Operating rod

Abstract

The invention discloses an operating rod which comprises a rod body, an operating piece, a first adjusting piece and a second adjusting piece, the operating piece is arranged on the rod body so as to rotate relative to the rod body, and the operating piece is matched with the rod body so as to drive the rod body to move synchronously; the first adjusting piece is matched with the operating piece to detect the rotation control quantity of the operating piece, and the first adjusting piece is suitable for being in signal transmission with the controller to input rotation damping to the operating piece and / or input the rotation control quantity to the controller; the second adjusting piece is matched with the rod body to detect the movement control quantity of the rod body, and the second adjusting piece is suitable for being in signal transmission with the controller to input movement damping to the rod body and / or input the movement control quantity to the controller. According to the operating lever provided by the embodiment of the invention, the sense of reality and accuracy during operation can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a joystick. Background Art

[0002] During vascular interventional surgery, professional doctors need to be exposed to X-ray radiation for a long time. In order to solve this problem, remotely operated master-slave vascular interventional equipment has been developed. The master-slave vascular interventional equipment can work in a strong radiation environment, allowing doctors to control it outside the radiation environment. Currently, there are two ways of control, one is a touch screen and the other is an operating handle. The operating handle is used to send operating commands to the surgical robot, such as the advance and retreat, rotation of the guide wire, etc. In the related art, the operation of the operating handle is affected by the design structure, and there are certain errors in accuracy, resulting in poor operating accuracy and operational realism. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems in the related art to a certain extent. To this end, one object of the present invention is to provide a joystick that can improve the realism and accuracy during operation.

[0004] According to an embodiment of the present invention, a joystick includes: a rod body, an operating member, a first adjustment member, and a second adjustment member. The operating member is provided on the rod body so as to be rotatable relative to the rod body, and the operating member cooperates with the rod body to drive the rod body to move synchronously; the first adjustment member cooperates with the operating member to detect the rotation control amount of the operating member, and the first adjustment member is suitable for transmitting signals with the controller to output rotational damping to the operating member, and / or to input the rotation control amount to the controller; the second adjustment member cooperates with the rod body to detect the moving distance of the rod body, and the second adjustment member is suitable for transmitting signals with the controller to output movement damping to the rod body, and / or to input the movement control amount to the controller.

[0005] The joystick according to the embodiment of the present invention can enhance the realism and accuracy during operation.

[0006] In addition, the joystick according to the above embodiment of the present invention may also have the following additional technical features:

[0007] In some examples of the present invention, the control sense further includes a visual component, the visual component is fixedly connected to the operating component, and a portion of the visual component is exposed from the joystick.

[0008] In some examples of the present invention, the visual component is a catheter or a guidewire.

[0009] In some examples of the present invention, the operating member includes a holding portion and a clamping portion, the clamping portion is arranged in the holding portion, and a mounting groove with one end open is provided in the clamping portion. The visible member is arranged in the mounting groove and clamped by the clamping portion.

[0010] In some examples of the present invention, the clamping portion is threadedly connected to the holding portion, the clamping portion is a flexible member, and the clamping portion is interference fit with the visible member.

[0011] In some examples of the present invention, anti-slip grooves are provided on the periphery of the handle.

[0012] In some examples of the present invention, the first adjustment member includes a first pan-tilt motor and a transmission rod, the transmission rod is passed through the rod body and both ends of the transmission rod extend out of the rod body, one end of the transmission rod is transmission-connected to the first pan-tilt motor, and the other end is transmission-connected to the operating member.

[0013] In some examples of the present invention, the joystick further includes a bearing, which is disposed between the transmission rod and the rod body. The bearing is rotatably connected to the transmission rod and limits axial movement of the transmission rod.

[0014] In some examples of the present invention, the first adjustment member includes a first gimbal motor, the first gimbal motor transmits signals to the controller, the controller outputs the rotational damping of the control member to the first gimbal motor, the first gimbal motor is transmission-connected to the operating member to output rotational damping to the operating member, and the first gimbal motor outputs the detected relative rotation angle to the controller.

[0015] In some examples of the present invention, the second adjustment member includes a second pan-tilt motor, the second pan-tilt motor transmits signals to the controller, the controller outputs the movement damping of the member to be controlled to the second pan-tilt motor, the second pan-tilt motor is connected to the rod body to output movement damping to the operating member, and the second pan-tilt motor transmits the detected movement distance to the member to be controlled.

[0016] In some examples of the present invention, the second adjustment member further includes a first transmission member and a second transmission member that cooperate with each other, the first transmission member is in transmission connection with the second gimbal motor, and the second transmission member is provided on the rod body and extends along the axial direction of the rod body.

[0017] In some examples of the present invention, the first transmission member includes a driving portion connected to the second gimbal motor, and the driving portion is connected to the second transmission member to transmit the resistance of the second gimbal motor to the rod body.

[0018] In some examples of the present invention, the second transmission member is provided with a first limit block and a second limit block, and the first limit block and the second limit block are located at opposite ends of the rod body and stop the first transmission member.

[0019] In some examples of the present invention, the first transmission member is provided with a first stop portion and a second stop portion, and the first stop portion and the second stop portion are provided at opposite ends of the axial direction of the first transmission member and stop at opposite sides of the second transmission member along the circumference of the rod body.

[0020] In some examples of the present invention, the first transmission member is a gear and the second transmission member is a rack, and the gear and the rack are meshed with each other. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] Figure 1 is a schematic diagram of the structure of a joystick in some embodiments of the present invention;

[0022] Figure 2 is a side view of a joystick in some embodiments of the present invention;

[0023] Figure 3 is a bottom view of a joystick in some embodiments of the present invention;

[0024] Figure 4 is a rear view of a joystick in some embodiments of the present invention;

[0025] Figure 5 is a cross-sectional view of a joystick in some embodiments of the present invention (showing a first stopper and a second stopper);

[0026] Figure 6 is a cross-sectional view of a joystick in some embodiments of the present invention (showing a first bearing and a second bearing);

[0027] Figure 7 is an enlarged partial cross-sectional view of a joystick in some embodiments of the present invention (showing a first transmission member and a second transmission member);

[0028] Figure 8 is an enlarged partial cross-sectional view of a joystick in some embodiments of the present invention (showing the mounting slot and the flexible fixing member).

[0029] Reference numerals:

[0030] 100. Joystick; 10. Rod body; 20. Operating member; 201. Mounting slot; 21. Holding portion; 22. Clamping portion; 30. Visual member; 31. First visual member; 32. Second visual member; 40. First adjusting member; 41. First pan-tilt motor; 50. Second adjusting member; 51. First transmission member; 511. Connecting portion; 512. Driving portion; 513. First stop portion; 514. Second stop portion; 52. Second transmission member; 521. First limit block; 522. Second limit block; 53. Second pan-tilt motor; 61. First bearing; 62. Second bearing. DETAILED DESCRIPTION

[0031] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0032] Combine Figures 1 to 8 According to the joystick 100 of the interventional device in an embodiment of the present invention, the interventional device includes a controller and a manipulator for controlling the movement of the interventional device such as a catheter or a guidewire. The joystick 100 transmits signals to the controller to realize the signal connection between the joystick 100 and the interventional device. The controller transmits signals to the manipulator. The controller can receive the control signal of the joystick 100 and transmit the control signal to the manipulator, driving the manipulator to manipulate the movement of the guidewire, thereby realizing the manipulation of the interventional device by the joystick 100 and realizing the control of the guidewire by the joystick 100.

[0033] Specifically, the joystick 100 includes a rod body 10 and an operating member 20. The operating member 20 is disposed on the rod body 10 so as to be rotatable relative to the rod body 10. The operating member 20 cooperates with the rod body 10 to drive the rod body 10 to move synchronously. Thus, an operator can rotate the operating member 20 to achieve rotational control, or move the operating member 20 to achieve movement. When the operating member 20 is moved, the operating member 20 can simultaneously drive the rod body 10 to move, facilitating the measurement and observation of movement or displacement distance. Therefore, the joystick 100 can achieve rotation and movement operations solely by operating the operating member 20, providing convenience for the operator. Furthermore, by directly rotating and moving the operating member 20, the operator can simulate the effect of operating an interventional device, thereby enhancing the realism of the operation.

[0034] Furthermore, to improve the precision and authenticity of the operation, the joystick 100 also includes a first adjustment member 40 and a second adjustment member 50. The first adjustment member 40 cooperates with the operating member 20 to detect the rotation control amount of the operating member 20, such as the rotation angle. The first adjustment member 40 is suitable for transmitting signals to the controller to input rotational damping to the operating member 20, thereby inputting the rotation control amount to the controller. Because the guidewire of the interventional device encounters resistance when rotating within the human body, the first adjustment member 40 can also transmit signals to the interventional device to obtain the resistance of the component to be controlled, such as the guidewire during rotation, and feed the resistance back to the first adjustment member 40. In this way, when the operator drives the operating member 20 to rotate, the first adjustment member 40 can output corresponding rotational damping, so that the resistance that the operating member 20 needs to overcome to rotate is consistent with the actual resistance of the guidewire, which can further improve the realism and accuracy of the operation. In addition, the first adjustment member 40 can feed back the rotation angle of the operating member 20 to the controller of the interventional device to achieve rotational control of the interventional device.

[0035] The second adjusting member 50 cooperates with the rod body 10 to detect the movement control amount of the rod body 10, such as the movement distance of the control member. The second adjusting member 50 is suitable for transmitting signals with the controller to input movement damping to the rod body 10 to input the movement control amount to the controller.

[0036] Specifically, when the guide wire of the interventional device needs to be driven to move in the human body, when the operator drives the rod body 10 to move through the operating member 20, the visual member 30 can move synchronously with the rod body 10 to achieve axial movement or forward and backward movement of the rod body 10, so that the operator can have an intuitive feeling when adjusting, for example, feeling the physical distance moved by the rod body 10. Since the movement mode of the rod body 10 is similar to that of the guide wire, the visual member 30 can be a guide wire or a catheter, so it is easy to simulate the effect of actually operating the guide wire, which is conducive to enhancing the sense of reality during operation. For example, the visual member 30 can be a guide wire or a catheter, wherein the guide wire or catheter is used in the same way as the guide wire and catheter in the interventional device, and the operator can directly operate the visual member 30, thereby improving the sense of reality during operation and helping to improve the accuracy of operation.

[0037] In other words, the operating member 20 can be used both to perform adjustment operations and to securely connect the visual element 30. Specifically, due to the varying sizes of guidewires and catheters, the provision of the operating member 20 allows the joystick 100 to accommodate visual elements 30 of varying sizes, thereby increasing flexibility and enhancing the sense of realism during operation. Thus, in practical applications, the joystick 100 can be manipulated using either the operating member 20 or the visual element 30, depending on the operator's preference.

[0038] More specifically, the second adjustment member 50 can also provide resistance along the axial direction of the rod body 10, i.e., the direction of movement. Specifically, the second adjustment member 50 transmits signals to the interventional device, can obtain the resistance encountered by the interventional device's guidewire when moving in the human body, and output corresponding rotational damping based on this resistance, thereby providing or feeding back this resistance to the rod body 10, and then transmitting it to the operating member 20. In this way, when the operator axially moves the operating member 20, the resistance they need to overcome is consistent with the resistance actually encountered by the guidewire, which can further improve the realism and accuracy of the operation. The second adjustment member 50 can output the movement distance of the rod body 10 to the interventional device controller to achieve movement control of the interventional device.

[0039] The joystick 100 of the interventional device according to the embodiment of the present invention can enhance the realism and accuracy during operation.

[0040] It should be noted that the first adjustment member 40 and the second adjustment member 50 have the function of detecting the motion control amount of the operating member 20, and the function of inputting motion damping to the operating member 20, so as to realize the interaction between the operating member 20 and the controller, which is conducive to improving the authenticity and accuracy of the operation.

[0041] Specifically, the first adjustment member 40 detects the rotation control amount of the operating member 20. The rotation control amount can be the rotation angle of the operating member 20, or other values ​​that indirectly reflect the rotation angle of the operating member 20, such as the rotation angle of the gear connected to the operating member 20, and there can be a certain conversion relationship between them. It can be detected directly, such as through a photoelectric encoder, such as using a grating disk and a photoelectric sensor to generate a signal to detect the rotation angle of the operating member 20 and use it as the rotation control amount, so that the rotation control amount can be input into the controller to achieve rotation control of the member to be controlled. The first adjustment member 40 can also detect the rotation control amount through a rotary encoder. For example, the first adjustment member 40 has a gear structure, and the encoder is installed on the gear shaft or the motor shaft, and rotates synchronously with the gear. That is, the detection of the rotation control amount can be achieved with the help of the operation of the gear. For example, the operating member 20 is coaxially connected to the gear structure, so that the gear structure can reflect the actual rotation angle of the operating member 20.

[0042] The second adjustment member 50 detects the movement control amount of the operating member 20. The movement control amount can be the movement distance of the operating member 20, or other values ​​that indirectly reflect the movement distance of the operating member 20, such as the rotation angle of the gear connected to the operating member 20, and there can be a certain conversion relationship between them. Direct detection can be performed, such as through a photoelectric encoder, such as using a grating disk and a photoelectric sensor to generate a signal to detect the movement distance of the operating member 20 and use it as the movement control amount, so that the movement control amount can be input into the controller to achieve movement control of the controlled member. The second adjustment member 50 can also detect the movement control amount through a position encoder, for example, the rod body 10 or the operating member 20 is connected to the rack. When the rod body 10 or the operating member 20 moves, the gear moves on the rack, and the actual movement distance is obtained by detecting the rotation amount of the gear.

[0043] Optionally, the rotation of the operating member 20 may be clockwise rotation or counterclockwise rotation, and the movement of the operating member 20 may be movement along the axial direction of the rod body 10 , such as forward or backward movement.

[0044] Combine Figure 1 In some embodiments of the present invention, the joystick 100 further includes a visual component 30, which is fixedly connected to the operating component 20, with a portion of the visual component 30 exposed outside the joystick 100. Thus, the visual component 30 can rotate and move with the rotation and movement of the operating component 20. Specifically, the visual component 30 can also be used for operation, and its function can be the same as that of the operating component 20. The operator can also operate the joystick 100 by pushing, pulling, or rotating the visual component 30.

[0045] Specifically, before the use of interventional devices, operators directly manipulated the guidewire catheter to insert it into the human blood vessels. Therefore, by using the guidewire catheter as the visual component 30, which is equivalent to the operating component 20 or handle, the feel of directly manipulating the guidewire with the human body is simulated.

[0046] The visual component 30 exposed on the joystick 100 can facilitate the operator to directly operate the visual component 30, thereby improving the realism during the operation.

[0047] Optionally, the visual part 30 can be a guide wire or catheter of an interventional device to simulate the shape of a guide wire of an interventional device. Since the visual part 30 is relatively thin, directly adjusting the visual part 30 will cause inconvenience in operation. The diameter of the operating part 20 on the periphery of the visual part 30 is larger than the visual part 30 and is fixedly connected to the visual part 30. Therefore, the rotation adjustment of the visual part 30 can be achieved by adjusting the operating part 20.

[0048] Optionally, a scale may be provided on the operating member 20 to facilitate observation by the operator.

[0049] According to the joystick 100 of the embodiment of the present invention, the operator can realize rotation and movement adjustment by controlling the operating member 20 or by controlling the visual member 30. The operating member 20 can be convenient for the operator to operate, and the operating member 20 and the visual member 30 move synchronously. The visual member 30 can be used to simulate the movement of the guide wire of the interventional device, which is conducive to improving the realism during operation.

[0050] Optionally, the visual component 30 can be constructed as a guidewire or catheter, so as to better simulate the effect of rotating the interventional device guidewire. The operator can use the same guidewire or catheter as the interventional device, thereby improving the operator's accuracy and realism in controlling the interventional device guidewire or catheter.

[0051] Specifically, the visual element 30 is fixedly connected to the operating element 20 and is a guidewire or catheter. This element simulates the effect of driving the guidewire or catheter within an interventional device. This allows the operator to directly manipulate the visual element 30 to detect changes in the guidewire within the interventional device, enhancing the realism and precision of the operation.

[0052] Specifically, since the guidewire of the interventional device can also be replaced by a catheter, the visual component 30 can be either a catheter or a guidewire. When the interventional device uses a guidewire, the guidewire can be placed in the operating component 20 to manipulate or visualize the movement of the guidewire. When the interventional device uses a catheter, the catheter can be placed in the operating component 20 to manipulate or visualize the movement of the catheter to improve authenticity.

[0053] For example, combining Figure 1 and Figure 2 The joystick 100 may include a first visual component 31 and a second visual component 32 , wherein the first visual component 31 is a guide wire and the second visual component 32 is a catheter.

[0054] Further, combined with Figure 6 and Figure 8 In some embodiments of the present invention, the operating member 20 includes a holding portion 21 and a clamping portion 22. The clamping portion 22 is arranged in the holding portion. The clamping portion 22 is provided with a mounting groove 201 for accommodating and clamping the visual member 30, thereby realizing the installation of the visual member 30. A part of the visual member 30 extends into the operating member 20, which can improve the tightness of the fit between the visual member 30 and the operating member 20.

[0055] Combine Figure 8The clamping portion 22 is threadedly connected to the holding portion 21. For example, the holding portion 21 has internal threads, and the clamping portion 22 has external threads. The clamping portion 22 is a flexible member. When the clamping portion 22 and the holding portion 21 are fixedly connected by threaded engagement, as the threads are tightened, the clamping portion 22 elastically deforms and is compressed, thereby clamping the visual element 30. This improves the stability of the visual element 30 after installation, making it easier for the operator to operate the visual element 30, such as pushing, pulling, and rotating.

[0056] Since the visual component 30 is detachably connected to the operating component 20, the operator can replace the visual component 30 according to actual use requirements. Alternatively, when transporting the joystick 100, the visual component 30 can be disassembled and placed separately for easy transportation and storage.

[0057] When the visual component 30 is in the shape of a catheter or a guidewire, since the clamping portion 22 is a flexible structure, the clamping portion 22 can fix both a thinner guidewire and a catheter that is thicker than the guidewire.

[0058] Optionally, one end of the mounting groove 201 has an open opening, and the visual component 30 can extend from the opening into the mounting groove 201, thereby allowing the visual component 30 to be mounted on the clamping portion 22. Alternatively, the mounting groove 201 extends a certain distance within the clamping portion 22 to increase the mating area between the clamping portion 22 and the visual component 30, thereby improving assembly stability.

[0059] Combine Figure 1 In some embodiments of the present invention, the handle portion 21 is configured to gradually contract toward the central axis of the visual component 30 in a direction away from the rod body 10, so as to facilitate cooperation with the visual component 30. In this way, support can be provided for the visual component 30 at the opening of the handle portion 21, which helps to improve the structural stability after assembly.

[0060] Specifically, the holding portion 21 can be easily held by the operator for easy operation, and the clamping portion 22 can be used to clamp the visual part 30. The holding portion 21 is connected to the clamping portion 22. In this way, the operator can operate both the holding portion 21 and the visual part 30, thereby improving the realism of the operation and helping to improve the accuracy of the operation.

[0061] Specifically, the operating member 20 is easy for the operator to hold and rotate. When the operator rotates the operating member 20, the visual member 30 rotates synchronously, thereby better simulating the rotation of the guidewire. The structure is simple and easy to construct. The visual member 30 can simulate the authenticity of operating a guidewire or catheter, and the operator can choose according to their needs in actual application.

[0062] Combine Figure 1In some embodiments of the present invention, the outer periphery of the handle 21 is provided with anti-slip grooves. In this way, when the operator operates through the handle 21, the thread can increase the friction, so that when the operator moves or rotates the operating part 20, it will not slip, which is conducive to improving the accuracy and comfort of the operation.

[0063] In some embodiments of the present invention, the operating member 20 is disposed at one end of the rod body 10 , and the first adjustment member 40 is disposed at the other end of the rod body 10 and coaxially connected to the operating member 20 .

[0064] Combine Figure 6 In some embodiments of the present invention, the first adjustment member 40 includes a first pan / tilt motor 41 and a transmission rod 42. The transmission rod 42 is disposed through the rod body 10, with both ends of the transmission rod 42 extending out of the rod body 10. One end of the transmission rod 42 is in transmission connection with the first pan / tilt motor 41, and the other end is in transmission connection with the operating member 20. Thus, the transmission rod 42 can transmit rotational damping to the operating member 20, so that when the operator rotates the operating member 20, there is rotational damping and the rotation angle of the operating member 20 is input to the first pan / tilt motor 41. In addition, the first pan / tilt motor 41 and the operating member 20 are disposed at opposite ends of the rod body 10, respectively, to provide an operating space for the operator to operate the operating member 20, thereby avoiding obstruction by other components during operation. Furthermore, the visual component 30 can be connected to this end, allowing the operator to observe the visual component 30 while operating.

[0065] Combine Figure 8 The transmission rod 42 extends in the same direction as the rod body 10. One end of the transmission rod 42 is directly connected to the first pan / tilt motor 41, and the second end of the transmission rod 42 is connected to the clamping portion 22. The clamping portion 22 has a larger diameter than the transmission rod 42. In this way, the clamping portion 22 forms a stop structure with the transmission rod body 42, which helps improve structural stability, especially during movement. Optionally, the transmission rod 42 and the clamping portion 22 are fixedly connected, for example, by welding, bonding, etc.

[0066] Combine Figure 6 and Figure 8 In some embodiments of the present invention, the joystick 100 further includes a bearing disposed between the transmission rod 42 and the rod body 10. The bearing is rotatably connected to the transmission rod 42 and limits axial movement of the transmission rod 42. Thus, the bearing secures the transmission rod 42 within the rod body 10 and allows for rotation relative to the rod body 10. Specifically, the bearing secures the transmission member within the rod body 10 and allows for rotation relative to the rod body 10. This allows the operating member 20 to rotate with rotational damping while also pulling the operating member 20 to drive synchronous movement of the rod body 10, thereby achieving movement of the rod body 10.

[0067] More specifically, combined with Figure 6In a specific embodiment of the present invention, the joystick 100 may include a first bearing 61 and a second bearing 62, which are respectively arranged at opposite ends of the rod body 10, thereby improving the stability of the connection between the rod body 10 and the transmission rod 42.

[0068] In some embodiments of the present invention, the first adjustment member 40 includes a first pan-tilt motor 41. The first pan-tilt motor 41 transmits signals to the controller. The controller outputs the rotational damping of the member to be controlled to the first pan-tilt motor 41. The first pan-tilt motor 41 is in transmission connection with the operating member 20 to output rotational damping to the operating member 20. The first pan-tilt motor 41 outputs the detected relative rotation angle to the controller, for example, outputs the rotation angle of the operating member 20 to the controller. Thus, by providing the first pan-tilt motor 41, signal transmission between the joystick 100 and the interventional device can be achieved. The resistance to rotation of the guidewire in the interventional device within the human body can be transmitted to the joystick 100, which can improve the realism and accuracy of the manipulation of the joystick 100. At the same time, the amount of control of the guidewire rotation by the joystick 100 can be transmitted to the interventional device, so that the guidewire can rotate according to the operator's manipulation of the joystick 100, thereby achieving remote control of the guidewire. Among them, the first pan-tilt motor 41 may have an encoder or angle detection device for detecting the rotation control amount of the rod body 10 or the operating part 20. Thus, the first pan-tilt motor 41 is connected to the rod body 10 or the operating part 20, and can provide rotational damping when the rod body 10 or the operating part 20 rotates, and at the same time can also detect the rotation angle of the rod body 10 or the operating part 20.

[0069] Combine Figure 4 and Figure 5In some embodiments of the present invention, the second adjustment member 50 includes a second pan-tilt motor 53. The second pan-tilt motor 53 transmits signals to the controller. The controller outputs the movement damping of the component to be controlled to the second pan-tilt motor 53. The second pan-tilt motor 53 is transmission-connected to the rod body 10 to output the movement damping to the operating member 20. The second pan-tilt motor 53 transmits the detected movement distance to the component to be controlled, such as the movement distance of the operating member 20. Thus, by providing the second pan-tilt motor 53, signal transmission between the joystick 100 and the interventional device can be achieved. The resistance to movement of the guidewire in the interventional device within the human body can be transmitted to the joystick 100, thereby improving the realism and precision of the joystick 100 operation. At the same time, the amount of control of the interventional device guidewire by the joystick 100 can be transmitted to the interventional device, allowing the guidewire to move according to the operator's control of the joystick 100, thereby achieving remote control of the guidewire. The component to be controlled can be a guidewire or catheter of the interventional device. Among them, the second pan-tilt motor 53 can have an encoder or displacement detection device for detecting the movement control amount of the rod body 10 or the operating part 20. Thus, the second pan-tilt motor 53 is connected to the rod body 10 or the operating part 20, and can provide movement damping when the rod body 10 or the operating part 20 rotates, and at the same time can also detect the movement distance of the rod body 10 or the operating part 20.

[0070] In other words, by providing the first pan-tilt motor 41 and the second pan-tilt motor 53, the rotational damping and movement damping of the interventional device guidewire can be transmitted to the operating member 20, respectively, which not only facilitates operation but also enhances the realism when manipulating the operating member 20. By providing the pan-tilt motors, the rotation and movement of the joystick 100 can be converted into output without the need for additional sensors, thus simplifying the structure.

[0071] Further, combined with Figure 7 In some embodiments of the present invention, the second adjustment member 50 further includes a first transmission member 51 and a second transmission member 52 that cooperate with each other. The first transmission member 51 is in transmission connection with the second pan / tilt motor 53, and the second transmission member 52 is disposed on the rod body 10 and extends axially along the rod body 10. In this way, the motion damping output by the second pan / tilt motor 53 can be transmitted to the rod body 10 through the cooperation of the first transmission member 51 and the second transmission member 52. Thus, when the operator moves the operating member 20, the operating member 20 synchronously drives the rod body 10 to move, and the operator can feel the motion damping. At the same time, the second pan / tilt motor 53 can record the distance moved by the rod body 10.

[0072] Specifically, combined Figure 5 In some embodiments of the present invention, the first transmission member 51 includes a driving part 512, the driving part 512 is connected to the second pan-tilt motor 53, and the driving part 512 is connected to the second transmission member 52 to transmit the resistance of the second pan-tilt motor 53 to the second transmission member 52 and then to the rod body 10.

[0073] Furthermore, combined Figure 3 In some embodiments of the present invention, the second transmission member 52 is provided with a first limit block 521 and a second limit block 522 at opposite ends of the rod body 10 along the axial direction. The first limit block 521 and the second limit block 522 stop the first transmission member 51. The first limit block 521 and the second limit block 522 can limit the movement space of the operating member 20, improving the structural stability during operation. In other words, the first limit block 521 and the second limit block 522 can be at the extreme positions when the first transmission member 51 and the second transmission member 52 are engaged, thereby improving the coordination effect between the first transmission member 51 and the second transmission member 52.

[0074] Combine Figure 5 and Figure 6 In some embodiments of the present invention, the first transmission member 51 is provided with a first stop portion 513 and a second stop portion 514, and the first stop portion 513 and the second stop portion 514 are provided at opposite ends of the axial direction of the first transmission member 51, and the first stop portion 513 and the second stop portion 514 are stopped at opposite sides of the second transmission member 52 along the circumference of the rod body 10. Thus, the second adjustment member 50 and the rod body 10 can be relatively fixed along the circumference, which is beneficial to improving stability during movement.

[0075] Combine Figure 6 In some embodiments of the present invention, the first transmission member 51 is a gear and the second transmission member 52 is a rack, and the gear and rack are meshed. The rack is provided on the rod body 10 and is adapted to match the shape of the rod body 10. The transmission structure of the gear and rack meshing has high mechanical efficiency and relatively precise positioning, which helps improve the accuracy of adjustment. It also has a simple structure and is easy to construct. When the operator moves the operating member 20, the rod body 10 is driven to move, the rack is displaced, and the gear rotates on the rack. The movement damping of the second pan-tilt motor 53 can be transmitted to the rack through the gear, thereby providing movement damping when the rod body 10 is moved. In combination with the above, the second pan-tilt motor 53 can detect the movement control amount of the operating member 20 by detecting the movement distance of the gear on the rack. The second pan-tilt motor 53 is coaxially connected to the gear. The second pan-tilt motor 53 can also transmit the movement damping force to the rack through the gear, and then to the rod body 10 connected to the rack.

[0076] Specifically, combined Figure 4 and Figure 6The rack extends in the same direction as the rod body 10, which can increase the size of the rack, thereby increasing the movable range of the operating member 20 or the visual member 30. The rack extends along the axial direction of the rod body 10, and the gear and the rack are engaged along the radial direction of the rod body 10. The gear is provided with a first stop portion 513 and a second stop portion 514 at opposite ends along its axis. The projection area of ​​the first stop portion 513 and the second stop portion 514 along the axial direction of the gear is larger than the projection area of ​​the gear along the axial direction. In this way, the first stop portion 513 and the second stop portion 514 can cover the gear, which can protect the gear on the one hand, and on the other hand, the first stop portion 513 and the second stop portion 514 protruding outward along the circumference of the gear can cooperate with the side walls of the rack to achieve circumferential limitation after the first transmission member 51 and the second transmission member 52 are matched, so that when the first transmission member 51 such as a gear and the second transmission member 52 such as a rack are matched, the limit block can limit the movement of the gear, and the stop portion can wrap the rack, which is beneficial to improve the structural stability during matching, thereby improving the stability of the transmission after the gear and the rack are meshed, so that the positional relationship between the gear and the rack is relatively fixed.

[0077] Optionally, the first stopper 513 and the second stopper 514 may be installed at the axis of the gear.

[0078] Optionally, the stop portion may also be provided on the second transmission member 52 or the rack. For example, the second transmission member 52 is provided with two relative stop portions along the circumference of the rod body 10, and the two stop portions circumferentially wrap around at least a portion of the first transmission member 51 or the gear, so that the second transmission member 52 can limit the movement of the first transmission member 51 along the circumferential direction.

[0079] A joystick 100 according to a specific embodiment of the present invention will be described below with reference to the accompanying drawings.

[0080] Combine Figures 1 to 8 According to an embodiment of the present invention, a joystick 100 (or joystick) is an input device with force feedback. The joystick 100 implements damping torque control and programmed actions for rotation and movement, converting the displacement and rotation of the joystick 100 into output without the need for additional sensors.

[0081] like Figure 1As shown, the joystick 100 includes a rod body 10, an operating member 20, a first adjustment member 40, a second adjustment member 50 and a visual member 30. The operating member 20 is provided at the end of the rod body 10. The operating member 20 is provided with a clamping portion 22 designed to clamp the guide wire or catheter as the actual control component. The second transmission member 52 is designed along the axial direction of the rod body 10. The joystick 100 drives the second transmission member 52 to cooperate with the first transmission member 51 of the second adjustment member 50. The end of the axial hole of the second transmission member 52 is installed on the first adjustment member 40 coaxial with the rod body 10, and the rod body 10 is coaxially fixed to the first adjustment member 40. The second adjustment member 50 is composed of a second pan-tilt motor 53 and a gear with a positioning edge (i.e., the first transmission member 51). The pan-tilt motor has its own motor and rotation sensor. The motor outputs variable torque and program action to achieve actions such as axial damping. The rotation sensor converts the rotation of the gear (i.e., the first transmission member 51) into an axial displacement code for output. The gear's positioning edge constrains the rack to axial movement only, preventing the rack (i.e., the second transmission member 52) from rotating. The first adjustment member 40 is secured coaxially to the rod body 10 by the first pan / tilt motor 41. The second pan / tilt motor 53 includes its own motor and rotation sensor. The motor outputs variable torque and programmed motion, enabling actions such as radial rotational damping. The rotation sensor converts the rotation of the joystick 100 into a coaxial rotational quantity code for output.

[0082] The present invention includes but is not limited to magnetic engagement, friction engagement, gapless engagement, etc. This design directly uses a guidewire or catheter as a handheld control component, which is more in line with actual application scenarios and greatly reproduces the actual feel of interventional equipment.

[0083] In the description of the present invention, it should be understood that the terms "center", "up", "down", "front", "back", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicating orientations or positional relationships, are 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 a limitation on the present invention.

[0084] 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 defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0085] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0086] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0087] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "embodiments", "specific embodiments", or "some embodiments" means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or embodiment are included in at least one embodiment or embodiment of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or embodiment. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or embodiments in a suitable manner. In addition, those skilled in the art can combine and combine the different embodiments or embodiments described in this specification and the features of different embodiments or embodiments, unless they are mutually inconsistent. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limitations of the present invention. Those skilled in the art can change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A joystick (100), characterized in that The joystick (100) comprises: Rod body (10), An operating member (20), the operating member (20) being arranged on the rod body (10) so as to be rotatable relative to the rod body (10), and the operating member (20) cooperating with the rod body (10) to drive the rod body (10) to move synchronously; a first adjusting member (40), the first adjusting member (40) cooperating with the operating member (20) to detect a rotation control amount of the operating member (20), the first adjusting member (40) being adapted to transmit signals to a controller to input rotation damping to the operating member (20), and / or to input the rotation control amount to the controller; A second adjusting member (50) cooperates with the rod body (10) to detect the movement control amount of the rod body (10), and the second adjusting member (50) is suitable for transmitting signals with a controller to input movement damping to the rod body (10) and / or to input the movement control amount to the controller.

2. The joystick (100) according to claim 1, characterized in that It also includes a visual component (30), which is fixedly connected to the operating component (20), and a portion of the visual component (30) is exposed outside the operating rod (100).

3. The joystick (100) according to claim 2, characterized in that The visual component (30) is a catheter or a guide wire.

4. The joystick (100) according to claim 2, characterized in that The operating member (20) comprises a holding portion (21) and a clamping portion (22), wherein the clamping portion (22) is arranged in the holding portion (21), and a mounting groove (201) with an open end is provided in the clamping portion (22), and the visual member (30) is arranged in the mounting groove (201) and clamped by the clamping portion (22).

5. The joystick (100) according to claim 4, characterized in that The clamping portion (22) is threadedly connected to the holding portion (21); the clamping portion (22) is a flexible member; the clamping portion (22) and the visible member (30) are interference-fitted; and / or the outer periphery of the holding portion (21) is provided with anti-slip grooves.

6. The joystick (100) according to claim 1, characterized in that The first adjusting member (40) comprises a first pan / tilt motor (41) and a transmission rod (42), wherein the transmission rod (42) is passed through the rod body (10) and both ends of the transmission rod (42) extend out of the rod body (10), one end of the transmission rod (42) is transmission-connected to the first pan / tilt motor (41), and the other end is transmission-connected to the operating member (20).

7. The joystick (100) according to claim 6, characterized in that The operating rod (100) further includes a bearing, which is arranged between the transmission rod (42) and the rod body (10). The bearing is rotatably connected to the transmission rod (42) and limits the axial movement of the transmission rod (42).

8. The joystick (100) according to claim 1, characterized in that The first adjusting member (40) includes a first pan-tilt motor (41), the first pan-tilt motor (41) transmits signals to the controller, the controller outputs the rotation damping of the member to be controlled to the first pan-tilt motor (41), the first pan-tilt motor (41) is transmission-connected to the operating member (20) to output the rotation damping to the operating member (20), and the first pan-tilt motor (41) outputs the detected relative rotation angle to the controller.

9. The joystick (100) according to any one of claims 1 to 8, characterized in that The second adjusting member (50) includes a second pan-tilt motor (53), the second pan-tilt motor (53) transmits signals to the controller, the controller outputs the movement damping of the member to be controlled to the second pan-tilt motor (53), the second pan-tilt motor (53) is transmission-connected to the rod body (10) to output the movement damping to the operating member (20), and the second pan-tilt motor (53) transmits the detected movement distance to the member to be controlled.

10. The joystick (100) according to claim 9, characterized in that The second adjusting member (50) further comprises a first transmission member (51) and a second transmission member (52) which cooperate with each other, wherein the first transmission member (51) is in transmission connection with the second pan / tilt motor (53), and the second transmission member (52) is arranged on the rod body (10) and extends along the axial direction of the rod body (10).

11. The joystick (100) according to claim 10, characterized in that The first transmission member (51) includes a driving portion (512), the driving portion (512) is connected to the second pan-tilt motor (53), and the driving portion (512) is connected to the second transmission member (52) to transmit the resistance of the second pan-tilt motor (53) to the rod body (10).

12. The joystick (100) according to claim 10, characterized in that The second transmission member (52) is provided with a first limiting block (521) and a second limiting block (522), wherein the first limiting block (521) and the second limiting block (522) are located at opposite ends of the rod body (10) and stop the first transmission member (51).

13. The joystick (100) according to claim 10, characterized in that The first transmission member (51) is provided with a first stop portion and a second stop portion, wherein the first stop portion and the second stop portion are arranged at opposite ends of the axial direction of the first transmission member (51) and stop at opposite sides of the second transmission member (52) along the circumferential direction of the rod body (10).

14. The joystick (100) according to claim 10, characterized in that The first transmission member (51) is a gear, and the second transmission member (52) is a rack, and the gear and the rack are meshed with each other.

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