Interventional robot main hand device with floating support

Abstract

The invention discloses an interventional robot main hand device with a floating support. The interventional robot main hand device comprises a base, an operating rod assembly and a torque feedback assembly. The operation rod assembly is manually operated by an operator, so that the slave hand device for the vascular interventional operation is remotely controlled to rotate and deliver the interventional consumables; the supporting assembly is used for supporting the operating rod assembly to be suspended in the air, so that an operator can more easily hold the operating rod assembly, the supporting assembly is arranged on the base, the supporting assembly comprises a floating anti-rotation mechanism, and the floating anti-rotation mechanism comprises a combination of a yaw angle floating structure and a pitch angle floating structure; and the torque feedback assembly is connected with the operating rod assembly, the torque feedback assembly directly applies corresponding torque to the operating rod assembly so as to simulate torque resistance in the operation process, and at the moment, a front-back floating mechanism is arranged between the fixed end of the torque feedback assembly and the supporting assembly.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an interventional robot master device with floating support. BACKGROUND

[0002] Vascular interventional surgery is a minimally invasive surgery performed in the human body blood vessels through interventional surgical medical consumables such as guide wires, catheters, and stents, used for treating cardiovascular diseases, neurovascular diseases, and other blood vessel-related diseases. Vascular interventional surgery is mainly divided into surgical treatment of intravascular embolization, stenosis, and intravascular hemorrhage, which requires the use of various interventional instruments and imaging equipment. During the vascular interventional surgery, angiography is required, but angiography will produce radiation. When doctors work in such an environment for a long time, it will affect their health. Therefore, vascular interventional robots are developed to solve this problem. The operator only needs to control the master hand in a radiation-free environment to control the delivery and rotation of the interventional surgical medical consumables by the slave hand beside the operating table. However, the delivery and rotation of the interventional surgical medical consumables will be resisted, and the operator needs to judge based on this resistance. Therefore, the force feedback as realistic as possible to the operator is crucial to the safety of the surgery.

[0003] The prior art with publication number CN116350356A discloses an interventional robot bionic force feedback master end operation device, which comprises a bottom plate, a guide wire force feedback push rod device, a catheter force feedback push rod device, and a balloon stent force feedback rocker device. The guide wire force feedback push rod device comprises a push rod operation mechanism and a push rod tactile resistance feedback mechanism, and the push rod tactile resistance feedback mechanism is connected with the push rod operation mechanism through a movable guide wire force tactile resistance tension spring. The catheter force feedback push rod device is installed on the bottom plate. The balloon stent force feedback rocker device comprises a rocker operation mechanism and a rocker tactile resistance feedback mechanism, and the rocker tactile resistance feedback mechanism is connected with the rocker through a movable stent force tactile resistance tension spring.

[0004] In the above device, when the operator holds the push rod operation mechanism and slides along the linear guide rail, the pushing force of the operator on the push rod operation mechanism is not only along the linear guide rail sliding axis direction. During the surgery, the operator will have left-right or up-down deviation force on the push rod operation mechanism, which will make the sliding block "stick" when sliding on the guide rail, affecting the operator's hand feeling. SUMMARY

[0005] The present application aims to provide an interventional robot master device with floating support to solve the technical defects and unattainable technical requirements of the prior art.

[0006] To achieve the above-mentioned purpose, the present application provides the following technical solutions:

[0007] An interventional robot master device with floating support, comprising a base, an operating lever assembly and a torque feedback assembly;

[0008] The operating lever assembly is manually manipulated by an operator to rotate and deliver an interventional consumable by the slave device of the remote-controlled vascular interventional surgery;

[0009] The support assembly is used to support the operating lever assembly in the air, making it easier for the operator to hold the operating lever assembly. The support assembly is arranged on the base, and the support assembly comprises a floating anti-rotation mechanism, which comprises a combination of a yaw angle floating structure and a pitch angle floating structure.

[0010] The torque feedback assembly is connected to the operating lever assembly at the output end, and the torque feedback assembly directly applies a corresponding torque to the operating lever assembly, thereby simulating the torque resistance in the surgical process. At this time, the front and rear floating mechanism is arranged between the fixed end of the torque feedback assembly and the support assembly; or the torque feedback assembly is arranged on the support assembly, and the front and rear floating mechanism is arranged between the output end of the torque feedback assembly and the operating lever assembly.

[0011] As a preferred, the front and rear floating mechanism keeps the axial relative floating and the circumferential relative limiting between the fixed end of the torque feedback assembly and the support assembly or between the output end of the torque feedback assembly and the operating lever assembly; the yaw angle floating structure enables the operating lever assembly to deflect left and right when moving along the axial direction, and the pitch angle floating structure enables the operating lever assembly to deflect up and down when moving along the axial direction.

[0012] The front and rear floating mechanism adopts a guide rail and slider structure, or an anti-rotation shaft hole structure, or a structure of a sliding rod and a sliding sleeve, or a combination of a circular shaft hole structure and an anti-rotation structure.

[0013] As a preferred, when the torque feedback assembly is fixed on the support assembly, the output end of the torque feedback assembly is arranged on the side of the operating handle, the output end of the torque feedback assembly is not in a straight line with the axis of the operating lever assembly, the front and rear floating structure adopts a structure of a sliding sleeve and a sliding rod, the yaw angle floating structure and the pitch angle floating structure are arranged between the torque feedback assembly and the base, a torque transmission mechanism is arranged between the output end of the torque feedback assembly and the sliding sleeve, the sliding rod is coaxially connected with the operating lever assembly, the sliding rod can pass through the sliding hole in the middle of the sliding sleeve to realize axial sliding, but the circumferential limiting between the sliding sleeve and the sliding rod is maintained, so that the torque feedback assembly drives the sliding sleeve to rotate while driving the operating lever assembly to rotate, thereby providing torque feedback.

[0014] Or the torque feedback component adopts a hollow motor, the front and rear floating structure adopts a structure of a sliding rod and a sliding sleeve, the output end of the hollow motor is coaxially connected with the sliding sleeve, the operating rod component is coaxially connected with the sliding rod, the sliding rod is inserted into the sliding hole in the middle of the sliding sleeve, the sliding rod and the sliding sleeve can axially slide but are limited in the circumferential direction, so that the hollow motor drives the sliding sleeve to rotate while driving the operating rod component to rotate, torque feedback is realized, and the yaw angle floating structure and the pitch angle floating structure are arranged between the hollow motor and the base.

[0015] As preferred, when the output end of the torque feedback component is connected with the operating rod component, the operating rod component comprises a connecting rod and an operating handle, one end of the connecting rod is coaxially connected with the operating handle, the torque feedback component directly drives the connecting rod and the operating handle to rotate to realize torque feedback, the other end of the connecting rod is coaxially connected with the torque feedback component, the torque feedback component axially moves together with the operating handle under the driving of the operating handle, and the floating anti-rotation mechanism is arranged between the torque feedback component and the base.

[0016] As preferred, the output end of the torque feedback component is coaxially connected with the connecting rod, and when the axis of the connecting rod is parallel to the axial direction of the master hand device, the minimum distance between the output end axis of the torque feedback component and the front and rear floating structure is less than 100 mm.

[0017] As preferred, when the axis of the connecting rod is parallel to the axial direction of the master hand device, the minimum distance between the output end axis of the torque feedback component and the front and rear floating structure is 30-50 mm, and when the front and rear floating structure adopts a guide rail and sliding block structure, the mounting direction of the guide rail is parallel to the axial direction of the master hand device, and the minimum distance between the output end axis of the torque feedback component and the guide rail is 30-50 mm.

[0018] As preferred, the distance between the operating handle and the output end of the torque feedback component is greater than 150 mm, and in the process that the operating handle reciprocally moves along the axial direction of the front and rear floating structure, the position of the operating handle is staggered with the position of the front and rear floating structure in the axial direction, so as to leave sufficient holding space for the operating handle.

[0019] When the front and rear floating structure adopts a guide rail and sliding block structure, the operating handle extends from one side of the guide rail in the axial direction, so as to leave sufficient holding space for the operating handle.

[0020] As preferred, an axial force feedback component is further included, an axial force corresponding to the axial force borne by the intervention material is applied to the operating rod component, so as to simulate the axial force resistance in the surgical process.

[0021] As preferred, the axial force feedback assembly is provided with a single axial feedback element, the floating ends of the front and rear floating structures or the fixed ends of the torque feedback assembly are respectively connected with the front and rear ends of the same pull rope or transmission belt, the pull rope or transmission belt is changed direction by the pulley to form a closed loop;

[0022] Or the floating ends of the front and rear floating structures or the fixed ends of the torque feedback assembly are respectively connected with two pull ropes or transmission belts, the two pull ropes or transmission belts are changed direction by the pulley to be in transmission connection with the same axial feedback element to form a closed loop, the axial feedback element exerts bidirectional force on the operating lever assembly through the pull rope or transmission belt;

[0023] When the axial force feedback assembly adopts the transmission belt, a string or bearing structure is arranged between the transmission belt and the operating handle of the operating lever assembly, and the string or bearing structure realizes the relative axial rotation between the transmission belt and the operating handle.

[0024] As preferred, the axial force feedback assembly adopts one or a combination of rope driving structure, belt transmission structure, gear driving rack structure or friction wheel driving friction belt structure to exert bidirectional force on the floating ends of the front and rear floating structures or the fixed ends of the torque feedback assembly, and the bidirectional force is transmitted to one end of the operating handle by the front and rear floating structures or the torque feedback assembly through the connecting rod.

[0025] When the axial force feedback assembly adopts the rope driving structure or the belt transmission structure, the axial force feedback assembly is provided with a single axial feedback element, the front and rear ends of the floating ends of the front and rear floating structures or the fixed ends of the torque feedback assembly are respectively connected with the front and rear ends of the same pull rope or transmission belt, and the pull rope or transmission belt is changed direction by the pulley to form a closed loop.

[0026] Or the front and rear ends of the floating ends of the front and rear floating structures or the fixed ends of the torque feedback assembly are respectively connected with two pull ropes or transmission belts, the two pull ropes or transmission belts are changed direction by the pulley to be in transmission connection with the same axial feedback element to form a closed loop, and the axial feedback element exerts bidirectional force on the front and rear floating structures or the torque feedback assembly through the pull rope or transmission belt, and the bidirectional force is transmitted to one end of the operating handle by the front and rear floating structures or the torque feedback assembly through the connecting rod.

[0027] Compared with the prior art, the present application has the following beneficial effects:

[0028] 1. The operating lever assembly is suspended and supported in the air by the supporting assembly, so that the operating lever assembly is at a certain height from the base, and the operating personnel can better hold the operating lever assembly.

[0029] 2. The floating anti-rotation mechanism on the support assembly can float forward and backward between the fixed end of the torque feedback assembly and the support assembly or between the output end of the torque feedback assembly and the operating lever assembly while preventing the fixed end of the torque feedback assembly from rotating. The floating anti-rotation mechanism enables the operating lever assembly to float forward and backward, left and right, in the yaw angle and in the pitch angle, prevents the operating lever assembly from being stuck during forward and backward movement, reduces the feeling of jamming when the operating lever assembly moves along the axial direction, improves the degree of freedom of the operating handle, and makes the operating handle more convenient to use. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 It is a schematic diagram of the overall structure of Example 1.

[0031] Figure 2 It is a side sectional view of the operating handle of Example 1.

[0032] Figure 3 It is a schematic diagram of the internal structure of the operating handle of Example 1.

[0033] Figure 4 It is a schematic diagram of the quick connection structure of the operating handle of Example 1.

[0034] Figure 5 It is an exploded view of the quick connection structure of the operating handle of Example 1.

[0035] Figure 6 It is a schematic diagram of the overall structure of Example 2.

[0036] Figure 7 It is a schematic diagram of the torque feedback assembly of Example 2.

[0037] Figure 8 It is a schematic diagram of the support assembly of Example 2.

[0038] Figure 9 It is a schematic diagram of the overall structure of Example 3.

[0039] Figure 10 It is a schematic diagram of the support assembly of Example 3.

[0040] Figure 11 It is a schematic diagram of the overall structure of Example 4.

[0041] Figure 12 It is a schematic diagram of the support assembly of Example 4.

[0042] Figure 13 It is a schematic diagram of the overall structure of Example 5.

[0043] Figure 14 It is a schematic diagram of the support assembly of Example 5.

[0044] Figure 15A second sliding rod sectional view of the embodiment 5. DETAILED DESCRIPTION

[0045] The technical solutions in the embodiments of the present application will be clearly and completely described in connection with the drawings of the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0046] Embodiment 1

[0047] An interventional robot master device with floating support, comprising a base, an operating rod assembly and a torque feedback assembly;

[0048] The operating rod assembly is manually manipulated by an operator to realize rotation and delivery of an interventional consumable by a slave device of a remote-controlled vascular interventional surgery;

[0049] The support assembly is used to support the operating rod assembly, so that one end or the whole of the operating rod assembly is suspended in the air, making it easier for the operator to hold the operating rod assembly. The support assembly is arranged on the base, and comprises a floating anti-rotation mechanism, which comprises a combination of a yaw angle floating structure and a pitch angle floating structure.

[0050] The torque feedback assembly is connected to the operating rod assembly at the output end, and directly applies a corresponding torque to the operating rod assembly, thereby simulating the torque resistance in the surgical process. A front-rear floating mechanism is arranged between the fixed end of the torque feedback assembly and the support assembly.

[0051] The front-rear floating mechanism keeps the axial relative floating and the circumferential relative limiting between the fixed end of the torque feedback assembly and the support assembly, or between the output end of the torque feedback assembly and the operating rod assembly. The yaw angle floating structure enables the operating rod assembly to deflect left and right when moving along the axial direction, and the pitch angle floating structure enables the operating rod assembly to deflect up and down when moving along the axial direction.

[0052] The front-rear floating mechanism adopts a guide rail and a sliding block structure, or an anti-rotation shaft hole structure, or a structure of a sliding rod and a sliding sleeve, or a combination of a circular shaft hole structure and an anti-rotation structure.

[0053] When the output end of the torque feedback assembly is connected with the operating rod assembly, the operating rod assembly comprises a connecting rod and an operating handle, one end of the connecting rod is coaxially connected with the operating handle, the torque feedback assembly directly drives the connecting rod and the operating handle to rotate to realize torque feedback, the other end of the connecting rod is coaxially connected with the torque feedback assembly, and the torque feedback assembly moves axially together with the operating handle under the driving of the operating handle, and the floating anti-rotation mechanism is arranged between the torque feedback assembly and the base.

[0054] The output end of the torque feedback assembly is coaxially connected with the connecting rod, and when the axis of the connecting rod is parallel to the axial direction of the master hand device, the minimum distance between the output end axis of the torque feedback assembly and the front and rear floating structures is less than 100 mm.

[0055] When the axis of the connecting rod is parallel to the axial direction of the master hand device, the minimum distance between the output end axis of the torque feedback assembly and the front and rear floating structures is 30-50 mm, and when the front and rear floating structures adopt a guide rail and sliding block structure, the mounting direction of the guide rail is parallel to the axial direction of the master hand device, and the minimum distance between the output end axis of the torque feedback assembly and the guide rail is 30-50 mm.

[0056] The distance between the operating handle and the output end of the torque feedback assembly is greater than 150 mm, and in the process that the operating handle moves reciprocatingly along the front and rear floating structures in the axial direction, the positions of the operating handle and the front and rear floating structures are staggered in the axial direction, so that enough holding space is left for the operating handle.

[0057] When the front and rear floating structures adopt a guide rail and sliding block structure, the operating handle extends from one side of the guide rail in the axial direction, so that enough holding space is left for the operating handle.

[0058] Further comprising an axial force feedback assembly, based on the axial force borne by the intervention consumables, the axial force feedback assembly applies corresponding axial force to the operating rod assembly, so as to simulate the axial force resistance in the surgical process.

[0059] The axial force feedback assembly is provided with a single axial feedback element, the floating end of the front and rear floating structures or the fixed end of the torque feedback assembly is connected with the rear end of the operating handle respectively through the front and rear ends of a single pulling rope or transmission belt, and the pulling rope or transmission belt changes direction through a pulley to form a closed loop.

[0060] Alternatively, the floating end of the front and rear floating structures or the fixed end of the torque feedback assembly is connected with the rear end of the operating handle respectively through two pulling ropes or transmission belts, the two pulling ropes or transmission belts change direction through a pulley to be transmissionally connected with a single axial feedback element, to form a closed loop, and the axial feedback element applies bidirectional force to the operating rod assembly through the pulling rope or transmission belt.

[0061] When the axial force feedback assembly adopts a transmission belt, a string or bearing structure is provided between the transmission belt and the operating handle of the operating lever assembly, which realizes the relative axial rotation between the transmission belt and the operating handle.

[0062] The axial force feedback assembly adopts one or a combination of a rope driving structure, a belt transmission structure, a gear driving rack structure or a friction wheel driving friction belt structure to apply bidirectional force to the floating end of the front and rear floating structure or the fixed end of the torque feedback assembly, and the front and rear floating structure or the torque feedback assembly transmits the bidirectional force to one end of the operating handle through the connecting rod.

[0063] When the axial force feedback assembly adopts a rope driving structure or a belt transmission structure, the axial force feedback assembly is provided with a single axial feedback element, and the front and rear ends of the floating end of the front and rear floating structure or the fixed end of the torque feedback assembly are connected to the front and rear ends of the same pull rope or transmission belt, and the pull rope or transmission belt is changed direction by the pulley to form a closed loop.

[0064] Alternatively, the front and rear ends of the floating end of the front and rear floating structure or the fixed end of the torque feedback assembly are connected to two pull ropes or transmission belts, and the two pull ropes or transmission belts are connected to the same axial feedback element through pulley change to form a closed loop, and the axial feedback element applies bidirectional force to the front and rear floating structure or the torque feedback assembly through the pull rope or transmission belt, and the front and rear floating structure or the torque feedback assembly transmits the bidirectional force to one end of the operating handle through the connecting rod.

[0065] As Figure 1 , the torque feedback assembly includes a torque motor 10130019, the output end of the torque motor 10130019 is coaxially connected to one end of the connecting rod 101300011 through the middle via hole of the slip ring 10133012, the other end of the connecting rod 101300011 is coaxially connected to the operating handle 10130001, the operating handle 10130001 is provided with a pressable part and a non-pressable part (hold the non-pressable part when releasing the pressable part to avoid idling and axial movement), the base 1013101 (equivalent to the base) is fixedly connected with the support member 101310101 of the support assembly, the support member 101310101 is fixedly connected with the guide rail 1013106 of the front and rear floating mechanism (so as to improve the installation height of the guide rail 1013106, and the distance between the guide rail 1013106 and the base 1013101 is 30-100mm), the guide rail 1013106 is slidably provided with the sliding block 1013107, the sliding block 1013107 and the torque feedback assembly are connected through the pitch angle floating structure 1013100102 and the yaw angle floating structure 1013100103, realizing the floating in the up-down direction and the left-right direction, effectively preventing the yaw of the operating handle 10130001 from making the sliding block 1013107 be "stuck".

[0066] When the axis of the connecting rod 101300011 is parallel to the axis of the master device, the axis of the master device is the installation direction of the guide rail 1013106, and the minimum distance between the output shaft axis of the torque motor 10130019 and the guide rail 1013106 is less than 100 mm.

[0067] The distance between the operating handle 10130001 and the output end of the torque feedback assembly is greater than 150 mm, that is, the length of the connecting rod 101300011 is greater than 150 mm, and the connecting rod 101300011 is long enough to extend from one side of the guide rail 1013106 in the axial direction, that is, the direction perpendicular to the axis of the connecting rod 101300011 from the side, leaving enough space for the operating handle 10130001 to hold.

[0068] When the axis of the connecting rod 101300011 is parallel to the axis of the master device, that is, the output shaft axis of the torque motor 10130019 is parallel to the guide rail 1013106, the distance between the output shaft axis of the torque motor 10130019 and the guide rail 1013106 is 30-50 mm, thereby reducing the overturning moment applied to the slider 1013107 and minimizing the friction between the guide rail 1013106 and the slider 1013107.

[0069] The axial force feedback assembly includes an axial force motor 10130004 and a winding wheel 10130007, the output end of the axial force motor 10130004 is fixedly connected with the winding wheel 10130007, one end of a first pull rope 10130021 is directly connected with one end of the slider 1013107 (or directly connected with one end of the torque feedback assembly), the other end of the first pull rope 10130021 is wound on the winding wheel 10130007, one end of a second pull rope 10130022 is connected with the other end of the slider 1013107 by passing through a reversing wheel 101300071 (or directly connected with the other end of the torque feedback assembly), the other end of the second pull rope 10130022 is wound on the winding wheel 10130007, the winding wheel 10130007 has a spiral groove for guiding the pull rope to be wound on the winding wheel in a spiral shape, and the outer diameter of the winding wheel 10130007 is 10-50 mm.

[0070] The first pull rope and the second pull rope are wound on the winding wheel in the same spiral direction, when the operating lever assembly slides forward and pulls the winding wheel to rotate in the positive direction, the first pull rope is wound on the winding wheel, and the second pull rope is released from the winding wheel, and in the process; when the operating lever assembly slides backward and pulls the winding wheel to rotate in the reverse direction, the second pull rope is wound on the winding wheel, and the first pull rope is released from the winding wheel.

[0071] In the above process, the axial feedback element rotates with the winding wheel, and an angle sensor is arranged in the interior of the axial feedback element. The rotation angle of the winding wheel can be measured, so as to convert the displacement amount of the joystick assembly, and send the displacement amount to the slave hand for realizing master-slave follow-up control. The axial feedback element can apply a rotation torque to the winding wheel, and convert it into a pulling force of the pull rope acting on the joystick assembly, so as to realize force feedback.

[0072] The torque feedback assembly is wired through a strip cable or a plurality of flexible cables. The strip cable 1013200110 or the plurality of flexible cables are wound into a U shape on the side of the front and rear floating mechanisms. During the forward and backward movement of the guide rail slider, the strip cable 1013200110 or the plurality of flexible cables are self-adaptively deformed in flexibility, and do not cause too much resistance interference to the guide rail slider. The strip cable 1013200110 is connected with a first limiting buckle 10132001101 and a second limiting buckle 10132001102 for limiting the strip cable 1013200110.

[0073] As Figures 2 to 5, the elastic body adopts conductive silica gel pipe 1013000102, and the outer diameter is 5-15mm, and the wall thickness is 0.5-3mm, so as to ensure good holding and pinching feeling. The connecting rod 101300011 and the operating handle 10130001 are provided with a quick connection structure, the quick connection structure adopts a threaded connection structure, a threaded connector A 10130001101 is arranged on the end of the connecting rod 101300011 close to the operating handle 10130001, a threaded connector B 10130001104 is arranged on the operating handle 10130001, the threaded connector B 10130001104 is threadedly connected with the threaded connector A 10130001101, a first wire 10130001102 connected with a slip ring at one end is arranged in the connecting rod 101300011, the other end of the first wire 10130001102 is fixedly connected with a spring needle 10130001103, the spring needle 10130001103 is arranged in the threaded connector A 10130001101, and the elastic contact is extended out, a second wire 10130001105 connected with the conductive silica gel pipe is arranged in the operating handle 10130001, the second wire 10130001105 is connected with a spring needle connector 10130001106 for contacting the spring needle 10130001103, a notch 101300011011 is arranged on the outer side of the threaded connector A 10130001101, the connecting rod 101300011 can be further sleeved with a mounting shell 1013000111, the mounting shell 1013000111 is provided with a through hole 101300011101 communicated with the notch 101300011011, a stop rod is inserted from the outside of the mounting shell 1013000111 through the through hole 101300011101 and is clamped in the notch 101300011011 of the threaded connector A 10130001101, so as to avoid rotation of the threaded connector A 10130001101 (the stop rod can also be replaced by a stop wrench), at this time, the threaded connector B 10130001104 on the control operating handle 10130001 is butted against the threaded connector A 10130001101, then the operating handle 10130001 is rotated to make the threaded connector B 10130001104 and the threaded connector A 10130001101 be tightly connected, at the same time, the spring needle 10130001103 contacts the spring needle connector 10130001106, so that the first wire 10130001102 and the second wire 10130001105 are butted and connected.

[0074] The electric signal of the conductive silica gel tube 1013000102 is introduced into the controller through the second wire 10130001105, the first wire 10130001102, the slip ring 10133012 and the ribbon cable 1013200110 in turn. The inner core rod 1013000101 is connected with the connecting rod 101300011 through the threaded connector B 10130001104 and the threaded connector A 10130001101. Since the threaded connector B 10130001104 and the threaded connector A 10130001101 are both made of conductive metal material, the electric signal is introduced into the controller through the connecting rod 101300011, the slip ring 10133012 and the ribbon cable 1013200110. When the conductive silica gel tube 1013000102 is pinched and deformed and is in contact with the inner core rod 1013000101, the controller can determine whether the operator pinches the conductive silica gel tube 1013000102 by whether the conductive silica gel tube 1013000102 and the inner core rod 1013000101 are in contact. The outer circumferential surface of the inner core rod 1013000101 is provided with anti-skid grooves 1013000103 which are uniformly arranged around the outer circumferential surface of the inner core rod 1013000101 and are parallel to the axis of the inner core rod 1013000101. The depth of the anti-skid grooves 1013000103 is greater than 0.3 mm. The anti-skid grooves 1013000103 increase the friction between the conductive silica gel tube 1013000102 and the inner core rod 1013000101, effectively preventing the operator from slipping during pinching and rotating.

[0075] Alternatively, the electric signal of the inner core can also be transmitted through a soft wire instead, in which case a spring needle connector C or a spring needle connector D needs to be additionally arranged on the quick replacement mechanism, and the same transmission mode as the electric signal of the ring-shaped elastic body is adopted for transmission.

[0076] Embodiment 2

[0077] This embodiment refers to the working principle of Embodiment 1, and the difference between this embodiment and Embodiment 1 is that the floating ends of the front and rear floating structures are respectively connected with the rear end of the operating handle through two pull ropes or transmission belts, the two pull ropes or transmission belts are changed in direction through pulleys and are connected with the same axial feedback element, forming a closed loop, and the axial feedback element applies bidirectional force to the operating rod assembly through the pull ropes or transmission belts.

[0078] As Figures 6 to 8An interventional robot master device with floating support includes a base 1013101, an axial force feedback assembly mounted on the base 1013101, a torque feedback assembly above the axial force feedback assembly, an operating rod assembly, and a pulling seat (left pulling seat 1013103 and right pulling seat 1013104) mounted on both sides of the base 1013101. Each set of pulling seats is provided with two traction wheels 1013105.

[0079] The operating rod assembly includes an operating handle 10130001 fixedly mounted on a fixed frame 10130014, and the rear end of the fixed frame 10130014 is fixedly connected with a force sensor 10130015 for detecting axial force, and the force sensor 10130015 is connected with a transmission shaft. The force sensor 10130015 can also be omitted, and the axial force is not detected. The transmission shaft is mounted on a slip ring 10130016, and the slip ring 10130016 solves the cable winding problem of the outgoing line of the measurement switch on the operating handle 10130001 when rotating around its own axis, so that the operator can rotate the operating handle 10130001 while holding it, simulate the action of rotating interventional consumables, and the transmission shaft is connected with a torque motor 10130019 of the torque feedback assembly through a shaft coupling 10130018, and the torque motor 10130019 simulates the resistance torque received by the interventional consumables during rotation. The rear end of the torque motor 10130019 is provided with an encoder 10130020 for measuring the rotation angle of the operating rod assembly.

[0080] The output end of the torque motor 10130019 is provided with a first brake disc, and the circumferential braking device includes a first brake generator and a first friction plate on the output end of the first brake generator. The first friction plate on the output end of the first brake generator is attached to the side surface of the first brake disc, and the first brake generator can output a large enough damping thrust to the first brake disc. The first friction plate and the first brake disc are frictionally connected, and the operating rod assembly maintains the circumferential attitude unchanged. Or through the PID position control of the torque motor 10130019, the output end is guaranteed at a fixed angle to realize the locking function.

[0081] The axial force feedback assembly comprises a winding wheel 10130007 and an axial force motor 10130004, the output end of the axial force motor 10130004 is fixedly connected with the winding wheel 10130007, the axial force motor 10130004 is installed on the base 1013101, the winding wheel 10130007 is wound with a pull rope, the pull rope comprises first and second pull ropes 10130021 and 10130022 which are opposite in rotation, the first pull rope 10130021 is wound around one end of a guide rail 1013106 from two groups of traction wheels on the left side of the base 1013101, the other end of the guide rail 1013106 is fixedly connected with a torque motor 10130019 of the torque feedback assembly, the second pull rope 10130022 is wound around the right end of the operating lever assembly from two groups of traction wheels on the right side of the base 1013101, and the upper part of the support 101310101 is fixedly provided with a sliding block 1013107 matched with the guide rail 1013106.

[0082] Or the first and second pull ropes are respectively connected to two groups of axial force motors and winding wheels in front and back directions, and the two groups of axial force motors and winding wheels move synchronously, so that the operating lever assembly can be subjected to an acting force in the front and back directions.

[0083] Further comprising an axial braking device, the output end of the axial force motor 10130004 is provided with a brake disc, the axial braking device comprises a brake generator and a friction plate on the output end of the brake generator, the friction plate on the output end of the brake generator is attached to the side surface of the brake disc, the brake generator can output a large enough damping thrust to the brake disc, and the operating lever assembly can be kept in an axial posture without changing through the friction between the friction plate and the brake disc. Or the output end of the axial force motor 10130004 is guaranteed at a fixed angle through PID position control, so as to realize the locking function.

[0084] Or the axial braking device directly locks the operating lever assembly or other mechanisms or components axially linked with the operating lever assembly, such as the sliding block, the traction wheel and the like.

[0085] The support 101310101 is provided with front and back floating mechanisms, a pitch angle floating structure 1013100102 and a yaw angle floating structure 1013100103, the front and back floating mechanisms comprise the guide rail 1013106 and the sliding block 1013107.

[0086] The yaw angle floating structure 1013100103 comprises a rotating column 10131001031, the rotating column 10131001031 is rotatably installed on the support 101310101, and the operating handle 10130001 can rotate around the axis of the rotating column 10131001031 during movement along the axis of the guide rail 1013106, so as to realize the yaw angle floating in the left and right directions.

[0087] The pitch angle floating structure 10131001002 comprises a pitch block 10131001021 and a rotating shaft 10131001022, the pitch block 10131001021 is fixedly installed below the sliding block 1013107, two sides of the rotating column 10131001031 are fixedly connected with mounting plates 101310010311, the pitch block 10131001021 is arranged between the two mounting plates 101310010311, the rotating shaft 10131001022 respectively penetrates the pitch block 10131001021 and the mounting plates 101310010311 on both sides and is rotatably connected with them, the operating handle 10130001 can rotate around the axis of the rotating shaft 10131001022 during movement along the axis, the pitch angle floating in the up-down direction is realized, the yawing of the guide rail 1013106 is effectively prevented from causing the sliding block 1013107 to be "stuck", the excessive overturning moment applied to the sliding block 1013107 is avoided, and the relative sliding between the sliding block 1013107 and the guide rail 1013106 is more smooth.

[0088] Embodiment 3

[0089] This embodiment refers to the working principle of embodiment 1, and the difference from embodiment 1 is that the front and rear ends of the floating end of the front and rear floating structure are respectively connected with the front and rear ends of the same pull rope or transmission belt, and the pull rope or transmission belt is changed direction by the pulley to form a closed loop.

[0090] As Figure 9 and Figure 10 An interventional robot master device with floating support, comprising an operating rod assembly, an axial force feedback assembly and a torque feedback assembly, the support assembly comprises a support piece 101310101, a front and rear floating mechanism is arranged between the support piece 101310101 and the torque feedback assembly, a pitch angle floating structure 10131001002 and a yaw angle floating structure 1013100103.

[0091] As Figure 10 The yaw angle floating structure 1013100103 comprises a rotating column 10131001031, the rotating column 10131001031 is rotatably installed on the support piece 101310101, the operating handle 10130001 can rotate around the axis of the rotating column 10131001031 during movement along the axis, and the yaw angle floating in the left-right direction is realized.

[0092] As Figure 10The pitch angle floating structure 10131001002 comprises a pitch block 10131001021 and rotating shafts 10131001022, the pitch block 10131001021 is fixedly installed below the sliding block 1013107 of the front and rear floating mechanism, the two sides of the rotating column 10131001031 are fixedly connected with mounting plates 101310010311, the pitch block 10131001021 is arranged between the two mounting plates 101310010311, the two rotating shafts 10131001022 are respectively fixed on the two sides of the pitch block 10131001021, the two rotating shafts 10131001022 respectively pass through the two mounting plates 101310010311 and are rotatably connected with the mounting plates 101310010311, the operating handle 10130001 can rotate around the axis of the rotating shaft 10131001022 during movement along the axis, so that the pitch angle floating in the up and down direction is realized.

[0093] The front and rear floating mechanism comprises a guide rail 1013106 and a sliding block 1013107, the guide rail 1013106 is slidingly installed on the sliding block 1013107, the lower end of the sliding block 1013107 is fixedly connected with the pitch block 10131001021, the operating handle 10130001 is arranged at one end of the guide rail 1013106 and can reciprocate on the sliding block 1013107 together with the guide rail 1013106.

[0094] The axial force feedback assembly comprises an axial force motor 10130004, third pull ropes 10131001072, connecting seats 10131001073 and a winding wheel 10130007, the two connecting seats 10131001073 are respectively fixedly installed at the two ends of the guide rail 1013106, the two ends of the third pull rope 10131001072 are respectively fixedly connected with the two connecting seats 10131001073, the side surface of the pitch block 10131001021 is fixedly connected with a connecting plate 10131001075, the axial force motor 10130004 is fixedly installed on the connecting plate 10131001075, the output end of the axial force motor 10130004 is fixedly connected with the winding wheel 10130007, the third pull rope 10131001072 is wound on the winding wheel 10130007, the axial force motor 10130004 drives the winding wheel 10130007 to rotate in two directions, the winding wheel 10130007 drives the connecting seat 10131001073 to move through the third pull rope 10131001072, and the guide rail 1013106 is driven to reciprocate on the sliding block 1013107, so that a bidirectional force is applied to one end of the operating handle 10130001, and an axial force resistance in a surgical process is simulated.

[0095]

[0096] ​Or axial force feedback assembly can also be a gear driven rack structure, the output end of axial force motor 10130004 is directly fixed connection gear, guide rail 1013106 is replaced by rack, gear and rack meshing, axial force motor 10130004 drive gear rotation, gear driven rack forward and backward, realize to one end of operating handle 10130001 exert bidirectional force, simulate the axial force resistance in the operation process.

[0097] Torque feedback assembly includes torque motor 10130019, torque motor 10130019 is fixed at one end of guide rail 1013106, the output end of torque motor 10130019 is fixed connection operating handle 10130001, torque motor 10130019 drive operating handle 10130001 rotation, simulate the torque resistance in the operation process.

[0098] Embodiment 4

[0099] The working principle of this embodiment is referred to that of embodiment 1, and the difference between them is that the output end of the torque feedback assembly is arranged on the side of the operating handle, the output end of the torque feedback assembly is not in a straight line with the axis of the operating rod assembly, the forward and backward floating structure adopts the structure of sliding sleeve and sliding rod, the yaw angle floating structure and the pitch angle floating structure are arranged between the torque feedback assembly and the base, the torque transmission mechanism is arranged between the output end of the torque feedback assembly and the sliding sleeve, the sliding rod is coaxially connected with the operating rod assembly, the sliding rod can pass through the sliding hole in the middle of the sliding sleeve to realize axial sliding, but the circumferential limiting between the sliding sleeve and the sliding rod is maintained, so that the torque feedback assembly can drive the sliding sleeve to rotate while driving the operating rod assembly to rotate, and torque feedback is provided.

[0100] Specifically as Figure 11 And Figure 12 The operating handle 10130001 is fixedly connected with the first sliding rod 101300301 of the forward and backward floating structure, the first sliding rod 101300301 passes through the sliding hole in the middle of the first sliding sleeve 101300302 to realize axial sliding, but the circumferential limiting between the first sliding sleeve 101300302 and the first sliding rod 101300301 is maintained, the torque feedback assembly includes torque motor 10130019, the output end of the torque motor 10130019 is fixedly connected with the winding wheel 101300304, and the winding wheel 101300304 and the first sliding sleeve 101300302 are connected through the transmission belt 101300305 (torque transmission mechanism) to transmit power.

[0101] Alternatively, the torque feedback assembly adopts a hollow motor, at this time no transmission belt 101300305 is arranged, the front and rear floating structures adopt the structure of a sliding rod and a sliding sleeve, the output end of the hollow motor is connected coaxially with the first sliding sleeve 101300302, the operating rod assembly is connected coaxially with the first sliding rod 101300301 inserted into the sliding hole in the middle of the sliding sleeve, the first sliding rod 101300301 passes through the hollow hole of the hollow motor at the same time, and the first sliding sleeve 101300302 is circumferentially limited between the first sliding rod 101300301.

[0102] The support 101310101 of the support assembly is provided with a pitch angle floating structure 1013100102 and a yaw angle floating structure 1013100103, the yaw angle floating structure 1013100103 comprises a rotating column 10131001031, the rotating column 10131001031 is rotatably installed on the support 101310101, and the operating handle 10130001 can rotate around the axis of the rotating column 10131001031 in the movement along the axis, so that the yaw angle floating in the left-right direction is realized.

[0103] The pitch angle floating structure 1013100102 comprises a pitch block 10131001021 and rotating shafts 10131001022, the torque motor 10130019 is installed on the pitch block 10131001021 through the connecting piece 101300306, the first sliding sleeve 101300302 is rotatably installed on the pitch block 10131001021, the two sides of the rotating column 10131001031 are fixedly connected with mounting plates 101310010311, the pitch block 10131001021 is arranged between the two mounting plates 101310010311, the two rotating shafts 10131001022 are fixed at the two sides of the pitch block 10131001021 respectively, the two rotating shafts 10131001022 pass through the two mounting plates 101310010311 respectively and are rotatably connected with the two mounting plates 101310010311 respectively, and the operating handle 10130001 can rotate around the axis of the rotating shaft 10131001022 in the movement along the axis, so that the pitch angle floating in the up-down direction is realized, and the first sliding rod 101300301 is effectively prevented from being “stuck” by the first sliding sleeve 101300302.

[0104] Embodiment 5

[0105] This embodiment refers to the working principle of Embodiment 1, and the difference from Embodiment 1 is that the torque feedback assembly adopts a hollow motor, and the front and rear floating structures adopt the structure of a sliding rod and a sliding sleeve, and the installation relationship of the sliding rod and the sliding sleeve is opposite, the hollow motor is coaxially connected with the sliding rod, but the sliding rod is hollow at this time.

[0106] Specifically as Figures 13 to 15 , the torque feedback assembly adopts a hollow motor 101300191, the output end of the hollow motor 101300191 is connected with the second sliding rod 101300201 of the front and rear floating structure, the second sliding rod 101300201 and the output end of the hollow motor 101300191 are connected, the second sliding rod 101300201 is hollowly arranged, the fourth pull rope 101300202 passes through the second sliding rod 101300201 and the hollow motor 101300191 and is connected with the operating handle 10130001, the side surface of the second sliding rod 101300201 is provided with a long slot, the operating handle 10130001 serves as a sliding sleeve, the operating handle 10130001 is connected with a connecting block 101300203, the connecting block 101300203 passes through the long slot and is connected with the fourth pull rope 101300202, the second sliding rod 101300201 is rotatably installed on the supporting plate 101300204, the operating handle 10130001 is connected with the second sliding rod 101300201 through the connecting block 101300203 clamped in the long slot to realize synchronous rotation cooperation (circumferential limiting).

[0107] The supporting part 101310101 of the supporting assembly is provided with a pitch angle floating structure 1013100102 and a yaw angle floating structure 1013100103, the yaw angle floating structure 1013100103 comprises a rotating column 10131001031, the rotating column 10131001031 is rotatably installed on the supporting part 101310101, the operating handle 10130001 can rotate around the axis of the rotating column 10131001031 during movement along the axis, so as to realize yaw angle floating in the left-right direction.

[0108] The pitch angle floating structure 1013100102 comprises a pitch block 10131001021 and a rotating shaft 10131001022, the hollow motor 101300191 and the supporting plate 101300204 are both installed on the pitch block 10131001021, the two sides of the rotating column 10131001031 are fixedly connected with mounting plates 101310010311, the pitch block 10131001021 is arranged between the two mounting plates 101310010311, the two rotating shafts 10131001022 are respectively fixed on the two sides of the pitch block 10131001021, the two rotating shafts 10131001022 respectively pass through the two mounting plates 101310010311 and are rotatably connected therewith, the operating handle 10130001 can rotate around the axis of the rotating shaft 10131001022 during movement along the axis, so as to realize pitch angle floating in the up-down direction, and effectively prevent the front and rear floating mechanism from being "stuck" during movement of the operating handle 10130001.

[0109] The foregoing merely illustrates the principles of the application and application of its leading features. This application is not limited to the illustrative embodiments described but is capable of being practiced with modification within the spirit and scope of the application in the appended claims, therefore the present embodiments are to be considered as illustrative and not restrictive, and the scope of the application is not to be determined by the description of the embodiments but by the appended claims, as equivalences thereto are intended to be encompassed by the terms recited. No admission is made that any reference constitutes prior art. It is the applicant's position that any prior art referred to herein is not specifically admitted as prior art with respect to the present application but is merely an enabling disclosure.

[0110] Furthermore, it should be understood that although the description above relates to process flow diagrams, the description is not limited to only one independent technical solution per embodiment, and the description is merely for the sake of clarity, and those skilled in the art should consider the description as a whole, and the technical solutions in each embodiment can be appropriately combined to form other embodiments that those skilled in the art can understand.

Claims

1. A robotic handpiece with floating support, characterized in that, Includes base, lever assembly, and torque feedback assembly; The control lever assembly allows the operator to manually manipulate the control lever assembly to remotely control the rotation and delivery of interventional consumables in vascular interventional surgery. A support assembly is provided to support the control stick assembly suspended in the air, making it easier for the operator to grip the control stick assembly. The support assembly is mounted on a base and includes a floating anti-rotation mechanism, which includes a combination of a yaw angle floating structure and a pitch angle floating structure. A torque feedback component is provided, the output end of which is connected to the operating rod assembly. The torque feedback component directly applies a corresponding torque to the operating rod assembly to simulate the torque resistance during the operation. In this case, a front-to-back floating mechanism is provided between the fixed end of the torque feedback component and the support assembly; or the torque feedback component is mounted on the support assembly, in which case a front-to-back floating mechanism is provided between the output end of the torque feedback component and the operating rod assembly.

2. The interventional robot master hand device with floating support according to claim 1, characterized in that, The front and rear floating mechanisms maintain axial relative floating and circumferential relative limiting between the fixed end of the torque feedback component and the support component or between the output end of the torque feedback component and the operating lever component; the yaw angle floating structure enables the operating lever component to yaw left and right when moving along the axial direction, and the pitch angle floating structure enables the operating lever component to yaw up and down when moving along the axial direction. The front and rear floating mechanism adopts a guide rail slider structure, or an anti-rotation shaft hole structure, or a sliding rod and sliding sleeve structure, or a combination of a circular shaft hole structure and an anti-rotation structure.

3. The interventional robot master hand device with floating support according to claim 2, characterized in that, When the torque feedback component is fixed on the support component, the output end of the torque feedback component is located on the side of the operating handle. The output end of the torque feedback component is not on the same straight line as the axis of the operating lever assembly. The front and rear floating structure adopts the structure of sliding sleeve and sliding rod. The yaw angle floating structure and pitch angle floating structure are set between the torque feedback component and the base. A torque transmission mechanism is provided between the output end of the torque feedback component and the sliding sleeve. The sliding rod is coaxially connected to the operating lever assembly. The sliding rod can pass through the sliding hole in the middle of the sliding sleeve to achieve axial sliding, but maintains the circumferential limit between the sliding sleeve and the sliding rod, so that the torque feedback component can drive the sliding sleeve to rotate while driving the operating lever assembly to rotate together, providing torque feedback. Alternatively, the torque feedback component may be a hollow motor, and the front and rear floating structures may be a sliding rod and a sliding sleeve. The output end of the hollow motor is coaxially connected to the sliding sleeve, and the operating lever assembly is coaxially connected to the sliding rod. The sliding rod is inserted into the sliding hole in the middle of the sliding sleeve. The sliding rod and the sliding sleeve can slide axially but remain circumferentially limited, so that the hollow motor can drive the sliding sleeve to rotate while driving the operating lever assembly to rotate together, thereby achieving torque feedback. The yaw angle floating structure and the pitch angle floating structure are set between the hollow motor and the base.

4. The interventional robot master hand device with floating support according to claim 2, characterized in that, When the output end of the torque feedback component is connected to the operating lever assembly, the operating lever assembly includes a connecting rod and an operating handle. One end of the connecting rod is coaxially connected to the operating handle. The torque feedback component directly drives the connecting rod and the operating handle to rotate to achieve torque feedback. The other end of the connecting rod is coaxially connected to the torque feedback component. The torque feedback component moves axially with the operating handle under the drive of the operating handle. The floating anti-rotation mechanism is set between the torque feedback component and the base.

5. The interventional robot master hand device with floating support according to claim 4, characterized in that, The output end of the torque feedback component is coaxially connected to the connecting rod. When the axis of the connecting rod is parallel to the axis of the main hand device, the minimum distance between the output end axis of the torque feedback component and the front and rear floating structures is less than 100mm.

6. The interventional robot master hand device with floating support according to claim 5, characterized in that, When the axis of the connecting rod is parallel to the axis of the main hand device, the minimum distance between the output end axis of the torque feedback component and the front and rear floating structures is 30-50mm. When the front and rear floating structures adopt a guide rail slider structure, the installation direction of the guide rail is parallel to the axis of the main hand device, and the minimum distance between the output end axis of the torque feedback component and the guide rail is 30-50mm.

7. The interventional robot master hand device with floating support according to claim 5, characterized in that, The distance between the operating handle and the output end of the torque feedback component is greater than 150mm. During the reciprocating movement of the operating handle along the front and rear floating structure, the position of the operating handle and the front and rear floating structure is offset in the axial direction, leaving enough gripping space for the operating handle. When the front and rear floating structure adopts a guide rail slider structure, the operating handle extends from one side of the guide rail in the axial direction, leaving enough space for the operating handle to be held.

8. The interventional robot master hand device with floating support according to claim 2, characterized in that, It also includes an axial force feedback component, which applies a corresponding axial force to the operating rod assembly based on the axial force experienced by the interventional consumables, thereby simulating the axial force resistance during the surgical process.

9. The interventional robot master hand device with floating support according to claim 8, characterized in that, The axial force feedback assembly is equipped with a single axial feedback element. The floating end of the front and rear floating structure or the fixed end of the torque feedback assembly and the rear end of the operating handle are respectively connected to the front and rear ends of the same pull rope or transmission belt. The pull rope or transmission belt forms a closed loop after changing direction through the pulley. Alternatively, the floating end of the front and rear floating structure or the fixed end of the torque feedback component and the rear end of the operating handle are respectively connected to two pull ropes or transmission belts. After the two pull ropes or transmission belts change direction through pulleys, they are connected to the same axial feedback element to form a closed loop. The axial feedback element applies bidirectional force to the operating lever assembly through the pull ropes or transmission belts. When the axial force feedback component uses a transmission belt, a thin rope or bearing structure is provided between the transmission belt and the operating handle of the operating lever assembly. The thin rope or bearing structure enables relative axial rotation between the transmission belt and the operating handle.

10. The interventional robot master hand device with floating support according to claim 8, characterized in that, The axial force feedback component adopts one or a combination of rope drive structure, belt drive structure, gear drive rack structure or friction wheel drive friction belt structure to apply bidirectional force to the floating end of the front and rear floating structure or the fixed end of the torque feedback component. The front and rear floating structure or torque feedback component transmits the bidirectional force to one end of the operating handle through the connecting rod. When the axial force feedback assembly adopts a rope drive structure or a belt drive structure, the axial force feedback assembly is provided with a single axial feedback element. The front and rear ends of the floating end of the front and rear floating structure or the fixed end of the torque feedback assembly are respectively connected to the front and rear ends of the same pull rope or transmission belt. The pull rope or transmission belt forms a closed loop after changing direction through the pulley. Alternatively, the front and rear ends of the floating end of the front and rear floating structure or the fixed end of the torque feedback component are respectively connected to two pull ropes or transmission belts. After the two pull ropes or transmission belts change direction through pulleys, they are connected to the same axial feedback element to form a closed loop. The axial feedback element applies bidirectional force to the front and rear floating structure or torque feedback component through the pull ropes or transmission belts. The front and rear floating structure or torque feedback component transmits the bidirectional force to one end of the operating handle through the connecting rod.

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