Control end rotation limiting structure and method for synchronizing rotation of control end and delivery end

Abstract

The invention relates to a control end rotation limiting structure and a method for synchronizing rotation of a control end and a delivery end, and the control end rotation limiting structure comprises a bottom plate; a push rod; the main moving block is arranged on the bottom plate in a reciprocating linear moving manner; the push rod is connected with the main moving block through a transmission assembly. A fixed limiting part and a movable limiting part are arranged on the two sides of the main moving block in the moving direction; and the driving mechanism is connected with the movable limiting part and can drive the movable limiting part to linearly move so as to adjust the distance between the movable limiting part and the fixed limiting part and further limit the number of rotatable turns of the push rod. According to the invention, an operator at the control end can more intuitively feel the state of the delivery end when the interventional surgical instrument is rotated to reach the limit, and corresponding stroke limitation can be carried out according to the diameters of different interventional surgical instruments, so that the push rod for controlling the interventional surgical instrument is in one-to-one correspondence with the rotatable turns of the delivery end all the time.

Description

Technical Field

[0001] The present invention relates to the field of interventional surgery, and in particular to a control end rotation limiting structure and a method for synchronously rotating a control end and a delivery end. Background Art

[0002] In recent years, cardiovascular and cerebrovascular diseases have gradually become one of the main factors threatening people's health. Due to the advantages of precision, speed and less trauma, minimally invasive surgery has gradually become one of the main means of treating cardiovascular diseases. However, vascular interventional surgery needs to be completed with the assistance of X-rays, and the surgeon must be exposed to X-rays for a long time. In order to alleviate the working environment of interventional surgeons, vascular interventional robots have been developed to replace doctors to complete interventional minimally invasive surgery. Doctors control vascular interventional surgery robots through remote operation or remote control in an X-ray-free environment to complete vascular interventional surgery.

[0003] Currently, the delivery end structures of some interventional surgical robots that control the rotation of guidewires and catheters have certain travel limitations and cannot achieve infinite rotation in one direction. However, the main-end operator can only learn that the guidewire or catheter has reached the limit through indirect means such as sound or vibration, and the response is not timely and effective. Summary of the invention

[0004] The purpose of the present invention is to provide a control end rotation limit structure and a method for synchronously rotating the control end and the delivery end, which can allow the operator of the control end to more intuitively feel the state of the delivery end when the rotation of the interventional surgical instrument reaches the limit, and can also perform corresponding stroke limitations according to the diameters of different interventional surgical instruments, so that the push rod controlling the interventional surgical instrument always corresponds one-to-one with the number of rotatable circles of the delivery end.

[0005] The above-mentioned purpose of the present invention can be achieved by adopting the following technical solutions:

[0006] The present invention provides a control end rotation limiting structure for an interventional surgical robot, the control end rotation limiting structure comprising:

[0007] Base plate;

[0008] A push rod is rotatably and axially movable on the bottom plate;

[0009] The main moving block is arranged on the bottom plate so as to be able to reciprocate and move linearly along the axis direction parallel to the push rod; the push rod is connected to the main moving block through a transmission assembly, and the rotational motion of the push rod can be converted into linear motion of the main moving block through the transmission assembly; fixed limiting parts and movable limiting parts are arranged on both sides of the moving direction of the main moving block, the fixed limiting parts are fixed relative to the bottom plate, and the movable limiting parts can reciprocate relative to the bottom plate along the axis direction of the push rod;

[0010] The driving mechanism is connected to the movable limiting part and can drive the movable limiting part to move linearly to adjust the distance between the movable limiting part and the fixed limiting part, thereby limiting the number of rotations of the push rod.

[0011] In a preferred embodiment of the present invention, the main moving block is a nut structure and is sleeved on the first lead screw. The bottom of the main moving block is slidably connected to the first guide rail provided on the base plate through the first slider and can move linearly along the first guide rail. The push rod is connected to the first lead screw through the transmission structure and can drive the first lead screw to rotate.

[0012] In a preferred embodiment of the present invention, the transmission structure includes a first gear and a second gear that are meshed with each other. The first gear is sleeved on a push rod, which can slide axially relative to the first gear and can be circumferentially fixed to the first gear; the second gear is coaxially fixed at one end of the first screw.

[0013] In a preferred embodiment of the present invention, the driving mechanism includes an adjusting moving block and a first motor, the adjusting moving block is a nut structure and is sleeved on the second lead screw, and the movable limiting portion is fixed on the adjusting moving block; the bottom of the adjusting moving block is connected to a second guide rail provided on the base plate through a second slider, and can move linearly along the second guide rail; the output shaft of the first motor is connected to one end of the second lead screw, and can drive the second lead screw to rotate.

[0014] In a preferred embodiment of the present invention, a first photoelectric sensor and a second photoelectric sensor are provided on the bottom plate; the movable limiting portion is connected to a first photoelectric sensor baffle, which can contact the first photoelectric sensor when the movable limiting portion moves to a preset limit position away from the fixed limiting portion; and a second photoelectric sensor baffle is provided on the main moving block, which can contact the second photoelectric sensor when the main moving block abuts against the fixed limiting portion.

[0015] In a preferred embodiment of the present invention, a first sensor and a second sensor are provided on the bottom plate, which are respectively used to detect the moving strokes of the movable limit block and the main moving block in real time.

[0016] In a preferred embodiment of the present invention, the driving mechanism can adjust the distance between the movable limit part and the fixed limit part to a preset actual distance according to the diameter of the interventional surgical instrument at the delivery end, and the actual initial position of the main moving block is the position corresponding to the midpoint of the preset actual distance.

[0017] In a preferred embodiment of the present invention, the control end rotation limiting structure further includes a reset structure for driving the main moving block to move to an actual initial position.

[0018] In a preferred embodiment of the present invention, the control end rotation limiting structure also includes a reset structure, the reset structure includes a second motor and a third gear fixed on the output shaft of the second motor, and the third gear can mesh with the second gear.

[0019] In a preferred embodiment of the present invention, the control end rotation limit structure also includes a reset structure, the reset structure includes a screw end magnetic coupling, a motor end magnetic coupling and a third motor, the output shaft of the third motor is coaxially arranged with the first screw, the screw end magnetic coupling is arranged at one end of the first screw, the motor end magnetic coupling is arranged at the end of the output shaft of the third motor, and the screw end magnetic coupling and the motor end magnetic coupling can be attracted when powered on.

[0020] The present invention also provides a method for synchronously rotating a control end and a delivery end, comprising:

[0021] A main moving block capable of linearly moving along the axial direction of the push rod is arranged on one side of the push rod at the control end, and a fixed limiting part and a movable limiting part are respectively arranged on both sides of the moving direction of the main moving block;

[0022] Adjusting the position of the movable limiting part to a preset position according to the diameter of the interventional surgical instrument at the delivery end;

[0023] Acquire motion data of the push rod, the motion data including rotational motion data of the push rod;

[0024] Generate action instructions for the interventional surgical instrument according to the motion data of the push rod to control the interventional surgical instrument to perform corresponding actions;

[0025] Among them, the push rod can drive the main moving block to move linearly when rotating. When the main moving block abuts against the fixed limit part or the movable limit part, the interventional surgical instrument reaches the rotation limit position in one direction, and the number of rotations of the push rod is the same as the number of rotations of the interventional surgical instrument.

[0026] As described above, the present invention sets a main moving block capable of linear movement on one side of the push rod. By converting the rotational movement of the push rod into the linear movement of the main moving block, and setting two limit parts on both sides of the main moving block, the number of rotations of the push rod can be limited, so that the number of rotations of the push rod can be the same as the number of rotations of the interventional surgical instrument at the delivery end. When the main moving block moves to the position of the corresponding limit part, the push rod cannot continue to rotate. By mechanically limiting the push rod, the operator can more intuitively feel the state of the delivery end when the rotation of the interventional surgical instrument reaches the limit. At the same time, one of the two limit parts is designed as a movable limit part, which can perform corresponding stroke restrictions according to the diameter of different interventional surgical instruments, so that the number of rotations of the push rod is the same as the number of rotations of the current interventional surgical instrument, and the versatility is stronger. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The following drawings are only intended to illustrate and explain the present invention, and are not intended to limit the scope of the present invention.

[0028] in:

[0029] Figure 1 : A schematic structural diagram of the control end rotation limiting structure provided by the present invention.

[0030] Figure 2 :for Figure 1 Schematic top view of .

[0031] Figure 3 :for Figure 2 Partial cross-sectional view along AA.

[0032] Figure 4 :for Figure 2 Cross-sectional view along BB.

[0033] Figure 5 : Another structural schematic diagram of the control end rotation limiting structure provided by the present invention.

[0034] Figure 6 :for Figure 5 Schematic top view of .

[0035] Description of Figure Numbers:

[0036] 1. Bottom plate; 11. First guide rail; 12. Second guide rail; 13. First photoelectric sensor; 14. Second photoelectric sensor; 15. Bearing seat; 16. Bearing; 17. Bearing stopper; 18. Bearing stopper ring;

[0037] 2. Push rod; 21. First gear; 22. Gear fixing sleeve; 221. Limiting column; 23. Slot hole;

[0038] 3. Main moving block; 31. First nut; 32. First nut seat; 33. First slider; 34. Second photoelectric sensor baffle;

[0039] 41. Fixed limiting part; 42. Movable limiting part;

[0040] 5. first screw; 51. first screw support; 52. second gear;

[0041] 6. Adjusting moving block; 61. Second nut; 62. Second nut seat; 63. Second slider; 64. First photoelectric sensor baffle;

[0042] 7. Second lead screw; 71. Second lead screw support; 72. First motor; 73. First motor support;

[0043] 8. Reset structure; 81. Second motor; 82. Second motor seat; 83. Third gear; 84. Third motor; 85. Third motor seat; 86. Screw end magnetic coupling; 87. Motor end magnetic coupling;

[0044] 9. Installation box; 91. Third slider. DETAILED DESCRIPTION

[0045] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0046] like Figures 1 to 6 As shown, the present application provides a control end rotation limiting structure for an interventional surgical robot, the control end rotation limiting structure comprising:

[0047] Bottom plate 1;

[0048] A push rod 2 is rotatably and axially movable on the bottom plate 1;

[0049] The main moving block 3 is arranged on the bottom plate 1 so as to be able to reciprocate and linearly move along the axial direction parallel to the push rod 2; the push rod 2 is connected to the main moving block 3 through a transmission assembly, and the rotational motion of the push rod 2 can be converted into linear motion of the main moving block 3 through the transmission assembly; a fixed limiting portion 41 and a movable limiting portion 42 are arranged on both sides of the moving direction of the main moving block 3, the fixed limiting portion 41 is fixed relative to the bottom plate 1, and the movable limiting portion 42 can reciprocate relative to the bottom plate 1 along the axial direction of the push rod 2;

[0050] The driving mechanism is connected to the movable limiting portion 42 and can drive the movable limiting portion 42 to move linearly to adjust the distance between the movable limiting portion 42 and the fixed limiting portion 41 , thereby limiting the number of rotations of the push rod 2 .

[0051] It can be understood that the interventional surgical robot includes a control end and a delivery end. The delivery end is located in the operating room and is used to deliver interventional surgical instruments, such as guide wires or catheters. The delivery end can receive action signals sent by the control end to complete the delivery action of the surgical instrument. The control end is located outside the operating room. The doctor can indirectly control the interventional surgical instruments in the operating room by operating the push rod 2 of the control end, such as controlling the linear advancement and / or rotation of the guide wire and catheter.

[0052] Since the push rod 2 itself can rotate infinitely, while the guide wire catheter at the delivery end cannot rotate infinitely in one direction, the present application sets a main moving block 3 that can move linearly on one side of the push rod 2. By converting the rotational motion of the push rod 2 into the linear motion of the main moving block 3, and setting two limiting parts on both sides of the main moving block 3, the number of rotations of the push rod 2 can be limited, so that the number of rotations of the push rod 2 can be the same as the number of rotations of the interventional surgical instrument at the delivery end. When the main moving block 3 moves to the position of the corresponding limiting part, the push rod 2 cannot continue to rotate. By mechanically limiting the push rod 2, the operator can more intuitively feel the state of the delivery end when the rotation of the interventional surgical instrument (such as a guide wire or catheter) reaches the limit. At the same time, one of the two limiting parts is designed as a movable limiting part 42, which can perform corresponding stroke restrictions according to the diameter of different interventional surgical instruments (such as different wire diameters of guide wires or catheters), so that the number of rotations of the push rod 2 is the same as the number of rotations of the current interventional surgical instrument, and the versatility is stronger.

[0053] In a specific implementation, in order to facilitate the conversion of the rotational motion of the push rod 2 into the linear motion of the main moving block 3, refer to Figure 1 and Figure 2 The main moving block 3 is a nut structure and is sleeved on the first lead screw 5. The bottom of the main moving block 3 is slidably connected to the first guide rail 11 provided on the base plate 1 through the first slider 33, and can move linearly along the first guide rail 11; the push rod 2 is connected to the first lead screw 5 through the transmission structure, and can drive the first lead screw 5 to rotate.

[0054] The axes of the first lead screw 5 and the first guide rail 11 are parallel to the axis direction of the push rod 2. The first lead screw 5 is located directly above the first guide rail 11. A first lead screw support 51 is fixed on the bottom plate 1, and one end of the first lead screw 5 can rotatably pass through the first lead screw support 51. The fixed limiter 41 can be directly fixed to the side of the first lead screw support 51 facing the main moving block 3, or fixed to the first lead screw 5 and close to the first lead screw support 51, or directly fixed to the bottom plate 1, as long as the position is fixed relative to the bottom plate 1.

[0055] Generally, for the convenience of processing and installation, the main moving block 3 includes a first nut 31 and a first nut seat 32 which are coaxially fixed. The first nut 31 and the first nut seat 32 are both sleeved on the first lead screw 5. The first nut 31 is threadedly matched with the first lead screw 5, and the bottom of the first nut seat 32 is fixedly connected to the first slider 33. The first nut 31 and the first nut seat 32, and the first nut seat 32 and the first slider 33 can be connected by fasteners (such as screws).

[0056] The transmission structure may include, for example, a meshing first gear 21 and a second gear 52. The first gear 21 is sleeved on the push rod 2. The push rod 2 can slide axially relative to the first gear 21 and can be circumferentially fixed to the first gear 21. When the push rod 2 moves axially, it will not drive the first gear 21 to move axially, and the axial position of the first gear 21 remains unchanged. When the push rod 2 rotates, it can drive the first gear 21 to rotate synchronously. The second gear 52 is coaxially fixed at one end of the first lead screw 5.

[0057] In addition to gear transmission, the transmission structure may also adopt a synchronous pulley structure, through a driving wheel and a driven wheel in conjunction with a belt; or any other transmission structure that can transmit motion between the push rod 2 and the first screw 5 may be adopted.

[0058] Of course, the transmission assembly between the entire push rod 2 and the main moving block 3 is not limited to the above-mentioned screw nut structure and transmission structure. Other transmission forms can also be adopted. For example, the linear movement of the main moving block 3 can be achieved through a synchronous pulley structure (the main moving block 3 is fixedly connected to the corresponding belt), and then the corresponding gear structure is used to realize the transmission between the push rod 2 and the driving wheel of the synchronous pulley structure; for another example, the linear movement of the main moving block 3 can be achieved through a gear rack structure (the main moving block 3 is fixedly connected to the corresponding rack), and then the corresponding gear structure is used to realize the transmission between the push rod 2 and the gear in the gear rack structure; this embodiment is only for example.

[0059] Further, see Figure 1 and Figure 2 In order to facilitate the movement of the movable limiting part 42, the driving mechanism includes an adjusting movable block 6 and a first motor 72. The adjusting movable block 6 is a nut structure and is sleeved on the second lead screw 7. The movable limiting part 42 is fixed on the adjusting movable block 6; the bottom of the adjusting movable block 6 is connected to the second guide rail 12 provided on the base plate 1 through the second slider 63, and can move linearly along the second guide rail 12; the output shaft of the first motor 72 is connected to one end of the second lead screw 7, and can drive the second lead screw 7 to rotate.

[0060] The axes of the second lead screw 7 and the second guide rail 12 are also parallel to the axis direction of the push rod 2. The second lead screw 7 is located directly above the second guide rail 12. A second lead screw support 71 is fixed on the base plate 1. One end of the second lead screw 7 can rotatably pass through the second lead screw support 71 and is connected to the first motor 72. A first motor seat 73 is also fixed on the base plate 1, and the housing of the first motor 72 is fixed on the first motor seat 73. Similar to the above-mentioned main moving block 3, in order to facilitate processing and installation, the adjustment moving block 6 includes a coaxially fixed second nut 61 and a second nut seat 62. The second nut 61 and the second nut seat 62 are both sleeved on the second lead screw 7. The second nut 61 is threadedly matched with the second lead screw 7. The bottom of the second nut seat 62 is fixed to the second slider 63, and the movable limit portion 42 is fixed on the side of the second nut seat 62 facing the first lead screw 5.

[0061] Of course, the driving mechanism is not limited to the form of the lead screw nut and the first motor 72, and other transmission drive structures can also be used as long as they can drive the movable limit part 42 to move linearly. For example, the linear movement of the movable limit part 42 can be achieved by a synchronous pulley structure (the movable limit part 42 is fixedly connected to the corresponding belt), and then the motor drives the driving wheel of the synchronous pulley structure to rotate; for another example, the linear movement of the movable limit part 42 can be achieved by a gear rack structure (the movable limit part 42 is fixedly connected to the corresponding rack), and then the motor drives the gear in the gear rack structure to rotate; for another example, the electric cylinder structure can be directly used, and the telescopic rod of the electric cylinder is directly connected to the movable limit part 42; this embodiment is only for illustrative purposes.

[0062] In actual application, the rotation and / or translation of the push rod 2 is manually operated by the operator, and the movement of the movable limiter 42 is controlled by the corresponding control device in the interventional surgery robot. Figure 1 A first photoelectric sensor 13 is provided on the bottom plate 1 , and a first photoelectric sensor baffle 64 is connected to the movable limiting portion 42 . The first photoelectric sensor baffle 64 can contact the first photoelectric sensor 13 when the movable limiting portion 42 moves to a preset limit position away from the fixed limiting portion 41 .

[0063] by Figure 1 For example, when the first gear 21 rotates, the second gear 52 and the first lead screw 5 rotate, thereby driving the main moving block 3 to move linearly along the first guide rail 11. A fixed stopper 41 for the main moving block 3 is provided on the side of the first lead screw support 51, which serves as the maximum distance stopper when the main moving block 3 moves toward the second gear 52.

[0064] The limit on the other side of the main moving block 3 is a movable limit, that is, a movable limit part 42 (a block structure may be adopted), which serves as the farthest distance limit when the main moving block 3 moves away from the second gear 52. The movable limit part 42 is fixed on the adjustment moving block 6. When the control end receives the wire diameter signal of the guide wire or catheter installed at the delivery end, the first motor 72 can drive the second lead screw 7 to rotate according to the wire diameter. Then, the movable limit part 42 starts to move linearly to the right (i.e., moves linearly in the direction close to the main moving block 3) from the zero position triggered by the first photoelectric sensor 13 and the first photoelectric sensor baffle 64, thereby limiting the stroke of the main moving block 3. The distance between the movable limit part 42 at the zero position and the main moving block 3 at the right limit is a fixed value and is known.

[0065] When the interventional surgical instrument at the delivery end is replaced and the diameter specification changes, the position of the movable limiter 42 needs to be readjusted. Each time the adjustment is made, the movable limiter 42 needs to be moved to the zero position by the driving mechanism first, and then the movable limiter 42 needs to be driven to move for adjustment to ensure accuracy. The moving distance of the movable limiter 42 after leaving the zero position can be achieved by controlling the number of rotations of the first motor 72.

[0066] As required, a second photoelectric sensor 14 may be provided on the bottom plate 1, and a second photoelectric sensor baffle 34 may be provided on the main moving block 3. The second photoelectric sensor baffle 34 may contact the second photoelectric sensor 14 when the main moving block 3 abuts against the fixed stop portion 41. Generally, the first photoelectric sensor baffle 64 and the second photoelectric sensor baffle 34 are fixed on the corresponding side surfaces of the second nut seat 62 and the first nut seat 32, respectively.

[0067] When the main moving block 3 reaches the fixed limit portion 41, the second photoelectric sensor baffle 34 fixed on the main moving block 3 reaches the position of the second photoelectric sensor 14, and the second photoelectric sensor 14 generates a position signal so that the machine itself knows that the main moving block 3 reaches the right limit.

[0068] A third photoelectric sensor baffle can also be set on the main moving block 3. The movable limit part 42 is connected to a third photoelectric sensor that can move synchronously with the movable limit part 42. The third photoelectric sensor baffle can contact the third photoelectric sensor when the main moving block 3 is against the movable limit part 42. The third photoelectric sensor will generate a position signal so that the machine itself knows that the main moving block 3 has reached the left limit.

[0069] In an optional embodiment, a vibrator or an alarm may also be provided. When the second photoelectric sensor 14 generates a position signal or the third photoelectric sensor generates a position signal, the control device can control the vibrator or the alarm to vibrate or sound a prompt to generate some passive prompts to assist in reminding the operator that the limit position has been reached.

[0070] In addition to using the above-mentioned photoelectric sensor method to detect the motion of the movable limit part 42 and the main moving block 3, in other embodiments, a first sensor is provided on the base plate 1 for real-time detection of the moving stroke of the movable limit part 42 to facilitate moving it to a specified position; a second sensor is provided on the base plate 1 for real-time detection of the moving stroke of the main moving block 3 to facilitate detection of whether the main moving block 3 has reached the left limit or the right limit.

[0071] The first sensor and the second sensor here can adopt any sensor that can detect the motion stroke in real time, for example, a magnetic scale with an absolute value can be adopted. Taking the first sensor adopting a magnetic scale as an example, the magnetic scale includes a magnetic scale and a magnetic head. When installing, the magnetic scale can be fixed on the second guide rail 12 or the bottom plate 1 along the moving direction of the movable limit part 42. The magnetic head is connected to the movable limit part 42 through a mounting member (specifically, it can be fixed on the second nut seat 62 or the second slider 63 through a mounting member). The magnetic head can contact the magnetic scale and move with the movable limit part 42, thereby detecting the moving distance of the movable limit part 42 in real time. The specific structure and detection principle of the magnetic scale are existing technologies and will not be repeated here.

[0072] Furthermore, the driving mechanism can adjust the distance between the movable limiting part 42 and the fixed limiting part 41 to a preset actual distance according to the diameter of the interventional surgical instrument at the delivery end, and the actual initial position of the main moving block 3 is the position at the midpoint of the corresponding preset actual distance.

[0073] Since the operator may rotate the push rod 2 clockwise or counterclockwise during actual operation, in order to adapt to the possibility of these two rotation directions, the actual initial position of the main moving block 3 should be located at the middle position of the movable actual stroke, that is, the position corresponding to the midpoint of the preset actual distance. It can be understood that the preset actual distance = the movable actual stroke of the main moving block 3 + the length of the main moving block 3 along the straight moving direction, and half of the movable actual stroke should enable the push rod 2 to rotate in one direction The number of circles is the same as the number of circles that the interventional surgical instrument at the delivery end can rotate.

[0074] When the main moving block 3 reaches the left limit or the right limit, it needs to be reset, and in this application, manual reset or automatic reset can be performed.

[0075] When performing manual reset, the main moving block 3 can be reset by manually rotating the push rod 2. In this case, in order to better determine whether the main moving block 3 has moved to the actual initial position, corresponding detection and vibration or sound prompts can also be set to remind the operator when the manual reset is in place.

[0076] When automatic resetting is performed, the control end rotation limit structure further includes a resetting structure 8 for driving the main moving block 3 to move to the actual initial position. Specifically, the following two resetting structures 8 can be used:

[0077] In one embodiment, referring to Figure 1 The reset structure 8 includes a second motor 81 and a third gear 83 fixed on the output shaft of the second motor 81 , and the third gear 83 can mesh with the second gear 52 .

[0078] The first gear 21 and the third gear 83 are respectively located on both sides of the second gear 52 . The output shaft of the second motor 81 is parallel to the axial direction of the push rod 2 . A second motor base 82 is also fixed on the base plate 1 , and the housing of the second motor 81 is fixed on the second motor base 82 .

[0079] In this embodiment, when the operator rotates the push rod 2 to drive the first gear 21 and the second gear 52 to rotate, the third gear 83 will also be driven to rotate, and the second motor 81 will idle at this time. When the main moving block 3 reaches the left limit or the right limit (i.e., reaches the active limit portion 42 or the fixed limit portion 41), the first lead screw 5 can be driven by the second motor 81 to reset. The second motor 81 calculates the movable actual stroke of the main moving block 3 according to the distance moved to the right by the active limit portion 42 and the known distance at zero position, and then drives the third gear 83 to rotate. The third gear 83 is engaged with the second gear 52, and then drives the main moving block 3 to move half of the movable actual stroke to the right or left, so that the main moving block 3 is in the middle position of the movable actual stroke. Because the first gear 21 is engaged with the second gear 52, when the main moving block 3 performs the reset action, the first gear 21 drives the push rod 2 to rotate, and then sends a signal to reset the mechanical structure of the delivery end controlling the rotational motion of the guide wire or guide rail.

[0080] In another embodiment, referring to Figure 5 and Figure 6 The reset structure 8 includes a screw-end magnetic coupling 86, a motor-end magnetic coupling 87 and a third motor 84. The output shaft of the third motor 84 is coaxially arranged with the first screw 5. The screw-end magnetic coupling 86 is arranged at one end of the first screw 5, and the motor-end magnetic coupling 87 is arranged at the end of the output shaft of the third motor 84. The screw-end magnetic coupling 86 and the motor-end magnetic coupling 87 can be attracted when powered on.

[0081] A third motor base 85 is also fixedly disposed on the base plate 1 , and a housing of the third motor 84 is fixed on the third motor base 85 .

[0082] Reference Figure 5, the third motor 84 is installed concentrically with the input end of the first lead screw 5, the input end of the first lead screw 5 is connected to the lead screw end magnetic coupling 86, and the input shaft of the third motor 84 is connected to the motor end magnetic coupling 87. The interior of the motor end magnetic coupling 87 is an electromagnet, which is non-magnetic in the power-off state and magnetic when powered on; the interior of the lead screw end magnetic coupling 86 is a permanent magnet. When the motor end magnetic coupling 87 is powered off, there is no force between the two relative magnetic couplings. When the push rod 2 rotates, it will not rotate with the third motor 84 at the same time, which can effectively reduce the resistance inside the structure. When resetting is required, the motor end magnetic coupling 87 is powered on. At this time, the rotation of the third motor 84 will drive the first lead screw 5 to rotate at the same time, achieving the purpose of resetting.

[0083] Of course, other reset structures 8 may also be used to achieve automatic reset, and this embodiment is only for illustration.

[0084] Further, see Figure 1 and Figure 3 A bearing seat 15 is also provided on the base plate 1, and a gear fixing sleeve 22 is sleeved on the outside of the push rod 2 so as to be relatively axially slidable and circumferentially fixed. The first gear 21 is sleeved on the push rod 2 and fixed to the end of the gear fixing sleeve 22. The gear fixing sleeve 22 is inserted into the mounting hole of the bearing seat 15 and is connected to the bearing seat 15 through a bearing 16 so as to be axially fixed and circumferentially rotatable.

[0085] Specifically, the bearing seat 15 can be fixed to the surface of the bottom plate 1 by screws, the push rod 2 is concentric with the inner circular hole of the gear fixing sleeve 22, and the first gear 21 can be fixed to the end surface of the gear fixing sleeve 22 by screws. The number of bearings 16 can be two, and two plug holes with increased apertures are formed at both ends of the mounting hole. The two bearings 16 are inserted through the two plug holes, and axial positioning is performed by the bearing block 17 (blocking ring) and the bearing block ring 18 (opening ring) in conjunction with the step on the gear fixing sleeve 22, thereby realizing the circumferential rotation and axial fixation between the gear fixing sleeve 22 and the bearing seat 15.

[0086] A limiting column 221 is inserted in the radial direction of the gear fixing sleeve 22, and the limiting column 221 can be fixed to one side of the gear fixing sleeve 22 by screws; a long strip-shaped slot 23 extending along its axial direction is provided on the outer wall of the push rod 2, and the end of the limiting column 221 can be slidably inserted in the slot 23, so that the push rod 2 can smoothly move in the axial direction (at this time, the gear fixing sleeve 22 and the first gear 21 maintain an axial position relative to the bearing seat 15 and do not rotate). When the push rod 2 rotates, the first gear 21 will be driven to rotate due to the existence of the limiting column 221 (at this time, the gear fixing sleeve 22 and the first gear 21 are rotating but maintain an axial position relative to the support bearing seat 15).

[0087] The bottom plate 1 mentioned above can be, for example, a rectangular plate. The bottom plate 1 is provided with threaded holes and round holes. The structural parts close to the bottom plate 1 can be installed on the surface of the bottom plate 1 by screws.

[0088] The above-mentioned control end rotation limit structure constitutes a part of the control end, and the control end generally also includes a motion feedback part, which is connected to the push rod 2 and is used to convert the rotational motion and / or translational linear motion of the push rod 2 into electrical signals and transmit them to the control device.

[0089] Reference Figures 1 to 3 A mounting box 9 is provided on the outer sleeve of the push rod 2. The push rod 2 is axially fixed to the mounting box 9 and can be rotatably connected to the mounting box 9. The mounting box 9 can be slidably connected to the first guide rail 11 through a third slider 91. When the push rod 2 moves linearly, it can drive the mounting box 9 to move together. The motion feedback part is arranged in the mounting box 9, which is mainly used to convert the propulsion and rotation actions of the push rod 2 into signals. Specifically, any existing method can be adopted. For example, the operating lever motion feedback part disclosed in the patent with authorization announcement number CN117814924B and name of the doctor control end structure of the vascular intervention surgery robot can be adopted, and it can be realized by using a magnetic encoder.

[0090] Furthermore, the present application also provides a method for synchronously rotating a control terminal and a delivery terminal, comprising:

[0091] A main moving block 3 capable of linearly moving along the axial direction of the push rod 2 is provided on one side of the push rod 2 at the control end, and a fixed limiting portion 41 and a movable limiting portion 42 are respectively provided on both sides of the moving direction of the main moving block 3;

[0092] The position of the movable limiting portion 42 is adjusted to a preset position according to the diameter of the interventional surgical instrument at the delivery end, so that the distance between the movable limiting portion 42 and the fixed limiting portion 41 is a preset actual distance;

[0093] Acquire motion data of the push rod 2, the motion data including rotational motion data of the push rod 2, and the motion data also including axial motion data of the push rod 2;

[0094] Generate action instructions for the interventional surgical instrument according to the motion data of the push rod 2 to control the interventional surgical instrument to perform corresponding actions;

[0095] Among them, the push rod 2 can drive the main moving block 3 to move linearly when rotating. When the main moving block 3 abuts against the fixed limit portion 41 or the movable limit portion 42, the interventional surgical instrument reaches the rotation limit position in one direction, and the number of rotations of the push rod 2 is the same as the number of rotations of the interventional surgical instrument.

[0096] This method can limit the number of rotations of the push rod 2 by converting the rotational motion of the push rod 2 into the linear motion of the main moving block 3 and setting two limit parts. When the main moving block 3 moves to the position of the corresponding limit part, the push rod 2 cannot continue to rotate, and the operator can more intuitively feel the state of the delivery end when the rotating interventional surgical instrument reaches the limit. At the same time, one of the two limit parts is designed as a movable limit part 42, which can perform corresponding stroke restrictions according to the diameter of different interventional surgical instruments, so that the number of rotations of the push rod 2 is the same as the number of rotations of the current interventional surgical instrument, and the versatility is stronger.

[0097] Furthermore, after adjusting the position of the movable limiter 42 to the preset position, the position of the main moving block 3 needs to be moved to the midpoint of the preset actual distance so that the main moving block 3 is located at the actual initial position; then the push rod 2 is operated to move and the movement data of the push rod 2 is obtained. At this time, the distance between the main moving block 3 and the fixed limiter 41 and the movable limiter 42 is equal to half of the actual movable stroke of the main moving block 3. The actual movable stroke should meet the number of rotations of the push rod 2 and the number of rotations of the interventional surgical instrument when the main moving block 3 reaches the stroke limit in one direction.

[0098] In practical application, the control end includes the above-mentioned control end rotation limiting structure. The specific working principle and effect have been described in detail above and will not be repeated here.

[0099] The above are only exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A control end rotation limiting structure for an interventional surgical robot, characterized in that: The control end rotation limiting structure comprises: Base plate; A push rod is rotatably and axially movable on the bottom plate; The main moving block is arranged on the bottom plate and can move back and forth linearly along the axis direction parallel to the push rod; the push rod is connected to the main moving block through a transmission assembly, and the rotational movement of the push rod can be converted into linear movement of the main moving block through the transmission assembly; fixed limiting parts and movable limiting parts are arranged on both sides of the moving direction of the main moving block, the fixed limiting parts are fixed in position relative to the bottom plate, and the movable limiting parts can move back and forth relative to the bottom plate along the axis direction of the push rod; The driving mechanism is connected to the movable limiting part and can drive the movable limiting part to move linearly to adjust the distance between the movable limiting part and the fixed limiting part, thereby limiting the number of rotations of the push rod.

2. The control end rotation limiting structure according to claim 1, characterized in that: The main moving block is a nut structure and is sleeved on the first lead screw. The bottom of the main moving block is slidably connected to the first guide rail arranged on the bottom plate through the first slider and can move linearly along the first guide rail; the push rod is connected to the first lead screw through the transmission structure and can drive the first lead screw to rotate.

3. The control end rotation limiting structure according to claim 2, characterized in that: The transmission structure comprises a first gear and a second gear meshing with each other, the first gear is sleeved on the push rod, the push rod can slide axially relative to the first gear and can be fixed circumferentially with the first gear; The second gear is coaxially fixed to one end of the first lead screw.

4. The control end rotation limiting structure according to claim 1, characterized in that: The driving mechanism includes an adjusting moving block and a first motor, the adjusting moving block is a nut structure and is sleeved on the second lead screw, and the movable limiting part is fixed on the adjusting moving block; the bottom of the adjusting moving block is connected to the second guide rail provided on the bottom plate through the second slider, and can move linearly along the second guide rail; the output shaft of the first motor is connected to one end of the second lead screw, and can drive the second lead screw to rotate.

5. The control end rotation limiting structure according to claim 1, characterized in that: A first photoelectric sensor and a second photoelectric sensor are provided on the bottom plate; The movable limiting portion is connected to a first photoelectric sensor baffle, which can contact the first photoelectric sensor when the movable limiting portion moves to a preset limit position away from the fixed limiting portion; a second photoelectric sensor baffle is provided on the main moving block, which can contact the second photoelectric sensor when the main moving block abuts against the fixed limiting portion.

6. The control end rotation limiting structure according to claim 1, characterized in that: A first sensor and a second sensor are provided on the bottom plate, respectively used for detecting the moving strokes of the movable limit block and the main moving block in real time.

7. The control end rotation limiting structure according to claim 1, characterized in that: The driving mechanism can adjust the distance between the movable limiting part and the fixed limiting part to a preset actual distance according to the diameter of the interventional surgical instrument at the delivery end, and the actual initial position of the main moving block is the position corresponding to the midpoint of the preset actual distance.

8. The control end rotation limiting structure according to claim 7, characterized in that: The control end rotation limiting structure also includes a reset structure for driving the main moving block to move to an actual initial position.

9. The control end rotation limiting structure according to claim 3, characterized in that: The control end rotation limiting structure also includes a reset structure, which includes a second motor and a third gear fixed on the output shaft of the second motor, and the third gear can mesh with the second gear.

10. The control end rotation limiting structure according to claim 2, characterized in that: The control end rotation limit structure also includes a reset structure, which includes a screw end magnetic coupling, a motor end magnetic coupling and a third motor. The output shaft of the third motor is coaxially arranged with the first screw. The screw end magnetic coupling is arranged at one end of the first screw, and the motor end magnetic coupling is arranged at the end of the output shaft of the third motor. The screw end magnetic coupling and the motor end magnetic coupling can be attracted when powered on.

11. A method for synchronously rotating a control end and a delivery end, characterized in that: include: A main moving block capable of linearly moving along the axial direction of the push rod is provided on one side of the push rod at the control end, and a fixed limiting portion and a movable limiting portion are respectively provided on both sides of the moving direction of the main moving block; Adjusting the position of the movable limiting portion to a preset position according to the diameter of the interventional surgical instrument at the delivery end; Acquiring motion data of the push rod, wherein the motion data includes rotational motion data of the push rod; generating an action instruction of the interventional surgical instrument according to the motion data of the push rod to control the interventional surgical instrument to perform corresponding actions; Among them, the push rod can drive the main moving block to move linearly when rotating. When the main moving block abuts against the fixed limiting portion or the movable limiting portion, the interventional surgical instrument reaches the rotation limit position in one direction, and the number of rotations of the push rod is the same as the number of rotations of the interventional surgical instrument.

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