Vascular intervention surgical robot guide wire / catheter operating device with humanoid operating characteristics

Abstract

The invention discloses a guide wire / catheter operation device of a vascular intervention surgical robot with a humanoid operation characteristic. The whole structure of the guide wire / catheter operation device comprises a guide wire / catheter operation module, a clamping module, a supporting module, a visual detection module and a stable base. The device can simulate clamping, twisting, pushing and pulling actions of the hands of an interventional doctor, and accurate operation of a guide wire / catheter is achieved. In addition, a touch sensor is embedded in the guide wire / catheter operation module, and the touch sensing function of the hand is simulated. The stable base is supported by non-contact movement, and the operation module supporting the guide wire / catheter moves in six degrees of freedom. The visual detection module captures bending deformation and the like in the guide wire pushing process in real time and assists in tactile sensor data to conduct intravascular guide wire state modeling. Compared with a traditional vascular intervention robot design scheme, the human operation characteristics are fully simulated, the effect close to that of an artificial operation can be achieved, and the safety of the vascular intervention operation can be remarkably improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical devices, and particularly relates to a guide wire / catheter operating device for a vascular interventional surgery robot with human-like operation characteristics. Background Art

[0002] Vascular interventional surgery technology is the main method for treating vascular diseases, and has the advantages of small trauma, less blood loss, and quick recovery.

[0003] Vascular interventional surgery technology requires interventional doctors to always be in the operating room and directly operate interventional instruments under the X-ray environment. Long-term radiation accumulation will cause serious physical harm to interventional doctors. A vascular interventional surgery robot can reduce radiation damage and at the same time solve the problem that the doctor's movement is inconvenient due to the heavy lead apron, which affects the surgical effect.

[0004] At present, some vascular interventional surgery robots adopt a roller design and use a friction wheel set to clamp the guide wire. In the long-term use process of this design, due to the friction effect, material wear may occur, and then particulate pollution may be generated. This design is also difficult to simulate the clamping function of the human hand, which limits its application range and operation flexibility, and also makes the doctor's surgical experience unable to be fully utilized. Some designs have problems such as limited degrees of freedom of movement, inflexible guide wire operation, reverse impact force generated during emergency stop is easy to cause guide wire displacement drift, and contact transmission mechanical components are easy to wear and have a high failure rate.

[0005] This will not only affect the surgical effect, but also may pose long-term risks to the health of patients. In addition, some designs cannot provide sufficient clamping force adjustment function, resulting in insufficient or excessive clamping force during the operation of guide wires with different diameters or materials, which affects the accuracy and safety of the surgery. Summary of the Invention

[0006] To solve the above problems, the present invention discloses a guide wire / catheter operating device for a vascular interventional surgery robot with human-like operation characteristics. This device can simulate the actions of an interventional doctor when operating a guide wire / catheter during surgery, and realize the clamping, twisting, pushing and pulling of the guide wire / catheter. In addition, this device uses electromagnetic field precise control technology to achieve non-contact motion support. The operation module supporting the guide wire / catheter moves in 6 degrees of freedom, and the position accuracy reaches ±0.005 mm, enabling the catheter tip to achieve controllable stepping in small blood vessels with a diameter of less than 0.5 mm, greatly improving the motion accuracy and better simulating the human hand. The visual detection module captures the bending deformation, rotation angle and pushing distance of the guide wire during the pushing process in real time, and assists the tactile sensor data to model the state of the guide wire in the blood vessel. This device is integrated with a tactile sensor, which can detect the three-dimensional deformation field distribution and dynamic friction force change in the contact area between the guide wire / catheter and the jaw in real time, and realize the real-time detection and feedback of the clamping force. It improves the accuracy and safety of vascular interventional surgery.

[0007] To achieve the above object, the technical solution of the present invention is as follows: A guide wire / catheter operating device for a vascular intervention surgical robot with humanoid operation characteristics, comprising an operating module, a clamping module, a support module, a visual detection module and a stable base for the guide wire / catheter. The operating module of the guide wire / catheter is fixed on the magnetic levitation mover, the magnetic levitation stator is fixed on the aluminum frame, the clamping module is fixed to the frontmost part of the aluminum frame of the stable base through a 290-mm long European standard 20 aluminum profile and corner brackets, the support module is fixed on the operating module and the clamping module of the guide wire / catheter, and the interventional surgical instrument passes through the operating module, the clamping module and the support module of the guide wire / catheter in sequence.

[0008] The operating module of the guide wire / catheter includes two four-wire stepper motors II, III, and IV, a linear lead screw, a magnetic levitation mover, a left lead screw slide table module and a right lead screw slide table module, a rear claw base, gears, a rack I, a rack II, a linear slide rail I, a linear slide rail II, and a jaw I and a jaw II; the magnetic levitation mover levitates on the magnetic levitation stator of the stable base, the rear claw base is fixed to the magnetic levitation mover, the linear slide rail I and the linear slide rail II are fixedly installed on the left and right sides of the rear claw base, the linear slide rail I and the linear slide rail II are respectively connected to the rack I and the rack II through a support rod I and a support rod II, the two four-wire stepper motor IV is fixed to the rear side of the rear claw base, the gear is fixed to the shaft of the two four-wire stepper motor IV and horizontally meshes with the rack I and the rack II, the left lead screw slide table module and the right lead screw slide table module are fixed above the support rod I and the support rod II, two four-wire stepper motors II and two four-wire stepper motors III are provided on both sides of the left lead screw slide table module and the right lead screw slide table module, and the left lead screw slide table module and the right lead screw slide table module are respectively connected to the jaw I and the jaw II integrated with a tactile sensor.

[0009] The tactile sensor integrated with the two jaws has a sampling area diameter of 15 mm, 145 sampling points, a response time to signals or stimuli of 35 ms, a Shore A hardness of 0 degrees for the flexible layer, surface texture imitating human fingerprints to enhance clamping stability, a pressure range that can be tolerated during operation of less than 30 N for tangential force and less than 10 N for friction force, a normal operating ambient temperature range of 0 - 40 °C, a storage ambient temperature range of -20 °C to 60 °C, a voltage required for normal operation of 5 V, a current consumption during normal operation of less than 500 mA, and an externally connected interface type of USB3.0.

[0010] The lead screw slide table module is composed of a central main lead screw, a stepper motor and a slide table; when delivering a catheter / guide wire, the two four-wire stepper motors II and the two four-wire stepper motors III respectively drive the left slide table of the rear slave hand and the right slide table of the rear slave hand to close the rear claws, and select an appropriate clamping force according to the tactile sensor signal to clamp the catheter / guide wire.

[0011] The maglev mover adopts electromagnetic field precise control technology to achieve contactless motion support, carry the rear claw base, enable the rear claw base to perform 6-degree-of-freedom motion of axial advance and retreat, deflection angle adjustment and rotation around the axis in space, drive the rear claw to drive the catheter / wire it holds to move forward, and at the same time complete the axial propulsion and small-angle rotation around the axis of the wire / catheter, assist the twisting function of the operation module of the wire / catheter, and the bottom slide stops after moving a certain distance. During the process, the tactile sensor real-time senses the force transmitted by the wire / catheter. Once the contact force exceeds the safety threshold, it timely feeds back to control the delivery to stop.

[0012] When twisting the wire, the rear claws close to clamp the catheter / wire. The two-phase four-wire stepper motor rotates four times to drive the gear to rotate, which further drives the left and right arms of the rear slave hand to move out of position vertically, so that the catheter / wire rotates by a certain angle. After one delivery is completed, the front claw clamping module clamps the catheter / wire under the drive of the servo motor. Further, the two-phase four-wire stepper motor two and the two-phase four-wire stepper motor three drive the jaw one and the jaw two to open, and the maglev mover drives the rear claw to move horizontally backward to the initial position, preparing for the next delivery, realizing multi-stage propulsion.

[0013] The vision detection module includes a camera bracket and a camera; it is installed on the side of the limit hole of the front claw support frame. The optical axis of the camera forms a 30° angle with the axis of the wire / catheter, and the field of view covers the front claw clamping area to the end point of the rear claw delivery; when the two jaws of the operation module of the wire / catheter are clamped, it monitors the relative position and relative motion state of the jaws and the wire in the interaction area, and cross-verifies with the tactile sensor data. After the camera collects the image information, image processing is carried out, and the bending deformation during the wire pushing process is captured in real time through the image recognition algorithm, and an alarm is triggered when the bending angle exceeds the set threshold. The wire pushing distance is calibrated by vision to compensate for the cumulative error of the traditional lead screw encoder, work in coordination with the encoder, and achieve high-precision feedback of the delivery distance; combined with the image feature point tracking technology, the rotation angle of the wire around the axis is quantified, the rotation angle drift problem caused by the gear clearance and the small sliding between the wire / catheter and the sensor is optimized, and the information is fused with the tactile sensor data and then fed back to the control module. The real-time video stream is transmitted through 5G to support remote operation.

[0014] The stable base includes a European standard 20 aluminum profile with a length of 500 mm, a European standard aluminum profile with a length of 140 mm, a magnetic levitation stator, corner brackets, and 3D printing gaskets I and 3D printing gaskets II. The aluminum profiles are assembled into a rectangular frame with appropriate dimensions using corner brackets. The first aluminum profile is attached to the top of the long aluminum profile, and the spacing distances between the remaining two aluminum profiles are 150 mm and 275 mm respectively. Connecting gaskets are installed at the central positions of the two narrow sides of the bottom bracket using M4 T-shaped screws; the bottom lead screw is installed at the central position of the bracket using screws. The magnetic levitation stator is fixed to the rectangular aluminum profile frame. The relative positions of the various modules are fixed.

[0015] The support module includes 3D printed limit holes I, limit holes II, limit holes III, and limit holes IV. The two limit holes on the rear claws are fixed to support frame I and support frame II. The two limit holes on the front claws are arranged on support frame III. The four limit holes are at the same height, ensuring that the catheter / wire always maintains a fixed horizontal height during delivery and rotation, without affecting the operation processes of the wire / catheter operation module and the clamping module.

[0016] The clamping module includes a digital servo, a pillar made of a European standard 20 aluminum profile with a length of 290 mm, 3D printing gaskets, and corner brackets; the pillar is fixed to the middle position of the narrow side of the bottom bracket using corner brackets; it is connected to the 3D printing gasket above using a corner bracket. The digital servo is connected to a balance drive frame fixed to the 3D printing gasket. A parallel mechanical claw is provided above the balance drive frame. When the wire / catheter operation module delivers forward, the clamping module releases the wire / catheter under the drive of the servo. When the wire / catheter operation module moves horizontally backward to the initial position, the clamping module clamps the wire / catheter.

[0017] The embodiments of this application have at least the following beneficial effects: 1. The wire / catheter operation device of the vascular intervention surgical robot with humanoid operation characteristics described in the present invention can simulate the fine movements and the way of operating the wire / catheter during the operation of an interventional doctor. By alternately clamping and releasing the wire with clamp one and clamp two, and alternately sliding parallel on the linear lead screw module to achieve clamping, twisting, pushing, and pulling of the wire, the interventional action of the wire / catheter can be completed more naturally, accurately reproducing the hand movements of the doctor, making the surgical process closer to the actual operation of manual surgery, while ensuring the surgical effect, significantly reducing the surgical risk.

[0018] 2. Different from traditional motors or traditional mechanical structures as the core drive modules, the magnetic levitation stator and rotor of the present invention adopt precise electromagnetic field control technology to achieve contactless motion support. The operation module for supporting the guide wire / catheter moves in six degrees of freedom. Compared with the motion of traditional motors on a plane, the magnetic levitation has flexible angle adjustment in space, greatly improving the motion accuracy and better simulating the human hand. The traditional mechanical structure needs to achieve motion through a series of transmission chains, while this solution directly drives through magnetic field force, reducing the number of components and fundamentally avoiding the risk of mechanical jamming, wear and other failures. The six-degree-of-freedom motion allows the operation module of the guide wire / catheter to simultaneously complete the axial advancement of the guide wire / catheter and a small amount of rotation around the axis, assisting the twisting function of the operation module of the guide wire / catheter. Traditional robots can only simulate the planar push-pull actions of doctors' hands, achieving two to three degrees of freedom, while this design supports the simultaneous axial advancement and retreat, deflection angle adjustment and rotation around the axis of the catheter / guide wire in three-dimensional space, realizing six-degree-of-freedom composite motion, and can accurately reproduce the delicate manipulation of twisting and pushing by doctors at complex blood vessel bifurcations. The position accuracy of the magnetic levitation drive reaches ±0.005 mm, enabling the catheter tip to achieve controllable stepping in small blood vessels below 0.5 mm, breaking through the motion accuracy limitation caused by the return clearance of traditional mechanical transmission. Traditional lead screw transmission will generate an instantaneous reverse impact force during emergency stop, which may cause displacement drift of the catheter tip, while the magnetic levitation system can achieve buffering through current reverse compensation. The permanent magnet array on the base can form a self-stabilizing magnetic field during emergency power-off, maintaining the floating state of the operation module and providing a safe time window for manual takeover.

[0019] 3. The visual detection module of the present invention can detect the state of the guide wire / catheter and the clamping and twisting state in real time. Through image recognition algorithms, it can capture the bending deformation during the guide wire pushing process in real time, and trigger an alarm when the bending angle exceeds the set threshold, making up for the risk of blood vessel perforation caused by the lagging feedback of traditional robots relying only on tactile sensors. It is installed on the side of the limit hole of the front claw support frame, and the axis of the lens forms a 30° angle with the guide wire pushing path, covering the front claw clamping area to the delivery end of the rear claw. When the two jaws of the operation module of the guide wire / catheter are clamping, it can monitor the relative position and relative motion state of the jaws and the guide wire in the interaction area, and cross-verify with the tactile sensor data to prevent the guide wire from slipping due to insufficient clamping force or surface damage caused by excessive clamping force. By visually calibrating the guide wire pushing distance, it compensates for the cumulative error of the traditional lead screw encoder, works in cooperation with the encoder, and realizes high-precision feedback of the delivery distance. Combining image feature point tracking technology, it quantifies the rotation angle of the guide wire around the axis, and optimizes the rotation angle drift problem caused by gear clearance and the small sliding between the guide wire / catheter and the sensor. It fuses the guide wire deformation data collected by the camera and the friction force signal obtained by the tactile sensor from the deformation field information to construct a prediction model for the contact between the guide wire in the blood vessel and the blood vessel wall, reducing the surgical risk. It supports remote operation by transmitting real-time video streams through 5G.

[0020] 4. The wire / catheter operating device of the humanoid operation characteristic vascular intervention surgical robot according to the present invention integrates a tactile sensor on the operation module of the wire / catheter, which can detect the three-dimensional deformation field distribution and dynamic friction force change in the contact area between the wire / catheter and the jaw in real time. Combining with the 6-degree-of-freedom precision drive of magnetic levitation, it realizes the adaptive adjustment of the clamping force and the delivery speed. Compared with the traditional pressure sensor that can only detect the single-point pressure, cannot sense the local stress concentration caused by uneven pressure distribution on the clamping surface, and cannot simulate the deformation of human hand soft tissue to conduct force, resulting in a rigid clamping force control. This device realizes the closed-loop control of humanoid tactile feedback and accurately reproduces the tactile feedback characteristics of the doctor's hand by constructing a bionic flexible contact layer on the jaw surface to obtain the three-dimensional deformation field data of the wire contact area in real time and combining with the fast response characteristics of the magnetic levitation drive. The tactile sensor judges whether the wire / catheter touches the blood vessel wall by sensing the pressure transmitted by the wire / catheter. The tactile sensor feeds back the force state of the wire to the control system in real time, dynamically adjusts the 6-degree-of-freedom motion parameters, and automatically identifies the eccentric contact of the wire based on the pressure distribution heat map of the tactile sensor, triggering the fine adjustment of the jaw posture to balance the force. Using the tactile data to construct a blood vessel wall contact force prediction model, when the sudden change of the friction force slope is detected, the delivery speed is automatically reduced to the safety threshold to reduce the impact and damage to the blood vessel wall, and the delivery speed and direction are adjusted in time to avoid the risk of wire perforation. It can also sense whether the wire is clamped, avoiding the wire slipping or deviating from the expected position due to insufficient clamping force, and at the same time avoiding the wear of the wire / catheter caused by excessive clamping force. It improves the sensitivity of the operation and the safety of the surgery. Description of the Drawings

[0021] Figure 1 is the overall structure schematic diagram of the embodiment of the present invention Figure 1 。

[0022] Figure 2 is the overall structure schematic diagram of the embodiment of the present invention Figure 2 。

[0023] Figure 3 is the structure schematic diagram of the operation module of the wire / catheter of the present invention Figure 1 。

[0024] Figure 4 is the structure schematic diagram of the operation module of the wire / catheter of the present invention Figure 2 。

[0025] Figure 5 is the structure schematic diagram of the clamping module of the present invention Figure 1 。

[0026] Figure 6 is the structure schematic diagram of the clamping module of the present invention Figure 2 。

[0027] List of drawing reference signs: 1 - guide wire catheter, 2 - clamping module, 3 - operating module for guide wire / catheter, 5 - stable base, 201 - digital servo, 202 - parallel mechanical claw, 203 - support pillar, 204 - 3D printed gasket, 205 - corner code, 206 - balance transmission frame, 207 - support frame III, 302 - two - phase four - wire stepper motor II, 303 - two - phase four - wire stepper motor III, 304 - two - phase four - wire stepper motor IV, 306 - left lead screw slide table module, 307 - right lead screw slide table module, 308 - rear claw base, 309 - gear, 310 - support rod I, 311 - support rod II, 312 - linear slide rail I, 313 - linear slide rail II, 314 - jaw I, 315 - jaw II, 316 - rack I, 317 - rack II, 318 - support frame I, 319 - support frame II, 401 - limit hole I, 402 - limit hole II, 403 - limit hole III, 404 - limit hole IV, magnetic levitation stator - 501, magnetic levitation rotor - 502, vision detection module - 6, camera support - 601, camera - 602. Detailed implementation manners

[0028] The following further clarifies the present invention in conjunction with the drawings and specific implementation manners. It should be understood that the following specific implementation manners are only used to illustrate the present invention and not to limit the scope of the present invention.

[0029] As Figure 1 and 2 shown, the guide wire / catheter operating device of the vascular intervention surgical robot with human - like operation characteristics according to the present invention includes a clamping module 2 for the guide wire / catheter, an operating module 3, a support module, a stable base 5, and a vision detection module 6. The operating module 3 for the guide wire / catheter is fixed on the magnetic levitation rotor 502. The levitation rotor 502 levitates on the levitation stator 501, and the levitation stator 501 is fixed on the aluminum frame of the stable base. The clamping module is fixed to the frontmost part of the aluminum frame of the stable base through a 290 - mm long European standard 20 aluminum profile and a corner code 205. The support module is fixed on the operating module and the clamping module for the guide wire / catheter. The vision detection module 6 is installed on the side of the limit hole of the front - claw support frame. The interventional surgical instrument passes through the operating module, clamping module, and support module for the guide wire / catheter in sequence.

[0030] In the operating module of the guide wire / catheter, the magnetic levitation stator 501 is fixed on the aluminum frame of the stable base 5. The magnetic levitation rotor 502 floats on the magnetic levitation stator 501. The rear claw base 308 is fixed on the magnetic levitation rotor 502. Vertical support frames 318 and 319 are arranged above the front and rear sides of the rear claw base 308. A limit hole 403 is provided on the support frame 318, and a limit hole 404 is provided on the support frame 319. The rear claw base 308 supports the left lead screw slide table module 306 above through a support rod 310, and supports the right lead screw slide table module 307 above through a support rod 311. The left lead screw slide table module 306 and the right lead screw slide table module 307 are arranged between the support frame 318 and the support frame 319. On one side of the left lead screw slide table module 306, there is a two-phase four-wire stepper motor 302, and on one side of the right lead screw slide table module 307, there is a two-phase four-wire stepper motor 303. The left lead screw slide table module 306 is connected to a jaw 314 integrated with a tactile sensor, and the right lead screw slide table module 307 is connected to a jaw 315 integrated with a tactile sensor. The jaws 314 and 315 are symmetrically arranged. Inside the rear claw base 308, vertical linear guide rails 312 and 313 are provided on the left and right sides. The support rods 310 and 311 are arranged on the linear guide rails 312 and 313. Inside the support rods 310 and 311, there are a rack 316 and a rack 317. The rack 316 and the rack 317 are meshed through a gear 309, and the gear 309 is connected to a two-phase four-wire stepper motor 304.

[0031] In the clamping module, above the pillar 203 made of aluminum, there are two symmetric L-shaped support frames 207. Limit holes 401 and 402 are provided on the two support frames 207. At the bottom inside the support frame 207, there is an angle code 205. Above the angle code 205, there is a 3D printed gasket 204. The digital servo 201 is connected to the balance transmission frame 206 fixed on the 3D printed gasket 204. Above the balance transmission frame 206, there is a parallel mechanical claw 202. When the operating module of the guide wire / catheter is delivered forward, the clamping module releases the guide wire / catheter under the drive of the digital servo 201; when the operating module of the guide wire / catheter moves horizontally backward to the initial position, the two parallel mechanical claws 202 of the clamping module clamp the guide wire / catheter.

[0032] In the support module, the limit holes 403 and 404 on the operating module 3 and the limit holes 401 and 402 on the clamping module 2 are at the same height, ensuring that the catheter / guide wire always maintains a fixed horizontal height during delivery and rotation, without affecting the operation processes of the operating module and the clamping module of the guide wire / catheter.

[0033] In the stable base, the European standard 20 aluminum materials with lengths of 500 mm and 140 mm are assembled into a rectangular frame of appropriate size using corner codes 205. The specific dimensions are as follows: The first aluminum material is attached to the top of the long aluminum material, and the spacing distances between the remaining two aluminum materials are 150 mm and 275 mm respectively. At the central positions of the two narrow sides of the bottom bracket, connection gaskets are installed using M4 T-shaped screws. The magnetic levitation stator is fixed on the aluminum frame of the stable base. The relative positions of the various modules are fixed.

[0034] Working process of the wire / catheter operation module: When delivering the wire, the two-phase four-wire stepper motor two 302 and the two-phase four-wire stepper motor three 303 respectively drive the left lead screw slide table module 306 and the right lead screw slide table module 307 of the wire / catheter operation module. The jaw one 314 and the jaw two 315 clamp the wire 1, close the rear jaws, and select an appropriate clamping force according to the tactile sensor signal to achieve clamping of the catheter / wire.

[0035] The magnetic levitation rotor uses electromagnetic field precise control technology to achieve non-contact motion support, supporting the wire / catheter operation module to move in 6 degrees of freedom. The angle adjustment in space is flexible, greatly improving the motion accuracy and better simulating the human hand. Driven directly by magnetic field force, the number of components is reduced, fundamentally avoiding the risk of faults such as mechanical jamming and wear. The 6-degree-of-freedom motion allows the wire / catheter operation module to simultaneously complete the axial advancement of the wire / catheter and a small amount of rotation around the axis, assisting the twisting function of the wire / catheter operation module; it supports the axial advancement and retreat, deflection angle adjustment, and rotation around the axis of the catheter / wire in three-dimensional space simultaneously, realizing 6-degree-of-freedom composite motion, and can accurately reproduce the delicate manipulation of the doctor's twisting and pushing at complex blood vessel bifurcations. The position accuracy of the magnetic levitation drive reaches ±0.005 mm, enabling the catheter tip to achieve controllable stepping in small blood vessels below 0.5 mm, breaking through the motion accuracy limitation caused by the backlash of traditional mechanical transmission; the permanent magnet array at the base can form a self-stabilizing magnetic field during an emergency power outage, maintaining the suspended state of the operation module and providing a safe time window for manual takeover.

[0036] When twisting the wire, the rear jaws close to clamp the catheter / wire. The rotation of the two-phase four-wire stepper motor four 304 drives the gear 309 to rotate, further driving the operation module, and the left and right arms move out of position vertically, causing the catheter / wire to rotate by a certain angle.

[0037] After one delivery is completed, the clamping module clamps the catheter / wire under the drive of the digital servo 201. Further, the two-phase four-wire stepper motor two 302 and the two-phase four-wire stepper motor three 303 drive the rear jaws to open, and the two-phase four-wire stepper motor one 301 drives the rear jaw base 308 to move horizontally backward to the initial position through the bottom lead screw slide table module 305. Prepare for the next delivery to achieve multi-segmented advancement.

[0038] Specifically, the visual detection module can perform real-time detection on the state of the guide wire / catheter and the clamping and twisting state. It can capture the bending deformation during the guide wire pushing process in real time through image recognition algorithms, and trigger an alarm when the bending angle exceeds the set threshold, thus making up for the risk of blood vessel perforation caused by the lagging feedback of traditional robots relying only on tactile sensors. It is installed on the side of the limit hole of the front paw support frame, and the axis of the lens forms a 30° angle with the guide wire pushing path, covering the front paw clamping area to the delivery end point of the rear paw. When the two jaws of the operating module of the guide wire / catheter are clamped, it can monitor the relative position and relative motion state between the jaws and the guide wire in the interaction area, and cross-verify with the tactile sensor data to prevent the guide wire from slipping due to insufficient clamping force or surface damage caused by excessive clamping force. It calibrates the guide wire pushing distance visually to compensate for the cumulative error of the traditional lead screw encoder, and works in coordination with the encoder to achieve high-precision feedback of the delivery distance. Combining the image feature point tracking technology, it quantifies the rotation angle of the guide wire around the axis and optimizes the rotation angle drift problem caused by gear clearance and the small sliding between the guide wire / catheter and the sensor. It fuses the guide wire deformation data collected by the camera with the friction force signal obtained from the deformation field information of the tactile sensor to construct a prediction model for the contact between the guide wire in the blood vessel and the blood vessel wall, reducing the surgical risk. It transmits the real-time video stream through 5G to support remote operation.

[0039] Specifically, in the operating module of the guide wire / catheter, the tactile sensor can detect the three-dimensional deformation field distribution and dynamic friction force change in the contact area between the guide wire / catheter and the jaws in real time. Combining with the 6-degree-of-freedom precision drive of the stable base, it realizes the adaptive adjustment of the clamping force and the delivery speed. By constructing a bionic flexible contact layer on the surface of the jaws, it can obtain the three-dimensional deformation field data of the guide wire contact area in real time. Combining with the fast response characteristics of the magnetic levitation drive, it realizes the closed-loop control of human-like hand tactile feedback and accurately reproduces the tactile feedback characteristics of the doctor's hand. The tactile sensor judges whether the guide wire / catheter touches the blood vessel wall by sensing the pressure transmitted by the guide wire / catheter. The tactile sensor feeds back the force state of the guide wire to the magnetic levitation mover in real time and dynamically adjusts the 6-degree-of-freedom motion parameters. Based on the pressure distribution heat map of the tactile sensor, it automatically identifies the eccentric contact of the guide wire and triggers the fine adjustment of the jaw posture to balance the force. By using the tactile data to construct a prediction model of the contact force on the blood vessel wall, when a sudden change in the friction force slope is detected, the delivery speed is automatically reduced to a safe threshold to reduce the impact and damage to the blood vessel wall, and the delivery speed and direction are adjusted in time to avoid the risk of guide wire perforation. At the same time, it senses whether the guide wire is clamped to avoid the risk of the guide wire slipping or deviating from the expected position due to insufficient clamping force, and at the same time avoid wearing the guide wire / catheter due to excessive clamping force. It improves the sensitivity of the operation and the safety of the surgery. The sampling area diameter of the tactile sensor is 15 mm, the number of sampling points is 145, the response time is 35 ms, the hardness of the flexible layer is Shore A 0 degree, the pressure range that can be borne during operation is that the tangential force is less than 30 N, the friction force is less than 10 N, the voltage required for normal operation is 5 V, the current consumption during normal operation is less than 500 mA, and the type of external connection interface is USB3.0.

[0040] Specifically, in the clamping module, the working voltage of the digital servo 2015 is 5 - 8.4V, the no-load current is 220 mA, the stall current is 2300 mA, the precision is 0.3°, and the pulse width range is 500 - 2500 usec.

[0041] Specifically, in the support module, the diameter of the limit hole is 5 mm, and the distance between the limit holes is 20 mm.

[0042] Specifically, in the stable base, the lengths of the European standard 20 aluminum materials are 500 mm and 140 mm, the thickness of the angle code 205 is 3 mm, and the diameter of the T-shaped screw is 4 mm.

[0043] 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 those of ordinary skill in the art, without departing from the principle of the present invention, several improvements and retouches can be made, and these improvements and retouches all fall within the protection scope of the claims of the present invention.

Claims

1. A guide wire / catheter operating device for a vascular interventional surgery robot with humanoid operation characteristics, characterized in that: It includes an operating module (3) for a guide wire / catheter, a clamping module (2), a support module, a visual inspection module (6), and a stable base (5); For the operating module (3) of the guide wire / catheter, a magnetic levitation mover (502) is levitated on the stable base (5), a rear claw base (308) is fixed to the magnetic levitation mover (502), vertical support frames one (318) and two (319) are arranged above the front and rear sides of the rear claw base (308), a limit hole three (403) is provided on the support frame one (318), a limit hole four (404) is provided on the support frame two (319), the rear claw base 308 supports the left lead screw slide table module (306) above through a support rod one (310), and supports the right lead screw slide table module (307) above through a support rod two (311). The left lead screw slide table module (306) and the right lead screw slide table module (307) are arranged between the support frame one (318) and the support frame two (319). On one side of the left lead screw slide table module (306), there is a two-phase four-wire stepper motor two (302), and on one side of the right lead screw slide table module (307), there is a two-phase four-wire stepper motor three (303). The left lead screw slide table module (306) is connected to a jaw one (314) integrated with a tactile sensor, and the right lead screw slide table module (307) is connected to a jaw two (315) integrated with a tactile sensor. The jaw one (314) and the jaw two (315) are symmetrically arranged. Inside the rear claw base (308), vertical linear slide rails one (312) and two (313) are provided on the left and right sides. The support rod one (310) and the support rod two (311) are arranged on the linear slide rails one (312) and the linear slide rail (313). Inside the support rod one (310) and the support rod two (311), there are rack one (316) and rack two (317). The rack one (316) and the rack two (317) are meshed through a gear (309), and the gear (309) is connected to a two-phase four-wire stepper motor four (304); The clamping module (2) includes a digital servo (201), a parallel mechanical jaw (202), a pillar (203), a 3D printed gasket (204), and an angle code (205); Through the angle code (205), a balance transmission frame (206), and a support frame three (207), two symmetric L-shaped support frames three (207) are provided above the pillar (203) made of aluminum. Limit holes one (401) and two (402) are provided on the two support frames three (207). An angle code (205) is provided at the bottom inside the support frame three (207), a 3D printed gasket (204) is provided above the angle code (205), the digital servo (201) is connected to the balance transmission frame (206) fixed to the 3D printed gasket (204), and a parallel mechanical jaw (202) is provided above the balance transmission frame (206); For the support module, the limit hole three (403) and the limit hole four (404) on the operating module (3) are at the same height as the limit hole one (401) and the limit hole two (402) on the clamping module (2); The stable base (5) includes a European standard 20 aluminum profile with a length of 500 mm, a European standard aluminum profile with a length of 140 mm, a magnetic levitation stator (501), an angle bracket (205), and a 3D printed gasket (204); the angle bracket (205) is used to assemble the aluminum profiles into a rectangular frame with appropriate dimensions. The specific dimensions are as follows: the first aluminum profile is attached to the top of the long aluminum profile, and the spacing distances between the remaining two aluminum profiles are 150 mm and 275 mm respectively; at the central positions of the two narrow sides of the stable base, connection gaskets are installed using M4 T-shaped screws, and the bottom slide is installed at the central position of the stable base using screws; the magnetic levitation stator (501) is fixed to the rectangular aluminum profile frame; The visual inspection module (6) includes a camera bracket (601) and a camera (602), which are installed on the side of the limit hole of the front claw support frame; the optical axis of the camera (601) forms a 30° angle with the axial direction of the guide wire / catheter (1), and the field of view covers the front claw clamping area to the delivery end point of the rear claw; the image information collected by the camera is processed, and real-time data such as the deformation amount, rotation angle, and delivery distance of the guide wire are analyzed in real time, and after being fused with the tactile sensor data, it is fed back to the control module.

2. The wire / catheter operating device of the humanoid operation characteristic vascular intervention surgical robot according to claim 1, wherein: Its push-pull working principle is as follows: the two-phase four-wire stepper motor two (302) and the two-phase four-wire stepper motor three (303) simultaneously drive the jaws one (314) and jaws two (315) on the left and right lead screw slide module groups of the operation module to move towards the middle, clamp the catheter / guide wire (1), and select an appropriate clamping force according to the tactile sensor signal to achieve clamping of the catheter / guide wire (1); the magnetic levitation mover (502) carries the rear claw base (308) and can move in space. Due to the clamping action of the jaws, the catheter / guide wire moves synchronously with the jaws, completing the push-pull work of the catheter / guide wire within a certain range.

3. The wire / catheter operating device of the humanoid operation characteristic vascular intervention surgical robot according to claim 1, wherein: Its twisting working principle is as follows: when the jaws of the operation module are closed to clamp the catheter / guide wire, the output shaft of the two-phase four-wire stepper motor four (304) drives the gear (309), causing the rack one (316) and the rack two (317), together with the platform above and the jaws located thereon, to move out of position in the vertical direction, and the catheter / guide wire rotates by a certain angle through the frictional force on the surface of the jaws.

4. The wire / catheter operating device of the humanoid operation characteristic vascular intervention surgical robot according to claim 1, characterized in that: Its reset working principle is as follows: the clamping module (2) clamps and fixes the catheter / guide wire under the drive of the digital servo (201). Further, the two-phase four-wire stepper motor two (302) and the two-phase four-wire stepper motor three (303) drive the left and right lead screw slide module groups, causing the jaws one (314) and jaws two (315) to separate, and the magnetic levitation mover (502) carries the rear claw base (308) to move horizontally backward to the initial position, completing the reset operation and preparing for the next delivery, realizing multi-stage push-pull.

5. The wire / catheter operating device of the humanoid operation characteristic-based vascular intervention surgical robot according to claim 1, characterized in that: The rear claw of the operation module (3) of the guide wire / catheter is embedded with a tactile sensor. Its sampling area has a diameter of 15 mm, there are 145 sampling points, the response time to signals or stimuli is 35 ms, the hardness of the flexible layer is 0 Shore A, the surface texture is biomimetic of human fingerprints to enhance clamping stability, the pressure range it can withstand during operation is that the tangential force is less than 30 N and the frictional force is less than 10 N, the normal operating ambient temperature range is 0 - 40 °C, the ambient temperature range during storage is -20 °C to 60 °C, the voltage required for normal operation is 5 V, the current consumption during normal operation is less than 500 mA, and the type of external connection interface is USB3.0; by constructing a biomimetic flexible contact layer on the surface of the jaws, three-dimensional deformation field data of the guide wire contact area is obtained in real time, and based on the pressure distribution heat map of the tactile sensor, eccentric contact of the guide wire is automatically identified.

6. The wire / catheter operating device of the humanoid operation characteristic vascular intervention surgical robot according to claim 1, wherein: The working voltage of the digital servo (201) is 5 - 8.4 V, the no-load current is 220 mA, the stall current is 2300 mA, the accuracy is 0.3°, and the pulse width range is 500 - 2500 usec.

7. The wire / catheter operating device of the humanoid operation characteristic-based vascular intervention surgical robot according to claim 1, characterized in that: The magnetic levitation mover (502) adopts electromagnetic field precise control technology to achieve non-contact motion support, supporting the operation module of the guide wire / catheter to move in 6 degrees of freedom, and simultaneously performing axial advance and retreat, deflection angle adjustment, and rotation around the axis in three-dimensional space; at the same time, it completes the axial propulsion of the guide wire / catheter and small-angle rotation around the axis, assisting the twisting function of the upper two jaws; the position accuracy of magnetic levitation drive reaches ±0.005 mm, enabling the catheter tip to achieve controllable stepping in small blood vessels below 0.5 mm, breaking through the millimeter-level motion accuracy limitation caused by return clearance in traditional mechanical transmission; the magnetic levitation system can achieve millisecond-level buffering through current reverse compensation; the permanent magnet array at the base can form a self-stabilizing magnetic field during emergency power-off to maintain the floating state of the operation module.

8. The wire / catheter operating device of the humanoid operation characteristic-based vascular intervention surgical robot according to claim 1, characterized in that: The visual detection module (6) is installed on the side of the limit hole of the front claw support frame. The optical axis of the camera (601) forms a 30° angle with the axis of the guide wire / catheter (1), and the field of view covers the front claw clamping area to the delivery end point of the rear claw; the image information collected by the camera is processed, and the bending deformation during the guide wire pushing process is captured in real time through image recognition algorithms, the pushing distance of the guide wire is calibrated visually to compensate for the cumulative error of the traditional lead screw encoder, and it works in coordination with the encoder to achieve high-precision feedback of the delivery distance; combined with the image feature point tracking technology, the rotation angle of the guide wire around the axis is quantified to optimize the rotation angle drift problem caused by gear clearance and the small sliding between the guide wire / catheter and the sensor, and the information is fused with the tactile sensor data and then fed back to the control module.

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