Master end structure of vascular intervention surgical robot

Abstract

The invention relates to a vascular interventional surgical robot main end structure which comprises a push rod, a push rod guiding assembly and a push rod motion measuring assembly, a first end of the push rod is movably connected with the push rod guiding assembly, and the push rod motion measuring assembly is provided with at least three trackball sensors. The three trackball sensors are respectively arranged at three vertex angles of a triangle to form a triangular cylindrical structure, and the push rod penetrates through the push rod motion measurement assembly along a central axis of the triangular cylindrical structure, so that a first end and a second end of the push rod are respectively positioned on two sides of the push rod motion measurement assembly; at least part of the push rod is located among the three trackball sensors, and the detection ends of the three trackball sensors make contact with the outer wall of the push rod. Moving actions and / or rotating actions of the push rod can be accurately collected, soft push rods and hard push rods can be compatible, operation habits of surgeons can be well simulated, the operation learning cost of the surgeons is reduced to the maximum extent, and the success rate of surgeries is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of medical equipment, and in particular to a main end structure of a vascular 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. Minimally invasive surgery has the advantages of precision, speed and less trauma, and has gradually become one of the main means of treating cardiovascular diseases. However, vascular intervention surgery needs to be completed with the assistance of X-rays, and the surgeon must be exposed to X-rays for a long time. Being in this working environment for a long time will affect the surgeon's health.

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

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

[0005] Therefore, the inventor, relying on many years of experience and practice in related industries, proposes a main end structure of a vascular interventional surgery robot to overcome the defects of the prior art. Summary of the invention

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

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

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

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

[0010] Base plate;

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

[0012] A push rod guide assembly, the push rod guide assembly is arranged on the bottom plate, and the first end of the push rod is movably connected to the push rod guide assembly;

[0013] A push rod motion measuring assembly, the push rod motion measuring assembly is arranged on the bottom plate, the push rod motion measuring assembly has at least three track ball sensors, the three track ball sensors are arranged at three vertices of a triangle to form a triangular cylindrical structure, the push rod passes through the push rod motion measuring assembly along the central axis of the triangular cylindrical structure, so that the first end and the second end of the push rod are respectively located on two sides of the push rod motion measuring assembly;

[0014] At least a portion of the push rod is located between the three trackball sensors, and detection ends of the three trackball sensors are in contact with outer walls of the push rod respectively.

[0015] In a preferred embodiment of the present invention, the push rod is made of soft material.

[0016] In a preferred embodiment of the present invention, the push rod motion measuring assembly comprises a first support plate, a second support plate and a third support plate, the first support plate is arranged on the top surface of the bottom plate, one side edge of the second support plate and one side edge of the third support plate are respectively connected to two opposite side edges of the first support plate, and the other side edge of the second support plate is connected to the other side edge of the third support plate, so that the triangular cylindrical structure is formed by the cooperation of the first support plate, the second support plate and the third support plate;

[0017] The three trackball sensors are respectively arranged on the first support plate, the second support plate and the third support plate.

[0018] In a preferred embodiment of the present invention, the first support plate, the second support plate and the third support plate respectively have a first mounting hole, a second mounting hole and a third mounting hole, the three trackball sensors are respectively installed at the first mounting hole, the second mounting hole and the third mounting hole, and the hemispherical detection ends of the three trackball sensors respectively extend into the inner side of the triangular cylindrical structure and contact the outer wall of the push rod.

[0019] In a preferred embodiment of the present invention, the push rod is coaxially arranged with the triangular cylindrical structure.

[0020] In a preferred embodiment of the present invention, the push rod motion measurement assembly also includes at least three transmission balls, the three transmission balls correspond one-to-one to the three trackball sensors, the three transmission balls are respectively located between the corresponding trackball sensors and the push rod, and the transmission balls are respectively in contact with the hemispherical detection end of the trackball sensor and the outer wall of the push rod.

[0021] In a preferred embodiment of the present invention, the first support plate, the second support plate and the third support plate and the inner sides close to the triangular cylindrical structure respectively have accommodating grooves connected to the corresponding first mounting hole, the second mounting hole and the third mounting hole, and at least a part of the position of the transmission ball can be rotatably embedded in the accommodating groove.

[0022] In a preferred embodiment of the present invention, a convex point is arranged on the inner wall of the receiving groove, and at least a part of the transmission ball located in the receiving groove is located against the convex point.

[0023] In a preferred embodiment of the present invention, the push rod guide assembly has a guide rail extending along the forward and backward direction of the push rod, the guide rail is arranged on the base plate, a slider is slidably arranged on the guide rail, a fixing assembly is arranged on the slider, and the first end of the push rod is connected to the fixing assembly.

[0024] In a preferred embodiment of the present invention, the fixing assembly includes a fixing body, the fixing body is a cylindrical structure with two ends opened and arranged in the horizontal direction, and a rotatable connecting ring is respectively arranged at the two end openings of the fixing body, and the connecting ring is fixedly sleeved on the push rod;

[0025] The push rod located in the fixing body is rotatably connected to the inner wall of the fixing body via at least one bearing.

[0026] In a preferred embodiment of the present invention, the push rod guide assembly has a guide tube or a guide groove extending along the advance and retreat direction of the push rod, and the first end of the push rod can be movably disposed in the guide tube or the guide groove.

[0027] As described above, the characteristics and advantages of the main end structure of the vascular interventional surgery robot of the present invention are:

[0028] The present invention is compatible with both soft push rods and hard push rods. When operating the control end of the surgical robot, the surgeon can select the corresponding push rod according to his or her habits, so that the control of the push rod can be closer to the feel of directly operating surgical instruments such as guide wires or catheters, thereby being able to well simulate the surgeon's operating habits, minimize the learning cost of the control end of the vascular interventional surgical robot, ensure the surgeon's operating accuracy, and improve the success rate of the operation.

[0029] The push rod motion measurement component of the present invention has at least three trackball sensors, and the three trackball sensors are arranged in a triangular cylindrical structure. The push rod needs to pass through the inside of the triangular cylindrical structure along its axial direction, so that at least part of the push rod is located between the three trackball sensors, and the detection ends of the three trackball sensors are respectively in contact with the outer wall of the push rod. When the push rod is operated, the motion information of the push rod is collected by any trackball sensor of the three trackball sensors, and the motion information is converted into an electrical signal and sent to the delivery end of the surgical robot, so as to ensure that the delivery end of the surgical robot located in the operating room performs corresponding actions according to the motion information of the push rod, thereby realizing precise control of the delivery end of the surgical robot and improving the success rate of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] 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.

[0031] in:

[0032] Figure 1 : It is a three-dimensional diagram of the main end structure of the vascular interventional surgery robot of the present invention.

[0033] Figure 2 : It is an attached view of the main end structure of the vascular interventional surgery robot of the present invention.

[0034] Figure 3 : It is a right view of the main end structure of the vascular interventional surgery robot of the present invention.

[0035] Figure 4 :for Figure 2 One of the cross-sectional views at the AA position.

[0036] Figure 5 :for Figure 2 The second cross-sectional view at the AA position.

[0037] Figure 6 :for Figure 2 Cross-sectional view at the mid-BB position.

[0038] The accompanying drawings in the present invention are:

[0039] 1. Bottom plate; 2. Push rod guide assembly;

[0040] 201, guide rail; 202, slider;

[0041] 203, fixing assembly; 2031, fixing body;

[0042] 2032, connecting ring; 2033, bearing;

[0043] 3. Push rod motion measurement component; 301. Trackball sensor;

[0044] 302. First support plate; 3021. First mounting hole;

[0045] 303. Second supporting plate; 3031. Second mounting hole;

[0046] 304. A third supporting plate; 3041. A third mounting hole;

[0047] 305. Transmission ball; 4. Push rod. DETAILED DESCRIPTION

[0048] 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.

[0049] like Figures 1 to 6 As shown, the present invention provides a main end structure of a vascular interventional surgery robot, which includes a base plate 1, a push rod 4, a push rod guide assembly 2 and a push rod motion measurement assembly 3. The base plate 1 is a flat plate structure arranged in a horizontal direction. The base plate 1 can be fixedly installed at a preset installation position. The push rod guide assembly 2 and the push rod motion measurement assembly 3 are respectively fixedly arranged on the top surface of the base plate 1. The push rod 4 has a first end and a second end opposite to each other. The first end of the push rod 4 can be movably connected to the push rod guide assembly 2. The second end of the push rod 4 is used for the surgeon to manipulate during the operation so that the push rod 4 can move forward and backward. and / or rotational movement; the push rod motion measuring component 3 has at least three trackball sensors 301, and the three trackball sensors 301 are respectively arranged at the three vertices of a triangle to form a triangular cylindrical structure, and the push rod 4 passes through the push rod motion measuring component 3 along the central axis of the triangular cylindrical structure, so that the first end and the second end of the push rod 4 are respectively located on both sides of the push rod motion measuring component 3; when the push rod 4 passes through the push rod motion measuring component 3 along the central axis of the triangular cylindrical structure, it is ensured that at least part of the push rod 4 is located between the three trackball sensors 301, and the detection ends of the three trackball sensors 301 are respectively in contact with the outer wall of the push rod 4.

[0050] In the present invention, the main end structure of the vascular interventional surgery robot, that is, the control end of the vascular interventional surgery robot located outside the operating room, allows the surgeon to remotely control the movement of the delivery end of the vascular interventional surgery robot located in the operating room by manipulating the control end of the vascular interventional surgery robot, thereby realizing vascular interventional surgery operations outside the X-ray working environment.

[0051] In the present invention, the push rod 4 can be a rod-shaped structure made of soft material, so that the surgeon can have a hand feel closer to directly operating soft surgical instruments such as guide wires or catheters, which well simulates the surgeon's operating habits and can also ensure the accuracy of the surgeon's operation. Among them, the push rod 4 of soft material can be but not limited to PU rods or rubber rods. Of course, the main end structure of the present invention can also be adapted to the push rod 4 of hard material, that is, the push rod 4 can be a rod-shaped structure made of hard material, so as to achieve the effect that the push rod 4 of soft material and the push rod 4 of hard material are compatible. Among them, the push rod 4 of hard material can be but not limited to metal rods (such as aluminum alloy rods, carbon steel rods, stainless steel rods, and can also be engineering plastic materials, such as ABS material, PP material, PC material, etc.).

[0052] The trackball sensor 301 is an existing sensor device (such as a trackball sensor used on a mouse), and the specific structure of the trackball sensor 301 is not limited in the present application.

[0053] The present invention is compatible with both soft push rods 4 and hard push rods 4. When the surgeon controls the control end of the surgical robot, he or she can select the corresponding push rod 4 according to his or her habits, so that the control of the push rod 4 can be closer to the feel of directly operating surgical instruments such as guide wires or catheters, thereby being able to well simulate the surgeon's operating habits, minimize the learning cost of the control end of the vascular interventional surgical robot, ensure the accuracy of the surgeon's operation, and improve the success rate of the operation.

[0054] In the present invention, the push rod motion measurement assembly 3 has at least three trackball sensors 301, which are arranged in a triangular cylindrical structure. The push rod 4 needs to pass through the inside of the triangular cylindrical structure along its axial direction, so that at least part of the push rod 4 located inside the triangular cylindrical structure is located between the three trackball sensors 301, and the detection ends of the three trackball sensors 301 are respectively in contact with the outer wall of the push rod 4, which can support the push rod 4 without affecting the forward, backward and rotational movements of the push rod 4. The three trackball sensors 301 cooperate to ensure that the support for the push rod 4 has good stability. When operating the push rod 4, the movement information of the push rod 4 is collected by any trackball sensor 301 among the three trackball sensors 301, and the movement information is converted into an electrical signal and sent to the delivery end of the surgical robot, so as to ensure that the delivery end of the surgical robot located in the operating room performs corresponding actions according to the movement information of the push rod 4, thereby realizing accurate control of the delivery end of the surgical robot and improving the success rate of the operation.

[0055] In the present invention, since the surgeon needs to hold the front end of the push rod 4 to move during use, it is very likely that the soft push rod 4 is subjected to uneven force, resulting in the outer wall of the push rod 4 being separated from the detection end of a trackball sensor 301 on one side and unable to be accurately detected. However, by providing three trackball sensors 301, even if the detection end of a trackball sensor 301 is separated from the outer wall of the push rod 4, the detection end of at least one trackball sensor 301 can always be kept in contact with the outer wall of the push rod 4, thereby achieving the purpose of collecting the movement information of the push rod 4.

[0056] When collecting the motion information of the push rod 4, the motion information of the push rod 4 can be collected by any one of the three trackball sensors 301, or by any two of the three trackball sensors 301 at the same time; of course, the motion information of the push rod 4 can also be collected by the three trackball sensors 301 at the same time, and the motion information of the push rod 4 collected by different trackball sensors 301 can be compared. When the motion information of the push rod 4 collected by multiple trackball sensors 301 is the same, the accuracy of the information can be determined.

[0057] It can be seen from the above content that at least one trackball sensor 301 is provided to complete the collection of the motion information of the push rod 4 in the present invention. Therefore, only one trackball sensor 301 or two trackball sensors 301 may be provided, and a support member of the same shape as the trackball sensor 301 may be used to replace the corresponding trackball sensor 301 to support the push rod 4, so as to ensure that the push rod 4 can simultaneously perform axial movement and circumferential rotation in a stably supported state.

[0058] In some optional embodiments of the present invention, the motion information of the push rod 4 collected by the three trackball sensors 301 is comprehensive motion information, wherein the comprehensive motion information may be the axial movement information of the push rod 4, through which the forward or backward distance of the push rod 4 can be determined; it may also be the circumferential rotation information of the push rod 4, through which the number of rotations of the push rod 4 can be determined; of course, it may also be the axial movement information and the circumferential rotation information of the push rod 4 at the same time, and the forward or backward distance and the number of rotations of the push rod 4 can be determined at the same time. In actual use, the motion information of the push rod 4 collected by the trackball sensor 301 can be transmitted to the delivery end of the surgical robot to control the delivery end of the surgical robot to perform precise movements according to the operation of the surgeon to complete the vascular intervention surgery. Among them, when controlling the delivery end of the surgical robot, the motion information of the push rod 4 collected by the trackball sensor 301 can be decomposed into the axial movement information and the circumferential rotation information of the push rod 4, and then the delivery end of the surgical robot is controlled accordingly according to the axial movement information and the circumferential rotation information of the push rod 4.

[0059] In an optional embodiment of the present invention, Figures 1 to 6 As shown, the push rod motion measuring assembly 3 includes a first support plate 302, a second support plate 303 and a third support plate 304, the first support plate 302 is fixedly arranged on the top surface of the base plate 1 in the horizontal direction, the second support plate 303 and the third support plate 304 are opposite and obliquely arranged, one side edge of the second support plate 303 and one side edge of the third support plate 304 are respectively connected to the two opposite side edges of the first support plate 302, and the other side edge of the second support plate 303 is connected to the other side edge of the third support plate 304, so that a triangular cylindrical structure is formed by the first support plate 302, the second support plate 303 and the third support plate 304; the above-mentioned three trackball sensors 301 are respectively fixedly arranged on the first support plate 302, the second support plate 303 and the third support plate 304.

[0060] Specifically, Figure 4As shown, the first support plate 302 has a first mounting hole 3021, the second support plate 303 has a second mounting hole 3031, and the third support plate 304 has a third mounting hole 3041. Three trackball sensors 301 are respectively mounted at the first mounting hole 3021, the second mounting hole 3031, and the third mounting hole 3041. The trackball sensor 301 has a hemispherical protrusion, and the detection end of the trackball sensor 301 is located at the protrusion. The hemispherical detection ends of the three trackball sensors 301 extend from the corresponding first mounting hole 3021, the second mounting hole 3031, and the third mounting hole 3041 to the inner side of the triangular cylindrical structure and contact the outer wall of the push rod 4. The push rod 4 is coaxially arranged with the triangular cylindrical structure to ensure that the push rod 4 and the three trackball sensors 301 are in the same contact state, so that the three trackball sensors 301 can accurately collect the motion information of the push rod 4.

[0061] In another optional embodiment of the present invention, Figure 5 As shown, the push rod motion measurement assembly 3 also includes at least three transmission balls 305, and the three transmission balls 305 correspond to the three trackball sensors 301 one by one. The three transmission balls 305 are respectively located between the corresponding trackball sensors 301 and the push rod 4, and the transmission balls 305 are respectively in contact with the hemispherical detection end of the trackball sensor 301 and the outer wall of the push rod 4. The transmission balls 305 play a role in transmitting the motion mode of the push rod 4 between the push rod 4 and the trackball sensor 301. By collecting the motion mode of the transmission balls 305, the action information of the push rod 4 is indirectly obtained, so as to avoid the situation that the trackball sensor 301 is directly affected by the force of the push rod 4 and is easily damaged.

[0062] Further, such as Figure 5 As shown, the first support plate 302, the second support plate 303 and the third support plate 304 and the inner side close to the triangular cylindrical structure respectively have accommodating grooves connected with the corresponding first mounting hole 3021, the second mounting hole 3031 and the third mounting hole 3041, and at least part of the transmission ball 305 can be rotatably embedded in the accommodating grooves. The accommodating grooves can limit the transmission ball 305 to prevent the transmission ball 305 from being offset or falling off.

[0063] Furthermore, at least three convex points are evenly distributed on the inner wall of the receiving groove and along its circumference, and the outer wall of the part of the transmission ball 305 located in the receiving groove abuts against the three convex points. The convex points are set to reduce the friction between the transmission ball 305 and the inner wall of the receiving groove. When the push rod 4 is pushed or rotated, the push rod 4 drives the transmission ball 305 to rotate, and the transmission ball 305 then transmits the pushing or rotating action of the push rod 4 to the three trackball sensors 301. Since the transmission ball 305 is a hard material structure and the multiple convex points are set in the receiving groove, a certain distance is always maintained between the transmission ball 305 and the trackball sensor 301. This structure can protect the trackball sensor 301 from damage caused by uneven force when operating the push rod 4 to the greatest extent, and extend the service life of the main end structure.

[0064] In an optional embodiment of the present invention, Figure 1 , Figure 2 , Figure 6 As shown, the push rod guide assembly 2 has a guide rail 201 extending along the advancing and retreating direction of the push rod 4, the guide rail 201 is fixedly arranged on the top surface of the bottom plate 1, a slider 202 is slidably arranged on the guide rail 201, a fixing assembly 203 is fixedly arranged on the top of the slider 202, and the first end of the push rod 4 is connected to the fixing assembly 203. Through the arrangement of the push rod guide assembly 2, when the push rod 4 (soft) is pushed, it can be ensured that the first end of the push rod 4 can move smoothly, and will not swing arbitrarily to interfere with other components in the main end structure, or avoid the first end of the push rod 4 being blocked by other components in the main end structure and unable to smoothly advance, retreat or rotate, thereby ensuring the smooth movement of the push rod 4.

[0065] Specifically, Figure 1 , Figure 2 , Figure 6 As shown, the fixing assembly 203 includes a fixing body 2031, which is a cylindrical structure with openings at both ends arranged in the horizontal direction. A rotatable connecting ring 2032 is respectively provided at the openings at both ends of the fixing body 2031, and the connecting ring 2032 is fixedly sleeved on the push rod 4; the push rod 4 located in the fixing body 2031 is rotatably connected to the inner wall of the fixing body 2031 through at least one bearing 2033, so as to ensure that the push rod 4 can be connected to the fixing assembly 203 without affecting the movement of the push rod 4.

[0066] In another optional embodiment of the present invention, the push rod guide assembly 2 has a conduit or guide groove extending along the advance and retreat direction of the push rod 4, and the first end of the push rod 4 can be movably arranged in the conduit or guide groove. The conduit or guide groove also plays the role of a fixing assembly 203, ensuring that the first end of the push rod 4 can move smoothly and does not swing at will to interfere with other components in the main end structure, or avoid the first end of the push rod 4 being blocked by other components in the main end structure and unable to advance or rotate smoothly, thereby ensuring the smooth movement of the push rod 4.

[0067] During the use of the present invention, when the surgeon operates the front end of the push rod 4 to perform only a propulsive action, the push rod 4 only moves along its axial direction, and the movement amount of the push rod 4 will be directly transmitted to the trackball sensor 301 (collected by the trackball sensor 301) or indirectly transmitted to the trackball sensor 301 through the transmission ball 305. The distance of the push rod 4 moving forward or backward can be obtained by the motion data of the push rod 4 collected by the trackball sensor 301. When the surgeon operates the front end of the push rod 4 to perform only a rotational action, the push rod 4 only rotates along its circumferential direction, and the rotation amount of the push rod 4 will be directly transmitted to the trackball sensor 301 (collected by the trackball sensor 301) or indirectly transmitted to the trackball sensor 301 through the transmission ball 305. The number of rotations of the push rod 4 can be obtained by the motion data of the push rod 4 collected by the trackball sensor 301. Of course, the surgeon can also operate the front end of the push rod 4 to perform propulsive and rotational actions at the same time, and the trackball sensor 301 can simultaneously collect the movement amount and rotation amount information of the push rod 4. The delivery end of the surgical robot in the operating room is controlled according to the motion information of the push rod 4 collected by the trackball sensor 301.

[0068] The characteristics and advantages of the main end structure of the vascular interventional surgery robot of the present invention are:

[0069] 1. The main end structure of the vascular interventional surgery robot, wherein the push rod 4 can be a rod-shaped structure made of soft material, so that the surgeon can have a feel closer to directly operating a soft guide wire or catheter and other surgical instruments (better simulate the operating feel of the guide wire or catheter), well simulate the surgeon's operating habits, and can also ensure the accuracy of the surgeon's operation. The main end structure of the present invention can also be adapted to a push rod 4 made of hard material, that is, the push rod 4 can be a rod-shaped structure made of hard material, so as to achieve the effect that the push rod 4 made of soft material and the push rod 4 made of hard material are compatible.

[0070] 2. The main end structure of the vascular interventional surgical robot is compatible with both soft push rods 4 and hard push rods 4. When operating the control end of the surgical robot, the surgeon can choose the corresponding push rod 4 according to his / her habits, so that the control of the push rod 4 can be closer to the feel of directly operating surgical instruments such as guide wires or catheters, thereby being able to well simulate the surgeon's operating habits, minimize the learning cost of the control end of the vascular interventional surgical robot, ensure the accuracy of the surgeon's operation, and improve the success rate of the operation.

[0071] 3. The main end structure of the vascular interventional surgical robot can directly collect the action information of the push rod 4 through the trackball sensor 301 during use, and then obtain the movement and rotation of the push rod 4 when the surgeon operates the push rod 4, and convert the movement signal and rotation signal of the push rod 4 into corresponding electrical signals respectively and transmit them to the delivery end of the surgical robot (which can be transmitted to the delivery end of the surgical robot in the form of a comprehensive signal), so as to ensure precise control of the delivery end of the surgical robot located in the operating room and improve the success rate of the operation.

[0072] The above description is only an illustrative embodiment of the present invention and is not intended to limit the scope of the present invention. Any equivalent changes and modifications made by 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 main end structure of a vascular interventional surgery robot, characterized in that: The main end structure of the vascular interventional surgery robot includes: Base plate; a push rod having opposing first and second ends; A push rod guide assembly, the push rod guide assembly is arranged on the bottom plate, and the first end of the push rod is movably connected to the push rod guide assembly; A push rod motion measuring assembly, the push rod motion measuring assembly is arranged on the bottom plate, the push rod motion measuring assembly has at least three track ball sensors, the three track ball sensors are arranged at three vertices of a triangle to form a triangular cylindrical structure, the push rod passes through the push rod motion measuring assembly along the central axis of the triangular cylindrical structure, so that the first end and the second end of the push rod are respectively located on two sides of the push rod motion measuring assembly; At least a portion of the push rod is located between the three trackball sensors, and detection ends of the three trackball sensors are in contact with outer walls of the push rod respectively.

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

3. The main end structure of the vascular interventional surgery robot according to claim 1, characterized in that: The push rod motion measuring assembly comprises a first support plate, a second support plate and a third support plate, wherein the first support plate is arranged on the top surface of the bottom plate, one side edge of the second support plate and one side edge of the third support plate are respectively connected to two opposite side edges of the first support plate, and the other side edge of the second support plate is connected to the other side edge of the third support plate, so that the triangular cylindrical structure is formed by the cooperation of the first support plate, the second support plate and the third support plate; The three trackball sensors are respectively arranged on the first support plate, the second support plate and the third support plate.

4. The main end structure of the vascular interventional surgery robot according to claim 3, characterized in that: The first support plate, the second support plate and the third support plate respectively have a first mounting hole, a second mounting hole and a third mounting hole, the three trackball sensors are respectively installed at the first mounting hole, the second mounting hole and the third mounting hole, and the hemispherical detection ends of the three trackball sensors respectively extend into the inner side of the triangular cylindrical structure and contact the outer wall of the push rod.

5. The main end structure of the vascular interventional surgery robot according to claim 4, characterized in that: The push rod is coaxially arranged with the triangular cylindrical structure.

6. The main end structure of the vascular interventional surgery robot according to claim 4 or 5, characterized in that: The push rod motion measurement assembly also includes at least three transmission balls, which correspond one to one with the three trackball sensors. The three transmission balls are respectively located between the corresponding trackball sensors and the push rod, and the transmission balls are respectively in contact with the hemispherical detection end of the trackball sensor and the outer wall of the push rod.

7. The main end structure of the vascular interventional surgery robot according to claim 6, characterized in that: The first support plate, the second support plate and the third support plate and the inner sides close to the triangular cylindrical structure respectively have accommodating grooves connected with the corresponding first mounting hole, the second mounting hole and the third mounting hole, and at least part of the position of the transmission ball can be rotatably embedded in the accommodating groove.

8. The main end structure of the vascular interventional surgery robot according to claim 7, characterized in that: A convex point is arranged on the inner wall of the accommodating groove, and at least a part of the transmission ball located in the accommodating groove is located against the convex point.

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

10. The main end structure of the vascular interventional surgery robot according to claim 9, characterized in that: The fixing assembly comprises a fixing body, which is a cylindrical structure with two ends opened and arranged in the horizontal direction. The two ends of the fixing body are respectively provided with rotatable connecting rings, and the connecting rings are fixedly sleeved on the push rod. The push rod located in the fixing body is rotatably connected to the inner wall of the fixing body via at least one bearing.

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

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