Operation handle with pressing part, intervention robot main hand device and use method of intervention robot main hand device

Abstract

The invention discloses an operating handle with a pressing part, an interventional robot main hand device and a use method of the interventional robot main hand device, the operating handle comprises the operating handle, the pressing part is arranged on the operating handle, the pressing part is provided with a pressing measurement assembly, and the pressing measurement assembly can detect that an operator pinches or loosens the operating handle. Whether an operator clenches the operating handle or not is detected by pressing the measuring assembly, clenching or loosening of the operating handle by the operator is detected at the same time, force feedback is applied only when it is ensured that the operating handle is clenched, and unexpected movement of the force feedback assembly is avoided.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an operating handle with a pressable part, a master hand device of an interventional robot, and a method for using the same. Background Art

[0002] Vascular interventional surgery is a minimally invasive surgery performed inside the human blood vessels using interventional surgical consumables such as guide wires, catheters, and stents for the treatment of cardiovascular diseases, neurovascular diseases, and other blood vessel-related diseases. Vascular interventional surgery is mainly divided into surgical treatments for intravascular embolization, stenosis, and intravascular hemorrhage according to the treatment direction, and various interventional instruments and imaging devices are required. During vascular interventional surgery, angiography is needed, but radiation is generated during angiography. When doctors work in such an environment for a long time, it will affect their physical health. Therefore, vascular interventional robots have been developed to solve this problem. The operator only needs to control the master hand in a radiation-free environment to control the delivery and rotation of the interventional surgical consumables by the slave hand beside the operating table. However, resistance will be encountered during the delivery and rotation of the interventional surgical consumables, and the operator needs to make judgments based on this resistance. Therefore, applying as realistic force feedback as possible to the operator is crucial for the safety of the surgery.

[0003] An existing technical bionic force feedback master-end operating device with the publication number of CN116350356A includes: a bottom plate; a guide wire force feedback push rod device, which includes: a push rod operating mechanism and a push rod tactile resistance feedback mechanism both arranged on the bottom plate, and the push rod tactile resistance feedback mechanism is connected to the push rod operating mechanism through a movable guide wire force tactile resistance tension spring; a catheter force feedback push rod device, which is installed on the bottom plate; a balloon stent force feedback rocker device, which includes: a rocker operating mechanism and a rocker tactile resistance feedback mechanism both installed on the bottom plate, and the rocker tactile resistance feedback mechanism is connected to the rocker through a movable stent force tactile resistance tension spring.

[0004] However, the above device uses a spring to feedback the axial force received by the interventional consumables, and cannot accurately and quickly feedback the resistance received by the interventional consumables during the operation. Moreover, when the operator needs to rotate the interventional consumables during the operation, the above device cannot simulate the resistance moment received by the interventional consumables in the rotation direction. And when the force feedback mechanism continuously applies a feedback force, once the operator releases the hand, the rocker operating mechanism will quickly move under the action of the force feedback mechanism, causing the slave-end device to move accordingly, resulting in a serious surgical accident. Therefore, this device is not conducive to the operator to release the hand to adjust the hand posture. Summary of the Invention

[0005] The object of the present invention is to provide an operating handle with a pressable part, a master manipulator device of an intervention robot, and a method for using the same, so as to solve the existing technical defects and unachievable technical requirements.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An operating handle with a pressable part, including an operating handle, wherein a pressable part is provided on the operating handle, and a pressing measurement component is provided on the pressable part, and the pressing measurement component can detect the pinching or loosening of the operating handle by the operator.

[0008] Preferably, the pressing measurement component includes a measurement switch and further includes an elastic element. The elastic element is a circumferential elastic body, and the circumferential elastic body wraps the inner core of the operating handle at a certain interval. The measurement switch detects the pinching or loosening of the operating handle by the operator through the change in the distance between the elastic element and the inner core.

[0009] Preferably, when the measurement switch uses conduction to detect the pinching or loosening of the operating handle by the operator, the measurement switch realizes conduction detection by the contact of conductors with each other. Conductors are provided on both the inner core and the circumferential elastic body, but the conductors of the inner core and the circumferential elastic body are kept insulated when the circumferential elastic body is not subject to external force. When the operator pinches the circumferential elastic body to cause it to deform and makes the conductors of the inner core and the circumferential elastic body contact and conduct, it is detected that the operator pinches the operating handle at this time. When the operator loosens the operating handle, the circumferential elastic body resets to keep the conductors of the inner core and the circumferential elastic body insulated, and it is detected that the operator loosens the operating handle at this time.

[0010] Preferably, the circumferential elastic body is made of a conductive soft rubber material, and the conductor is the conductive soft rubber material. At this time, the circumferential elastic body is a conductive soft rubber tube, and the conductive soft rubber material is specifically conductive silicone;

[0011] Or a conductor is attached to the inner surface of the circumferential elastic body, and the conductor is one or a combination of a metal mesh, a metal wire, and a metal sheet.

[0012] Preferably, there is also a non-pressable part. When the operator pinches the non-pressable part, it does not affect the pressing measurement component. The non-pressable part is a filling layer provided between the circumferential elastic body and the inner core;

[0013] Or the non-pressable part is a non-pressable section integrally or fixedly provided on the circumferential elastic body;

[0014] The length of the pressable part is 20 - 80 mm, and the length of the non-pressable part is 30 - 100 mm.

[0015] Preferably, the measurement switch uses one or a combination of laser detection, optoelectronic detection, capacitance detection, inductance detection, or ultrasonic detection to detect the distance between the circumferential elastic body and the inner core, or a closed space is provided between the circumferential elastic body and the inner core, and the gas pressure or liquid pressure in the closed space is detected, so as to detect the change in the distance between the circumferential elastic body and the inner core according to the pressure change.

[0016] An intervention robot master hand device, the master hand device includes an operation handle, and the operator remotely controls the slave hand device to rotate and deliver the intervention consumables by manipulating the operation handle; the master hand device also includes a torque feedback component and an axial force feedback component;

[0017] The torque feedback component applies a corresponding torque to the operation handle based on the torque received by the intervention consumable during the rotation of the intervention consumable by the slave hand device, so as to simulate the torque resistance during the surgical process;

[0018] The axial force feedback component applies a corresponding axial force to the operation handle based on the axial force received by the intervention consumable during the delivery of the intervention consumable by the slave hand device, so as to simulate the axial force resistance during the surgical process.

[0019] Preferably, the output shaft of the torque feedback component is coaxially connected to the operation handle and moves axially together under the drive of the operation handle. The operation handle and the torque feedback component are connected by a connecting rod, and a floating anti-rotation mechanism for relative sliding between the torque feedback component and the base is provided;

[0020] The floating anti-rotation mechanism includes a front-back floating structure, a pitch angle floating structure, and a yaw angle floating structure. The front-back floating structure keeps the axial position between the operation handle and the base relatively floating during the movement of the operation handle. The yaw angle floating structure enables the operation handle to deflect left and right when moving along the axis direction, and the pitch angle floating structure enables the operation handle to deflect up and down when moving along the axis direction;

[0021] The front-back floating structure adopts a guide rail slider structure, or an anti-rotation shaft hole structure, or a combination of a circular shaft hole structure and an anti-rotation structure;

[0022] The axial force feedback component uses one or a combination of a rope drive structure, a belt drive structure, a gear drive rack structure, or a friction wheel drive friction belt structure to apply a bidirectional force to one side of the operation handle;

[0023] When the axial force feedback component adopts a cable drive structure or a belt drive structure, the axial force feedback component is provided with a single axial feedback element. The front and rear ends of the front and rear floating structure or the torque feedback component, or the front end of the torque feedback component and the rear end of the operating handle are respectively connected to the front and rear ends of the same cable or belt. The cable or belt forms a closed loop after being deflected by a pulley;

[0024] Or the front and rear ends of the front and rear floating structure or the torque feedback component, or the front end of the torque feedback component and the rear end of the operating handle are respectively connected to two cables or belts. The two cables or belts are connected to the same axial feedback element through a pulley after being deflected to form a closed loop. The axial feedback element applies a bidirectional force to the front and rear floating structure or the torque feedback component or / and the operating handle through the cable or belt. When a cable drive structure is adopted, the axial feedback element includes a motor. A winding wheel is coaxially connected to the output shaft of the motor. The winding wheel is provided with a spiral groove for guiding the cable to be spirally wound around the winding wheel. The outer diameter of the winding wheel is 10 - 50 mm.

[0025] A usage method of the master hand device of an interventional robot includes the following steps:

[0026] 1). The operator squeezes the pressable part of the operating handle. When the press measurement component detects that the operator squeezes the pressable part of the operating handle, it controls the slave hand device to enter the follow-up state and the master hand device to enter the force feedback state;

[0027] 2). After the slave hand device enters the follow-up state, as the operator controls the operating handle to reciprocate axially and rotate circumferentially, the master hand device detects the axial distance and circumferential rotation angle of the operating handle's movement. The slave hand device performs corresponding actions to realize the delivery of the interventional consumables. And the slave hand device detects the axial resistance and circumferential torque received by the interventional consumables during the movement. Through the axial force feedback component and the torque feedback component of the master hand device, corresponding axial force and circumferential torque feedback are applied to the operating handle, so as to simulate the axial force resistance and circumferential resistance torque during the surgical process;

[0028] 3). When the operator releases the pressable part of the operating handle, at this time, after the press measurement component detects that the operator releases the pressable part of the operating handle, it controls the slave hand device to exit the follow-up state. The slave hand device remains stationary, the master hand device exits the force feedback state, and the axial force feedback component and the torque feedback component of the master hand device stop applying the corresponding axial force and circumferential torque to the operating handle at the same time.

[0029] Preferably, in step 1, the operator only pinches the pressable part of the operating handle with the index finger and thumb. When there is a non-pressable part on the operating handle, in step 3, before the operator releases the pressable part of the operating handle, first hold the non-pressable part with other fingers except the thumb and index finger, and then release the thumb and index finger that pinch the pressable part of the operating handle. At this time, it is possible to avoid the unexpected movement of the operating handle caused by the axial force feedback component and the torque feedback component not being able to stop applying axial force and circumferential torque to the operating handle in time at the moment of release.

[0030] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0031] 1. The pressing measurement component detects whether the operator pinches the operating handle, and at the same time detects the pinching or releasing of the operating handle by the operator, and applies force feedback only when it is ensured that the operating handle is pinched, so as to avoid the unexpected movement of the operating handle driven by the force feedback component when the operating handle is out of control.

[0032] 2. The non-pressable part is used to clamp the operating handle by the cooperation of the middle finger, ring finger and little finger, so that the rotation angle remains unchanged, and it is avoided that the torque motor still outputs torque at the moment when the index finger and thumb release the pressable part of the operating handle, resulting in the idling or movement of the operating handle.

[0033] 3. The quick-connect structure between the connecting rod and the operating handle can quickly disassemble and install the operating handle. The circumferential elastic body on the operating handle is made of conductive soft rubber material, and the conductive soft rubber material will deform and lose its elasticity after being used for a long time, reducing the hand feeling. Therefore, it can be replaced every once in a while to maintain the best operating hand feeling. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is a side sectional view of the operating handle of Embodiment 1;

[0035] Figure 2 It is a schematic structural diagram of the inner core rod of Embodiment 1;

[0036] Figure 3 It is a schematic diagram of the quick-connect structure of Embodiment 1;

[0037] Figure 4 It is an exploded view of the quick-connect structure of Embodiment 1;

[0038] Figure 5 It is a side sectional view of Embodiment 2;

[0039] Figure 6 It is a schematic diagram of the overall structure of Embodiment 3;

[0040] Figure 7 It is a side sectional view of Embodiment 3;

[0041] Figure 8 is a side cross-sectional view of Example 4;

[0042] Figure 9 is a side cross-sectional view of Example 5;

[0043] Figure 10 is a schematic diagram of the overall structure of Example 6;

[0044] Figure 11 is a side cross-sectional view of the operating handle of Example 6;

[0045] Figure 12 is a schematic diagram of the overall structure of the main hand device of Example 7;

[0046] Figure 13 is a schematic diagram of the overall structure of the slave hand device of Example 7. Detailed implementation manners

[0047] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0048] Example 1

[0049] An operating handle with a pressable part, including an operating handle, a pressable part is provided on the operating handle, and a pressing measurement component is provided on the pressable part. The pressing measurement component can detect the squeezing or loosening of the operating handle by the operator.

[0050] The pressing measurement component includes a measurement switch and further includes an elastic element. The elastic element adopts a circumferential elastic body. The circumferential elastic body wraps the inner core of the operating handle at a certain interval. The measurement switch detects the squeezing or loosening of the operating handle by the operator through the distance change between the elastic element and the inner core.

[0051] When the measuring switch uses conductive detection to detect the squeezing or releasing of the operating handle by the operator, the measuring switch realizes conductive detection by the way of the conductors contacting each other. Both the inner core and the circumferential elastic body are provided with conductors, but the conductors of the inner core and the circumferential elastic body are kept insulated when the circumferential elastic body is not under external force. When the operator pinches the circumferential elastic body to make it deformed and makes the conductors of the inner core and the circumferential elastic body contact and conduct, at this time, it is detected that the operator pinches the operating handle. And when the operator releases the operating handle, the circumferential elastic body resets to keep the conductors of the inner core and the circumferential elastic body insulated, and at this time, it is detected that the operator releases the operating handle.

[0052] The circumferential elastic body is made of conductive soft rubber material, and the conductor is the conductive soft rubber material. At this time, the circumferential elastic body is a conductive soft rubber tube, and the conductive soft rubber material is specifically conductive silicone.

[0053] Or a conductor is attached to the inner surface of the circumferential elastic body, and the conductor is one or a combination of a metal mesh, a metal wire, and a metal sheet.

[0054] It further includes a non-pressable part. When the operator pinches the non-pressable part, it does not affect the pressing measurement component. The non-pressable part is a filling layer arranged between the circumferential elastic body and the inner core.

[0055] Or the non-pressable part is a non-pressable section integrally or fixedly arranged on the circumferential elastic body.

[0056] The length of the pressable part is 20 - 80 mm, and the length of the non-pressable part is 30 - 100 mm.

[0057] The measuring switch uses one or a combination of laser detection, or photoelectric detection, or capacitance detection, or inductance detection, or ultrasonic detection to detect the distance between the circumferential elastic body and the inner core, or a closed space is arranged between the circumferential elastic body and the inner core, and the gas pressure or liquid pressure in the closed space is detected, so as to detect the distance change between the circumferential elastic body and the inner core.

[0058] Among them, in this embodiment, the circumferential elastic body is preferably a conductive silicone tube.

[0059] Such as Figures 1 to 4, the operating handle 10130001 includes an inner core rod 1013000101 and a conductive silica gel tube 1013000102. The inner core rod 1013000101 is an inner core with a conductor, and the conductive silica gel tube 1013000102 is a surrounding elastic body with a conductor. When the conductive silica gel tube 1013000102 is pinched and deformed and comes into contact and conducts with the inner core rod 1013000101, the controller can determine whether the operator pinches the conductive silica gel tube 1013000102 by whether the two electrodes are conducting. Pinching means that the operator needs to keep touching the operating handle 10130001 and apply a certain pinching force to the operating handle. Releasing means not applying a pinching force to the operating handle. After releasing, the operator's hand can contact the operating handle 10130001 but not apply a force, or after releasing, the operator's hand completely releases the operating handle 10130001. The outer diameter of the conductive silica gel tube 1013000102 is 5 - 15 mm, and the wall thickness is 0.5 - 3 mm to ensure a good grip and pinching feel.

[0060] The operating handle 10130001 is connected to the output shaft of the torque feedback component through the connecting rod 101300011. A quick-connect structure is provided between the connecting rod 101300011 and the operating handle 10130001. The quick-connect structure can quickly disassemble and install the operating handle 10130001. The wrap-around elastomer on the operating handle 10130001 is made of conductive soft rubber material. After being used for a long time, the conductive soft rubber material will deform, lose its elasticity, and reduce the hand feeling. Therefore, it needs to be replaced every once in a while to maintain the best operating hand feeling. The quick-connect structure adopts a threaded connection structure. A threaded connection head A10130001101 is provided at the end of the connecting rod 101300011 close to the operating handle 10130001. A threaded connection head B10130001104 is provided on the operating handle 10130001. The threaded connection head B10130001104 is threadedly connected to the threaded connection head A10130001101. A first wire 10130001102 with one end connected to the slip ring is provided inside the connecting rod 101300011. The other end of the first wire 10130001102 is fixedly connected with a spring pin 10130001103. The spring pin 10130001103 is arranged inside the threaded connection head A10130001101, and the elastic contact point extends out. A second wire 10130001105 connected to the conductive silicone tube is provided inside the operating handle 10130001. The second wire 10130001105 is connected with a spring pin joint 10130001106 for contacting the spring pin 10130001103. A notch 101300011011 is provided on the outer side of the threaded connection head A10130001101. An installation shell 1013000111 can also be sleeved outside the connecting rod 101300011. A through hole 101300011101 communicating with the notch 101300011011 is provided on the outer side of the installation shell 1013000111. A stop rod is inserted through the through hole 101300011101 from outside the installation shell 1013000111 and is stuck at the notch 101300011011 of the threaded connection head A10130001101 to prevent the threaded connection head A10130001101 from rotating (the stop rod can also be replaced by a stop wrench). At this time, the threaded connection head B10130001104 on the operating handle 10130001 is controlled to be butted against the threaded connection head A10130001101, and then the operating handle 10130001 is rotated to tightly connect the threaded connection head B10130001104 with the threaded connection head A10130001101. At the same time, the spring pin 10130001103 contacts the spring pin joint 10130001106, so that the first wire 10130001102 is butted and connected with the second wire 10130001105. Alternatively, the above coaxial thread can also be changed to side set screw fixation.

[0061] The electrical signal of the conductive silicone tube 1013000102 is introduced into the controller through the second wire 10130001105, the first wire 10130001102, the slip ring, and the ribbon cable. Since the inner core rod 1013000101 is connected to the connecting rod 101300011 through the threaded connector B 10130001104 and the threaded connector A 10130001101, and both the threaded connector B 10130001104 and the threaded connector A 10130001101 are made of conductive metal materials, their electrical signals are introduced into the controller through the connecting rod 101300011, the slip ring, and the ribbon cable 1013200110. When the conductive silicone tube 1013000102 is pinched and deformed and comes into contact and conducts with the inner core rod 1013000101, the controller can determine whether the operator pinches the conductive silicone tube 1013000102 by whether the conductive silicone tube 1013000102 and the inner core rod 1013000101 are conducting. The outer circumferential surface of the inner core rod 1013000101 is provided with anti-slip grooves 1013000103. The anti-slip grooves 1013000103 are evenly arranged around the outer circumferential surface of the inner core rod 1013000101, and their directions are parallel to the axis of the inner core rod 1013000101. The depth of the anti-slip grooves 1013000103 exceeds 0.3 mm. The anti-slip grooves 1013000103 increase the friction between the conductive silicone tube 1013000102 and the inner core rod 1013000101, effectively preventing the operator from slipping during the process of pinching and rotating.

[0062] Alternatively, the electrical signal of the inner core can also be replaced by setting an additional flexible wire. At this time, a spring pin connector C or a spring pin connector D also needs to be set on the quick replacement mechanism, and then the same transmission method as the electrical signal of the circumferential elastic body is used for transmission.

[0063] Or it further includes a conductive glove or finger cot connected to the master hand device.

[0064] The outer surface or the whole of the circumferential elastic body is made of conductive material. The touch state of the operator on the operating handle is judged through the conductive glove or finger cot. When the operator wears the conductive glove or finger cot and touches the operating handle, the conductive glove or finger cot will conduct with the operating handle and generate an electrical signal.

[0065] Embodiment 2

[0066] This embodiment refers to the working principle of Embodiment 1. The difference from Embodiment 1 is that:

[0067] It further includes a non-pressable part. When the operator pinches the non-pressable part, it does not affect the pressing measurement component. At the position of the non-pressable part, the non-pressable part is a filling layer arranged between the circumferential elastic body and the inner core.

[0068] As Figure 5 , in this embodiment, an insulating sleeve 1013128 is provided between the circumferential elastic body and the inner core of the filling layer to prevent contact conduction between the circumferential elastic body and the inner core. When an operator holds the operating handle 10130001 and drives it to rotate, it mainly relies on the thumb and index finger to clamp and rotate the operating handle 10130001, while other fingers will contact the surface of the operating handle 10130001. To prevent accidental triggering by other fingers from causing the conductive silicone tube 1013000102 to contact and conduct with the inner core rod 1013000101, at this time, the operating handle 10130001 is divided into a pressable part and a non-pressable part. The pressable part can press the conductive silicone tube 1013000102 through the thumb and index finger to make it contact and conduct with the inner core rod 1013000101. The non-pressable part is used to cooperate with the middle finger, ring finger, and little finger to clamp the operating handle 10130001 and keep its rotation angle unchanged, avoiding the operating handle 10130001 idling due to the torque motor still having torque output at the moment when the hand releases the operating handle 10130001.

[0069] The insulating sleeve 1013128 is arranged at the non-pressable part. The insulating sleeve 1013128 is located at the middle and rear part of the conductive silicone tube 1013000102 and is clamped between the conductive silicone tube 1013000102 and the inner core rod 1013000101, or the insulating sleeve 1013128 is sleeved outside the conductive silicone tube 1013000102, or the insulating sleeve 1013128 is replaced with a non-pressable rod, and the non-pressable rod is directly arranged at the rear end of the conductive silicone tube 1013000102 and serves as a part of the operating handle 10130001.

[0070] The length of the pressable part is 20 - 50 mm, and the length of the non-pressable part is 30 - 100 mm. The outer shapes of the pressable part and the non-pressable part are both cylindrical, with an outer diameter of 5 - 20 mm. The outer diameters of the pressable part and the non-pressable part are the same, or the outer diameters are different but the difference is less than 3 mm.

[0071] Embodiment 3

[0072] This embodiment refers to the working principle of Embodiment 2. The difference from Embodiment 2 is that:

[0073] The non-pressable part is an integral or fixedly arranged non-pressable section on the circumferential elastic body.

[0074] Specifically as Figure 6 and Figure 7, the operating handle includes a conductive silicone tube 1013000102, an inner core rod 1013000101, a front support sleeve 1013123, a non-pressible section 10131201, and a spacer 10131202. The front and rear ends of the conductive silicone tube 1013000102 are respectively sleeved on the front support sleeve 1013123 and the non-pressible section 10131201. The non-pressible section 10131201 is fixedly connected to one end of the conductive silicone tube 1013000102. The middle part of the conductive silicone tube 1013000102 is sleeved outside the spacer 10131202. The spacer 10131202 divides the pressing part into two first pressible parts and a second pressible part in the front and rear. The width of each pressible part is 10 - 50 mm, and the distance between the conductive silicone tube 1013000102 and the inner core rod 1013000101 in each pressible part is 1 - 5 mm. The spacer 10131202 is used to prevent the conductive silicone tube 1013000102 from being mis-triggered with the inner core rod 1013000101 when the non-contact length between the conductive silicone tube 1013000102 and the inner core rod 1013000101 is too long due to its own deformation or slight external force; the front support sleeve 1013123, the non-pressible section 10131201, and the spacer 10131202 are made of insulating materials;

[0075] The spacer 10131202 can be regarded as a filling layer arranged between the conductive silicone tube 1013000102 and the inner core rod 1013000101.

[0076] During use, the index finger and thumb pinch the first pressible part and the second pressible part, so that the conductive silicone tube 1013000102 contacts the inner core rod 1013000101 to achieve conduction. The generated electrical signal is transmitted to an external controller through a wire 1013127 to detect the clamping or loosening state of the operating handle by the operator. When the index finger and thumb need to be released, first hold the non-pressible section 10131201 with one or a combination of the middle finger, ring finger, and little finger. At this time, the operating handle is still controlled. In this way, even if the torque feedback component is in a torque output state at the moment when the index finger and thumb are released, the operating handle will not rotate idly.

[0077] The first pressible part and the second pressible part can respectively correspond to different functions, expanding the functionality of the operating handle so that it can perform more complex operating actions.

[0078] Alternatively, the first pressable part and the second pressable part can be combined into one. In this case, the spacer 10131202 will be removed, and the distance between the front support sleeve 1013123 and the non-pressable section 10131201 will be shortened to 20 - 50 mm. When the length of the air gap between the conductive silicone tube 1013000102 and the inner core rod 1013000101 is too long, the conductive silicone tube 1013000102 may be mis-triggered with the inner core rod 1013000101 due to its own deformation or slight external force.

[0079] Embodiment 4

[0080] This embodiment refers to the working principle of Embodiment 3. The difference from Embodiment 3 is as follows:

[0081] As Figure 8 , the insulating part 101312301 is arranged in the middle of the conductive silicone tube, dividing the conductive silicone tube into two parts. The operating handle includes a conductive silicone tube A 1013121, a conductive silicone tube B 10131211, and an inner core rod 1013000101. Insulating first non-pressable sections 10131201 and second non-pressable sections 101312011 are provided at the front and rear ends of the inner core rod 1013000101. There are gaps between the conductive silicone tube A 1013121 and the conductive silicone tube B 10131211 and the inner core rod 1013000101 through the first non-pressable section 10131201 and the second non-pressable section 101312011. An insulating part 101312301 is provided between the conductive silicone tube A 1013121 and the conductive silicone tube B 10131211. The insulating part 101312301 and the first non-pressable section 10131201 and the second non-pressable section 101312011 on both sides divide the conductive silicone tube into a first pressable part and a second pressable part.

[0082] The width of the pressable part is 20 - 50 mm. The distance between the conductive silicone rubber tube and the inner core rod 1013000101 at the first pressable part and the second pressable part is 1 - 5 mm. The conductive silicone rubber tube A1013121 and the conductive silicone rubber tube B10131211 are different poles of the measurement switch. When the operator pinches the conductive silicone rubber tube A1013121 or the conductive silicone rubber tube B10131211, and the conductive silicone rubber tube A1013121 or the conductive silicone rubber tube B10131211 contacts the inner core rod 1013000101 respectively, the first induction signal or the second induction signal can be triggered respectively, so as to control the corresponding actions of the slave hand device. And when the conductive silicone rubber tube A1013121 and the conductive silicone rubber tube B10131211 contact the inner core rod 1013000101 at the same time, one of the conductive silicone rubber tubes has a higher priority and works according to the function of the measurement switch with a higher priority. The controller is also electrically connected to a conductive glove or finger cot. If the operator wears the conductive glove or finger cot at this time, the detection of the third induction signal and the fourth induction signal can also be realized based on the conduction between the conductive silicone rubber tube A1013121 or the conductive silicone rubber tube B10131211 and the conductive glove or finger cot at the moment when the operator touches the conductive silicone rubber tube A1013121 or the conductive silicone rubber tube B10131211, so as to control the corresponding actions of the slave hand device.

[0083] Embodiment 5

[0084] This embodiment refers to the working principle of Embodiment 3. The difference from Embodiment 3 is that:

[0085] As Figure 9 , an unpressable section is integrally formed or fixedly connected to the end of the conductive silicone rubber tube 1013000102. The unpressable section of this embodiment uses a holding tube 101300010201. The inner wall of the holding tube 101300010201 is in close contact with the inner core rod 1013000101, and the thickness of the holding tube 101300010201 is greater than that of the conductive silicone rubber tube 1013000102, so that the outer diameter of the holding tube 101300010201 is the same as that of the conductive silicone rubber tube 1013000102, or different but the difference is less than 3 mm, ensuring a sufficiently good holding feel. One end of the conductive silicone rubber tube 1013000102 is fixedly connected to one end of the holding tube 101300010201, and there is a gap between the conductive silicone rubber tube 1013000102 and the inner core rod 1013000101, so that the conduction of the conductive silicone rubber tube 1013000102 will not be affected when the operator holds the holding tube 101300010201.

[0086] Alternatively, the holding tube 101300010201 is integrally formed with the inner core rod 1013000101, and one end of the conductive silicone tube 1013000102 is insulated and connected to one end of the holding tube 101300010201 through an insulating material.

[0087] Embodiment 6

[0088] This embodiment refers to the working principle of Embodiment 1, and the difference from Embodiment 1 is as follows:

[0089] One side of the operating handle is provided with a non-rotatable part in the shape of a cylindrical handle, so that the operator can pinch the operating handle with the index finger and thumb, and then hold the non-rotatable part with the other fingers except the index finger and thumb. During use, the operating handle can move axially and rotate circumferentially, while the non-rotatable part can only move axially.

[0090] As Figure 10 and Figure 11 , a non-rotatable part 10132001072 in the shape of a cylindrical handle is provided on one side of the operating handle 10130001. The operating handle 10130001 is jointly affected by an axial force feedback component and a torque feedback component, and the non-rotatable part 10132001072 is only affected by the axial force feedback component. A push switch is arranged around the operating handle 10130001.

[0091] A connecting rod 101300011 is fixedly connected to the output shaft of the torque motor 1013200106 of the torque feedback component. The connecting rod 101300011 passes through the non-rotatable part 10132001072 and is connected to the operating handle 10130001. The connecting rod 101300011 is supported and connected to the non-rotatable part 10132001072 through a bearing. The torque motor 1013200106 drives the operating handle 10130001 to rotate through the connecting rod 101300011. When the operator holds the operating handle 10130001, the operator can receive both torque feedback and axial force feedback.

[0092] The non-rotatable part 10132001072 is fixedly installed on the support frame 1013200104. When the operator holds the non-rotatable part 10132001072, the operator only receives axial force feedback, and a push switch 101320010721 is provided below the non-rotatable part 10132001072. The push switch 101320010721 is used for unloading force or as the other pole of the operating rod assembly. When the push switch 101320010721 is used for unloading force, pressing the push switch directly stops the force feedback, or stops the follow-up control of the operating handle 10130001 on the slave device and stops the force feedback, so that when the operator releases the operating handle 10130001, there will be no instantaneous idling or slipping.

[0093] Example 7

[0094] An intervention robot master hand device, the master hand device includes an operation handle, and the operator remotely controls the slave hand device to rotate and deliver intervention consumables by manipulating the operation handle.

[0095] The master hand device further includes a torque feedback component and an axial force feedback component;

[0096] The torque feedback component, based on the torque received by the intervention consumable during the rotation of the intervention consumable by the slave hand device, applies a corresponding torque to the operation handle, thereby simulating the torque resistance during the surgical procedure;

[0097] The axial force feedback component, based on the axial force received by the intervention consumable during the delivery of the intervention consumable by the slave hand device, applies a corresponding axial force to the operation handle, thereby simulating the axial force resistance during the surgical procedure.

[0098] The output shaft of the torque feedback component is coaxially connected to the operation handle and moves axially together under the drive of the operation handle. The operation handle and the torque feedback component are connected by a connecting rod, and a floating anti-rotation mechanism for relative sliding between the torque feedback component and the base is provided;

[0099] The floating anti-rotation mechanism includes a front-back floating structure, a pitch angle floating structure and a yaw angle floating structure. The front-back floating structure keeps the axial position between the operation handle and the base relatively floating during movement. The yaw angle floating structure enables the operation handle to deflect left and right when moving along the axis direction, and the pitch angle floating structure enables the operation handle to deflect up and down when moving along the axis direction;

[0100] The front-back floating structure adopts a guide rail slider structure, or an anti-rotation shaft hole structure, or a combination of a circular shaft hole structure and an anti-rotation structure;

[0101] The axial force feedback component uses a rope drive structure, a belt drive structure, a gear drive rack structure or a friction wheel drive friction belt structure alone or in combination to apply a bidirectional force to one side of the operation handle;

[0102] When the axial force feedback component adopts a rope drive structure or a belt drive structure, the axial force feedback component is provided with a single axial feedback element. The front and rear ends of the front-back floating structure or the torque feedback component, or the front end of the torque feedback component and the rear end of the operation handle are respectively connected to the front and rear ends of the same pull rope or transmission belt. The pull rope or transmission belt forms a closed loop after being deflected by a pulley;

[0103] Or at the front and rear ends of the front and rear floating structure or the torque feedback component, or the front end of the torque feedback component and the rear end of the operating handle are respectively connected to two pull ropes or transmission belts. The two pull ropes or transmission belts are reversely transmitted through pulleys and then connected to the same axial feedback element to form a closed loop. The axial feedback element applies a bidirectional force to the front and rear floating structure or the torque feedback component or / and the operating handle through the pull ropes or transmission belts;

[0104] When a rope drive structure is adopted, the axial feedback element includes a motor. A wire reel is coaxially connected to the output shaft of the motor. The wire reel has spiral grooves for guiding the pull rope to be spirally wound around the wire reel. The outer diameter of the wire reel is 10 - 50 mm

[0105] Such as Figure 12 , the torque feedback component includes a second torque motor 10130019. The output shaft of the second torque motor 10130019 passes through the middle through hole of the slip ring 10133012 and is connected to one end of a connecting rod 101300011. The other end of the connecting rod 101300011 is connected to the operating handle 10130001. The operating handle 10130001 is provided with a pressable part and a non-pressable part (when releasing the pressable part, hold the non-pressable part to avoid idling and axial movement). A connecting piece 101310101 is fixedly connected to the base 1013101, and a guide rail 1013106 is fixedly connected to the connecting piece 101310101 (so as to increase the installation height of the guide rail

[0106] 1013106, and the distance from it to the base 1013101 is 30 - 100 mm). A slider 1013107 is slidably arranged on the guide rail 1013106. The slider 1013107 is connected to the torque feedback component through a pitch angle floating structure 1013100102 and a yaw angle floating structure 1013100103 to realize floating in the up and down directions and the left and right directions, effectively preventing the yaw of the operating handle 10130001 from jamming the slider 1013107. The length of the connecting rod 101300011 is greater than 150 mm. The connecting rod 101300011 is long enough. Axially, the operating handle 10130001 extends out from one side of the guide rail 1013106, leaving enough space for holding the operating handle 10130001. When the axis of the output shaft of the second torque motor 10130019 is parallel to the guide rail

[0107] 1013106, the distance between the axis of the output shaft of the second torque motor 10130019 and the guide rail 1013106 is 30 - 50 mm, so as to reduce the overturning moment applied to the slider 1013107 and make the friction between the guide rail 1013106 and the slider 1013107 as small as possible.

[0108] The axial force feedback component includes an axial force motor 10130004 and a wire reel 10130007. The output shaft of the axial force motor 10130004 is fixedly connected to the wire reel 10130007. One end of the first pull rope 10130021 is directly connected to one end of the slider (or directly connected to one end of the torque feedback component), and the other end of the first pull rope 10130021 is wound around the wire reel 10130007. One end of the second pull rope 10130022 bypasses the reversing pulley 101300071 and is connected to the other end of the slider (or directly connected to the other end of the torque feedback component, or directly connected to the rear end of the operating handle), and the other end of the second pull rope 10130022 is wound around the wire reel 10130007. There is a spiral groove on the wire reel 10130007 for guiding the pull rope to be wound around the wire reel in a spiral shape. The outer diameter of the wire reel 10130007 is 10 - 50 mm.

[0109] The first pull rope and the second pull rope are wound around the wire reel in the same spiral direction respectively. When the joystick assembly slides forward and pulls the wire reel to rotate in the positive direction, the first pull rope is wound around the wire reel, and the second pull rope is released from the wire reel. During this process; when the joystick assembly slides backward and pulls the wire reel to rotate in the reverse direction, the second pull rope is wound around the wire reel, and the first pull rope is released from the wire reel;

[0110] During the above process, the axial feedback element rotates with the rotation of the wire reel, and an angle sensor is provided inside the axial feedback element, which can measure the rotation angle of the wire reel, thereby calculating the displacement of the joystick assembly, and sending the displacement to the slave hand for realizing master - slave follow - up control. And the axial feedback element can apply a rotational torque to the wire reel and convert it into the pulling force of the pull rope acting on the joystick assembly to realize force feedback.

[0111] The torque feedback component routes the wires through a ribbon cable or a multi - strand flexible cable. The ribbon cable 1013200110 or the multi - strand flexible cable is wound into a U - shape on the side of the sliding mechanism. During the forward and backward movement of the guide rail slider, the ribbon cable 1013200110 or the multi - strand flexible cable adapts to flexible deformation and does not cause too much resistance interference to the guide rail slider. And the ribbon cable 1013200110 is connected with a first limit buckle 10132001101 and a second limit buckle 10132001102 for limiting it.

[0112] The electrical signal of the conductive silicone tube of the operating handle 10130001 is introduced into the controller through the second wire, the first wire, the slip ring 10133012, and the ribbon cable 1013200110 in sequence.

[0113] Such as Figure 13, the slave device includes a first port control mechanism 10271, a second port control mechanism 10273, a first rotary delivery mechanism 10272, a second delivery mechanism 10274101, a third rotary delivery mechanism 10276, an operating table, an injection module 102207 and a pressurized injection module 102208. The injection module 102207 is connected to a branch of the Y-valve of the second port control mechanism 10273 for injecting contrast agent or heparinized saline. The pressurized injection module 102208 is connected to the balloon locked by the second delivery mechanism 10274101 for pressurizing the balloon. Axial force sensors and torque sensors are provided inside the first rotary delivery mechanism 10272 and the third rotary delivery mechanism 10276, which can detect the axial force and torque received by the interventional consumables. The controller controls the axial force feedback component and the torque feedback component of the master device to perform axial force feedback and torque feedback on the operating handle.

[0114] Embodiment 8

[0115] A method for using a master device of an interventional robot, characterized by comprising the following steps:

[0116] 1), the operator squeezes the pressable part of the operating handle. When the press measurement component detects that the operator squeezes the pressable part of the operating handle, it controls the slave device to enter the follow-up state and the master device to enter the force feedback state;

[0117] 2), when the slave device enters the follow-up state, as the operator controls the operating handle to reciprocate axially and rotate circumferentially, the master device detects the axial distance and circumferential rotation angle of the operating handle movement, and the slave device performs corresponding actions to achieve the delivery of the interventional consumables. The slave device detects the axial resistance and circumferential torque received by the interventional consumables during the movement, and the axial force feedback component and the torque feedback component of the master device apply corresponding axial force and circumferential torque feedback to the operating handle, so as to simulate the axial force resistance and circumferential resistance torque during the surgical process;

[0118] 3), when the operator releases the pressable part of the operating handle, at this time, the press measurement component detects that the operator releases the pressable part of the operating handle, controls the slave device to exit the follow-up state, the slave device remains stationary, the master device exits the force feedback state, and the axial force feedback component and the torque feedback component of the master device stop applying the corresponding axial force and circumferential torque to the operating handle at the same time.

[0119] In step 1, the operator only squeezes the pressable part of the operating handle with the index finger and thumb. When there is a non-pressable part on the operating handle, in step 3, before the operator releases the pressable part of the operating handle, first hold the non-pressable part with fingers other than the thumb and index finger, and then release the thumb and index finger that squeeze the pressable part of the operating handle. At this time, it is possible to avoid the undesired movement of the operating handle caused by the axial force feedback component and the torque feedback component not being able to stop applying the axial force and circumferential torque to the operating handle in time at the moment of release.

[0120] The foregoing has shown and described the basic principles, main features and advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms. Therefore, in any regard, the embodiments should be regarded as exemplary and non-limiting. The scope of the present invention is defined by the appended claims rather than the above description. Therefore, it is intended to embrace all changes falling within the meaning and scope of the equivalent elements of the claims in the present invention. Any reference signs in the claims should not be regarded as limiting the claimed rights.

[0121] In addition, it should be understood that although this specification is described according to the embodiments, not every embodiment only contains an independent technical solution. This narrative way of the specification is only for clarity. Those skilled in the art should regard the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. An operating handle with a pressable part, characterized in that, It includes an operating handle, on which there is a pressable part, and a pressing measurement component is provided on the pressable part. The pressing measurement component can detect the squeezing or releasing of the operating handle by the operator.

2. The operating handle with a pressable part according to claim 1, characterized in that, The pressing measurement component includes a measurement switch and also an elastic element. The elastic element is a circumferential elastic body that wraps the inner core of the operating handle at a certain interval. The measurement switch detects the squeezing or releasing of the operating handle by the operator through the change in the distance between the elastic element and the inner core.

3. The operating handle with a pressable part according to claim 2, characterized in that, When the measurement switch uses conduction to detect the squeezing or releasing of the operating handle by the operator, the measurement switch realizes conduction detection by the contact of conductors with each other. Both the inner core and the circumferential elastic body are provided with conductors, but the conductors of the inner core and the circumferential elastic body remain in an insulated state when the circumferential elastic body is not under external force. When the operator squeezes the circumferential elastic body to cause it to deform and makes the conductors of the inner core and the circumferential elastic body contact and conduct, at this time, it is detected that the operator squeezes the operating handle. And when the operator releases the operating handle, the circumferential elastic body resets to keep the conductors of the inner core and the circumferential elastic body in an insulated state, and at this time, it is detected that the operator releases the operating handle.

4. The operating handle with a pressable part according to claim 3, characterized in that, The circumferential elastic body is made of a conductive soft rubber material, and the conductor is the conductive soft rubber material. At this time, the circumferential elastic body is a conductive soft rubber tube, and the conductive soft rubber material is specifically conductive silicone. Or a conductor is attached to the inner surface of the circumferential elastic body, and the conductor is one or a combination of a metal mesh, a metal wire, and a metal sheet.

5. The operating handle with a pressable part according to claim 2, characterized in that, It also includes a non-pressable part. When the operator squeezes the non-pressable part, it does not affect the pressing measurement component. The non-pressable part is a filling layer arranged between the circumferential elastic body and the inner core. Or the non-pressable part is a non-pressable section integrally or fixedly arranged on the circumferential elastic body. The length of the pressable part is 20 - 80 mm, and the length of the non-pressable part is 30 - 100 mm.

6. The operating handle with a pressable part according to claim 2, characterized in that, The measurement switch uses one or a combination of laser detection, or photoelectric detection, or capacitance detection, or inductance detection, or ultrasonic detection to detect the distance between the circumferential elastic body and the inner core, or a closed space is arranged between the circumferential elastic body and the inner core, and the gas pressure or liquid pressure in the closed space is detected, so as to detect the change in the distance between the circumferential elastic body and the inner core according to the pressure change.

7. An intervention robot master hand device, characterized in that, The master hand device includes the operating handle described in any one of claims 1 - 6. The operator remotely controls the slave hand device to rotate and deliver the interventional consumables by manipulating the operating handle. The master hand device also includes a torque feedback component and an axial force feedback component. The torque feedback component applies a corresponding torque to the operating handle based on the torque received by the interventional consumable during the rotation of the interventional consumable by the slave hand device, so as to simulate the torque resistance during the surgical process. The axial force feedback component applies a corresponding axial force to the operating handle based on the axial force received by the interventional consumable during the delivery of the interventional consumable by the slave hand device, so as to simulate the axial force resistance during the surgical process.

8. An operating master device of an interventional robot according to claim 7, wherein the output shaft of the torque feedback assembly is coaxially connected to the operating handle and moves axially together under the drive of the operating handle. The operating handle is connected to the torque feedback assembly through a connecting rod, and a floating anti-rotation mechanism for relative sliding between the two is provided between the torque feedback assembly and the base; The floating anti-rotation mechanism includes a front-back floating structure, a pitch angle floating structure, and a yaw angle floating structure. The front-back floating structure keeps the axial position between the operating handle and the base relatively floating during movement. The yaw angle floating structure enables the operating handle to deflect left and right when moving along the axis direction, and the pitch angle floating structure enables the operating handle to deflect up and down when moving along the axis direction; The front-back floating structure adopts a guide rail-slider structure, or an anti-rotation shaft-hole structure, or a combination of a circular shaft-hole structure and an anti-rotation structure; The axial force feedback assembly applies bidirectional forces to one side of the operating handle by adopting a rope drive structure, a belt drive structure, a gear drive rack structure, or a combination of a friction wheel drive friction belt structure; When the axial force feedback assembly adopts a rope drive structure or a belt drive structure, the axial force feedback assembly is provided with a single axial feedback element. The front and rear ends of the front-back floating structure or the torque feedback assembly, or the front end of the torque feedback assembly and the rear end of the operating handle are respectively connected to the front and rear ends of the same pulling rope or transmission belt. The pulling rope or transmission belt forms a closed loop after being deflected by a pulley; Or the front and rear ends of the front-back floating structure or the torque feedback assembly, or the front end of the torque feedback assembly and the rear end of the operating handle are respectively connected to two pulling ropes or transmission belts. The two pulling ropes or transmission belts are connected to the same axial feedback element through a pulley after being deflected to form a closed loop. The axial feedback element applies bidirectional forces to the front-back floating structure or the torque feedback assembly or / and the operating handle through the pulling rope or transmission belt; When adopting a rope drive structure, the axial feedback element includes a motor. A winding wheel is coaxially connected to the output shaft of the motor. The winding wheel has a spiral groove for guiding the pulling rope to be wound around the winding wheel in a spiral shape. The outer diameter of the winding wheel is 10 - 50 mm.

9. A method for using the master hand device of an interventional robot, characterized in that, Including the following steps: 1). The operator squeezes the pressable part of the operating handle. At this time, after the press measurement assembly detects that the operator squeezes the pressable part of the operating handle, it controls the slave hand device to enter the follow-up state and the master hand device to enter the force feedback state; 2). After the slave hand device enters the follow-up state, as the operator controls the operating handle to reciprocate axially and rotate circumferentially, the master hand device detects the axial distance and circumferential rotation angle of the operating handle movement. The slave hand device performs corresponding actions to realize the delivery of the interventional consumables. And the slave hand device detects the axial resistance and circumferential resistance moment received by the interventional consumables during movement. Through the axial force feedback assembly and torque feedback assembly of the master hand device, corresponding axial force feedback and circumferential torque feedback are applied to the operating handle, so as to simulate the axial force resistance and circumferential resistance moment during the surgical process; 3) When the operator releases the pressable part of the operating handle, after the pressing measurement component detects that the operator has released the pressable part of the operating handle, the slave device is controlled to exit the follow-up state, the slave device remains stationary, the master device exits the force feedback state, and the axial force feedback component and the torque feedback component of the master device simultaneously stop applying the corresponding axial force and circumferential torque to the operating handle.

10. The method for using a master hand device of an interventional robot according to claim 9, characterized in that, In step 1, the operator only pinches the pressable part of the operating handle with the index finger and thumb. When there is a non-pressable part on the operating handle, in step 3, before the operator releases the pressable part of the operating handle, first hold the non-pressable part with fingers other than the thumb and index finger, and then release the thumb and index finger that pinch the pressable part of the operating handle. At this time, it is possible to avoid the unexpected movement of the operating handle caused by the axial force feedback component and the torque feedback component not being able to stop applying the axial force and circumferential torque to the operating handle in time at the moment of release.

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