Interventional consumable delivery mechanism with force sensing function and interventional surgical robot slave manipulator device

Abstract

The invention provides an interventional consumable delivery mechanism with a force sensing function, which comprises a locking mechanism capable of locking or loosening interventional consumables, a rotary delivery mechanism capable of driving the locked interventional consumables to rotate and / or deliver, and a force sensing assembly capable of detecting axial force and torsional moment borne by the interventional consumables, when the rotary delivery mechanism moves in the axial direction and drives the locked interventional consumable to be delivered in the axial direction, the axial force sensing element measures the axial force borne by the interventional consumable, and when the rotary delivery mechanism rotates around the axis and drives the locked interventional consumable to rotate around the axis, the axial force sensing element senses the axial force borne by the interventional consumable. The torque force sensing element measures the torque borne by the intervention consumable in the direction around the axis, the axial force sensing element is arranged outside the rotating shaft and connected with the rotating shaft driving base, and the torque force sensing element is connected with the rotating shaft. The rotation and delivery of intervention consumables can be realized, the design is reasonable, the space in the rotating shaft is reasonably utilized, and powerful support can be provided for a force feedback technology of a main hand end.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an interventional consumables delivery mechanism with a force sensing function and an interventional surgical robot slave device. Background Art

[0002] Minimally invasive interventional therapy is the primary treatment for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, it utilizes interventional devices through physiological cavities to diagnose and treat diseases. Compared to traditional surgical procedures, it offers significant advantages, including improved efficacy, increased safety, smaller incisions, and shorter postoperative recovery times.

[0003] Vascular interventional procedures primarily include femoral / radial artery puncture, coordinated advancement of a guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of a therapeutic guidewire and balloon catheter, and stent placement. The coordinated advancement of the guidewire, catheter, and balloon catheter is a time-consuming step in these procedures and requires X-ray image navigation. Currently, vascular interventional procedures are typically performed manually by physicians. During the procedure, DSA emits X-rays, requiring the physician to wear a heavy lead vest. This rapidly degrades the physician's stamina, concentration, and stability, leading to decreased precision and a high risk of life-threatening accidents such as intimal damage and vascular perforation and rupture caused by improper thrust. Furthermore, prolonged wear of the lead vest can damage the physician's spine. Furthermore, the cumulative damage from long-term ionizing radiation exposure significantly increases the physician's risk of leukemia, cancer, and acute cataracts. Therefore, to ensure physician health and surgical quality, research and development of interventional surgical robots is intensifying, and a growing number of robots are now being used in clinical practice.

[0004] Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radioactive environment. The existing interventional robot slave end device needs to clamp slender medical devices such as catheters and guide wires and move them from their proximal end to the distal end. The coordinated movement of the device drives the catheter and guide wire forward and delivers them to the lesion in the patient's body (such as within the blood vessel), making it convenient for doctors to perform subsequent related treatments such as angiography, embolization of abnormal blood vessels, dissolution of blood clots, and dilation of narrowed blood vessels.

[0005] For example, the following patents applied for by Shenzhen Aibo Medical Robot Co., Ltd.: an interventional surgical robot slave end with application number 2022116787026; an interventional surgical robot slave end with application number 202211686818.4; an interventional surgical robot slave end guidewire catheter control device with application number 202210923132.6; an interventional surgical robot slave end device with application number 202210326352.0, etc.; it splits the power to control the catheter / guidewire and controls it through the catheter delivery mechanism. The delivery of the corresponding catheter is controlled by the catheter rotation mechanism, the rotation of the corresponding catheter is controlled by the catheter rotation mechanism, the delivery of the guidewire is controlled by the guidewire delivery mechanism, and the rotation of the guidewire is controlled by the guidewire rotation mechanism. Its shortcomings are as follows: (1) The structures of the catheter rotation mechanism and the guidewire rotation mechanism are relatively complex; (2) The balloon delivery mechanism applies frictional force to the balloon catheter through the synchronous rotation of the active roller and the driven roller. Under the action of the frictional force, the balloon is delivered forward. There is no force perception during the delivery process, so force feedback cannot be achieved and the safety of the operation cannot be guaranteed; (3) The coordinated delivery of multiple catheters and guidewires cannot be achieved.

[0006] Therefore, how to provide an interventional surgical robot slave device and its control method that are convenient for controlling the movement and rotation of one or more sets of catheters and guidewires, and perform force sensing during the delivery process of multiple sets of catheters and guidewires, is a problem that technical personnel in this field urgently need to solve. Summary of the Invention

[0007] The purpose of the present invention is to provide an interventional consumables delivery mechanism and an interventional surgical robot slave device with a force sensing function to solve existing technical defects and unmet technical requirements.

[0008] To achieve the above object, the present invention provides the following technical solutions:

[0009] An interventional consumable delivery mechanism with a force sensing function includes a locking mechanism capable of locking or releasing the interventional consumable, a rotating delivery mechanism capable of driving the locked interventional consumable to rotate and / or deliver, and a force sensing component capable of detecting the axial force and torsional torque exerted on the interventional consumable. The rotating delivery mechanism includes a rotating shaft drive seat and a rotating shaft rotatably mounted in the rotating shaft drive seat. The force sensing component includes an axial force sensing element and a torque sensing element. When the rotating delivery mechanism moves axially and drives the locked interventional consumable to be delivered axially, the axial force sensing element measures the axial force exerted on the interventional consumable. When the rotating delivery mechanism rotates around the axis and drives the locked interventional consumable to rotate around the axis, the torque sensing element measures the torque exerted on the interventional consumable in the direction around the axis. The axial force sensing element is arranged outside the rotating shaft and connected to the rotating shaft drive seat. The torque sensing element is connected to the rotating shaft.

[0010] Preferably, the device further comprises a first connecting portion, which is locked and connected to the tail or middle portion of the interventional consumable via a locking mechanism, and the first connecting portion is axially movable and circumferentially rotatable and is disposed on the rotating shaft drive seat or the rotating shaft, or the first connecting portion is axially limited and circumferentially rotatable and is disposed on the axial force sensing element;

[0011] One end of the torque force sensing element is fixed on the rotating shaft, and the other end is circumferentially limited by the torque coupling structure and the first connecting part. When the locked interventional consumable is subjected to torque in the direction around the axis, the torque is transmitted to the torque force sensing element through the first connecting part and the torque coupling structure.

[0012] Preferably, when the first connecting portion is axially movable and circumferentially rotatable on the rotating shaft driving seat or the rotating shaft, a sleeve structure is provided between the first connecting portion and the rotating shaft driving seat or the rotating shaft, and the sleeve structure adopts one or a combination of a ball sleeve structure, a magnetic suspension sleeve structure, an air sleeve structure, and a hydraulic sleeve structure;

[0013] The axial force sensing element is an axial force sensor. The fixed end of the axial force sensor is fixedly connected to the rotating shaft drive seat. The force measuring end of the axial force sensor is connected to the first connecting part via an axial force coupling structure. The axial force coupling structure is one or a combination of a bearing structure and a detent structure. When the locked interventional consumable is subjected to an axial force, the first connecting part transmits the axial force to the axial force sensor through the axial force coupling structure.

[0014] When the torque sensing element is a force sensor, the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force through the first connection portion by the torque conversion structure, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm.

[0015] Alternatively, when the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. When the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the first connection part via the torque amplification structure. After the torsional torque is measured, it can be converted into the torque exerted on the interventional consumable in combination with the torque amplification ratio.

[0016] Preferably, when the first connecting portion is axially limited and circumferentially rotatable on the axial force sensing element, a bearing structure is provided between the first connecting portion and the axial force sensing element, and the bearing structure adopts one or a combination of a rolling element bearing structure, an air bearing structure, or a magnetic bearing structure;

[0017] The axial force sensing element is an axial force sensor. The fixed end of the axial force sensor is fixedly connected to the rotating shaft drive seat. The force measuring end of the axial force sensor is connected to the first connecting part through a bearing structure. When the locked interventional consumable is subjected to axial force, the first connecting part transmits the axial force to the axial force sensor through the bearing structure.

[0018] When the torque sensing element is a force sensor, the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force through the first connection portion by the torque conversion structure, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm.

[0019] Alternatively, when the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. When the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the first connection part via the torque amplification structure. After the torsional torque is measured, it can be converted into the torque exerted on the interventional consumable in combination with the torque amplification ratio.

[0020] Preferably, the locking mechanism includes an active locking mechanism and a passive locking mechanism. The active locking mechanism drives the clamping structure through a driving element to achieve locking and / or loosening of the interventional consumables. The clamping structure is a claw clamping mechanism, a side clamping mechanism or a rotary clamping mechanism; the locking mechanism has a self-locking structure and can maintain the locked state after locking; the passive locking mechanism drives one or a combination of the clamping structure, the snap locking structure and the threaded locking structure through an external driving method to achieve locking or loosening of the interventional consumables. The external driving method is manual driving, and the passive locking structure is arranged on the outside of the rotating shaft or the rotating shaft driving seat.

[0021] Preferably, when the interventional consumable is a catheter with a Luer connector at the tail end, the passive locking mechanism includes a threaded transition head, the threaded transition head is screwed to the Luer connector at the tail end of the interventional consumable via a threaded structure, the threaded transition head is connected to the first connecting portion via a snap structure, or the threaded transition head is directly connected to the first connecting portion;

[0022] When the interventional consumable is a guidewire or a headless catheter (a headless catheter refers to a catheter without a Luer connector at the end), the passive locking mechanism includes a clamping transition head, which is clamped on the guidewire or headless catheter by a clamping structure, and the clamping transition head is connected to the first connecting portion by a snap structure, or the clamping transition head is directly connected to the first connecting portion;

[0023] The first connection portion extends from the interior to the exterior of the rotating shaft or the rotating shaft driving seat.

[0024] Preferably, when the torque force sensing element is a force sensor and the torque coupling structure is a torque conversion structure, the force sensor is one or a combination of a discrete force beam, a parallel force beam, and a one-dimensional force sensor, including a hinge connection and a sensor force transmission member, the first connection part is rotatably arranged in the hinge connection part through a bearing structure or a sleeve structure, the hinge connection part is coaxially arranged with the rotating shaft, the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable, the first connection part and the sensor force transmission member are connected through a torque conversion structure, the torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, and a linear transmission structure, one end of the force sensor is fixed on the rotating shaft, and the other end is fixedly connected to or integrally formed with the sensor force transmission member, the force axis of the force sensor is perpendicular to the rotation axis of the rotating shaft, when the interventional consumable is subjected to torque during rotation, the first connection part converts the torque into a push-pull force through the torque conversion structure and applies it to the sensor force transmission member, at this time the force sensor will detect the push-pull force;

[0025] Alternatively, when the torque force sensing element is a torque sensor and the torque coupling structure is a torque amplification structure, it includes a hinge connection and a torque transmission member. The first connection part is rotatably arranged in the hinge connection part through a bearing structure or a sleeve structure. The hinge connection part is coaxially arranged with the rotating shaft. The rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The first connection part is connected to the torque transmission member through a torque amplification structure. The torque amplification structure is one or a combination of a pin structure, a connecting rod mechanism, a gear mechanism, a belt drive mechanism, and a linear drive mechanism. One end of the torque sensor is fixed on the rotating shaft, and the other end is fixedly connected to or integrally formed with the torque transmission member. The torque measuring axis of the torque sensor is parallel to the rotation axis of the rotating shaft. When the interventional consumable is subjected to torque during rotation, the first connection part applies torque to the torque transmission member through the torque amplification structure. At this time, the torque sensor will detect the torque.

[0026] Preferably, the rotary delivery mechanism further comprises a rotary drive assembly mounted on the rotary shaft drive seat, the rotary drive assembly driving the rotary shaft to rotate through a transmission assembly, the transmission assembly achieving power transmission by meshing with a driven gear ring on the rotary shaft, or achieving power transmission through friction between the transmission assembly and a driven friction ring on the rotary shaft, the transmission assembly being a driving gear or an active friction wheel or an active transmission belt or an active friction belt.

[0027] An interventional surgical robot slave device with an interventional consumables delivery mechanism with a force sensing function, the slave device comprising a linear track group: at least one linear track group is provided, and when two linear track groups are provided, the two linear track groups are arranged in parallel, one of the linear track groups is provided with at least two module fixing seats along its length direction, a surgical function module is mounted on the module fixing seat, the surgical function module is a port support mechanism or a port control mechanism or a rotary delivery mechanism, a port support mechanism or a port control mechanism at the front end and a rotary delivery mechanism at the rear end constitute a delivery kit, the module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the corresponding linear track group, the module fixing seat can drive the corresponding port control mechanism and / or rotary delivery mechanism to reciprocate when reciprocating, and when the interventional consumable is locked by the locking structure, the rotary delivery mechanism can drive the interventional consumable to perform a rotary delivery movement.

[0028] Preferably, the interventional consumables include one or a combination of a port control valve, a catheter, and a guidewire, and the port control valve is a bifurcated valve or a non-bifurcated control valve;

[0029] A support element is provided between the port support mechanism and the rotation delivery mechanism, or between the port control mechanism and the rotation delivery mechanism. The support element is sleeved outside the interventional consumable to play a supporting role, so that the axis of the interventional consumable is in a straight state. The support element adopts a rigid coaxial telescopic sleeve with step-by-step sleeves for support;

[0030] When the first delivery kit and the second delivery kit are placed on the linear rail group one after the other, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotating delivery mechanism placed at the rear end, the first delivery kit is used to deliver the first interventional consumable, the second delivery kit includes a second port control mechanism placed at the front end and a second rotating delivery mechanism placed at the rear end, the second delivery kit is used to deliver the second interventional consumable, the first rotating delivery mechanism and the second port control mechanism are arranged on the linear guide rail group for synchronous movement, the second port control mechanism is installed with a first bifurcation valve, the first connecting part is arranged on the first rotating delivery mechanism, and also includes an internal connecting pipe, the internal connecting pipe passes through the first The connection portion is provided, with the front end of the internal connecting tube connected to the front end of the first connecting portion; or the first connecting portion is a hollow pipe structure, with the front end of the internal connecting tube connected to the rear end of the first connecting portion, and the rear end of the internal connecting tube fixedly connected to the front rotatable portion of the first bifurcated valve. The internal connecting tube is provided with a flexible portion. When the second port control mechanism controls the rotatable portion of the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotary delivery mechanism, if the two rotational motions are not completely synchronized, the flexible portion of the internal connecting tube may undergo slight torsional deformation. However, because the flexible portion is sufficiently flexible, it does not affect the torque sensing element in the first rotary delivery mechanism's sensing of the torque acting on the first interventional consumable.

[0031] The beneficial effects of the present invention are as follows:

[0032] 1. The interventional consumable delivery mechanism of the present invention includes a locking mechanism that can lock or loosen the interventional consumable, a rotating delivery mechanism that can drive the locked interventional consumable to rotate, and a force sensing component that can detect the axial force and torsional torque applied to the interventional consumable, providing strong support for the force feedback technology of the master end.

[0033] 2. The axial force sensing element is set outside the rotating shaft, and the torque force sensing element is set inside the rotating shaft. The position design is reasonable, and the space inside the rotating shaft is reasonably utilized, which reduces the inertia of the torque force sensing element itself and is conducive to the detection of weak torsional torque.

[0034] 3. The passive locking mechanism of the present invention has a self-locking structure, which can maintain the locked state after locking. The passive locking mechanism drives one or a combination of the clamping structure, the snap locking structure, and the threaded locking structure through an external drive method to lock or loosen the interventional consumables. The external drive method is manual drive. The passive locking structure is arranged on the outside of the rotating shaft or the rotating shaft drive seat, which is also easy to operate. It can quickly realize the connection between the interventional consumables and the rotating delivery mechanism, and it is also convenient to quickly replace the interventional consumables.

[0035] 4. Rotational delivery is performed by forming a delivery kit through a port support mechanism or a port control mechanism and a rotational delivery mechanism. When the interventional consumable is subjected to torque around the axis during rotation, the torque exerted on the interventional consumable in the direction around the axis is measured through a combination of a force sensor and a torque conversion structure, or a combination of a torque sensor and a torque amplification structure. This has the function of amplifying torque signals and force signals, has high sensitivity, and reliable detection, and can realize the measurement of weak torque signals exerted on the interventional consumable.

[0036] 5. When the interventional consumables are subjected to axial force during the axial delivery process, the axial force exerted on the interventional consumables is measured through the combination of the axial force sensor and the axial force coupling structure, which has the function of amplifying the force signal. It has high sensitivity and reliable detection, and can realize the measurement of weak axial force signals exerted on the interventional consumables.

[0037] 6. The interventional consumables can be stably delivered under the action of the supporting element, and the interventional consumables will not warp. The setting of the internal connecting tube will not affect the torque force sensing element in the first rotational delivery mechanism to sense the torque even if the rotational motion controlled by the first rotational delivery mechanism and the second port control mechanism is not completely synchronized. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 This is one of the structural diagrams of Example 1;

[0039] Figure 2 This is the second structural diagram of Example 1;

[0040] Figure 3 This is the third structural diagram of Example 1;

[0041] Figure 4 Schematic diagram of the cross-sectional structure of Example 1;

[0042] Figure 5 This is one of the structural diagrams of Example 2;

[0043] Figure 6 This is the second structural diagram of Example 2;

[0044] Figure 7 This is the third structural diagram of Example 2;

[0045] Figure 8 This is one of the structural diagrams of Example 3;

[0046] Figure 9 This is the second structural diagram of Example 3;

[0047] Figure 10 This is the third structural diagram of Example 3;

[0048] Figure 11 This is a schematic structural diagram of Example 4;

[0049] Figure 12 This is a schematic structural diagram of Example 5;

[0050] Figure 13 This is one of the structural diagrams of Example 7;

[0051] Figure 14 This is the second structural diagram of Example 7;

[0052] Figure 15 This is one of the structural diagrams of Example 8;

[0053] Figure 16 The second structural diagram of Example 8

[0054] Figure 17 This is the third structural diagram of Example 8

[0055] Figure 18 This is one of the structural diagrams of Example 9.

[0056] Figure 19 This is the second structural diagram of Example 9

[0057] Figure 20 This is the third structural diagram of Example 9;

[0058] Figure 21 This is the fourth structural diagram of Example 9. DETAILED DESCRIPTION

[0059] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0060] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0061] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0062] Example 1

[0063] An interventional consumable delivery mechanism with a force sensing function includes a locking mechanism capable of locking or releasing the interventional consumable, a rotational delivery mechanism capable of driving the locked interventional consumable to rotate and / or deliver, and a force sensing assembly capable of detecting the axial force and torsional torque applied to the interventional consumable. The rotational delivery mechanism includes a rotational shaft drive seat and a rotational shaft rotatably mounted within the rotational shaft drive seat. The force sensing assembly includes an axial force sensing element and a torque sensing element. When the rotational delivery mechanism moves axially and drives the locked interventional consumable axially for delivery, the axial force sensing element measures the axial force applied to the interventional consumable. When the rotational delivery mechanism rotates about the axis and drives the locked interventional consumable to rotate about the axis, the torque sensing element measures the torque applied to the interventional consumable about the axis. The axial force sensing element is disposed outside the rotational shaft and connected to the rotational shaft drive seat, while the torque sensing element is connected to the rotational shaft.

[0064] The device further includes a first connecting portion, which is locked and connected to the tail or middle portion of the interventional consumable via a locking mechanism. The first connecting portion is axially movable and circumferentially rotatable and is disposed on the rotating shaft drive seat or the rotating shaft, or the first connecting portion is axially limited and circumferentially rotatable and is disposed on the axial force sensing element.

[0065] One end of the torque force sensing element is fixed on the rotating shaft, and the other end is circumferentially limited by the torque coupling structure and the first connecting part. When the locked interventional consumable is subjected to torque in the direction around the axis, the torque is transmitted to the torque force sensing element through the first connecting part and the torque coupling structure.

[0066] When the first connecting portion is axially movable and circumferentially rotatable on the rotating shaft drive seat or the rotating shaft, a sleeve structure is provided between the first connecting portion and the rotating shaft drive seat or the rotating shaft, and the sleeve structure adopts one or a combination of a ball sleeve structure, a magnetic suspension sleeve structure, an air sleeve structure, and a hydraulic sleeve structure;

[0067] The axial force sensing element is an axial force sensor. The fixed end of the axial force sensor is fixedly connected to the rotating shaft drive seat. The force measuring end of the axial force sensor is connected to the first connecting part via an axial force coupling structure. The axial force coupling structure is one or a combination of a bearing structure and a detent structure. When the locked interventional consumable is subjected to an axial force, the first connecting part transmits the axial force to the axial force sensor through the axial force coupling structure.

[0068] When the torque sensing element is a force sensor, the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force through the first connection portion by the torque conversion structure, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm.

[0069] Alternatively, when the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. When the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the first connection part via the torque amplification structure. After the torsional torque is measured, it can be converted into the torque exerted on the interventional consumable in combination with the torque amplification ratio.

[0070] When the first connecting portion is axially limited and circumferentially rotatable on the axial force sensing element, a bearing structure is provided between the first connecting portion and the axial force sensing element, and the bearing structure adopts one or a combination of a rolling element bearing structure, an air bearing structure, or a magnetic suspension bearing structure;

[0071] The axial force sensing element is an axial force sensor. The fixed end of the axial force sensor is fixedly connected to the rotating shaft drive seat. The force measuring end of the axial force sensor is connected to the first connecting part through a bearing structure. When the locked interventional consumable is subjected to axial force, the first connecting part transmits the axial force to the axial force sensor through the bearing structure.

[0072] When the torque sensing element is a force sensor, the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force through the first connection portion by the torque conversion structure, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm.

[0073] Alternatively, when the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. When the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the first connection part via the torque amplification structure. After the torsional torque is measured, it can be converted into the torque exerted on the interventional consumable in combination with the torque amplification ratio.

[0074] Preferably, the locking mechanism includes an active locking mechanism and a passive locking mechanism. The active locking mechanism drives the clamping structure through a driving element to achieve locking and / or loosening of the interventional consumables. The clamping structure is a claw clamping mechanism, a side clamping mechanism, or a rotary clamping mechanism. The locking mechanism has a self-locking structure and can maintain the locked state after locking.

[0075] Preferably, when an active locking mechanism is adopted, and the active locking mechanism drives the clamping mechanism through a driving element to lock or / and release the interventional consumable, the mechanism comprises a first movable seat and an elastic clamping claw, the elastic clamping claw is sleeved on the interventional consumable, the first movable seat can move along the axial direction of the first connecting part, the elastic clamping claw is detachably mounted on the first movable seat, the driving element drives the first movable seat to move, and the first movable seat can press and drive the elastic clamping claw to move during the movement, the elastic clamping claw is inserted into the first connecting part or pulled out from the first connecting part along the axial direction of the first connecting part, and the elastic clamping claw can be retracted and clamped to the interventional consumable by the action of the inclined surface or conical surface of the inner wall of the first connecting part during the insertion into the first connecting part, or the outer surface of the elastic clamping claw is provided with an inclined surface or conical surface, and when the first connecting part slides axially on the elastic clamping claw, the elastic clamping claw can be retracted and clamped to the interventional consumable by the action of the inclined surface or conical surface;

[0076] When the elastic clamping claw is pulled out from the first connecting portion, it can release the interventional consumable through its own elastic recovery deformation;

[0077] The driving element is located at one end of the first connecting portion, and further includes a first support member. The first support member is located at the other end of the first connecting portion and is used to offset the force generated by the driving element when locking or unlocking.

[0078] Preferably, the first support member is a second movable seat, and the second movable seat can move along the axial direction of the first connecting part, and the second movable seat is driven to move by the second driving element. The first connecting part is respectively provided with a first supporting part and a second supporting part at both sides of the second movable seat. When the elastic clamp is inserted into the first connecting part along the axial direction of the first connecting part, the second driving element drives the second movable seat to move in advance to a position in contact with the end face of the first supporting part of the first connecting part; when the elastic clamp is pulled out from the first connecting part, the second driving element drives the second movable seat to move in advance to a position in contact with the end face of the second supporting part of the first connecting part; when the elastic clamp completes clamping, the second driving element drives the second movable seat to move in advance to a position in contact with the end face of the second supporting part of the first connecting part.

[0079] Preferably, a slip ring for transmitting electric energy and signals is connected between one end of the rotating shaft and the rotating shaft driving seat, and the other end of the rotating shaft is connected to the rotating shaft driving seat via a bearing structure;

[0080] The bearing structure is a detachable connection structure, and the slip ring is detachably arranged on the rotating shaft drive seat. The entire rotating shaft can be removed from the rotating shaft drive seat, and the interventional consumables are installed through the through hole on the side of the rotating shaft;

[0081] Alternatively, the rotating shaft is an openable and closable structure, the side of the bearing structure is provided with a slot, the slip ring is an openable and closable structure, the slip ring opens and closes independently, or the slip ring is directly set on the rotating shaft and opens and closes as the rotating shaft opens and closes, and the interventional consumables can be installed directly from the side through their side openings.

[0082] Preferably, the axial force sensing element and the torque force sensing element adopt waterproof force sensors or / and torque sensors, and the waterproof force sensors or / and torque sensors are provided with soft rubber sealing parts, which can waterproof and isolate the electrical components inside them.

[0083] Preferably, the rotating mechanism also includes a rotating drive assembly installed on the rotating shaft drive seat, and the rotating drive assembly drives the rotating shaft to rotate through a transmission assembly. The transmission assembly realizes power transmission by meshing with the driven gear ring on the rotating shaft, or realizes power transmission through the friction force between the driven friction ring on the rotating shaft. The transmission assembly is a driving gear or an active friction wheel or an active transmission belt or an active friction belt.

[0084] Specific examples Figure 1-Figure 4 As shown: A rotary delivery mechanism of a slave device of a vascular intervention robot includes a rotary shaft 10240, a rotary shaft connecting seat 10241 and a rotary drive assembly for driving the rotary shaft 10240 to move.

[0085] The interventional consumables pass through the central axis of the rotating shaft 10240. The two ends of the rotating shaft 10240 are rotatably mounted on the rotating shaft connecting seat 10241. The side of the rotating shaft 10240 is equipped with a rotating drive component that can drive the rotating shaft 10240 to rotate. The rotating drive component can adopt a structure that cooperates with a motor and an active gear or an active friction wheel or an active friction belt. Power transmission is achieved by meshing the active gear with the driven gear ring, or by the friction between the active friction wheel or the active friction belt and the driven friction ring.

[0086] The rotation drive assembly of this embodiment adopts a structure in which a first motor and a driving gear are matched. The first motor 1024301 is fixed on the first motor fixing seat 1024302, and the first motor fixing seat 1024302 is fixed on the rotating shaft driving seat 10244. The output shaft of the first motor 1024301 is connected to the driving gear 1024303, and the outer surface of the rotating shaft 10240 is provided with a driven ring gear 1024001 that meshes with the driving gear 1024303. The first motor 1024301 drives the driving gear 1024303 to rotate, thereby driving the rotating shaft 10240 to rotate on the rotating shaft connecting seat 10241.

[0087] Furthermore, the rotating shaft connecting seat 10241 is fixedly connected to the rotating shaft driving seat 10244 (the two cannot move axially relative to each other, or rotate relative to each other around the axis).

[0088] A locking mechanism capable of locking or loosening the interventional consumable is provided in the rotating shaft 10240. The locking mechanism is one or a combination of a threaded locking mechanism, a snap locking mechanism, and a clamping structure. The clamping structure is a claw clamping mechanism, a side clamping mechanism, or a rotary clamping mechanism.

[0089] The clamping mechanism achieves clamping by moving several jaws toward each other and releasing by moving them away from each other. The specific methods include one or a combination of hinged jaws, sliding jaws, and elastic jaws.

[0090] The preferred clamping mechanism adopts an elastic clamping scheme, including an internal hinge shaft 10246 (equivalent to the first connecting part) and an elastic clamping jaw 10247. The interventional consumable passes through the internal hinge shaft 10246 and the elastic clamping jaw 10247. The internal hinge shaft 10246 is axially movable and circumferentially rotatable within the rotating shaft 10240. The elastic clamping jaw 10247 is a surround-type clamping head, including 3-6 claw petals. Under the action of external force, the claw petals are deformed and closed to achieve clamping of the interventional consumable. After the external force is removed, the claw petals restore the deformation and open under their own elastic action to achieve the release of the interventional consumable.

[0091] The elastic clamp 10247 can be locked or released manually, or can be locked or released by an active driving element, or the elastic clamp 10247 can adopt a combination of a threaded locking structure and a snap locking structure, as shown in Example 3, or the elastic clamp 10247 can adopt a combination of a snap locking structure and a clamping structure and Example 4.

[0092] When the elastic clamp 10247 is locked or released by an active driving element, the driving element drives the elastic clamp 10247 to move back and forth along the axial direction of the internal hinge shaft 10246, thereby inserting into the internal hinge shaft 10246 or pulling out from the internal hinge shaft 10246. During the process of inserting into the internal hinge shaft 10246, the elastic clamp can be retracted and clamped by the action of the inclined surface, and at the same time realize friction self-locking. During the process of pulling the elastic clamp out of the internal hinge shaft 10246, the elastic clamp can loosen the interventional consumable through its own elastic recovery deformation. For interventional consumables with different outer diameters, in order to achieve better locking and releasing effects, and in order to constrain the axis of the interventional consumable from popping out from the side slot of the locking mechanism, elastic clamps 10247 with different inner diameters are required.

[0093] Furthermore, the driving element drives the elastic clamping claw 10247 to move via a clamping block and slot structure. An annular groove 1024701 is provided on the end of the elastic clamping claw 10247 away from the internal hinge axis 10246. A U-shaped clamping groove 1024801 is provided on the first movable seat 10248. The U-shaped clamping groove is engaged within the annular groove. The driving element drives the first movable seat 10248 to move, so that the two rear side surfaces of the first movable seat 10248 can respectively abut the two inner side surfaces of the annular groove, and push the elastic clamping claw 10247 to move axially toward or away from the internal hinge axis 10246, thereby locking or releasing the interventional consumable. Alternatively, the locking mechanism adopts a passive locking method, and after manual locking, the locked state is maintained by a self-locking structure.

[0094] The driving element can also be replaced by a screw nut, a gear rack, a belt drive, a rope drive, a hydraulic push rod, a pneumatic push rod, etc., as long as it can drive the first moving seat 10248 to move.

[0095] The axial force measuring assembly 10249 (equivalent to the axial force sensing element) is further included. The axial force measuring assembly includes a hinge connector 1024901, an axial force sensor 1024902, and a bracket connecting block 1024903. An internal hinge shaft 10246 is disposed within the rotating shaft, allowing for relative axial movement and circumferential rotation. A rolling bearing structure, an air bearing structure, or a magnetic bearing structure is employed between the internal hinge shaft 10246 and the rotating shaft to achieve radial positioning to reduce axial and circumferential frictional resistance between the two. The rolling bearing structure is a ball bearing structure or other rolling bearing structure, such as a roller bearing structure. The internal hinge shaft 10246 and the hinge connector 1024901 are axially limited but relatively rotatable circumferentially.

[0096] The force measuring end of the axial force sensor 1024902 is connected to the hinge connector 1024901, the fixed end of the axial force sensor 1024902 is fixed on the bracket connecting block 1024903, and the bracket connecting block 1024903 is fixed on the rotating shaft driving seat 10244, and the axial force sensor 1024902 deviates from the rotation center of the internal hinge shaft 10246, and the force measuring direction of the axial force sensor 1024902 is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to axial external force during the delivery process, the axial external force will be transmitted through the internal hinge shaft 10246 and the hinge connector 1024901, and the axial force sensor 1024902 can detect the axial external force, or when the axial force sensor 1024902 is a through-hole structure, it can also be arranged coaxially with the rotation axis of the internal hinge shaft 10246.

[0097] It also includes a circumferential force measuring component (equivalent to a torque force sensing element). After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque around the axis during the delivery process, the circumferential force measuring component measures the torque exerted on the interventional consumable in the direction around the axis through a combination of a torque sensor and a torque amplification structure, or a combination of a torque conversion structure and a force measuring sensor.

[0098] Among them, preferably, the circumferential force measuring assembly measures the torque exerted on the interventional consumable in the direction around the axis through a combination of a torque conversion structure and a force sensor. The force sensor is a one-dimensional force sensor 10251, which is located inside the rotating shaft 10240. One end of the one-dimensional force sensor 10251 is fixed on the rotating shaft 10240, and the other end of the one-dimensional force sensor 10251 is fixedly connected or integrally formed with a sensor force transmission part 10252. The internal hinge shaft 10246 is matched with the sensor force transmission part 10252 through a group or combination of a pin groove structure, a paddle structure or a gear structure (equivalent to a torque conversion structure) to achieve circumferential limitation. When rotating, the internal hinge shaft 10246 will convert the torsional torque into a push-pull force and apply it to the sensor force transmission part 10252. After the force sensor measures the push-pull force, it can convert the torque exerted on the interventional consumable into the torque in combination with the force arm.

[0099] At this time, the fixed end of the one-dimensional force sensor 10251 is fixedly connected to the rotating shaft 10240 and is located on one side of the interventional consumable, wherein the above-mentioned fixed connection can be a direct or indirect connection, and the force measuring end of the one-dimensional force sensor 10251 is fixedly connected or integrally formed with the sensor force transmission part 10252, and the pin groove structure includes a torsion arm 10253 and a pin 10254, and the torsion arm 10253 is fixedly connected to the internal hinge shaft 10246 (or integrally formed), and the torsion arm 10253 is provided with a slot hole 1025301 along the radial direction of the rotation center on one side of the internal hinge shaft 10246, one end of the pin 10254 is installed on the sensor force transmission part 10252, and the other end of the pin 10254 is placed in the slot hole 1025301, and the axial direction of the pin 10254 is parallel to the axis of the interventional consumable and is a certain distance away, and the pin 10254 can slide along the slot hole 1025301. Of course, a pin may be provided on the torsion arm 10253 , and a slot may be provided on the corresponding sensor force transmission member 10252 .

[0100] After the locking mechanism locks the interventional consumable, the interventional consumable, the elastic clamp 10247, the internal hinge shaft 10246 and the torsion arm 10253 form a whole. When the interventional consumable is subjected to torque, the torque will be transmitted to the internal hinge shaft 10246. The internal hinge shaft 10246 rotates a certain angle relative to the rotation axis 10240, and the torsion arm 10253 rotates with the internal hinge shaft 10246. The pin 10254 will be pushed by the slot 1025301 of the torsion arm 10253, and the torsion torque will be converted into a push-pull force applied to the sensor force transmission part 10252. The sensor force transmission part 10252 pushes and pulls the one-dimensional force sensor 10251, so that the one-dimensional force sensor 10251 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the one-dimensional force sensor 10251 (equal to the product of the push-pull force and the force arm).

[0101] Furthermore, a slip ring 10245 is connected between one end of the rotating shaft 10240 and the rotating shaft connecting seat 10241 , and the slip ring is used for transmitting electric energy and signals.

[0102] Example 2

[0103] The parts of this embodiment that are the same as those in embodiment 1 are not elaborated in detail. The difference lies in that, unlike embodiment 1 in which the first connecting portion and the rotating shaft can move relative to each other in the axial direction, in this embodiment, the first connecting portion and the rotating shaft can rotate relative to each other around the axis and be axially limited. The entire rotating shaft is arranged on the rotating delivery mechanism through a sliding guide assembly or a rotating guide assembly. When the locked interventional consumable is subjected to axial resistance, the axial resistance will be transmitted to the axial force sensing element under the guidance of the sliding guide assembly or the rotating guide assembly; wherein the guiding direction of the sliding guide assembly is parallel to the axis of the interventional consumable, and the rotation axis of the rotating guide assembly is perpendicular to and does not intersect with the axis of the interventional consumable.

[0104] Further, the sliding guide assembly is used as an example for description. Figure 5-Figure 7 As shown, the rotating shaft connecting seat 10241 can be slidably connected to the rotating shaft driving seat 10244, wherein the bottom of the rotating shaft connecting seat 10241 is provided with a slider 1024101 or a slide rail, and the rotating shaft driving seat 10244 is provided with a slide rail 1024401 or a slider that matches it, so that the entire rotating shaft 10240 and the rotating shaft connecting seat 10241 can slide in the axial direction.

[0105] It also includes an axial force measuring component 10249, which includes a hinge connector 1024901, an axial force sensor 1024902 and a second bracket connecting block 1024904. The internal hinge shaft 10246, the rotating shaft 10240 and the hinge connector 1024901 are axially limited but can rotate relative to each other in the circumferential direction. The rotation can be achieved by setting a bearing structure. The bearing structure is one or a combination of a rolling bearing structure, a magnetic levitation bearing structure and an air bearing structure, thereby reducing the rotational resistance. The rolling bearing structure is a ball bearing structure or other rolling bearing structure, such as a roller bearing structure.

[0106] The force measuring end of the axial force sensor 1024902 is connected to the hinge connector 1024901, the fixed end of the axial force sensor 1024902 is fixed to the second bracket connecting block 1024904, and the second bracket connecting block 1024904 is fixed to the rotating shaft driving seat 10244, and the axial force sensor 1024902 deviates from the rotation center of the internal hinge shaft 10246, and the force measuring direction of the axial force sensor 1024902 is parallel to the axial direction of the interventional consumables. When the interventional consumables When subjected to axial external force during the delivery process, the axial external force will be transmitted to the axial force sensor 1024902 through the internal hinge shaft 10246, the rotating shaft 10240 and the hinge connector 1024901 (under the guidance of the slider 1024101 and the slide rail 1024401), and the axial force sensor 1024902 can detect the axial external force, or when the axial force sensor 1024902 is a through-hole structure, it can also be arranged coaxially with the rotation axis of the hinge shaft 10246.

[0107] Alternatively, the rotating shaft connecting seat 10241 can rotate around the axis of the second rotating shaft under the guidance of the second rotating shaft, and the axis of the second rotating shaft is perpendicular to the axis of the rotating shaft 10240. When the interventional consumable applies an axial force to the rotating shaft, it will push the entire rotating shaft 10240 and the rotating shaft connecting seat 10241 to rotate around the second rotating shaft, and apply the force to the axial force sensor 1024902.

[0108] The structures of the locking mechanism and the circumferential force measuring assembly of this solution are the same as those in Example 1 and will not be described again here.

[0109] Example 3

[0110] An interventional surgical robot slave device with an interventional consumables delivery mechanism with a force sensing function, the slave device comprising a linear track group: at least one linear track group is provided, and when two linear track groups are provided, the two linear track groups are arranged in parallel, one of the linear track groups is provided with at least two module fixing seats along its length direction, and a surgical function module is installed on the module fixing seat, wherein the surgical function module is a port support mechanism or a port control mechanism or a rotary delivery mechanism, a port support mechanism or a port control mechanism located at the front end and a rotary delivery mechanism located at the rear end constitute a delivery kit, the module fixing seat is fixed on the linear track group, or the module fixing seat can reciprocate on the corresponding linear track group, the module fixing seat can drive the corresponding port control mechanism and / or rotary delivery mechanism to reciprocate when reciprocating, and when the interventional consumable is locked by the locking mechanism, the rotary delivery mechanism can drive the interventional consumable to perform a rotary delivery movement.

[0111] Furthermore, the interventional consumables include one or a combination of a port control valve, a catheter, and a guidewire, and the port control valve is a bifurcated valve or a non-bifurcated control valve;

[0112] A support element is provided between the port support mechanism and the rotation delivery mechanism, or between the port control mechanism and the rotation delivery mechanism. The support element is provided outside the interventional consumable to support the interventional consumable so that the axis of the interventional consumable is in a straight line. The support element is supported by a rigid coaxial telescopic sleeve that is sleeved in stages.

[0113] When the first delivery kit and the second delivery kit are placed on the linear rail group one after the other, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotating delivery mechanism placed at the rear end, the first delivery kit is used to deliver the first interventional consumable, the second delivery kit includes a second port control mechanism placed at the front end and a second rotating delivery mechanism placed at the rear end, the second delivery kit is used to deliver the second interventional consumable, the first rotating delivery mechanism and the second port control mechanism are arranged on the linear guide rail group for synchronous movement, the second port control mechanism is installed with a first bifurcation valve, the first connecting part is arranged on the first rotating delivery mechanism, and also includes an internal connecting pipe, the internal connecting pipe passes through the first A connecting portion is provided, and the front end of the internal connecting tube is connected to the front end of the first connecting portion; or the first connecting portion is a hollow pipe structure, and the front end of the internal connecting tube is connected to the rear end of the first connecting portion, and the rear end of the internal connecting tube is fixedly connected to the front rotatable part of the first bifurcated valve, and a flexible portion is provided on the internal connecting tube. When the second port control mechanism controls the rotatable part of the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotation delivery mechanism, if the two rotational motions are not completely synchronized, the flexible portion of the internal connecting tube will undergo slight torsional deformation. However, since the flexible portion is soft enough, it will not affect the force perception of the torque force sensing element in the first rotation delivery mechanism on the torque exerted on the first interventional consumable.

[0114] Specifically, such as Figure 8As shown, an interventional surgical robot hand device includes a set of linear rail groups 10297, a first delivery kit, a second delivery kit, a first catheter 10279, a second catheter 10280, a third interventional consumable, a first Y valve 102101 and a first port control valve 102102, the first delivery kit includes a first port control mechanism 10271 placed at the front end and a first rotation delivery mechanism 10272 placed at the rear end for delivering the second catheter 10280, the second delivery kit includes a second port control mechanism 10273 placed at the front end and a first rotation delivery mechanism 10274 placed at the rear end The second rotating delivery mechanism 10274 is used to deliver the third interventional consumable (such as a guide wire or a balloon). The first rotating delivery mechanism 10272 and the second port control mechanism 10273 are synchronously moved and arranged on the linear track group 10297 (the first rotating delivery mechanism 10272 and the second port control mechanism 10273 are respectively installed on different module fixing seats on the linear track group, or the first rotating delivery mechanism 10272 and the second port control mechanism 10273 are directly installed on the same module fixing seat on the linear track group). The rear end of the first catheter 10279 is connected to the first port. The front end of the control valve 102102 is connected, the first port control valve 102102 is installed in the first port control mechanism 10271 (of course, the first port control valve and the first catheter can also be the hemostatic valve and the tube body of the sheath respectively, that is, there is no single controllable valve), the first rotary delivery mechanism 10272 is provided with a first connecting portion, the first Y valve 102101 is installed on the second port control mechanism 10273, the front end of the second catheter 10280 is inserted into the first catheter 10279, the second catheter 10280 is locked with the first connecting portion, and the second catheter 10280 is provided with a first connecting portion. The rear end is directly connected to the front rotatable part of the first Y-valve 102101 or is connected through an internal connecting tube. The first rotary delivery mechanism 10272 can drive the second catheter 10280 to perform a rotational delivery movement through the first connecting part. A first bifurcation tube is provided in the middle of the first Y-valve 102101 (of course, the first Y-valve can also be replaced by a T-valve, and the bifurcation tube of the T-valve is perpendicular to the body of the T-valve); the second connecting part of the second rotary delivery mechanism 10274 is locked with the third interventional consumable, and the second rotary delivery mechanism 10274 drives the third interventional consumable to perform axial delivery movement or rotational delivery movement.

[0115] Preferably, the rear end of the second conduit 10280 is locked with the first connecting portion by a first locking structure (equivalent to a passive locking mechanism), and the first locking structure includes one or a combination of a clamping structure, a snap locking structure, and a threaded locking structure.

[0116] Preferably, an internal connecting pipe is further included, the internal connecting pipe is arranged through the first connecting part, and the front end of the internal connecting pipe is connected to the front end of the first connecting part.

[0117] Furthermore, the first connecting part includes a mounting joint 1033020018 and a first connecting tube. The first connecting tube is rotatably arranged on the first rotating delivery mechanism 10272. The first rotating delivery mechanism 10272 drives the first connecting tube to perform a rotating delivery movement. The mounting joint 1033020018 is connected to the front end of the first connecting tube by one or a combination of anti-rotation snap locking, side screw locking, coaxial thread tightening, and taper self-locking. The rear end of the second conduit 10280 is locked with the front end of the mounting joint 1033020018 through the first locking structure.

[0118] Furthermore, the mounting connector 1033020018 is bonded to the front portion of the internal connecting tube. When in use, the mounting connector 1033020018 is installed and replaced together with the internal connecting tube to ensure sterility.

[0119] The parts of this embodiment that are the same as those in Example 1 are not elaborated in detail. The difference lies in that unlike Example 1, in which the locking mechanism adopts an active locking mechanism, in this embodiment, the locking mechanism adopts a passive locking mechanism; the passive locking mechanism drives one or a combination of a clamping structure, a snap locking structure, and a threaded locking structure through an external drive method to lock or loosen the interventional consumables, and the external drive method is manual drive.

[0120] Furthermore, when the second catheter 10280 is a catheter with a Luer connector at the tail, the first locking structure includes a first threaded transition head, which is tightened and sealed with the Luer connector at the tail of the second catheter 10280 through a threaded structure, and the first threaded transition head is quickly connected to the first connection part through a first quick-connect structure and is sealed, or the first threaded transition head is directly connected to the first connection part, and the first quick-connect structure is one or a combination of a snap-on structure, a tapered self-locking structure, and a threaded locking structure.

[0121] Furthermore, Figure 9 As shown, the Luer connector of the second catheter 10280 is connected to the card connector 1033020016. Openable hooks 1033020017 are provided on both sides of the card connector 1033020016. By pinching the tail of the hook 1033020017, the head of the hook 1033020017 can be opened, and then inserted into the installation connector 1033020018. The tail of the hook 1033020017 is released, so that the hook 1033020017 is stuck in the annular groove of the installation connector 1033020018 under the action of its own elastic force. A card groove structure is provided between the installation connector 1033020018 and the card connector 1033020016 to prevent relative rotation, and a sealing ring is also provided to prevent liquid from overflowing.

[0122] The installation connector 1033020018 is inserted into the first connecting tube 1022501, and the two are locked by a locking structure. The tail of the installation connector 1033020018 is connected to the second connecting tube 1033020019 (the second connecting tube 1033020019 is equivalent to the internal connecting tube, which is a disposable sterilized product and is inserted into the first connecting tube 1022501. It can separate the liquid medicine and interventional consumables from the first connecting tube 1022501 to reduce the risk of surgical infection). Before the operation, it is necessary to connect the right end of the second connecting tube 1033020019 to the Y valve, and then connect the second connecting tube 103302001 The left end of 9 is inserted into the first connecting tube 1022501 of the rotating delivery mechanism, and then the mounting joint 1033020018 is inserted from the front end of the first connecting tube 1022501. Since a plurality of elastic claws are provided on the mounting joint 1033020018, when the mounting joint is inserted into the first connecting tube 1022501, the elastic claws on the mounting joint 1033020018 are driven to close and clamp the second connecting tube 1033020019 under the action of the inclined surface of the inner wall of the first connecting tube 1022501, and the angle between the inclined surface of the inner wall of the first connecting tube 1022501 and the axis of the first connecting tube 1022501 is less than 30 degrees, so as to achieve friction self-locking.

[0123] Alternatively, the installation connector 1033020018 is directly and permanently sealed to the left end of the second connecting tube 1033020019 (e.g., by gluing). Before surgery, the right end of the second connecting tube 1033020019 must first be inserted into the first connecting tube 1022501 of the first rotating delivery mechanism 10272. The right end of the first connecting tube 1022501 is then sealed to the Y-valve or pressure pump (e.g., by means of hose connection, tapered elastic claw compression, thread tightening, or tapered self-locking). Simultaneously, the installation connector 1033020018 is then connected to the first connecting tube 1022501 (e.g., by means of anti-rotation buckle locking, side screw locking, coaxial thread tightening, or tapered self-locking), completing preoperative preparations.

[0124] A flexible portion is provided on the second connecting tube 1033020019. When the second port control mechanism 10273 controls the rotatable part at the front end of the first Y-valve 102101 to rotate synchronously with the rotation of the second catheter driven by the first rotation delivery mechanism 10272, if the two rotational motions are not completely synchronized, the flexible portion of the second connecting tube 1033020019 will undergo slight torsional deformation. However, since the flexible portion is soft enough, it will not affect the force perception of torque inside the first rotation delivery mechanism 10272.

[0125] Preferably, the supporting element between the first port control mechanism 10271 and the first rotation delivery mechanism 10272 is a first telescopic sleeve 10210641 arranged between the two, and the second catheter 10280 is supported for delivery by the first telescopic sleeve 10210641. The first telescopic sleeve 10210641 can be shortened or lengthened as the relative distance between the first port control mechanism 10271 and the first rotation delivery mechanism 10272 changes. When the first telescopic sleeve 10210641 is shortened, the segments of the latter level in the first telescopic sleeve 10210641 are inserted into the segments of the previous level. The first port control mechanism 10271 and the first rotation delivery mechanism 10272 are respectively provided with a first telescopic sleeve locking mechanism that can lock the segment of the first telescopic sleeve 10210641 with the segment of the last level.

[0126] Specifically, two first connection blocks can be respectively provided at the frontmost segment and the last segment of the first telescopic sleeve 10210641, and the first telescopic sleeve locking mechanism locks the two first connection blocks respectively.

[0127] Alternatively, a first connecting block is provided at the frontmost segment of the first telescopic sleeve 10210641 , and the first telescopic sleeve locking mechanism locks the first connecting block and the tube body of the last segment of the first telescopic sleeve 10210641 respectively.

[0128] Preferably, the supporting element between the second port control mechanism 10273 and the second rotating delivery mechanism 10274 is a second telescopic sleeve 10210642 arranged between the two, and the third interventional consumable is supported for delivery by the second telescopic sleeve 10210642. The second telescopic sleeve 10210642 can be shortened or lengthened as the relative distance between the second port control mechanism 10273 and the second rotating delivery mechanism 10274 changes. When the second telescopic sleeve 10210642 is shortened, the segments of the latter level in the second telescopic sleeve 10210642 are inserted into the segments of the previous level. The second port control mechanism 10273 and the second rotating delivery mechanism 10274 are respectively provided with a second telescopic sleeve locking mechanism that can lock the segment of the front level with the segment of the last level of the second telescopic sleeve 10210642.

[0129] Since the first telescopic sleeve 10210641 and the second telescopic sleeve 10210642 have the same structure and installation structure, the structure and installation structure of the first telescopic sleeve 10210641 are taken as an example for introduction.

[0130] Further, such as Figure 10As shown: the first telescopic sleeve 10210641 adopts a telescopic sleeve 103302 of different sections, and the head end of each section of the telescopic sleeve 103302 is fixedly connected to a guide block 103302001, and the guide block 103302001 is provided with a guide hole, and the guide hole passes through a guide rod 1033020011, one end of the guide rod is connected to or abuts against the guide block on one section of the telescopic sleeve 103302, and the other end of the guide rod 1033020011 passes through another adjacent telescopic sleeve The guide block 103302001 on the tube 103302 has a guide hole, and the end of the guide rod 1033020011 that passes through the guide hole is fixed with a limiter 1033020012. By sliding the guide rod 1033020011 back and forth in the guide hole of the guide block 103302001, the movement of the different sections of the telescopic sleeve 103302 is limited, and the limiter 1033020012 prevents the different sections of the telescopic sleeve 103302 from completely disengaging. The guide block 103302001 fixedly connected to the head end of each section can be used to prevent the different sections from being completely retracted. The different sections of the telescopic sleeve 103302 are between completely disengaged and completely retracted.

[0131] Since the limiting structures of the telescopic sleeve 103302 are all on the outside of its tube body, there is no need to make a limiting mechanism inside the tube body of the telescopic sleeve 103302. Therefore, the inner diameter difference between different sections of the telescopic sleeve 103302 can be very small. Preferably, the outer diameter difference between two adjacent sections in the telescopic sleeve is less than 0.8mm, preferably 0.3-0.5mm, and the wall thickness of each section is less than 0.4mm. In this way, more levels can be set when the maximum inner diameter is limited (because too large an inner diameter will cause the interventional consumables to bend inside it, which is not conducive to achieving a linear guiding effect), so that the telescopic sleeve 103302 has a larger telescopic stroke.

[0132] The diameters of different sections of the telescopic sleeve 103302 decrease in sequence. The end of the section with the largest diameter of the telescopic sleeve 103302 is provided with a first connecting block A10330201, and the first connecting block A10330201 is locked on the first telescopic sleeve locking mechanism at the rear of the first port control mechanism 10271. The end of the section with the smallest diameter of the telescopic sleeve 103302 is provided with a first connecting block B10330202, and the first connecting block B10330202 is locked on the first telescopic sleeve locking mechanism at the front of the first rotating delivery mechanism 10272.

[0133] Example 4

[0134] The parts of this embodiment that are the same as those of Example 3 are not described in detail. The difference is that when the interventional consumable is a guide wire or a headless catheter (a headless catheter refers to a catheter without a Luer connector at the end), the passive locking structure is a combination of a snap locking structure and a clamping structure. The passive locking structure includes a clamping transition head, which is clamped on the guide wire or headless catheter through a clamping structure. The clamping transition head is connected to the first connecting part on the rotating shaft through a snap structure, or the clamping transition head is directly connected to the first connecting part.

[0135] Specific examples Figure 11 As shown: the installation joint 1033020018 and the disposable sterilized second connecting tube 1033020019 are no longer provided, and the front end of the first connecting tube 1022501 (equivalent to the first connecting part) of the rotating delivery mechanism is directly connected to the card joint 1033020016 (equivalent to the clamping transition head, the hooks 1033020017 on both sides of the card joint 1033020016 are directly clamped on the first connecting tube 1022501, and a card groove structure is provided between the first connecting tube 1022501 and the card joint 1033020016 to prevent relative rotation).

[0136] A fifth elastic clamping claw 1033020021 is provided inside the card connector 1033020016, and the fifth elastic clamping claw 1033020021 extends out from the front end of the card connector 1033020016. A tightening cap 1033020022 is threadedly connected to the front end of the card connector 1033020016. The interior of the tightening cap 1033020022 contacts the fifth elastic clamping claw 1033020021 through an inclined surface. When the tightening cap 1033020022 is rotated and tightened on the card connector 1033020016, the fifth elastic clamping claw 1033020021 is driven by the inclined surface to lock the interventional consumables inside.

[0137] When the above-mentioned locked interventional consumable is a catheter-type interventional consumable (such as a guide catheter, angiography catheter, balloon catheter, microcatheter, etc.), and at this time the fifth elastic clamp 1033020021 can also be directly replaced by a Luer connector, thereby simultaneously realizing the connection of the interventional consumable, a guide wire can pass through the catheter-type interventional consumable, and the guide wire extends from the through hole of the first connecting tube 1022501.

[0138] When the interventional consumable being locked is a catheter-type interventional consumable (such as a guiding catheter, angiographic catheter, balloon catheter, microcatheter, etc.), and the rear portion of the first connecting tube 1022501 needs to be connected to a pipeline, and then connected to the Y-valve (if it is connected to the first Y-valve 102101, the pipeline is equivalent to the internal connecting pipe) or the pressure pump through the pipeline. In this case, the fifth elastic clamp 1033020021 can also be directly replaced by a Luer connector, thereby simultaneously achieving the connection of the interventional consumable, and a sealing ring is provided between the first connecting tube 1022501 and the clamping connector 1033020016 to prevent liquid from overflowing;

[0139] When the above-mentioned locked interventional consumables are guidewire-type interventional consumables (such as finger guidewires and angiography guidewires), the rear of the first connecting tube 1022501 does not need to be connected to a pipeline, and at this time, a sealing ring does not need to be set between the first connecting tube 1022501 and the card connector 1033020016.

[0140] Example 5

[0141] The parts of this embodiment that are the same as those in embodiment 1 do not have specific parameters. The difference is that: when the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. When the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the first connecting part via the torque amplification structure. After the torsional torque is measured, the torque applied to the interventional consumable can be converted into the torque amplification ratio.

[0142] When the torque force sensing element is a torque sensor and the torque coupling structure is a torque amplification structure, it includes a hinge connection and a torque transmission member. The first connection part is rotatably arranged in the hinge connection part through a bearing structure or a sleeve structure. The hinge connection part is coaxially arranged with the rotating shaft. The rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The first connection part is connected to the torque transmission member through a torque amplification structure. The torque amplification structure is one or a combination of a pin structure, a connecting rod mechanism, a gear mechanism, a belt drive mechanism, and a linear drive mechanism. One end of the torque sensor is fixed on the rotating shaft, and the other end is fixedly connected to or integrally formed with the torque transmission member. The torque measuring axis of the torque sensor is parallel to the rotation axis of the rotating shaft. When the interventional consumable is subjected to torque during rotation, the first connection part applies torque to the torque transmission member through the torque amplification structure. At this time, the torque sensor will detect the torque.

[0143] Specifically, such as Figure 12As shown, the torque amplification structure is a detent pin structure, including a second torsion arm 102252, a second pin 102253 and a torque transmission member 102254. The torque measuring end of the torque sensor 102251 is fixedly connected or integrally formed with the torque transmission member 102254. The second torsion arm 102252 is fixedly or integrally connected to the constraint sleeve 102231. The second torsion arm 102252 is provided with a second slot 1022521 along the radial direction of the rotation center on one side of the constraint sleeve 102231. One end of the second pin 102253 is installed on the torque transmission member 102254. The second pin 1022 The other end of the second pin 102253 is placed in the second slot 1022521, and the axis of the second pin 102253 is parallel to the axis of the interventional consumable and separated by a certain distance (this distance is the first lever arm. In order to maximize the torque amplification when the torque applied to the interventional consumable is fixed, this distance should be less than 20 mm, preferably 3-8 mm). The axis of the second pin 102253 is parallel to the axis of the torque sensor 102251 and separated by a certain distance, this distance is the second lever arm, and the ratio of the two lever arms is 1:3 to 1:20. The second pin 102253 can slide along the second slot 1022521. Of course, the second pin can also be provided on the second torsion arm 102252, and the corresponding second slot can be provided on the torque transmission member 102254.

[0144] Preferably, the head end of the second pin 102253 is a ball head, and the ball head abuts against both side walls of the second slot hole 1022521, thereby achieving point contact. Point contact can prevent the second pin 102253 from getting stuck when the cylindrical surface is not parallel to the two side walls of the second slot hole 1022521, and can also reduce friction resistance to avoid interference with the detection of axial force.

[0145] Of course, it can also be replaced by the following solution: a ball hinge hole is provided inside the second slot hole 1022521 of the second torsion arm 102252, and a force transmission ball hinge is just stuck in it. The force transmission ball hinge is adapted to the shape of the ball hinge hole and can rotate. The force transmission ball hinge is provided with a circular hole for the second pin 102253 to pass through, and the second pin 102253 can slide relatively in the circular hole of the force transmission ball hinge, which can avoid the outer cylindrical surface of the second pin 102253 from getting stuck when it is not parallel to the inner wall of the second slot hole 1022521 of the second torsion arm 102252.

[0146] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the constraint sleeve 102231 rotates a certain angle relative to the rotation axis, and the second torsion arm 102252 rotates following the constraint sleeve 102231. The second pin 102253 will be pushed by the second slot 1022521 of the second torsion arm 102252, and the torsional torque will be amplified and applied to the torque transmission member 102254. The torque transmission member 102254 twists the torque sensor 102251, so that the torque sensor 102251 can detect the torsional torque. At this time, the actual rotational torque received by the interventional consumable can be measured by the torque sensor 102251 (equal to the product of the torsional torque and the torque amplification ratio).

[0147] Example 6

[0148] A method for using a slave device for an interventional surgical robot. Because the torque sensing element is not axisymmetric, a certain offset is generated when measuring the torsional moment acting on an interventional consumable. During rotational delivery, when measuring the torsional moment acting on the interventional consumable, the offset is subtracted from the currently measured torsional moment. This offset is the torsional moment measured by the torque sensing element at the same rotation angle and / or acceleration of the rotating shaft, with the locking mechanism not locking any interventional consumable.

[0149] Specifically, an IMU acceleration sensor is set in the rotating shaft to detect various acceleration values of the interventional consumable during delivery and / or rotation (including gravity acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration) and perform inertia force and inertia moment compensation to obtain the actual axial force and torque actually applied to the interventional consumable in the direction around the axis.

[0150] Specifically, when the interventional consumable delivery mechanism is rotating to deliver the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism is locked with the interventional consumable. When it is necessary to measure the torsional torque exerted on the interventional consumable, the torsional torque measured by the torque sensing element of the interventional consumable delivery mechanism at the current moment is subtracted from the offset corresponding to the rotating axis of the interventional consumable delivery mechanism under the current acceleration, so as to obtain the actual torsional torque exerted on the interventional consumable in the direction around the axis.

[0151] A first mathematical model is established based on the relationship between the offset and the current acceleration of the rotating shaft, so that during compensation, the offset corresponding to the rotating shaft under different accelerations is calculated through the first mathematical model.

[0152] The current acceleration of the rotating axis is measured by an accelerometer or IMU sensor inside the rotating axis, wherein the current acceleration of the rotating axis includes one or a combination of gravitational acceleration, centripetal acceleration during rotation, angular acceleration during rotation, and acceleration during axial acceleration and deceleration; the parameters of the first mathematical model are stored in a storage chip inside the rotating axis, and when the rotating axis is installed in an interventional consumables delivery mechanism, the parameters can be directly read out for calculating the offset.

[0153] When the accelerometer is a multi-axis accelerometer, one acceleration measurement axis of the accelerometer is a first axis, and the first axis is parallel to the measurement axis of the force sensor of the torque sensing element; when two accelerometers are provided, one of the accelerometers is used to calculate the offset of the force sensor of the torque sensing element, and the acceleration measurement axis of the accelerometer is the first axis, and the first axis is parallel to the measurement axis of the force sensor of the torque sensing element; the first axis can be coincident with the measurement axis of the force sensor of the torque sensing element by translating along the rotation axis of the rotation axis;

[0154] When the accelerometer detects the acceleration component on the first axis, it is equivalent to detecting the acceleration component of the torque sensing element's force transmission element on the measuring axis of the force sensor. Based on Newton's second law F=ma, the offset of the force sensor caused by gravity and inertia at this time can be calculated.

[0155] The first mathematical model uses the following formula for calculation:

[0156] F x =m1a x

[0157] Among them, F x is the offset of the torque sensor.

[0158] m1 is the mass of the torque force sensor.

[0159] a x is the acceleration of the accelerometer along the first axis.

[0160] The offset is the reading of the torque sensing element when the rotating shaft is at the same rotation angle and the locking mechanism of the interventional consumable delivery mechanism does not lock any interventional consumable. The offset corresponding to the rotating shaft at the current rotation angle is obtained through actual measurement. Before the interventional consumable delivery mechanism rotates and delivers the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism does not lock any interventional consumable. The rotating shaft is driven to rotate around the axis for one circle, and the torsional torque measured by the torque sensing element of the rotating shaft at different rotation angles is recorded. When compensating, the torsional torque corresponding to the current rotation angle of the rotating shaft is read out as the offset.

[0161] Example 7

[0162] The same parameters as those in Example 1 are omitted. The differences are as follows:

[0163] When the torque exerted on the interventional consumable in the direction around the axis is measured by a combination of a hinge structure (equivalent to a torque conversion structure) and a force sensor, the force sensor may be a discrete force beam, at least one of which is provided. When a plurality of discrete force beams are provided, the plurality of discrete force beams are arranged parallel to each other between the sensor force transmission member and the hinge connection member. The plurality of discrete force beams are bilaterally symmetrical structures or are arranged at an angle. Each discrete force beam is provided with at least one group of thin-walled weak areas on its beam body, and strain gauges are bonded to the thin-walled weak areas. The neutral plane of the thin-walled weak areas of each discrete force beam passes through the axis of the interventional consumable.

[0164] When the interventional consumable is subjected to torque during delivery, a large strain will be generated in the thin-walled weak area of the discrete force beam, and the strain generated is measured by the strain gauge on its surface. The torque applied to the interventional consumable is fed back through a combination of one or more strain gauges.

[0165] like Figure 13 and Figure 14 As shown, the force sensor is a discrete force beam 102291, and at least one discrete force beam 102291 is provided. When multiple discrete force beams 102291 are provided, the multiple discrete force beams 102291 are provided in parallel with each other between the second sensor force transmission member 102210 and the second hinge connection member 102375. The multiple discrete force beams 102291 are bilaterally symmetrical structures, or are provided at an angle. Each discrete force beam 102291 is provided with a plurality of discrete force beams 102291 on its beam body. There is one less set of thin-walled weak areas, and the thin-walled weak areas are bonded with strain gauges 102294; the neutral plane of the thin-walled weak areas of each discrete force measuring beam 102291 passes through the axis of the interventional consumable; when the interventional consumable is subjected to torque during the delivery process, a larger strain will be generated in the thin-walled weak areas of the discrete force measuring beam 102291, and the strain generated will be measured by the strain gauges 102294 on its surface, and the torque exerted on the interventional consumable will be fed back through a combination of one or more strain gauges 102294.

[0166] In this embodiment, the torque conversion structure is that the rotating frame 102374 (equivalent to the first connecting part) is directly fixed or integrally formed with the second sensor force transmission member 102210, and one or more mounting parts 1023741 are provided on the rotating frame 102374. Each mounting part 1023741 is fixedly connected or integrally formed or flexibly connected or hinged to one end of a second sensor force transmission member 102210, and the other end of each second sensor force transmission member 102210 is fixedly connected or integrally formed with the discrete force measuring beam 102291. The rotating frame 102374 is provided with a first clamping mechanism 102219 that can clamp the interventional consumables, and the first clamping mechanism 102219 is a clamping claw clamping mechanism.

[0167] After the first clamping mechanism 102219 clamps the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotation axis, and the rotating frame 102374 directly converts the torsional torque into a push-pull force and applies it to the second sensor force transmission member 102210. The discrete force beam 102291 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the discrete force beam 102291 (equal to the product of the push-pull force and the lever arm).

[0168] Example 8

[0169] The same parts of this embodiment as those of embodiment 1 are not described in detail. The differences are as follows:

[0170] like Figure 15 and Figure 16 As shown, when the first connecting part 102231 is axially movable and circumferentially rotatable and is arranged on the rotating shaft drive seat 10244 or the rotating shaft, a sleeve structure is provided between the first connecting part 102231 and the rotating shaft drive seat 10244 or the rotating shaft, and the sleeve structure adopts one or a combination of a ball sleeve structure, a magnetic levitation sleeve structure, an air sleeve structure, and a hydraulic sleeve structure; in this embodiment, the first connecting part 102231 is axially movable and circumferentially rotatable and is arranged on the rotating shaft drive seat 10244.

[0171] The volume of the rotating shaft 10240 is reduced to become a ring shape, and is only sleeved outside the first connecting part 102231. The first connecting part 102231 and the rotating shaft driving seat 10244 are connected by the shaft sleeve structure 1022003. The rotating drive component 1021 of the rotating shaft driving seat 10244 drives the annular rotating shaft 10240 to rotate. The rotating drive component can adopt a structure that cooperates with a motor and an active gear or an active friction wheel or an active friction belt. At the same time, the first connecting part 102231 is supported and guided by the shaft sleeve structure 1022003, so that the freedom of the first connecting part 102231 is limited to the axial and circumferential directions.

[0172] The axial force sensing element is the axial force sensor 1024902. The fixed end of the axial force sensor 1024902 is fixedly connected to the rotating shaft drive seat 10244. The force measuring end of the axial force sensor 1024902 is connected to the first connecting part 102231 through an axial force coupling structure. The axial force coupling structure is one or a combination of a bearing structure and a pin structure. When the locked interventional consumable is subjected to axial force, the first connecting part 102231 transfers the axial force to the axial force sensor 1024902 through the axial force coupling structure. In this embodiment, the axial force coupling structure is a bearing structure 1022501201.

[0173] When the torque sensing element is the force sensor 10251, the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force through the torque conversion structure via the first connecting part 102231, and the push-pull force is applied to the force sensor 10251. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque in combination with the force arm.

[0174] The torque conversion structure employs a pin-and-slot configuration. The fixed end of load cell 10251 is fixedly connected to rotating shaft 10240. The force-measuring end of load cell 10251 is fixedly connected to force transmission plate 1022009. Force transmission plate 1022009 has a through-hole. A detent pin 10220010 is fixed to first connecting portion 102231 and passes through the through-hole. Torque applied to first connecting portion 102231 is transmitted to load cell 10251 via detent pin 10220010 and force transmission plate 1022009, thereby detecting the torque.

[0175] like Figure 17 As shown, preferably, a ball hinge hole is provided inside the through hole of the force transmission plate 1022009, and a force transmission ball hinge 102200901 is just stuck in it. The force transmission ball hinge 102200901 is adapted to the shape of the ball hinge hole and can rotate. The force transmission ball hinge 102200901 is provided with a circular hole for allowing the detent pin 10220010 to pass through, and the detent pin 10220010 can slide relatively in the circular hole of the force transmission ball hinge 102200901, which can avoid the detent pin 10220010 from getting stuck when the outer cylindrical surface is not parallel to the inner wall of the through hole of the force transmission plate 1022009.

[0176] Example 9

[0177] The same parts as those in Example 8 are not described in detail. The differences between this embodiment and Example 8 are as follows:

[0178] like Figure 18When the first connecting portion 102231 is axially movable and circumferentially rotatable on the rotating shaft 10240, a sleeve structure is provided between the first connecting portion 102231 and the rotating shaft 10240. The sleeve structure may be one or a combination of a ball sleeve structure, a magnetic suspension sleeve structure, an air sleeve structure, and a hydraulic sleeve structure. In this embodiment, the sleeve structure adopts the ball sleeve structure 1022003.

[0179] The axial force sensing element is an axial force sensor 1024902. The fixed end of the axial force sensor 1024902 is fixedly connected to the rotating shaft drive seat 10244. The force measuring end of the axial force sensor 1024902 is connected to the first connecting part 102231 through an axial force coupling structure. The axial force coupling structure is one or a combination of a bearing structure and a pin structure. When the locked interventional consumable is subjected to an axial force, the first connecting part 102231 transmits the axial force to the axial force sensor 1 through the axial force coupling structure. 024902; specifically, a third slot 1022311 is provided on the first connecting part 102231, and a third pin 10249021 is fixedly provided on the force measuring end of the axial force sensor 1024902. The third pin 10249021 can be inserted into the third slot 1022311. There is sufficient gap between the third slot and the third pin in the circumferential direction of the first connecting part 102231 to prevent the first connecting part 102231 from being stuck when it is subjected to a slight rotation caused by torque, thereby interfering with the torque detection.

[0180] Preferably, if Figure 19 As shown, the head end of the third pin shaft 10249021 is a ball head 102250101, and the ball head is against both side walls of the third slot hole, thereby achieving point contact. Point contact can prevent the cylindrical surface of the third pin shaft from getting stuck when it is not parallel to the two side walls of the third slot hole, and can also reduce friction resistance to avoid interference with the detection of axial force.

[0181] When the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. The first connection part is equipped with a locking structure 1022001 that can lock or loosen the interventional consumable 102. After the locking structure 1022001 locks the interventional consumable 102, when the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the torque amplification structure through the first connection part 102231. After the torsional torque is measured, it can be converted into the torque exerted on the interventional consumable in combination with the torque amplification ratio.

[0182] When the torque amplification structure is a gear mechanism, the interventional consumable 102 is coaxially arranged inside the first connecting part 102231, the fixed end of the torque sensor 102251 is fixedly connected to the rotating shaft and is located on one side of the interventional consumable 102, the torque measuring end of the torque sensor 102251 is fixedly connected or integrally formed with the torque transmission member 102254, a first gear is provided on the first connecting part 102231, and a second gear is fixedly or integrally provided on the torque transmission member 102254. The relative positions of the first connecting part 102231 and the torque transmission member 102254 make the first gear and the second gear The gears are engaged, and after the first connecting part 102231 locks the interventional consumable 102, when the interventional consumable 102 is subjected to torque, the first connecting part 102231 rotates, and the first gear on the first connecting part 102231 will drive the second gear of the torque transmitting member 102254 to rotate. Since the wheel diameter of the first gear is smaller than the wheel diameter of the second gear, the torsional torque will be amplified and applied to the torque transmitting member 102254. At this time, the torque sensor 102251 will detect the torsional torque and convert the torque applied to the interventional consumable 102 based on the gear wheel diameter ratio.

[0183] like Figure 20 and 21 As shown, the ball sleeve structure 1022003 includes an inner sleeve 102200301, a retaining frame 102200302, and an outer sleeve 102200303 which are sequentially arranged from the inside to the outside. The retaining frame 102200302 is provided with a plurality of balls 102200304, and the balls 102200304 are restricted from rolling on the retaining frame 102200302. The balls 102200304 are tangent to the outer wall of the inner sleeve 102200301 and the inner wall of the outer sleeve 102200303 at the same time. The two end faces of the retaining frame 102200302 are respectively provided with elastic elements, and the elastic elements can prevent the retaining frame 102200302 from having excessive axial displacement, which may cause the retaining frame 102200302 to separate from the inner sleeve or the outer sleeve 102200303.

[0184] The elastic element of this solution adopts spring 102200305, and spring 102200305 is sleeved on the outside of the inner sleeve 102200301, and two springs 102200305 are respectively arranged at the two ends of the inner sleeve 102200301, and support rings 102200306 are provided at both ends of the inner sleeve 102200301. One end of the spring 102200305 is against the support ring 102200306, and the other end of the spring 102200305 is against the retaining frame 102200302. The elasticity of the spring 102200305 prevents the retaining frame 102200302 from excessive axial displacement, causing the retaining frame 102200302 to separate from the inner sleeve 102200301 or the outer sleeve 102200303.

[0185] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

Claims

1. An interventional consumable delivery mechanism with force sensing function, characterized in that: It includes a locking mechanism that can lock or release the interventional consumable, a rotating delivery mechanism that can drive the locked interventional consumable to rotate and / or deliver, and a force sensing component that can detect the axial force and torsional torque exerted on the interventional consumable. The rotating delivery mechanism includes a rotating shaft drive seat and a rotating shaft rotatably mounted in the rotating shaft drive seat. The force sensing component includes an axial force sensing element and a torque sensing element. When the rotating delivery mechanism moves axially and drives the locked interventional consumable to be delivered axially, the axial force sensing element measures the axial force exerted on the interventional consumable. When the rotating delivery mechanism rotates around the axis and drives the locked interventional consumable to rotate around the axis, the torque sensing element measures the torque exerted on the interventional consumable in the direction around the axis. The axial force sensing element is arranged on the outside of the rotating shaft and is connected to the rotating shaft drive seat. The torque sensing element is connected to the rotating shaft.

2. The interventional consumable delivery mechanism with force sensing function according to claim 1, characterized in that: The device further includes a first connecting portion, which is locked and connected to the tail or middle portion of the interventional consumable via a locking mechanism. The first connecting portion is axially movable and circumferentially rotatable and is disposed on the rotating shaft drive seat or the rotating shaft, or the first connecting portion is axially limited and circumferentially rotatable and is disposed on the axial force sensing element. One end of the torque force sensing element is fixed on the rotating shaft, and the other end is circumferentially limited by the torque coupling structure and the first connecting part. When the locked interventional consumable is subjected to torque in the direction around the axis, the torque is transmitted to the torque force sensing element through the first connecting part and the torque coupling structure.

3. The interventional consumable delivery mechanism with force sensing function according to claim 2, characterized in that: When the first connecting portion is axially movable and circumferentially rotatable on the rotating shaft drive seat or the rotating shaft, a sleeve structure is provided between the first connecting portion and the rotating shaft drive seat or the rotating shaft, and the sleeve structure adopts one or a combination of a ball sleeve structure, a magnetic suspension sleeve structure, an air sleeve structure, and a hydraulic sleeve structure; The axial force sensing element is an axial force sensor. The fixed end of the axial force sensor is fixedly connected to the rotating shaft drive seat. The force measuring end of the axial force sensor is connected to the first connecting part via an axial force coupling structure. The axial force coupling structure is one or a combination of a bearing structure and a detent structure. When the locked interventional consumable is subjected to an axial force, the first connecting part transmits the axial force to the axial force sensor through the axial force coupling structure. When the torque sensing element is a force sensor, the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force through the first connection portion by the torque conversion structure, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm. Alternatively, when the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. When the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the first connection part via the torque amplification structure. After the torsional torque is measured, it can be converted into the torque exerted on the interventional consumable in combination with the torque amplification ratio.

4. The interventional consumable delivery mechanism with force sensing function according to claim 2, characterized in that: When the first connecting portion is axially limited and circumferentially rotatable on the axial force sensing element, a bearing structure is provided between the first connecting portion and the axial force sensing element, and the bearing structure adopts one or a combination of a rolling element bearing structure, an air bearing structure, or a magnetic suspension bearing structure; The axial force sensing element is an axial force sensor. The fixed end of the axial force sensor is fixedly connected to the rotating shaft drive seat. The force measuring end of the axial force sensor is connected to the first connecting part through a bearing structure. When the locked interventional consumable is subjected to axial force, the first connecting part transmits the axial force to the axial force sensor through the bearing structure. When the torque sensing element is a force sensor, the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force through the first connection portion by the torque conversion structure, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm. Alternatively, when the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. When the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the first connection part via the torque amplification structure. After the torsional torque is measured, it can be converted into the torque exerted on the interventional consumable in combination with the torque amplification ratio.

5. The interventional consumable delivery mechanism with force sensing function according to claim 2, characterized in that: The locking mechanism includes an active locking mechanism and a passive locking mechanism. The active locking mechanism drives the clamping structure through a driving element to achieve locking and / or loosening of the interventional consumables. The clamping structure is a clamping claw clamping mechanism, a side clamping mechanism, or a rotary clamping mechanism. The locking mechanism has a self-locking structure and can maintain the locked state after locking. The passive locking mechanism drives one or a combination of the clamping structure, the snap locking structure, and the threaded locking structure through an external driving method to achieve locking or loosening of the interventional consumables. The external driving method is manual driving, and the passive locking structure is arranged on the outside of the rotating shaft or the rotating shaft driving seat.

6. The interventional consumable delivery mechanism with force sensing function according to claim 5, characterized in that: When the interventional consumable is a catheter with a Luer connector at the tail end, the passive locking mechanism includes a threaded transition head, which is screwed to the Luer connector at the tail end of the interventional consumable via a threaded structure, and the threaded transition head is connected to the first connecting portion via a snap-fit structure, or the threaded transition head is directly connected to the first connecting portion; When the interventional consumable is a guidewire or a headless catheter, the passive locking mechanism includes a clamping transition head, the clamping transition head is clamped on the guidewire or headless catheter by a clamping structure, the clamping transition head is connected to the first connecting portion by a snap structure, or the clamping transition head is directly connected to the first connecting portion; The first connection portion extends from the interior to the exterior of the rotating shaft or the rotating shaft driving seat.

7. The interventional consumable delivery mechanism with force sensing function according to claim 3 or 4, characterized in that: When the torque force sensing element is a force sensor and the torque coupling structure is a torque conversion structure, the force sensor is one or a combination of a discrete force beam, a parallel force beam, and a one-dimensional force sensor, including a hinge connection and a sensor force transmission member, the first connection part is rotatably arranged in the hinge connection part through a bearing structure or a sleeve structure, the hinge connection part is coaxially arranged with the rotating shaft, the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable, the first connection part and the sensor force transmission member are connected through a torque conversion structure, the torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, and a linear transmission structure, one end of the force sensor is fixed on the rotating shaft, and the other end is fixedly connected to the sensor force transmission member or integrally formed, the force axis of the force sensor is perpendicular to the rotation axis of the rotating shaft, when the interventional consumable is subjected to torque during rotation, the first connection part converts the torque into a push-pull force through the torque conversion structure and applies it to the sensor force transmission member, at this time the force sensor will detect the push-pull force; Alternatively, when the torque force sensing element is a torque sensor and the torque coupling structure is a torque amplification structure, it includes a hinge connection and a torque transmission member. The first connection part is rotatably arranged in the hinge connection part through a bearing structure or a sleeve structure. The hinge connection part is coaxially arranged with the rotating shaft. The rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The first connection part is connected to the torque transmission member through a torque amplification structure. The torque amplification structure is one or a combination of a pin structure, a connecting rod mechanism, a gear mechanism, a belt drive mechanism, and a linear drive mechanism. One end of the torque sensor is fixed on the rotating shaft, and the other end is fixedly connected to or integrally formed with the torque transmission member. The torque measuring axis of the torque sensor is parallel to the rotation axis of the rotating shaft. When the interventional consumable is subjected to torque during rotation, the first connection part applies torque to the torque transmission member through the torque amplification structure. At this time, the torque sensor will detect the torque.

8. The interventional consumable delivery mechanism with force sensing function according to claim 1, characterized in that: The rotary delivery mechanism also includes a rotary drive assembly mounted on the rotary shaft drive seat. The rotary drive assembly drives the rotary shaft to rotate through a transmission assembly. The transmission assembly transmits power by meshing with a driven gear ring on the rotary shaft, or by friction with a driven friction ring on the rotary shaft. The transmission assembly is a driving gear, an active friction wheel, an active transmission belt, or an active friction belt.

9. An interventional surgical robot slave device using the interventional consumable delivery mechanism with force sensing function as described in any one of claims 1 to 8, characterized in that: The hand device includes a linear rail group: at least one group of linear rail groups is provided, and when two groups of linear rail groups are provided, the two groups of linear rail groups are arranged in parallel, and one of the linear rail groups is provided with at least two module fixing seats along its length direction, and a surgical function module is installed on the module fixing seat, and the surgical function module is a port support mechanism or a port control mechanism or a rotary delivery mechanism. A port support mechanism or port control mechanism located at the front end and a rotary delivery mechanism located at the rear end constitute a delivery kit, and the module fixing seat is fixed on the linear rail group, or the module fixing seat can reciprocate on the corresponding linear rail group, and the module fixing seat can drive the corresponding port control mechanism and / or rotary delivery mechanism to reciprocate when reciprocating, and when the interventional consumable is locked by the locking mechanism, the rotary delivery mechanism can drive the interventional consumable to perform a rotary delivery movement.

10. The interventional surgical robot slave device with an interventional consumable delivery mechanism having a force sensing function according to claim 9, characterized in that: The interventional consumables include one or a combination of a port control valve, a catheter, and a guidewire, wherein the port control valve is a bifurcated valve or a non-bifurcated control valve; A support element is provided between the port support mechanism and the rotation delivery mechanism, or between the port control mechanism and the rotation delivery mechanism. The support element is sleeved outside the interventional consumable to play a supporting role, so that the axis of the interventional consumable is in a straight state. The support element adopts a rigid coaxial telescopic sleeve with step-by-step sleeves for support; When the first delivery kit and the second delivery kit are placed on the linear rail group one after the other, the first delivery kit includes a first port control mechanism or a first port support mechanism placed at the front end and a first rotating delivery mechanism placed at the rear end, the first delivery kit is used to deliver the first interventional consumable, the second delivery kit includes a second port control mechanism placed at the front end and a second rotating delivery mechanism placed at the rear end, the second delivery kit is used to deliver the second interventional consumable, the first rotating delivery mechanism and the second port control mechanism are arranged on the linear guide rail group for synchronous movement, the second port control mechanism is installed with a first bifurcation valve, the first connecting part is arranged on the first rotating delivery mechanism, and also includes an internal connecting pipe, the internal connecting pipe passes through the first A connecting portion is provided, and the front end of the internal connecting tube is connected to the front end of the first connecting portion; or the first connecting portion is a hollow pipe structure, and the front end of the internal connecting tube is connected to the rear end of the first connecting portion, and the rear end of the internal connecting tube is fixedly connected to the front rotatable part of the first bifurcated valve, and a flexible portion is provided on the internal connecting tube. When the second port control mechanism controls the rotatable part of the front end of the first bifurcated valve to rotate synchronously with the rotation of the first rotation delivery mechanism, if the two rotational motions are not completely synchronized, the flexible portion of the internal connecting tube will undergo slight torsional deformation. However, since the flexible portion is soft enough, it will not affect the force perception of the torque force sensing element in the first rotation delivery mechanism on the torque exerted on the first interventional consumable.

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