Remote control equipment for interventional surgical robot

Abstract

The invention relates to the technical field of minimally invasive medical treatment, and provides interventional surgical robot remote control equipment which comprises a shell, and a front end assembly, a first-stage touch display screen module, a second-stage touch display screen module and a knob assembly which are sequentially arranged on the shell, wherein the first-stage touch display screen module is used for controlling delivery and / or withdrawing of a catheter, the second-stage touch display screen module is used for controlling delivery and / or withdrawing of a guide wire, and the knob assembly is used for controlling torsion of the guide wire. The double touch modules are combined with sliding gesture induction and the display screen, the delivery speed and direction of the catheter and the guide wire can be accurately adjusted, and the control precision of the interventional operation robot is improved.

Description

Technical Field

[0001] The present invention relates to the field of minimally invasive medical technology, and in particular to a remote control device for an interventional surgery robot. Background Art

[0002] Interventional surgery is a minimally invasive diagnostic and treatment technique. Interventional surgical robots have become an important tool for assisting interventional surgery, allowing doctors to perform interventional procedures in an isolated environment away from strong radiation. The delivery of catheters and guidewires is a critical step in the procedure, and their precision is directly related to the efficiency and safety of the procedure.

[0003] The delivery of guidewires and catheters by existing interventional surgical robots is mainly controlled by joysticks or operating handles. The doctor's operation method at the control end is not only inconsistent with the doctor's direct contact guidewire and catheter operation habits in traditional interventional surgical models, but also requires a certain learning cost. In addition, the above-mentioned equipment is difficult to provide real-time tactile feedback, and the position and status of the guidewire and catheter can only be observed through imaging equipment. The existence of feedback delay makes the operation less intuitive. Summary of the Invention

[0004] The present invention provides a remote control device for an interventional surgical robot to address the defects of the prior art, such as complex operation and insufficient feedback. Through dual touch modules, vibration feedback, knob twist control, etc., it enables independent and precise operation of catheters and guidewires, thereby improving surgical experience and operating efficiency.

[0005] The present invention provides an interventional surgical robot remote control device, comprising a housing and a front-end assembly, a primary touch screen module, a secondary touch screen module and a knob assembly sequentially arranged on the housing; Among them, the first-level touch display module is used to control the delivery or withdrawal of the catheter, the second-level touch display module is used to control the delivery or withdrawal of the guidewire, and the knob assembly is used to control the torsion of the guidewire.

[0006] It also includes: A first function button disposed between the front-end assembly and the primary touch display module; and A second function button is provided between the primary touch screen module and the secondary touch screen module; The first function button and the second function button are used for customizing operation functions.

[0007] Among them, a first-level vibration feedback motor and a second-level vibration feedback motor are arranged inside the shell. The first-level vibration feedback motor is located below the first-level touch display module, and the second-level vibration feedback motor is located below the second-level touch display module, generating vibration feedback according to the sliding amplitude and / or frequency.

[0008] Among them, the front-end component includes a limit switch and a charging interface. The limit switch is used to control the power switch of the interventional surgical robot remote control device, and the charging interface is used to charge the power battery.

[0009] Among them, the knob assembly includes a knob, a magnet, a shaft, and a rotary encoder. The magnet is fixed to the device housing, and the knob, shaft, and rotary encoder are connected in sequence. The knob is used to drive the rotary encoder to rotate through the shaft, and the rotary encoder is used to provide knob angle information to control the rotation of the guide wire.

[0010] The knob assembly also includes a damping feedback structure for simulating the actual feel of the guidewire twisting operation.

[0011] The knob assembly may further include a pulley assembly and an angle sensor, wherein the pulley assembly is semi-embedded and installed between the primary touch display module and the secondary touch display module.

[0012] Among them, the second function button is set between the back cover and the secondary touch display module, and the second function button is used to customize the operation function.

[0013] Among them, the interventional surgical robot remote control device also includes a liquid feeding module, which includes a limit component box and a piston core rod for injecting contrast agent.

[0014] The primary touch screen module and the secondary touch screen module of the interventional surgical robot remote control device are respectively the primary touch screen module and the secondary touch screen module, both of which are fixed on the upper surface of the housing, wherein, The primary touch display module receives touch and slide signals to control the forward delivery and / or retraction of the catheter; The secondary touch display module receives touch and slide signals to control the forward delivery and / or retraction of the guidewire.

[0015] A printed circuit board is also provided inside the housing, and the printed circuit board is provided with a power supply circuit and a signal processing circuit. The power supply circuit is connected to the travel switch, the power supply battery, and the charging interface to supply power to the primary touch screen module, the secondary touch screen module, the primary vibration feedback motor, the secondary vibration feedback motor, the first function button, the second function button, and the knob assembly; The signal processing circuit is used to convert the input signal into a digital signal and communicate with the interventional surgical robot.

[0016] The printed circuit board is also used to customize the key functions of the first function key and the second function key, and to customize the display content of the primary touch display module and the secondary touch display module.

[0017] The printed circuit board includes a first printed circuit board and a second printed circuit board, wherein the second printed circuit board communicates with the liquid feeding module so as to allow the doctor to remotely control the injection speed and dosage of the contrast agent.

[0018] The shell is a cylindrical structure, and the cross section of the shell is arched.

[0019] The present invention provides a remote control device for an interventional surgical robot, which provides doctors with real-time tactile feedback through a vibration feedback motor and a damping knob, making the surgical status more intuitive and improving the stability and safety of the operation.

[0020] The present invention provides a remote control device for an interventional surgical robot. This device combines a dual-touch module with sliding gesture sensing and a display screen, and can adjust the sensitivity according to the doctor's personal habits, allowing the operator to more accurately adjust the delivery speed and direction of the catheter and guidewire, thereby improving accuracy compared to traditional manual operations.

[0021] The present invention provides a remote control device for an interventional surgical robot, which meets the needs of complex surgical scenarios by integrating multiple functions such as touch, vibration feedback, display, custom buttons, and knob twisting.

[0022] The present invention provides a remote control device for an interventional surgical robot. With its lightweight semi-cylindrical design that fits the human body structure and its touch and knob arrangement, it can adapt to a variety of operating postures, reduce the doctor's fatigue from long-term operation, and improve the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 This is a schematic diagram of the overall structure of Example 1 provided by the present invention; Figure 2 This is an exploded schematic diagram of the structure of each component of Example 1 provided by the present invention; Figure 3 This is a schematic diagram of the overall structure of Example 2 provided by the present invention; Figure 4 Schematic diagram of the exploded structure of each component of Example 2 provided by the present invention; Figure 5 This is a schematic diagram of the core rod of the liquid feeding module provided by the present invention being pulled out to its extreme position; Figure 6 It is a schematic diagram of the core rod of the liquid feeding module provided by the present invention being pushed into the limit position.

[0025] Reference numerals: 1. Knob; 2. Housing; 31. Magnet fixing structure; 32. Shaft fixing structure; 4. Second function button; 5. First function button; 6. Charging port; 7. Limit switch; 8. Secondary touch screen module; 91. Primary vibration feedback motor; 92. Secondary vibration feedback motor; 10. Magnet; 11. Rotary encoder; 12. Shaft; 13. Power supply battery; 14. Fixed base; 15. Printed circuit board; 151. First printed circuit board; 152. Second printed circuit board; 16. Primary touch screen module; 17. Pulley assembly; 18. Angle sensor; 19. Liquid feeding module; 20. Front cover; 21. Rear cover. DETAILED DESCRIPTION

[0026] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0027] Example 1: refer to Figure 1 and Figure 2 The present invention provides a remote control device for an interventional surgical robot, comprising: A housing 2 and a front-end assembly, a primary touch screen module 16, a secondary touch screen module 8 and a knob assembly sequentially arranged on the housing 2; Among them, the first-level touch screen module 16 is used to control the delivery or withdrawal of the catheter, the second-level touch screen module 8 is used to control the delivery or withdrawal of the guide wire, and the knob assembly is used to control the torsion of the guide wire.

[0028] The inputs of the primary touch screen module 16, the secondary touch screen module 8 and the knob assembly are converted into corresponding digital signals by the signal processing circuit on the printed circuit board 15, and after being processed by the single-chip microcomputer on the printed circuit board 15, they communicate remotely with the interventional surgical robot through the wireless module to control the catheter and / or guidewire of the interventional surgical robot to perform delivery, retraction or twisting operations.

[0029] It also includes: A first function button 5 provided between the front-end assembly and the primary touch screen module 16; and A second function button 4 is provided between the primary touch screen module 16 and the secondary touch screen module 8; The first function button 5 and the second function button 4 are used for customizing operation functions.

[0030] The operating functions of the first function key 5 and the second function key 4 depend on the program burned in the printed circuit board 15 . The user can customize the operating functions of the first function key 5 and the second function key 4 by developing and modifying the program burned in the printed circuit board 15 .

[0031] Among them, the customized operation functions include: catheter delivery, catheter retraction, guidewire delivery, guidewire retraction, guidewire clockwise rotation, guidewire counterclockwise rotation, emergency stop, speed up guidewire rotation, slow down guidewire rotation, and device sensitivity setting.

[0032] Among them, a first-level vibration feedback motor 91 and a second-level vibration feedback motor 92 are arranged inside the shell 2. The first-level vibration feedback motor 91 is located below the first-level touch display module 16, and the second-level vibration feedback motor 92 is located below the second-level touch display module 8. Vibration feedback is generated according to the sliding amplitude and / or frequency, which is used to simulate the tactile and force feedback of the doctor manually delivering the guide wire or catheter in traditional interventional surgery, helping the doctor to perceive the progress of the operation.

[0033] The front-end assembly includes a limit switch 7 and a charging port 6. The limit switch 7 is used to control the power switch of the interventional surgical robot remote control device, and the charging port 6 is used to charge the power supply battery 13. The power supply battery 13 is a rechargeable lithium battery, which is installed inside the device housing 2 and is charged through its front-end charging port 6.

[0034] Among them, the knob assembly includes a knob 1, a magnet 10, a rotating shaft 12, and a rotary encoder 11, wherein the magnet 10 is fixed to the device housing 2, and also includes a magnet fixing structure 31 for fixing the magnet 10; the knob 1, the rotating shaft 12, and the rotary encoder 11 are connected in sequence, and the knob 1 is used to drive the rotary encoder 11 to rotate through the rotating shaft 12, and also includes a rotating shaft fixing structure 32 for fixing the rotating shaft 12; the rotary encoder 11 is used to provide the knob 1 with angle information to control the rotation of the guide wire.

[0035] The rotation direction of the knob 1 includes clockwise rotation and counterclockwise rotation, and the rotation direction of the guide wire is synchronized with the rotation direction of the knob 1.

[0036] The knob assembly also includes a damping feedback structure for simulating the actual feel of the guidewire twisting operation.

[0037] The damping feedback structure can be designed as an integrated whole with the knob 1, or it can be a separate damping feedback component installed in the knob assembly.

[0038] The primary touch screen module 16 and the secondary touch screen module 8 are both fixed on the upper surface of the housing 2. The primary touch screen module 16 receives touch and slide signals to control the forward delivery and / or retraction of the catheter; The secondary touch display module 8 receives touch and sliding signals to control the forward delivery and / or retraction of the guide wire.

[0039] The delivery speed and withdrawal speed of the catheter and guidewire are positively correlated with the finger sliding amplitude and frequency. When the finger sliding amplitude is large and the sliding frequency is high, the delivery speed and withdrawal speed of the catheter and guidewire are fast; when the finger sliding amplitude is small and the sliding frequency is low, the delivery speed and withdrawal speed of the catheter and guidewire are slow.

[0040] The primary touch screen module 16 and the secondary touch screen module 8 can also display the current surgical status and the current device status. The current surgical status includes catheter delivery status, catheter retraction status, guidewire delivery status, guidewire retraction status, guidewire rotation direction, guidewire rotation angle, target tissue contact status, etc.; the current device status includes power status, wireless signal status, device connection status, and current sensitivity level.

[0041] A fixed base 14 and a printed circuit board 15 are further provided inside the housing 2. The printed circuit board 15 is provided on the fixed base 14. The printed circuit board 15 is provided with a power supply circuit and a signal processing circuit. The power supply circuit is connected to the limit switch 7, the power supply battery 13, and the charging port 6, and supplies power to the primary touch screen module 16, the secondary touch screen module 8, the primary vibration feedback motor 91, the secondary vibration feedback motor 92, the first function button 5, the second function button 4, and the knob assembly; The signal processing circuit is used to convert the input signal into a digital signal and communicate with the interventional surgical robot.

[0042] The physical inputs of the primary touch screen module 16, the secondary touch screen module 8, the first function button 5, the second function button 4, and the rotary encoder 11 are converted into digital signals by the signal processing circuit, and are processed by the single-chip microcomputer on the printed circuit board 15 and sent to the interventional surgical robot to realize remote control of the interventional surgical robot.

[0043] The printed circuit board 15 is also used to customize the functions of the first and second function buttons 5 and 4, as well as the display content of the primary touchscreen module 16 and secondary touchscreen module 8. A 2.4G wireless module is installed on the printed circuit board 15, which communicates with the interventional surgical robot via Bluetooth or Wi-Fi, enabling data exchange and corresponding control of the guidewire or catheter. This not only isolates the surgeon from high-radiation environments, but also provides a lightweight, cable-free stylus device, allowing for more flexible surgical operations.

[0044] The housing 2 is a columnar structure, and the cross section of the housing 2 is arched.

[0045] Exemplarily, the housing may have an elongated pen-shaped structure, which is an ergonomic semi-cylinder.

[0046] Example 2: refer to Figure 3 - Figure 6 In another interventional surgical robot remote control device provided by the present invention, the knob assembly may further include a pulley assembly 17 and an angle sensor 18. Pulley assembly 17 is semi-embedded between primary touchscreen display module 16 and secondary touchscreen display module 8. This semi-embedded installation of pulley assembly 17 in the interventional surgical robot remote control device facilitates installation and works in conjunction with other components and angle sensor 18 to achieve guidewire rotation control.

[0047] The second function button 4 is provided between the rear cover 21 and the secondary touch screen module 8 , and is used to customize the operation function. The first function button 5 is provided between the front assembly and the primary touch screen module 16 .

[0048] The front cover plate 20 in the front end assembly is detachably connected and also includes a charging interface 6 and a travel switch 7 .

[0049] The interventional surgical robot remote control device further includes a liquid feeding module 19 , which includes a limit component box and a piston core rod. The push rod passes through the limit component box, and one end is exposed through a hole on the rear cover plate 21 .

[0050] The liquid feeding module 19 is used for injecting contrast agent, simulating the operation of injecting contrast agent by pushing a syringe in clinical practice, making it easier for doctors to control the injection dosage and speed, and conforming to the original usage habit of using a syringe.

[0051] The piston core rod of the liquid feeding module 19 simulates the piston core rod part of the syringe. When the doctor operates remotely, the action of pushing or pulling the push rod with the fingers is mapped accordingly to the injection and extraction actions of the syringe of the interventional surgery robot.

[0052] The printed circuit board 15 can be divided into a first printed circuit board 151 and a second printed circuit board 152 , which are respectively arranged near the front end and the rear end of the interventional surgical robot remote control device, which can facilitate spatial layout.

[0053] The second printed circuit board 152 communicates with the liquid feeding module 19 so as to allow the doctor to remotely control the injection speed and dosage of the contrast agent.

[0054] The combination of first and second printed circuit boards 151, 152 enables the overall functionality of printed circuit board 15, including customization of the functions of first and second function buttons 5, 4, and customization of the display content of primary touchscreen module 16 and secondary touchscreen module 8. A 2.4G wireless module is installed on first printed circuit board 151, enabling remote communication with the interventional surgical robot via Bluetooth or Wi-Fi, enabling data exchange and control of the guidewire or catheter. This not only isolates the surgeon from high-radiation environments, but also enhances surgical flexibility thanks to the lightweight, cable-free stylus device.

[0055] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, i.e., they may be located in one location or distributed across multiple network units. Some or all of the modules may be selected based on actual needs to achieve the objectives of the present embodiment. Persons of ordinary skill in the art will be able to understand and implement the present invention without inventive effort.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A remote control device for an interventional surgical robot, characterized in that: It includes a housing and a front-end assembly, a primary touch screen module, a secondary touch screen module and a knob assembly which are sequentially arranged on the housing; The primary touch screen module is used to control the delivery and / or retraction of the catheter, the secondary touch screen module is used to control the delivery and / or retraction of the guide wire, and the knob assembly is used to control the torsion of the guide wire.

2. The interventional surgical robot remote control device according to claim 1, characterized in that: Also includes: A first function button is provided between the front-end component and the primary touch display screen module, and the first function button is used for customizing an operation function.

3. The interventional surgical robot remote control device according to claim 1, characterized in that: Also includes: A second function button is provided between the primary touch display screen module and the secondary touch display screen module, and the second function button is used for customizing an operation function.

4. The interventional surgical robot remote control device according to claim 1, characterized in that: A primary vibration feedback motor and a secondary vibration feedback motor are provided inside the shell. The primary vibration feedback motor is located below the primary touch display module, and the secondary vibration feedback motor is located below the secondary touch display module, generating vibration feedback according to the sliding amplitude and / or frequency.

5. The interventional surgical robot remote control device according to claim 1, characterized in that: The front-end component includes a travel switch and a charging interface. The travel switch is used to control the power switch of the interventional surgical robot remote control device, and the charging interface is used to charge the power supply battery.

6. The interventional surgical robot remote control device according to claim 1, characterized in that: The knob assembly includes a knob, a magnet, a shaft, and a rotary encoder, wherein the magnet is fixed to the device housing, and the knob, the shaft, and the rotary encoder are connected in sequence. The rotary encoder is used to provide the knob angle information to control the rotation of the guide wire.

7. The interventional surgical robot remote control device according to claim 1, characterized in that: The knob assembly includes a damping feedback structure for simulating the actual feel of the guidewire twisting operation.

8. The interventional surgical robot remote control device according to claim 1, characterized in that: The knob assembly includes a pulley assembly and an angle sensor, wherein the pulley assembly is semi-embedded and installed between the primary touch display module and the secondary touch display module.

9. The interventional surgery robot remote control device according to claim 8, characterized in that: The second function button is arranged between the rear cover and the secondary touch display screen module, and the second function button is used for customizing the operation function.

10. The interventional surgery robot remote control device according to claim 8, characterized in that: It also includes a liquid feeding module, which includes a limit component box and a piston core rod and is used for injecting contrast agent.

11. The interventional surgical robot remote control device according to any one of claims 1 to 10, characterized in that: A printed circuit board is also provided inside the housing, and the printed circuit board is provided with a power supply circuit and a signal processing circuit; The power supply circuit is connected to the travel switch, the power supply battery, and the charging interface to supply power to the primary touch screen module, the secondary touch screen module, the primary vibration feedback motor, the secondary vibration feedback motor, the first function button, the second function button, and the knob assembly; The signal processing circuit is used to convert the input signal into a digital signal and communicate with the interventional surgery robot.

12. The interventional surgical robot remote control device according to claim 11, characterized in that: The printed circuit board is used to customize the key functions of the first function key and the second function key, and to customize the display content of the primary touch display module and the secondary touch display module.

13. The interventional surgical robot remote control device according to claim 11, characterized in that: The printed circuit board includes a first printed circuit board and a second printed circuit board, wherein the second printed circuit board communicates with the liquid feeding module and is used to control the injection speed and dosage of the contrast agent.

14. The interventional surgical robot remote control device according to claim 1, characterized in that: The shell is a column structure, and the cross section of the shell is arched.

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