Interventional surgery robot control end rotation limiting structure and method

Abstract

The application discloses an intervention surgery robot control end rotation limiting structure and method, wherein the intervention surgery robot control end rotation limiting structure comprises a bottom plate, a push rod, at least two first gears sleeved on the push rod, a main moving block provided with two fixed limiting parts on both sides of the moving direction of the main moving block, at least two second gears provided on one end of the first screw rod, and a driving mechanism capable of driving the first gears to move linearly together, so that only one of the first gears is engaged with the corresponding second gear, thereby limiting the rotatable number of the push rod. The application can make the operator of the control end more intuitively feel the state of the delivery end when the rotating intervention surgery instrument reaches the limiting position, and can also adjust the gear transmission ratio according to the diameters of different intervention surgery instruments, so that the push rod for controlling the intervention surgery instrument is always one-to-one corresponding to the rotatable number of the delivery end.

Description

Technical Field

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

[0002] In recent years, cardiovascular and cerebrovascular diseases have gradually become one of the major threats to people's health. Minimally invasive interventional surgery, due to its advantages of precision, speed, and minimal trauma, has gradually become one of the main means of treating cardiovascular disease. However, vascular interventional surgery requires the assistance of X-rays, and the surgeon must be exposed to X-rays for a long time. To alleviate the working environment of interventional surgeons, engineering has developed vascular interventional robots to replace doctors in performing minimally invasive interventional surgery. Doctors control the vascular interventional surgery robot through remote or remote control to complete vascular interventional surgery in an X-ray-free environment.

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

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

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

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

[0007] base plate;

[0008] A push rod is rotatably and axially movable on the bottom plate; at least two first gears are sleeved on the push rod, each of the first gears being axially slidable relative to the push rod and circumferentially fixed to the push rod;

[0009] The main moving block is a nut structure and can be sleeved on the first lead screw for reciprocating linear movement in a direction parallel to the axis of the push rod; two fixed limit portions are provided on both sides of the moving direction of the main moving block, and the fixed limit portions are fixed in position relative to the base plate; at least two second gears are coaxially fixed to one end of the first lead screw, and the second gears can mesh with the corresponding first gears, and the transmission ratio of each second gear to the corresponding first gear is different;

[0010] The driving mechanism is connected to the first gears and can drive the first gears to move linearly together so that only one of the first gears is engaged with the corresponding second gear, thereby limiting the number of rotations of the push rod.

[0011] In a preferred embodiment of the present invention, a movable support seat is provided on the base plate, and a gear fixing sleeve is provided outside the push rod so as to be able to slide axially relative to the push rod and be fixed circumferentially. Each first gear sleeve is provided on the push rod and can be fixedly connected to the gear fixing sleeve; the gear fixing sleeve can rotate circumferentially and is fixedly provided in the mounting hole of the support seat axially. The driving mechanism is connected to the support seat and can drive the support seat to move.

[0012] In a preferred embodiment of the present invention, the driving mechanism includes an adjusting moving block and a first motor, the adjusting moving block is a nut structure and is sleeved on the second screw, and the support seat is fixedly connected to the adjusting moving block; the bottom of the adjusting moving block is connected to the adjusting guide rail provided on the base plate through the adjusting slider, and can move linearly along the adjusting guide rail; the output shaft of the first motor is connected to one end of the second screw, and can drive the second screw to rotate.

[0013] In a preferred embodiment of the present invention, a main rail is provided on the bottom plate, and the bottom of the main moving block is slidably connected to the main rail via a main sliding block.

[0014] In a preferred embodiment of the present invention, the rotation limiting structure of the control end of the interventional surgery robot further includes a reset structure for driving the main moving block to move to a position at the midpoint between the two fixed limiting portions.

[0015] In a preferred embodiment of the present invention, the reset structure includes a second motor and a third gear fixed on the output shaft of the second motor, and the third gear can be engaged with one of the second gears.

[0016] In a preferred embodiment of the present invention, 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, and the motor-end magnetic coupling is arranged at the end of the output shaft of the third motor, and the screw-end magnetic coupling and the motor-end magnetic coupling can be attracted when powered on.

[0017] In a preferred embodiment of the present invention, a photoelectric sensor is provided on the bottom plate, and a photoelectric sensor baffle is provided on the main moving block. The photoelectric sensor baffle can contact the photoelectric sensor when the main moving block moves to the midpoint between the two fixed limit parts.

[0018] In a preferred embodiment of the present invention, a sensor is provided on the bottom plate for detecting the moving stroke of the main moving block in real time.

[0019] In a preferred embodiment of the present invention, the sensor is an absolute value magnetic scale, which includes a magnetic scale and a magnetic head. The magnetic scale is arranged along the moving direction of the main moving block and is fixed relative to the base plate. The magnetic head is connected to the main moving block through a mounting member, and the magnetic head can contact the magnetic scale.

[0020] The present invention also provides a method for limiting the rotation of a control end of an interventional surgery robot, comprising:

[0021] A main moving block capable of linearly moving along the axial direction of the push rod is provided on one side of the push rod at the control end. The main moving block is sleeved on the lead screw, and two fixed limit parts are provided on both sides of the moving direction of the main moving block.

[0022] Adjusting the transmission ratio of the gear pair meshing between the push rod and the lead screw according to the diameter of the interventional surgical instrument at the delivery end;

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

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

[0025] Among them, when the push rod rotates, it can drive the main moving block to move linearly through the meshing gear pair and the screw. When the main moving block abuts against one of the fixed limit parts, the interventional surgical instrument reaches the rotation limit position in one direction, and the number of rotations of the push rod is the same as the number of rotations of the interventional surgical instrument.

[0026] As described above, the present invention provides a main moving block capable of linear movement on one side of the push rod. The rotational motion of the push rod can be converted into linear motion of the main moving block through the cooperation of the first gear and the corresponding second gear. Two fixed limit parts are provided on both sides of the main moving block to limit the number of rotations of the push rod, so that the number of rotations of the push rod can be the same as the number of rotations of the interventional surgical instrument at the delivery end. When the main moving block moves to the position of the corresponding limit part, the push rod cannot continue to rotate. By mechanically limiting the push rod, the operator can more intuitively feel the state of the delivery end when the rotation of the interventional surgical instrument reaches the limit. Since the distance between the two fixed limit parts is a fixed value, the present application provides multiple first gears and multiple second gears and forms different transmission ratios. It can select the appropriate gear transmission ratio for transmission according to the diameter of different interventional surgical instruments, so that the number of rotations of the push rod is the same as the number of rotations of the current interventional surgical instrument, and has greater versatility. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0028] in:

[0029] Figure 1 : Schematic diagram of the structure of the rotation limit structure of the control end of the interventional surgery robot provided by the present invention Figure 1 .

[0030] Figure 2 : Schematic diagram of the structure of the rotation limit structure of the control end of the interventional surgery robot provided by the present invention Figure 2 .

[0031] Figure 3 :for Figure 1 Schematic top view of .

[0032] Figure 4 :for Figure 3 Partial cross-sectional view along AA.

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

[0034] Description of Figure Numbers:

[0035] 1. Bottom plate; 11. Main guide rail; 12. Adjustment guide rail; 13. Photoelectric sensor; 14. Support seat; 15. Bearing; 16. Bearing stopper; 17. Bearing retaining ring;

[0036] 2. Push rod; 21. First gear; 211. Connecting tube; 22. Gear fixing sleeve; 221. Limiting column; 23. Slotted hole;

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

[0038] 4. Fixed limit part;

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

[0040] 6. Adjusting moving block; 61. Adjusting nut; 62. Adjusting nut seat; 621. Connecting plate; 63. Adjusting slider;

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

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

[0043] 9. Install the box; 91. Install the slider. DETAILED DESCRIPTION

[0044] In order to have a clearer understanding of the technical features, purposes and effects of the present invention, specific embodiments of the present invention are now described with reference to the accompanying drawings.

[0045] like Figures 1 to 5 As shown, the present application provides a rotation limiting structure for a control end of an interventional surgery robot, comprising:

[0046] Base plate 1;

[0047] The push rod 2 is rotatably and axially movable on the base plate 1; at least two first gears 21 are sleeved on the push rod 2, and each first gear 21 can slide axially relative to the push rod 2 and can be circumferentially fixed to the push rod 2;

[0048] The main moving block 3 is a nut structure and is sleeved on the first lead screw 5 so as to be reciprocatingly movable in a direction parallel to the axis of the push rod 2. Two fixed limiters 4 are provided on both sides of the moving direction of the main moving block 3, and the positions of the fixed limiters 4 relative to the base plate 1 are fixed. At least two second gears 52 are coaxially fixed to one end of the first lead screw 5. The second gears 52 can mesh with corresponding first gears 21, and the transmission ratios of the second gears 52 to the corresponding first gears 21 are different.

[0049] The driving mechanism is connected to the first gears 21 and can drive the first gears 21 to move linearly together so that only one of the first gears 21 is engaged with the corresponding second gear 52, thereby limiting the number of rotations of the push rod 2.

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

[0051] 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 main moving block 3 that can move linearly on one side of the push rod 2. The first gear 21 cooperates with the corresponding second gear 52 to convert the rotational motion of the push rod 2 into linear motion of the main moving block 3, and two fixed limiting parts 4 are set on both sides of the main moving block 3 to limit the number of rotations of the push rod 2, so that the number of rotations of the push rod 2 can be the same as the number of rotations of the interventional surgical instrument at the delivery end. When the main moving block 3 moves to the position of the corresponding limiting part, the push rod 2 cannot continue to rotate. By mechanically limiting the push rod 2, the operator can more intuitively feel the state of the delivery end when the rotating interventional surgical instrument (such as a guidewire or catheter) reaches the limit. Since the distance between the two fixed limit parts 4 is a fixed value, the present application sets multiple first gears 21 and multiple second gears 52 and constitutes different transmission ratios. It can select a suitable gear transmission ratio for transmission according to the diameters of different interventional surgical instruments (for example, different guide wires or catheter wire diameters), so that the number of rotatable circles of the push rod 2 is the same as the number of rotatable circles of the current interventional surgical instrument, and it is more versatile.

[0052] In the specific implementation, refer to Figures 1 to 4 A movable support seat 14 is provided on the base plate 1, and a gear fixing sleeve 22 is provided on the outside of the push rod 2 so as to be able to slide axially relative to the push rod 2 and be fixed circumferentially. Each first gear 21 is sleeved on the push rod 2 and can be fixedly connected to the gear fixing sleeve 22; the gear fixing sleeve 22 can rotate circumferentially and be fixedly axially inserted into the mounting hole of the support seat 14. The driving mechanism is connected to the support seat 14 and can drive the support seat 14 to move.

[0053] Generally, a limiting post 221 is inserted in the radial direction of the gear fixing sleeve 22, and the limiting post 221 can be fixed to one side of the gear fixing sleeve 22 by screws; a long strip-shaped slot 23 extending along its axial direction is provided on the outer wall of the push rod 2, and the end of the limiting post 221 can be slidably inserted in the slot 23, so that the push rod 2 can smoothly move in the axial direction (at this time, the gear fixing sleeve 22 and the first gear 21 maintain an axial position relative to the support seat 14 and do not rotate). When the push rod 2 rotates, due to the presence of the limiting post 221, the first gear 21 will be driven to rotate through the gear fixing sleeve 22 (at this time, the gear fixing sleeve 22 and the first gear 21 are rotating but maintain an axial position relative to the support seat 14).

[0054] The first gears 21 are coaxial and spaced apart, with no relative movement between them. They can be fixed to each other via a connecting tube 211 using fasteners, or the first gears 21 and the connecting tubes 211 between them can be directly made into an integral structure; one of the first gears 21 is abutted against the end face of the gear fixing sleeve 22 and can be fixed by screws.

[0055] The push rod 2 is concentric with the inner circular hole of the gear fixing sleeve 22. The support seat 14 can be a bearing seat. A bearing 15 is installed between the mounting holes of the gear fixing sleeve 22 and the support seat 14. For example, Figure 4 As shown in the figure, two bearings 15 are installed, and two sockets with increased apertures are formed at both ends of the mounting hole. The two bearings 15 are inserted through the two sockets and axially positioned by the bearing retaining plate 16 (retaining ring) and the bearing retaining ring 17 (opening ring) in conjunction with the steps on the gear fixing sleeve 22, thereby realizing circumferential rotation and axial fixation between the gear fixing sleeve 22 and the support seat 14.

[0056] In order to facilitate driving the first gear 21 to move, refer to Figure 2 The driving mechanism includes an adjusting moving block 6 and a first motor 71. The adjusting moving block 6 is a nut structure and is sleeved on the second lead screw 7. The support seat 14 is fixedly connected to the adjusting moving block 6; the bottom of the adjusting moving block 6 is connected to the adjusting guide rail 12 provided on the base plate 1 through the adjusting slider 63, and can move linearly along the adjusting guide rail 12; the output shaft of the first motor 71 is connected to one end of the second lead screw 7, and can drive the second lead screw 7 to rotate.

[0057] The axes of the second lead screw 7 and the adjustment guide rail 12 are parallel to the axis of the push rod 2. The second lead screw 7 is located directly above the adjustment guide rail 12, and the adjustment guide rail 12 can be fixed to the base plate 1 by screws. A first motor base 72 is also fixed to the base plate 1, and the housing of the first motor 71 is fixed to the first motor base 72.

[0058] In order to facilitate processing and installation, refer to Figure 2 and Figure 3 The adjusting moving block 6 includes an adjusting nut 61 and an adjusting nut seat 62 that are coaxially fixed. The adjusting nut 61 and the adjusting nut seat 62 are both sleeved on the second screw 7. The adjusting nut 61 is threadedly engaged with the second screw 7. The bottom of the adjusting nut seat 62 is fixed to the adjusting slider 63. A connecting plate 621 is fixed on the side of the adjusting nut seat 62 facing the first screw 5. The connecting plate 621 is fixed to the above-mentioned support seat 14.

[0059] Of course, the driving mechanism is not limited to the form of a screw nut in conjunction with the first motor 71. Other transmission drive structures can also be used, as long as they can drive the support base 14 to move linearly, thereby driving the first gears 21 together. For example, the linear movement of the support base 14 can be achieved by a synchronous pulley structure (the support base 14 is fixedly connected to the corresponding belt), and then the motor drives the driving pulley of the synchronous pulley structure to rotate; for another example, the linear movement of the support base 14 can be achieved by a gear rack structure (the support base 14 is fixedly connected to the corresponding rack), and then the motor drives the gears in the gear rack structure to rotate; for another example, an electric cylinder structure can be directly used, and the telescopic rod of the electric cylinder is directly connected to the support base 14; this embodiment is only for illustration.

[0060] In order to drive the main moving block 3 to move linearly when the first screw 5 rotates, refer to Figure 1 A main rail 11 is provided on the base plate 1, and the bottom of the main moving block 3 is slidably connected to the main rail 11 through a main slider 33.

[0061] The axes of the first lead screw 5 and the main guide rail 11 are both parallel to the axis direction of the push rod 2. The main guide rail 11 can be fixed to the base plate 1 by screws. The first lead screw 5 is located directly above the main guide rail 11. The main moving block 3 can move linearly along the main guide rail 11. A lead screw support 51 is fixed to the base plate 1, and one end of the first lead screw 5 can rotatably pass through the lead screw support 51. One of the fixed limiting parts 4 can be directly fixed to the side of the lead screw support 51 facing the main moving block 3, or it can be fixed on the first lead screw 5 and close to the lead screw support 51, or it can be directly fixed to the base plate 1, as long as the position is fixed relative to the base plate 1. The other fixed limiting part 4 can be directly fixed to the first lead screw 5 and close to the other end of the first lead screw 5, or it can be directly fixed to the base plate 1, and the position relative to the base plate 1 can be fixed.

[0062] In order to facilitate processing and installation, similar to the above-mentioned adjustment moving block 6, refer to Figure 1 and Figure 3 The main moving block 3 includes a coaxially fixed main nut 31 and a main nut seat 32. Both the main nut 31 and the main nut seat 32 are sleeved on the first lead screw 5. The main nut 31 is threadedly engaged with the first lead screw 5, and the bottom of the main nut seat 32 is fixedly connected to the main slider 33. The main nut 31 and the main nut seat 32, as well as the main nut seat 32 and the main slider 33, can be connected by fasteners (such as screws).

[0063] The number of the first gears 21 and the second gears 52 are the same, and they mesh with each other in pairs. The specific number of gears is determined according to actual needs to adapt to different guidewire or catheter diameters. For example, in this embodiment, the number of first gears 21 and second gears 52 are both two. When it is necessary to replace a guidewire or catheter of a different diameter, the first motor 71 rotates with the second screw 7, which drives the support base 14 to move linearly. Depending on the different diameters, one of the first gears 21 is selected to mesh with the corresponding second gear 52, or the other first gear 21 is selected to mesh with the corresponding second gear 52.

[0064] During actual operation, the operator may rotate the push rod 2 clockwise or counterclockwise. To accommodate these two possible rotation directions, the initial position of the main movable block 3 should be located in the middle of its movable range. Since the distance between the two fixed stoppers 4 is a fixed value, the initial position of the main movable block 3 can be located at the midpoint between the two fixed stoppers 4. It can be understood that the movable range of the main movable block 3 = the distance between the two fixed stoppers 4 - the length of the main movable block 3 along the linear movement direction.

[0065] When the main moving block 3 reaches the left limit or the right limit (ie reaches one of the fixed limit parts 4), it needs to be reset, which can be manually reset or automatically reset in this application.

[0066] When manual resetting is performed, the main moving block 3 can be reset by manually rotating the push rod 2 .

[0067] When performing automatic reset, the interventional surgery robot control end rotation limit structure also includes a reset structure 8 for driving the main moving block 3 to move to the midpoint between the two fixed limit parts 4 (i.e., to the initial position). Specifically, the following two reset structures 8 can be used:

[0068] In one embodiment, referring to Figure 1 The reset structure 8 includes a second motor 81 and a third gear 83 fixed on the output shaft of the second motor 81 . The third gear 83 can mesh with one of the second gears 52 .

[0069] The first gear 21 and the third gear 83 are respectively located on both sides of the second gear 52. The output shaft of the second motor 81 is parallel to the axial direction of the push rod 2. A second motor base 82 is also fixed on the base plate 1, and the housing of the second motor 81 is fixed on the second motor base 82.

[0070] In this embodiment, when the operator rotates the push rod 2 to drive the first gear 21 and the corresponding second gear 52 to rotate, the third gear 83 will also be driven to rotate, and the second motor 81 will idle at this time. When the main moving block 3 reaches the left limit or the right limit, the first screw 5 can be driven to reset by the second motor 81. The second motor 81 drives the third gear 83 to rotate, and the third gear 83 engages with one of the second gears 52, which drives the main moving block 3 to move to the right or left to half the distance of the movable stroke, so that the main moving block 3 is in the middle position of the movable stroke. Since the corresponding first gear 21 is engaged with the second gear 52, when the main moving block 3 performs the reset action, the first gear 21 drives the push rod 2 to rotate, and then sends a signal to reset the mechanical structure that controls the rotational movement of the guide wire or guide rail at the delivery end.

[0071] In another embodiment, referring to Figure 5The reset structure 8 includes a screw-end magnetic coupling 86, a motor-end magnetic coupling 87 and a third motor 84. The output shaft of the third motor 84 is coaxially arranged with the first screw 5. The screw-end magnetic coupling 86 is arranged at one end of the first screw 5, and the motor-end magnetic coupling 87 is arranged at the end of the output shaft of the third motor 84. The screw-end magnetic coupling 86 and the motor-end magnetic coupling 87 can be attracted when powered on.

[0072] A third motor base 85 is further fixedly provided on the base plate 1 , and a housing of the third motor 84 is fixed on the third motor base 85 .

[0073] Reference Figure 5 The third motor 84 is installed concentrically with the input end of the first lead screw 5. The input end of the first lead screw 5 is connected to the lead screw end magnetic coupling 86, and the input shaft of the third motor 84 is connected to the motor end magnetic coupling 87. The interior of the motor end magnetic coupling 87 is an electromagnet, which is non-magnetic when powered off and magnetic when powered on; the interior of the lead screw end magnetic coupling 86 is a permanent magnet. When the motor end magnetic coupling 87 is powered off, there is no force between the two opposing magnetic couplings. When the push rod 2 rotates, it will not rotate with the third motor 84 at the same time, which can effectively reduce the resistance inside the structure. When resetting is required, the motor end magnetic coupling 87 is powered on. At this time, the rotation of the third motor 84 will drive the first lead screw 5 to rotate at the same time, achieving the purpose of resetting.

[0074] Of course, other reset structures 8 may also be used to achieve automatic reset. This embodiment is only an example.

[0075] In actual applications, the rotation and / or translation pushing of the push rod 2 is manually operated by an operator, and each motor is controlled by a corresponding control device in the interventional surgery robot.

[0076] When the second motor 81 or the third motor 84 is used for resetting, the control device can obtain the moving distance of the main moving block 3 by controlling the number of rotations of the motor and performing calculations.

[0077] In order to reset the position of the main moving block 3 more accurately, refer to Figure 2 and Figure 3 A photoelectric sensor 13 is provided on the base plate 1, and a photoelectric sensor baffle 34 is provided on the main moving block 3. The photoelectric sensor baffle 34 can contact the photoelectric sensor 13 when the main moving block 3 moves to the midpoint between the two fixed limit parts 4.

[0078] When performing automatic reset, the first screw 5 is driven to rotate by the second motor 81 or the third motor 84, and the main moving block 3 is driven to move in a straight line along the main rail 11. When the main moving block 3 moves to the photoelectric sensor baffle 34 and contacts the photoelectric sensor 13, the photoelectric sensor 13 is triggered to generate a position signal. The control device controls the second motor 81 or the third motor 84 to stop moving. At this time, the main moving block 3 moves to the initial position.

[0079] In an optional embodiment, a vibrator or an alarm can also be provided. When the photoelectric sensor 13 generates a position signal, the control device can control the vibrator or the alarm to vibrate or emit a prompt sound to generate some passive prompts to assist in reminding the operator that the main moving block 3 has been reset.

[0080] In addition to using the above-mentioned photoelectric sensor 13 to detect the motion of the main moving block 3, in other embodiments, a sensor is provided on the base plate 1 for detecting the moving stroke of the main moving block 3 in real time to facilitate moving the main moving block 3 to the initial position.

[0081] The sensor here can be any sensor that can detect the movement range in real time, for example, an absolute value magnetic scale can be used. The magnetic scale includes a magnetic scale and a magnetic head. During installation, the magnetic scale can be arranged along the movement direction of the main moving block 3 and fixed relative to the base plate 1, for example, it can be fixed on the main rail 11 or the base plate 1; the magnetic head is connected to the main moving block 3 through a mounting member (specifically, it can be fixed on the main nut seat 32 or the main slider 33 through the mounting member). The magnetic head can contact the magnetic scale and follow the movement of the main moving block 3, thereby detecting the movement distance of the main moving block 3 in real time. The specific structure and detection principle of the magnetic scale are existing technologies and will not be repeated here.

[0082] The base plate 1 may be a rectangular plate, for example. The base plate 1 is provided with threaded holes and round holes. Structural components that are in close contact with the base plate 1 may be mounted on the surface of the base plate 1 by screws.

[0083] The above-mentioned rotation limit structure of the interventional surgical robot control end 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 an electrical signal and transmit it to the control device.

[0084] Reference Figure 1A mounting box 9 is provided on the outer sleeve of the push rod 2. The push rod 2 is axially fixed to the mounting box 9 and can be rotatably connected in the circumferential direction. The mounting box 9 can be slidably connected to the main rail 11 through the mounting slider 91. When the push rod 2 moves linearly, it can drive the mounting box 9 to move together. The motion feedback part is arranged in the mounting box 9, which is mainly used to convert the propulsion and rotation actions of the push rod 2 into signals. Specifically, any existing method can be adopted. For example, the operating lever motion feedback part disclosed in the patent with authorization announcement number CN117814924B and the name of the doctor control end structure of the vascular interventional surgery robot can be adopted, and it can be realized by using a magnetic encoder.

[0085] Furthermore, the present application also provides a method for limiting the rotation of a control end of an interventional surgical robot, comprising:

[0086] A main moving block 3 capable of linearly moving along the axial direction of the push rod 2 is provided on one side of the push rod 2 at the control end. The main moving block 3 is sleeved on a lead screw (specifically, the first lead screw 5 mentioned above), and two fixed limit portions 4 are provided on both sides of the moving direction of the main moving block 3;

[0087] Adjust the transmission ratio of the gear pair meshing between the push rod 2 and the lead screw (the meshing first gear 21 and the second gear 52 constitute a gear pair) according to the diameter of the interventional surgical instrument at the delivery end, so that the transmission ratio of the meshing gear pair is the preset transmission ratio;

[0088] Acquire motion data of the push rod 2, the motion data including rotational motion data of the push rod 2 and axial motion data of the push rod 2;

[0089] Generate action instructions for the interventional surgical instrument based on the motion data of the push rod 2 to control the interventional surgical instrument to perform corresponding actions;

[0090] Among them, when the push rod 2 rotates, it can drive the main moving block 3 to move linearly through the meshing gear pair and the screw. When the main moving block 3 abuts against one of the fixed limit parts, the interventional surgical instrument reaches the rotation limit position in one direction, and the number of rotations of the push rod 2 is the same as the number of rotations of the interventional surgical instrument.

[0091] This method, by converting the rotational motion of the push rod 2 into linear motion of the main moving block 3 and providing two fixed limiters 4, can limit the number of rotations of the push rod 2, so that the number of rotations of the push rod 2 can be the same as the number of rotations of the interventional surgical instrument at the delivery end. When the main moving block 3 moves to the position of the corresponding limiter, the push rod 2 cannot continue to rotate, and the operator can more intuitively feel the state of the delivery end when the rotation of the interventional surgical instrument reaches the limit. By adjusting different gear pairs to mesh and form different transmission ratios, the appropriate gear transmission ratio can be selected for transmission 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, which is more versatile.

[0092] Furthermore, before obtaining the motion data of the push rod 2, the main moving block 3 needs to be moved to the midpoint between the two fixed stoppers 4 so that the main moving block 3 is in the initial position; then, the push rod 2 can be moved and its motion data obtained. At this point, the distance between the main moving block 3 and the two fixed stoppers 4 is equal to half of the movable range of the main moving block 3. Since the movable range in this embodiment is a fixed value, the above-mentioned preset transmission ratio should meet the requirements of the number of rotations of the push rod 2 and the number of rotations of the interventional surgical instrument when the main moving block 3 reaches the travel limit in one direction.

[0093] In actual application, the control end includes the above-mentioned interventional surgery robot control end rotation limit structure. The specific working principle and effect have been described in detail above and will not be repeated here.

[0094] The above is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by those skilled in the art without departing from the concept and principle of the present invention should fall within the scope of protection of the present invention.

Claims

1. A rotation limiting structure for the control end of an interventional surgical robot, characterized in that: include: base plate; A push rod is rotatably and axially movable on the bottom plate; At least two first gears are sleeved on the push rod, and each of the first gears can slide axially relative to the push rod and can be fixed circumferentially to the push rod; The main moving block is a nut structure and can be reciprocated linearly and sleeved on the first lead screw in a direction parallel to the axis of the push rod; two fixed limit parts are provided on both sides of the moving direction of the main moving block, and the positions of the fixed limit parts relative to the base plate are fixed; at least two second gears are coaxially fixed to one end of the first lead screw, and the second gears can mesh with the corresponding first gears, and the transmission ratio of each second gear to the corresponding first gear is different; The driving mechanism is connected to the first gears and can drive the first gears to move linearly together so that only one of the first gears is engaged with the corresponding second gear, thereby limiting the number of rotations of the push rod.

2. The interventional surgical robot control end rotation limiting structure according to claim 1, characterized in that: A movable support seat is provided on the base plate, and a gear fixing sleeve is provided outside the push rod so as to slide axially relative to the push rod and be fixed circumferentially. Each of the first gear sleeves is provided on the push rod and can be fixedly connected to the gear fixing sleeve; the gear fixing sleeve can rotate circumferentially and is fixedly provided in the mounting hole of the support seat axially. The driving mechanism is connected to the support seat and can drive the support seat to move.

3. The interventional surgery robot control end rotation limiting structure according to claim 2, characterized in that: The driving mechanism includes an adjusting moving block and a first motor, the adjusting moving block is a nut structure and is sleeved on the second lead screw, and the support seat is fixedly connected to the adjusting moving block; the bottom of the adjusting moving block is connected to the adjusting guide rail provided on the base plate through an adjusting slider and can move linearly along the adjusting 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.

4. The interventional surgery robot control end rotation limiting structure according to claim 1, characterized in that: A main rail is provided on the bottom plate, and the bottom of the main moving block is slidably connected to the main rail through a main sliding block.

5. The interventional surgery robot control end rotation limiting structure according to claim 1, characterized in that: The interventional surgery robot control end rotation limiting structure further includes a reset structure for driving the main moving block to move to a midpoint between the two fixed limiting portions.

6. The interventional surgery robot control end rotation limiting structure according to claim 5, characterized in that: The reset structure includes a second motor and a third gear fixed on the output shaft of the second motor, and the third gear can be engaged with one of the second gears.

7. The interventional surgery robot control end rotation limiting structure according to claim 5, characterized in that: 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.

8. The interventional surgery robot control end rotation limiting structure according to claim 5, characterized in that: A photoelectric sensor is provided on the bottom plate, and a photoelectric sensor baffle is provided on the main moving block. The photoelectric sensor baffle can contact the photoelectric sensor when the main moving block moves to the midpoint between the two fixed limit parts.

9. The interventional surgery robot control end rotation limiting structure according to claim 5, characterized in that: A sensor is provided on the bottom plate for detecting the moving stroke of the main moving block in real time.

10. The interventional surgery robot control end rotation limiting structure according to claim 9, characterized in that: The sensor is an absolute value magnetic scale, which includes a magnetic scale and a magnetic head. The magnetic scale is arranged along the moving direction of the main moving block and is fixed relative to the base plate. The magnetic head is connected to the main moving block through a mounting member and can contact the magnetic scale.

11. A method for limiting the rotation of a control end of an interventional surgery robot, characterized in that: include: A main moving block capable of linearly moving along the axial direction of the push rod is provided on one side of the push rod at the control end, the main moving block is sleeved on the lead screw, and two fixed limit portions are provided on both sides of the moving direction of the main moving block; adjusting the transmission ratio of the gear pair meshing between the push rod and the lead screw according to the diameter of the interventional surgical instrument at the delivery end; Acquiring motion data of the push rod, the motion data including rotational motion data of the push rod; generating an action instruction for the interventional surgical instrument according to the motion data of the push rod to control the interventional surgical instrument to perform corresponding actions; In which, when the push rod rotates, it can drive the main moving block to move linearly through the meshing gear pair and the screw. When the main moving block abuts against one of the fixed limit parts, the interventional surgical instrument reaches the rotation limit position in one direction, and the number of rotations of the push rod is the same as the number of rotations of the interventional surgical instrument.

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