Interventional surgical robot main end

Abstract

The invention belongs to the technical field of interventional operation robots, and discloses an interventional operation robot main end which comprises a shell. The force feedback assembly is arranged in the shell; the force detection assembly comprises a force sensor and a force transmission mechanism; the force transmission mechanism comprises a fixed base, an elastic piece and a floating block arranged on the fixed base in a floating mode. The elastic piece is used for enabling the fixed base, the force sensor and the floating block to abut against one another in sequence. One end of the force sensor is connected with the floating block, and the force sensor is used for collecting the force generated by the movement of the floating block; the fixed base is connected with the force feedback assembly; the operation assembly is connected with the floating block; and the main end controller is electrically connected with the force sensor and the force feedback assembly. Due to the arrangement of the force transmission mechanism, fine regulation and control over force feedback are achieved, a doctor can feel the resistance condition more accurately in the surgical operation, and the operation accuracy is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of interventional surgery robots, and in particular to an interventional surgery robot master end. Background Art

[0002] The main end of the interventional surgery robot in the prior art includes a housing, and a force feedback component, a force detection component, an operating component, and a main end controller installed on the housing. The main end controller controls the force feedback component to output a reverse thrust to the operating component based on the delivery resistance, and the force sensor collects the operating force of the operating component and transmits it to the main end controller; the main end controller corrects the reverse thrust output by the force feedback component based on the operating force and the delivery resistance.

[0003] In the prior art, the force detection component is rigidly connected to the operating component. When the operating component is subjected to a large impact force suddenly applied from the outside, the force detection component will instantly receive almost all of the impact force due to the lack of buffering in the rigid connection, which may cause a momentary spike mutation in the measured value, and fail to accurately reflect the smooth force change process in actual operation, resulting in distortion of the force measurement data; in actual operation, the distribution of force on the operating component is often not uniform, and the rigid connection cannot effectively distinguish and accurately measure the unevenly distributed force, and therefore cannot complete accurate force feedback closed-loop control. Summary of the invention

[0004] The main purpose of the present invention is to provide an interventional surgical robot main end, aiming to solve the technical problems of the existing interventional surgical robot main end, in which the force detection component and the operating component are rigidly connected, force detection distortion occurs, and accurate force feedback closed-loop control cannot be completed.

[0005] In order to achieve the above-mentioned invention object, the present invention proposes an interventional surgery robot master end, comprising: case; A force feedback component is arranged in the housing; A force detection component, comprising a force sensor and a force transmission mechanism; the force transmission mechanism comprises a fixed base, an elastic member and a floating block floatingly arranged on the fixed base, the elastic member is used to make the fixed base, the force sensor and the floating block abut in sequence; one end of the force sensor is connected to the floating block for collecting the force generated by the movement of the floating block; the fixed base is connected to the force feedback component; An operating component connected to the floating block; A master-end controller is electrically connected to the force sensor and the force feedback component respectively; In the working state, the master-end controller controls the force feedback component to output a reverse thrust to the operating component based on the delivery resistance, and the force sensor collects the operating force of the operating component on the floating block and transmits it to the master-end controller; the master-end controller corrects the reverse thrust output by the force feedback component based on the operating force and the delivery resistance.

[0006] Further, the force detection assembly also includes two sets of cross roller guides; The two groups of cross roller guide rails are symmetrically arranged between the fixed base and the floating block along the extension direction of the operating assembly; The force sensor is arranged between the two groups of cross roller guide rails, one end of the force sensor is connected to the fixed base, and the other end is connected to the floating block.

[0007] Furthermore, the length of the cross roller guide rail is a first length; the length of the floating block along the extension direction of the operating assembly is a second length, and the first length is at least one half of the second length.

[0008] Further, the operating assembly includes an operating lever and an encoder; The encoder is fixed relative to the fixed base and sleeved on the operating rod.

[0009] Further, the operating assembly includes an operating rod, a first bearing mechanism and a second bearing mechanism; The first bearing mechanism and the second bearing mechanism are arranged on the floating block at intervals, and the operating rod is passed through the first bearing mechanism and the second bearing mechanism.

[0010] Furthermore, the operating assembly further includes a conductive slip ring; The conductive slip ring comprises a stator part and a rotor part, wherein the stator part is mounted on the first bearing mechanism or the floating block, and the rotor part is sleeved on the stator part; The operating rod is connected to the stator portion.

[0011] Furthermore, the force feedback assembly includes a guide rail, a support plate, a motor, a transmission gear and a rack; The guide rail is mounted on a fixed bottom plate in the housing; One end of the support plate is slidably disposed on the guide rail, and the other end is mounted on the fixed base of the force detection assembly, wherein the width of the guide rail is at least one eighth of the height of the support plate; The rack is mounted on the support plate; The motor is installed in the housing; The transmission gear is connected to the output shaft of the motor and meshes with the rack.

[0012] Furthermore, the force feedback assembly also includes an electromagnetic clutch; The transmission gear is connected to the output shaft of the motor through the electromagnetic clutch.

[0013] Furthermore, the force feedback assembly also includes a magnetic scale reader and a magnetic scale; The magnetic scale reader is arranged on the support plate; The magnetic scale is arranged in the housing corresponding to the magnetic scale reader.

[0014] Furthermore, the housing comprises an upper shell and a lower shell, and the upper shell covers the lower shell; The upper shell is provided with a recessed portion recessed toward the lower shell, and one end of the operating assembly passes through the side wall of the recessed portion and extends to the recessed portion; The operating assembly includes an operating rod, and the operating rod includes a conductive rod and a handle; the conductive rod is detachably connected to the handle, and the handle is located in the recessed portion; When the operating rod moves to a side away from the handle and reaches an extreme position, the conductive rod is located in the housing; When the operating rod moves toward one side of the handle and reaches a limit position, the detachable portion between the conductive rod and the handle is located in the recessed portion.

[0015] Beneficial effects: The main end of the interventional surgical robot of the present invention can collect the operating force more accurately by using the setting of the elastic member and the floating block. When the operating component acts on the floating block, the force sensor can accurately obtain the force generated by it and transmit it to the main end controller. The main end controller corrects the reverse thrust output by the force feedback component based on this operating force and the delivered resistance, thereby realizing fine regulation of the force feedback, which helps the doctor to feel the resistance more accurately during the surgical operation and improve the accuracy of the operation. The elastic member in the force transmission mechanism plays a buffering role in the force transmission process. It can not only avoid the measurement distortion caused by the force sensor receiving excessive sudden force when the operating component is subjected to a sudden large impact force, but also ensure the accuracy of the force measurement data. More importantly, the force sensor is non-rigidly connected to the floating block, avoiding the poor parallelism between the floating block and the fixed base when the rigid connection is used, thereby affecting the accuracy and life of the force sensor. In addition, it can also avoid the radial force of the operating component being transmitted to the force sensor, thereby affecting the accuracy and life of the force sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is an overall structural diagram of the interventional surgery robot master end according to an embodiment of the present application; Figure 2This is a schematic diagram of the structure of the interventional surgery robot main end after removing the shell in one embodiment of the present application. Figure 1 ; Figure 3 This is a schematic diagram of the structure of the interventional surgery robot main end after removing the shell in one embodiment of the present application. Figure 2 ; Figure 4 This is a schematic diagram of a structure with a force sensor in a floating structure according to an embodiment of the present application; Figure 5 Schematic diagram of the structure of an operating lever according to an embodiment of the present application.

[0017] in: 100: housing; 101: upper housing; 102: lower housing; 1021: recessed portion; 200: fixed bottom plate; 300: force feedback assembly; 301: guide rail; 302: support plate; 303: motor; 304: transmission gear; 305: rack; 306: electromagnetic clutch; 307: magnetic scale reader; 308: magnetic scale; 400: force detection assembly; 401: fixed base; 402: floating block; 403: cross roller guide; 404: elastic member; 405: force sensor; 500: operating assembly; 501: operating rod; 502: encoder; 503: conductive slip ring; 504: first bearing mechanism; 505: second bearing mechanism; 5011: conductive rod; 5012: detachable part; 5013: handle.

[0018] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0019] 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.

[0020] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0021] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, a direct connection, or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0022] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0023] Reference Figures 1 to 5 , an embodiment of the present invention provides an interventional surgery robot master end, comprising: a housing 100; A force feedback component 300 is disposed in the housing 100; The force detection assembly 400 includes a force sensor 405 and a force transmission mechanism; the force transmission mechanism includes a fixed base 401, an elastic member 404 and a floating block 402 floatingly arranged on the fixed base, the elastic member 404 is used to make the fixed base 401, the force sensor 405 and the floating block 402 abut in sequence, and provide a restoring force after the relative displacement between the fixed base 401 and the floating block 402; one end of the force sensor 405 is connected to the floating block, and is used to collect the force generated by the movement of the floating block 402; the fixed base 401 is connected to the force feedback assembly 300; An operating assembly 500 connected to the floating block 402; A master-end controller (not shown in the figure) is electrically connected to the force sensor 405 and the force feedback component 300 respectively; In the working state, the master-end controller controls the force feedback component 300 to output a reverse thrust to the operating component 500 based on the delivery resistance, and the force sensor 405 collects the operating force of the operating component 500 acting on the floating block 402 and transmits it to the master-end controller; the master-end controller corrects the reverse thrust output by the force feedback component 300 based on the operating force and the delivery resistance.

[0024] The housing 100 is used to accommodate and protect the various components inside the master end operator, provide external structural support for the entire master end operator, and prevent the internal components from being physically damaged and contaminated by the outside world. A fixed base plate 200 is generally provided inside the housing 100 as a basic platform for installing other components, which plays a role in fixing and supporting other components and ensuring the relative position stability of each component during operation.

[0025] The force feedback component 300 is installed on the fixed base plate 200 and can slide in a certain direction, which is related to the motion control of the operating component 500. The main end controller controls the force feedback component 300 to output reverse thrust to the operating component 500 based on the delivered resistance.

[0026] The force detection component 400 is installed on the force feedback component 300, and can float within a certain range, adapt to different forces and motion conditions during operation, and play a role in buffering and adaptive adjustment of the movement of the operating component 500. The fixed base 401 is the basic component of the force detection component 400, which is used to install other components and is fixed on the force feedback component 300 to provide a stable installation foundation for the entire force detection component 400. The floating block 402 is associated with the movement of the operating component 500, floats on the fixed base 401, and plays a buffering role in the force transmission process through the elastic member 404, so as to adapt to different forces on the operating component 500.

[0027] The operating component 500 is a component for controlling the slave robot.

[0028] The host controller is a computer device that can run software programs, process data, and generate corresponding commands.

[0029] The main end of the interventional surgical robot of this embodiment can collect the operating force more accurately by using the setting of the elastic member 404 and the floating block 402. When the operating component 500 acts on the floating block 402, the force sensor 405 can accurately obtain the force generated by it and transmit it to the main end controller. The main end controller corrects the reverse thrust output by the force feedback component 300 based on this operating force and the delivered resistance, realizes the fine regulation of force feedback, helps the doctor to feel the resistance more accurately during the surgical operation, and improves the accuracy of the operation. The elastic member 404 in the force transmission mechanism plays a buffering role in the force transmission process. Not only can it avoid the measurement distortion caused by the force sensor receiving excessive sudden force instantly when the operating component 500 is subjected to a sudden large impact force, and ensure the accuracy of the force measurement data, but more importantly, the force sensor 405 is non-rigidly connected to the floating block 402, avoiding the poor parallelism between the floating block 402 and the fixed base 401 when the rigid connection is used, which affects the accuracy and life of the force sensor 405. In addition, it can also avoid the radial force of the operating component 500 being transmitted to the force sensor 405, which affects the accuracy and life of the force sensor 405.

[0030] In one embodiment, referring to Figure 2 and Figure 4 The force detection component 400 also includes two groups of cross roller guides 403; the two groups of cross roller guides 403 are symmetrically arranged between the fixed base 401 and the floating block 402 along the extension direction of the operating component 500; the force sensor 405 is arranged between the two groups of cross roller guides 403, and one end of the force sensor 405 is connected to the fixed base 401, and the other end is connected to the floating block 402.

[0031] Each of the above-mentioned groups of cross roller guides 403 may include one or more cross roller guides 403. Each cross roller guide 403 is composed of two groups of rollers arranged crosswise at a 90-degree angle between the guide rail and the slider. It has high precision, high rigidity and high load-bearing capacity, and is used to achieve precise linear motion of the floating block 402, ensuring the stability and accuracy of the floating block 402 during movement.

[0032] In the force detection assembly 400 in this embodiment, the fixed base 401 is installed on the force feedback assembly 300, providing a stable installation foundation for the entire force detection assembly 400. Two sets of cross roller guides 403 are installed side by side on the fixed base 401 along the extension direction of the operating assembly 500. This structure enables the floating block 402 to achieve high-precision floating during the movement of the operating assembly 500. In this embodiment, the length of the cross roller guide 403 is a first length; the length of the floating block 402 along the extension direction of the operating assembly 500 is a second length, and the first length is at least half of the second length, which can increase the parallelism and smoothness of the floating block 402 and the fixed base 401. In a specific embodiment, the first length is equal to the second length. For example, in the operation of the interventional robot, when the operating assembly 500 is subjected to forces in different directions, the floating block 402 can flexibly adjust its position within a small range through the cross roller guide 403 to adapt to the change of force without affecting the overall stability of the operating assembly 500. This design helps to improve the adaptability of the main-end operator to complex operating situations. Whether the operating component 500 is pushed linearly or the operating component 500 is subjected to lateral force, it can ensure the smoothness and accuracy of the operation, thereby improving the reliability and effectiveness of the interventional robot in various medical operation scenarios.

[0033] The force sensor 405 is a device for detecting the magnitude and direction of force, which can monitor the force applied to the operating component 500 during operation in real time and provide force feedback information for the system. The force sensor 405 is arranged between two sets of cross roller guide rails 403, one end of which is fixed on the fixed base 401 and the other end is connected to the floating block 402. This layout realizes accurate measurement of the force applied to the operating component 500. During the operation of the interventional robot, the operating component 500 will be subjected to various forces, and the force sensor 405 can detect the magnitude and direction of these forces in real time. Because it is located between the cross roller guide rails 403, it can accurately sense the force changes of the floating block 402 caused by the movement of the operating component 500 and external factors. Compared with other possible installation positions of the force sensor 405, this position is closer to the point of force application, reducing the error in the force transmission process. For example, during surgical operations, the force applied by the doctor to the operating component 500 and the resistance applied to the operating component 500 during the operation of the interventional instrument can be accurately measured. These accurate force information can be fed back to the control system of the main end of the interventional surgery robot, and then the force information is compared with the force value of the instrument resistance detected by the slave end, and then the control system controls the force feedback component 300 to adjust the micro-movement of the operating rod 501.

[0034] Reference Figure 2In one embodiment, the operating assembly 500 includes an operating rod 501 and an encoder 502 ; the encoder 502 is fixed relative to the fixed base 401 and sleeved on the operating rod 501 .

[0035] The encoder 502 is fixedly mounted on the operating rod 501, and is used to detect the rotation parameters of the operating rod 501, etc., convert mechanical motion into electrical signal output, and provide feedback information for accurately controlling the motion of the operating component 500. Different from the prior art that drives the encoder through a transmission gear, the structure is simpler and the precision loss caused by the transmission is reduced.

[0036] Reference Figure 2 In one embodiment, the operating assembly further includes a first bearing mechanism 504, a second bearing mechanism 505 and a conductive slip ring 503; the first bearing mechanism 504 and the second bearing mechanism 505 are arranged on the floating block 402 at intervals, and the operating rod 501 is inserted through the first bearing mechanism 504 and the second bearing mechanism 505. The conductive slip ring 503 includes a stator part and a rotor part, the stator part is installed on the first bearing mechanism 504 or the floating block 402, and the rotor part is inserted through the stator part; the operating rod 501 is connected to the stator part.

[0037] Specifically, the first bearing mechanism 504 includes a first support frame and a first bearing, the first support frame is fixed to the floating block 402, and the first bearing is fixed to the first support frame; the second bearing mechanism 505 includes a second support frame and a second bearing, the second support frame is fixed to the floating block 402, and the second bearing is fixed to the second support frame, wherein the first bearing and the second bearing are coaxially arranged, and the first bearing and the second bearing are arranged at intervals. In this embodiment, the encoder 502 is arranged between the first bearing and the second bearing, and this layout optimizes the structural design of the operating component 500. From a mechanical point of view, at this position, the encoder 502 can more directly sense the motion state of the operating rod 501 because it is closer to the force center of the operating rod 501. Compared with other possible layouts, such as setting the encoder 502 at a position away from the bearing, this layout reduces the influence of deformation or vibration of the operating rod 501 on the measurement accuracy of the encoder 502. During the movement of the operating rod 501, since the bearing interval setting provides stable support, the movement of the operating rod 501 in this interval is more stable, and the encoder 502 can more accurately obtain the motion information of the operating rod 501. For the interventional robot, this means more accurate transmission of control instructions. For example, in interventional surgery, the doctor's tiny operations on the joystick 501 can be accurately recorded and converted into precise movements of the slave robot, which improves the accuracy of surgical instrument operation, thereby helping to improve surgical quality and reduce surgical risks. At the same time, this layout is also conducive to protecting the encoder 502 from interference from external collisions and other factors, extending the service life of the encoder 502, and further improving the reliability and stability of the entire master-end operator. By reasonably arranging the position of the encoder 502, the operator has been effectively improved in terms of measurement accuracy and stability, providing more powerful support for the precise operation of the interventional robot.

[0038] In one embodiment, referring to Figure 3 The force feedback component 300 includes a guide rail 301, a support plate 302, a motor 303, a transmission gear 304 and a rack 305; the guide rail 301 is installed on the fixed base plate 200 along the extension direction of the operating component 500; one end of the support plate 302 is slidably set on the guide rail 301, and the other end is installed on the fixed base 401 of the force detection component 400, wherein the width of the guide rail 301 is at least one eighth of the height of the support plate 302; the rack 305 is installed on the support plate 302 along the extension direction of the operating component 500; the motor 303 is installed on the fixed base plate 200; the transmission gear 304 is connected to the output shaft of the motor 303 and meshes with the rack 305.

[0039] The guide rail 301 is a component that provides a linear motion guide for the support plate 302 and is installed on the fixed base plate 200 to ensure that the support plate 302 moves strictly along a predetermined linear trajectory during the movement, effectively reducing the motion error of the operating component 500 caused by the guide rail deviation, and ensuring the accuracy of the operation. In this embodiment, the width of 9mm in the prior art is adjusted to a width of 18mm, thereby improving the sliding stability between the guide rail 301 and the support plate 302. Furthermore, the width of the guide rail 301 is at least one eighth of the height of the support plate 302. This design further ensures the stability of the support plate 302 when sliding.

[0040] The support plate 302 is a plate-like component that carries other components and slides on the guide rail 301. It is an installation carrier for the operating component 500 and other related components. Its smooth sliding on the guide rail 301 directly determines the linear motion accuracy of the operating rod 501 and the accuracy of force feedback.

[0041] The above-mentioned motor 303 serves as a power source to provide power for the movement of the force feedback component 300, outputs torque according to the command of the control system, drives the transmission gear 304 to rotate, thereby driving the entire force feedback component 300 to move, and realizes the linear displacement of the operating rod 501. It is usually used to adjust the output torque and steering according to the operating force collected by the force sensor 405 and the delivery resistance fed back from the end, so that the doctor can control the slave end more accurately.

[0042] The transmission gear 304 connects the output shaft of the motor 303 and the rack 305 , and is a key component for converting the rotational motion of the motor 303 into linear motion. The moving speed and displacement of the support plate 302 are precisely controlled through meshing transmission with the rack 305 .

[0043] The rack 305 is installed on the support plate 302 along the extension direction of the operating assembly 500 and meshes with the transmission gear 304 to convert the rotational motion of the transmission gear 304 into the linear motion of the support plate 302. Its tooth shape and size design directly affect the accuracy and stability of the transmission.

[0044] In this embodiment, the design of the force feedback component 300 realizes the precise motion control of the operating component 500 in the linear direction. The guide rail 301 is installed on the fixed base plate 200 along the extension direction of the operating component 500, providing a stable linear motion guide for the support plate 302. The support plate 302 slides on the guide rail 301 to ensure the accuracy and stability of its movement. The motor 303, as a power source, converts the rotary motion into linear motion through the meshing of the transmission gear 304 and the rack 305, and drives the support plate 302 to move. This transmission method has high efficiency and precision. For example, when the interventional robot controls the interventional instrument to move forward or backward, the motor 303 can accurately drive the support plate 302 to move according to the instruction, thereby driving the operating rod 501 to achieve precise linear displacement. Compared with other possible linear motion driving methods, this structure is compact and the transmission is reliable. The design of the force feedback component 300 optimizes the width of the guide rail 301, thereby improving the stability of the sliding of the support plate 302.

[0045] In one embodiment, the force feedback assembly 300 further includes an electromagnetic clutch 306 ; the transmission gear 304 is connected to the output shaft of the motor 303 via the electromagnetic clutch 306 .

[0046] The electromagnetic clutch 306 is a device that uses electromagnetic force to control connection or disconnection, and is used to control the power transmission between the transmission gear 304 and the output shaft of the motor 303, so as to realize flexible control of the movement of the force feedback component 300. The addition of the electromagnetic clutch 306 further optimizes the performance of the force feedback component 300. In normal operation, the electromagnetic clutch 306 can realize the rapid connection and disconnection between the transmission gear 304 and the output shaft of the motor 303 according to the control signal. When the doctor operates the operating rod 501, the electromagnetic clutch 306 is closed, and the power of the motor 303 is transmitted to the rack 305 through the transmission gear 304, driving the support plate 302 to assist the doctor in controlling the movement of the operating rod 501, mainly according to the force value of the force sensor 405 and the delivery resistance value fed back from the end to assist in adjusting the operating rod 501. When the operating rod 501 does not need to move or needs to be kept in a certain position, the electromagnetic clutch 306 is disconnected, and the power of the motor 303 is no longer transmitted, so that the energy waste and component wear caused by the idling of the motor 303 can be avoided. For example, during the interventional robot surgery, there may be a short pause or the need to accurately control the stop position of the operating component 500. The electromagnetic clutch 306 can respond in time to quickly stop the movement of the operating rod 501 and maintain stability. Compared with the traditional mechanical connection method, the electromagnetic clutch 306 has the advantages of fast response speed and precise control. In addition, the electromagnetic clutch 306 can also play a protective role in system failure or emergency situations. For example, when the motor 303 is abnormally overloaded, the electromagnetic clutch 306 can be automatically disconnected to prevent damage to the transmission components and the entire force feedback component 300, thereby improving the safety and reliability of the main end operator. The application of the electromagnetic clutch 306 makes the force feedback component 300 more intelligent and efficient in power transmission control, effectively improving the overall performance and stability of the main end of the interventional surgical robot. Further, when the doctor's hand leaves the operating rod 501 and the operating rod 501 is reset by the motor, the electromagnetic clutch 306 is disconnected to prevent the motor from mistakenly controlling the movement of the operating rod 501.

[0047] In one embodiment, the force feedback assembly further includes a magnetic scale reader 307 and a magnetic scale 308 ; the magnetic scale reader 307 is disposed on the support plate 302 ; the magnetic scale 308 is disposed on the fixed base plate 200 corresponding to the magnetic scale reader 307 .

[0048] The magnetic scale reader 307 is a component for reading magnetic information on the magnetic scale 308, which is installed on the support plate 302, cooperates with the magnetic scale 308 to realize position detection, and converts the magnetic scale information on the magnetic scale 308 into an electrical signal output. The magnetic scale 308 is a measuring ruler with a magnetic scale, and the corresponding magnetic scale reader 307 is set on the fixed base plate 200. The position is determined by electromagnetic induction with the reader, providing an accurate position reference for the movement of the operating component 500.

[0049] In this embodiment, the arrangement of the magnetic scale reader 307 and the magnetic scale 308 provides the master end with an accurate position detection function. The magnetic scale reader 307 is mounted on the support plate 302, moves with the movement of the force feedback component 300, and can read the magnetic information on the magnetic scale 308 in real time. The magnetic scale 308 is fixed on the fixed base plate 200 as a stable position measurement reference. This combination has higher accuracy and reliability than other position detection methods. In the operation of the interventional robot, accurate position detection is essential for the motion control of the operating component 500. For example, when controlling the precise movement and positioning of the interventional instrument, the position and movement distance of the operating component 500 can be accurately known through the magnetic scale system, thereby achieving more sophisticated operations. Compared with traditional mechanical or optical position detection methods, the magnetic scale is less affected by environmental factors, such as dust, oil, etc., which have little effect on its measurement accuracy, and can work stably in a complex medical environment. In addition, the installation and use of the magnetic scale system is relatively simple, and does not require complex calibration and maintenance procedures, which reduces the use cost of the equipment, improves the performance and stability of the entire master end operator, and further ensures the accuracy and safety of the interventional robot operation. Through the coordinated work of the magnetic scale reader 307 and the magnetic scale 308, the operator can obtain accurate position information in real time, providing important data support for the precise operation of the interventional robot, and helping to improve the quality and effect of surgery or other interventional operations.

[0050] In one embodiment, a groove is provided at the end of the first end of the operating rod 501, and a limiting groove is provided on the side wall of the groove; a limiting block is provided on the outer side wall of the rotor shaft of the conductive slip ring 503; the rotor shaft is inserted into the groove and connected with the first end of the operating rod 501, and the limiting block is adaptively inserted into the limiting groove.

[0051] The groove is a recessed portion provided at the first end of the operating rod 501 and is used to accommodate the rotor shaft of the conductive slip ring 503 to provide a preliminary positioning for the connection between the two.

[0052] The above-mentioned limiting groove is a groove-shaped structure located on the side wall of the groove, which is used to cooperate with the limiting block on the rotor shaft of the conductive slip ring 503 to achieve the precise limiting and relative rotation prevention functions of the connection between the operating rod 501 and the rotor shaft.

[0053] The above-mentioned limit block is a protruding structure arranged on the outer side wall of the rotor shaft of the conductive slip ring 503, which is used to cooperate with the limit groove on the operating rod 501 to ensure that the rotor shaft and the operating rod 501 will not be relatively displaced after connection, thereby ensuring the reliability of the electrical connection.

[0054] The connection method between the operating rod 501 and the rotor shaft of the conductive slip ring 503 in this embodiment has multiple advantages. Through the cooperation of the groove, the limit groove and the limit block, the precise connection and positioning of the operating rod 501 and the rotor shaft are achieved. Compared with the traditional nut locking method, this connection is more stable and reliable. In the process of the operating rod 501 driving the rotor shaft to rotate, the cooperation of the limit block and the limit groove can effectively prevent the relative displacement between the two, avoiding the loosening problem caused by excessive force or long-term use. For example, during the frequent operation of the intervention robot, the operating rod 501 needs to be rotated continuously to control the movement of the slave end robot. This stable connection method can ensure the stability of electrical signal and power transmission. At the same time, the design of this connection structure is easy to install and disassemble. During equipment maintenance and overhaul, the operating rod 501 can be more conveniently separated and reassembled from the conductive slip ring 503, which improves maintenance efficiency. In addition, precise connection and positioning help to improve the working efficiency of the conductive slip ring 503, reduce problems such as poor contact that may be caused by loose connection, thereby extending the service life of the conductive slip ring 503 and ensuring the stability of the electrical performance of the entire master end. This connection method optimizes the coordination between the operating rod 501 and the conductive slip ring 503, improves the reliability and maintainability of the manipulator, and provides strong support for the long-term stable operation of the interventional robot.

[0055] In one embodiment, the shell 100 includes an upper shell 101 and a lower shell 102, the upper shell 101 covers the lower shell 102, and the fixed base plate 200 is installed on the lower shell 102; the upper shell 101 is provided with a recessed portion 1021 recessed toward the lower shell 102, and one end of the operating component 500 passes through the side wall of the recessed portion 1021 and extends to the recessed portion 1021.

[0056] The upper shell 101 is a component constituting the upper part of the housing 100 , and cooperates with the lower shell 102 to form a closed space to protect the internal parts from external environmental influences, such as dust, moisture, etc., and at the same time provide a partial accommodation space for one end of the operating component 500 .

[0057] The lower shell 102 is the lower structure of the housing 100 , provides a mounting base for fixing components such as the bottom plate 200 , bears the main weight of the operator, and together with the upper shell 101 forms a stable housing structure.

[0058] The above-mentioned recessed portion 1021 is located on the upper shell 101 and is recessed toward the lower shell 102 , providing a specific accommodation and activity space for one end of the operating rod 501 , making it convenient for operators to operate the operating rod 501 , while also providing a certain degree of protection for the operating rod 501 .

[0059] In this embodiment, the housing 100 adopts a split design of an upper housing 101 and a lower housing 102, and a recessed portion 1021 is provided in the upper housing 101, which has many advantages. First, the split design facilitates the installation and maintenance of the internal components of the operator. During the assembly process, the fixed base plate 200 and other components can be installed on the lower housing 102 first, and then the upper housing 101 is covered, which is easy to operate. For maintenance and overhaul, it is also easier to access the internal parts, reducing maintenance costs and time. Secondly, the design of the recessed portion 1021 provides a reasonable layout space for the other end of the operating rod 501. This allows the operating rod 501 to maintain a relatively stable position when extending out of the housing 100, which is convenient for the operator to hold and operate. For example, in the operation of the interventional robot, the doctor can hold the operating rod 501 more naturally and comfortably for precise operation, which improves the convenience and accuracy of the operation. At the same time, the recessed portion 1021 can also play a certain protective role on the operating rod 501, preventing the operating rod 501 from being damaged due to factors such as accidental collision during operation. This shell 100 structural design helps to improve the practicality, reliability and human-machine interaction of the entire master end manipulator, making it more suitable for long-term, high-precision operation requirements in medical and other fields. This design optimizes the shell structure of the manipulator, improves the convenience of operation and the overall performance of the device, and is conducive to the promotion and use of interventional robots in practical applications.

[0060] Further, refer to Figure 1-Figure 5 The above-mentioned operating rod 501 includes a conductive rod 5011 and a handle 5013; the conductive rod 5011 is detachably connected to the handle 5013, and the handle 5013 is located in the recessed portion 1021; when the conductive rod 5011 moves to a side away from the handle 5013 and reaches an extreme position, the conductive rod 5011 is located in the shell 100; when the conductive rod 5011 moves to a side of the handle 5013 and reaches an extreme position, the detachable portion 5012 between the conductive rod 5011 and the handle 5013 is located in the recessed portion 1021.

[0061] The conductive rod 5011 is a part of the operating rod 501, mainly responsible for the conductive function, and is detachably connected to the handle 5013. During the movement of the conductive rod 5011, it cooperates with other components to transmit electrical signals and electricity to ensure the accurate transmission of the operating instructions. An insulating layer is generally provided on the outer side of the conductive rod 5011 to prevent conduction with other components. The handle 5013 is generally conductive, so as to facilitate the transfer of bioelectricity on the operator's hand to the conductive rod 5011.

[0062] The handle 5013 is the part for the operator to hold, which is located in the recessed portion 1021 and is connected to the conductive rod 5011 through a detachable connection, which is convenient for operation and replacement, provides a comfortable grip, and facilitates the operator to apply operating force. Its design conforms to ergonomic principles and helps to improve the comfort and accuracy of operation.

[0063] The detachable portion 5012 is where the conductive rod 5011 is connected to the handle 5013 .

[0064] In the present embodiment, the detachable connection mode of the conductive rod 5011 and the handle 5013 makes it more convenient to maintain and replace parts. For example, when the handle 5013 is worn or needs to be adjusted according to the needs of different operators, it can be easily disassembled and replaced without affecting the normal functions of the conductive rod 5011 and other parts, thereby reducing maintenance costs and operating difficulties. The handle 5013 is located in the recessed portion 1021, which not only provides an ergonomic gripping position for the operator, improves the comfort and accuracy of the operation, but also makes the layout of the operating rod 501 in the overall structure more reasonable. When it comes to the disassembly of the housing 100 including the upper shell 101 and the lower shell 102, the advantages of this design are particularly obvious. In the prior art, due to the existence of the operating rod 501, many inconveniences are faced when disassembling the upper shell 101 and the lower shell 102, and it is often necessary to separately set a small plate and other complex structures in the recessed portion 1021 to give way to the operating rod 501, resulting in cumbersome disassembly steps. In the present invention, when the housing 100 needs to be disassembled, the handle 5013 is first disassembled, and then the conductive rod 5011 is moved to the extreme position away from the handle 5013, so that the conductive rod 5011 is completely located in the housing 100. At this time, the upper housing 101 can be an integral plate, and the upper housing 101 and the lower housing 102 can be directly separated without an additional complex structure. On the contrary, after the housing 100 is installed, the conductive rod 5011 is driven by the motor 303 to move to the extreme position toward the handle 5013, so that the detachable part 5012 of the conductive rod 5011 and the handle 5013 is located in the recessed part 1021, which is convenient for reinstalling the handle 5013, and the operation is simple and easy. This design greatly simplifies the disassembly and installation process of the housing 100, improves the maintainability and assembly efficiency of the equipment, reduces the risk of component damage caused by complex disassembly, and also enhances the practicality and reliability of the entire main end operator, providing a strong guarantee for the long-term stable operation and convenient maintenance of the interventional robot.

[0065] The above description is only a preferred embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. An interventional surgery robot master terminal, characterized in that: include: case; A force feedback component is arranged in the housing; A force detection component, comprising a force sensor and a force transmission mechanism; the force transmission mechanism comprises a fixed base, an elastic member and a floating block floatingly arranged on the fixed base, the elastic member is used to make the fixed base, the force sensor and the floating block abut in sequence; one end of the force sensor is connected to the floating block, so as to collect the force generated by the movement of the floating block; the fixed base is connected to the force feedback component; An operating component connected to the floating block; A master-end controller is electrically connected to the force sensor and the force feedback component respectively; In the working state, the master-end controller controls the force feedback component to output a reverse thrust to the operating component based on the delivery resistance, and the force sensor collects the operating force of the operating component on the floating block and transmits it to the master-end controller; the master-end controller corrects the reverse thrust output by the force feedback component based on the operating force and the delivery resistance.

2. The interventional surgery robot master terminal according to claim 1, characterized in that: The force detection assembly also includes two sets of cross roller guides; The two groups of cross roller guide rails are symmetrically arranged between the fixed base and the floating block along the extension direction of the operating assembly; The force sensor is arranged between the two groups of cross roller guide rails, one end of the force sensor is connected to the fixed base, and the other end is connected to the floating block.

3. The interventional surgery robot master terminal according to claim 2, characterized in that: The length of the cross roller guide rail is a first length; the length of the floating block along the extension direction of the operating assembly is a second length, and the first length is at least one half of the second length.

4. The interventional surgery robot master terminal according to claim 1, characterized in that: The operating assembly includes an operating rod and an encoder; The encoder is fixed relative to the fixed base and sleeved on the operating rod.

5. The interventional surgery robot master terminal according to claim 1, characterized in that: The operating assembly includes an operating rod, a first bearing mechanism and a second bearing mechanism; The first bearing mechanism and the second bearing mechanism are arranged on the floating block at intervals, and the operating rod is passed through the first bearing mechanism and the second bearing mechanism.

6. The interventional surgery robot master terminal according to claim 5, characterized in that: The operating assembly also includes a conductive slip ring; The conductive slip ring comprises a stator part and a rotor part, wherein the stator part is mounted on the first bearing mechanism or the floating block, and the rotor part is sleeved on the stator part; The operating rod is connected to the stator portion.

7. The interventional surgery robot master terminal according to claim 1, characterized in that: The force feedback assembly includes a guide rail, a support plate, a motor, a transmission gear and a rack; The guide rail is installed in the housing; One end of the support plate is slidably disposed on the guide rail, and the other end is mounted on the fixed base of the force detection assembly, wherein the width of the guide rail is at least one eighth of the height of the support plate; The rack is mounted on the support plate; The motor is installed in the housing; The transmission gear is connected to the output shaft of the motor and meshes with the rack.

8. The interventional surgery robot master terminal according to claim 7, characterized in that: The force feedback assembly also includes an electromagnetic clutch; The transmission gear is connected to the output shaft of the motor through the electromagnetic clutch.

9. The interventional surgery robot master terminal according to claim 8, characterized in that: The force feedback assembly also includes a magnetic scale reader and a magnetic scale; The magnetic scale reader is arranged on the support plate; The magnetic scale is arranged in the housing corresponding to the magnetic scale reader.

10. The interventional surgery robot master terminal according to claim 1, characterized in that: The housing comprises an upper shell and a lower shell, wherein the upper shell covers the lower shell; The upper shell is provided with a recessed portion recessed toward the lower shell, and one end of the operating assembly passes through the side wall of the recessed portion and extends to the recessed portion; The operating assembly includes an operating rod, and the operating rod includes a conductive rod and a handle; the conductive rod is detachably connected to the handle, and the handle is located in the recessed portion; When the operating rod moves to a side away from the handle and reaches an extreme position, the conductive rod is located in the housing; When the operating rod moves toward one side of the handle and reaches a limit position, the detachable portion between the conductive rod and the handle is located in the recessed portion.

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