Rotation limiting structure for interventional surgical robot and synchronous rotation method

Abstract

The invention relates to a rotation limiting structure for an interventional operation robot and a synchronous rotation method, and the rotation limiting structure for the interventional operation robot comprises a bottom plate which is provided with a movable moving plate; a push rod; the first moving block is arranged on the moving plate in a reciprocating linear moving manner; the push rod is connected with the first moving block through a transmission assembly. Two limiting parts are arranged on the two sides of the first moving block in the moving direction and used for limiting the movable stroke of the first moving block, and then the number of rotatable turns of the push rod is limited. The main sensor is used for detecting the axial movement distance of the push rod in real time; and the first driving mechanism is connected with the first moving block and can drive the moving plate to linearly move according to information detected by the main sensor, so that the moving plate and the push rod synchronously and linearly move. According to the invention, an operator at the control end can more intuitively feel the state of the delivery end when the rotary interventional surgical instrument is limited.

Description

Technical Field

[0001] The present invention relates to the field of interventional surgery, and in particular to a rotation limiting structure and a synchronous rotation method for an interventional surgery robot. Background Art

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

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

[0004] The purpose of the present invention is to provide a rotation limit structure and a synchronous rotation method for an interventional surgical robot, which can allow the operator at the control end to more intuitively feel the state of the delivery end when the rotation of the interventional surgical instrument reaches the limit.

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

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

[0007] A bottom plate, on which a movable plate is provided;

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

[0009] The first moving block is arranged on the moving plate so as to be able to reciprocate and move linearly in a direction parallel to the axis of the push rod; the push rod is connected to the first moving block through a transmission assembly, and the rotational motion of the push rod can be converted into linear motion of the first moving block through the transmission assembly; two limiting parts are arranged on both sides of the moving direction of the first moving block, for limiting the movable stroke of the first moving block, thereby limiting the number of rotations of the push rod;

[0010] The main sensor is used to detect the axial movement distance of the push rod in real time;

[0011] The first driving mechanism is connected to the first moving block and can drive the moving plate to move linearly according to the information detected by the main sensor, so that the moving plate and the push rod can move linearly synchronously.

[0012] In a preferred embodiment of the present invention, the first moving block is a nut structure and is sleeved on the first lead screw. The bottom of the first moving block is slidably connected to the first guide rail provided on the moving plate through the first slider and can move linearly along the first guide rail. The push rod is connected to the first lead screw through the transmission structure and can drive the first lead screw to rotate.

[0013] 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 and fixed on the push rod, and the second gear is coaxially fixed at one end of the first lead screw.

[0014] In a preferred embodiment of the present invention, the tooth width of the second gear is greater than the tooth width of the first gear, and two retaining rings are provided at both ends of the second gear in the axial direction for axially limiting the first gear.

[0015] In a preferred embodiment of the present invention, the main sensor is a displacement sensor, and a displacement sensor reflector is provided at the end of the push rod, and the displacement sensor reflector is parallel to the light source plane of the displacement sensor; the displacement sensor and the movable plate are relatively fixed in position in the axial direction of the push rod, and the first driving mechanism is also connected to the displacement sensor through a connecting piece, and can drive the displacement sensor and the movable plate to move linearly together according to the information detected by the displacement sensor.

[0016] In a preferred embodiment of the present invention, the first driving mechanism includes a second moving block, a third moving block and a first motor, the second moving block and the third moving block are both nut structures and are sleeved on the second lead screw, the moving plate is fixedly connected to the second moving block, and the displacement sensor is fixedly connected to the third moving block through a connecting member; the bottom of the second moving block and the bottom of the third moving block are respectively connected to the second guide rail provided on the bottom plate through the second slider and the third slider, and both 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.

[0017] In a preferred embodiment of the present invention, both of the two limiting portions are fixed limiting portions, and the positions of the fixed limiting portions relative to the movable plate are fixed.

[0018] In a preferred embodiment of the present invention, a first photoelectric sensor is provided on the movable plate, and a first photoelectric sensor baffle is provided on the first movable block, and the first photoelectric sensor baffle can contact the first photoelectric sensor when the first movable block moves to a midpoint position between two fixed limit portions.

[0019] In a preferred embodiment of the present invention, the two limiting parts are respectively a fixed limiting part and a movable limiting part. The fixed limiting part is fixed relative to the position of the movable plate, and the movable limiting part can reciprocate relative to the movable plate along the axial direction of the push rod. A second driving mechanism is also provided on the movable plate, and the second driving mechanism can drive the movable limiting part to move linearly to adjust the distance between the movable limiting part and the fixed limiting part.

[0020] In a preferred embodiment of the present invention, the second driving mechanism includes a fourth moving block and a second motor, the fourth moving block is a nut structure and is sleeved on the third lead screw, and the movable limiting portion is fixed on the fourth moving block; the bottom of the fourth moving block is connected to the third guide rail provided on the moving plate through a fourth slider, and can move linearly along the third guide rail; the output shaft of the second motor is connected to one end of the third lead screw, and can drive the third lead screw to rotate.

[0021] In a preferred embodiment of the present invention, a second photoelectric sensor is provided on the movable plate, and the movable limiting portion is connected to a second photoelectric sensor baffle, which can contact the second photoelectric sensor when the movable limiting portion moves to a preset limit position away from the fixed limiting portion.

[0022] In a preferred embodiment of the present invention, the rotation limiting structure for the interventional surgical robot further includes a reset structure for driving the first moving block to move to a position at a midpoint between the two limiting portions.

[0023] In a preferred embodiment of the present invention, the rotation limiting structure for the interventional surgical robot also includes a reset structure, the reset structure includes a screw end magnetic coupling, a motor end magnetic coupling and a third motor, the output shaft of the third motor is coaxially arranged with the first screw, the screw end magnetic coupling is arranged at one end of the first screw, the motor end magnetic coupling is arranged at the end of the output shaft of the third motor, the screw end magnetic coupling and the motor end magnetic coupling can be attracted when powered on; the third motor is mounted on the base plate, or the third motor is mounted on the movable plate.

[0024] In a preferred embodiment of the present invention, a third photoelectric sensor is provided on the base plate, and the movable plate is connected to a third photoelectric sensor baffle, which can contact the third photoelectric sensor when the movable plate moves to a preset value between the magnetic coupling at the screw end and the magnetic coupling at the motor end.

[0025] In a preferred embodiment of the present invention, the rotation limiting structure for the interventional surgical robot also includes a magnet coaxially and relatively arranged in a direction parallel to the push rod and a coil capable of changing the magnetic field when energized, the magnet is axially fixedly connected to the push rod, the first driving mechanism is also connected to the coil through a connecting piece, and can drive the coil and the movable plate to move linearly together according to the information detected by the main sensor.

[0026] In a preferred embodiment of the present invention, the rotation limiting structure for the interventional surgical robot also includes a control unit, which is electrically connected to the coil and the first drive mechanism. The control unit can receive a signal of the pushing resistance encountered by the interventional surgical instrument during the advancement and retreat process, and can change the magnetic field of the coil according to the size of the pushing resistance to apply corresponding resistance to the push rod.

[0027] In a preferred embodiment of the present invention, the rotation limiting structure for the interventional surgical robot also includes a reset structure, which includes a fourth motor mounted on the movable plate and a third gear fixed on the output shaft of the fourth motor, and the third gear can mesh with the second gear.

[0028] The present invention also provides a synchronous rotation method for an interventional surgery robot, comprising:

[0029] A moving block capable of moving in a straight line along the axial direction of the push rod is arranged on a moving plate on one side of the push rod at the control end, the moving block is sleeved on the lead screw, and two limit parts are arranged on both sides of the moving direction of the moving block;

[0030] Acquire motion data of the push rod, the motion data including axial motion data and rotational motion data of the push rod;

[0031] Generate action instructions for the interventional surgical instrument at the delivery end according to the motion data of the push rod to control the interventional surgical instrument to perform corresponding actions;

[0032] According to the axial motion data, the moving plate drives the lead screw to move linearly synchronously with the push rod;

[0033] Among them, when the push rod rotates, it can drive the moving block to move linearly through the meshing gear pair and the screw. When the moving block abuts against one of the limit parts, the interventional surgical instrument at the delivery end 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.

[0034] In a preferred embodiment of the present invention, the synchronous rotation method for an interventional surgery robot further includes:

[0035] Receive a signal of the pushing resistance encountered by the interventional surgical instrument during the advancement and retreat process;

[0036] Apply corresponding resistance to the push rod according to the size of the pushing resistance.

[0037] In a preferred embodiment of the present invention, before acquiring the motion data of the putter, the method further includes:

[0038] The position of one of the limiting parts is adjusted to a preset position according to the diameter of the interventional surgical instrument at the delivery end.

[0039] As described above, the present invention sets a first moving block capable of linear movement on one side of the push rod. By converting the rotational movement of the push rod into the linear movement of the first moving block, and setting two limit parts on both sides of the first 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 first moving block moves to the position of the corresponding limit part, the push rod cannot continue to rotate. By mechanically limiting the push rod, the operator can more intuitively feel the state of the delivery end when the rotation of the interventional surgical instrument reaches the limit. At the same time, the main sensor is used to detect the axial movement distance of the push rod in real time, and the first driving mechanism drives the moving plate to move, which can ensure that the moving plate supporting the first moving block moves linearly synchronously with the push rod. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] 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.

[0041] in:

[0042] Figure 1 : A schematic diagram of the structure of the rotation limiting structure for the interventional surgical robot provided by the present invention Figure 1 .

[0043] Figure 2 : A schematic diagram of the structure of the rotation limiting structure for the interventional surgical robot provided by the present invention Figure 2 .

[0044] Figure 3 : A top view schematic diagram of the rotation limiting structure for an interventional surgical robot provided by the present invention.

[0045] Description of Figure Numbers:

[0046] 1. Bottom plate; 11. Moving plate; 12. First guide rail; 13. Second guide rail; 14. First photoelectric sensor; 15. Third photoelectric sensor;

[0047] 2. Push rod; 21. First gear; 22. Push rod support seat; 23. Side slider; 231. Magnet fixing seat;

[0048] 3. first moving block; 30. limiting part; 31. first nut; 32. first nut seat; 33. first sliding block; 34. first photoelectric sensor baffle;

[0049] 4. first lead screw; 41. first lead screw support; 42. second gear; 43. retaining ring;

[0050] 5. second moving block; 51. second nut; 52. second nut seat; 53. second slider; 54. third photoelectric sensor baffle;

[0051] 6. Second lead screw; 61. Second lead screw fixed end support; 62. Second lead screw support end support; 63. First motor; 64. First motor seat;

[0052] 7. third moving block; 71. third nut; 72. third nut seat; 73. third sliding block; 74. connecting piece;

[0053] 8. Reset structure; 81. Third motor; 82. Third motor seat; 83. Screw end magnetic coupling; 84. Motor end magnetic coupling;

[0054] 91. Displacement sensor; 92. Displacement sensor reflector; 93. Coil; 94. Magnet. DETAILED DESCRIPTION

[0055] 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.

[0056] like Figures 1 to 3 As shown, the present application provides a rotation limiting structure for an interventional surgical robot, comprising:

[0057] A bottom plate 1, on which a movable plate 11 is provided;

[0058] A push rod 2 is rotatably and axially movable on the bottom plate 1;

[0059] The first moving block 3 is arranged on the moving plate 11 so as to be able to reciprocate and linearly move along the axial direction parallel to the push rod 2; the push rod 2 is connected to the first moving block 3 through a transmission assembly, and the rotational movement of the push rod 2 can be converted into linear movement of the first moving block 3 through the transmission assembly; two limiting parts 30 are arranged on both sides of the moving direction of the first moving block 3, which are used to limit the movable stroke of the first moving block 3, thereby limiting the number of rotations of the push rod 2;

[0060] The main sensor is used to detect the axial movement distance of the push rod 2 in real time;

[0061] The first driving mechanism is connected to the first moving block 3 and can drive the moving plate 11 to move linearly according to the information detected by the main sensor, so that the moving plate 11 and the push rod 2 can move linearly synchronously.

[0062] It can be understood that the interventional surgical robot includes a control end and a delivery end. The delivery end is located in the operating room and is used to deliver interventional surgical instruments, such as guide wires or catheters. The delivery end can receive action signals sent by the control end to complete the delivery action of the surgical instrument. The control end is located outside the operating room. The doctor can indirectly control the interventional surgical instruments in the operating room by operating the push rod 2 of the control end, such as controlling the linear advancement and / or rotation of the guide wire and catheter.

[0063] Since the push rod 2 itself can rotate infinitely, while the guidewire catheter at the delivery end cannot rotate infinitely in one direction, the present application sets a first moving block 3 that can move linearly on one side of the push rod 2. By converting the rotational motion of the push rod 2 into the linear motion of the first moving block 3, and setting two limiting parts 30 on both sides of the first moving block 3, the number of rotations of the push rod 2 can be limited, so that the number of rotations of the push rod 2 can be the same as the number of rotations of the interventional surgical instrument at the delivery end. When the first moving block 3 moves to the position of the corresponding limiting part 30, the push rod 2 cannot continue to rotate. By mechanically limiting the push rod 2, the operator can more intuitively feel the state of the delivery end when the rotation interventional surgical instrument (such as a guidewire or catheter) reaches the limit. At the same time, the main sensor is used to detect the axial movement distance of the push rod 2 in real time, and the moving plate 11 is driven to move by the first driving mechanism, which can ensure that the moving plate 11 supporting the first moving block 3 moves linearly synchronously with the push rod 2.

[0064] 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 first moving block 3, Figures 1 to 3 The first moving block 3 is a nut structure and is sleeved on the first lead screw 4. The bottom of the first moving block 3 is slidably connected to the first guide rail 12 provided on the moving plate 11 through the first slider 33, and can move linearly along the first guide rail 12; the push rod 2 is connected to the first lead screw 4 through the transmission structure, and can drive the first lead screw 4 to rotate.

[0065] The axes of the first lead screw 4 and the first guide rail 12 are parallel to the axis direction of the push rod 2. The first lead screw 4 is located directly above the first guide rail 12. A first lead screw support 41 is fixed on the movable plate 11. One end of the first lead screw 4 can rotatably pass through the first lead screw support 41.

[0066] Generally, in order to facilitate processing and installation, refer to Figure 3 The first moving block 3 includes a first nut 31 and a first nut seat 32 which are coaxially fixed. The first nut 31 and the first nut seat 32 are both sleeved on the first lead screw 4. The first nut 31 is threadedly matched with the first lead screw 4. The bottom of the first nut seat 32 is fixedly connected to the first slider 33. The first nut 31 and the first nut seat 32, and the first nut seat 32 and the first slider 33 can be connected by fasteners (such as screws).

[0067] The transmission structure preferably includes a first gear 21 and a second gear 42 that are meshed with each other. The first gear 21 is sleeved and fixed on the push rod 2 , and the second gear 42 is coaxially fixed on one end of the first lead screw 4 .

[0068] Since the push rod 2 is manually operated, and the movement of the moving plate 11 is driven and moved by the first driving mechanism according to the data detected by the main sensor, the axial movement of the first lead screw 4 is delayed relative to the axial movement of the push rod 2, and cannot be completely synchronized with the axial movement of the push rod 2, and this delay is difficult to avoid. In the present embodiment, the tooth width of the second gear 42 is designed to be larger than the tooth width of the first gear 21, and two retaining rings 43 are provided at both ends of the axial direction of the second gear 42 to limit the axial position of the first gear 21. When the push rod 2 is manually pushed to move axially in a straight line, even if there is a certain delay in the linear movement of the first lead screw 4 driven by the moving plate 11, due to the larger tooth width of the second gear 42 and the provision of the two retaining rings 43, there is no risk of the first gear 21 and the second gear 42 being disengaged, and the two can maintain consistent meshing.

[0069] Of course, the transmission assembly between the entire push rod 2 and the first moving block 3 is not limited to the above-mentioned screw nut structure and transmission structure. Other transmission forms can also be adopted. For example, the linear movement of the first moving block 3 can be achieved through a synchronous pulley structure (the first 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 first moving block 3 can be achieved through a gear rack structure (the first moving block 3 is fixedly connected to the corresponding rack), and then the corresponding gear structure is used to realize the transmission between the push rod 2 and the gear in the gear rack structure; this embodiment is only for example.

[0070] Furthermore, in order to facilitate the movement of the movable plate 11, the first driving mechanism includes a second movable block 5 and a first motor 63. The second movable block 5 is a nut structure and is sleeved on the second lead screw 6. The movable plate 11 is fixedly connected to the second movable block 5. The bottom of the second movable block 5 is connected to the second guide rail 13 provided on the base plate 1 through the second slider 53, and both can move linearly along the second guide rail 13. The output shaft of the first motor 63 is connected to one end of the second lead screw 6, and can drive the second lead screw 6 to rotate.

[0071] The axes of the second lead screw 6 and the second guide rail 13 are also parallel to the axis direction of the push rod 2. The second lead screw 6 is located directly above the second guide rail 13. A second lead screw fixed end support 61 and a second lead screw support end support 62 are fixed on the bottom plate 1. One end of the second lead screw 6 can rotatably pass through the second lead screw fixed end support 61 and is connected to the first motor 63. The other end of the second lead screw 6 can rotatably connect to the second lead screw support end support 62 to support the second lead screw 6. A first motor seat 64 is also fixed on the bottom plate 1, and the housing of the first motor 63 is fixed on the first motor seat 64.

[0072] Similar to the first moving block 3, in order to facilitate processing and installation, refer to Figure 3The second moving block 5 includes a second nut 51 and a second nut seat 52 that are coaxially fixed. The second nut 51 and the second nut seat 52 are both sleeved on the second lead screw 6. The second nut 51 is threadedly matched with the second lead screw 6. The bottom of the second nut seat 52 is fixed to the second sliding block 53. The moving plate 11 is fixed to the side of the second nut seat 52 facing the first lead screw 4.

[0073] Of course, the first driving mechanism is not limited to the form of the lead screw nut and the first motor 63, and other transmission drive structures can also be used as long as they can drive the moving plate 11 to move linearly. For example, the linear movement of the moving plate 11 can also be achieved by a synchronous pulley structure (the moving plate 11 is fixedly connected to the corresponding belt), and then the motor drives the driving wheel of the synchronous pulley structure to rotate; for another example, the linear movement of the moving plate 11 can also be achieved by a gear rack structure (the moving plate 11 is fixedly connected to the corresponding rack), and then the motor drives the gear in the gear rack structure to rotate; for another example, the electric cylinder structure can also be directly used, and the telescopic rod of the electric cylinder is directly connected to the moving plate 11; this embodiment is only for illustrative purposes.

[0074] The above-mentioned main sensor can be, for example, a displacement sensor 91, and a displacement sensor reflector 92 is provided at the end of the push rod 2, and the displacement sensor reflector 92 is parallel to the light source plane of the displacement sensor 91; the displacement sensor 91 and the movable plate 11 are relatively fixed in position in the axial direction of the push rod 2, and the first driving mechanism is also connected to the displacement sensor 91 through the connecting piece 74, and can drive the displacement sensor 91 and the movable plate 11 to move linearly together according to the information detected by the displacement sensor 91.

[0075] Generally, a push rod support seat 22 is sleeved outside the push rod 2. The push rod 2 is axially fixed to the push rod support seat 22 and can be rotatably connected to the push rod 2. The push rod support seat 22 is arranged near one end of the push rod 2, and the other end of the push rod 2 extends out of the bottom plate 1 for manual operation by the operator. The push rod support seat 22 can be slidably connected to the second guide rail 13 through the side slider 23. When the push rod 2 moves linearly, it drives the push rod support seat 22 to move together. The push rod support seat 22 also plays a certain supporting role for the push rod 2. The above-mentioned displacement sensor reflector 92 can be arranged at the end of the push rod support seat 22 and arranged opposite to the displacement sensor 91.

[0076] In order to facilitate driving the displacement sensor 91 to move linearly together with the movable plate 11, the first driving mechanism also includes a third movable block 7, which is a nut structure and is sleeved on the second lead screw 6. The displacement sensor 91 is fixedly connected to the third movable block 7 through a connecting member 74; the bottom of the third movable block 7 is connected to the second guide rail 13 through a third slider 73, and can move linearly along the second guide rail 13.

[0077] Similar to the first moving block 3, in order to facilitate processing and installation, refer to Figure 3 The third moving block 7 includes a third nut 71 and a third nut seat 72 which are coaxially fixed. The third nut 71 and the third nut seat 72 are both sleeved on the second lead screw 6. The third nut 71 is threadedly engaged with the second lead screw 6. The bottom of the third nut seat 72 is fixedly connected to the third slider 73. The connecting member 74 is fixedly arranged on the side of the third nut seat 72. The connecting member 74 can be, for example, a connecting frame, which is respectively connected to the side of the third moving block 7 and the side of the displacement sensor 91 through fasteners, or the connecting frame and the third nut seat 72 can be integrally formed and processed.

[0078] by Figure 1 Taking the structure shown in as an example, the first gear 21 and the second gear 42 are both spur gears, and the first gear 21 is fixedly connected to the push rod 2 by screws. When the push rod 2 is pushed and rotated, it will bring the first gear 21 to perform the same movement. The displacement sensor 91 is fixed to the connecting member 74 by screws to be fixed to the third moving block 7. The first lead screw 4 is axially fixed to the moving plate 11 by the first lead screw support 41, and the moving plate 11 is fixed to the second moving block 5. The first moving block 3 has limit positions on the left and right (i.e., the two limit portions 30 mentioned above).

[0079] The end of the first lead screw 4 is connected to a second gear 42, the gear width of the second gear 42 is greater than the first gear 21, and there are retaining rings 43 on both sides of the gear of the second gear 42. When the push rod 2 is operated to move forward or backward, the first motor 63 receives the distance information between the displacement sensor 91 and the displacement sensor reflector 92, drives the second lead screw 6 to rotate, and makes the displacement sensor 91 connected to the third moving block 7 move forward or backward with the push rod 2 to maintain the distance before the linear motion of the push rod 2. When the second lead screw 6 rotates, the second moving block 5 also moves forward or backward with the push rod 2 at the same time, and keeps synchronous movement with the third moving block 7.

[0080] The tooth width of the second gear 42 is larger than that of the first gear 21, so as to leave a certain distance for the distance difference caused by the first motor 63 driving the second lead screw 6 to accelerate and decelerate, so as to ensure that the first gear 21 and the second gear 42 are always in meshing state. The retaining rings 43 on both sides of the second gear 42 are to ensure that the first gear 21 and the second gear 42 are not separated when the push rod 2 is suddenly and rapidly operated. In this way, when the push rod 2 is rotated during the process of moving forward or backward, the meshing movement of the pair of gears will cause the first lead screw 4 to rotate, driving the first moving block 3 to move linearly, and the two limiting parts 30 on both sides of the first moving block 3 can ensure that the push rod 2 can only rotate within a certain range, matching the rotatable range of the delivery end, so as to achieve the purpose of mechanical limitation of the operating end.

[0081] In one embodiment, the two limiting portions 30 are both fixed limiting portions, and the positions of the fixed limiting portions relative to the movable plate 11 are fixed.

[0082] During installation, one of the fixed stoppers can be directly fixed to the side of the first lead screw support 41 facing the first moving block 3, or fixed to the first lead screw 4 and close to the first lead screw support 41, or directly fixed to the moving plate 11, as long as the position is fixed relative to the moving plate 11. The other fixed stopper can be directly fixed to the first lead screw 4 and close to the other end of the first lead screw 4, or directly fixed to the moving plate 11, as long as the position is fixed relative to the moving plate 11.

[0083] In this embodiment, since the distance between the two limiting portions 30 is a fixed value and cannot be adjusted, it can only correspond to interventional surgical instruments of one diameter when in use; if it is necessary to be suitable for interventional surgical instruments of other diameters, the first gear 21 and the second gear 42 can be replaced with a gear set with other transmission ratios and reinstalled, or a rotation limiting structure of other specifications can be used.

[0084] In another embodiment, the two limiting parts 30 are respectively a fixed limiting part and a movable limiting part. The fixed limiting part is fixed relative to the movable plate 11, and the movable limiting part can reciprocate relative to the movable plate 11 along the axial direction of the push rod 2. A second driving mechanism is also provided on the movable plate 11, and the second driving mechanism can drive the movable limiting part to move linearly to adjust the distance between the movable limiting part and the fixed limiting part.

[0085] During installation, the fixed limiter can be directly fixed to the side of the first screw support 41 facing the first moving block 3, or fixed to the first screw 4 and close to the first screw support 41, or directly fixed to the moving plate 11, as long as the position is fixed relative to the moving plate 11. Figure 3 In the orientation shown in FIG, the limiting portion 30 on the left is a movable limiting portion, and the limiting portion 30 on the right is a fixed limiting portion.

[0086] In this embodiment, one of the two limiting parts 30 is designed as a movable limiting part, which can perform corresponding stroke limitations according to the diameters of different interventional surgical instruments (for example, different guide wire or catheter wire diameters), so that the number of rotation circles of the push rod 2 is the same as the number of rotation circles of the current interventional surgical instrument, and is more versatile.

[0087] In order to facilitate the driving of the movable limiting part to move, the second driving mechanism includes a fourth moving block and a second motor. The fourth moving block is a nut structure and is sleeved on the third lead screw. The movable limiting part is fixed on the fourth moving block. The bottom of the fourth moving block is connected to the third guide rail provided on the moving plate 11 through a fourth slider and can move linearly along the third guide rail. The output shaft of the second motor is connected to one end of the third lead screw and can drive the third lead screw to rotate.

[0088] The axes of the third lead screw and the third guide rail are also parallel to the axis direction of the push rod 2. The third lead screw is located directly above the third guide rail. A third lead screw support is fixed on the movable plate 11. One end of the third lead screw can rotatably pass through the third lead screw support and is connected to the second motor. A second motor seat is also fixed on the movable plate 11, and the housing of the second motor is fixed on the second motor seat. Similar to the above-mentioned first moving block 3, in order to facilitate processing and installation, the fourth moving block includes a coaxially fixed fourth nut and a fourth nut seat. The fourth nut and the fourth nut seat are both sleeved on the third lead screw. The fourth nut is threadedly matched with the third lead screw. The bottom of the fourth mother seat is fixed to the fourth slider, and the movable limit portion is fixed on the side of the fourth nut seat facing the first lead screw 4.

[0089] Of course, the second drive mechanism is not limited to the form of a screw nut and a second motor, and other transmission drive structures can also be used as long as they can drive the movable limit part to move linearly. For example, the linear movement of the movable limit part can be achieved by a synchronous pulley structure (the movable limit part is fixedly connected to the corresponding belt), and then the motor drives the driving wheel of the synchronous pulley structure to rotate; for another example, the linear movement of the movable limit part can be achieved by a gear rack structure (the movable limit part is fixedly connected to the corresponding rack), and then the motor drives the gear in the gear rack structure to rotate; for another example, the electric cylinder structure can be directly used to directly connect the telescopic rod of the electric cylinder to the movable limit part; this embodiment is only for illustrative purposes.

[0090] 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 limit part is controlled by the control part described below. In order to facilitate more accurate movement and adjustment of the position of the movable limit part, a second photoelectric sensor is provided on the movable plate 11, and the movable limit part is connected to a second photoelectric sensor baffle, which can contact the second photoelectric sensor when the movable limit part moves to a preset limit position away from the fixed limit part.

[0091] When in use, when the first gear 21 rotates, it drives the second gear 42 and the first lead screw 4 to rotate, thereby driving the first moving block 3 to move linearly along the first guide rail 12. A fixed stopper for the first moving block 3 is provided on the side of the first lead screw support 41, which serves as the maximum distance stopper when the first moving block 3 moves toward the second gear 42.

[0092] The limit on the other side of the first moving block 3 is a movable limit, that is, a movable limit part (a block structure may be adopted), which serves as the farthest distance limit when the first moving block 3 moves away from the second gear 42. The movable limit part is fixed on the fourth moving block. When the control end receives the wire diameter signal of the guide wire or catheter installed at the delivery end, the second motor can drive the third lead screw to rotate according to the wire diameter. Then, the movable limit part starts to move linearly to the right (i.e., moves linearly in the direction close to the first moving block 3) from the zero position triggered by the second photoelectric sensor and the second photoelectric sensor baffle, thereby limiting the stroke of the first moving block 3. The distance between the movable limit part at the zero position and the second moving block 5 at the right limit is a fixed value and is known.

[0093] When the interventional surgical instrument at the delivery end is replaced and the diameter specification changes, the position of the movable limiter needs to be readjusted. Each time the adjustment is made, the movable limiter needs to be moved to the zero position by the second driving mechanism first, and then the movable limiter needs to be driven to move and adjust to ensure accuracy. The moving distance of the movable limiter after leaving the zero position can be achieved by controlling the number of rotations of the second motor.

[0094] In addition to using the above-mentioned photoelectric sensor to detect the motion of the movable limit part, a sensor that can detect the moving stroke of the movable limit part in real time can also be used to facilitate moving it to a specified position; for example, an absolute value magnetic scale can be used, and the magnetic scale includes a magnetic scale and a magnetic head. When installing, the magnetic scale can be fixed on the third guide rail or the movable plate 11 along the moving direction of the movable limit part, and the magnetic head is connected to the movable limit part through a mounting part (specifically, it can be fixed on the fourth nut seat or the fourth slider through a mounting part). The magnetic head can contact the magnetic scale and move with the movable limit part, thereby detecting the moving distance of the movable limit part in real time. The specific structure and detection principle of the magnetic scale are prior art and will not be repeated here.

[0095] The above-mentioned main sensor may also adopt other sensors, for example, an absolute value magnetic scale may be adopted. The magnetic scale is arranged on the base plate 1, and the magnetic head is connected to the push rod support seat 22 through a mounting part, and the moving distance of the push rod 2 may also be detected in real time.

[0096] For the above two embodiments, in actual operation, the operator may rotate the push rod 2 clockwise or counterclockwise. In order to adapt to these two possible rotation directions, the initial position of the first moving block 3 should be located in the middle of the movable stroke.

[0097] It can be understood that when both limit portions 30 are fixed limit portions, since the distance between the two fixed limit portions is a fixed value, the initial position of the first movable block 3 can be located at the midpoint between the two fixed limit portions; at this time, the movable stroke of the first movable block 3 = the distance between the two fixed limit portions - the length of the first movable block 3 along the straight-line moving direction.

[0098] When one of the two limiting parts 30 is a fixed limiting part and the other is a movable limiting part, the position of the movable limiting part is adjusted according to the diameter of the interventional surgical instrument, and the second 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. The initial position of the first movable block 3 mentioned above should refer to its actual initial position, and its movable stroke refers to its actual movable stroke. The actual initial position of the first movable block 3 should be located in the middle of the actual movable stroke, that is, the position corresponding to the midpoint of the preset actual distance. The preset actual distance = the actual movable stroke of the first movable block 3 + the length of the first movable block 3 along the straight moving direction. Half of the actual movable stroke should enable the push rod 2 to rotate in one direction the same number of times as the interventional surgical instrument at the delivery end.

[0099] Furthermore, when the first moving block 3 reaches the left limit or the right limit, it needs to be reset, and manual reset or automatic reset can be performed in the present application.

[0100] When manual resetting is performed, the first moving block 3 can be reset by manually rotating the push rod 2 .

[0101] For the case where both limit portions 30 are fixed limit portions, refer to Figure 3 A first photoelectric sensor 14 is provided on the moving plate 11, and a first photoelectric sensor baffle 34 is provided on the first moving block 3. The first photoelectric sensor baffle 34 can contact the first photoelectric sensor 14 when the first moving block 3 moves to the midpoint between the two fixed limit parts.

[0102] When the mechanical limit is reached and a reset is required, the corresponding function button can be pressed to cut off the connection between the structure controlling the rotation of the guide wire and the catheter at the delivery end and the guide wire and the catheter at the software level. At this time, the push rod 2 can be manually rotated in another direction. When the first photoelectric sensor baffle 34 on the first moving block 3 passes through the first photoelectric sensor 14, the first photoelectric sensor 14 is triggered to generate a position signal.

[0103] As needed, a vibrator or an alarm can also be set. When the first photoelectric sensor 14 generates a position signal, the control unit described below can control the vibrator or alarm to vibrate or sound a prompt to produce some passive prompts, indicating that the push rod 2 and the structure at the delivery end that controls the guide wire and catheter to rotate have reached the zero position at the same time, thereby assisting in reminding the operator that the limit position has been reached.

[0104] When automatic resetting is performed, the rotation limit structure for the interventional surgical robot further includes a resetting structure 8, which is used to drive the first moving block 3 to move to the midpoint between the two limit portions 30. Specifically, the following two resetting structures 8 can be used:

[0105] The first reset structure 8: The reset structure 8 includes a screw-end magnetic coupling 83, a motor-end magnetic coupling 84 and a third motor 81. The output shaft of the third motor 81 is coaxially arranged with the first screw 4. The screw-end magnetic coupling 83 is arranged at one end of the first screw 4, and the motor-end magnetic coupling 84 is arranged at the end of the output shaft of the third motor 81. The screw-end magnetic coupling 83 and the motor-end magnetic coupling 84 can be attracted when powered on; the third motor 81 is installed on the base plate 1, or the third motor 81 is installed on the movable plate 11.

[0106] Reference Figure 3 , the third motor 81 is installed concentrically with the input end of the first lead screw 4, the input end of the first lead screw 4 is connected to the lead screw end magnetic coupling 83, and the input shaft of the third motor 81 is connected to the motor end magnetic coupling 84. The interior of the motor end magnetic coupling 84 is an electromagnet, which is non-magnetic in the power-off state and magnetic when powered on; the interior of the lead screw end magnetic coupling 83 is a permanent magnet. When the motor end magnetic coupling 84 is powered off, there is no force between the two relative magnetic couplings. When the push rod 2 rotates, it will not rotate with the third motor 81 at the same time, which can effectively reduce the resistance inside the structure. When resetting is required, the motor end magnetic coupling 84 is powered on. At this time, the rotation of the third motor 81 will drive the first lead screw 4 to rotate at the same time, achieving the purpose of resetting.

[0107] In this reset structure 8, the third motor 81 can be installed on the bottom plate 1 or the moving plate 11. Specifically, a third motor seat 82 is fixedly provided on the bottom plate 1 or the moving plate 11, and a housing of the third motor 81 is fixed on the third motor seat 82.

[0108] When the third motor 81 is directly mounted on the movable plate 11, during operation, when the push rod 2 moves linearly, the movable plate 11 will move synchronously with the third motor 81, and a preset interval can be maintained between the magnetic coupling 83 at the screw end and the magnetic coupling 84 at the motor end, so that they can be attracted when power is turned on.

[0109] In the case where the third motor 81 is directly mounted on the base plate 1, during operation, the positions of the third motor 81 and the motor-end magnetic coupling 84 remain unchanged. When the push rod 2 moves linearly, the moving plate 11 will move synchronously with the screw-end magnetic coupling 83 at the end of the first screw 4, and the gap between the two magnetic couplings will be large and cannot be normally attracted. Therefore, in this solution, when resetting is required, the first driving mechanism is required to drive the first moving block 3 and the screw-end magnetic coupling 83 to move together until the gap between the screw-end magnetic coupling 83 and the motor-end magnetic coupling 84 can meet the attraction requirements.

[0110] Generally, a third photoelectric sensor 15 is provided on the base plate 1, and the movable plate 11 is connected to a third photoelectric sensor baffle 54. The third photoelectric sensor baffle 54 can contact the third photoelectric sensor 15 when the movable plate 11 moves to a distance between the magnetic coupling 83 at the screw end and the magnetic coupling 84 at the motor end to reach a preset value.

[0111] Specifically, refer to Figures 1 to 3 When the push rod 2 reaches the mechanical limit, press the corresponding reset button to cut off the connection between the structure controlling the rotation of the guide wire and the catheter at the delivery end and the guide wire and the catheter at the software level. At this time, if the distance between the magnetic coupling 83 at the screw end and the magnetic coupling 84 at the motor end is far, the first motor 63 starts to rotate, causing the third moving block 7 and the second moving block 5 to move to the right at the same time (i.e., move in the direction close to the magnetic coupling 84 at the motor end).

[0112] The third photoelectric sensor baffle 54 can be directly mounted and fixed on the side of the second moving block 5 facing away from the first lead screw 4 (specifically, fixed on the side of the second nut seat 52), and the third photoelectric sensor 15 is mounted on the bottom plate 1 and is located on the side of the first guide rail 12 away from the first lead screw 4. When the third photoelectric sensor baffle 54 passes the third photoelectric sensor 15, the third photoelectric sensor 15 sends a signal, and the first motor 63 stops moving. At this time, the motor-end magnetic coupling 84 and the lead screw-end magnetic coupling 83 are in a suitable position for moving together. The motor-end magnetic coupling 84 has an electromagnet inside, which is magnetic when powered on and non-magnetic when powered off; the lead screw-end magnetic coupling 83 has a permanent magnet inside. When receiving the signal sent by the third photoelectric sensor 15, the motor-end magnetic coupling 84 is powered on, and the third motor 81 drives the motor-end magnetic coupling 84 and the lead screw-end magnetic coupling 83 to rotate, and then drives the first lead screw 4 to rotate. At this time, the first moving block 3 moves linearly to perform a reset movement. In the case where both of the two limiting portions 30 are fixed limiting portions, when the first photoelectric sensor blocking piece 34 passes the first photoelectric sensor 14 , the third motor 81 stops moving and completes the reset.

[0113] It can be understood that, when the push rod 2 moves linearly, the moving plate 11 will move synchronously under the drive of the first driving mechanism, and the movement of the push rod 2 and the moving plate 11 are driven separately, one is manually driven and the other is electrically driven. Therefore, when the distance between the magnetic coupling 83 at the lead screw end and the magnetic coupling 84 at the motor end is far and the first motor 63 is required to rotate and drive the moving plate 11 to move, it is also necessary to drive the above-mentioned displacement sensor reflector 92 and the push rod 2 to move automatically together through the corresponding structure. This automatic movement can be achieved, for example, as follows:

[0114] The rotation limiting structure for the interventional surgical robot also includes a magnet 94 coaxially and relatively arranged in a direction parallel to the push rod 2 and a coil 93 that can change the magnetic field when energized. The magnet 94 is axially fixedly connected to the push rod 2. The first drive mechanism is also connected to the coil 93 through the connecting piece 74, and can drive the coil 93 and the moving plate 11 to move linearly together according to the information detected by the main sensor.

[0115] Generally, the coil 93 is a cylindrical coil with a central circular hole in the center. The coil 93 can be fixed to the above-mentioned connecting member 74 by screws. The magnet 94 is a cylindrical magnet. A magnet fixing seat 231 can be installed on the above-mentioned push rod support seat 22 by screws. The magnet 94 is fixed to the magnet 94 mounting seat. The magnet 94 is concentric with the circular hole of the coil 93, and the outer diameter of the magnet 94 is smaller than the inner diameter of the circular hole of the coil 93.

[0116] When the distance between the lead screw end magnetic coupling 83 and the motor end magnetic coupling 84 is far and the first motor 63 needs to rotate to drive the moving plate 11 to move, the coil 93 is energized at the same time, and the current direction of the coil 93 is changed in real time by the coil 93 to realize the repulsion or attraction between the coil 93 and the magnet 94, so as to ensure that the distance between the displacement sensor 91 and the displacement sensor reflector 92 remains unchanged. Relying on the repulsion or attraction between the coil 93 and the magnet 94 after the coil 93 is energized as a power source to drive the displacement sensor reflector 92 and the push rod 2 to move automatically is simple and convenient. Of course, other structural forms can also be used to realize the automatic movement. This embodiment is only an example.

[0117] The second reset structure 8 : The reset structure 8 comprises a fourth motor mounted on the moving plate 11 and a third gear fixed on the output shaft of the fourth motor, and the third gear can mesh with the second gear 42 .

[0118] The first gear 21 and the third gear are respectively located on both sides of the second gear 42. The output shaft of the fourth motor is parallel to the axial direction of the push rod 2. A fourth motor seat is also fixed on the moving plate 11, and the housing of the fourth motor is fixed on the fourth motor seat.

[0119] Under this reset structure 8, when the operator rotates the push rod 2 to drive the first gear 21 and the second gear 42 to rotate, the third gear will also be driven to rotate, and the fourth motor will idle at this time. When the first moving block 3 reaches the left limit or the right limit (that is, when it reaches one of the limit parts 30), the first lead screw 4 can be driven by the fourth motor to reset.

[0120] When both limit parts 30 are fixed limit parts, the fourth motor drives the third gear to rotate, drives the second gear 42 to rotate, and then drives the first moving block 3 to move left or right. When the first photoelectric sensor baffle 34 on the first moving block 3 passes through the first photoelectric sensor 14, the first photoelectric sensor 14 is triggered to generate a position signal. At this time, the fourth motor stops and the reset is completed.

[0121] When the left and right limit parts 30 are respectively a movable limit part and a fixed limit part, the fourth motor calculates the actual movable stroke of the first movable block 3 based on the distance the movable limit part moves to the right and the known distance at the zero position, and then drives the third gear to rotate. The third gear engages with the second gear 42, and drives the first movable block 3 to move half of the actual movable stroke to the right or left, so that the first movable block 3 is in the middle position of the actual movable stroke.

[0122] Since the first gear 21 is meshed with the second gear 42, when the first moving block 3 performs a reset action, the first gear 21 drives the push rod 2 to rotate, and then sends a signal to reset the mechanical structure of the delivery end that controls the rotational movement of the guide wire or guide rail.

[0123] Of course, other reset structures 8 may also be used to achieve automatic reset, and this embodiment is only for illustration.

[0124] Furthermore, in one embodiment, no matter what structural form the reset structure 8 adopts, it can be provided with the above-mentioned coaxial and relatively arranged magnets 94 and the coil 93 that can be energized to change the magnetic field to realize the force feedback function. The rotation limiting structure for the interventional surgical robot also includes a control unit, and the control unit is electrically connected to the coil 93 and the first drive mechanism. The control unit can receive the signal of the pushing resistance encountered by the interventional surgical instrument during the advancement and retreat process, and can change the magnetic field of the coil 93 according to the size of the pushing resistance to apply corresponding resistance to the push rod 2.

[0125] When resistance feedback is not required, the coil 93 is in a de-energized state; when resistance feedback is required, the coil 93 is in a powered state, and by changing the magnetic field of the coil 93, specifically by changing the direction and / or magnitude of the current to change the electromagnetic force, the electromagnetic force can be converted into resistance to block the movement of the push rod 2. The above-mentioned coil 93 and magnet 94 constitute a non-contact magnetic structure, which can convert the electromagnetic force into resistance of external response. The use of non-contact force feedback reduces the self-resistance of the mechanism, and can more accurately feedback the pushing resistance of the interventional surgical instrument (guidewire or catheter).

[0126] Specifically, when the first moving block 3 is in the initial position, the coil 93 is in a power-off state, the axial spacing between the coil 93 and the magnet 94 is a preset spacing, there is no force between the coil 93 and the magnet 94 (no suction force and repulsion force), and at this time, the axial spacing between the displacement sensor 91 and the displacement sensor reflector 92 is a preset initial distance;

[0127] When the push rod 2 moves in translation and there is no signal of the pushing resistance of the interventional surgical instrument, the coil 93 is in a power-off state, and the first driving mechanism drives the coil 93 to move together with the moving plate 11 according to the information detected by the main sensor, so that the axial spacing between the coil 93 and the magnet 94 is kept constant at a preset spacing (there is no force between the two, which reduces the self-resistance of the mechanism and can more accurately feedback the pushing resistance of the guidewire), and the distance between the displacement sensor 91 and the displacement sensor reflector 92 also remains unchanged at the initial distance;

[0128] When the control unit receives a signal of the push resistance encountered by the interventional surgical instrument during the advance and retreat process, that is, when there is force feedback, the coil 93 is energized, and the first drive mechanism drives the coil 93 to move. According to the magnitude of the force feedback, the axial spacing between the coil 93 and the magnet 94 is reduced, and an electromagnetic force is generated between the coil 93 and the magnet 94. The magnet 94 converts the electromagnetic force received into resistance to block the movement of the push rod 2. Figure 3 The left and right directions shown in the figure may be defined as the propulsion direction of the interventional surgical instrument to the left or to the right during actual operation; when the left direction is the propulsion direction, if there is force feedback, the end surface magnetic poles of the coil 93 and the magnet 94 are the same, and the electromagnetic force generated between the coil 93 and the magnet 94 is a repulsive force; when the right direction is the propulsion direction, if there is force feedback, the end surface magnetic poles of the coil 93 and the magnet 94 are opposite, and the electromagnetic force generated between the coil 93 and the magnet 94 is an attractive force.

[0129] It should be noted that when there is no force feedback, when the distance between the displacement sensor 91 and the displacement sensor reflector 92 changes, the control unit will control the movement of the moving plate 11 according to the information detected by the displacement sensor 91 to keep the axial position relatively unchanged with the push rod 2. During the control process with force feedback, when the distance between the displacement sensor 91 and the displacement sensor reflector 92 changes, the control unit will not trigger the corresponding operation according to the distance change of the displacement sensor 91, but will control the first drive mechanism to drive the coil 93 to move accordingly according to the signal of the pushing resistance encountered by the interventional surgical instrument during the advance and retreat process.

[0130] It can be understood that, under normal circumstances, the first gear 21 is always located in the middle of the second gear 42. When starting or stopping, the two gears will be slightly misaligned due to the movement delay of the first lead screw 4. When there is resistance feedback, the first drive mechanism will drive the coil 93 to move rightward, which will increase the misalignment between the first gear 21 and the second gear 42, but will not exceed the tooth width range of the second gear 42, and the two can still ensure the meshing state.

[0131] When the operation is completed, if the first gear 21 and the second gear 42 are greatly misaligned due to the control of force feedback, they need to be reset, and the first driving mechanism is used to drive the movable plate 11 and the second gear 42 to move together, so that the first gear 21 and the second gear 42 remain in the middle position; when the first gear 21 is located in the middle position of the second gear 42, the distance between the displacement sensor 91 and the displacement sensor reflector 92 also returns to the initial distance.

[0132] The bottom plate 1 mentioned above can be, for example, a rectangular plate. The bottom plate 1 is provided with threaded holes and round holes. The structural parts close to the bottom plate 1 can be installed on the surface of the bottom plate 1 by screws.

[0133] The above-mentioned 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 part.

[0134] The control unit in this embodiment can be arranged in the overall control system of the interventional surgical robot, and the motion feedback unit can be arranged in the above-mentioned push rod support seat 22, mainly used to convert the propulsion and rotation movements of the push rod 2 into signals. Specifically, any existing method can be adopted, for example, the operating lever motion feedback unit disclosed in the patent with authorization announcement number CN117814924B and name "Vascular Interventional Surgery Robot Doctor Control Terminal Structure" can be adopted, and it can be realized by using a magnetic encoder.

[0135] Furthermore, the present application also provides a synchronous rotation method for an interventional surgical robot, comprising:

[0136] A moving block (specifically, the first moving block 3) capable of moving in a straight line along the axial direction of the push rod 2 is provided on the moving plate 11 on one side of the push rod 2 at the control end. The moving block is sleeved on the lead screw (specifically, the first lead screw 4), and two limit portions 30 are provided on both sides of the moving direction of the moving block.

[0137] Acquire motion data of the push rod 2, the motion data including axial motion data and rotational motion data of the push rod 2;

[0138] Generate action instructions for the interventional surgical instrument at the delivery end according to the motion data of the push rod 2 to control the interventional surgical instrument to perform corresponding actions;

[0139] According to the axial motion data, the moving plate 11 drives the lead screw to move linearly synchronously with the push rod 2;

[0140] Among them, when the push rod 2 rotates, it can drive the moving block to move linearly through the meshing gear pair (the above-mentioned meshing first gear 21 and second gear 42 constitute a group of gear pairs) and the lead screw. When the moving block abuts against one of the limit parts 30, the interventional surgical instrument at the delivery end 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.

[0141] This method can limit the number of rotations of the push rod 2 by converting the rotational motion of the push rod 2 into the linear motion of the moving block and setting two limit parts 30, so that the number of rotations of the push rod 2 can be the same as the number of rotations of the interventional surgical instrument at the delivery end. When the moving block moves to the position of the corresponding limit part 30, the push rod 2 cannot continue to rotate, and the operator can more intuitively feel the state of the delivery end when the rotating interventional surgical instrument reaches the limit.

[0142] In practical application, the control end includes the above-mentioned rotation limiting structure. The specific working principle and effect have been described in detail above and will not be repeated here.

[0143] It should be noted that when obtaining the motion data of the push rod 2, it can be achieved by setting up a first detection device and a second detection device. The first detection device is used to obtain the first axial motion data of the push rod 2, and the second detection device is used to obtain the rotational motion data of the push rod 2. According to the first axial motion data and the rotational motion data, the action instructions of the interventional surgical instrument at the delivery end are generated (the action instructions include axial movement instructions and rotation instructions), and then the interventional surgical instrument is controlled to perform corresponding actions.

[0144] When the moving plate 11 is driven to drive the lead screw to move synchronously with the push rod 2 in a straight line according to the axial motion data, the axial motion data here may be the first axial motion data mentioned above; or, a third detection device (such as the main sensor mentioned above) specifically used for real-time detection of the axial movement distance of the push rod 2 may be separately provided. When the motion data of the push rod 2 is obtained, the second axial motion data of the push rod 2 is obtained by the third detection device, and the moving plate 11 is driven to move according to the second axial motion data. The specific detection control process may be determined according to actual needs, and this embodiment is only an example.

[0145] Furthermore, the synchronous rotation method for the interventional surgery robot also includes:

[0146] Receive a signal of the pushing resistance encountered by the interventional surgical instrument during the advancement and retreat process;

[0147] According to the magnitude of the pushing resistance, corresponding resistance is applied to the push rod 2.

[0148] Specifically, the force feedback function is realized by utilizing the magnet 94 and the coil 93 mentioned above, which will not be described in detail here.

[0149] In one embodiment, both of the two limiting parts 30 are fixed limiting parts. Before obtaining the motion data of the push rod 2, it is necessary to move the first moving block 3 to the midpoint between the two limiting parts 30 so that the first moving block 3 is located at the initial position; then operate the push rod 2 to move and obtain the motion data of the push rod 2. At this time, the distance between the first moving block 3 and the two limiting parts 30 is equal to half of the movable stroke of the first moving block 3. Since the movable stroke in this embodiment is a fixed value, it can only be applied to interventional surgical instruments of one diameter specification. The movable stroke should meet the number of rotations of the push rod 2 and the number of rotations of the interventional surgical instrument when the first moving block 3 reaches the stroke limit.

[0150] In other embodiments, one of the two limiting portions 30 is a fixed limiting portion and the other is a movable limiting portion. Before obtaining the motion data of the push rod 2, the method further includes:

[0151] The position of one of the limiting parts 30 is adjusted to a preset position according to the diameter of the interventional surgical instrument at the delivery end, so that the distance between the two limiting parts 30 is a preset actual distance.

[0152] In this embodiment, after adjusting the position of the movable limiter to the preset position, it is also necessary to move the position of the first movable block 3 to the midpoint of the preset actual distance so that the first movable block 3 is located at the actual initial position; then operate the push rod 2 to move and obtain the movement data of the push rod 2. At this time, the distance between the first movable block 3 and the fixed limiter and the movable limiter is equal to half of the actual movable stroke of the first movable block 3. The actual movable stroke should satisfy the number of rotations of the push rod 2 and the number of rotations of the interventional surgical instrument when the first movable block 3 reaches the stroke limit in one direction. In this way, the corresponding stroke limit can be made according to the diameter of different interventional surgical instruments, so that the number of rotations of the push rod 2 is the same as the number of rotations of the current interventional surgical instrument, and the versatility is stronger.

[0153] The above are only exemplary embodiments of the present invention and are not intended to limit the scope of the present invention. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A rotation limiting structure for an interventional surgical robot, characterized in that: include: A bottom plate, on which a movable plate is provided; A push rod is rotatably and axially movable on the bottom plate; A first moving block is arranged on the moving 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 first moving block through a transmission assembly, and the rotational movement of the push rod can be converted into linear movement of the first moving block through the transmission assembly; two limiting parts are arranged on both sides of the moving direction of the first moving block, which are used to limit the movable stroke of the first moving block, thereby limiting the number of rotations of the push rod; A main sensor, used for detecting the axial movement distance of the push rod in real time; The first driving mechanism is connected to the first moving block and can drive the moving plate to move linearly according to information detected by the main sensor, so that the moving plate and the push rod can move linearly synchronously.

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

3. The rotation limiting structure for an interventional surgical robot according to claim 2, characterized in that: The transmission structure comprises a first gear and a second gear meshing with each other, wherein the first gear is sleeved and fixed on the push rod, and the second gear is coaxially fixed on one end of the first lead screw.

4. The rotation limiting structure for an interventional surgical robot according to claim 3, characterized in that: The tooth width of the second gear is greater than that of the first gear, and two retaining rings are provided at both ends of the second gear in the axial direction for axially limiting the first gear.

5. The rotation limiting structure for an interventional surgical robot according to claim 1, characterized in that: The main sensor is a displacement sensor, and a displacement sensor reflector is provided at the end of the push rod, and the displacement sensor reflector is parallel to the light source plane of the displacement sensor; the displacement sensor and the movable plate are relatively fixed in the axial direction of the push rod, and the first driving mechanism is also connected to the displacement sensor through a connecting piece, and can drive the displacement sensor and the movable plate to move linearly together according to the information detected by the displacement sensor.

6. The rotation limiting structure for an interventional surgical robot according to claim 5, characterized in that: The first driving mechanism includes a second moving block, a third moving block and a first motor, the second moving block and the third moving block are both nut structures and are sleeved on the second lead screw, the moving plate is fixedly connected to the second moving block, and the displacement sensor is fixedly connected to the third moving block through the connecting piece; the bottom of the second moving block and the bottom of the third moving block are respectively connected to the second guide rail provided on the bottom plate through the second slider and the third slider, and both 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.

7. The rotation limiting structure for an interventional surgical robot according to claim 1, characterized in that: The two limiting parts are both fixed limiting parts, and the positions of the fixed limiting parts relative to the movable plate are fixed.

8. The rotation limiting structure for an interventional surgical robot according to claim 7, characterized in that: A first photoelectric sensor is provided on the moving plate, and a first photoelectric sensor baffle is provided on the first moving block. The first photoelectric sensor baffle can contact the first photoelectric sensor when the first moving block moves to the midpoint between the two fixed limiting parts.

9. The rotation limiting structure for an interventional surgical robot according to claim 1, characterized in that: The two limiting parts are respectively a fixed limiting part and a movable limiting part. The fixed limiting part is fixed relative to the movable plate, and the movable limiting part can reciprocate relative to the movable plate along the axial direction of the push rod. A second driving mechanism is also provided on the movable plate. The second driving mechanism can drive the movable limiting part to move linearly to adjust the distance between the movable limiting part and the fixed limiting part.

10. The rotation limiting structure for an interventional surgical robot according to claim 9, characterized in that: The second driving mechanism includes a fourth moving block and a second motor, the fourth moving block is a nut structure and is sleeved on the third lead screw, and the movable limiting part is fixed on the fourth moving block; the bottom of the fourth moving block is connected to the third guide rail provided on the moving plate through a fourth slider, and can move linearly along the third guide rail; the output shaft of the second motor is connected to one end of the third lead screw, and can drive the third lead screw to rotate.

11. The rotation limiting structure for an interventional surgical robot according to claim 10, characterized in that: A second photoelectric sensor is provided on the movable plate, and a second photoelectric sensor baffle is connected to the movable limiting portion. The second photoelectric sensor baffle can contact the second photoelectric sensor when the movable limiting portion moves to a preset limit position away from the fixed limiting portion.

12. The rotation limiting structure for an interventional surgical robot according to claim 1, characterized in that: The rotation limiting structure for the interventional surgical robot further includes a reset structure for driving the first moving block to move to a midpoint between the two limiting portions.

13. The rotation limiting structure for an interventional surgical robot according to claim 2, characterized in that: The rotation limiting structure for the interventional surgical robot also includes a reset structure, the reset structure includes a lead 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 lead screw, the lead screw end magnetic coupling is arranged at one end of the first lead screw, the motor end magnetic coupling is arranged at the end of the output shaft of the third motor, and the lead screw end magnetic coupling and the motor end magnetic coupling can be attracted in a power-on state; The third motor is mounted on the bottom plate, or the third motor is mounted on the moving plate.

14. The rotation limiting structure for an interventional surgical robot according to claim 13, characterized in that: A third photoelectric sensor is provided on the base plate, and a third photoelectric sensor baffle is connected to the movable plate. The third photoelectric sensor baffle can contact the third photoelectric sensor when the movable plate moves to a distance between the magnetic coupling at the screw end and the magnetic coupling at the motor end to be a preset value.

15. The rotation limiting structure for an interventional surgical robot according to claim 1 or 13, characterized in that: The rotation limiting structure for the interventional surgical robot also includes a magnet coaxially and relatively arranged in a direction parallel to the push rod and a coil capable of changing the magnetic field when energized. The magnet is axially fixedly connected to the push rod. The first driving mechanism is also connected to the coil through a connecting piece and can drive the coil and the movable plate to move linearly together according to the information detected by the main sensor.

16. The rotation limiting structure for an interventional surgical robot according to claim 15, characterized in that: The rotation limiting structure for the interventional surgical robot also includes a control unit, which is electrically connected to the coil and the first driving mechanism. The control unit can receive a signal of the pushing resistance encountered by the interventional surgical instrument during the advancement and retreat process, and can change the magnetic field of the coil according to the size of the pushing resistance to apply corresponding resistance to the push rod.

17. The rotation limiting structure for an interventional surgical robot according to claim 3, characterized in that: The rotation limiting structure for the interventional surgical robot also includes a reset structure, which includes a fourth motor mounted on the movable plate and a third gear fixed on the output shaft of the fourth motor, and the third gear can mesh with the second gear.

18. A synchronous rotation method for an interventional surgical robot, characterized in that: include: A moving block capable of moving in a straight line along the axial direction of the push rod is arranged on a moving plate on one side of the push rod at the control end, the moving block is sleeved on the lead screw, and two limit parts are arranged on both sides of the moving direction of the moving block; Acquiring motion data of the push rod, wherein the motion data includes axial motion data and rotational motion data of the push rod; generating a motion instruction of the interventional surgical instrument at the delivery end according to the motion data of the push rod, so as to control the interventional surgical instrument to perform corresponding motions; According to the axial motion data, the movable plate drives the lead screw to move linearly synchronously with the push rod; Among them, when the push rod rotates, it can drive the moving block to move linearly through the meshing gear pair and the lead screw. When the moving block abuts against one of the limiting parts, the interventional surgical instrument at the delivery end 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.

19. The synchronous rotation method for an interventional surgical robot according to claim 18, characterized in that: The synchronous rotation method for the interventional surgical robot also includes: Receive a signal of the pushing resistance encountered by the interventional surgical instrument during the advancement and retreat process; According to the magnitude of the pushing resistance, corresponding resistance is applied to the push rod.

20. The synchronous rotation method for an interventional surgery robot according to claim 18, characterized in that: Before acquiring the motion data of the push rod, the method further includes: The position of one of the limiting parts is adjusted to a preset position according to the diameter of the interventional surgical instrument at the delivery end.

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