Vascular intervention surgical instrument feeding compensation device

Abstract

A vascular intervention surgical instrument feeding compensation device belongs to the technical field of medical instruments. Comprising a driven mechanism, a sensor, an executing mechanism and a closed-loop control algorithm. The driven mechanism is composed of a driving wheel and a driven wheel with an encoder, the driven wheel is provided with a mechanical locking device, and the interventional instrument can be stably locked between the driving wheel and the driven wheel. The sensor records the feeding amount of the interventional instrument, the closed-loop control algorithm collects encoder pulses through the microcomputer system, converts the encoder pulses into the actual feeding amount and inputs the actual feeding amount into the PID controller, the control execution mechanism compensates the expected feeding amount, and high-precision feeding amount control is achieved. The operation precision and safety are improved, the operation efficiency is optimized, the patient experience is improved, the medical cost is reduced, integration and operation are easy, adaptability is high, technical innovation is promoted, and potential commercial value is achieved. The device is suitable for various vascular interventional operations, and the performance and the operation success rate of the surgical robot can be remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical instruments, and in particular relates to a feeding compensation device for a vascular interventional surgical instrument. Background Art

[0002] Vascular interventional surgery is a minimally invasive surgery that is performed inside blood vessels through interventional instruments such as catheters. In order to improve the accuracy and safety of the surgery, vascular interventional surgery robots have emerged. In the process of delivering the guidewire catheter in the vascular interventional surgery robot, due to factors such as resistance, slippage, and step loss of the delivery motor, the actual feed amount of the interventional instrument will deviate, thereby affecting the control accuracy of the instrument. Therefore, it is necessary to design a device that can accurately compensate for the feed amount of the interventional instrument. Summary of the invention

[0003] The purpose of the present invention is to provide a vascular interventional surgical instrument feed compensation device in order to improve the accuracy and safety of the operation, which collects and compensates for the deviation in the actual feed amount of the interventional instrument, thereby improving the feeding accuracy of the instrument by the vascular interventional surgical robot. The master and slave wheel clamps are used to lock the instrument, and the angle of the driven wheel is collected to achieve the measurement of the guide wire feed amount without adding an additional mechanical structure, which is convenient for deployment and application.

[0004] To achieve the above purpose, the present invention uses the following technical solutions:

[0005] The present invention provides a vascular interventional surgical instrument feed compensation device, which includes a driven mechanism, an encoder, an actuator and a closed-loop control algorithm; the driven mechanism is composed of a driving wheel and a driven wheel with an encoder, and the driven wheel is provided with a mechanical locking device, which is used to stably lock the interventional instrument between the driving wheel and the driven wheel and ensure the synchronization of the interventional instrument and the driven wheel; the encoder is installed on the driven mechanism, and the encoder is used to record the feed amount of the interventional instrument; the signal of the encoder system is processed by a microcomputer system; the closed-loop control algorithm is used to collect encoder pulses through the microcomputer system, convert them into actual feed amount, and input them into a PID controller, so as to adjust the actuator to compensate for the expected feed amount and realize high-precision feed amount control.

[0006] The locking follower mechanism is driven by the interventional device to ensure the synchronization between the interventional device and the follower wheel; the encoder sensor is installed on the follower mechanism to record the feed amount of the interventional device; the encoder signal is processed by the microcomputer system; the closed-loop control algorithm collects sensor data through the microcomputer system and controls the actuator to perform accurate feed amount compensation;

[0007] The locking driven mechanism is composed of a driving wheel and a driven wheel with an encoder; the driving wheel is located at the power input end of the device, driven by a motor to rotate, and provides power for feeding the surgical instrument; a mechanical locking device is provided on the driven wheel, which is used to lock the interventional instrument between the driving wheel and the driven wheel to ensure the synchronization of the interventional instrument and the driven wheel; the wheel is coaxially arranged with the encoder, and the driven wheel with the encoder adopts any of the following schemes: 1. The grating disk is installed at the root of the driven wheel, and the rotation angle is read by a photoelectric sensor to obtain the feeding amount of the interventional instrument; 2. A small magnet is installed on the top of the driven wheel, and the rotation angle is read by a magnetoelectric sensor to realize the synchronization of the interventional instrument Measurement of feed amount; the mechanical locking device includes: an L-shaped shaft, a threaded knob, and a special size groove between the two wheels; the driven wheel is installed on the L-shaped shaft, parallel to and adjacent to the driving wheel, and is used to rotate synchronously with the driving wheel and clamp the interventional instrument; the L-shaped shaft supports and allows the driven wheel to rotate in a direction perpendicular to the driving wheel; the threaded knob is installed at one end of the L-shaped shaft, and the degree of compression between the driven wheel and the driving wheel is adjusted by rotating the threaded knob to achieve a firm fixation of the interventional instrument; the special size groove between the two wheels is used to stably clamp the interventional instrument therein, ensuring that the interventional instrument drives the driven wheel to rotate through the interventional instrument when the two wheels are compressed;

[0008] The closed-loop control algorithm includes a microcomputer system and a PID controller; the microcomputer system is used to collect pulse signals from the encoder; the PID controller is used to adjust the movement of the actuator according to the difference between the actual feed amount collected by the microcomputer system and the expected feed amount, so as to achieve high-precision feed amount control. The encoder pulses are collected by the microcomputer system and converted into the actual feed amount of the interventional device. The actual feed amount is input into the PID controller, the actuator is connected to the driving wheel, and the actuator is regulated to compensate for the expected feed amount, so as to achieve high-precision feed amount control of the interventional device.

[0009] The present invention provides an instrument feed compensation method for a vascular interventional surgical robot. The instrument feed compensation device is used to arrange a driven wheel with a locking mechanism and an encoder system. The movement of the interventional instrument drives the movement of the driven mechanism. The encoder system installed on the driven mechanism measures the feed amount of the interventional instrument. The recorded feed amount and the executed feed amount are calculated, and the feed amount difference of the actuator movement compensation is controlled by a closed-loop control algorithm.

[0010] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention improves the delivery accuracy of the vascular interventional surgical robot by integrating a locking and encoding electromechanical structure in the driven wheel and combining it with a closed-loop control algorithm. By accurately measuring and compensating the feed amount of the interventional instrument, the present invention can significantly improve the operating accuracy of the vascular interventional surgical robot and ensure the accuracy of the instrument delivery during the operation. The present invention measures the guide wire feed amount by collecting the angle of the driven wheel without adding an additional mechanical structure, which is convenient for deployment and application. Through the automated feed compensation mechanism, the doctor's manual adjustment of the instrument feed amount deviation during the operation is reduced, making the operation process smoother and improving the surgical efficiency. The instrument feed compensation device of the present invention is reasonably designed, easy to integrate with the existing vascular interventional surgical robot system, and simple to operate, which is convenient for doctors and technicians to use. The compensation device is suitable for interventional instruments and surgical scenarios of various specifications, and has good versatility and adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 Schematic diagram of an instrument feed compensation device using a grating solution.

[0012] Figure 2 Schematic diagram of an instrument feed compensation device using a magnetic angle sensor solution.

[0013] Figure 3 Schematic diagram of the mechanical locking device, where (a) the guide wire is locked; (b) the guide wire is released.

[0014] Figure 4 This is a logical diagram of the closed-loop control algorithm. DETAILED DESCRIPTION

[0015] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the following embodiments will further illustrate the present invention in conjunction with the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0016] The present invention arranges a driven wheel with a locking mechanism and an encoder system. The movement of the interventional instrument drives the movement of the driven mechanism. The encoder system installed on the driven mechanism intervenes in the feed amount of the instrument, calculates the recorded feed amount and the executed feed amount, and controls the actuator movement to compensate for the difference in feed amount by a closed-loop control algorithm. The master and slave wheel clamps are used to lock the instrument, the grating or electromagnetic encoder is used to record the feed amount of the instrument, and the algorithm is used to compensate the feed amount.

[0017] Example 1

[0018] In this embodiment, the driven wheel adopts a grating disc encoder. The grating disc is installed at the root of the driven wheel, and the rotation angle is read by a photoelectric sensor to obtain the feed amount of the interventional instrument. The mechanical locking device includes an L-shaped shaft, a threaded knob and a groove of a special size. By rotating the threaded knob, the driven wheel and the driving wheel are pressed together to achieve the fixation of the interventional instrument.

[0019] Figure 1 The schematic diagram of the instrument feed compensation device using the grating scheme is shown in Figure 1. The driving wheel 2 with a guide groove is arranged on the output shaft of the driving motor 1 to ensure that the driving wheel is concentric with the motor shaft. The driven wheel 5 is arranged on an adjustable bracket 9 to ensure that the driven wheel can rotate freely and the bracket can adjust the position. The driving wheel 2 and the driven wheel 5 are locked by adjusting the locking state through the knob 8, and the locking knob is embedded with a spring. Figure 1 The interventional guidewire 3 passes through the guide grooves of the active wheel 2 and the driven wheel 5, and one end of the interventional guidewire 3 is inserted into the interventional catheter 4; the rotation of the active wheel 2 drives the interventional guidewire 3 to feed into the interventional catheter 4, and at the same time, the movement of the interventional guidewire 3 drives the driven wheel 5 to rotate. The grating disk 6 is fixed at the bottom of the driven wheel 5, and ensures that the grating disk 6 rotates synchronously with the driven wheel 5, and the rotation angle is read by the photoelectric sensor to obtain the feed amount of the interventional instrument; the photoelectric sensor 7 is fixed on the bracket 9, aligned with the grating disk 6, and reads the change of the grating. When the feed amount of the interventional guidewire 3 deviates due to special reasons, the active wheel 2 does not contact the driven wheel 5, and the driven wheel 5 does not rotate, and its rotation angle is different from that of the active wheel 2.

[0020] The photoelectric sensor 7 is connected to the microcomputer system, which calculates the rotation angle of the driven wheel by reading the grating change and inputs the data into the closed-loop control algorithm. The microcomputer system calculates the deviation of the feed amount through the closed-loop control algorithm and controls the actuator to compensate for the expected feed amount to ensure the accuracy of the feed amount.

[0021] In this embodiment, the logic diagram of the closed-loop control algorithm is as follows: Figure 4 shown.

[0022] Example 2

[0023] In this embodiment, the driven wheel adopts a magnetoelectric encoder. A small magnet is installed on the top of the driven wheel, and the rotation angle is read by the magnetoelectric sensor to measure the feeding amount of the interventional instrument. The structure of the mechanical locking device is the same as that of the first embodiment.

[0024] Figure 2The schematic diagram of the instrument feed compensation device using the magnetic angle sensor scheme is shown in FIG. The driving wheel 2 with the guide groove is arranged on the output shaft of the driving motor 1 to ensure that the driving wheel is concentric with the motor shaft. The driven wheel 5 is arranged on the adjustable bracket 9 to ensure that the driven wheel can rotate freely and the bracket can adjust the position. The driving wheel 2 and the driven wheel 5 adjust the locking state through the knob 8 to achieve the locking of the interventional guide wire 3. The interventional guide wire 3 passes through the guide grooves of the driving wheel 2 and the driven wheel 5, and one end of the interventional guide wire 3 is inserted into the interventional catheter 4. The rotation of the driving wheel 2 drives the interventional guide wire 3 to feed into the interventional catheter 4, and the movement of the interventional guide wire 3 drives the driven wheel 5 to rotate. The small cylindrical magnet 10 is fixed at the bottom of the driven wheel 5 to ensure that the small cylindrical magnet 10 rotates synchronously with the driven wheel 5. The magnetic angle sensor 7 is fixed on the bracket 9, aligned with the small cylindrical magnet 10, and the rotation angle of the driven wheel is calculated by reading the magnetic field change. The magnetic angle sensor 11 is connected to the microcomputer system. The magnetic angle sensor 11 monitors the rotation angle of the driven wheel 5 in real time and transmits the data to the microcomputer system. The closed-loop control algorithm collects the pulse signal of the encoder through the microcomputer system, and adjusts the movement of the actuator through the PID controller to achieve high-precision feed control. The microcomputer system calculates the rotation angle of the driven wheel by reading the change in the magnetic field, and inputs the data into the closed-loop control algorithm. The microcomputer system calculates the deviation of the feed amount through the closed-loop control algorithm, and controls the actuator to compensate for the expected feed amount to ensure the accuracy of the feed amount. The logic diagram of the closed-loop control algorithm is as follows Figure 4 shown.

[0025] How to lock the interventional guidewire with the knob Figure 3 shown. Figure 3 The mark 12 in the middle indicates the locking state of the guide wire after the knob is screwed in. Figure 3 Mark 13 in the middle indicates the relaxed state of the guide wire when the knob is turned out.

[0026] When the feed amount of the interventional guide wire deviates due to special reasons, the driving wheel does not contact the driven wheel, the driven wheel does not rotate, and its rotation angle is different from that of the driving wheel. The difference in rotation angle between the master and slave wheels is the deviation of the interventional guide wire. By collecting this deviation in real time and using the PID algorithm to calculate the required compensation speed, the deviation of the guide wire feed amount can be compensated. The PID algorithm is the most widely used closed-loop control method in industry, which can effectively compensate when there is a difference between the control quantity and the controlled quantity.

[0027] Experiments have shown that the present invention can improve surgical accuracy and safety, optimize surgical efficiency, enhance patient experience, reduce medical costs, is easy to integrate and operate, has strong adaptability, promotes technological innovation, and has potential commercial value. The device is suitable for various vascular interventional surgeries and can significantly improve the performance of surgical robots and the success rate of surgeries.

[0028] Matters not covered in the present invention are known technologies. The above embodiments are only for illustrating the technical concept and features of the present invention, and their purpose is to enable people familiar with the technology to understand the content of the present invention and implement it accordingly, and they cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit of the present invention should be included in the protection scope of the present invention.

Claims

1. A vascular interventional surgical instrument feeding compensation device, characterized in that: It includes a driven mechanism, an encoder, an actuator and a closed-loop control algorithm; the driven mechanism is composed of a driving wheel and a driven wheel with an encoder, and the driven wheel is provided with a mechanical locking device, which is used to stably lock the interventional instrument between the driving wheel and the driven wheel and ensure the synchronization of the interventional instrument and the driven wheel; the encoder is installed on the driven mechanism, and the encoder is used to record the feed amount of the interventional instrument; the signal of the encoder system is processed by a microcomputer system; the closed-loop control algorithm is used to collect encoder pulses through the microcomputer system, convert them into actual feed amount, and input them into a PID controller, so as to adjust the actuator to compensate for the expected feed amount and realize high-precision feed amount control.

2. The vascular interventional surgical instrument feed compensation device according to claim 1, characterized in that: The driven wheel is coaxially arranged with the encoder, and the encoder adopts one of the following two schemes: a grating disk is installed at the bottom of the driven wheel, and a photoelectric sensor is used to read the rotation angle; or a small magnet is installed at the bottom of the driven wheel, and a magnetoelectric sensor is used to read the rotation angle.

3. The vascular interventional surgical instrument feed compensation device according to claim 1, characterized in that: The mechanical locking device includes an L-shaped rotating shaft, a threaded knob and a groove of special size; the driven wheel is installed on the L-shaped rotating shaft, and the driven wheel and the driving wheel are pressed together by the threaded knob to fix the interventional instrument; the groove of special size is arranged between the driving wheel and the driven wheel, and is used to clamp the interventional instrument into the groove of special size; the driving wheel and the driven wheel are not in direct contact in the pressed state, and the driven wheel is driven to rotate by the interventional instrument.

4. A method for compensating the feeding of a vascular interventional surgical instrument, characterized in that The specific steps are as follows: arrange a driven wheel with a locking mechanism and an encoder system, the movement of the interventional instrument drives the movement of the driven mechanism, the encoder system installed on the driven mechanism measures the feed amount of the interventional instrument, calculates the recorded feed amount and the executed feed amount, and the closed-loop control algorithm controls the actuator movement to compensate for the feed amount difference.

5. The vascular interventional surgical instrument feeding compensation method according to claim 4, characterized in that: The encoder pulses are collected by the microcomputer system and converted into the actual feed amount of the interventional device. The actual feed amount is input into the PID controller to adjust the actuator to compensate for the expected feed amount. The PID controller is used to adjust the movement of the actuator according to the difference between the actual feed amount collected by the microcomputer system and the expected feed amount, so as to achieve high-precision feed amount control.

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