An interventional surgical robotic remote control device

Abstract

This invention relates to the field of minimally invasive medical technology and provides a remote control device for an interventional surgical robot. The device includes a housing and a front-end assembly, a primary touchscreen display module, a secondary touchscreen display module, and a knob assembly sequentially arranged on the housing. The primary touchscreen display module controls the delivery and / or retraction of the catheter, the secondary touchscreen display module controls the delivery and / or retraction of the guidewire, and the knob assembly controls the twisting of the guidewire. This invention, through the combination of dual touchscreen modules, swipe gesture sensing, and a display screen, enables more precise adjustment of the delivery speed and direction of the catheter and guidewire, thus improving the control accuracy of the interventional surgical robot.

Description

Technical Field

[0001] This invention relates to the field of minimally invasive medical technology, and in particular to a remote control device for an interventional surgical robot. Background Technology

[0002] Interventional surgery is a minimally invasive diagnostic and treatment technique. Interventional surgical robots have become an important tool to assist in interventional surgery, enabling doctors to perform interventional procedures under conditions of isolation from strong radiation environments. The delivery of catheters and guidewires is a crucial step in the procedure, and the precision of this operation directly affects the efficiency and safety of the surgery.

[0003] The delivery of guidewires and catheters in existing interventional surgical robots is mainly controlled by joysticks or operating handles. The way doctors operate at the control end not only does not conform to the direct contact with guidewires and catheters in traditional interventional surgery, requiring a certain learning cost, but also the above-mentioned devices are difficult to provide real-time tactile feedback. The position and status of the guidewires and catheters can only be observed through imaging equipment. The existence of feedback delay makes the operation not intuitive enough. Summary of the Invention

[0004] This invention provides a remote control device for interventional surgical robots to address the shortcomings of existing technologies, such as complex operation and insufficient feedback. Through dual touch modules, vibration feedback, and knob torsion control, it enables independent and precise operation of catheters and guidewires, thereby improving the surgical experience and operational efficiency.

[0005] The present invention provides a remote control device for an interventional surgical robot, comprising a housing and a front-end assembly, a primary touch display module, a secondary touch display module, and a knob assembly sequentially arranged on the housing;

[0006] The primary touchscreen display module is used to control the delivery or retraction of the catheter, the secondary touchscreen display module is used to control the delivery or retraction of the guidewire, and the knob assembly is used to control the twisting of the guidewire.

[0007] This also includes:

[0008] A first function button positioned between the front-end component and the primary touch display module; and,

[0009] A second function button is located between the primary touch display module and the secondary touch display module;

[0010] The first function key and the second function key are used to customize operation functions.

[0011] The casing contains a primary vibration feedback motor and a secondary vibration feedback motor. 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. The motor generates vibration feedback based on the sliding amplitude and / or frequency.

[0012] The front-end components include a limit switch and a charging interface. The limit switch is used to control the power switch of the remote control device for the interventional surgical robot, and the charging interface is used to charge the power supply battery.

[0013] The knob assembly includes a knob, a magnet, a rotating shaft, and a rotary encoder. The magnet is fixed to the equipment housing. The knob, rotating shaft, and rotary encoder are connected in sequence. The knob is used to drive the rotary encoder to rotate via the rotating shaft. The rotary encoder is used to provide the knob's rotation angle information to control the rotation of the guide wire.

[0014] The knob assembly also includes a damping feedback structure to simulate the actual feel of guidewire torsion operation.

[0015] The knob assembly may also include a pulley assembly and an angle sensor, wherein the pulley assembly is semi-embedded between the primary touch display module and the secondary touch display module.

[0016] The second function button is located between the rear cover and the secondary touch display module, and is used to customize operation functions.

[0017] The remote control device for interventional surgical robots also includes a fluid delivery module, which consists of a limit component box and a piston rod, for injecting contrast agents.

[0018] The primary and secondary touch display modules of the remote control device for the interventional surgical robot are respectively the primary and secondary touch display modules, both fixed to the upper surface of the housing.

[0019] The primary touch display module receives touch and swipe signals to control the forward delivery and / or retraction of the conduit;

[0020] The secondary touch display module receives touch and swipe signals to control the forward delivery and / or retraction of the guide wire.

[0021] The casing also houses a printed circuit board, which contains power supply and signal processing circuits.

[0022] The power supply circuit is connected to the limit switch, power supply battery, and charging interface to supply power to the first-level touch display module, the second-level touch display module, the first-level vibration feedback motor, the second-level vibration feedback motor, the first function button, the second function button, and the knob assembly.

[0023] The signal processing circuit is used to convert the input signal into a digital signal for communication with the interventional surgical robot.

[0024] The printed circuit board is also used to customize the button functions of the first and second function buttons, as well as the display content of the first-level and second-level touch display modules.

[0025] The printed circuit board includes a first printed circuit board and a second printed circuit board. The second printed circuit board communicates with the infusion module and is used by doctors to remotely control the injection speed and dosage of the contrast agent.

[0026] The outer shell is a cylindrical structure, and the cross-section of the outer shell is arc-shaped.

[0027] The present invention provides a remote control device for interventional surgical robots, 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.

[0028] The present invention provides a remote control device for interventional surgical robots, which combines a dual touch module with a sliding gesture sensor and a display screen, and allows the sensitivity to be adjusted according to the doctor's personal habits, enabling the operator to more accurately adjust the delivery speed and direction of the catheter and guidewire, thus improving accuracy compared to traditional manual operation.

[0029] The present invention provides a remote control device for interventional surgical robots, which integrates multiple functions such as touch control, vibration feedback, display, customizable buttons, and knob rotation to meet the needs of complex surgical scenarios.

[0030] The present invention provides a remote control device for interventional surgical robots. Through its lightweight semi-cylindrical design that conforms to the human body structure and its touch and knob layout, it can adapt to various operating postures, reduce the fatigue of doctors during long-term operation, and improve the user experience. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in this invention or the prior art, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a schematic diagram of the overall structure of Embodiment 1 provided by the present invention;

[0033] Figure 2 This is an exploded view of the structure of each component in Embodiment 1 provided by the present invention;

[0034] Figure 3This is a schematic diagram of the overall structure of Embodiment 2 provided by the present invention;

[0035] Figure 4 This is an exploded view of the structure of each component in Embodiment 2 provided by the present invention;

[0036] Figure 5 This is a schematic diagram of the limit position of the core rod of the liquid supply module provided by the present invention;

[0037] Figure 6 This is a schematic diagram of the push-in limit position of the core rod of the liquid supply module provided by the present invention.

[0038] Figure label:

[0039] 1. Knob; 2. Housing; 31. Magnet fixing structure; 32. Rotary shaft fixing structure; 4. Second function button; 5. First function button; 6. Charging interface; 7. Limit switch; 8. Secondary touch screen module; 91. Primary vibration feedback motor; 92. Secondary vibration feedback motor; 10. Magnet; 11. Rotary encoder; 12. Rotary shaft; 13. Power supply battery; 14. Fixing 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 dispensing module; 20. Front cover; 21. Rear cover. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0041] Example 1:

[0042] refer to Figure 1 and Figure 2 The present invention provides a remote control device for an interventional surgical robot, comprising:

[0043] The housing 2 and the front end assembly, the primary touch display module 16, the secondary touch display module 8 and the knob assembly are sequentially arranged on the housing 2;

[0044] The primary touch display module 16 is used to control the delivery or retraction of the catheter, the secondary touch display module 8 is used to control the delivery or retraction of the guidewire, and the knob assembly is used to control the twisting of the guidewire.

[0045] The inputs from the primary touch display module 16, the secondary touch display module 8, and the knob assembly are converted into corresponding digital signals by the signal processing circuit on the printed circuit board 15. After being processed by the microcontroller on the printed circuit board 15, the signals are remotely communicated with the interventional surgical robot via a wireless module to control the catheter and / or guidewire of the interventional surgical robot for delivery, retraction, or twisting operations.

[0046] This also includes:

[0047] A first function button 5 is located between the front-end component and the primary touch display module 16; and,

[0048] A second function button 4 is located between the primary touch display module 16 and the secondary touch display module 8;

[0049] The first function key 5 and the second function key 4 are used to customize operation functions.

[0050] The operation functions of the first function key 5 and the second function key 4 depend on the program burned into the printed circuit board 15. Users can customize the operation functions of the first function key 5 and the second function key 4 by developing and modifying the program burned into the printed circuit board 15.

[0051] The customizable operation functions include: catheter delivery, catheter retraction, guidewire delivery, guidewire retraction, guidewire clockwise rotation, guidewire counterclockwise rotation, emergency stop, speeding up guidewire rotation, slowing down guidewire rotation, and device sensitivity settings.

[0052] The outer casing 2 is equipped with a primary vibration feedback motor 91 and a secondary vibration feedback motor 92. The primary vibration feedback motor 91 is located below the primary touch display module 16, and the secondary vibration feedback motor 92 is located below the secondary touch display module 8. It generates vibration feedback based on the sliding amplitude and / or frequency to simulate the tactile and force feedback of doctors manually delivering guidewires or catheters in traditional interventional surgery, helping doctors to perceive the progress of the surgery.

[0053] The front-end components include a limit switch 7 and a charging interface 6. The limit switch 7 controls the power switch of the remote control device for the interventional surgical robot, and the charging interface 6 charges the power supply battery 13. The power supply battery 13 is a rechargeable lithium battery, located inside the device housing 2, and is charged through its front-end charging interface 6.

[0054] The knob assembly includes a knob 1, a magnet 10, a rotating shaft 12, and a rotary encoder 11. The magnet 10 is fixed to the housing 2 of the device and also includes a magnet fixing structure 31 for fixing the magnet 10. The knob 1, rotating shaft 12, and rotary encoder 11 are connected in sequence. 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 rotation angle information of the knob 1 to control the rotation of the guide wire.

[0055] The rotation direction of knob 1 includes clockwise rotation and counterclockwise rotation, and the rotation direction of the guide wire is synchronized with the rotation direction of knob 1.

[0056] The knob assembly also includes a damping feedback structure to simulate the actual feel of guidewire torsion operation.

[0057] The damping feedback structure can be integrated with the knob 1 or it can be a separate damping feedback component installed in the knob assembly.

[0058] Both the primary touch display module 16 and the secondary touch display module 8 are fixed to the upper surface of the housing 2.

[0059] The primary touch display module 16 receives touch and swipe signals to control the forward delivery and / or retraction of the conduit;

[0060] The secondary touch display module 8 receives touch and swipe signals to control the forward delivery and / or retraction of the guide wire.

[0061] The delivery and retraction speeds of catheters and guidewires are positively correlated with the amplitude and frequency of finger sliding. When the finger sliding amplitude is large and the sliding frequency is high, the delivery and retraction speeds of catheters and guidewires are fast; when the finger sliding amplitude is small and the sliding frequency is low, the delivery and retraction speeds of catheters and guidewires are slow.

[0062] The primary touch display module 16 and the secondary touch display module 8 can also display the current surgical status and the current equipment 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 equipment status includes battery status, wireless signal status, equipment connection status, and current sensitivity level.

[0063] The housing 2 also includes a fixed base 14 and a printed circuit board 15 inside. The printed circuit board 15 is mounted on the fixed base 14 and houses power supply circuitry and signal processing circuitry.

[0064] The power supply circuit is connected to the limit switch 7, the power supply battery 13, and the charging interface 6, and provides power to the first-level touch display module 16, the second-level touch display module 8, the first-level vibration feedback motor 91, the second-level vibration feedback motor 92, the first function button 5, the second function button 4, and the knob assembly.

[0065] The signal processing circuit is used to convert the input signal into a digital signal for communication with the interventional surgical robot.

[0066] The physical inputs of the primary touch display module 16, the secondary touch display 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 then processed by the microcontroller on the printed circuit board 15 before being sent to the interventional surgical robot to realize remote control of the interventional surgical robot.

[0067] The printed circuit board 15 is also used to customize the button functions of the first function button 5 and the second function button 4, and to customize the display content of the primary touch display module 16 and the secondary touch display module 8. The printed circuit board 15 is equipped with a 2.4G wireless module, which communicates remotely with the interventional surgical robot via Bluetooth or Wi-Fi to achieve data interaction and corresponding control of the guidewires or catheters on it. This not only isolates the doctor from the high-radiation environment, but also makes the touch pen device lightweight and free of cables, allowing for more flexible surgical operations.

[0068] The outer shell 2 is a cylindrical structure, and the cross-section of the outer shell 2 is arc-shaped.

[0069] For example, the casing may have a slender, pen-shaped structure, or an ergonomic semi-cylinder.

[0070] Example 2:

[0071] refer to Figure 3 - Figure 6 In another remote control device for interventional surgical robots provided by the present invention, the knob assembly may further include a pulley assembly 17 and an angle sensor 18, wherein the pulley assembly 17 is semi-embedded between the primary touch display module 16 and the secondary touch display module 8. The pulley assembly 17 is semi-embedded in the remote control device for interventional surgical robots, which facilitates installation and, together with other components and the angle sensor 18, enables rotational control of the guidewire.

[0072] The second function button 4 is located between the rear cover 21 and the secondary touch display module 8, and is used for customizing operation functions. The first function button 5 is located between the front-end component and the primary touch display module 16.

[0073] The front cover 20 in the front-end assembly is detachable and also includes a charging port 6 and a limit switch 7.

[0074] The remote control device for the interventional surgical robot also includes a fluid delivery module 19, which includes a limit component box and a piston rod. The push rod passes through the limit component box and one end protrudes through a hole on the rear cover plate 21.

[0075] The infusion module 19 is used to inject contrast agents, simulating the operation of injecting contrast agents with a clinical hand syringe, which makes it easier for doctors to control the injection dosage and speed, and conforms to the original usage habits of using syringes.

[0076] The piston rod of the infusion module 19 simulates the piston rod of a syringe. When the doctor operates remotely, the action of pushing or pulling the plunger with his finger is mapped to the injection and withdrawal action of the syringe of the interventional surgical robot.

[0077] 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 located near the front and rear ends of the remote control device of the interventional surgical robot, which facilitates spatial layout.

[0078] The second printed circuit board 152 communicates with the infusion module 19, enabling doctors to remotely control the injection speed and dosage of the contrast agent.

[0079] The first printed circuit board 151 and the second printed circuit board 152, when combined, enable the overall functionality of the printed circuit board 15, including customizing the button functions of the first function button 5 and the second function button 4, and customizing the display content of the primary touch display module 16 and the secondary touch display module 8. The first printed circuit board 151 is equipped with a 2.4G wireless module, enabling remote communication with the interventional surgical robot via Bluetooth or Wi-Fi. This allows for data interaction and corresponding control of the guidewires or catheters on the robot, isolating the surgeon from the high-radiation environment. Furthermore, the lightweight and cable-free stylus device allows for more flexible surgical operations.

[0080] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs. Those skilled in the art can understand and implement this without any creative effort.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An interventional procedure robot remote control device, characterized in that, It includes a housing and a front-end assembly, a primary touch display module, a secondary touch display module, and a knob assembly sequentially arranged on the housing; The primary touch display module receives touch and swipe signals to control the delivery and / or retraction of the catheter; the secondary touch display module receives touch and swipe signals to control the delivery and / or retraction of the guidewire; and the knob assembly is used to control the twisting of the guidewire. The housing is equipped with a primary vibration feedback motor and a secondary vibration feedback motor. 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. The motor generates vibration feedback based on the sliding amplitude and / or frequency. The housing is also equipped with a printed circuit board, which contains power supply circuitry and signal processing circuitry. The signal processing circuit is used to convert the input signal into a digital signal for communication with the interventional surgical robot.

2. The interventional robotic teleoperation device of claim 1, wherein, Also includes: A first function button is disposed between the front-end component and the primary touch display module, and the first function button is used for custom operation functions.

3. The interventional robotic teleoperation device of claim 1, wherein, Also includes: A second function button is disposed between the primary touch display module and the secondary touch display module, and the second function button is used for custom operation functions.

4. The interventional robotic teleoperation device of claim 1, wherein, The front-end component includes a limit switch and a charging interface. The limit switch is used to control the power switch of the remote control device for the interventional surgical robot, and the charging interface is used to charge the power supply battery.

5. The interventional robotic teleoperation device of claim 1, wherein, The knob assembly includes a knob, a magnet, a rotating shaft, and a rotary encoder. The magnet is fixed to the device housing, and the knob, rotating shaft, and rotary encoder are connected in sequence. The rotary encoder is used to provide the knob's rotation angle information to control the rotation of the guide wire.

6. The interventional robotics teleoperational device of claim 1, wherein, The knob assembly includes a damping feedback structure to simulate the actual feel of guidewire torsion operation.

7. The interventional robotics teleoperational device of claim 1, wherein, The knob assembly includes a pulley assembly and an angle sensor, wherein the pulley assembly is semi-embedded between the primary touch display module and the secondary touch display module.

8. The remote control device for interventional surgical robots according to claim 7, characterized in that, The second function button is located between the rear cover and the secondary touch display module, and is used to customize operation functions.

9. The interventional robotic teleoperation device of claim 7, wherein, It also includes a liquid delivery module, which includes a limiting component box and a piston rod for injecting contrast agent.

10. The interventional robotic teleoperation device of any of claims 1-9, wherein, The power supply circuit is connected to the limit switch, the power supply battery, and the charging interface, and provides power to the primary touch display module, the secondary touch display module, the primary vibration feedback motor, the secondary vibration feedback motor, the first function button, the second function button, and the knob assembly.

11. The interventional robotic teleoperation device of claim 10, wherein, The printed circuit board is used to customize the button functions of the first function button and the second function button, as well as to customize the display content of the first-level touch display module and the second-level touch display module.

12. The interventional robotic teleoperation device of claim 10, wherein, 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 delivery module and is used to control the injection speed and dosage of the contrast agent.

13. The interventional robotics teleoperational device of claim 1, wherein, The outer shell is a cylindrical structure, and the cross-section of the outer shell is arc-shaped.

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