two support points is initially on the line connecting these two support points. In actual use, depending on the operation of the operating line segment 1, the take-up and unwinding device 3 will have the following actions:

[0052] The first scenario: In most cases before surgery and in a few cases during surgery, the doctor 300 needs to adjust the position of the operation line segment 1 so that it deviates from the line connecting the two fulcrums, in order to meet the doctor 300's different gripping posture requirements for the operation line segment 1.

[0053] When the surgeon 300 pulls the operating line segment 1 outward (i.e., pulls it away from the line connecting the two fulcrums), the front traction rope 31 is released and lengthened. Simultaneously, under the action of the linkage timing belt 334, the rear traction rope 32 retracts accordingly. During this process, the coil spring pulley 331 drives the coil spring 3312 to rotate, generating rotational force and maintaining force balance with the traction rope. During the adjustment of the position of the operating line segment 1, the robotic arm 201 within the operating room does not need to perform corresponding actions on the guidewire and catheter. After the position of the operating line segment 1 is adjusted, the surgeon 300 performs twisting, rotating, or pushing actions on the operating line segment 1 at that position during the surgery. When the surgery is completed, when the surgeon 300 releases the operating line segment 1, the rotational force of the coil spring 3312 causes the line to retract and wind around the front traction rope 31, and the rear traction rope 32 is released accordingly, allowing the operating line segment 1 to return to its initial position. Through a single control of the release and retraction of the traction rope, the length requirements of the traction rope for the movement of the operating line segment 1 can be adaptively adjusted.

[0054] The second scenario: the twisting and rotating operation during surgery

[0055] When the doctor twists and rotates the 1st operating line segment 300, the 1st operating line segment rotates independently, and the guide wire and catheter in the operating room also rotate accordingly. At this time, the two traction ropes remain stationary and do not retract or extend.

[0056] The third scenario: Pushing operations (also known as forward operations) during surgery.

[0057] When Doctor 300 performs a pushing operation on operation segment 1, Doctor 300 pushes operation segment 1 forward (i.e., Figure 7When the guidewire is pushed to the left (as shown in the diagram), the guidewire in the operating room also pushes accordingly. The control device drives the take-up and release device 3 based on the forward resistance control force detection device 5 of the guidewire. Specifically, it drives the rear support shaft to rotate, causing the rear traction rope 32 to retract. Due to the action of the linkage synchronous belt 334, the front support shaft 3311 will rotate synchronously, so that the front traction rope 31 is appropriately loosened, ensuring that the operating line segment 1 is subjected to the corresponding forward resistance (also known as pushing resistance). After the pushing operation is completed, the doctor 300 releases the operating line segment 1. Under the action of the rotational force of the coil spring 3312, the front traction rope 31 automatically retracts, and the rear traction rope 32 automatically releases, returning to the initial balance state.

[0058] Fourth scenario: When the surgery is finished, the guidewire and catheter in the operating room need to be withdrawn.

[0059] At the end of the surgery, the doctor needs to pull back operation segment 1 (i.e., Figure 7 As shown in the diagram (pulling to the right), the guidewire in the operating room will also retract accordingly, thus achieving the withdrawal of the guidewire. During this process, the front traction rope 31 will loosen, causing the rear traction rope 32 to retract accordingly. After the guidewire is successfully withdrawn, the doctor 300 releases operation line segment 1, and the two traction rope components automatically reset under the rotational force of the coil spring 3312.

[0060] As can be seen from the above situations, when the doctor 300 operates the operation line segment 1 to move along multiple trajectories, the retraction mechanism 33 controls the retraction of the two traction ropes on both sides of the operation line segment 1 to provide sufficient traction line length to meet the operation movement space requirements, making the doctor 300 more flexible in the movement space of the operation line segment 1 during the operation and making the operation more flexible and natural.

[0061] Furthermore, in order to facilitate the application of rotational resistance to the operating line segment 1 by the rotational resistance setting mechanism 51, the rotational resistance setting mechanism 51 is located below the operating line segment 1 and can extend upward to abut against the operating line segment 1.

[0062] Specifically, refer to Figure 10 The rotational resistance setting mechanism 51 includes a push rod motor 511 and a push rod 512. At least the top of the push rod 512 is covered with an elastic layer. The push rod 512 is located below the operating line segment 1. The push rod of the push rod motor 511 is connected to the push rod 512 and can push the push rod 512 to move up and down. To ensure more accurate application of rotational resistance, a one-dimensional force sensor 513 is connected between the push rod and the push rod 512.

[0063] When the surgeon 300 performs a twisting operation and receives feedback on rotational resistance from the robotic arm 201 in the operating room, the push rod motor 511 pushes the one-dimensional force sensor 513 and the push rod 512 upwards to press against the operating line segment 1, thus providing rotational resistance. The magnitude of the counter-push force fed back by the one-dimensional force sensor 513 can precisely control the rotational resistance of the push rod 512 against the operating line segment 1, allowing the surgeon 300 to accurately perceive the resistance of the twisting rotation. By vertically pushing the push rod 512 upwards to press against the operating line segment 1 and utilizing the elastic layer (e.g., rubber layer) on the top surface of the push rod 512 to press against the operating line segment 1, the magnitude of the applied force can be better controlled, resulting in more precise control.

[0064] In order to facilitate the displacement resistance setting mechanism 52 to apply pushing resistance to the operating line segment 1, the displacement resistance setting mechanism 52 is set close to the torque wheel 332 and can drive the torque wheel 332 to rotate.

[0065] Specifically, refer to Figure 11 The displacement resistance setting mechanism 52 includes a drive motor 521, which is fixedly connected to a support shaft (i.e., the rear support shaft) passing through the torque sheave 332, and is used to drive the support shaft to rotate. To ensure more accurate application of the pushing resistance, the displacement resistance setting mechanism 52 also includes a torque sensor 522, which is fixedly mounted on the torque sheave 332 (the central axis of the torque sensor 522 is rigidly radially connected to the rotation shaft of the drive motor 521).

[0066] When the doctor 300 performs a pushing operation and receives feedback from the robotic arm 201 in the operating room regarding the forward resistance, the drive motor 521 rotates in the opposite direction to drive the torque wheel 332 to wind up the traction rope 32. The traction rope 32 pulls the operating line segment 1 through the corresponding fulcrum to provide pushing resistance. By controlling the torque magnitude through the torque sensor 522 fixed on the torque wheel 332, the forward resistance of the operating line segment 1 can be precisely controlled, allowing the doctor 300 to accurately perceive the resistance of the pushing operation.

[0067] Furthermore, the motion detection device 4 includes a trackball module 41 and an encoder 42. The operating line segment 1 passes through the trackball module 41 and contacts the trackball 411 in the trackball module 41. The trackball module 41 is used to detect the rotation angle and displacement of the operating line segment 1. The encoder 42 is located at the rear end of the motor shaft of the drive motor 521 and is used to detect the traction stroke of the traction rope (i.e., the rear traction rope 32) connected to the torque pulley 332. The control device can select the smaller value between the displacement of the operating line segment 1 and the traction stroke of the traction rope, and use the smaller value as the displacement of the guide wire to control the forward and backward movement of the guide wire.

[0068] Because the retraction mechanism 33 can control the retraction of the two traction ropes, it can provide sufficient traction line length to meet the operational movement space requirements, allowing the surgeon 300 to move the operational line segment 1 more flexibly during surgery; therefore, referring to Figure 7 During actual operation, the doctor may deviate from the line connecting the two fulcrums, and the position of the operation line segment 1 may change in real time; however, the guidewire and catheter at the execution end 200 are directly facing the surgical incision and are not deviated from it. Therefore, if the displacement of the operation line segment 1 is taken as the displacement of the guidewire and catheter, there will be an error. In order to minimize this error, this embodiment uses the trackball module 41 to detect the displacement of the operation line segment 1 and the encoder 42 to detect the traction stroke of the traction rope 32, and takes the smaller value of the two as the displacement of the guidewire and catheter, which can effectively improve the accuracy of the guidewire and catheter movement.

[0069] In addition, the trackball module 41 can simultaneously detect the direction of displacement of the operating line segment 1, and the encoder 42 can simultaneously detect the direction of the traction stroke of the rear traction rope 32. The direction is represented in positive and negative form. Based on the direction of the data detected by the trackball module 41 and the encoder 42, it can be determined whether the doctor's operating hand is in the gripping state. When the directions of the two detected data are opposite (i.e., one positive and one negative), it indicates that the operating line segment 1 is in the gripping state. For example, when the trackball 411 rotates backward and the encoder 42 rotates forward, the directions of the detected data are opposite. Before the operation, the operation can only begin after it is determined that the doctor's operating hand is in the gripping state. During the surgical procedure, when pushing forward, the trackball 411 rotates forward and the encoder 42 rotates forward. The smaller of the two data points is taken as the forward distance of the guidewire catheter, and the difference between the two data points is the grip offset, which helps the doctor understand the magnitude of the difference. When retracting backward, the trackball 411 rotates backward and the encoder 42 rotates backward. The smaller of the two data points is taken as the backward distance of the guidewire catheter, and the difference between the two data points is the grip offset, which helps the doctor understand the magnitude of the difference.

[0070] The trackball module 41 described above is essentially a trackball 411 plus a photoelectric sensor, and has the function of track detection; it can be adopted... Figure 9 The dual trackball structure shown can also be a single trackball structure. During installation, the operation line segment 1 passes through the trackball module 41 and directly contacts each trackball 411 (the trackball module 41 can also act as a fulcrum to support the operation line segment 1). The trackball 411 can be used to detect the motion trajectory. In this embodiment, it is mainly used to detect the rotation angle and displacement of the operation line segment 1, thereby achieving accurate perception and detection of the motion trajectory of the operation line segment 1.

[0071] When the doctor 300 performs the surgical procedure, the unobstructed connectors 2 at both ends of the operation line segment 1 ensure its unobstructed rotation; the two trackballs 411 in the trackball module 41 support and sense the rotation trajectory of the operation line segment 1 that passes through the middle.

[0072] For rotational operations, when the doctor 300 twists and rotates the line segment 1, the rotational angle trajectory is transmitted to the track ball 411, which can be accurately detected and transmitted to the execution end 200 to control the twisting and rotational operation of the guidewire catheter.

[0073] For the pushing operation, when the doctor 300 pushes the operation segment 1, its forward movement trajectory is transmitted to the track ball 411 and can be accurately detected. At the same time, the encoder 42 detects the forward traction stroke of the rear traction rope 32. The control device compares the forward distance of the operation segment 1 and the forward traction stroke of the rear traction rope 32 and selects the smaller value of the two as the forward distance of the guidewire catheter, which is transmitted to the execution end 200 to control the pushing operation of the guidewire catheter.

[0074] For the retraction operation, when the doctor 300 pulls the operation segment 1 backward, its backward movement trajectory is transmitted to the track ball 411 and can be accurately detected. At the same time, the encoder 42 detects the backward traction stroke of the rear traction rope 32. The control device compares the backward distance of the operation segment 1 and the backward traction stroke of the rear traction rope 32 and selects the smaller value of the two as the backward distance of the guidewire catheter, which is transmitted to the execution end 200 to control the pulling of the guidewire catheter backward, thereby realizing the withdrawal of the guidewire catheter.

[0075] Furthermore, the operating segment 1 is used to simulate the feel of the guidewire catheter.

[0076] The operating segment 1 can be a solid tube or a hollow tube with a smooth arc surface and flexibility close to that of a real guidewire. Since guidewires of different specifications are all linear, in this embodiment, the operating segment 1 is also designed as a linear shape, and its flexibility is close to that of a guidewire, serving as a realistic operating handle that can better simulate the operating feel of a guidewire.

[0077] Operation segment 1 is the part directly operated by the doctor (300). Designed in a linear shape, it allows for the use of the doctor's preferred grip, enabling immediate adoption without additional learning. The maximum travel distance of operation segment 1 for forward / backward movement can be designed to match the distance the doctor is accustomed to. When the maximum distance is reached, the system will prompt the doctor to release their hand, allowing operation segment 1 to return to its initial position, ensuring continuous forward / backward movements over long distances.

[0078] The preset maximum forward / backward movement distance is generally slightly less than the maximum limit distance, which refers to the distance at which the unobstructed connector 2 will come into contact with other components. The movement distance of the operating segment 1, detected by the motion detection device 4, can be monitored. When the movement distance reaches the preset value, an alarm sound can be emitted to remind the doctor 300, who will then release the operating segment 1, which will automatically reset under the action of the coil spring 3312. If necessary, an encoder can be fixed to the rear end of the motor shaft of the drive motor 521, and / or a limit switch can be added at a corresponding position to further assist in judging the movement stroke of the operating segment 1. By monitoring the maximum stroke of the operating segment 1, it is possible to prevent excessive stroke from causing the unobstructed connector 2 to come into contact with nearby components, thus enhancing safety.

[0079] Furthermore, since the entire control handle is mounted on the desktop 500 during installation, the simulated operating handle 100 also includes a lifting support device 6 to protect it when not in use, which is used to drive the lifting and lowering of the operating line segment 1.

[0080] The lifting support device 6 serves to support the operating line segment 1, using the tension of the traction rope to maintain its straight shape. It also ensures the operating line segment 1 functions as a pre-operatively positioned and post-operatively retractable support. A corresponding opening 501 is provided on the desktop 500. After activating the simulated operating handle 100, the operating line segment 1 can automatically or manually extend from the opening 501 of the desktop 500 to a set height using the lifting support device 6. Figure 12 As shown; after the surgery is completed, the lifting support device 6 drives the operating line segment 1 to retract into the operating table 500, as... Figure 13 As shown, it can protect it from accidental impacts and can be used normally when the desktop is free of other clutter.

[0081] Reference Figure 14 The structure of the lifting support device 6 can be implemented as follows: The lifting support device 6 includes a lifting drive mechanism 63 and two vertical support rods spaced apart, with the upper ends of the two vertical support rods forming two fulcrums; the lifting drive mechanism 63 is connected to the two vertical support rods and can drive the two vertical support rods to rise and fall to the same or different heights.

[0082] The two vertical support rods are designated as the front vertical support rod 61 and the rear vertical support rod 62, respectively. In this embodiment, the motion detection device 4 is located at the upper end of the front vertical support rod 61, forming a fulcrum and supporting the operating line segment 1, resulting in a more compact structure. A first pulley 621 can be installed at the upper end of the rear vertical support rod 62. The first end of the rear traction rope 32 is connected to the rear unobstructed connector 22 after passing through the first pulley 621. This pulley forms another fulcrum, supporting the rear traction rope 32. A second pulley 622 can also be installed at the lower end of the rear vertical support rod 62. The second end of the rear traction rope 32 is wound around the torsion pulley 332 after passing through the second pulley 622. This second pulley 622 forms a third fulcrum to ensure the support effect. The pulley bracket 333 is fixed to the lower end of the front vertical support rod 61, and the housing of the push rod motor 511 is fixed to the upper side wall of the front vertical support rod 61.

[0083] It is understood that the lifting drive mechanism 63 is electrically connected to the control device mentioned above. When the lifting drive mechanism 63 receives an upward control signal, it will drive the two vertical support rods to move upward; when the lifting drive mechanism 63 receives a downward control signal, it will drive the two vertical support rods to move downward.

[0084] When the lifting drive mechanism 63 is controlled to bring the two vertical support rods to the same height, such as Figure 15 As shown, at this time, the operating line segment 1, pulled by the vertical support rod and the front and rear traction ropes, is in a horizontal position on the tabletop at 500 degrees, which can accommodate the usual horizontal operating method. When the lifting drive mechanism 63 is controlled to make the two vertical support rods lower in the front and higher in the back, as shown... Figure 16 As shown, at this time, the operating segment 1, pulled by the vertical support rod and the front and rear traction ropes, is in a forward-tilted posture, which can accommodate the habitual forward-tilting operating method. When the lifting drive mechanism 63 is controlled to make the front and rear support rods higher in the front and lower in the rear, as shown... Figure 17 As shown, at this time, the operating segment 1, which is pulled by the vertical support rod and the front and rear traction ropes, is in a backward tilted posture, which can be adapted to the habitual backward tilting operation method.

[0085] The lifting drive mechanism 63 described above can be implemented in any existing manner. For example, the lifting drive mechanism 63 can adopt a structure in which an independent motor drives a lead screw for lifting. That is, each vertical support rod has a set of motors and lead screws connected to its lower part. By driving the lead screw to rotate through the motor, the vertical support rod can be driven to make corresponding linear lifting and lowering movements. As another example, the two vertical support rods can also be driven by a motor to move a matching connecting rod. The connecting rod can drive the two vertical support rods to lift or lower by the same or different heights.

[0086] Furthermore, this application also provides a control method for a simulated operating handle for the control end of an interventional surgical robot, comprising:

[0087] Acquire motion data of operation line segment 1, including rotation angle, forward displacement or backward displacement of operation line segment 1;

[0088] Based on the motion data of operation segment 1, the operation command for the guidewire catheter at the slave end is generated. The operation command includes the rotation command, forward command, or backward command for the guidewire catheter.

[0089] Receive resistance data from the guidewire catheter, including rotational or forward resistance.

[0090] Apply appropriate rotational or forward resistance to the operating segment based on the resistance data of the guidewire and catheter.

[0091] Detect and determine whether the rotational resistance or forward resistance applied to operating segment 1 is equal to the rotational resistance or forward resistance of the guidewire catheter. If so, stop applying the resistance.

[0092] In detail, the control method includes:

[0093] Obtain the rotation angle of operation segment 1; generate a rotation command for the guidewire catheter based on the rotation angle of operation segment 1; receive the rotation resistance of the guidewire catheter; apply a corresponding rotation resistance to operation segment 1 based on the rotation resistance of the guidewire catheter; detect and determine whether the rotation resistance applied to operation segment 1 is equal to the rotation resistance of the guidewire catheter; if so, stop applying the resistance.

[0094] Obtain the forward displacement of operation segment 1; generate the forward movement command of the guidewire and catheter based on the forward displacement of operation segment 1; receive the forward movement resistance of the guidewire and catheter; apply the corresponding forward movement resistance to operation segment 1 based on the forward movement resistance of the guidewire and catheter; detect and determine whether the forward movement resistance applied to operation segment 1 is equal to the forward movement resistance of the guidewire and catheter, and if so, stop applying the resistance.

[0095] Obtain the backward displacement of operation segment 1; generate the backward retraction command of the guidewire and catheter based on the backward displacement of operation segment 1.

[0096] Furthermore, to facilitate the application of corresponding rotational resistance to the operating segment 1 and the detection of the applied rotational resistance, a rotational resistance setting mechanism 51 is provided below the operating segment 1. The rotational resistance setting mechanism 51 includes a one-dimensional force sensor 513. Applying corresponding forward resistance to the operating segment 1 includes: driving the rotational resistance setting mechanism 51 to push the operating segment 1 upward. Detecting and determining whether the forward resistance applied to the operating segment 1 is equal to the forward resistance of the guidewire includes: using the one-dimensional force sensor 513 to detect the counter-thrust force generated by the operating segment 1 on the rotational resistance setting mechanism 51; comparing the counter-thrust force with the rotational resistance of the guidewire to determine whether the forward resistance applied to the operating segment 1 is equal to the rotational resistance of the guidewire.

[0097] To facilitate the application of corresponding forward resistance to the operating line segment 1 and the detection of the applied forward resistance, both ends of the operating line segment 1 are rotatably connected to the first ends of two traction ropes, and a take-up and release mechanism 33 is connected to the second ends of both traction ropes; a displacement resistance setting mechanism 52 is connected to the take-up and release mechanism 33 and can drive the take-up and release mechanism 33 to move to drive the take-up and release of the two traction ropes, and the displacement resistance setting mechanism 52 includes a take-up force sensor.

[0098] Applying corresponding forward resistance to the operating segment 1 includes: driving the displacement resistance setting mechanism 52 to drive the two traction ropes to retract and extend through the retraction mechanism 33 to pull the operating segment 1; detecting and determining whether the forward resistance applied to the operating segment 1 is equal to the forward resistance of the guidewire includes: using a winding force sensor to detect the winding force when the traction ropes are retracted and extended; calculating the pulling force of the traction ropes on the operating segment 1 based on the winding force, and comparing the pulling force with the forward resistance of the guidewire to determine whether the forward resistance applied to the operating segment 1 is equal to the forward resistance of the guidewire.

[0099] To more accurately detect whether the doctor's 300 operating hand is holding the operating line segment 1, both ends of the operating line segment 1 are rotatably connected to the first ends of two traction ropes respectively. The retraction mechanism 33 is connected to the second ends of both traction ropes and can drive the two traction ropes to retract and extend. The displacement resistance setting mechanism 52 can drive the torque wheel 332 connected to the second end of one traction rope to rotate.

[0100] The control method for the simulated operating handle used in the control end of the interventional surgical robot also includes: determining whether the operating line segment 1 is in a grasped state before the operation;

[0101] Determining whether segment 1 is in a held state includes:

[0102] Detect the direction of displacement of operation segment 1;

[0103] The direction of the traction stroke of the traction rope (i.e., the rear traction rope 32) connected to the torsion pulley 332 is detected;

[0104] If the direction of displacement of operating segment 1 is opposite to the direction of traction stroke of the traction rope, then operating segment 1 is in a gripped state.

[0105] To effectively improve the accuracy of guidewire and catheter movement, the guidewire and catheter advance command generated based on the advance distance of operation segment 1 includes:

[0106] Detect the forward distance of operation segment 1;

[0107] The forward traction stroke of the traction rope connected to the torsion pulley 332 is detected;

[0108] Select the smaller value between the forward distance and the forward traction stroke, use the smaller value as the forward distance of the guidewire and generate the forward command of the guidewire;

[0109] The retraction command for the guidewire catheter, generated based on the retraction distance of operation segment 1, includes:

[0110] Detect the backward distance of operation segment 1;

[0111] Detect the backward traction stroke of the traction rope connected to the torsion pulley 332;

[0112] Select the smaller value between the retraction distance and the retraction stroke, use the smaller value as the retraction distance of the guidewire and generate the retraction command for the guidewire.

[0113] Furthermore, in order to protect the operating line segment 1 when not in use, the control method for the simulated operating handle used in the control end of the interventional surgical robot also includes:

[0114] Before the operation, control the operation line segment 1 to extend out of the table to the set height and tilt angle;

[0115] After the surgery, control line segment 1 is retracted into the desktop.

[0116] The simulated operating handle used in the control of the interventional surgical robot mentioned here is the one mentioned earlier. Figures 1 to 18 The simulated operating handle 100 shown in the image; during use, the height and tilt angle of the operating line segment 1 extending from the table are first adjusted, then it is determined whether the doctor's 300 operating hand is in a gripping state before performing the surgical operation. The winding force sensor specifically corresponds to the torque sensor 522 mentioned earlier. The specific structure and working process of the rotational resistance setting mechanism 51, the displacement resistance setting mechanism 52, the winding and releasing mechanism 33, and the traction rope have been described in detail above and will not be repeated here.

[0117] Combination Figures 1 to 18 The entire operation process is as follows:

[0118] (1) Preoperative preparation: The system is started, and the operation line segment 1 and the front and rear vertical support rods extend 500 from the desktop to drive the operation line segment 1 to the set height and tilt angle to ensure that the operation line segment 1 is in place during the operation.

[0119] (2) Surgery begins: The linear shape of the operation line segment 1 ensures that the doctor 300 continues the habitual operation grip posture, and the unobstructed connector 2 provides unobstructed rotation support; the trackball module 41 and encoder 42 in the motion detection device 4 begin to sense whether the doctor 300's operating hand is in the grip handle state, at which point the doctor 300 can start the surgery without retraining.

[0120] (3) During the operation: The wire take-up and release device 3 controls the take-up and release of the two traction ropes at both ends of the operation line segment 1 through the coil spring wire wheel 331 and the torque wire wheel 332, providing the doctor 300 with a flexible operating space to operate the operation line segment 1; the unobstructed connector 2 continuously provides unobstructed rotation function; the motion detection device 4 monitors the forward, backward and rotational dual-axis motion trajectory of the linear operation line segment 1 in real time and feeds it back to the operation interface and the robotic arm 201 in the operating room; the force feedback detection device 5 gives the operation line segment 1 a closed loop according to the dual-axis force information fed back by the robotic arm 201 in the operating room, ensuring that the doctor 300's operating hand obtains accurate rotational and pushing force, thereby restoring the doctor 300's real grip and operating feel during the operation.

[0121] (4) End of surgery: The operation line segment 1 and the front and rear vertical support rods are pulled back to within 500 on the table by the traction rope to ensure the postoperative protection of the operation handle.

[0122] Furthermore, this application also provides an interventional surgical robot, which includes the aforementioned simulated operating handle 100, execution end 200, and control device; the execution end 200 includes a guidewire catheter, and the control device is electrically connected to the motion detection device 4, the force feedback detection device 5, and the execution end 200.

[0123] Reference Figure 1 The execution end 200 also includes a robotic arm 201. The control device is electrically connected to the robotic arm 201 and can control the robotic arm 201 to drive the guide wire and guide tube to move according to the data detected by the motion detection device 4. A two-dimensional force sensor is provided on the robotic arm 201. The two-dimensional sensor is used to detect the rotational resistance and forward resistance of the guide wire and guide tube. The control device is electrically connected to the two-dimensional force sensor and can control the force feedback detection device 5 to move according to the data detected by the two-dimensional sensor.

[0124] The entire interventional surgical robot utilizes a simulated operating handle 100 to control the execution end 200. The entire control process is controlled by a control device. A force feedback detection device 5 directly applies force to the operating line segment 1 and provides a closed-loop force feedback value. The one-dimensional force sensor 513 in the force feedback detection device 5 can detect the magnitude of the feedback force (rotational resistance) provided to the operating line segment 1 by the rotational resistance setting mechanism 51, and the torque sensor 522 can detect the magnitude of the feedback force (forward resistance) provided to the operating line segment 1 by the take-up and release device 3, thus providing precise feedback force to the operating line segment 1. The control device can control the rotational resistance setting mechanism 51 to apply corresponding rotational resistance to the operating line segment 1 through closed-loop force feedback based on the rotational resistance of the guidewire and catheter. It can also control the displacement resistance setting mechanism 52 to drive the take-up and release device 3 to pull the operating line segment 1 through closed-loop force feedback based on the forward resistance of the guidewire and catheter, thereby applying corresponding forward resistance to the operating line segment 1. The specific control and actions between the control end, execution end 200, and control device in this interventional surgical robot have been described in detail above and will not be repeated here.

[0125] In summary, the simulated operating handle 100, the interventional surgical robot, and the control method thereof in this embodiment have the following advantages:

[0126] (1) Design a surgical robot with a separate control console and robotic arm, so that the doctor can perform surgery away from the radiation source.

[0127] (2) Design a linear simulated operating handle on the console. The operating line segment 1 is used for remote control operation by the doctor 300. The operating line segment 1 is designed to be the same as the shape of the real catheter and guidewire. It can simulate the real shape of the guidewire and catheter. It is consistent with the real guidewire and catheter in terms of structure and movement trajectory. It can meet the needs of normal surgical simulation operation and ensure the continuation of the doctor 300's grip habits. It allows the doctor 300 to maintain the grip and feel of the guidewire and catheter during the operation, so that the doctor can get started quickly and reduce the learning cycle cost. The unobstructed connector 2 allows the operating line segment 1 to rotate freely relative to the traction rope.

[0128] (3) A motion detection device 4 and a force feedback detection device 5 are set up to measure the dual-axis motion trajectory of the handle and provide closed-loop force feedback. The device acts directly on the operating line segment 1, which can obtain the direct and accurate motion trajectory of the handle and provide precise force feedback. The cable retraction device 3 can be used to retract the traction ropes at both ends of the operating line segment 1 to provide the operating line segment 1 with free movement space, restore the real guidewire and catheter operation motion trajectory, and ensure that the surgical operation process is flexible and unrestricted. By directly detecting the operating line segment 1, the real motion trajectory information of the forward, backward and rotational dual axes is obtained to ensure measurement accuracy. By directly applying force to the operating line segment 1 and giving a closed-loop force feedback value, a precise force feedback feel is achieved. The design of precise motion perception and force feedback closed-loop setting to detect grip / release is more in line with normal usage logic and habits, and doctors do not need to relearn and familiarize themselves with it.

[0129] (4) A lifting support device 6 is set up, which includes two vertical support rods. The upper end of the two vertical support rods is equipped with a fulcrum and the operation line segment 1 is supported by a traction rope. The lower part is fixed to the controllable lifting device. It can be used to support the operation line segment 1 before the operation and to retract it after the operation to protect the safety of the handle device.

[0130] The above are merely illustrative embodiments of the present invention and are not intended to limit the scope of the invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principles of the present invention should fall within the scope of protection of the present invention.

Claims

1. A realistic operating handle for the control end of an interventional surgical robot, characterized in that, include: The operating line segment is used for rotation and / or displacement operations when held; A take-up and release device is rotatably connected to both ends of the operating line segment and is capable of pulling and traction of the operating line segment; the take-up and release device includes a take-up and release mechanism, two traction ropes, and at least two fulcrums; both ends of the operating line segment are rotatably connected to the first ends of the two traction ropes respectively; the take-up and release mechanism is connected to the second ends of both traction ropes and is capable of driving the two traction ropes to take up and release; the at least two fulcrums are used to support the two traction ropes and / or at least two positions of the operating line segment; A motion detection device, connected to the operating line segment, is used to detect the rotation angle and displacement of the operating line segment. The control device can control the rotation or retraction of the guidewire catheter at the operating end based on the data detected by the motion detection device. The force feedback detection device includes a rotational resistance setting mechanism and a displacement resistance setting mechanism. The rotational resistance setting mechanism is located below the operating line segment, and the displacement resistance setting mechanism is located at the take-up and unwinding device. The control device can receive force feedback data from the operating slave end and apply rotational resistance and displacement resistance to the operating line segment through the rotational resistance setting mechanism and the displacement resistance setting mechanism, respectively.

2. The realistic operating handle for the control end of an interventional surgical robot as described in claim 1, characterized in that, Both ends of the operating line segment are connected to the corresponding traction rope via a barrier-free connector. The end of the traction rope is fixedly connected to the barrier-free connector, and the end of the operating line segment is rotatably threaded through the barrier-free connector.

3. The realistic operating handle for the control end of an interventional surgical robot as described in claim 2, characterized in that, The unobstructed connector includes a housing with mounting holes on both ends. The end of the operating line segment is provided with a circular plate with an increased diameter. The end of the operating line segment extends into one of the mounting holes, and a thrust bearing is clamped between the circular plate and the inner end face of the housing. The first end of the traction rope is inserted and fixed in the other mounting hole.

4. The realistic operating handle for the control end of an interventional surgical robot as described in claim 1, characterized in that, The take-up and take-down mechanism includes a spring reel, a torque reel, a reel bracket, and a synchronous belt; Two support shafts are pivotally connected to both ends of the reel bracket. The spring reel is sleeved on one of the support shafts and connected to the support shaft through the spring. The torsion reel is sleeved and fixed on the other support shaft. The second end of one of the traction ropes is coiled in the spring reel, and the second end of the other traction rope is coiled in the torsion reel. The two support shafts are connected by the linkage synchronous belt.

5. The realistic operating handle for the control end of an interventional surgical robot as described in claim 1, characterized in that, The rotational resistance setting mechanism includes a push rod motor and a push rod. At least the top of the push rod is covered with an elastic layer. The push rod is located below the operating line segment. The push rod of the push rod motor is connected to the push rod and can push the push rod to move up and down. A one-dimensional force sensor is connected between the push rod and the push rod.

6. The realistic operating handle for the control end of an interventional surgical robot as described in claim 4, characterized in that, The displacement resistance setting mechanism includes a drive motor and a torque sensor. The drive motor is fixedly connected to the support shaft passing through the torque sheave and is used to drive the support shaft to rotate. The torque sensor is fixedly mounted on the torque sheave.

7. The realistic operating handle for the control end of an interventional surgical robot as described in claim 6, characterized in that, The motion detection device includes a trackball module and an encoder. The operating line segment passes through the trackball module and contacts the trackball in the trackball module. The trackball module is used to detect the rotation angle and displacement of the operating line segment. The encoder is located at the rear end of the motor shaft of the drive motor and is used to detect the traction stroke of the traction rope connected to the torsion pulley. The control device can select the smaller value between the displacement of the operating line segment and the traction stroke of the traction rope, and use the smaller value as the displacement of the guidewire to control the forward and backward movement of the guidewire.

8. The realistic operating handle for the control end of an interventional surgical robot as described in claim 7, characterized in that, The trackball module adopts a dual trackball structure or a single trackball structure. The operation line segment passes through the trackball module and directly contacts each trackball. The trackball is used for motion trajectory detection.

9. The realistic operating handle for the control end of an interventional surgical robot as described in claim 1, characterized in that, The simulated operating handle for the control end of the interventional surgical robot also includes a lifting support device, which includes a lifting drive mechanism and two vertical support rods spaced apart. The upper ends of the two vertical support rods form two fulcrums. The lifting drive mechanism is connected to the two vertical support rods and can drive the two vertical support rods to rise and fall to the same or different heights.

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