Master structure of vascular interventional surgery robot

Abstract

The application discloses a kind of vascular intervention operation robot master end structure, it includes push rod, push rod guide assembly and push rod movement measuring assembly, the first end of push rod is movably connected with push rod guide assembly, push rod movement measuring assembly has at least three trackball sensors, three trackball sensors are separately arranged at the three apexes of triangle to form three prism cylinder structure, push rod passes through push rod movement measuring assembly along the central axis of three prism cylinder structure, so that the first end and the second end of push rod are located at the two sides of push rod movement measuring assembly respectively;At least part of push rod is located between three trackball sensors, and the detection end of three trackball sensors is respectively in contact with the outer wall of push rod.The application can accurately collect the moving action and / or rotating action of push rod, and can be compatible with soft and hard push rod, can well simulate the operation habit of operating doctor, maximum degree reduces the learning cost of operating doctor operation, improves the success rate of operation.

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

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

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

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

[0006] The purpose of the present invention is to provide a 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 surgical robot. When the surgeon operates the push rod, the movement and / or rotation movement of the push rod can be accurately collected, and different movements can be converted into corresponding electrical signals (movement signal, rotation signal) to ensure that the delivery end of the vascular interventional surgical robot makes precise movements and improve the success rate of the operation.

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

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

[0010] base plate;

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

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

[0013] a putter motion measurement assembly disposed on the base plate and having at least three trackball sensors disposed at three vertices of a triangle to form a triangular cylindrical structure; the putter passes through the putter motion measurement assembly along a central axis of the triangular cylindrical structure, such that a first end and a second end of the putter are respectively located on opposite sides of the putter motion measurement 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 includes 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 base 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 first support plate, the second support plate and the third support plate cooperate to form the triangular cylindrical structure;

[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 and the triangular cylindrical structure are coaxially arranged.

[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 corresponding 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 side close to the triangular cylindrical structure respectively have a receiving groove 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 receiving groove.

[0022] In a preferred embodiment of the present invention, a protrusion is provided on the inner wall of the receiving groove, and at least a portion of the transmission ball located in the receiving groove is located against the protrusion.

[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 provided on the guide rail, a fixing assembly is provided on the slider, and the first end of the push rod is connected to the fixing assembly.

[0024] In a preferred embodiment of the present invention, the fixing assembly includes a fixing body, which is a cylindrical structure arranged in the horizontal direction and open at both ends. Rotatable connecting rings are respectively provided at the openings at both ends of the fixing body, and the connecting rings are 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 terminal 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 choose the corresponding push rod according to his or her habits, so that the control of the push rod can be closer to the feel of directly operating surgical instruments such as guide wires or catheters, thereby being able to well simulate the operating habits of the surgeon, minimize the learning cost of the control end of the vascular interventional surgical robot, ensure the accuracy of the surgeon's operation, and improve the success rate of the operation.

[0029] The push rod motion measurement assembly in the present invention has at least three trackball sensors, which 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 one 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 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. Base plate; 2. Push rod guide assembly;

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

[0041] 203. Fixing assembly; 2031. Fixing member body;

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

[0043] 3. Putter motion measurement assembly; 301. Trackball sensor;

[0044] 302, first support plate; 3021, first mounting hole;

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

[0046] 304, third support plate; 3041, 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 surgical 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 relative 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 control during the operation to make the push rod 4 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 the triangle to form a triangular cylindrical structure. 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 putter motion measuring component 3 along the central axis of the triangular cylindrical structure, it is ensured that at least part of the putter 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 feeling that is closer to directly operating a soft guide wire or catheter and other surgical instruments, which well simulates the surgeon's operating habits and can also ensure the accuracy of the surgeon's operation. Among them, the push rod 4 of soft material can be but not limited to PU rod or rubber rod. 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 rod (such as aluminum alloy rod, carbon steel rod, stainless steel rod, or engineering plastic material, such as ABS material, PP material, PC material, etc.).

[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 this application.

[0053] The present invention 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 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] The push rod motion measurement assembly 3 of the present invention comprises at least three trackball sensors 301, each arranged in a triangular cylindrical structure. The push rod 4 is required to pass axially through the interior of the triangular cylindrical structure, so that at least a portion of the push rod 4 located within the triangular cylindrical structure is positioned between the three trackball sensors 301. The detection ends of the three trackball sensors 301 are in contact with the outer wall of the push rod 4, supporting the push rod 4 without affecting its forward, backward, or rotational motion. The three trackball sensors 301 cooperate to ensure stable support for the push rod 4. When the push rod 4 is operated, any of the three trackball sensors 301 captures motion information from the push rod 4, converts this information into an electrical signal, and transmits it to the delivery end of the surgical robot. This ensures that the delivery end of the surgical robot, located within the operating room, performs corresponding actions based on the motion information from the push rod 4, thereby achieving precise control of the delivery end and improving the success rate of the surgery.

[0055] In the present invention, since the surgeon needs to hold the front end of the push rod 4 in hand during use, it is very likely that the soft push rod 4 will be 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 accurately detect. 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 all 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] As can be seen from the above content, at least one trackball sensor 301 is required 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 can be provided, and a support member of the same shape as the trackball sensor 301 is 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 while being stably supported.

[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. The comprehensive motion information can be axial movement information of the push rod 4, which can be used to determine the distance the push rod 4 has advanced or retreated; circumferential rotation information of the push rod 4, which can be used to determine the number of revolutions of the push rod 4; or, of course, it can be both axial movement information and circumferential rotation information of the push rod 4, which can simultaneously determine the distance the push rod 4 has advanced or retreated and the number of revolutions of the push rod 4. In actual use, the motion information of the push rod 4 collected by the trackball sensors 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 surgeon's operation to complete a vascular interventional procedure. When controlling the delivery end of the surgical robot, the motion information of the push rod 4 collected by the trackball sensors 301 can be decomposed into axial movement information and circumferential rotation information of the push rod 4. The delivery end of the surgical robot is then controlled accordingly based on the axial movement information and 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, and 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, such as 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 mounted at the first mounting hole 3021, the second mounting hole 3031, and the third mounting hole 3041, respectively. The trackball sensors 301 have hemispherical protrusions, and the detection ends of the trackball sensors 301 are located at the protrusions. The hemispherical detection ends of the three trackball sensors 301 extend through the corresponding first mounting holes 3021, the second mounting holes 3031, and the third mounting holes 3041, respectively, into the inner side of the triangular cylindrical structure and contact the outer wall of the push rod 4. The push rod 4 is coaxial 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 all three trackball sensors 301 can accurately collect information about the movement 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. The three transmission balls 305 correspond one-to-one with the three trackball sensors 301. The three transmission balls 305 are respectively located between the corresponding trackball sensors 301 and the push rod 4. The transmission balls 305 respectively contact the hemispherical detection ends of the trackball sensors 301 and the outer wall of the push rod 4. The transmission balls 305 transmit the movement of the push rod 4 between the push rod 4 and the trackball sensors 301. By collecting the movement of the transmission balls 305, the movement information of the push rod 4 is indirectly obtained, preventing the trackball sensors 301 from being directly affected by the force of the push rod 4 and being 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, near the inner side of the triangular cylindrical structure, respectively have receiving grooves that communicate with the corresponding first mounting hole 3021, second mounting hole 3031, and third mounting hole 3041. At least a portion of the transmission ball 305 is rotatably embedded in the receiving grooves. The receiving grooves serve to limit the position of the transmission ball 305, preventing it from shifting or falling off.

[0063] Furthermore, at least three protrusions are evenly distributed along the inner wall of the receiving groove and along its circumference. The outer wall of the portion of the transmission ball 305 located within the receiving groove abuts against the three protrusions. The provision of the protrusions reduces 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. Because the transmission ball 305 is made of a hard material structure and the multiple protrusions are provided within the receiving groove, a certain distance is always maintained between the transmission ball 305 and the trackball sensor 301. This structure can maximize protection against damage to the trackball sensor 301 caused by uneven force when operating the push rod 4, thereby extending 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 includes a guide rail 201 extending along the forward and backward direction of the push rod 4. The guide rail 201 is fixedly disposed on the top surface of the base plate 1. A slider 202 is slidably disposed on the guide rail 201. A fixing assembly 203 is fixedly disposed on the top of the slider 202. The first end of the push rod 4 is connected to the fixing assembly 203. The arrangement of the push rod guide assembly 2 ensures that the first end of the push rod 4 can move smoothly when the push rod 4 (soft) is pushed, and does not swing randomly and interfere with other components in the main end structure, or prevent the first end of the push rod 4 from 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, such as 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 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 forward and backward 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 serves as a fixing assembly 203 to ensure 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 obstructed by other components in the main end structure and unable to move forward, backward or rotate smoothly, thereby ensuring the smooth movement of the push rod 4.

[0067] During use of the present invention, when the surgeon manipulates the front end of the push rod 4 to perform only a thrusting motion, the push rod 4 moves only along its axial direction. The amount of movement of the push rod 4 is directly transmitted to the trackball sensor 301 (and is captured by the trackball sensor 301) or indirectly transmitted to the trackball sensor 301 via the transmission ball 305. The distance the push rod 4 advances or retreats can be determined from the motion data of the push rod 4 captured by the trackball sensor 301. When the surgeon manipulates the front end of the push rod 4 to perform only a rotational motion, the push rod 4 rotates only along its circumferential direction. The amount of rotation of the push rod 4 is directly transmitted to the trackball sensor 301 (and is captured by the trackball sensor 301) or indirectly transmitted to the trackball sensor 301 via the transmission ball 305. The number of revolutions of the push rod 4 can be determined from the motion data of the push rod 4 captured by the trackball sensor 301. Of course, the surgeon can also manipulate the front end of the push rod 4 to perform both thrusting and rotational motions simultaneously, and the trackball sensor 301 can simultaneously capture both the amount of movement and the amount of rotation 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] First, the main end structure of the vascular interventional surgical robot, wherein the push rod 4 can be a rod-shaped structure made of a soft material, thereby enabling the surgeon to have a feel closer to that of directly operating a soft surgical instrument such as a guidewire or catheter (better simulating the operating feel of a guidewire or catheter), well simulating the surgeon's operating habits, and also ensuring the surgeon's operating accuracy. The main end structure of the present invention can also be adapted to a push rod 4 made of a hard material, that is, the push rod 4 can be a rod-shaped structure made of a hard material, achieving the effect of compatibility between soft and hard push rods 4.

[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 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.

[0071] 3. The main end structure of the vascular interventional surgical robot can directly collect the movement information of the push rod 4 through the trackball sensor 301 during use, and then obtain the movement and rotation amounts of the push rod 4 when the surgeon operates the push rod 4, and convert the movement amount signal and the rotation amount 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) 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 those skilled in the art without departing from the concept and principle of the present invention shall fall within the scope of protection of the present invention.

Claims

1. A main terminal 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 being disposed on the base plate, the first end of the push rod being movably connected to the push rod guide assembly; a putter motion measurement assembly disposed on the base plate and having at least three trackball sensors disposed at three vertices of a triangle to form a triangular cylindrical structure; the putter passes through the putter motion measurement assembly along a central axis of the triangular cylindrical structure, such that a first end and a second end of the putter are respectively located on opposite sides of the putter motion measurement 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 includes 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 base 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 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, and 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 side close to the triangular cylindrical structure respectively have a receiving groove connected to 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 receiving groove.

8. The main end structure of the vascular interventional surgery robot according to claim 7, characterized in that: A convex point is provided on the inner wall of the accommodating groove, and at least a portion 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 base plate, a slider is slidably provided on the guide rail, a fixing assembly is provided on the slider, and the first end of the push rod is connected to the fixing assembly.

10. The main end structure of the vascular interventional surgery robot according to claim 9, characterized in that: The fixing assembly includes a fixing body, which is a cylindrical structure with two ends opened along the horizontal direction. The two ends of the fixing body are respectively provided with a rotatable connecting ring, and the connecting ring is 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 terminal 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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