Robot control end structure for vascular intervention surgery

Abstract

The application discloses a control end structure of a vascular interventional operation robot, which comprises a positioning member, a first rotating assembly and a second rotating assembly, the first rotating assembly and the second rotating assembly are respectively provided with a first rotating wheel and a second rotating wheel, at least part of a push rod is clamped between the first rotating wheel and the positioning member, and the rotation axis of the first rotating wheel is perpendicular to the extension direction of the push rod, so that the first rotating wheel rotates along with the advancing or retreating action of the push rod; at least part of the push rod is clamped between the second rotating wheel and the positioning member, and the rotation axis of the second rotating wheel is parallel to the extension direction of the push rod, so that the second rotating wheel rotates along with the rotating action of the push rod. The application can accurately collect the moving action and / or rotating action of the push rod, is compatible with soft and hard push rods, can well simulate the operation habit of a surgeon, can greatly reduce the learning cost of the operation of the surgeon, and can improve the success rate of the operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a control terminal structure of a vascular interventional surgery robot. Background Art

[0002] In recent years, cardiovascular and cerebrovascular diseases have gradually become one of the major threats to human health. Minimally invasive interventional surgery, due to its advantages of precision, speed, and minimal trauma, has gradually become a primary treatment for cardiovascular disease. However, vascular interventional surgery requires the assistance of X-rays, requiring surgeons to be exposed to X-rays for long periods of time. This long-term exposure to X-rays can have adverse health effects on surgeons.

[0003] In order to change the working environment of interventional surgeons, a vascular interventional robot has been developed in engineering. The delivery end of the vascular interventional robot is placed in a working environment with X-rays to complete minimally invasive interventional surgery instead of the surgeon. The surgeon controls the control end of the vascular interventional robot through remote operation or remote control outside the operating room. The delivery end of the vascular interventional robot receives the displacement signal sent by the control end of the vascular interventional robot and completes the delivery action of surgical instruments (such as guide wires, catheters, etc.), so that the surgeon can complete vascular interventional surgery in an environment without X-rays.

[0004] Since the surgical instruments (such as guidewires, catheters, etc.) operated by the delivery end of the vascular interventional surgical robot are mostly soft, and the structures on the control end of the vascular interventional surgical robot located outside the operating room that simulate the advance, retreat and / or rotation of the surgical instruments are mostly hard push rods, it is difficult for doctors to get used to operating hard push rods after they get used to operating soft guidewires and catheters. This not only increases the learning cost of doctors when using the control end of the vascular interventional surgical robot, but also increases the risk of medical accidents due to the change in operating feel.

[0005] Therefore, the inventor, relying on years of experience and practice in related industries, proposes a control end structure of a vascular interventional surgery robot to overcome the shortcomings of the existing technology. Summary of the Invention

[0006] The purpose of the present invention is to provide a control end structure of a vascular interventional surgical robot that is compatible with soft and hard push rods. The surgeon can choose the push rod according to his or her habits, thereby being able to well simulate the surgeon's operating habits, thereby minimizing the learning cost of the control end of the vascular interventional surgical robot and improving the success rate of the operation.

[0007] Another object of the present invention is to provide a control end structure of a vascular interventional surgical robot. When the surgeon operates the push rod, the movement and / or rotation movement of the push rod can be accurately collected, and different movements can be converted into corresponding electrical signals (movement signal, rotation signal) to ensure that the delivery end of the vascular interventional surgical robot makes precise movements and improve the success rate of the operation.

[0008] The purpose of the present invention can be achieved by adopting the following scheme:

[0009] The present invention provides a control terminal structure of a vascular interventional surgery robot, the control terminal structure of the vascular interventional surgery robot comprising:

[0010] base plate;

[0011] a push rod having opposing first and second ends;

[0012] a push rod guide assembly, the push rod guide assembly being disposed on the base plate, the first end of the push rod being movably connected to the push rod guide assembly;

[0013] a positioning member, the positioning member being arranged on the bottom plate;

[0014] a first rotating assembly, the first rotating assembly being disposed on the base plate, the first rotating assembly comprising a first rotating wheel, at least a portion of the push rod located between the first end and the second end being clamped between an edge of the first rotating wheel and the positioning member, and a rotating axis of the first rotating wheel being perpendicular to an extension direction of the portion of the push rod located between the first rotating wheel and the positioning member, so that the first rotating wheel rotates in response to the forward or backward movement of the push rod;

[0015] A second rotating component, the second rotating component is arranged on the base plate, the second rotating component has a second rotating wheel, at least part of the push rod located between the first end and the second end is clamped between the edge of the second rotating wheel and the positioning member, and the rotating axis of the second rotating wheel is parallel to the extension direction of the part of the push rod located between the second rotating wheel and the positioning member, so that the second rotating wheel rotates with the rotation of the push rod.

[0016] In a preferred embodiment of the present invention, the push rod is made of soft material.

[0017] In a preferred embodiment of the present invention, the first rotating assembly comprises a first rotating shaft, the first rotating wheel is fixedly sleeved on the first rotating shaft, and a first magnetic block is provided at one end of the first rotating shaft and can rotate along with the first rotating shaft;

[0018] The first rotating assembly further includes a first detecting magnetic encoder, which is disposed close to the first magnetic block to collect rotation data of the first magnetic block.

[0019] In a preferred embodiment of the present invention, the first rotating assembly also has a first mounting bracket, the first mounting bracket includes a lower plate fixed on the base plate and an upper plate located above the lower plate, one side edge of the lower plate is connected to one side edge of the upper plate by a side connecting plate, the first rotating shaft is vertically arranged between the lower plate and the upper plate, and the two ends of the first rotating shaft are rotatably connected to the lower plate and the upper plate respectively, and the edge of the first rotating wheel extends from between the lower plate and the upper plate and abuts against the push rod.

[0020] In a preferred embodiment of the present invention, the first magnetic block is disposed at the top end of the first rotating shaft, and the first detection magnetic encoder is located above the first magnetic block and connected to the upper plate.

[0021] In a preferred embodiment of the present invention, both ends of the first rotating shaft are rotatably connected to the lower plate and the upper plate respectively via first bearings.

[0022] In a preferred embodiment of the present invention, the second rotating assembly has a second rotating shaft, the second rotating wheel is fixedly sleeved on the second rotating shaft, and a second magnetic block that can rotate with the second rotating shaft is provided at one end of the second rotating shaft;

[0023] The second rotating assembly further includes a second detecting magnetic encoder, which is disposed close to the second magnetic block to collect rotation data of the second magnetic block.

[0024] In a preferred embodiment of the present invention, the second rotating assembly also has a second mounting bracket, the second mounting bracket includes a bottom connecting plate fixed to the bottom plate and a first side plate and a second side plate respectively arranged vertically, along the extension direction of the push rod, the second side plate and the first side plate are arranged front and back and are respectively connected to the bottom connecting plate, the second rotating shaft is arranged between the first side plate and the second side plate in the horizontal direction, and the two ends of the second rotating shaft are respectively rotatably connected to the first side plate and the second side plate, and the edge of the second rotating wheel can extend from between the first side plate and the second side plate and resist against the push rod.

[0025] In a preferred embodiment of the present invention, the second magnetic block is disposed on the second side plate, and the second detection magnetic encoder is located on one side of the second magnetic block and connected to the second side plate.

[0026] In a preferred embodiment of the present invention, both ends of the second rotating shaft are rotatably connected to the first side plate and the second side plate respectively via second bearings;

[0027] The first side plate and / or the second side plate are provided with end covers to block the through hole for installing the second rotating shaft.

[0028] In a preferred embodiment of the present invention, the positioning member includes a first positioning block, a second positioning block and a connecting block, the connecting block is connected to the top surface of the bottom plate, and the first positioning block and the second positioning block are respectively connected to two ends of the connecting block;

[0029] The first positioning block and the first rotating assembly are respectively located on both sides of the push rod, and the first positioning block has a first semicircular groove on a side facing the first rotating assembly, and at least a portion of the push rod located between the first rotating wheel and the positioning member is stuck in the first semicircular groove;

[0030] The second positioning block and the second rotating component are respectively located on both sides of the push rod, and the second positioning block has a second semicircular groove on the side facing the second rotating component, and at least part of the push rod located between the second rotating wheel and the positioning member is stuck in the second semicircular groove.

[0031] In a preferred embodiment of the present invention, the first rotating assembly and the second rotating assembly are respectively located on both sides of the push rod;

[0032] The connecting block is a long strip extending obliquely, so that the first positioning block and the second positioning block are respectively located on both sides of the push rod, and the first positioning block is arranged opposite to the first rotating component, and the second positioning block is arranged opposite to the second rotating component.

[0033] In a preferred embodiment of the present invention, the push rod guide assembly has a guide rail extending along the forward and backward direction of the push rod, the guide rail is arranged on the base plate, a slider is slidably provided on the guide rail, a fixing assembly is provided on the slider, and the first end of the push rod is connected to the fixing assembly.

[0034] In a preferred embodiment of the present invention, the push rod guide assembly has a guide tube or a guide groove extending along the advance and retreat direction of the push rod, and the first end of the push rod can be movably disposed in the guide tube or the guide groove.

[0035] As described above, the characteristics and advantages of the control terminal structure of the vascular interventional surgery robot of the present invention are:

[0036] The present invention is compatible with both soft push rods and hard push rods. When operating the control end of the surgical robot, the surgeon can choose the corresponding push rod according to his or her habits, so that the control of the push rod can be closer to the feel of directly operating surgical instruments such as guide wires or catheters, thereby being able to well simulate the operating habits of the surgeon, minimize the learning cost of the control end of the vascular interventional surgical robot, ensure the accuracy of the surgeon's operation, and improve the success rate of the operation.

[0037] When the push rod is operated by the present invention, at least part of the push rod is clamped between the first rotating wheel of the first rotating assembly and the positioning member, and at least part of the push rod is clamped between the second rotating wheel of the second rotating assembly and the positioning member, and by setting the rotating shaft of the first rotating wheel to be perpendicular to the extension direction of the part of the push rod located between the first rotating wheel and the positioning member, when the surgeon operates the front end of the push rod to move forward or backward, the first rotating wheel can rotate accordingly with the forward or backward movement of the push rod; by setting the rotating shaft of the second rotating wheel to be parallel to the extension direction of the part of the push rod located between the second rotating wheel and the positioning member, when the surgeon operates the front end of the push rod to rotate, the second rotating wheel can rotate with the rotation of the push rod. During use, by respectively collecting the number of rotations of the first rotating wheel and the number of rotations of the second rotating wheel, the corresponding movement amount and rotation amount of the push rod can be obtained respectively, and it is easier to convert the movement amount signal and the rotation amount signal into corresponding electrical signals, so as to ensure precise control of the delivery end of the surgical robot located in the operating room and improve the success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] 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.

[0039] in:

[0040] Figure 1 : It is a three-dimensional diagram of the control end structure of the vascular interventional surgery robot of the present invention.

[0041] Figure 2 : It is a top view of the control end structure of the vascular interventional surgery robot of the present invention.

[0042] Figure 3 : It is a front cross-sectional view of the first rotating component in the control end structure of the vascular interventional surgery robot of the present invention.

[0043] Figure 4 : It is a front cross-sectional view of the second rotating component in the control end structure of the vascular interventional surgery robot of the present invention.

[0044] Figure 5 :for Figure 2 Cross-sectional view at the AA position.

[0045] The accompanying drawings in the present invention are:

[0046] 1. Base plate; 2. Push rod guide assembly;

[0047] 201, guide rail; 202, slider;

[0048] 203. Fixing assembly; 2031. Fixing member body;

[0049] 2032. Connecting ring; 2033. Third bearing;

[0050] 3. First rotating assembly; 301. First rotating wheel;

[0051] 302, first mounting bracket; 3021, lower plate;

[0052] 3022, upper plate; 3023, side connecting plate;

[0053] 303, first rotating shaft; 304, first magnetic block;

[0054] 305. First detection magnetic encoder; 306. First bearing;

[0055] 4. Second rotating assembly; 401. Second rotating wheel;

[0056] 402, second mounting bracket; 4021, first side panel;

[0057] 4022, second side plate; 4023, bottom connecting plate;

[0058] 403, second rotating shaft; 404, second magnetic block;

[0059] 405. Second detection magnetic encoder; 406. Second bearing;

[0060] 407, end cap; 5, positioning piece;

[0061] 501, first positioning block; 5011, first semicircular groove;

[0062] 502, second positioning block; 5021, second semicircular groove;

[0063] 503. Connecting block; 6. Push rod. DETAILED DESCRIPTION

[0064] 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.

[0065] like Figures 1 to 5As shown, the present invention provides a control end structure of a vascular interventional surgical robot, which includes a base plate 1, a push rod 6, a push rod guide assembly 2, a positioning member 5, a first rotating assembly 3 and a second rotating assembly 4. The base plate 1 is a flat plate structure arranged in a horizontal direction, and the base plate 1 can be fixedly installed at a preset installation position. The push rod guide assembly 2, the positioning member 5, the first rotating assembly 3 and the second rotating assembly 4 are respectively fixedly arranged on the top surface of the base plate 1. The push rod 6 has a first end and a second end relative to each other. The first end of the push rod 6 is movably connected to the push rod guide assembly 2, and the second end of the push rod 6 is used for the surgeon to control during the operation to make the push rod 6 move forward, backward and / or rotate; the first rotating assembly 3 and the second rotating assembly 4 are both located at the first end of the push rod 6 and the second end of the push rod 6. The first rotating component 3 has a first rotating wheel 301 between the first end and the second end, and at least a portion of the push rod 6 located between the first end and the second end is clamped between the edge of the first rotating wheel 301 and the positioning member 5, and the rotating axis of the first rotating wheel 301 is perpendicular to the extension direction of the portion of the push rod 6 located between the first rotating wheel 301 and the positioning member 5, so that the first rotating wheel 301 rotates with the forward or backward movement of the push rod 6; the second rotating component 4 has a second rotating wheel 401, and at least a portion of the push rod 6 located between the first end and the second end is clamped between the edge of the second rotating wheel 401 and the positioning member 5, and the rotating axis of the second rotating wheel 401 is parallel to the extension direction of the portion of the push rod 6 located between the second rotating wheel 401 and the positioning member 5, so that the second rotating wheel 401 rotates with the rotation of the push rod 6.

[0066] In the present invention, the push rod 6 can be a rod-shaped structure made of soft material, so that the surgeon can have a hand feeling that is closer to directly operating a soft guide wire or catheter and other surgical instruments, which well simulates the surgeon's operating habits and can also ensure the accuracy of the surgeon's operation. Among them, the push rod 6 of soft material can be but not limited to PU rod or rubber rod. Of course, the control end structure of the present invention can also be adapted to the push rod 6 of hard material, that is, the push rod 6 can be a rod-shaped structure made of hard material, so as to achieve the effect that the push rod 6 of soft material and the push rod 6 of hard material are compatible. Among them, the push rod 6 of hard material can be but not limited to metal rod (such as aluminum alloy rod, carbon steel rod, stainless steel rod, or engineering plastic material, such as ABS material, PP material, PC material, etc.).

[0067] The present invention is compatible with both soft push rods 6 and hard push rods 6. When operating the control end of the surgical robot, the surgeon can select the corresponding push rod 6 according to his or her habits, so that the control of the push rod 6 can be closer to the feel of directly operating surgical instruments such as guide wires or catheters, thereby being able to well simulate the surgeon's operating habits, minimize the learning cost of the control end of the vascular interventional surgical robot, ensure the accuracy of the surgeon's operation, and improve the success rate of the operation.

[0068] When the push rod 6 is operated, at least part of the push rod 6 is sandwiched between the first rotating wheel 301 of the first rotating assembly 3 and the positioning member 5, and at least part of the push rod 6 is sandwiched between the second rotating wheel 401 of the second rotating assembly 4 and the positioning member 5. By setting the rotating shaft of the first rotating wheel 301 to be perpendicular to the extending direction of the part of the push rod 6 located between the first rotating wheel 301 and the positioning member 5, when the surgeon operates the front end of the push rod 6 to move forward or backward, the first rotating wheel 301 can rotate accordingly with the forward or backward movement of the push rod 6; by setting the rotating shaft of the second rotating wheel 401 to be perpendicular to the extending direction of the part of the push rod 6 located between the first rotating wheel 301 and the positioning member 5, the surgeon can operate the front end of the push rod 6 to move forward or backward, and the first rotating wheel 301 can rotate accordingly with the forward or backward movement of the push rod 6; The extension direction of the part of the push rod 6 between the wheel 401 and the positioning member 5 is parallel, so that when the surgeon operates the front end of the push rod 6 to rotate, the second rotating wheel 401 can rotate with the rotation of the push rod 6. During use, the movement amount of the push rod 6 can be obtained by collecting the number of rotations of the first rotating wheel 301, and the rotation amount of the push rod 6 can be obtained by collecting the number of rotations of the second rotating wheel 401. It is easier to convert the movement amount signal and the rotation amount signal of the push rod 6 into corresponding electrical signals and transmit them to the delivery end of the surgical robot, so as to ensure precise control of the delivery end of the surgical robot located in the operating room and improve the success rate of the operation.

[0069] In an optional embodiment of the present invention, Figures 1 to 3 As shown, the first rotating component 3 has a rotating first rotating shaft 303, the first rotating wheel 301 is fixedly sleeved on the middle position of the first rotating shaft 303, and one end of the first rotating shaft 303 is provided with a first magnetic block 304 that can rotate with the first rotating shaft 303; the first rotating component 3 also has a first detection magnetic encoder 305, and the first detection magnetic encoder 305 is arranged close to the first magnetic block 304 to collect the rotation data of the first magnetic block 304. During the synchronous rotation of the first rotating wheel 301 and the first rotating shaft 303, the first rotating shaft 303 rotates with the first magnetic block 304. Therefore, the number of revolutions of the first magnetic block 304 is equal to the number of revolutions of the first rotating shaft 303 and the first rotating wheel 301. The first detection magnetic encoder 305 can collect the rotation data of the first magnetic block 304 to determine the number of revolutions of the first rotating wheel 301. Since the diameter (circumference) of the first rotating wheel 301 is known, the circumference of the first rotating wheel 301 multiplied by the number of revolutions of the first rotating wheel 301 is the distance the push rod 6 has advanced or retreated. The forward and backward movement of the push rod 6 can be determined by the different rotation directions of the first rotating wheel 301. For example, when the first rotating wheel 301 rotates clockwise, the push rod 6 advances. However, when the first rotating wheel 301 rotates counterclockwise, the push rod 6 is controlled to retreat. Alternatively, when the first rotating wheel 301 rotates clockwise, the push rod 6 moves backward, and when the first rotating wheel 301 rotates counterclockwise, the push rod 6 moves forward.

[0070] The first magnetic block 304 may be a block magnet.

[0071] Further, such as Figures 1 to 3 As shown, the first rotating assembly 3 further includes a first mounting bracket 302, which includes a lower plate 3021 and an upper plate 3022 arranged horizontally. The lower plate 3021 is fixedly mounted on the top surface of the base plate 1, and the upper plate 3022 is located above the lower plate 3021. A side edge of the lower plate 3021 is connected to a side edge of the upper plate 3022 via a vertically arranged side connecting plate 3023, thereby forming a "C"-shaped first mounting bracket 302. A first rotating shaft 303 is vertically arranged between the lower plate 3021 and the upper plate 3022, with the top end of the first rotating shaft 303 rotatably connected to the lower plate 3021 and the bottom end of the first rotating shaft 303 rotatably connected to the upper plate 3022. The edge of the first rotating wheel 301 extends from the gap between the lower plate 3021 and the upper plate 3022 and abuts against the outer wall of the push rod 6. Among them, the edge of the first rotating wheel 301 is in a state of abutting against the outer wall of the push rod 6, and it is necessary to ensure that there is a certain friction between the edge of the first rotating wheel 301 and the outer wall of the push rod 6. When the push rod 6 moves forward or backward, the first rotating wheel 301 will be driven to rotate due to the action of friction.

[0072] The lower plate 3021 , the upper plate 3022 and the side connecting plate 3023 may be, but are not limited to, integrally formed.

[0073] In this embodiment, if Figure 3 As shown, the first magnetic block 304 is fixedly arranged at the top of the first rotating shaft 303, and the first detection magnetic encoder 305 is located above the first magnetic block 304 and connected to the upper plate 3022, so that the first detection magnetic encoder 305 can accurately collect the rotation signal of the first magnetic block 304.

[0074] Further, such as Figure 3 As shown, the bottom end of the first rotating shaft 303 is rotatably connected to the lower plate 3021 via a first bearing 306 , and the top end of the first rotating shaft 303 is rotatably connected to the upper plate 3022 via a first bearing 306 .

[0075] In an optional embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 4As shown, the second rotating assembly 4 has a rotating second shaft 403, a second rotating wheel 401 fixedly mounted in the middle of the second rotating shaft 403, and a second magnetic block 404 that can rotate with the second rotating shaft 403 is disposed at one end of the second rotating shaft 403. The second rotating assembly 4 also has a second detection magnetic encoder 405, which is disposed near the second magnetic block 404 to collect rotation data of the second magnetic block 404. During the synchronous rotation of the second rotating wheel 401 and the second rotating shaft 403, the second rotating shaft 403 will rotate with the second magnetic block 404. Therefore, the number of revolutions of the second magnetic block 404 is the number of revolutions of the second rotating shaft 403 and the second rotating wheel 401. The second detection magnetic encoder 405 can collect the rotation data of the second magnetic block 404, thereby determining the number of revolutions of the second rotating wheel 401, that is, the number of revolutions of the push rod 6. The rotation direction of the push rod 6 is known through the different rotation directions of the second rotating wheel 401 (the rotation direction of the push rod 6 is opposite to the rotation direction of the second rotating wheel 401).

[0076] The second magnetic block 404 may be a block magnet.

[0077] Further, such as Figure 1 、 Figure 2 、 Figure 4 As shown, the second rotating assembly 4 also has a second mounting bracket 402, and the second mounting bracket 402 includes a bottom connecting plate 4023 arranged in the horizontal direction and a first side plate 4021 and a second side plate 4022 arranged in the vertical direction respectively. The bottom connecting plate 4023 is fixedly arranged on the top surface of the bottom plate 1. Along the extension direction of the push rod 6, the second side plate 4022 and the first side plate 4021 are arranged front to back and are respectively connected to the two opposite ends of the bottom connecting plate 4023 to form an opening at the top of the second mounting bracket 402, thereby forming a "U"-shaped second mounting bracket 402. The second rotating shaft 403 is horizontally disposed between the first side plate 4021 and the second side plate 4022, with one end of the second rotating shaft 403 rotatably connected to the first side plate 4021, and the other end of the second rotating shaft 403 rotatably connected to the second side plate 4022. The edge of the second rotating wheel 401 can extend from the gap between the first side plate 4021 and the second side plate 4022 (the top opening of the second mounting bracket 402) and abut against the outer wall of the push rod 6. The abutment between the edge of the second rotating wheel 401 and the outer wall of the push rod 6 requires a certain amount of friction between the edge of the second rotating wheel 401 and the outer wall of the push rod 6. When the push rod 6 rotates, the friction drives the second rotating wheel 401 to rotate.

[0078] The first side plate 4021 , the second side plate 4022 and the bottom connecting plate 4023 may be, but are not limited to, integrally formed.

[0079] In this embodiment, if Figure 4 As shown, the second magnetic block 404 is fixedly arranged on the second side plate 4022 , and the second detection magnetic encoder 405 is located on one side of the second magnetic block 404 and connected to the second side plate 4022 , so that the second detection magnetic encoder 405 can accurately collect the rotation signal of the second magnetic block 404 .

[0080] Further, such as Figure 4 As shown, one end of the second rotating shaft 403 is rotatably connected to the first side plate 4021 via a second bearing 406, and the other end of the second rotating shaft 403 is rotatably connected to the second side plate 4022 via a second bearing 406. To mount the second bearing 406, a through hole may be provided on the first side plate 4021 and / or the second side plate 4022, and an end cap 407 may be provided on the first side plate 4021 and / or the second side plate 4022 to seal the through hole for mounting the second rotating shaft 403.

[0081] In an optional embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 5As shown, the positioning member 5 includes a first positioning block 501, a second positioning block 502 and a connecting block 503, the connecting block 503 is connected to the top surface of the base plate 1, and the first positioning block 501 and the second positioning block 502 are respectively connected to the two ends of the connecting block 503; in the axial direction of the push rod 6, the first rotating assembly 3 and the second rotating assembly 4 are respectively located on both sides of the push rod 6, the first positioning block 501 and the first rotating assembly 3 are respectively located on both sides of the push rod 6, and the first positioning block 501 has a first semicircular groove 5011 on the side facing the first rotating assembly 3, and at least part of the push rod 6 located between the first rotating wheel 301 and the positioning member 5 is stuck in the first semicircular groove 5011; in the axial direction of the push rod 6, the second positioning block 502 and the second rotating assembly 4 are respectively located on both sides of the push rod 6, and the second positioning block 502 has a second semicircular groove 5021 on the side facing the second rotating assembly 4, and at least part of the push rod 6 located between the second rotating wheel 401 and the positioning member 5 is stuck in the second semicircular groove 5021. During actual operation, at least a portion of the push rod 6 is sandwiched between the first semicircular groove 5011 and the first rotating wheel 301, and at least another portion of the push rod 6 is sandwiched between the second semicircular groove 5021 and the second rotating wheel 401. In the present invention, the semicircular grooves are used to limit the position of the push rod 6, and only friction in one direction is applied to the push rod 6 by the first rotating wheel 301 or the second rotating wheel 401. This can limit the position of the push rod 6 to only rotation and / or forward and backward movements. This not only simplifies the structure and facilitates layout, but also ensures the stability of the position limit of the push rod 6. If multiple rotating wheels are used to cooperate to limit the push rod 6, at least three rotating wheels evenly distributed along the circumference of the push rod 6 are required to ensure stable position limit of the push rod 6. In addition, since the push rod 6 is manually controlled by the surgeon, forces may be applied to the push rod 6 in various directions, so other degrees of freedom of the push rod 6 except for the rotation direction and the forward and backward directions must be limited. The cooperation between the first semicircular groove 5011 and the first rotating wheel 301 and the second semicircular groove 5021 and the second rotating wheel 401 in the present invention can just limit the push rod 6 in multiple degrees of freedom, which is different from the direct control method of the guide wire or catheter by the delivery end of the surgical robot.

[0082] Specifically, such as Figure 1 、 Figure 2 As shown, the connecting block 503 is a long strip extending obliquely, so that the first positioning block 501 and the second positioning block 502 are respectively located on either side of the push rod 6, and the first positioning block 501 is arranged opposite the first rotating assembly 3, and the second positioning block 502 is arranged opposite the second rotating assembly 4. The first rotating assembly 3 and the second rotating assembly 4 are respectively located on either side of the push rod 6, and the first positioning block 501 and the second positioning block 502 are respectively located on either side of the push rod 6, which ensures the stability of the clamping of the push rod 6.

[0083] In an optional embodiment of the present invention, Figure 1 、 Figure 2 、 Figure 5 As shown, the push rod guide assembly 2 includes a guide rail 201 extending along the forward and backward direction of the push rod 6. The guide rail 201 is fixedly disposed on the top surface of the base plate 1. A slider 202 is slidably disposed on the guide rail 201. A fixing assembly 203 is fixedly disposed on the top of the slider 202. The first end of the push rod 6 is connected to the fixing assembly 203. The arrangement of the push rod guide assembly 2 ensures that the first end of the push rod 6 can move smoothly when the push rod 6 (soft) is pushed, and does not swing randomly and interfere with other components in the control end structure, or prevent the first end of the push rod 6 from being blocked by other components in the control end structure and unable to smoothly advance, retreat or rotate, thereby ensuring smooth movement of the push rod 6.

[0084] Specifically, such as Figure 1 、 Figure 2 、 Figure 5 As shown, the fixing assembly 203 includes a fixing body 2031, which is a cylindrical structure with openings at both ends arranged in the horizontal direction. A rotatable connecting ring 2032 is respectively provided at the openings at both ends of the fixing body 2031, and the connecting ring 2032 is fixedly sleeved on the push rod 6; the push rod 6 located in the fixing body 2031 is rotatably connected to the inner wall of the fixing body 2031 through at least one third bearing 2033, so as to ensure that the push rod 6 can be connected to the fixing assembly 203 without affecting the movement of the push rod 6.

[0085] In another optional embodiment of the present invention, the push rod guide assembly 2 has a conduit or guide groove extending along the forward and backward direction of the push rod 6, and the first end of the push rod 6 can be movably arranged in the conduit or guide groove. The conduit or guide groove also serves as a fixing assembly 203 to ensure that the first end of the push rod 6 can move smoothly and does not swing arbitrarily to interfere with other components in the control end structure, or avoid the first end of the push rod 6 being obstructed by other components in the control end structure and unable to move forward, backward or rotate smoothly, thereby ensuring the smooth movement of the push rod 6.

[0086] During use of the present invention, when the surgeon operates the front end of the push rod 6 to perform only a pushing action, the friction between the push rod 6 and the first rotating wheel 301 causes the first rotating wheel 301 to rotate, while the second rotating wheel 401 does not rotate. The push rod 6 only slides axially relative to the second rotating wheel 401. At this time, the rotation of the first rotating wheel 301 and the first rotating shaft 303 will drive the first magnetic block 304 to rotate synchronously. The first detection magnetic encoder 305 can obtain the distance the push rod 6 has moved forward or backward by detecting the number of rotations of the first magnetic block 304. When the surgeon manipulates the front end of the push rod 6 to perform only a rotational motion, the friction between the push rod 6 and the second rotating wheel 401 causes the second rotating wheel 401 to rotate, while the first rotating wheel 301 does not rotate. The push rod 6 only rotates circumferentially relative to the first rotating wheel 301. At this time, the rotation of the second rotating wheel 401 and the second rotating shaft 403 drives the second magnetic block 404 to rotate synchronously. The second detection magnetic encoder 405 detects the number of rotations of the second magnetic block 404 to determine the number of rotations of the push rod 6. Of course, the surgeon can also manipulate the front end of the push rod 6 to perform both a propulsion and a rotational motion simultaneously, with the first and second rotating wheels 301, 401 rotating simultaneously and without affecting each other.

[0087] The characteristics and advantages of the control terminal structure of the vascular interventional surgery robot of the present invention are:

[0088] First, the control end structure of the vascular interventional surgical robot, wherein the push rod 6 can be a rod-shaped structure made of a soft material, thereby enabling the surgeon to have a feel closer to that of directly operating a soft surgical instrument such as a guidewire or catheter (better simulating the feel of operating a guidewire or catheter), effectively simulating the surgeon's operating habits, and also ensuring the surgeon's operating accuracy. The control end structure of the present invention can also be adapted to a push rod 6 made of a hard material, that is, the push rod 6 can be a rod-shaped structure made of a hard material, achieving the effect of compatibility between soft and hard push rods 6.

[0089] 2. The control end structure of the vascular interventional surgical robot is compatible with both soft push rods 6 and hard push rods 6. When operating the control end of the surgical robot, the surgeon can select the corresponding push rod 6 according to his or her habits, so that the control of the push rod 6 can be closer to the feel of directly operating surgical instruments such as guide wires or catheters, thereby being able to well simulate the operating habits of the surgeon, thereby minimizing the learning cost of the control end of the vascular interventional surgical robot, ensuring the accuracy of the surgeon's operation, and improving the success rate of the operation.

[0090] 3. The control end structure of the vascular interventional surgical robot can obtain the movement amount of the push rod 6 by collecting the number of rotations of the first rotating wheel 301 during use, and the rotation amount of the push rod 6 by collecting the number of rotations of the second rotating wheel 401. It is easier to convert the movement amount signal and the rotation amount signal of the push rod 6 into corresponding electrical signals and transmit them to the delivery end of the surgical robot, so as to ensure precise control of the delivery end of the surgical robot located in the operating room and improve the success rate of the operation.

[0091] The above description 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 shall fall within the scope of protection of the present invention.

Claims

1. A control terminal structure of a vascular interventional surgery robot, characterized in that: The control terminal structure of the vascular interventional surgery robot includes: base plate; a push rod having opposing first and second ends; a push rod guide assembly, the push rod guide assembly being disposed on the base plate, the first end of the push rod being movably connected to the push rod guide assembly; a positioning member, the positioning member being arranged on the bottom plate; a first rotating assembly, the first rotating assembly being disposed on the base plate, the first rotating assembly comprising a first rotating wheel, at least a portion of the push rod located between the first end and the second end being clamped between an edge of the first rotating wheel and the positioning member, and a rotating axis of the first rotating wheel being perpendicular to an extension direction of the portion of the push rod located between the first rotating wheel and the positioning member, so that the first rotating wheel rotates as the push rod moves forward or backward; the first rotating assembly further comprising a first detection magnetic encoder, the number of rotations of the first rotating wheel being acquired through the first detection magnetic encoder; The second rotating component is arranged on the base plate, and the second rotating component has a second rotating wheel. At least part of the push rod located between the first end and the second end is clamped between the edge of the second rotating wheel and the positioning member, and the rotating axis of the second rotating wheel is parallel to the extension direction of the part of the push rod located between the second rotating wheel and the positioning member, so that the second rotating wheel rotates with the rotation of the push rod; the second rotating component also has a second detection magnetic encoder, and the number of rotations of the second rotating wheel is known through the second detection magnetic encoder.

2. The vascular interventional surgery robot control terminal structure according to claim 1, characterized in that: The push rod is made of soft material.

3. The control terminal structure of the vascular interventional surgery robot according to claim 1, characterized in that: The first rotating assembly comprises a first rotating shaft, the first rotating wheel is fixedly sleeved on the first rotating shaft, and a first magnetic block is provided at one end of the first rotating shaft and can rotate along with the first rotating shaft; The first detection magnetic encoder is arranged close to the first magnetic block to collect rotation data of the first magnetic block.

4. The control terminal structure of the vascular interventional surgery robot according to claim 3, characterized in that: The first rotating assembly also has a first mounting bracket, which includes a lower plate fixed on the base plate and an upper plate located above the lower plate, one side of the lower plate is connected to one side of the upper plate by a side connecting plate, the first rotating shaft is vertically arranged between the lower plate and the upper plate, and the two ends of the first rotating shaft are respectively rotatably connected to the lower plate and the upper plate, and the edge of the first rotating wheel extends from between the lower plate and the upper plate and abuts against the push rod.

5. The control terminal structure of the vascular interventional surgery robot according to claim 4, characterized in that: The first magnetic block is arranged at the top end of the first rotating shaft, and the first detection magnetic encoder is located above the first magnetic block and connected to the upper plate.

6. The control terminal structure of the vascular interventional surgery robot according to claim 4, characterized in that: Both ends of the first rotating shaft are rotatably connected to the lower plate and the upper plate respectively through first bearings.

7. The control terminal structure of the vascular interventional surgery robot according to claim 1, characterized in that: The second rotating assembly has a second rotating shaft, the second rotating wheel is fixedly sleeved on the second rotating shaft, and one end of the second rotating shaft is provided with a second magnetic block that can rotate along with the second rotating shaft; The second detection magnetic encoder is arranged close to the second magnetic block to collect rotation data of the second magnetic block.

8. The control terminal structure of the vascular interventional surgery robot according to claim 7, characterized in that: The second rotating assembly also has a second mounting bracket, which includes a bottom connecting plate fixed to the bottom plate and a first side plate and a second side plate respectively arranged vertically. Along the extension direction of the push rod, the second side plate and the first side plate are arranged front and back and are respectively connected to the bottom connecting plate. The second rotating shaft is arranged between the first side plate and the second side plate in the horizontal direction, and the two ends of the second rotating shaft are respectively rotatably connected to the first side plate and the second side plate. The edge of the second rotating wheel can extend from between the first side plate and the second side plate and resist against the push rod.

9. The control terminal structure of the vascular interventional surgery robot according to claim 8, characterized in that: The second magnetic block is disposed on the second side plate, and the second detection magnetic encoder is located on one side of the second magnetic block and connected to the second side plate.

10. The vascular interventional surgery robot control terminal structure according to claim 8, characterized in that: The two ends of the second rotating shaft are rotatably connected to the first side plate and the second side plate respectively through second bearings; The first side plate and / or the second side plate are provided with end covers to block the through hole for installing the second rotating shaft.

11. The vascular interventional surgery robot control terminal structure according to claim 1, characterized in that: The positioning member includes a first positioning block, a second positioning block and a connecting block, the connecting block is connected to the top surface of the bottom plate, and the first positioning block and the second positioning block are respectively connected to two ends of the connecting block; The first positioning block and the first rotating assembly are respectively located on both sides of the push rod, and the first positioning block has a first semicircular groove on a side facing the first rotating assembly, and at least a portion of the push rod located between the first rotating wheel and the positioning member is stuck in the first semicircular groove; The second positioning block and the second rotating component are respectively located on both sides of the push rod, and the second positioning block has a second semicircular groove on the side facing the second rotating component, and at least part of the push rod located between the second rotating wheel and the positioning member is stuck in the second semicircular groove.

12. The vascular interventional surgery robot control terminal structure according to claim 11, characterized in that: The first rotating assembly and the second rotating assembly are respectively located on both sides of the push rod; The connecting block is a long strip extending obliquely, so that the first positioning block and the second positioning block are respectively located on both sides of the push rod, and the first positioning block is arranged opposite to the first rotating component, and the second positioning block is arranged opposite to the second rotating component.

13. The vascular interventional surgery robot control terminal structure according to claim 1, characterized in that: The push rod guide assembly has a guide rail extending along the forward and backward direction of the push rod, the guide rail is arranged on the base plate, a slider is slidably provided on the guide rail, a fixing assembly is provided on the slider, and the first end of the push rod is connected to the fixing assembly.

14. The vascular interventional surgery robot control terminal structure according to claim 1, characterized in that: The push rod guide assembly has a guide tube or a guide groove extending along the advancing and retreating direction of the push rod, and the first end of the push rod can be movably arranged in the guide tube or the guide groove.

Images