Control end rotation limiting structure and method for synchronously controlling rotation of control end and delivery end

Abstract

The application discloses a control end rotation limiting structure and a method for synchronously controlling rotation of a control end and a delivery end, wherein the control end rotation limiting structure comprises a bottom plate, a push rod, a main moving block which is arranged on the bottom plate and can linearly move back and forth, the push rod is connected with the main moving block through a transmission assembly, fixed limiting parts and movable limiting parts are arranged on both sides of the moving direction of the main moving block, a driving mechanism is connected with the movable limiting parts and can drive the movable limiting parts to linearly move so as to adjust the distance between the movable limiting parts and the fixed limiting parts, and then the rotatable number of the push rod is limited. The application can make the operator of the control end more intuitively feel the state of the delivery end when the rotation intervention surgical instrument reaches the limiting position, and can also limit the stroke according to the diameters of different intervention surgical instruments, so that the push rod for controlling the intervention surgical instrument is always one-to-one corresponding to the rotatable number of the delivery end.

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 major threats to people's health. Minimally invasive interventional surgery, due to its advantages of precision, speed, and minimal trauma, has gradually become one of the main means of treating cardiovascular disease. However, vascular interventional surgery requires the assistance of X-rays, and the surgeon must be exposed to X-rays for a long time. To alleviate the working environment of interventional surgeons, engineering has developed vascular interventional robots to replace doctors in performing minimally invasive interventional surgery. Doctors control the vascular interventional surgery robot through remote or remote control to complete vascular interventional surgery in an X-ray-free environment.

[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 know 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 base plate;

[0009] The main moving block is arranged on the base plate and can move back and forth linearly in a direction parallel to the axis of the push rod; the push rod is connected to the main moving block through a transmission assembly, and the transmission assembly can convert the rotational motion of the push rod into linear motion of the main moving block; fixed limiting parts and movable limiting parts are provided on both sides of the moving direction of the main moving block, the fixed limiting part is fixed in position relative to the base plate, and the movable limiting part can move back and forth relative to the base plate along the axis 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 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 screw through the transmission structure and can drive the first 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 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 base 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.

[0014] In a preferred embodiment of the present invention, a first photoelectric sensor and a second photoelectric sensor are provided on the base 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, respectively for detecting the movement stroke of the movable limit portion 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 at the midpoint of the corresponding 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 limiting 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 arranged coaxially 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, 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 terminal and a delivery terminal, comprising:

[0021] 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;

[0022] 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;

[0023] Acquiring motion data of the putter, the motion data including rotational motion data of the putter;

[0024] Generate motion instructions for the interventional surgical instrument based on 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 provides a main moving block capable of linear movement on one side of the push rod. By converting the rotational motion of the push rod into linear movement of the main moving block and providing two limiting portions 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 limiting portion, 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 limiting portions is designed as a movable limiting portion, 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 has greater versatility. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0028] Figure 1 : A schematic structural diagram of the control end rotation limiting structure provided by the present invention.

[0029] Figure 2 :for Figure 1 Schematic top view of .

[0030] Figure 3 :for Figure 2 Partial cross-sectional view along AA.

[0031] Figure 4 :for Figure 2 Cross-sectional view along BB.

[0032] Figure 5 : Another structural schematic diagram of the control end rotation limiting structure provided by the present invention.

[0033] Figure 6 :for Figure 5 Schematic top view of .

[0034] Description of Figure Numbers:

[0035] 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 retaining ring;

[0036] 2. Push rod; 21. First gear; 22. Gear fixing sleeve; 221. Limiting column; 23. Slot;

[0037] 3. Main moving block; 31. First nut; 32. First nut seat; 33. First slider; 34. Second photoelectric sensor baffle;

[0038] 41. Fixed limiting portion; 42. Movable limiting portion;

[0039] 5. First screw; 51. First screw support; 52. Second gear;

[0040] 6. Adjusting movable block; 61. Second nut; 62. Second nut seat; 63. Second slider; 64. First photoelectric sensor baffle;

[0041] 7. Second lead screw; 71. Second lead screw support; 72. First motor; 73. First motor base;

[0042] 8. Reset structure; 81. Second motor; 82. Second motor base; 83. Third gear; 84. Third motor; 85. Third motor base; 86. Screw end magnetic coupling; 87. Motor end magnetic coupling;

[0043] 9. Installation box; 91. Third slider. DETAILED DESCRIPTION

[0044] 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.

[0045] 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:

[0046] Base plate 1;

[0047] The push rod 2 is rotatably and axially movable on the base plate 1;

[0048] The main moving block 3 is arranged on the base plate 1 so as to be able to move back and forth linearly in a direction parallel to the axis of the push rod 2. The push rod 2 is connected to the main moving block 3 through a transmission assembly, and the transmission assembly can convert the rotational motion of the push rod 2 into linear motion of the main moving block 3. A fixed limit portion 41 and a movable limit portion 42 are provided on both sides of the moving direction of the main moving block 3. The fixed limit portion 41 is fixed in position relative to the base plate 1, and the movable limit portion 42 can move back and forth relative to the base plate 1 along the axis of the push rod 2.

[0049] 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.

[0050] As can be understood, the interventional surgical robot includes a control terminal and a delivery terminal. The delivery terminal is located within the operating room and is used to deliver interventional surgical instruments, such as guidewires or catheters. The delivery terminal receives action signals from the control terminal to complete the delivery of the surgical instruments. The control terminal is located outside the operating room. The surgeon can indirectly control the interventional surgical instruments within the operating room by operating the push rod 2 of the control terminal, such as controlling the linear advancement and / or rotation of the guidewire or catheter.

[0051] Because the push rod 2 itself is infinitely rotatable, while the guidewire catheter at the delivery end cannot rotate infinitely in a single direction, the present application provides a main movable block 3 capable of linear movement on one side of the push rod 2. By converting the rotational motion of the push rod 2 into linear motion of the main movable block 3 and providing two limiting portions on either side of the main movable 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 is the same as the number of rotations of the interventional surgical instrument at the delivery end. When the main movable block 3 moves to the position of the corresponding limiting portion, the push rod 2 cannot rotate further. By mechanically limiting the push rod 2, the operator can more intuitively sense the state of the delivery end when the interventional surgical instrument (such as a guidewire or catheter) is rotated to the limit. At the same time, one of the two limiting portions is designed as a movable limiting portion 42, which can be used to limit the travel of the interventional surgical instrument according to its diameter (such as the diameter of the guidewire or catheter), so that the number of rotations of the push rod 2 is the same as that of the current interventional surgical instrument, thereby enhancing versatility.

[0052] 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 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 screw 5 through the transmission structure, and can drive the first screw 5 to rotate.

[0053] The axes of the first lead screw 5 and the first guide rail 11 are both parallel to the axis 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 to the base 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 it can be fixed to the first lead screw 5 near the first lead screw support 51, or it can be directly fixed to the base plate 1, as long as the position relative to the base plate 1 is fixed.

[0054] Generally, to facilitate processing and installation, the main moving block 3 includes a first nut 31 and a first nut seat 32 that are coaxially fixed. Both the first nut 31 and the first nut seat 32 are sleeved on the first lead screw 5. The first nut 31 is threadedly engaged 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, as well as the first nut seat 32 and the first slider 33, can be connected by fasteners (e.g., screws).

[0055] 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 is circumferentially fixed to the first gear 21. Axial movement of the push rod 2 does not cause axial movement of the first gear 21, and the axial position of the first gear 21 remains fixed. Rotation of the push rod 2 can cause synchronous rotation of the first gear 21. The second gear 52 is coaxially fixed to one end of the first lead screw 5.

[0056] In addition to gear transmission, the transmission structure can also adopt a synchronous pulley structure, through the driving wheel and the driven wheel in conjunction with the belt; or any other transmission structure that can transmit motion between the push rod 2 and the first screw 5 can also be used.

[0057] 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 combined with the 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 also 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 illustration.

[0058] Further, refer to 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.

[0059] 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 engaged with the second lead screw 7. The bottom of the second nut seat 62 is fixed to the second slider 63. The movable limiting portion 42 is fixed on the side of the second nut seat 62 facing the first lead screw 5.

[0060] Of course, the drive mechanism is not limited to the form of a screw nut and a first motor 72. Other transmission drive structures can also be used as long as they can drive the movable limiter 42 to move linearly. For example, the linear movement of the movable limiter 42 can be achieved by a synchronous pulley structure (the movable limiter 42 is fixedly connected to a corresponding belt), and then the motor drives the driving pulley of the synchronous pulley structure to rotate. For another example, the linear movement of the movable limiter 42 can be achieved by a gear rack structure (the movable limiter 42 is fixedly connected to a corresponding rack), and then the motor drives the gears in the gear rack structure to rotate. For another example, an electric cylinder structure can be directly used, and the telescopic rod of the electric cylinder is directly connected to the movable limiter 42. This embodiment is for illustrative purposes only.

[0061] 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 surgical robot. In order to facilitate more accurate movement adjustment of the position of the movable limiter 42, refer to Figure 1 A first photoelectric sensor 13 is provided on the base plate 1, and the movable limiting portion 42 is connected to a first photoelectric sensor baffle 64. 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.

[0062] by Figure 1 For example, when the first gear 21 rotates, it rotates the second gear 52 and the first lead screw 5, thereby driving the main moving block 3 to move linearly along the first guide rail 11. A fixed stop 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 limit for the main moving block 3 when moving toward the second gear 52.

[0063] The limit on the other side of the main moving block 3 is a movable limit, that is, a movable limit part 42 (which can adopt a block structure), which serves as the maximum distance limit when the main moving block 3 moves in the direction 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 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.

[0064] When the interventional surgical instrument at the delivery end is replaced and its diameter changes, the position of the movable stopper 42 needs to be readjusted. Each time, the movable stopper 42 is first moved to the zero position using the drive mechanism, and then the movable stopper 42 is driven to move and adjust to ensure accuracy. The distance the movable stopper 42 moves after leaving the zero position can be controlled by controlling the number of rotations of the first motor 72.

[0065] If necessary, a second photoelectric sensor 14 may be provided on the base plate 1, and a second photoelectric sensor block 34 may be provided on the main movable block 3. The second photoelectric sensor block 34 can contact the second photoelectric sensor 14 when the main movable block 3 abuts against the fixed stop 41. Generally, the first photoelectric sensor block 64 and the second photoelectric sensor block 34 are fixed to corresponding side surfaces of the second nut seat 62 and the first nut seat 32, respectively.

[0066] 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 at the same time, and the second photoelectric sensor 14 generates a position signal so that the machine itself knows that the main moving block 3 has reached the right limit.

[0067] 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.

[0068] 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.

[0069] In addition to using the above-mentioned photoelectric sensor 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 detecting the moving stroke of the movable limit part 42 in real time, so as to facilitate moving it to the specified position; a second sensor is provided on the base plate 1 for detecting the moving stroke of the main moving block 3 in real time, so as to facilitate detecting whether the main moving block 3 has reached the left limit or the right limit.

[0070] The first and second sensors herein can be any sensor capable of detecting movement distance in real time, such as an absolute magnetic scale. For example, the first sensor employs a magnetic scale, which comprises a scale and a magnetic head. During installation, the scale can be fixed to the second guide rail 12 or the base plate 1 along the direction of movement of the movable stopper 42. The magnetic head is connected to the movable stopper 42 via a mounting member (specifically, the mounting member can be fixed to the second nut seat 62 or the second slider 63). The magnetic head can contact the scale and follow the movement of the movable stopper 42, thereby detecting the movement distance of the movable stopper 42 in real time. The specific structure and detection principle of the magnetic scale are prior art and will not be elaborated here.

[0071] Furthermore, the driving mechanism can adjust the distance between the movable limit part 42 and the fixed limit 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.

[0072] During actual operation, the operator may rotate the push rod 2 clockwise or counterclockwise. To accommodate these two possible rotation directions, the actual initial position of the main moving block 3 should be located in the middle of the actual movable range, that is, at the midpoint of the preset actual distance. It can be understood that the preset actual distance = the actual movable range of the main moving block 3 + the length of the main moving block 3 along the linear movement direction. Half of the actual movable range should enable the push rod 2 to rotate the same number of times in one direction as the interventional surgical instrument at the delivery end can rotate.

[0073] When the main moving block 3 reaches the left limit or the right limit, it needs to be reset, which can be manually reset or automatically reset in this application.

[0074] When performing a 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.

[0075] When performing automatic reset, the control end rotation limit structure also includes a reset structure 8 for driving the main moving block 3 to move to the actual initial position. Specifically, the following two reset structures 8 can be used:

[0076] 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 . The third gear 83 can mesh with the second gear 52 .

[0077] 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.

[0078] In this embodiment, when the operator rotates the push rod 2, which drives the first gear 21 and the second gear 52, it also drives the third gear 83, causing the second motor 81 to idle. When the main movable block 3 reaches the left or right limit (i.e., reaches the movable limit portion 42 or the fixed limit portion 41), the second motor 81 can drive the first lead screw 5 to reset. The second motor 81 calculates the actual movable range of the main movable block 3 based on the rightward movement of the movable limit portion 42 and the known distance at the zero position. The second motor 81 then drives the third gear 83 to rotate. The third gear 83 engages with the second gear 52, driving the main movable block 3 to the right or left by half the actual movable range, placing the main movable block 3 at the middle of the actual movable range. Because the first gear 21 is engaged with the second gear 52, when the main movable block 3 resets, the first gear 21 drives the push rod 2 to rotate, which then sends a signal to reset the mechanical structure at the delivery end that controls the rotational movement of the guidewire or guide rail.

[0079] 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.

[0080] A third motor base 85 is further fixedly provided on the base plate 1 , and a housing of the third motor 84 is fixed on the third motor base 85 .

[0081] Reference Figure 5The 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 when powered off 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 opposing 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.

[0082] Of course, other reset structures 8 may also be used to achieve automatic reset. This embodiment is only an example.

[0083] Further, refer to Figure 1 and Figure 3 A bearing seat 15 is also provided on the base plate 1. A gear fixing sleeve 22 is sleeved on the outside of the push rod 2 so as to be able to slide axially relative to the push rod 2 and be fixed circumferentially. 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 in an axially fixed manner and circumferentially rotatable through a bearing 16.

[0084] Specifically, the bearing seat 15 can be fixed to the surface of the base 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 sockets with increased apertures are formed at both ends of the mounting hole. The two bearings 16 are inserted into the two sockets and axially positioned by the bearing retainer 17 (retaining ring) and the bearing retainer ring 18 (opening ring) in conjunction with the step on the gear fixing sleeve 22, thereby achieving circumferential rotation and axial fixation between the gear fixing sleeve 22 and the bearing seat 15.

[0085] 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 a screw; 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 move smoothly 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, due to the existence of the limiting column 221, the first gear 21 will be driven to rotate (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).

[0086] The base plate 1 may be a rectangular plate, for example. The base plate 1 is provided with threaded holes and round holes. Structural components that are in close contact with the base plate 1 may be mounted on the surface of the base plate 1 by screws.

[0087] 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.

[0088] 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 in the circumferential direction. 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 the name of the doctor control end structure of the vascular interventional surgery robot can be adopted, and it can be realized by using a magnetic encoder.

[0089] Furthermore, the present application also provides a method for synchronously rotating a control terminal and a delivery terminal, comprising:

[0090] A main moving block 3 is provided on one side of the push rod 2 at the control end and can move linearly along the axial direction of the push rod 2. A fixed limiting portion 41 and a movable limiting portion 42 are provided on both sides of the moving direction of the main moving block 3.

[0091] Adjust the position of the movable limiting portion 42 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;

[0092] Acquire motion data of the push rod 2, the motion data including rotational motion data of the push rod 2 and axial motion data of the push rod 2;

[0093] Generate action instructions for the interventional surgical instrument based on the motion data of the push rod 2 to control the interventional surgical instrument to perform corresponding actions;

[0094] Among them, the push rod 2 can drive the main moving block 3 to move in a straight line when rotating. When the main moving block 3 abuts against the fixed limit part 41 or the movable limit part 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.

[0095] This method limits the number of rotations of push rod 2 by converting the rotational motion of push rod 2 into linear motion of main moving block 3 and providing two limiters. When main moving block 3 reaches the position of the corresponding limiter, push rod 2 cannot rotate further, allowing the operator to more intuitively sense the state of the delivery end when the rotation of the interventional surgical instrument reaches the limit. Furthermore, one of the two limiters is designed as a movable limiter 42, which can be used to limit the travel of different interventional surgical instruments according to their diameters. This ensures that the number of rotations of push rod 2 is the same as that of the current interventional surgical instrument, enhancing versatility.

[0096] Furthermore, after adjusting the position of the movable stopper 42 to the preset position, 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 at the actual initial position; then, the push rod 2 can be operated to move and the movement data of the push rod 2 can be obtained. At this time, the distance between the main moving block 3 and the fixed stopper 41 and the movable stopper 42 is equal to half of the actual movable range of the main moving block 3. The actual movable range 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 travel limit in one direction.

[0097] In actual 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.

[0098] The above is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the present invention should 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 includes: base plate; A push rod is rotatably and axially movable on the bottom plate; A main moving block is arranged on the base plate and can move back and forth linearly in a direction parallel to the axis of 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; a fixed limiting portion and a movable limiting portion are provided on both sides of the moving direction of the main moving block, the fixed limiting portion is fixed in position relative to the base plate, and the movable limiting portion can move back and forth relative to the base plate along the axis of the push rod; The driving mechanism is connected to the movable limiting portion and can drive the movable limiting portion to move linearly to adjust the distance between the movable limiting portion and the fixed limiting portion, 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 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 screw through the transmission structure and can drive the first screw to rotate.

3. The control end rotation limiting structure according to claim 2, characterized in that: The transmission structure includes a first gear and a second gear that are meshed with each other, the first gear is sleeved on the push rod, and 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 base 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 limiting portion 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 further 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 further 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 be engaged with the second gear.

10. The control end rotation limiting structure according to claim 2, characterized in that: The control end rotation limiting 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 terminal and a delivery terminal, 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 for the interventional surgical instrument according to the motion data of the push rod to control the interventional surgical instrument to perform corresponding actions; In which, the push rod can drive the main moving block to move linearly when rotating. When the main moving block abuts against the fixed limiting part or the movable limiting 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.

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