Guide wire and catheter cooperative control device of force feedback vascular interventional surgical robot

Abstract

The invention discloses a guide wire and catheter cooperative control device for a force feedback vascular interventional surgical robot. The guide wire and catheter cooperative control device comprises a guide wire control and force feedback implementation unit, a catheter control unit and an interventional doctor operation end. According to the device, operation habits of an interventional doctor in a clinical operation are fully considered, stress / torque information of surgical instruments is accurately represented, two surgical instruments including a guide wire and a catheter can be operated and controlled at the same time, and cooperative operation and control of the guide wire and the catheter are achieved. Besides, the visual design and operation method of the device not only can reduce the learning cycle and use difficulty of the device by the interventional doctor, but also can improve the operation experience feeling of the interventional doctor and ensure the safety of the operation.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical equipment, and in particular relates to a force feedback vascular interventional surgery robot guidewire catheter collaborative control device. Background Art

[0002] Nowadays, vascular diseases have become a typical disease that endangers human health. Vascular interventional surgery is considered an effective way to treat cardiovascular diseases. The basic operation process is that the interventional doctor wears a heavy lead suit and, under the guidance of DSA angiography technology, pushes and twists the guide wire and catheter to the patient's lesion site for diagnosis and treatment. However, DSA angiography technology will bring serious radiation to the interventional doctors, affecting their health. Even if the interventional doctors wear heavy lead suits, they can only provide partial protection and cannot completely avoid it. In addition, wearing heavy lead suits will quickly consume the physical strength of the interventional doctors. When the interventional doctors are physically and mentally fatigued, they are prone to mistakes, resulting in the failure of the operation.

[0003] With the rapid development of science and technology, robot-assisted vascular interventional surgery technology has emerged. The robot-assisted system for vascular interventional surgery adopts a master-slave control architecture, which supports interventional doctors to operate the master hand controller outside the radiation-free operating room, combined with medical image information, to control the slave operator to deliver the guidewire and catheter to the patient's lesion location for diagnosis and treatment. Compared with traditional vascular interventional surgery, robot-assisted vascular interventional surgery technology has better accuracy, stability and safety. However, robot-assisted vascular interventional surgery technology is still in continuous development, and the problem of high telepresence force feedback during surgery is one of the key issues affecting the development of vascular interventional surgery robot technology. Summary of the invention

[0004] To solve the above problems, the present invention discloses a force feedback vascular interventional surgery robot guidewire catheter collaborative control device, which fully considers the operating habits of interventional doctors in clinical surgery, accurately reproduces the force / torque information of surgical instruments, and can simultaneously control two surgical instruments including a guidewire and a catheter, thereby realizing collaborative control of the guidewire and the catheter.

[0005] To achieve the above object, the technical solution of the present invention is as follows: A force feedback vascular interventional surgery robot guidewire catheter collaborative control device comprises: a guidewire control and force feedback implementation unit, a catheter control unit and an interventional doctor operation end.

[0006] The interventional doctor operation end is composed of a solid cylindrical rod and a hollow cylindrical tube. The solid cylindrical rod is used to simulate the guide wire, and the hollow cylindrical tube is used to simulate the catheter. Both the solid cylindrical rod and the hollow cylindrical tube are equipped with rubber tube sleeves to prevent the interventional doctor from slipping during the operation. In addition, both the solid cylindrical rod and the hollow cylindrical tube have two degrees of freedom, namely, movement in the push-pull direction and movement in the circumferential direction.

[0007] The guidewire control and force feedback realization unit is composed of two DC brush motors, two solid shaft incremental photoelectric encoders, a diamond structure that can be compressed and stretched, a linear guide transmission module, a synchronous pulley transmission module, bearings, and machined plates. Among them, the DC brush motor is used to realize the force feedback of the guidewire in the push-pull direction and the circumferential direction. When the guidewire at the slave end is subjected to force in the push-pull direction, the output torque of the DC brush motor will change accordingly, and will be transmitted to the solid cylindrical rod through the compressible and stretchable diamond structure, providing force feedback in the push-pull direction for the interventional doctor; when the guidewire at the slave end is subjected to torque in the circumferential direction, the output torque of the DC brush motor will change accordingly, and will be transmitted to the solid cylindrical rod through the synchronous pulley and synchronous belt, providing force feedback in the circumferential direction for the interventional doctor. The solid shaft incremental encoder is used to detect the movement information of the guide wire in the push-pull direction and the circumferential direction. When the interventional doctor holds the solid cylindrical rod to make push and pull movements, the compressible and stretchable diamond structure will be compressed or stretched, and the solid shaft incremental photoelectric encoder connected to the diamond structure records the displacement information of the solid cylindrical rod; when the interventional doctor holds the solid cylindrical rod to make clockwise and counterclockwise rotational movements, the solid shaft incremental photoelectric encoder connected to the solid cylindrical rod through the synchronous pulley and synchronous belt records the rotation angle information of the solid cylindrical rod. The linear guide transmission module is used to constrain the solid cylindrical rod to make push and pull movements in a straight line. The synchronous pulley transmission module is used to connect the DC brushed motor and the output shaft of the solid shaft incremental photoelectric encoder to make them move synchronously and realize the rotational movement of the solid cylindrical rod. The bearing is used to support the rotating body. The machined plate is used to support and encapsulate the unit.

[0008] The catheter control unit is composed of a solid shaft incremental photoelectric encoder, a hollow shaft incremental photoelectric encoder, a linear guide transmission module, a gear rack transmission module, and a machined plate. Among them, the solid shaft incremental encoder is used to realize the movement information detection of the catheter in the push and pull direction. When the interventional doctor holds the hollow cylindrical tube to make push and pull movements, under the action of the linear guide transmission module and the gear rack transmission module, the gear connected to the output shaft of the solid shaft incremental encoder rolls on the rack, and the solid shaft incremental photoelectric encoder records the displacement information of the hollow cylindrical tube. The hollow shaft incremental photoelectric encoder records the rotation angle information of the hollow cylindrical tube. The linear guide transmission module is used to constrain the hollow cylindrical tube to make push and pull movements in a straight line. The machined plate is used to support and encapsulate the unit.

[0009] The beneficial effects of the present invention are: 1. The force feedback vascular interventional surgery robot guidewire catheter coordinated control device described in the present invention uses a solid cylindrical rod and a hollow cylindrical tube similar to a guidewire and a catheter as the parts directly operated by the interventional doctor, which can realize the coordinated control of the guidewire and the catheter from the end, and fully cover the actions and needs of the interventional doctor in clinical surgery. In addition, the intuitive design and operation method can not only reduce the learning cycle and use difficulty of the interventional doctor for the device, but also assist the interventional doctor to give full play to his surgical experience and skills.

[0010] 2. The force feedback vascular interventional surgery robot guidewire and catheter collaborative control device described in the present invention takes into account the impact of force feedback on the safety of the operation and utilizes the torque characteristics of a brushed DC motor to reproduce the real-time force / torque conditions of the guidewire and catheter at the slave end at the master end, thereby improving the surgical experience of the interventional doctor and ensuring the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a three-dimensional structural diagram of the present invention.

[0012] Figure 2 It is a top view of the guidewire control and force feedback implementation unit described in the present invention.

[0013] Figure 3 Schematic diagram of the catheter control unit of the present invention.

[0014] List of Figure Symbols: 1. Guidewire control and force feedback implementation unit, 2. Catheter control unit, 3. Interventional doctor operation end, 1-1. Solid shaft incremental photoelectric encoder 1, 1-2. DC brush motor 1, 1-3. Diamond structure, 1-4. Linear guide transmission module 1, 1-5. DC brush motor 2, 1-6. Solid shaft incremental photoelectric encoder 2, 1-7. Synchronous belt pulley transmission module, 1-8. Machined plate 1, 2-1. Linear guide transmission module 2, 2-2. Solid shaft incremental photoelectric encoder 3, 2-3. Hollow shaft incremental photoelectric encoder, 2-4. Gear rack transmission module, 2-5. Machined plate 2, 3-1. Hollow cylindrical tube, 3-2. Solid cylindrical rod, 4. Support frame. DETAILED DESCRIPTION

[0015] The present invention will be further explained below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the following specific embodiments are only used to illustrate the present invention and are not used to limit the scope of the present invention.

[0016] As shown in the figure, a force feedback vascular interventional surgery robot guidewire catheter collaborative control device described in the present invention includes: a guidewire control and force feedback implementation unit 1, a catheter control unit 2, an interventional doctor operating end 3 and a support frame 4; the interventional doctor operating end includes a hollow cylindrical tube 3-1 and a solid cylindrical rod 3-2; the guidewire control and force feedback implementation unit 1 and the catheter control unit 2 are fixed on a support frame 4 assembled from aluminum alloy profiles, the hollow cylindrical tube 3-1 is installed on the hollow shaft incremental photoelectric encoder 2-3 in the catheter control unit 2, the solid cylindrical rod 3-2 passes through the hollow cylindrical tube 3-1 and is connected to a DC brushed motor 1-2 in the guidewire control and force feedback implementation unit 1, and the hollow cylindrical tube 3-1 and the solid cylindrical rod 3-2 are coaxially installed.

[0017] like Figure 2 As shown, the guide wire control and force feedback realization unit 1 described in the present invention, the output shafts of the solid shaft incremental photoelectric encoder 1-1 and the DC brush motor 1-2 are respectively connected to one end of the diamond structure 1-3, the diamond structure 1-3 can be compressed or stretched under the action of the bearing, the slider of the linear guide transmission module 1-4 is equipped with a machined plate 1-8, the machined plate supports the DC brush motor 1-5, the solid shaft incremental photoelectric encoder 1-6 and the synchronous belt pulley transmission module 1-7, and the solid cylindrical rod 3-2 is installed on the output shaft of the DC brush motor 1-5.

[0018] like Figure 3As shown, the catheter control unit 2 described in the present invention, the guide rail of the linear guide transmission module 2-1 is fixed on the bottom side inside the machined plate 2-5, the machined plate 2-5 supports the solid shaft incremental photoelectric encoder 3 2-2 and the hollow shaft incremental photoelectric encoder 2-3, which are fixed on the slider of the linear guide transmission module 2-1, the output shaft of the solid shaft incremental photoelectric encoder 3 2-2 is equipped with a gear, which can roll on the rack of the gear rack transmission module 2-4, the hollow cylindrical tube 3-1 is installed in the hollow shaft of the hollow shaft incremental photoelectric encoder 2-3, and the machined plate 2-5 is fixed on the support frame 4 as a whole.

[0019] During operation, when the interventional doctor holds the solid cylindrical rod 3-2 to make advancement and retraction movements, the diamond structure 1-3 will be compressed or stretched, and the solid shaft incremental photoelectric encoder 1-1 connected to the diamond structure will record the displacement information of the solid cylindrical rod 3-2; when a control signal is input to the DC brush motor 1-2, the output torque of the DC brush motor 1-2 will change, generating a reverse force, which will be transmitted to the solid cylindrical rod 3-2 through the diamond structure 1-3, providing force feedback in the push and pull directions. When the interventional doctor holds the solid cylindrical rod 3-2 and rotates it in the clockwise and counterclockwise directions, the solid shaft incremental photoelectric encoder 1-6 connected to the solid cylindrical rod through the synchronous pulley and the synchronous belt records the rotation angle information of the solid cylindrical rod 3-2; when a control signal is input to the DC brush motor 1-5, the output torque of the DC brush motor 1-5 will change, generating a reverse force, which is directly transmitted to the solid cylindrical rod 3-2 to provide force feedback in the circumferential direction.

[0020] When the interventional doctor holds the hollow cylindrical tube 3-1 and performs advancement and retraction movements, under the action of the linear guide transmission module and the gear rack transmission module, the gear connected to the output shaft of the solid shaft incremental encoder 3-2 rolls on the rack, and the solid shaft incremental photoelectric encoder 3-2 records the displacement information of the hollow cylindrical tube; when the interventional doctor holds the hollow cylindrical tube 3-1 and performs rotational movements in clockwise and counterclockwise directions, the hollow shaft incremental photoelectric encoder 2-3 records the rotation angle information of the hollow cylindrical tube 3-1.

[0021] The machined plate 1-8 described in the present invention can be moved laterally along the slider of the linear guide transmission module 1-4, but the machined plate 2-5 is fixed.

[0022] Specifically, the outer diameter and inner diameter of the hollow cylindrical tube 3-1 are 8 mm and 6 mm respectively, and the outer diameter of the solid cylindrical rod 3-2 is 5 mm.

[0023] Specifically, the diameter and length of each arm of the compressible and stretchable rhombus structures 1-3 are 1.5 cm and 14.5 cm respectively.

[0024] Specifically, the length of the linear guide transmission module 1-4 is 205 mm, and the combined height is 13 mm; the length of the linear guide transmission module 2-1 is 220 mm, and the combined height is 13 mm.

[0025] Specifically, in the rack and pinion transmission module 2-4, the length of the rack is 220 mm, the tooth width of the T-type gear is 10 mm, the tooth outer diameter is 22 mm, the total thickness is 18 mm, the step outer diameter is 16 mm, and the hole diameter is 6 mm.

[0026] Specifically, in the synchronous pulley transmission module 1-7, the center distance between the two synchronous pulleys is 50 mm.

[0027] Specifically, the solid shaft incremental photoelectric encoder (1-1, 1-6, 2-2) has a pulse number of 2500, an output mode of NPN type, an output shaft diameter of 6 mm, and an operating voltage of 5 volts.

[0028] Specifically, the pulse number of the hollow shaft incremental photoelectric encoder 2-3 is 2500, the output mode is NPN type, the diameter of the hollow shaft is 8 mm, and the operating voltage is 5 volts.

[0029] Specifically, the stall torque of the brushed DC motor 1-2 is 1090 mm, the reduction ratio of the gearbox is 5.8:1, the diameter of the output shaft is 6 mm, and the rated voltage is 42 volts.

[0030] Specifically, the DC brushed motor 21-5 has a stall torque of 1090 mm, an output shaft diameter of 6 mm, and a rated voltage of 42 volts.

[0031] It should be noted that the above content only illustrates the technical idea of ​​the present invention and cannot be used to limit the protection scope of the present invention. For ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principle of the present invention. These improvements and modifications all fall within the protection scope of the claims of the present invention.

Claims

1. A force feedback vascular interventional surgery robot guidewire catheter collaborative control device, characterized in that: It comprises a guidewire control and force feedback implementation unit (1), a catheter control unit (2), an interventional doctor operation end (3) and a support frame (4); The interventional doctor operating end (3) comprises a hollow cylindrical tube (3-1) and a solid cylindrical rod (3-2); the guidewire control and force feedback realization unit 1 and the catheter control unit (2) are fixed on a support frame (4) assembled from aluminum alloy profiles; the hollow cylindrical tube (3-1) is installed on a hollow shaft incremental photoelectric encoder (2-3) in the catheter control unit (2); the solid cylindrical rod (3-2) passes through the hollow cylindrical tube (3-1) and is connected to a DC brush motor 1 (1-2) in the guidewire control and force feedback realization unit (1); and the hollow cylindrical tube (3-1) and the solid cylindrical rod (3-2) are installed coaxially; The guide wire control and force feedback realization unit (1) comprises a solid shaft incremental photoelectric encoder (1-1), a DC brush motor (1-2), a diamond structure (1-3), a linear guide transmission module (1-4), a DC brush motor (1-5), a solid shaft incremental photoelectric encoder (1-6) and a synchronous pulley transmission module (1-7); the output shafts of the solid shaft incremental photoelectric encoder (1-1) and the DC brush motor (1-2) are respectively connected to one end of the diamond structure (1-3); the diamond structure (1-3) can be compressed or stretched under the action of the bearing; a machined plate (1-8) is installed on the slider of the linear guide transmission module (1-4); the machined plate (1-8) supports the DC brush motor (1-5), the solid shaft incremental photoelectric encoder (1-6) and the synchronous pulley transmission module (1-7); and the solid cylindrical rod (3-2) is installed on the output shaft of the DC brush motor (1-5); The catheter control unit (2) comprises a linear guide rail transmission module 2 (2-1), a solid shaft incremental photoelectric encoder 3 (2-2), a hollow shaft incremental photoelectric encoder (2-3) and a gear rack transmission module (2-4); the guide rail of the linear guide rail transmission module 2 (2-1) is fixed to the bottom side of the machined plate 2 (2-5); the machined plate 2 (2-5) supports the solid shaft incremental photoelectric encoder 3 (2-2) and the hollow shaft incremental photoelectric encoder (2-3) and is fixed on the slider of the linear guide rail transmission module 2 (2-1); the output shaft of the solid shaft incremental photoelectric encoder 3 (2-2) is equipped with a gear and can roll on the rack of the gear rack transmission module (2-4); the hollow cylindrical tube (3-1) is installed in the hollow shaft of the hollow shaft incremental photoelectric encoder (2-3); and the machined plate 2 (2-5) is fixed as a whole on the support frame (4).

2. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: Its working principle is: The solid cylindrical rod (3-2) is used to simulate the guide wire, and the hollow cylindrical tube (3-1) is used to simulate the catheter. When the interventional doctor holds the solid cylindrical rod and performs advancement and retraction movements, the diamond structure (1-3) will be compressed or stretched, and the solid shaft incremental photoelectric encoder (1-1) connected to the diamond structure will record the displacement information of the solid cylindrical rod (3-2); When a control signal is input to the DC brush motor 1 (1-2), the output torque of the DC brush motor 1 (1-2) will change, generating a reverse force, which is transmitted to the solid cylindrical rod (3-2) through the diamond structure (1-3), providing force feedback in the push-pull direction; When the interventional doctor holds the solid cylindrical rod (3-2) and performs clockwise and counterclockwise rotational motion, the solid shaft incremental photoelectric encoder 2 (1-6) connected to the solid cylindrical rod via the synchronous pulley and the synchronous belt records the rotation angle information of the solid cylindrical rod (3-2); When a control signal is input to the DC brush motor 2 (1-5), the output torque of the DC brush motor 2 (1-5) will change, generating a reverse force which is directly transmitted to the solid cylindrical rod (3-2) to provide force feedback in the circumferential direction; When the interventional doctor holds the hollow cylindrical tube (3-1) and performs advancement and retraction movements, the gear connected to the output shaft of the solid shaft incremental encoder three (2-2) rolls on the rack under the action of the linear guide transmission module and the gear rack transmission module, and the solid shaft incremental photoelectric encoder three (2-2) records the displacement information of the hollow cylindrical tube; When the interventional doctor holds the hollow cylindrical tube (3-1) and performs rotational motion in the clockwise and counterclockwise directions, the hollow shaft incremental photoelectric encoder (2-3) records the rotation angle information of the hollow cylindrical tube (3-1).

3. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: The outer diameter and inner diameter of the hollow cylindrical tube (3-1) are 8 mm and 6 mm respectively, and the outer diameter of the solid cylindrical rod (3-2) is 5 mm.

4. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: The diameter and length of each arm of the compressible and stretchable rhombus structure (1-3) are 1.5 cm and 14.5 cm respectively.

5. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: The length of the linear guide transmission module 1 (1-4) is 205 mm, and the combined height is 13 mm. The length of the linear guide transmission module 2 (2-1) is 220 mm, and the combined height is 13 mm.

6. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: In the gear rack transmission module (2-4), the length of the rack is 220 mm, the tooth width of the T-shaped gear is 10 mm, the tooth outer diameter is 22 mm, the total thickness is 18 mm, the step outer diameter is 16 mm, and the hole diameter is 6 mm.

7. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: The pulse numbers of the solid shaft incremental photoelectric encoder 1 (1-1), the solid shaft incremental photoelectric encoder 2 (1-6), and the solid shaft incremental photoelectric encoder 3 (2-2) are all 2500, the output mode is NPN type, the output shaft diameter is 6 mm, and the operating voltage is 5 volts.

8. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: The pulse number of the hollow shaft incremental photoelectric encoder (2-3) is 2500, the output mode is NPN type, the diameter of the hollow shaft is 8 mm, and the operating voltage is 5 volts.

9. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: The DC brushed motor 1 (1-2) has a stall torque of 1090 mNm, a gearbox reduction ratio of 5.8:1, an output shaft diameter of 6 mm, and a rated voltage of 42 V.

10. The force feedback vascular interventional surgery robot guidewire catheter collaborative control device according to claim 1, characterized in that: The DC brushed motor II (1-5) has a stall torque of 1090 mN m, an output shaft diameter of 6 mm, and a rated voltage of 42 V.

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