Interventional surgery robot host

Abstract

The present invention belongs to the technical field of interventional surgical robots, and discloses a main end of an interventional surgical robot, including a shell; a force feedback component, which is arranged in the shell; a force detection component, including a force sensor and a force transmission mechanism; the force transmission mechanism includes a fixed base, an elastic member, and a floating block floatingly arranged on the fixed base, and 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, and is used 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 is connected to the floating block; and a main end controller is electrically connected to the force sensor and the force feedback component, respectively. The setting of the force transmission mechanism realizes the fine regulation of force feedback, which helps doctors to feel the resistance more accurately during surgical operations and improve the accuracy of operations.

Description

Technical Field

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

[0002] The master end of an interventional surgical robot in the prior art includes a housing, a force feedback component, a force detection component, an operating component, and a master end controller mounted on the housing. The master end controller controls the force feedback component to output a reverse thrust to the operating component based on the delivered resistance. The force sensor collects the operating force of the operating component and transmits it to the master end controller. The master end controller then modifies the reverse thrust output by the force feedback component based on the delivered resistance and the operating force.

[0003] In the prior art, the force detection component is rigidly connected to the operating component. When the operating component is subjected to a sudden and large impact force 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. This may cause a momentary spike in the measured value, which cannot 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 uneven, and the rigid connection cannot effectively distinguish and accurately measure the unevenly distributed force, so it is impossible to 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 master end, aiming to solve the technical problems of the existing interventional surgical robot master 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 object of the invention, the present invention proposes an interventional surgery robot master terminal, comprising:

[0006] case;

[0007] a force feedback component, disposed in the housing;

[0008] A force detection assembly includes a force sensor and a force transmission mechanism; the force transmission mechanism includes a fixed base, an elastic member, and a floating block floatingly disposed on the fixed base, the elastic member being used to sequentially abut the fixed base, the force sensor, and the floating block; 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 assembly;

[0009] an operating component connected to the floating block;

[0010] A master-end controller is electrically connected to the force sensor and the force feedback component respectively;

[0011] 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 acting 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.

[0012] Furthermore, the force detection assembly further comprises two sets of cross roller guides;

[0013] The two sets of cross roller guide rails are symmetrically arranged between the fixed base and the floating block along the extension direction of the operating assembly;

[0014] 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.

[0015] 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 half of the second length.

[0016] Furthermore, the operating assembly includes an operating lever and an encoder;

[0017] The encoder is fixed relative to the fixed base and sleeved on the operating rod.

[0018] Furthermore, the operating assembly includes an operating lever, a first bearing mechanism and a second bearing mechanism;

[0019] 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.

[0020] Furthermore, the operating assembly further includes a conductive slip ring;

[0021] The conductive slip ring includes a stator part and a rotor part, the stator part is mounted on the first bearing mechanism or the floating block, and the rotor part is sleeved on the stator part;

[0022] The operating rod is connected to the stator portion.

[0023] Furthermore, the force feedback assembly includes a guide rail, a support plate, a motor, a transmission gear and a rack;

[0024] The guide rail is mounted on a fixed base plate in the housing;

[0025] 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;

[0026] The rack is mounted on the support plate;

[0027] The motor is installed in the housing;

[0028] The transmission gear is connected to the output shaft of the motor and meshes with the rack.

[0029] Furthermore, the force feedback assembly further includes an electromagnetic clutch;

[0030] The transmission gear is connected to the output shaft of the motor through the electromagnetic clutch.

[0031] Furthermore, the force feedback assembly further includes a magnetic scale reader and a magnetic scale;

[0032] The magnetic scale reading head is arranged on the support plate;

[0033] The magnetic scale is arranged in the housing corresponding to the magnetic scale reading head.

[0034] Furthermore, the housing includes an upper shell and a lower shell, and the upper shell covers the lower shell;

[0035] The upper shell is provided with a recessed portion that is 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;

[0036] 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;

[0037] 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;

[0038] 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.

[0039] Beneficial effects:

[0040] The interventional surgical robot master end of the present invention utilizes the arrangement of elastic parts and floating blocks to more accurately collect operating forces. 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 master end controller. The master end controller corrects the reverse thrust output by the force feedback component based on this operating force and the delivered resistance, thereby achieving fine control of force feedback, helping doctors to more accurately sense the resistance during surgical operations and improve the accuracy of operations. The elastic parts in the force transmission mechanism act as a buffer during the force transmission process. This not only prevents the force sensor from receiving excessive sudden force instantaneously when the operating component is subjected to a sudden and large impact force, thereby ensuring the accuracy of the force measurement data, but more importantly, the force sensor is non-rigidly connected to the floating block, thereby avoiding the poor parallelism between the floating block and the fixed base when rigidly connected, thereby affecting the accuracy and life of the force sensor. In addition, it can also prevent the operating component from being transmitted to the force sensor when radial force is applied, thereby affecting the accuracy and life of the force sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 This is an overall structural diagram of the interventional surgery robot master terminal according to one embodiment of the present application;

[0042] Figure 2 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 1 ;

[0043] 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 ;

[0044] Figure 4 This is a structural schematic diagram of a floating structure with a force sensor in one embodiment of the present application;

[0045] Figure 5 Schematic diagram of the structure of an operating lever according to an embodiment of the present application.

[0046] in:

[0047] 100: housing; 101: upper housing; 102: lower housing; 1021: recessed portion;

[0048] 200: fixed bottom plate;

[0049] 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;

[0050] 400: force detection assembly; 401: fixed base; 402: floating block; 403: cross roller guide; 404: elastic member; 405: force sensor;

[0051] 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.

[0052] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0054] 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 to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply 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 used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0055] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections, direct connections, or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0056] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0057] Reference Figures 1 to 5 , an embodiment of the present invention provides an interventional surgical robot master end, comprising: a housing 100;

[0058] A force feedback assembly 300 is disposed in the housing 100;

[0059] 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 disposed on the fixed base. The elastic member 404 is used to sequentially abut the fixed base 401, the force sensor 405, and the floating block 402, providing a restoring force after 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 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.

[0060] An operating assembly 500 connected to the floating block 402;

[0061] A master controller (not shown in the figure) is electrically connected to the force sensor 405 and the force feedback component 300;

[0062] 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.

[0063] The housing 100 houses and protects the various components within the master operator, providing external structural support and protecting the internal components from physical damage and contamination. A fixed base plate 200 is typically located within the housing 100, serving as a base platform for mounting other components. This base plate secures and supports these components, ensuring their relative position remains stable during operation.

[0064] The force feedback component 300 is mounted 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.

[0065] The force detection assembly 400 is mounted on the force feedback assembly 300 and is capable of floating within a certain range, adapting to varying forces and motions during operation and providing a buffer and adaptive adjustment for the movement of the operating assembly 500. The fixed base 401 is the foundational component of the force detection assembly 400, used to mount other components. It is fixed to the force feedback assembly 300 and provides a stable mounting base for the entire force detection assembly 400. The floating block 402, linked to the movement of the operating assembly 500, floats on the fixed base 401 and, through the elastic member 404, acts as a buffer during force transmission, adapting to varying forces acting on the operating assembly 500.

[0066] The operating component 500 is a component for controlling the slave robot.

[0067] The host controller is a computer device that can run software programs, process data, and generate corresponding commands.

[0068] The interventional surgical robot master end of this embodiment utilizes the elastic member 404 and floating block 402 to more accurately capture operating force. When the operating assembly 500 acts on the floating block 402, the force sensor 405 accurately captures the generated force and transmits it to the master end controller. Based on this operating force and the delivered resistance, the master end controller modifies the reverse thrust output by the force feedback assembly 300, achieving precise control of force feedback. This helps the surgeon more accurately perceive resistance during surgery and improves surgical accuracy. The elastic member 404 in the force transmission mechanism acts as a buffer during force transmission. This not only prevents measurement distortion caused by the force sensor receiving an excessively large sudden force when the operating assembly 500 is subjected to a sudden, large impact, thereby ensuring the accuracy of force measurement data, but more importantly, the non-rigid connection between the force sensor 405 and the floating block 402 prevents the impact of a rigid connection on the floating block 402 and the fixed base 401, which could affect the accuracy and lifespan of the force sensor 405. Furthermore, this prevents radial forces from being transmitted to the force sensor 405 when the operating assembly 500 is subjected to a sudden, large impact, thereby reducing the accuracy and lifespan of the force sensor 405.

[0069] In one embodiment, referring to Figure 2 and Figure 4The above-mentioned force detection component 400 also includes two sets of cross roller guides 403; the two sets 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 sets 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.

[0070] Each of the above-mentioned cross roller guide rails 403 may include one or more cross roller guide rails 403. Each cross roller guide rail 403 is composed of two groups of rollers arranged 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.

[0071] In this embodiment, the force detection assembly 400 has a fixed base 401 mounted on the force feedback assembly 300, providing a stable mounting base for the entire force detection assembly 400. Two sets of cross-roller guides 403 are mounted 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 motion during the movement of the operating assembly 500. In this embodiment, the cross-roller guides 403 have a first length, while the floating block 402 has a second length along the extension direction of the operating assembly 500. The first length is at least half of the second length, which can enhance the parallelism and smoothness of the floating block 402 and the fixed base 401. In one specific embodiment, the first length and the second length are equal. For example, during interventional robotic operation, 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 via the cross-roller guides 403 to adapt to changes in force without affecting the overall stability of the operating assembly 500. This design helps to improve the adaptability of the main-end manipulator 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.

[0072] The force sensor 405 is a device used to detect the magnitude and direction of force. It monitors the forces applied to the operating assembly 500 in real time during operation and provides force feedback information to the system. Force sensor 405 is positioned between two sets of cross-roller guides 403, with one end fixed to the fixed base 401 and the other end connected to the floating block 402. This arrangement enables precise measurement of the forces acting on the operating assembly 500. During interventional robotic operation, the operating assembly 500 is subject to various forces, and the force sensor 405 is able to detect the magnitude and direction of these forces in real time. Because it is located between the cross-roller guides 403, it can accurately sense changes in the force applied to the floating block 402 caused by the movement of the operating assembly 500 and external factors. Compared to other possible force sensor 405 installation locations, this position is closer to the point of force application, reducing errors in force transmission. For example, during a surgical procedure, the force applied by the surgeon to the operating assembly 500 and the resistance experienced by the operating assembly 500 during interventional instrument operation can be accurately measured. These accurate force information can be fed back to the control system of the interventional surgical robot master end, 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.

[0073] Reference Figure 2 In 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 is sleeved on the operating rod 501 .

[0074] The encoder 502 is fixedly mounted on the operating rod 501 and is used to detect the rotation parameters of the operating rod 501, converting mechanical motion into electrical signals for output, providing feedback information for precise control of the movement of the operating assembly 500. Unlike the existing technology that drives the encoder through transmission gears, this has a simpler structure and reduces the accuracy loss caused by transmission.

[0075] Reference Figure 2 In one embodiment, the operating assembly further comprises 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 spaced apart on the floating block 402, and the operating rod 501 is inserted through the first bearing mechanism 504 and the second bearing mechanism 505. The conductive slip ring 503 comprises a stator portion and a rotor portion. The stator portion is mounted on the first bearing mechanism 504 or the floating block 402, and the rotor portion is inserted into the stator portion. The operating rod 501 is connected to the stator portion.

[0076] Specifically, the first bearing mechanism 504 includes a first support frame and a first bearing, the first support frame being fixed to the floating block 402, and the first bearing being fixed to the first support frame. The second bearing mechanism 505 includes a second support frame and a second bearing, the second support frame being fixed to the floating block 402, and the second bearing being fixed to the second support frame. The first and second bearings are coaxially arranged, and the first and second bearings are spaced apart. In this embodiment, the encoder 502 is positioned between the first and second bearings. This layout optimizes the structural design of the operating assembly 500. From a mechanical perspective, in this position, the encoder 502 can more directly sense the motion of the operating rod 501 because it is closer to the force center of the operating rod 501. Compared to other possible layouts, such as positioning the encoder 502 away from the bearings, this layout reduces the impact of deformation or vibration of the operating rod 501 on the encoder 502's measurement accuracy. During the movement of the operating rod 501, the spacing of the bearings provides stable support, resulting in smoother movement of the operating rod 501 within this range, allowing the encoder 502 to more accurately capture the motion information of the operating rod 501. For interventional robots, this means more precise transmission of control instructions. For example, during interventional surgery, the doctor's tiny operations on the joystick 501 can be accurately recorded and converted into precise movements of the slave robot, improving 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 manipulator. By rationally arranging the position of the encoder 502, the manipulator has been effectively improved in terms of measurement accuracy and stability, providing more powerful support for the precise operation of the interventional robot.

[0077] 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.

[0078] The guide rail 301 is a component that provides linear guidance for the support plate 302. Mounted on the fixed base plate 200, it ensures that the support plate 302 follows a predetermined linear trajectory during movement, effectively reducing motion errors of the operating assembly 500 caused by guide rail deviations and ensuring operational accuracy. In this embodiment, the width of the guide rail 301, which is 9 mm in the prior art, has been adjusted to 18 mm, 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 the height of the support plate 302, further ensuring the stability of the support plate 302 during sliding.

[0079] 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.

[0080] The above-mentioned motor 303 serves as a power source, providing power for the movement of the force feedback component 300, outputting torque according to the instructions of the control system, driving the transmission gear 304 to rotate, thereby driving the entire force feedback component 300 to move, and realizing 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 feedback from the slave end, so that the doctor can control the slave end more accurately.

[0081] 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. By meshing with the rack 305 , the moving speed and displacement of the support plate 302 are precisely controlled.

[0082] The rack 305 is mounted 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 linear motion of the support plate 302. The tooth shape and size design of the rack 305 directly affect the accuracy and stability of the transmission.

[0083] In this embodiment, the design of the force feedback assembly 300 enables precise linear motion control of the operating assembly 500. The guide rail 301 is mounted on the fixed base plate 200 along the extension direction of the operating assembly 500, providing a stable linear motion guide for the support plate 302. The support plate 302 slides on the guide rail 301, ensuring the accuracy and smoothness of its movement. The motor 303, serving as the power source, converts rotational motion into linear motion through the engagement of the transmission gear 304 with the rack 305, driving the support plate 302 to move. This transmission method offers high efficiency and precision. For example, when an interventional robot controls the advancement or retraction of an interventional instrument, the motor 303 can precisely drive the support plate 302 according to instructions, thereby driving the operating rod 501 to achieve precise linear displacement. Compared to other possible linear motion drive methods, this structure is compact and the transmission is reliable. The design of the force feedback assembly 300 optimizes the width of the guide rail 301, thereby improving the sliding stability of the support plate 302.

[0084] 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 .

[0085] The electromagnetic clutch 306, a device that uses electromagnetic force to control connection and disconnection, is used to control power transmission between the transmission gear 304 and the output shaft of the motor 303, enabling flexible control of the movement of the force feedback assembly 300. The addition of the electromagnetic clutch 306 further optimizes the performance of the force feedback assembly 300. During normal operation, the electromagnetic clutch 306 can quickly connect and disconnect the transmission gear 304 and the output shaft of the motor 303 based on a control signal. When the doctor operates the operating rod 501, the electromagnetic clutch 306 closes, and the power of the motor 303 is transmitted to the rack 305 via the transmission gear 304, driving the support plate 302 to assist the doctor in controlling the movement of the operating rod 501. This is primarily done by assisting in adjusting the operating rod 501 based on the force value measured by the force sensor 405 and the resistance value fed back from the end. When the operating rod 501 does not need to move or needs to remain in a certain position, the electromagnetic clutch 306 disengages, and power from the motor 303 is no longer transmitted. This prevents energy waste and component wear caused by idling of the motor 303. For example, during interventional robotic surgery, there may be brief pauses or situations where precise control of the stop position of the operating assembly 500 is required. The electromagnetic clutch 306 can respond in a timely manner, allowing the operating rod 501 to quickly stop moving and remain stable. Compared with traditional mechanical connection methods, 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 failures or emergency situations. For example, when the motor 303 is abnormally overloaded, the electromagnetic clutch 306 can automatically disconnect to prevent damage to the transmission components and the entire force feedback assembly 300, thereby improving the safety and reliability of the main end operator. The application of the electromagnetic clutch 306 makes the force feedback assembly 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. Furthermore, when the doctor's hand leaves the operating rod 501 and the operating rod 501 is reset by the motor, the electromagnetic clutch 306 disconnects to prevent the motor from mistakenly controlling the movement of the operating rod 501.

[0086] 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 ; and the magnetic scale 308 is disposed on the fixed base plate 200 corresponding to the magnetic scale reader 307 .

[0087] The magnetic scale reader 307 is a component used to read the magnetic information on the magnetic scale 308. It is mounted on the support plate 302 and works in conjunction with the magnetic scale 308 to detect position, converting the magnetic scale information on the magnetic scale 308 into an electrical signal for output. The magnetic scale 308 is a measuring ruler with a magnetic scale. The corresponding magnetic scale reader 307 is mounted on the fixed base plate 200. The position is determined through electromagnetic induction with the reader, providing a precise position reference for the movement of the operating assembly 500.

[0088] In this embodiment, the arrangement of a magnetic scale reader 307 and a magnetic scale 308 provides precise position detection for the master end. The magnetic scale reader 307 is mounted on the support plate 302 and moves with the motion of the force feedback assembly 300, enabling real-time reading of magnetic information from the magnetic scale 308. The magnetic scale 308 is fixed to the fixed base plate 200, serving as a stable reference for position measurement. This combination offers higher accuracy and reliability than other position detection methods. In interventional robotic operations, accurate position detection is crucial for controlling the motion of the manipulator assembly 500. For example, when controlling the precise movement and positioning of interventional instruments, the magnetic scale system accurately determines the position and travel distance of the manipulator assembly 500, enabling more precise manipulation. Compared to traditional mechanical or optical position detection methods, magnetic scales are less susceptible to environmental factors, such as dust and oil, which have little impact on their measurement accuracy, enabling stable operation in complex medical environments. Furthermore, the magnetic scale system is relatively simple to install and use, requiring no complex calibration and maintenance procedures. This reduces equipment costs, improves the performance and stability of the entire master end manipulator, and further ensures the accuracy and safety of interventional robotic operations. Through the coordinated operation 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 effectiveness of surgery or other interventional operations.

[0089] 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.

[0090] 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 preliminary positioning for the connection between the two.

[0091] 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 precise limiting and relative rotation prevention functions between the operating rod 501 and the rotor shaft.

[0092] The above-mentioned limit block is a protruding structure provided on the outer 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 do not move relative to each other after connection, thereby ensuring the reliability of the electrical connection.

[0093] The connection between the operating rod 501 and the rotor shaft of the conductive slip ring 503 in this embodiment offers multiple advantages. The combination of the groove, the retaining slot, and the retaining block achieves precise connection and positioning between the operating rod 501 and the rotor shaft. Compared to traditional nut-locking methods, this connection is more stable and reliable. As the operating rod 501 rotates the rotor shaft, the cooperation between the retaining block and the retaining slot effectively prevents relative displacement between the two, avoiding loosening caused by excessive force or prolonged use. For example, during frequent operation of an interventional robot, the operating rod 501 needs to be constantly rotated to control the movements of the slave robot. This stable connection ensures the stability of electrical signal and power transmission. Furthermore, this connection structure design facilitates installation and disassembly, making it easier to separate and reassemble the operating rod 501 and the conductive slip ring 503 during equipment maintenance and overhaul, improving maintenance efficiency. Furthermore, precise connection and positioning help improve the operating efficiency of the conductive slip ring 503 and reduce problems such as poor contact caused by loose connections, thereby extending the service life of the conductive slip ring 503 and ensuring stable electrical performance across 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.

[0094] 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.

[0095] The upper shell 101 is a component constituting the upper portion of the housing 100 , and cooperates with the lower shell 102 to form a closed space, protecting internal components from external environmental influences such as dust, moisture, etc., while providing partial accommodation space for one end of the operating assembly 500 .

[0096] The lower shell 102 is the lower structure of the housing 100 , provides a mounting base for fixing components such as the base plate 200 , bears the main weight of the operator, and together with the upper shell 101 forms a stable housing structure.

[0097] 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 easier for the operator to operate the operating rod 501 while also providing a certain degree of protection for the operating rod 501 .

[0098] In this embodiment, the housing 100 utilizes a split design consisting of an upper shell 101 and a lower shell 102, with a recessed portion 1021 provided in the upper shell 101. This provides several advantages. First, the split design facilitates installation and maintenance of the manipulator's internal components. During assembly, components such as the fixed base plate 200 can be installed on the lower shell 102 before the upper shell 101 is installed, simplifying operation. This also provides easier access to internal components for repair and maintenance, reducing maintenance costs and time. Second, the recessed portion 1021 provides a convenient layout for the other end of the operating rod 501. This allows the operating rod 501 to maintain a relatively stable position when extended from the housing 101, making it easier for the operator to grip and operate. For example, during interventional robotic manipulation, the physician can grip the operating rod 501 more naturally and comfortably for precise manipulation, improving ease and accuracy. Furthermore, the recessed portion 1021 provides protection for the operating rod 501, preventing damage from accidental collisions and other factors during operation. This housing 100 structural design helps improve the practicality, reliability, and human-machine interaction of the entire master-end manipulator, making it more suitable for long-term, high-precision operations in medical and other fields. This design optimizes the manipulator's housing structure, improves operational convenience and overall device performance, and facilitates the promotion and use of interventional robots in practical applications.

[0099] 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 toward 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 toward 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.

[0100] The conductive rod 5011 is part of the operating rod 501 and primarily functions as a conductor. It is detachably connected to the handle 5013 and, during its movement, works in conjunction with other components to transmit electrical signals and power, ensuring accurate transmission of operating instructions. The conductive rod 5011 is typically coated with an insulating layer to prevent electrical conduction with other components. The handle 5013 is typically conductive, facilitating the transfer of bioelectricity from the operator's hand to the conductive rod 5011.

[0101] The above-mentioned handle 5013 is the part for the operator to hold. It 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. It 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.

[0102] The detachable portion 5012 is where the conductive rod 5011 is connected to the handle 5013 .

[0103] In the present embodiment, the detachable connection between the conductive rod 5011 and the handle 5013 makes it more convenient to maintain and replace parts. For example, when the handle 5013 becomes 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 components, thereby reducing maintenance costs and operating difficulty. The handle 5013 is located in the recessed portion 1021, which not only provides an ergonomic gripping position for the operator, improving the comfort and accuracy of operation, but also makes the layout of the operating rod 501 in the overall structure more reasonable. The advantages of this design are particularly evident when it comes to disassembling the housing 100 including the upper shell 101 and the lower shell 102. In the prior art, due to the existence of the operating rod 501, there are many inconveniences when disassembling the upper shell 101 and the lower shell 102. It is often necessary to separately set a complex structure such as a small plate in the recessed portion 1021 to make way for 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 shell 101 can be an integral plate, and the upper shell 101 and the lower shell 102 can be directly separated without the need for additional complex structures. Conversely, 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 portion 5012 between the conductive rod 5011 and the handle 5013 is located in the recessed portion 1021, making it convenient to reinstall 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 that may be caused by complex disassembly, and also enhances the practicality and reliability of the entire main end manipulator, providing a strong guarantee for the long-term stable operation and convenient maintenance of the interventional robot.

[0104] 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 description 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, 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; 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; 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.

2. 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.

3. 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.

4. The interventional surgery robot master terminal according to claim 3, 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.

5. 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.

6. The interventional surgery robot master terminal according to claim 5, 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.

7. The interventional surgery robot master terminal according to claim 6, 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.

8. 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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