Mistaken touch prevention mechanical force control device for navigation transcranial magnetic treatment racket

Abstract

The invention discloses an anti-mistaken-touch mechanical force control device for a navigation transcranial magnetic treatment racket, and belongs to the technical field of medical instruments.The anti-mistaken-touch mechanical force control device for the navigation transcranial magnetic treatment racket comprises a force control assembly, the force control assembly comprises a supporting column, and a cantilever support is fixedly installed on the supporting column; cantilever beams are fixedly installed at the two ends of the cantilever support, connecting frames are rotationally installed at the ends of the cantilever beams, touch feedback plates for sensing contact force are installed below the connecting frames, and adjusting assemblies for force conversion and transmission are arranged between the supporting columns and the connecting frames. A mistaken touch prevention scheme of independent, real-time and accurate transmission of force signals can be realized, and the problems of slow response, weak anti-interference capability and poor judgment accuracy in the prior art are solved.

Description

TECHNICAL FIELD

[0001] The application relates to a navigation transcranial magnetic therapy baton anti-mis-touch mechanical force control device and belongs to the technical field of medical instruments. BACKGROUND

[0002] As a non-invasive neural regulation method, transcranial magnetic stimulation technology has been widely used in the fields of mental and psychological diseases (such as depression) and nervous system diseases (such as stroke rehabilitation). During the treatment, the mechanical arm needs to accurately position the treatment baton and attach it to the target area of the patient's head, and at the same time, the contact force between the treatment baton and the head needs to be strictly controlled. If the contact force is too large or the patient's head is suddenly moved, it may cause the patient to be uncomfortable, affect the treatment accuracy, and even pose a safety risk.

[0003] In the transcranial magnetic therapy equipment, in order to avoid the discomfort or safety risk caused by excessive contact between the treatment baton and the patient's head, the existing technology mainly adopts two force control schemes, but both have obvious defects:

[0004] Mechanical arm force feedback scheme: relying on the force feedback mechanism of the mechanical arm, the signal is obtained by detecting the reverse torque when the baton is hit or pushed, and then the mechanical arm is controlled to avoid in the opposite direction. However, the signal transmission needs to rely on the change of the spatial position of the mechanical arm and the re-identification of the patient's position, and the response lag is obvious, with poor real-time performance.

[0005] Baton buffer device scheme: a buffer device is connected in series between the baton and the mounting structure, and the force signal is transmitted to the mechanical arm and the control system after the buffer mechanism is stressed. This scheme also has signal transmission delay, and the buffering process further reduces the response speed.

[0006] The core disadvantage of the two schemes is that the force signal needs to be transmitted through the baton or the mechanical arm body. The inertia generated by the weight of the baton itself, the connected lines / pipelines, etc. in motion will form a large number of noise signals, which may even mask the real patient impact force, making the control system unable to accurately judge. At the same time, the signal transmission path is long, the response mechanism lags behind, and it is difficult to meet the requirements of real-time performance and accuracy during the treatment process, which poses a safety risk.

[0007] Therefore, there is an urgent need for an anti-mis-touch scheme that can realize independent, real-time and accurate transmission of force signals to solve the problems of slow response, weak anti-interference ability and poor judgment accuracy in the existing technology. SUMMARY

[0008] The technical problem to be solved by the present application is to overcome the shortcomings of the prior art and provide a navigation transcranial magnetic therapy baton anti-mis-touch mechanical force control device that can realize independent, real-time and accurate transmission of force signals to solve the problems of slow response, weak anti-interference ability and poor judgment accuracy in the existing technology.

[0009] The technical scheme adopted by the present application to solve the existing problems is:

[0010] A navigation transcranial magnetic therapy beat error prevention mechanical force control device, comprising a force control assembly, the force control assembly comprises a support column, a cantilever support is fixedly installed on the support column, cantilevers are fixedly installed at both ends of the cantilever support, a connecting frame is rotatably installed at the end of the cantilever, a touch feedback plate for sensing contact force is installed below the connecting frame, and an adjusting assembly for force conversion and transmission is arranged between the support column and the connecting frame.

[0011] Preferably, the connecting frame comprises first supporting rods arranged in mirror image and a second supporting rod arranged at the middle part of the connecting frame; the first supporting rods arranged in mirror image are respectively rotatably connected with first rotation shafts, and the second supporting rod is rotatably connected with a second rotation shaft; the axis of the first rotation shaft is higher than the axis of the second rotation shaft.

[0012] Preferably, the adjusting assembly comprises a first tension-compression rod, a first tension-compression force sensor and a second tension-compression rod; one end of the first tension-compression rod is fixedly connected with the first tension-compression force sensor, the other end of the first tension-compression rod is rotatably connected with the support column, one end of the second tension-compression rod is fixedly connected with the first tension-compression force sensor, and the other end of the second tension-compression rod is rotatably connected with the second rotation shaft.

[0013] Preferably, the cantilevers at both ends of the cantilever support are respectively rotatably connected with the first rotation shafts.

[0014] Preferably, a second tension-compression force sensor is arranged below the connecting frame in mirror image; one end of the second tension-compression force sensor is fixedly connected with the connecting frame, and the other end of the second tension-compression force sensor is fixedly connected with the touch feedback plate.

[0015] Preferably, a therapy beat is installed on the force control assembly, the therapy beat is installed above the touch feedback plate, and the therapy beat is arranged in a spaced manner with the touch feedback plate.

[0016] Compared with the prior art, the present application has the beneficial effects that:

[0017] 1. Strong force detection independence and excellent anti-interference capability: the device adopts a force control assembly independent of the therapy beat, the touch feedback plate is arranged in a spaced manner with the therapy beat, signal interference caused by the weight, inertia and accessories (pipeline, line) of the beat is avoided, and the force signal is ensured to be pure and reliable;

[0018] 2. High force control precision and double detection to ensure reliability: the second tension-compression force sensor between the touch feedback plate and the connecting frame, and the first tension-compression force sensor in the adjusting assembly form a "double force detection" mechanism, which significantly improves the accuracy of force detection;

[0019] 3. Fast response speed, high safety against accidental touch: The gap design ensures that the touch feedback plate can respond sensitively to small pressure, and the efficient conversion structure of "rotary torque-pull pressure" has a very low delay from the generation of force signal to its transmission to the control system. The control system can quickly drive the mechanical arm to adjust the posture, effectively dealing with sudden "accidental touch" scenarios such as sudden movement of the patient's head, and reducing safety risks. BRIEF DESCRIPTION OF DRAWINGS

[0020] Fig. 1 Figure 1 is an assembly structure diagram of the navigation transcranial magnetic treatment baton anti-mis-touch mechanical force control device and treatment baton of the present application;

[0021] Fig. 2 Figure 2 is a structure diagram of the navigation transcranial magnetic treatment baton anti-mis-touch mechanical force control device of the present application;

[0022] Fig. 3 Figure 3 is a side view of the navigation transcranial magnetic treatment baton anti-mis-touch mechanical force control device of the present application.

[0023] In the drawings:

[0024] 1. Treatment baton, 101, baton handle, 2, force control assembly, 201, docking disc, 202, support column, 20201, baton locking port, 20202, through slot, 20203, fixing hole, 20204, pull and pressure rod mounting hole, 20205, rotating hole, 203, adjusting assembly, 20301, first pull and pressure rod, 20302, first pull and pressure sensor, 20303, second pull and pressure rod, 204, cantilever support, 205, cantilever beam, 206, connecting frame, 207, second pull and pressure sensor, 208, touch feedback plate, 209, first support rod, 2010, first rotating shaft, 2011, second support rod, 2012, second rotating shaft. DETAILED DESCRIPTION

[0025] The present specification and claims do not distinguish components by the difference in name, but by the difference in function. In the description of the present application, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "horizontal", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application. In the present application, unless otherwise explicitly specified and limited, the terms "mounting", "connection", "connection", "fixing" and the like should be understood broadly, and those skilled in the art can understand the specific meaning of the above terms in the present application according to the specific circumstances.

[0026] As Figs. 1-3The navigation transcranial magnetic treatment beat error prevention mechanical force control device shown in the embodiment comprises a force control assembly 2, the force control assembly 2 comprises a support column 202, the top of the support column 202 is fixed with a docking disc 201 for mounting a mechanical arm, the middle of the support column 202 is fixedly installed with a cantilever support 204, both ends of the cantilever support 204 are fixedly installed with cantilever beams 205, the end of the cantilever beam 205 is rotatably installed with a connecting frame 206, the lower part of the connecting frame 206 is installed with a touch feedback plate 208 for sensing contact force, and an adjusting assembly 203 for force conversion and transmission is arranged between the support column 202 and the connecting frame 206.

[0027] The connecting frame 206 comprises mirror image arranged first supporting rods 209 and a second supporting rod 2011 arranged in the middle of the connecting frame 206. The first supporting rods 209 are respectively rotatably connected with first rotation shafts 2010, and the second supporting rod 2011 is rotatably connected with a second rotation shaft 2012. In order to prevent the connecting frame 206 from rotating along the circumferences of the first rotation shafts 2010 and the second rotation shaft 2012, the axis of the first rotation shaft 2010 is higher than the axis of the second rotation shaft 2012.

[0028] The adjusting assembly 203 comprises a first tension and compression rod 20301, a first tension and compression force sensor 20302 and a second tension and compression rod 20303. One end of the first tension and compression rod 20301 is fixedly connected with the first tension and compression force sensor 20302, and the other end of the first tension and compression rod 20301 is rotatably connected with the support column 202. The support column 202 is provided with a tension and compression rod mounting hole 20204 and a rotating hole 20205. The tension and compression rod mounting hole 20204 is located above the cantilever support 204, the rotating hole 20205 penetrates the tension and compression rod mounting hole 20204, the other end of the first tension and compression rod 20301 is installed in the tension and compression rod mounting hole 20204, the size of the tension and compression rod mounting hole 20204 is larger than the end of the first tension and compression rod 20301 installed therein, a rotating shaft is installed in the rotating hole 20205, and the other end of the first tension and compression rod 20301 is rotatably connected with the rotating shaft of the rotating hole 20205. One end of the second tension and compression rod 20303 is fixedly connected with the first tension and compression force sensor 20302, and the other end of the second tension and compression rod 20303 is rotatably connected with the second rotation shaft 2012. The first tension and compression rod 20301, the first tension and compression force sensor 20302 and the second tension and compression rod 20303 form a rigid chain.

[0029] The cantilever beams 205 at both ends of the cantilever support 204 are rotatably connected with the first rotation shafts 2010. The lower part of the connecting frame 206 is mirror image arranged with a second tension and compression force sensor 207. One end of the second tension and compression force sensor 207 is fixedly connected with the connecting frame 206, and the other end of the second tension and compression force sensor 207 is fixedly connected with the touch feedback plate 208.

[0030] The force control assembly 2 is provided with a treatment baton 1. The lower end of the support column 202 is provided with a baton locking port 20201, a through slot 20202 and a plurality of fixing holes 20203. The lower end of the baton locking port 20201 is a locking plate. The through slot 20202 is arranged on the locking plate and communicates with the baton locking port 20201. The fixing holes 20203 are arranged on the locking plate and located on both sides of the through slot 20202. The fixing holes 20203 penetrate through the through slot 20202. The treatment baton 1 comprises a baton handle 101. The baton handle 101 is installed in the baton locking port 20201. A bolt penetrates through the fixing holes 20203 of the locking plate. The other end of the bolt is screwed with a nut. The nut abuts against the locking plate. The treatment baton 1 is fixed in the baton locking port 20201 by screwing the nut to extrude the locking plate. The treatment baton 1 is installed above the touch feedback plate 208. The treatment baton 1 is arranged in a spaced manner with the touch feedback plate 208. In order to ensure the treatment effect, the interval size between the treatment baton 1 and the touch feedback plate 208 is configured to be 0.5-1.5 mm. The touch feedback plate 208 can freely move relative to the treatment baton 1 and transmit the force, and the treatment distance between the treatment baton 1 and the patient's head is not affected.

[0031] The navigation transcranial magnetic treatment baton anti-misoperation mechanical force control device further comprises a control system. The control system is usually an embedded control system. The control system is electrically connected with the treatment baton 1, the first tensile and compressive force sensor 20302, the second tensile and compressive force sensor 207 and the mechanical arm, and can realize accurate sensing and rapid response of the force signal in the treatment process. The first tensile and compressive force sensor 20302 and the second tensile and compressive force sensor 207 are both strain sensors, which are mature existing technologies.

[0032] The working principle of the navigation transcranial magnetic treatment baton anti-misoperation mechanical force control device is as follows:

[0033] 1. Structure assembly: the mechanical arm is fixedly connected with the docking disc 201. The lower part of the support column 202 clamps the baton handle 101 in the baton locking port 20201, so that the treatment baton 1, the docking disc 201 and the baton handle 101 form a rigid whole and move with the mechanical arm;

[0034] 2. Initial state establishment: the treatment baton 1 is close to the patient's head. The touch feedback plate 208 is arranged below the treatment baton 1. The interval between the two is about 0.5-1.5 mm, so that the touch feedback plate 208 can freely move and bear force and the treatment distance is not affected;

[0035] 3. Force conversion and transmission: When the patient's head or external factors exert pressure on the touch feedback plate 208, the touch feedback plate 208 is subjected to force. When the cantilever beam 205 tends to rotate around the first rotating shaft 2010 due to the force on the touch feedback plate 208, the second branch 2011 of the connecting frame 206 is connected to the second tension-compression rod 20303 of the adjusting assembly 203 through the second rotating shaft 2012, and the first tension-compression rod 20301, the first tension-compression sensor 20302, and the second tension-compression rod 20303 form a rigidly connected whole, i.e., the adjusting assembly 203, which restricts the free rotation of the cantilever beam. At this time, the moment of force that causes the cantilever beam 205 to rotate around the first rotating shaft 2010 is blocked by the adjusting assembly 203, and the direction of the force is changed. The moment of force that originally caused the cantilever beam 205 to rotate is converted into a tension-compression force along the axis of the adjusting assembly 203. If the cantilever beam 205 has a downward rotation tendency, the adjusting assembly 203 is subjected to tension, and if the cantilever beam 205 has an upward rotation tendency, the adjusting assembly 203 is subjected to compression. At the same time, the pressure on the touch feedback plate 208 is directly transmitted to the second tension-compression sensor 207 connected to it. The second tension-compression sensor 207 senses and outputs the initial force signal in real time. The tension-compression force converted by the adjusting assembly 203 is transmitted along the first tension-compression rod 20301, the first tension-compression sensor 20302, and the second tension-compression rod 20303. The force signal is detected again by the first tension-compression sensor 20302 and outputted.

[0036] 4. Signal processing and control instruction output: The first tension-compression sensor 20302 transmits the detected force signal to the control system in real time. The control system analyzes and processes the signal.

[0037] 5. Mechanical arm response action: The control system determines whether to trigger the anti-mistouch mechanism based on the force signal. If the threshold is exceeded, the control system quickly issues a control instruction to drive the mechanical arm to adjust the position or posture, avoiding excessive contact between the treatment drum 1 and the patient's head, and completing the anti-mistouch protection.

[0038] The device effectively solves the problems of large force signal interference, low precision, and slow response in the prior art through the design of an independent force control path, double detection, and fast response, significantly improving the safety and reliability of transcranial magnetic therapy.

[0039] The embodiments of the application are described in detail above in conjunction with the drawings, but the application is not limited to the above-described embodiments. Within the scope of knowledge possessed by those skilled in the art, various changes can be made without departing from the purpose of the application.

Claims

1. A mechanical force control device for preventing accidental touch of a transcranial magnetic stimulation (TMS) device, characterized in that: The system includes a force control component (2), which includes a support column (202). A cantilever bracket (204) is fixedly installed on the support column (202). Cantilever beams (205) are fixedly installed at both ends of the cantilever bracket (204). A connecting frame (206) is rotatably installed at the end of the cantilever beam (205). A touch feedback panel (208) for sensing contact force is installed below the connecting frame (206). An adjustment component (203) for force conversion and transmission is provided between the support column (202) and the connecting frame (206).

2. The navigation transcranial magnetic stimulation (TMS) beater anti-accidental touch mechanical force control device according to claim 1, characterized in that: The connecting frame (206) includes a first support rod (209) arranged in a mirror image and a second support rod (2011) arranged in the middle of the connecting frame (206); the first support rod (209) is rotatably connected to a first rotating shaft (2010), and the second support rod (2011) is rotatably connected to a second rotating shaft (2012), and the axis of the first rotating shaft (2010) is higher than the axis of the second rotating shaft (2012).

3. The navigation transcranial magnetic stimulation (TMS) beater anti-accidental touch mechanical force control device according to claim 2, characterized in that: The adjustment assembly (203) includes a first tension / compression rod (20301), a first tension / compression sensor (20302), and a second tension / compression rod (20303). One end of the first tension / compression rod (20301) is fixedly connected to the first tension / compression sensor (20302), and the other end of the first tension / compression rod (20301) is rotatably connected to the support column (202). One end of the second tension / compression rod (20303) is fixedly connected to the first tension / compression sensor (20302), and the other end of the second tension / compression rod (20303) is rotatably connected to the second rotating shaft (2012).

4. The navigation transcranial magnetic stimulation (TMS) beater anti-accidental touch mechanical force control device according to claim 3, characterized in that: The cantilever beams (205) at both ends of the cantilever bracket (204) are rotatably connected to the first rotating shaft (2010).

5. The navigation transcranial magnetic stimulation (TMS) beater anti-accidental touch mechanical force control device according to claim 4, characterized in that: A second tension / compression sensor (207) is mirror-mounted below the connecting frame (206). One end of the second tension / compression sensor (207) is fixedly connected to the connecting frame (206), and the other end of the second tension / compression sensor (207) is fixedly connected to the touch feedback panel (208).

6. The navigation transcranial magnetic stimulation (TMS) beater anti-accidental touch mechanical force control device according to claim 1, characterized in that: The force control component (2) is equipped with a treatment paddle (1), which is installed above the touch feedback panel (208) and is spaced apart from the touch feedback panel (208).

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