Hand device for anthropomorphic intervention robot

Abstract

The present application belongs to the field of minimally invasive vascular intervention surgery, and discloses a hand device of a humanoid interventional robot, which comprises: a left hand device for clamping and fixing a surgical instrument; a right hand device for pushing and rotating the surgical instrument; and a disposable consumable. The left hand and right hand devices cooperate to complete the pushing and rotating of a catheter guide wire, the injection of contrast medium, and the pressure pump pressurization and release of a balloon and a stent catheter in an interventional surgery. When clamping a medical instrument in the surgery, the robot can also sense the clamping force, and in the process of pushing the catheter guide wire, the robot can sense the real-time pushing resistance, so that the main operation actions in the interventional surgery treatment can be completed.

Description

Technical Field

[0001] This invention belongs to the field of minimally invasive vascular interventional surgery, and relates to the operation technology of robots in interventional surgery, and more specifically, to a hand device of a humanoid interventional robot. Background Technology

[0002] Cardiovascular and cerebrovascular diseases have become one of the three leading causes of death worldwide, seriously impacting national health and people's normal lives. Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases is a primary treatment method. Compared to traditional surgery, it has significant advantages such as smaller incisions and shorter postoperative recovery times. Cardiovascular and cerebrovascular interventional surgery involves a doctor manually inserting catheters, guidewires, and stents into the patient's body to complete the treatment.

[0003] Interventional surgery presents two main problems. First, during the procedure, the X-rays emitted by DSA (Digital Subtraction Angiography) cause a rapid decline in the surgeon's physical strength, attention, and stability, leading to decreased operational precision and increasing the risk of accidents such as vascular endothelial damage, perforation, and rupture due to improper pushing force, potentially endangering the patient's life. Second, the long-term cumulative damage from ionizing radiation significantly increases the surgeon's risk of leukemia, cancer, and acute cataracts. The continuous accumulation of radiation exposure for surgeons performing interventional procedures has become a significant issue jeopardizing their professional lives and hindering the development of interventional surgery. However, robotic technology can effectively address this problem, significantly improving the precision and stability of surgical procedures while effectively reducing radiation exposure to interventional surgeons and lowering the probability of intraoperative accidents.

[0004] During interventional surgery, in addition to pushing surgical consumables such as catheters and guidewires, contrast agents need to be injected and balloon dilation using a pressure pump is required to complete the entire surgical procedure. However, the current humanoid interventional robot hand device has the following problems: (1) The existing interventional robot cannot simultaneously complete the operation steps to be performed during interventional surgery, including catheter and guidewire pushing, contrast agent injection, and pressure pump dilation. At present, the interventional robot can only push the catheter and guidewire, and other operations need to be performed manually by the doctor; (2) Contrast agent injection and pressure pump dilation require the doctor to operate at the catheter bed, and the doctor will be exposed to radiation damage during this process; (3) When the doctor performs contrast agent injection and pressure pump dilation manually, the control accuracy is not high due to hand tremors; (4) The existing robot lacks a precise force measuring device for pushing the guidewire and catheter. The force measuring position is generally far from the Y valve opening, resulting in a large error; (5) During the operation of the existing interventional robot, the doctor and the robot need to cooperate. There may be problems with improper cooperation during the operation, which will affect the efficiency of the operation; (6) A sterile environment needs to be maintained during the operation. The disinfection process of the existing robot is relatively cumbersome, and there is a lack of convenient and fast robot disinfection methods.

[0005] Therefore, it is necessary to provide a device to overcome the aforementioned problems of the prior art. Summary of the Invention

[0006] In view of this, the present invention proposes a hand device for a humanoid interventional robot, the specific technical solution of which is as follows:

[0007] A hand device for a humanoid interventional robot, comprising:

[0008] The left-hand device is used to clamp and fix surgical instruments. It includes a left-hand base for connecting to the front end of the left arm of the humanoid robot. The left-hand base is provided with a connecting plate 1 and a connecting plate 2 that can move towards or away from each other. Each of the connecting plate 1 and the connecting plate 2 is equipped with a pressure sensor 1 for sensing the change of force on the gripper on the left-hand device in the vertical direction and a pressure sensor 2 for sensing the change of clamping force of the two grippers on the left-hand device in the horizontal direction.

[0009] The right-hand device, used for pushing and rotating surgical instruments, includes a right-hand base for connecting to the front end of the right arm of a humanoid robot. The right-hand base is equipped with a connector 1 and a connector 2 that can move relative to each other in the vertical direction. Each connector 1 and connector 2 is equipped with a pressure sensor 3 for sensing changes in force when pushing the guidewire. The two pressure sensors 3 are respectively equipped with connecting plates 3 and 4 that can move closer or further apart. Each connecting plate 3 and connecting plate 4 is equipped with a pressure sensor 4 for sensing changes in the clamping force of the two grippers on the right-hand device in the horizontal direction. The right-hand base is also equipped with a syringe pushing structure and a pressure pump clamping device.

[0010] The disposable consumables include two sets, each set of which includes a left consumable and a right consumable. The left consumable and the right consumable are respectively installed on two corresponding connecting plates in the left and right hand devices to serve as two grippers in the left and right hand devices to perform clamping and releasing actions.

[0011] This invention relates to the use of a humanoid interventional surgical robot to perform interventional procedures. The humanoid robot is placed next to the catheter bed in the interventional catheterization chamber. Through coordinated movements of its left and right-hand devices, it can perform tasks such as catheter and guidewire advancement and rotation, contrast agent injection, and pressure pumping and releasing of balloons and stents during interventional procedures. When holding medical instruments during surgery, the robot can also sense the gripping force; during catheter and guidewire advancement, it can sense the real-time pushing resistance, enabling it to complete the main operational actions in interventional procedures.

[0012] By adopting the above technical solution, the present invention provides a hand device for a humanoid interventional robot, which effectively solves the problems of current interventional surgical robots being unable to simultaneously perform essential surgical operations such as catheter and guidewire pushing, contrast agent injection, and pressure pump dilation; the possibility of radiation damage to doctors during contrast agent injection and pressure pump dilation; the low precision of doctors manually controlling surgical instruments during surgery; insufficient force measurement when pushing guidewires and catheters; excessive reliance on human-machine collaboration in existing robots, resulting in low surgical efficiency; and the lack of convenient robot disinfection methods.

[0013] Preferably, the upper end of the left-hand base is provided with an interface that can connect to the left arm of the humanoid robot, and the lower end is equipped with a linear guide rail. A slider 1 and a slider 2 are installed on the linear guide rail. The connecting plate 1 is fixed to the slider 1, and the connecting plate 2 is fixed to the slider 2. Both the connecting plate 1 and the connecting plate 2 are provided with a boss with a circular hole, and the two circular holes are equipped with nuts with opposite thread directions. A lead screw motor 1 is fixed to the lower end of the left-hand base through a bracket, and the lead screw on the lead screw motor 1 engages with the nuts on the two circular holes respectively. The lead screw motor 1 rotates in both directions, driving the connecting plate 1 and the connecting plate 2 to move towards or away from each other.

[0014] Preferably, the upper ends of the two pressure sensors are connected to the corresponding connecting plate 1 and connecting plate 2, respectively, and the lower ends are connected to right-angle plate 1 and right-angle plate 2, respectively. Right-angle plate 1 is located below the connecting plate 1, and right-angle plate 2 is located below the connecting plate 2. Right-angle component 1 is located below right-angle plate 1, and right-angle component 2 is located below right-angle plate 2. The two pressure sensors are connected between right-angle plate 1 and right-angle component 1, and between right-angle plate 2 and right-angle component 2, respectively. The left consumable and the right consumable are detachably installed at the bottom of right-angle component 1 and right-angle component 2, respectively.

[0015] Preferably, bracket one and bracket two are respectively installed on the side of the left hand base. Camera one is installed on bracket one and camera two is installed on bracket two. Camera one and camera two are aimed at the gripper part of the left hand device from different angles.

[0016] Preferably, the upper end of the right-hand base is provided with an interface for connecting to the right arm of the humanoid robot, and the lower end is provided with a right-angle connecting plate one and a right-angle connecting plate two installed side by side. A linear guide rail two is installed on the right-angle connecting plate one, and a linear guide rail three is installed on the right-angle connecting plate two. A slider three slides on the linear guide rail two, and the connecting piece one is installed on the slider three. A slider four slides on the linear guide rail three, and the connecting piece two is installed on the slider four. The connecting piece one is a rack and pinion connector one, and the connecting piece two is a rack and pinion connector two. The rack portions of the rack and pinion connector one and the rack and pinion connector two are arranged opposite to each other and are both A gear is meshed between the two, and the gear is rotatably mounted on a gear connector fixed to the right-hand base; a rack connecting plate with a threaded hole is installed on the side of the first connector away from its rack portion or the side of the second connector away from its rack portion; a lead screw motor is fixed to the lower end of the right-hand base by a bracket, and the lead screw on the second lead screw motor engages with the threaded hole on the rack connecting plate. The second lead screw motor rotates in both directions, driving the first connector and the second connector to move relative to each other in the vertical direction, so as to realize the clockwise and counterclockwise rubbing rotation of the guide wire.

[0017] Preferably, the upper ends of the two pressure sensors three are respectively connected to the corresponding rack connector one and rack connector two;

[0018] One of the pressure sensors three has its lower end connected to the connecting plate three, which is located below the rack connector one. A right-angled member three is located below the connecting plate three, and one of the pressure sensors four is connected between the connecting plate three and the right-angled member three.

[0019] Another pressure sensor 3 is connected to a right-angle connecting plate 3 at its lower end. A linear guide rail 4 is mounted on the lower end of the right-angle connecting plate 3. A slider 5 slides on the linear guide rail 4. The connecting plate 4 with a threaded hole is mounted on the slider 5. A lead screw motor 3 is fixed to the lower end of the right-angle connecting plate 3 via a bracket. The lead screw of the lead screw motor 2 engages with the threaded hole on the connecting plate 4. The lead screw motor 2 rotates in both directions, driving the connecting plate 4 to move horizontally, causing the connecting plate 4 to move closer to or away from the connecting plate 3. A right-angle component 4 is provided below the connecting plate 4. A corresponding other pressure sensor 4 is connected between the connecting plate 4 and the right-angle component 4.

[0020] The bottoms of right-angle component three and right-angle component four are respectively detachably fitted with the left-side consumable and the right-side consumable.

[0021] Preferably, bracket three and bracket four are respectively installed on the side of the right-hand base. Camera three is installed on bracket three and camera four is installed on bracket four. Camera three and camera four are aimed at the gripper part of the right-hand device from different angles.

[0022] Preferably, a push rod that can mate with the tail end of the syringe is installed on the side of the right-hand base; and / or, a bracket five is also installed on the right-hand base, and a camera five is installed on the bracket five, the camera five being aimed at the push rod portion of the right-hand device.

[0023] Preferably, a boss is provided on the side of the right-hand base away from the push rod, a servo motor is mounted on the boss, the motor shaft of the servo motor is fixedly connected to the proximal end of a connecting rod, a pressure pump clamping mechanism is mounted on the connecting rod, the servo motor rotates forward and backward to drive the pressure pump clamping mechanism to lift or lower; the pressure pump clamping mechanism includes a linear guide rail five fixed on the connecting rod, a slider six sliding on the linear guide rail five, an L-shaped bracket with a threaded hole mounted on the slider six, a lead screw motor four fixed to the connecting rod through the bracket, and the lead screw on the lead screw motor four engages with the threaded hole on the L-shaped bracket, the lead screw motor four rotates forward and backward to drive the L-shaped bracket to reciprocate along the connecting rod axis; a bracket six is ​​mounted on the L-shaped bracket, a camera six is ​​mounted on the bracket six, and the camera six is ​​aimed at the front end of the L-shaped bracket.

[0024] Preferably, the upper ends of both the left and right consumables are provided with snap-fit ​​structures that engage with the corresponding left-hand and right-hand devices, respectively, and are installed on the corresponding positions of the left-hand and right-hand devices by insertion and removal; the lower part of the left and right consumables is a gripper part, which is made of rigid silicone material; at the same time, the disposable consumables are sterilized by ethylene oxide to become sterile components.

[0025] Compared with existing technologies, the hand device for a humanoid interventional robot of the present invention has the following beneficial effects:

[0026] 1. The device described in this invention, by setting a corresponding pressure sensor, has the function of detecting the tactile resistance of the guidewire and catheter. It can detect the force change information in real time during the process of pushing the guidewire and catheter by the robot hand device. This resistance change information can be transmitted to the doctor outside the catheterization room in real time, which significantly improves the safety of interventional robotic surgery.

[0027] 2. The device of the present invention measures the force of the guidewire and catheter at the outlet of the Y valve, which is less affected by interference and has higher force measurement accuracy. It can provide doctors with more accurate force information on the guidewire and catheter, thereby helping doctors make more correct surgical operation judgments and improving surgical safety.

[0028] 3. The device described in this invention, by using the left and right hand devices to coordinate actions, can realize the necessary actions in interventional surgery, such as catheter and guidewire pushing, contrast agent injection, and pressure pump dilation. During the operation, there is no need for doctors to cooperate with the robot in the catheterization room, which can save human resources, reduce the error rate of human-machine cooperation, and improve surgical efficiency.

[0029] 4. The device described in this invention, through precise robot control, enables more stable and accurate control of surgical instruments, effectively reducing surgical complications. The device has a simple overall structure, is easy to install, and its modular design facilitates maintenance and replacement.

[0030] 5. The device of the present invention, by using disposable consumables for humanoid robots sterilized with ethylene oxide, can achieve convenient and rapid disinfection of humanoid robots, simplifying the disinfection process and improving surgical efficiency. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the entire left side of the hand device of the present invention;

[0033] Figure 2 This is a schematic diagram of the hand device of the present invention from the right side.

[0034] Figure 3 This is a schematic diagram of the left-hand device.

[0035] Figure 4 This is a schematic diagram of the explosion of the left-hand device;

[0036] Figure 5 This is a schematic diagram of the right-hand device.

[0037] Figure 6 Illustration of a right-hand device exploding Figure 1 ;

[0038] Figure 7 Illustration of a right-hand device exploding Figure 2 ;

[0039] Figure 8 This is a diagram illustrating disposable consumables.

[0040] Figure 9 Schematic diagram for pushing the catheter and guidewire;

[0041] Figure 10 This is a diagram illustrating the pushing of a syringe;

[0042] Figure 11 Schematic diagram for controlling the pressure pump;

[0043] In the picture:

[0044] 100-Left-handed device,

[0045] 101-Left hand base, 102-Linear guide rail one, 103-Slider one, 104-Slider two, 105-Connecting plate one, 106-Connecting plate two, 107-Screw motor one, 108-Pressure sensor one, 109-Right angle plate one, 110-Right angle plate two, 111-Right angle piece one, 112-Right angle piece two, 113-Pressure sensor two, 114-Bracket one, 115-Bracket two, 116-Camera one, 117-Camera two;

[0046] 200-Right Hand Device

[0047] 201-Right Hand Base, 202-Right Angle Connecting Plate 1, 203-Right Angle Connecting Plate 2, 204-Linear Guide Rail 2, 205-Linear Guide Rail 3, 206-Slider 3, 207-Rack Connector 1, 208-Rack Connector 2, 209-Gear, 210-Gear Connector, 211-Rack Connecting Plate, 212-Lead Screw Motor 2, 213-Pressure Sensor 3, 214-Connecting Plate 3, 215-Right Angle Piece 3, 216-Pressure Sensor 4, 217-Right Angle Connecting Plate 3, 218-Linear Guide Rail 4, 219-Slider 5, 220-Connecting Plate 4, 221-Lead Screw Motor 3, 222-Right Angle Piece 4, 223-Bracket 3, 224-Bracket 4, 225-Camera 3, 226-Camera 4;

[0048] 300-syringe delivery structure,

[0049] 301 - Push rod, 302 - Bracket 5, 303 - Camera 5;

[0050] 400-Pressure pump clamping device,

[0051] 401-Servo motor, 402-Connecting rod, 403-Linear guide rail five, 404-Slider six, 405-L-shaped bracket, 406-Screw motor four, 407-Bracket six, 408-Camera six;

[0052] 500 - Disposable consumables

[0053] 501 - Left-side consumables, 502 - Right-side consumables;

[0054] 600-Catheter Guidewire;

[0055] 700-syringe;

[0056] 800-Pressure Pump. Detailed Implementation

[0057] Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0058] In the description of this invention, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0059] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0060] Example:

[0061] This invention relates to the use of a humanoid interventional surgical robot to perform interventional surgical procedures. For example... Figure 1 , 2 As shown, the hand device of the humanoid interventional robot of the present invention mainly includes three parts: a left hand device 100, a right hand device 200, and a disposable consumable 500. The humanoid interventional robot is placed next to the catheter bed in the interventional catheterization room. The left hand device 100 and the right hand device 200 are respectively installed on the front end of the left arm and the right arm of the humanoid robot.

[0062] During interventional procedures, the humanoid robot uses its left and right hands in coordination to perform catheter and guidewire pushing and rotating actions, contrast agent injection actions, and balloon and stent catheter pressure pump pressurization and release actions.

[0063] Specifically, the left-hand device 100 is used to clamp and fix surgical instruments. It includes a left-hand base 101 for connecting to the front end of the left arm of the humanoid robot. The left-hand base 101 is provided with a connecting plate 105 and a connecting plate 106 that can move towards or away from each other. Each of the connecting plates 105 and 106 is equipped with a pressure sensor 108 for sensing the change in force on the gripper of the left-hand device 100 in the vertical direction and a pressure sensor 113 for sensing the change in clamping force of the two grippers of the left-hand device 100 in the horizontal direction.

[0064] The right-hand device 200 is used to push and rotate surgical instruments. It consists of a guidewire control end, a syringe control end, and a pressure pump control end. Specifically, it includes a right-hand base 201 for connecting to the front end of the right arm of the humanoid robot. The right-hand base 201 is equipped with a connector 1 and a connector 2 that can move relative to each other in the vertical direction. Each of the connectors 1 and 2 is equipped with a pressure sensor 3 213 to sense the force change when pushing the guidewire. The two pressure sensors 3 213 are respectively equipped with connecting plates 3 214 and 4 220 that can move closer or further apart. Each of the connecting plates 3 214 and 4 220 is equipped with a pressure sensor 4 216 to sense the clamping force change of the two grippers on the right-hand device 200 in the horizontal direction. The right-hand base 201 is also equipped with a syringe pushing structure 300 and a pressure pump clamping device 400.

[0065] The disposable consumable 500 is a surgical consumable for the hand device of the humanoid interventional robot. It consists of two sets, each set of disposable consumable 500 including a left consumable 501 and a right consumable 502. The left consumable 501 and the right consumable 502 are respectively installed on the corresponding two connecting plates in the left and right hand devices to serve as two grippers in the left and right hand devices to complete the clamping and releasing actions.

[0066] Furthermore, such as Figure 3 , 4As shown, the upper end of the left-hand base 101 is provided with an interface that can connect to the left arm of the humanoid robot, and the lower end is equipped with a linear guide rail 102. A slider 103 and a slider 2 104 are installed on the linear guide rail 102. A connecting plate 105 is fixed on the slider 103, and a connecting plate 2 106 is fixed on the slider 2 104. Both the connecting plate 105 and the connecting plate 2 106 are provided with bosses with circular holes, and the two circular holes are equipped with nuts with opposite thread directions (i.e., one nut has a clockwise thread and the other has a counterclockwise thread). The lead screw motor 107 is fixed to the lower end of the left-hand base 101 through a bracket, and the lead screw on the lead screw motor 107 engages with the nuts on the two circular holes respectively. In this way, when the lead screw motor 107 rotates, the connecting plate 105 and the connecting plate 2 106 will move in opposite directions.

[0067] The lead screw motor 107 drives the connecting plate 105 and the connecting plate 106 to move towards or away from each other by rotating in both directions, thus completing the clamping action. Specifically, when the lead screw motor 107 rotates forward, it can clamp the object; when it rotates in reverse, it can open the object.

[0068] Furthermore, the upper ends of the two pressure sensors 108 are connected to the corresponding connecting plates 105 and 106, respectively, and the lower ends are connected to right-angle plates 109 and 110, respectively. Right-angle plate 109 is located below connecting plate 105, and right-angle plate 110 is located below connecting plate 106. Right-angle component 111 is located below right-angle plate 109, and right-angle component 112 is located below right-angle plate 110. Two pressure sensors 113 are connected between right-angle plate 109 and right-angle component 111, and between right-angle plate 110 and right-angle component 112, respectively. Left consumable 501 and right consumable 502 are detachably installed at the bottom of right-angle component 111 and right-angle component 112, respectively.

[0069] Meanwhile, bracket 114 and bracket 215 are respectively installed on the side of the left hand base 101. Camera 116 is installed on bracket 114 and camera 217 is installed on bracket 215. Camera 116 and camera 217 are aimed at the gripper part on the left hand device 100 from different angles, which is used to observe the hand in detail from different angles, so as to ensure the accuracy during operation.

[0070] Furthermore, such as Figure 5 , 6As shown in Figure 7, the upper end of the right-hand base 201 has an interface that can connect to the right arm of the humanoid robot. The lower end has two right-angle connecting plates, one 202 and two 203, installed side-by-side. A linear guide rail 204 is mounted on the first right-angle connecting plate 202, and a linear guide rail 205 is mounted on the second right-angle connecting plate 203. A slider 206 slides on the linear guide rail 204, and a connector 1 is mounted on the slider 206. A slider 4 slides on the linear guide rail 205, and a connector 2 is mounted on the slider 4. Connector 1 is a rack and pinion connector 207, and connector 2 is a rack and pinion connector 208. Rack and pinion connector 207 and rack and pinion connector 2... The rack portions on 208 are arranged opposite each other and are meshed with a gear 209 located between them. The gear 209 is rotatably mounted on a gear connector 210 fixed to the right-hand base 201. Specifically, the front end of the gear connector 210 is provided with a circular rotating shaft that can cooperate with the gear 209 to allow it to rotate freely. A rack connecting plate 211 with a threaded hole is installed on the side of the connector away from its rack portion or on the side of the connector away from its rack portion. The second lead screw motor 212 is fixed to the lower end of the right-hand base 201 through a bracket, and the lead screw on the second lead screw motor 212 cooperates with the threaded hole on the rack connecting plate 211.

[0071] The second lead screw motor 212 drives the first and second connecting parts to move relative to each other in the vertical direction through forward and reverse rotation, thereby realizing the clockwise and counterclockwise rubbing rotation of the guide wire 600. Specifically, after the second lead screw motor 212 rotates in the forward direction, the first rack connecting part 207 can move vertically downward under the drive of the motor. Through the action of the gear and rack, it can drive the second rack connecting part 208 to move vertically upward, which can realize the clockwise rubbing rotation of the guide wire 600. After the second lead screw motor 212 rotates in the reverse direction, it can realize the counterclockwise rubbing rotation of the guide wire 600.

[0072] Furthermore, the upper ends of the two pressure sensors 213 are connected to the corresponding rack connectors 207 and 208, respectively.

[0073] One of the pressure sensors 213 has its lower end connected to a connecting plate 214. The connecting plate 214 is located below the rack connector 207. A right-angle component 215 is located below the connecting plate 214. One of the pressure sensors 216 is connected between the connecting plate 214 and the right-angle component 215.

[0074] Another pressure sensor 3213 is connected to a right-angle connecting plate 3217 at its lower end. A linear guide rail 4218 is installed at the lower end of the right-angle connecting plate 3217. A slider 5219 slides on the linear guide rail 4218. A connecting plate 420 with a threaded hole is installed on the slider 5219. A lead screw motor 321 is fixed to the lower end of the right-angle connecting plate 3217 through a bracket. The lead screw on the lead screw motor 212 engages with the threaded hole on the connecting plate 420. The lead screw motor 212 rotates in both directions, driving the connecting plate 420 to move horizontally, causing the connecting plate 420 to move closer to or away from the connecting plate 324, thus completing the clamping action. A right-angle component 4222 is located below the connecting plate 420. A corresponding pressure sensor 4216 is connected between the connecting plate 420 and the right-angle component 4222.

[0075] The bottom of right-angle component 3 215 and right-angle component 4 222 are respectively equipped with left consumable 501 and right consumable 502.

[0076] Meanwhile, bracket 3 223 and bracket 4 224 are respectively installed on the side of the right-hand base 201. Camera 3 225 is installed on bracket 3 223 and camera 4 226 is installed on bracket 4 224. Camera 3 225 and camera 4 226 are aimed at the gripper part on the right-hand device 200 from different angles, which is used to observe the hand in detail from different angles, so as to ensure the accuracy during operation.

[0077] This invention uses cameras positioned in two different directions on the left-hand device 100 and the right-hand device 200 to observe the positional relationship between the left and right hand grippers and the surgical instruments at close range, which helps the robot to more accurately identify and grasp the surgical instruments.

[0078] Meanwhile, when holding medical instruments during surgery, this invention uses a pressure sensor 108 on the left hand device 100 to sense changes in the vertical force on the left hand, and a pressure sensor 113 on the left hand device 100 to sense changes in the horizontal clamping force of the two grippers on the left hand. Similarly, a pressure sensor 213 on the right hand device 200 senses changes in the force applied when pushing the guidewire / catheter, and a pressure sensor 216 on the right hand device 200 senses changes in the horizontal clamping force of the two grippers on the right hand. This completes the horizontal clamping force detection function and the vertical touch detection function, allowing the robot to sense the clamping force and the real-time pushing resistance during guidewire / catheter pushing, thus enabling the completion of key operational actions in interventional surgery.

[0079] like Figure 9As shown in the diagram illustrating the hand-held device for pushing the guidewire, the left-hand device 100, through control, clamps the end of the catheter, thus securing it. The right-hand device 200 clamps and releases the guidewire. With the coordinated movement of the arm, after clamping the guidewire, the arm movement pushes and retracts the guidewire, then releases it and returns it to its original position, repeating the action to achieve continuous movement control of the guidewire. The up-and-down movement of the two grippers within the right-hand device twists the guidewire, thus rotating it.

[0080] In a further specific embodiment, a push rod 301 that can cooperate with the tail end of the syringe 700 is also installed on the side of the right-hand base 201. The push rod 301 is used to control the syringe's movement. A bracket 302 is also installed on the right-hand base 201, and a camera 303 is installed on the bracket 302. The camera 303 is aimed at the push rod part on the right-hand device 200 to observe the push rod part and ensure the accuracy of the position during operation.

[0081] like Figure 10 As shown in the diagram, the left hand device 100, through control, can clamp the interventional surgical syringe 700, thus fixing it in place. The right hand device 200, in coordination with the arm, can push and retract the syringe plunger, thereby injecting the contrast agent.

[0082] In a further specific embodiment, a boss is provided on the side of the right-hand base 201 away from the push rod 301. A servo motor 401 is mounted on the boss. The motor shaft of the servo motor 401 is fixedly connected to the proximal end of a connecting rod 402. In this way, the connecting rod 402 can be rotated under the action of the servo motor 401. Thus, when performing the guide wire and guide tube operation, the servo motor 401 controls the connecting rod 402 to be raised, and when performing the pressure pump 800 operation, the servo motor 401 controls the connecting rod 402 to be lowered.

[0083] A pressure pump clamping mechanism is installed on the rod body of the connecting rod 402. The servo motor 401 rotates forward and backward, driving the pressure pump clamping mechanism to lift or lower.

[0084] The pressure pump clamping mechanism includes a linear guide rail 403 fixed to the connecting rod body, a slider 404 sliding on the linear guide rail 403, an L-shaped bracket 405 with a threaded hole mounted on the slider 404, and a lead screw motor 406 fixed to the connecting rod 402 through the bracket. The lead screw on the lead screw motor 406 engages with the threaded hole on the L-shaped bracket 405. The lead screw motor 406 rotates in both directions, driving the L-shaped bracket 405 to reciprocate along the axial direction of the connecting rod 402.

[0085] A bracket 407 is installed on the L-shaped bracket 405. The bracket 407 is a horizontal plate fixed in the middle of the L-shaped bracket 405. A camera 408 is installed on the bracket 407 and is aimed at the front end of the L-shaped bracket 405.

[0086] The L-shaped bracket 405 in this invention can cooperate with the pressing rod at the front end of the pressure pump 800. Through the action of the lead screw motor 406, the L-shaped bracket 405 can be controlled to press and release the pressing rod at the front end of the pressure pump 800.

[0087] like Figure 11 As shown in the diagram, the left-hand device 100, in controlling the pressure pump 800, clamps the pressure pump 800, thus securing it. The right-hand device 200, in conjunction with the arm's movements, clamps the pressure pump handle. The rotation of the robotic arm causes the handle to rotate, enabling the pressurization and depressurization of the pressure pump 800. The L-shaped bracket 405 controls the pressing and releasing of the pressure pump's push rod, thereby achieving rapid release of the pressure pump 800.

[0088] In a further specific embodiment, such as Figure 8 As shown, the left consumable 501 and the right consumable 502 have similar structures and are symmetrical. Both have a snap-fit ​​structure at their upper ends. During installation, the left consumable 501 and the right consumable 502 are respectively installed on the right-angled parts 111 and 112 in the left-hand device 100 and the right-angled parts 215 and 222 in the right-hand device 200 by plugging and unplugging. At the same time, the disposable consumable 500 can be quickly released from the robot by squeezing it.

[0089] The gripper part is located below the left consumable 501 and the right consumable 502. It is made of hard silicone material and can grip objects to prevent slipping.

[0090] Meanwhile, the disposable consumables 500 are sterilized with ethylene oxide to become sterile components. One set is used for each surgery and is not reused, which can ensure a sterile environment for interventional surgery.

[0091] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section.

[0092] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A hand device for a humanoid interventional robot, characterized in that, include: The left-hand device is used to clamp and fix surgical instruments. It includes a left-hand base for connecting to the front end of the left arm of the humanoid robot. The left-hand base is provided with a connecting plate 1 and a connecting plate 2 that can move towards or away from each other. Each of the connecting plate 1 and the connecting plate 2 is equipped with a pressure sensor 1 for sensing the change of force on the gripper on the left-hand device in the vertical direction and a pressure sensor 2 for sensing the change of clamping force of the two grippers on the left-hand device in the horizontal direction. A right-hand device for pushing and rotating surgical instruments includes a right-hand base for connecting to the front end of the right arm of a humanoid robot. The right-hand base has two connectors, one and two, capable of relative vertical movement. Each connector is equipped with a pressure sensor, the third, to sense changes in force during the pushing of a guidewire. Each pressure sensor is further equipped with a connecting plate, the third and fourth, which can move closer or further apart. Each connecting plate is also equipped with a pressure sensor, the fourth, to sense changes in the clamping force of the two grippers on the right-hand device in the horizontal direction. A push rod that engages with the tail end of a syringe is mounted on the side of the right-hand base. A boss is located on the side of the right-hand base away from the push rod. A servo motor is mounted on the boss, and its shaft is fixed to the proximal end of a connecting rod. A pressure pump clamping mechanism is mounted on the connecting rod. The servo motor rotates in both directions, driving the pressure pump clamping mechanism to lift or lower. The disposable consumables include two sets, each set of which includes a left consumable and a right consumable. The left consumable and the right consumable are respectively installed on two corresponding connecting plates in the left and right hand devices to serve as two grippers in the left and right hand devices to perform clamping and releasing actions.

2. The hand device for a humanoid interventional robot according to claim 1, characterized in that, The upper end of the left-hand base is provided with an interface that can connect to the left arm of the humanoid robot, and the lower end is equipped with a linear guide rail. A slider 1 and a slider 2 are installed on the linear guide rail. A connecting plate 1 is fixed to the slider 1, and a connecting plate 2 is fixed to the slider 2. Both the connecting plate 1 and the connecting plate 2 are provided with a boss with a circular hole, and the two circular holes are equipped with nuts with opposite thread directions. A lead screw motor 1 is fixed to the lower end of the left-hand base through a bracket, and the lead screw on the lead screw motor 1 engages with the nuts on the two circular holes respectively. The lead screw motor 1 rotates in both directions, driving the connecting plate 1 and the connecting plate 2 to move towards or away from each other.

3. The hand device for a humanoid interventional robot according to claim 2, characterized in that, The upper ends of the two pressure sensors are connected to the corresponding connecting plate 1 and connecting plate 2, respectively, and the lower ends are connected to right-angle plate 1 and right-angle plate 2, respectively. Right-angle plate 1 is located below connecting plate 1, and right-angle plate 2 is located below connecting plate 2. Right-angle component 1 is located below right-angle plate 1, and right-angle component 2 is located below right-angle plate 2. The two pressure sensors are connected between right-angle plate 1 and right-angle component 1, and between right-angle plate 2 and right-angle component 2, respectively. The left consumable and the right consumable are detachably installed at the bottom of right-angle component 1 and right-angle component 2, respectively.

4. A hand device for a humanoid interventional robot according to any one of claims 1-3, characterized in that, The left-hand base is equipped with a bracket 1 and a bracket 2. A camera 1 is mounted on the bracket 1 and a camera 2 is mounted on the bracket 2. The camera 1 and the camera 2 are aimed at the gripper part of the left-hand device from different angles.

5. The hand device for a humanoid interventional robot according to claim 1, characterized in that, The upper end of the right-hand base is provided with an interface for connecting to the right arm of the humanoid robot. The lower end has two right-angle connecting plates, one and two side-by-side. A linear guide rail is mounted on the first right-angle connecting plate, and a linear guide rail is mounted on the second right-angle connecting plate. A slider three slides on the linear guide rail, and the first connector is mounted on the slider three. A slider four slides on the linear guide rail, and the second connector is mounted on the slider four. The first connector is a rack and pinion connector, and the rack portions of the rack and pinion connectors are opposite each other and both are aligned with the position... A gear meshes between the two, the gear being rotatably mounted on a gear connector fixed to the right-hand base; a rack connecting plate with a threaded hole is mounted on the side of the first connector away from its rack portion or the side of the second connector away from its rack portion; a lead screw motor is fixed to the lower end of the right-hand base via a bracket, and the lead screw on the second lead screw motor engages with the threaded hole on the rack connecting plate. The second lead screw motor rotates in both directions, driving the first connector and the second connector to move relative to each other in the vertical direction, thereby realizing clockwise and counterclockwise rubbing rotation of the guide wire.

6. The hand device for a humanoid interventional robot according to claim 5, characterized in that, The upper ends of the two pressure sensors three are respectively connected to the corresponding rack connector one and rack connector two; One of the pressure sensors three has its lower end connected to the connecting plate three, which is located below the rack connector one. A right-angled member three is located below the connecting plate three, and one of the pressure sensors four is connected between the connecting plate three and the right-angled member three. Another pressure sensor 3 is connected to a right-angle connecting plate 3 at its lower end. A linear guide rail 4 is mounted on the lower end of the right-angle connecting plate 3. A slider 5 slides on the linear guide rail 4. The connecting plate 4 with a threaded hole is mounted on the slider 5. A lead screw motor 3 is fixed to the lower end of the right-angle connecting plate 3 via a bracket. The lead screw of the lead screw motor 2 engages with the threaded hole on the connecting plate 4. The lead screw motor 2 rotates in both directions, driving the connecting plate 4 to move horizontally, causing the connecting plate 4 to move closer to or away from the connecting plate 3. A right-angle component 4 is provided below the connecting plate 4. A corresponding other pressure sensor 4 is connected between the connecting plate 4 and the right-angle component 4. The bottoms of right-angle component three and right-angle component four are respectively detachably fitted with the left-side consumable and the right-side consumable.

7. A hand device for a humanoid interventional robot according to any one of claims 1, 5, or 6, characterized in that, The right-hand base is equipped with bracket three and bracket four on its side. Camera three is mounted on bracket three and camera four is mounted on bracket four. Camera three and camera four are aimed at the gripper part of the right-hand device from different angles.

8. A hand device for a humanoid interventional robot according to any one of claims 1, 5, or 6, characterized in that, A bracket five is also installed on the right-hand base, and a camera five is installed on the bracket five, which is aimed at the push rod part of the right-hand device.

9. The hand device for a humanoid interventional robot according to claim 8, characterized in that, The pressure pump clamping mechanism includes a linear guide rail five fixed to the connecting rod body, a slider six sliding on the linear guide rail five, an L-shaped bracket with a threaded hole mounted on the slider six, a lead screw motor four fixed to the connecting rod through the bracket, and the lead screw on the lead screw motor four engaging with the threaded hole on the L-shaped bracket, the lead screw motor four rotating in both directions, driving the L-shaped bracket to reciprocate along the connecting rod axis; a bracket six is ​​mounted on the L-shaped bracket, and a camera six is ​​mounted on the bracket six, the camera six being aimed at the front end of the L-shaped bracket.

10. The hand device for a humanoid interventional robot according to claim 1, characterized in that, The upper ends of both the left and right consumables are provided with snap-fit ​​structures that engage with the corresponding left-hand and right-hand devices, respectively, and are installed on the corresponding positions of the left-hand and right-hand devices by insertion and removal; the lower part of the left and right consumables is a gripper part, which is made of rigid silicone material; at the same time, the disposable consumables are sterilized by ethylene oxide to become sterile components.

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