Surgical robot master control device and vascular interventional surgery robot system

Abstract

The application relates to the technical field of medical devices, and discloses a surgical robot master control device and a vascular interventional surgery robot system, wherein the surgical robot master control device comprises a master shell, a roller mechanism rotatably arranged in the master shell and partially extending out of the master shell, a controller arranged in the master shell and electrically connected with the roller mechanism and a slave surgical robot respectively to adjust a feeding state of the slave surgical robot according to a signal generated by the roller mechanism, a first gear damper arranged in the master shell and engaged with the roller mechanism, and a trackball rotatably arranged outside the master shell and signal-connected with a magnetic field generator in a catheter chamber through the controller. The first gear damper makes the roller mechanism have a damping feeling when being rolled, so that the doctor can avoid the adverse effect of slight hand shaking on the motion accuracy of the slave surgical robot, and the surgical risk is reduced.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a surgical robot master control device and a vascular interventional surgical robot system. Background Technology

[0002] Vascular interventional surgical robots are gradually becoming an important tool in the treatment of cerebrovascular, cardiovascular, and peripheral vascular diseases. In traditional vascular interventional surgery, doctors need to wear heavy lead aprons and operate instruments in the catheterization lab (a special department in a hospital used for interventional diagnostic and treatment procedures). This can easily lead to a decline in the doctor's physical strength, affect their concentration and operational stability, and increase the probability of medical accidents. Therefore, currently, the treatment of blood vessels is generally carried out by operating the master control device outside the catheterization lab to control the slave surgical instruments.

[0003] Existing master control devices often use a joystick to control the feed speed of the instrument. The speed of the motor on the slave end is controlled by controlling the amount of movement of the joystick. Although this device is simple in structure and easy to manufacture and assemble, when the doctor controls the joystick, slight tremors of the doctor's hand can easily cause changes in the speed of the motor of the slave instrument, which in turn affects the motion accuracy of the instrument. Summary of the Invention

[0004] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a surgical robot master control device and a vascular interventional surgical robot system, which aims to solve the problem that the joystick in the master control device in the prior art is easily affected by the slight tremor of the doctor's hand, which causes the motor speed of the slave instrument to change, thereby affecting the motion accuracy of the instrument.

[0005] The technical solution adopted by this invention to solve the technical problem is as follows:

[0006] In a first aspect, embodiments of the present invention provide a master control device for a surgical robot, comprising:

[0007] Main casing;

[0008] A roller mechanism is rotatably disposed inside the main end housing, with a portion of the roller mechanism extending outside the main end housing;

[0009] The controller is located inside the main end housing and is electrically connected to both the roller mechanism and the slave surgical robot to adjust the feed state of the slave surgical robot according to the signal generated by the roller mechanism.

[0010] The first gear damper is disposed inside the main end housing and meshes with the roller mechanism;

[0011] A trackball, rotatably mounted on the outside of the main end housing, is connected to the magnetic field generator in the conduit chamber via the controller, and is used to change the direction of the magnetic field around the magnetic field generator.

[0012] Furthermore, the roller mechanism includes a first roller assembly, the first roller assembly comprising:

[0013] The first support is fixedly installed inside the main end housing, and the first gear damper is installed on the first support;

[0014] The first roller has one end rotatably connected to the first support;

[0015] The first gear is fixedly sleeved on the first roller and meshes with the first gear damper;

[0016] The first roller is fixedly sleeved on the first roller shaft and a portion of the first roller extends out of the main end housing.

[0017] The second support is opposite to the first support and is fixedly disposed inside the main end housing, and the other end of the first roller is rotatably connected to the second support.

[0018] The first magnetic element is disposed inside the other end of the first roller;

[0019] A first encoder is mounted on the second support and electrically connected to the controller. The end of the first roller with the first magnetic element is coaxially mounted in the center hole of the first encoder with a gap between them. The first encoder generates a signal by rotating the first magnetic element to adjust the feed state of the guide wire of the end surgical robot.

[0020] Furthermore, the first roller assembly also includes:

[0021] The second gear is fixedly sleeved on the other end of the first roller;

[0022] The motor is mounted on the second support and is electrically connected to the controller.

[0023] The third gear is fixedly sleeved on the motor shaft and meshes with the second gear.

[0024] Furthermore, the first roller assembly also includes:

[0025] A first support plate is mounted on the second support, and one side of the first encoder is mounted in the first mounting hole of the first support plate.

[0026] The first end cap is disposed on the first support plate, and the other side of the first encoder is disposed inside the first end cap.

[0027] Furthermore, the aforementioned main control device for the surgical robot also includes:

[0028] The first button is located on the surface of the main end housing and is electrically connected to the controller, and is used to control the guide wire of the slave end surgical robot to rotate in the forward direction;

[0029] The second button, located on the surface of the main end housing and electrically connected to the controller, is used to control the guidewire of the slave surgical robot to reverse.

[0030] Furthermore, the roller mechanism also includes:

[0031] At least one second roller assembly is rotatably disposed within the main end housing and electrically connected to the controller. A portion of the second roller assembly extends outside the main end housing for manual rolling. The signal generated when the second roller assembly is triggered is used to adjust the feed state of the microcatheter and / or intermediate catheter of the slave surgical robot.

[0032] The second gear damper is disposed inside the main end housing and is engaged with one end of the second roller assembly.

[0033] Further, the second roller assembly includes:

[0034] The third support is fixedly installed inside the main end housing, and the second gear damper is installed on the third support;

[0035] The second roller has one end rotatably connected to the third support;

[0036] The fourth gear is fixedly sleeved on the second roller and meshes with the second gear damper;

[0037] The second roller is fixedly sleeved on the second roller shaft and a portion of the second roller extends out of the main end housing.

[0038] The fourth support is opposite to the third support and is fixedly disposed inside the main end housing, and the other end of the second roller is rotatably connected to the fourth support;

[0039] The second magnetic element is disposed inside the other end of the second roller;

[0040] The second encoder is mounted on the fourth support and electrically connected to the controller. The end of the second roller with the second magnetic element is coaxially mounted in the center hole of the second encoder with a gap between them.

[0041] Furthermore, the second roller assembly also includes:

[0042] The second support plate is disposed on the fourth support, and one side of the second encoder is disposed in the second mounting hole of the second support plate;

[0043] The second end cap is disposed on the second support plate, and the other side of the second encoder is disposed inside the second end cap.

[0044] Furthermore, the aforementioned main control device for the surgical robot also includes:

[0045] At least one third button is disposed on the surface of the main end housing and electrically connected to the controller for controlling the forward rotation of the microcatheter and / or the intermediate catheter of the slave surgical robot.

[0046] At least one fourth button is disposed on the surface of the main end housing and electrically connected to the controller for controlling the reversal of the microcatheter and / or intermediate catheter of the slave surgical robot.

[0047] Furthermore, the aforementioned main control device for the surgical robot also includes:

[0048] A magnetic field switch is located on the outside of the main end housing and electrically connected to the controller to turn the magnetic field generator on or off;

[0049] An indicator light, located on the outside of the main housing and electrically connected to the controller, indicates the on or off status of the magnetic field generator.

[0050] Furthermore, the aforementioned main control device for the surgical robot also includes:

[0051] Damped shaft;

[0052] The display screen is rotatably connected to the main end housing via the damping shaft and is electrically connected to the controller.

[0053] Furthermore, the back of the display screen is provided with a screen cable cover, and the outer side of the main end housing is provided with a damping shaft cover; the fixed end of the damping shaft is fixedly connected to the inside of the damping shaft cover, the movable end of the damping shaft is fixedly connected to the inside of the screen cable cover, and the inside of the damping shaft is hollow to form a cable hole, through which the wire connecting the display screen and the controller passes.

[0054] Furthermore, the aforementioned main control device for the surgical robot also includes:

[0055] A power cord interface is located on the outside of the main housing and is electrically connected to the controller;

[0056] A network cable interface is located on the outside of the main housing and is electrically connected to the controller;

[0057] A power switch is located on the outside of the main housing and is electrically connected to the controller;

[0058] An emergency stop switch is located on the outside of the main housing and is electrically connected to the controller.

[0059] Secondly, embodiments of the present invention also provide a vascular interventional surgical robot system, which includes the surgical robot master end control device described in any one of the above.

[0060] Compared with the prior art, the embodiments of the present invention have the following advantages:

[0061] This invention provides a master-end control device for a surgical robot, comprising: a master-end housing; a roller mechanism rotatably disposed within the master-end housing, with a portion of the roller mechanism extending outside the master-end housing; a controller disposed within the master-end housing and electrically connected to both the roller mechanism and the slave-end surgical robot, for adjusting the feed state of the slave-end surgical robot based on signals generated by the roller mechanism; a first gear damper disposed within the master-end housing and meshing with the roller mechanism; and a trackball rotatably disposed outside the master-end housing and signal-connected to a magnetic field generator in the catheter chamber via the controller, for changing the direction of the magnetic field around the magnetic field generator. When the first roller assembly is rolled by the surgeon's hand, the first gear damper provides a certain damping force to the first roller, giving the first roller assembly a damped feel when rolled. This prevents slight hand tremors from negatively impacting the movement accuracy of the slave-end surgical robot, reducing surgical risks. Attached Figure Description

[0062] Figure 1 A three-dimensional structural schematic diagram of a first embodiment of a surgical robot master control device provided by the present invention;

[0063] Figure 2 An exploded view of a first embodiment of a surgical robot master control device provided by the present invention;

[0064] Figure 3 This is an exploded view of the first roller assembly in this invention;

[0065] Figure 4 This is an exploded view of the second roller assembly in this invention;

[0066] Figure 5 A three-dimensional structural schematic diagram of a main control device for a surgical robot provided by the present invention;

[0067] Figure 6A schematic diagram of the rear structure of a main control device for a surgical robot provided by the present invention;

[0068] Figure 7 for Figure 6 Enlarged diagram of A in the middle;

[0069] Figure 8 A three-dimensional structural schematic diagram of a second embodiment of a surgical robot master control device provided by the present invention;

[0070] Figure 9 A three-dimensional structural schematic diagram of a third embodiment of a surgical robot master control device provided by the present invention;

[0071] Figure 10 This is a schematic diagram of the principle structure of a surgical robot master control device provided by the present invention.

[0072] In the diagram: 1. Main end housing; 101. Main end upper housing; 102. Main end lower housing; 2. First roller assembly; 201. First support; 202. First roller; 203. First gear; 204. First roller; 205. Second support; 206. First magnetic component; 207. First encoder; 208. First bearing; 209. Second bearing; 210. First isolation ring; 211. Second isolation ring; 212. Second gear; 213. Motor; 214. Third gear; 215. Limiting ring; 216. First support plate; 2161. First mounting hole; 217. First end cover; 3. Controller; 4. First gear damper; 5. First button; 6. Second button; 7. Second roller assembly; 701. Third support; 702. 703. Second roller; 704. Fourth gear; 705. Second roller; 706. Fourth support; 707. Second magnetic component; 708. Second encoder; 709. Third bearing; 710. Fourth bearing; 711. Third isolation ring; 712. Fourth isolation ring; 713. Second support plate; 714. Second mounting hole; 715. Second end cover; 8. Second gear damper; 9. Third button; 10. Fourth button; 11. Magnetic field generator; 12. Trackball; 13. Magnetic field switch; 14. Human body induction switch; 15. Indicator light; 16. Damping shaft; 161. Cable hole; 17. Display screen; 18. Screen cable cover; 19. Damping shaft cover; 20. Power cord interface; 21. Network cable interface; 22. Power switch; 23. Emergency stop switch. Detailed Implementation

[0073] Embodiments of the present invention are described in detail below. Examples of these embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and should not be construed as limiting the present invention.

[0074] To address the problem in existing technologies where the joystick in the master control device is easily affected by slight hand tremors, causing changes in the motor speed of the slave instrument and thus impacting the instrument's motion accuracy, the present invention provides the following embodiments to solve the aforementioned technical problem.

[0075] Example 1

[0076] Please see Figures 1 to 10 This embodiment provides a master-end control device for a surgical robot, comprising: a master-end housing 1; a roller mechanism rotatably disposed within the master-end housing 1, with a portion of the roller mechanism extending outside the master-end housing 1; a controller 3 disposed within the master-end housing 1 and electrically connected to the first roller assembly 2 and the slave-end surgical robot, respectively, to adjust the feed state of the slave-end surgical robot according to the signal generated by the roller mechanism; a first gear damper 4 disposed within the master-end housing 1 and meshing with the roller mechanism; and a trackball 12 rotatably disposed outside the master-end housing 1 and signal-connected to a magnetic field generator 11 in the catheter chamber via the controller 3, for changing the direction of the magnetic field around the magnetic field generator 11.

[0077] like Figure 1 and Figure 2As shown in the embodiment provided in this example, the main control device of the surgical robot includes a main housing 1, a first roller assembly 2, a controller 3, a first gear damper 4, and a trackball 12. The main housing 1 has a slot (not shown) on its top side. The first roller assembly 2 is rotatably disposed inside the main housing 1 and electrically connected to the controller 3. A portion of the first roller assembly 2 extends out of the main housing 1 through the slot. This portion is used by the surgeon to manually roll the first roller assembly 2. When the first roller assembly 2 is rolled, it generates a signal corresponding to the feed state of the guidewire of the slave surgical robot. The controller 3 transmits this signal to the slave surgical robot, which is an existing device including a slave drive mechanism and surgical instruments. The guidewire is connected to and driven by a mechanism, such as a guidewire in a surgical instrument. When the slave-end drive mechanism receives a signal generated by the first roller assembly 2, it drives the guidewire to perform a corresponding action. For example, when the first roller assembly 2 is rolled forward, it generates a signal for the guidewire to move forward. After receiving the signal, the slave-end drive mechanism drives the guidewire to move forward. When the first roller assembly 2 is rolled backward, it generates a signal for the guidewire to move backward. After receiving the signal, the slave-end drive mechanism drives the guidewire to move backward. This achieves the reciprocating motion of the guidewire controlled by the rolling of the first roller assembly 2. It should be noted that the speed at which the guidewire moves forward or backward is the same as the speed at which the first roller assembly 2 is rolled. Furthermore, when the first roller assembly 2 rolls, it drives the gear on the first gear damper 4 to rotate together. At this time, the gear on the first gear damper 4 provides a certain damping force to the first roller assembly 2, so that the first roller assembly 2 has a damping feel when it is rolled. This can avoid the adverse effects of slight hand tremors on the movement accuracy of the surgical robot and reduce surgical risks. The magnetic field generator 11 is an existing device, which is set in the catheter chamber and close to the surgical robot, and is electrically connected to the controller 3. The trackball 12 is rotatably set on the outside of the main end housing 1 and is electrically connected to the controller 3. The trackball 12 is an existing device, such as the three-button photoelectric trackball 12 of model XH-P50CUB2. The trackball 12 changes the magnitude of the current transmitted between the controller 3 and the magnetic field generator 11 by rotating, thereby changing the direction of the magnetic field around the magnetic field generator 11. Specifically, the magnetic field generator 11 is located in the catheter chamber and close to the surgical instruments so that it can affect the direction of guidewire deflection by changing its own magnetic field. Normally, the guidewire in the surgical instruments is magnetic, while the microcatheter and intermediate catheter are not magnetic. Therefore, the trackball 12 is used to control the direction of guidewire deflection individually. If the microcatheter and intermediate catheter are placed on the guidewire, the microcatheter and intermediate catheter will deflect synchronously with the guidewire.When the trackball 12 is rotated, the trackball 12 can change the magnitude of the current connected between the controller 3 and the magnetic field generator 11 by the angle of deflection, thereby changing the direction of the magnetic field around the magnetic field generator 11, thus achieving the directional shift of the guidewire, microcatheter and intermediate catheter. After the trackball 12 is released, the trackball 12 will automatically bounce back to its original position.

[0078] like Figure 3 As shown, further, in the main end control device of the surgical robot in this embodiment, the first roller assembly 2 includes a first support 201, a first roller 202, a first gear 203, a first roller 204, a second support 205, a first magnetic component 206, and a first encoder 207; the first support 201 is fixedly disposed inside the main end housing 1, the first gear damper 4 is disposed on the first support 201, one end of the first roller 202 is rotatably connected to the first support 201, the first gear 203 is fixedly sleeved on the first roller 202 and meshes with the first gear damper 4, and the first roller 204 is fixedly disposed on the first roller 202. A portion of the first roller 204, which is sleeved on the first roller 202, extends out of the main end housing 1. A second support 205 is opposite to the first support 201 and fixedly disposed inside the main end housing 1. The other end of the first roller 202 is rotatably connected to the second support 205. A first magnetic element 206 is disposed inside the other end of the first roller 202. A first encoder 207 is disposed on the second support 205 and electrically connected to the controller 3. The end of the first roller 202 with the first magnetic element 206 is coaxially disposed inside the center hole of the first encoder 207 with a gap between them.

[0079] Specifically, in the first roller assembly 2, the first roller 204 and the first roller shaft 202 are fixed to each other. When the part of the first roller 204 extending outside the main end housing 1 is touched and rolled, the first roller 204 drives the first roller shaft 202 to rotate on the first support 201 and the second support 205. The first gear 203 on the first roller shaft 202 drives the first gear damper 4 to rotate. The first gear damper 4 feeds back the damping force to the first roller 204 through the first gear 203, so that the doctor has a certain resistance when rolling the first roller 204. The other end of the first roller shaft 202 is provided with a housing for the first magnetic component 206. The slot (not shown) is coaxially mounted with the first magnetic component 206 and the first encoder 207. The first magnetic component 206 is aligned with the chip of the first encoder 207, with a certain gap between them. When the first roller 204 rotates, driving the first roller 202 to rotate, the first magnetic component 206 mounted on the other end of the first roller 202 also rotates. The first encoder 207 collects the magnetic field changes generated when the first magnetic component 206 rotates, thereby collecting the rotation signal of the first roller 204. The first encoder 207 transmits the collected signal to the slave surgical robot through the controller 3, thereby controlling the guidewire's forward or backward movement. The first encoder 207 collects the magnetic field changes generated when the first magnetic component 206 rotates without mechanical contact, which can accurately capture details such as low speed and micro-rotation, avoiding movement deviations of the slave surgical robot due to inaccurate sensing by the master control device.

[0080] Furthermore, the first roller assembly 2 also includes a second gear 212, a motor 213, and a third gear 214. The second gear 212 is fixedly sleeved on the other end of the first roller 202. The motor 213 is mounted on the second support 205 and electrically connected to the controller 3. The motor 213 is a brushless motor 213. The third gear 214 is fixedly sleeved on the rotating shaft of the motor 213 and meshes with the second gear 212. One end of the motor 213 is provided with a limiting ring 215 for axially limiting the second gear 212. Specifically, the surgical robot is electrically connected to the controller 3 via wires. When the guidewire moves in the blood vessel and senses resistance, the guidewire feeds back the resistance to the driven mechanism of the surgical robot. The driven mechanism converts the force sensed by the guidewire into an electrical signal and transmits it to the controller 3 via wires. The controller 3 controls the motor 213 to rotate at a certain speed and feeds back the force to the first roller 204 through the third gear 214 and the second gear 212. This allows the operator to feel the force at the distal end of the instrument and perceive subtle changes in resistance at the distal end of the guidewire in real time, such as slight pressure when contacting the blood vessel wall or the increase in resistance when passing through a stenotic segment. The operator can adjust the operating force in a timely manner, improve the accuracy of operation, and reduce the burden on doctors through precise force feedback.

[0081] Meanwhile, the first roller assembly 2 also includes a first bearing 208, a second bearing 209, a first isolation ring 210, and a second isolation ring 211. The first bearing 208 is disposed on the first support 201, and the second bearing 209 is disposed on the second support 205. The two ends of the first roller 202 are respectively connected to the first bearing 208 and the second bearing 209 to achieve rotation. The first isolation ring 210 is sleeved on one end of the first roller 202 and located between the first gear 203 and the first bearing 208, and is used to separate and limit the first gear 203 and the first bearing 208. The second isolation ring 211 is sleeved on the other end of the first roller 202 and located between the second gear 212 and the second bearing 209, and is used to separate and limit the second gear 212 and the second bearing 209. Since it is usually difficult to completely eliminate the axial clearance between the first gear 203, the second gear 212 and the first roller 202 during mechanical assembly, by adding the first isolation ring 210 and the second isolation ring 211, the first gear 203 and the second gear 212 can be prevented from shifting to the bearings on both sides, avoiding mutual friction between the gears and the bearings, and extending the service life of the first roller assembly 2.

[0082] In another embodiment of the surgical robot master control device, the first roller assembly 2 further includes a first support plate 216 and a first end cap 217. The first support plate 216 is disposed on the second support 205. One side of the first encoder 207 is disposed in the first mounting hole 2161 of the first support plate 216. The first end cap 217 is disposed on the first support plate 216, and the other side of the first encoder 207 is disposed in the first end cap 217. Specifically, the first support plate 216 is fixedly connected to the second support 205 by screws. One side of the first encoder 207 protrudes outward, and the protruding part of the first encoder 207 is embedded in the first mounting hole 2161. The first end cap 217 is fixedly connected to the first support plate 216 by screws and encloses the first encoder 207. The bottom side of the first end cap 217 has a notch for the wiring of the first encoder 207 and the controller 3 for electrical connection. When it is necessary to disassemble the first encoder 207 for maintenance, only the first end cap 217 needs to be disassembled, which is simple and convenient.

[0083] Furthermore, in another embodiment of this invention, the main control device of the surgical robot further includes a first button 5 and a second button 6. The first button 5 is disposed on the surface of the main housing 1 and electrically connected to the controller 3, and is used to control the guidewire of the slave surgical robot to rotate forward. The second button 6 is disposed on the surface of the main housing 1 and electrically connected to the controller 3, and is used to control the guidewire of the slave surgical robot to rotate in reverse. Specifically, when it is necessary to control the guidewire to rotate alone, the first button 5 or the second button 6 can be pressed and held down, and the guidewire will stop rotating after the first button 5 or the second button 6 is released. When it is necessary to control the guidewire to rotate while moving forward or backward, the first button 5 needs to be pressed and the first roller is rolled at the same time, or the second button 6 needs to be pressed and the first roller is rolled at the same time.

[0084] like Figure 4 As shown, further, in another embodiment of this invention, the main end control device of the surgical robot also includes at least one second roller assembly 7 and a second gear damper 8; the second roller assembly 7 is rotatably disposed in the main end housing 1 and electrically connected to the controller 3, a portion of the second roller assembly 7 extends out of the main end housing 1 for manual rolling, and the signal generated after the second roller assembly 7 is triggered is used to adjust the feeding state of the microcatheter and / or the intermediate catheter of the slave end surgical robot; the second gear damper 8 is disposed in the main end housing 1 and meshes with one end of the second roller assembly 7.

[0085] For example, when the second roller assembly 7 is equipped with a microcatheter and is used to control it, when it is rolled forward, the second roller assembly 7 will generate a signal for the microcatheter to move forward. After receiving the signal, the drive mechanism will drive the microcatheter in the surgical instrument to move forward. When the second roller assembly 7 is rolled backward, it will generate a signal for the microcatheter to move backward. After receiving the signal, the drive mechanism will drive the microcatheter to move backward, thereby achieving reciprocating motion control of the microcatheter through the rolling of the second roller assembly 7. It should be noted that the speed at which the microcatheter moves forward or backward is consistent with the speed at which the second roller assembly 7 is rolled. Furthermore, when the second roller assembly 7 is rolling, it will drive the gear on the second gear damper 8 to rotate together. At this time, the gear on the second gear damper 8 will provide a certain damping force to the second roller assembly 7, so that the second roller assembly 7 has a damping feel when it is rolled. This can avoid the adverse effects of slight hand tremors on the movement accuracy of the surgical robot and reduce surgical risks.

[0086] When the second roller assembly 7, equipped with a second roller for controlling the intermediate conduit, is rolled forward, it generates a signal for the intermediate conduit to move forward. Upon receiving this signal, the drive mechanism in the surgical instrument moves the intermediate conduit forward. Similarly, when the second roller assembly 7 is rolled backward, it generates a signal for the intermediate conduit to move backward. This, in turn, drives the intermediate conduit backward, thus controlling its reciprocating motion through the rolling motion of the second roller assembly 7. It should be noted that the forward or backward speed of the intermediate conduit is the same as the rolling speed of the second roller assembly 7. Furthermore, during the rolling process, the second roller assembly 7 drives the gear on the second gear damper 8 to rotate. This provides a damping force to the second roller assembly 7, giving it a damped feel during rolling. This helps prevent slight hand tremors from negatively impacting the movement accuracy of the surgical robot and reduces surgical risks.

[0087] In another embodiment, the second roller assembly 7 includes a third support 701, a second roller 702, a fourth gear 703, a second roller 704, a fourth support 705, a second magnetic component 706, and a second encoder 707; the third support 701 is fixedly disposed within the main end housing 1, the second gear damper 8 is disposed on the third support 701, one end of the second roller 702 is rotatably connected to the third support 701, the fourth gear 703 is fixedly sleeved on the second roller 702 and meshes with the second gear damper 8, and the second roller is fixedly sleeved on the second roller 704. 2. The second roller 704 extends out of the main end housing 1. The fourth support 705 is opposite to the third support 701 and is fixedly disposed in the main end housing 1. The other end of the second roller 702 is rotatably connected to the fourth support 705. The second magnetic element 706 is disposed in the other end of the second roller 702. The second encoder 707 is disposed on the fourth support 705 and is electrically connected to the controller 3. The end of the second roller 702 with the second magnetic element 706 is coaxially disposed in the center hole of the second encoder 707 and a gap is left between them.

[0088] Specifically, in the second roller assembly 7, the second roller 704 and the second roller shaft 702 are fixed to each other. When the part of the second roller 704 extending outside the main end housing 1 is touched and rolled, the second roller 704 drives the second roller shaft 702 to rotate on the third support 701 and the fourth support 705. The fourth gear 703 on the second roller shaft 702 drives the second gear damper 8 to rotate. The second gear damper 8 feeds back the damping force to the second roller 704 through the fourth gear 703, so that the doctor has a certain resistance when rolling the second roller 704. The other end of the second roller shaft 702 is provided with a slot for receiving the second magnetic component 706. (Not shown) The second magnetic component 706 is coaxially mounted with the second encoder 707. The second magnetic component 706 is aligned with the chip of the second encoder 707, with a certain gap between them. When the second roller 704 rotates, driving the second roller 702 to rotate, the second magnetic component 706 mounted on the other end of the second roller 702 also rotates. The second encoder 707 collects the magnetic field changes generated when the second magnetic component 706 rotates, thereby collecting the rotation signal of the second roller 704. The second encoder 707 transmits the collected signal to the slave surgical robot through the controller 3, thereby controlling the forward or backward movement of the microcatheter and intermediate catheter. The second encoder 707 collects the magnetic field changes generated when the second magnetic component 706 rotates without mechanical contact, which can accurately capture details such as low speed and micro-rotation, avoiding the movement deviation of the slave surgical robot due to inaccurate sensing by the master control device.

[0089] Meanwhile, the second roller assembly 7 also includes a third bearing 708, a fourth bearing 709, a third isolation ring 710, and a fourth isolation ring 711. The third bearing 708 is mounted on the third support 701, and the fourth bearing 709 is mounted on the fourth support 705. The two ends of the second roller 702 are respectively connected to the third bearing 708 and the fourth bearing 709 to achieve rotation. The third isolation ring 710 is sleeved on one end of the second roller 702 and located between the fourth gear 703 and the third bearing 708, and is used to separate and limit the fourth gear 703 and the third bearing 708. The fourth isolation ring 711 is sleeved on the other end of the second roller 702 and located between the second roller 704 and the fourth bearing 709, and is used to separate and limit the second roller 704 and the fourth bearing 709. Since it is usually difficult to completely eliminate the axial clearance between the fourth gear 703 and the second roller 702 in mechanical assembly, the addition of a third isolation ring 710 can prevent the fourth gear 703 from shifting toward the third bearing 708 and avoid mutual friction between the fourth gear 703 and the third bearing 708. The fourth isolation ring 711 can prevent the fourth bearing 709 from shifting toward the second roller 704 and causing mutual friction, thus extending the service life of the second roller assembly 7.

[0090] In another embodiment, the second roller assembly 7 further includes a second support plate 712 and a second end cap 713. The second support plate 712 is disposed on the fourth support 705. One side of the second encoder 707 is disposed in the second mounting hole 7121 of the second support plate 712. The second end cap 713 is disposed on the second support plate 712, and the other side of the second encoder 707 is disposed in the second end cap 713. Specifically, the second support plate 712 is fixedly connected to the fourth support 705 by screws. One side of the second encoder 707 protrudes outward, and the protruding part of the second encoder 707 is embedded in the second mounting hole 7121. The second end cap 713 is fixedly connected to the second support plate 712 by screws and encloses the second encoder 707. The bottom side of the second end cap 713 has a notch for the wiring of the wire for electrical connection between the second encoder 707 and the controller 3. When it is necessary to disassemble the second encoder 707 for maintenance, only the second end cap 713 needs to be disassembled, which is simple and convenient.

[0091] Furthermore, in another embodiment of this invention, the main control device of the surgical robot further includes at least one third button 9 and at least one fourth button 10; the third button 9 is disposed on the surface of the main housing 1 and electrically connected to the controller 3, and is used to control the microcatheter and / or the intermediate catheter of the slave surgical robot to rotate forward; the fourth button 10 is disposed on the surface of the main housing 1 and electrically connected to the controller 3, and is used to control the microcatheter and / or the intermediate catheter of the slave surgical robot to rotate in reverse.

[0092] Specifically, in this embodiment, a third button 9 and a fourth button 10 are grouped together and matched with a second roller assembly 7. That is, each second roller assembly 7 has a third button 9 and a fourth button 10 on its left and right sides respectively. When it is necessary to control the microcatheter or intermediate catheter to rotate independently, the third button 9 or the fourth button 10 can be pressed and held. After releasing the third button 9 or the fourth button, the microcatheter stops rotating. When it is necessary to control the microcatheter or intermediate catheter to rotate while moving forward or backward, the third button 9 needs to be pressed and the second roller is rolled at the same time, or the fourth button 10 needs to be pressed and the second roller is rolled at the same time.

[0093] In another embodiment of this invention, the main control device of the surgical robot further includes a magnetic field switch 13 and an indicator light 15. The magnetic field switch 13 is disposed on the outside of the main housing 1 and electrically connected to the controller 3 to turn the magnetic field generator 11 on or off. The indicator light 15 is disposed on the outside of the main housing 1 and electrically connected to the controller 3 to display the on or off state of the magnetic field generator 11. For example, when the indicator light 15 is lit, the magnetic field generator 11 is in the on state, and when the light is off, the magnetic field generator 11 is in the off state.

[0094] Specifically, in one embodiment of this example, see details. Figure 1 The magnetic field switch 13 is a photoelectric switch, which is located around the trackball 12. When the operator touches the trackball 12, the limb will cover the photoelectric switch, and the photoelectric switch controls the magnetic field generator 11 to turn on. When the operator's hand leaves the trackball 12, the limb will no longer cover the photoelectric switch, and the photoelectric switch controls the magnetic field generator 11 to turn off. Furthermore, the main control device of the surgical robot in this embodiment also includes a human body induction switch 14, which is electrically connected to the controller 3 and is used to sense the human body to control the opening or closing of the photoelectric switch. For example, if the photoelectric switch needs to be activated, the heel of the palm can be placed on the human body induction switch 14. After the human body induction switch 14 senses the external pressure, it controls the photoelectric switch to open. When the palm leaves and the external pressure disappears, it controls the photoelectric switch to close.

[0095] In another embodiment of this example, see details. Figure 8 The magnetic field switch 13 is a push-button switch. The first press will turn on the magnetic field generator 11, and the second press will turn it off. See another embodiment for details. Figure 9 The magnetic field switch 13 is a pressure-sensitive switch. When the operator's limb touches and presses down, the pressure-sensitive switch turns on the magnetic field generator 11. When the limb is separated from the pressure-sensitive switch, the magnetic field generator 11 is turned off.

[0096] like Figures 6 to 9 As shown, in another embodiment of this invention, the main control device of the surgical robot further includes a damping shaft 16 and a display screen 17. The display screen 17 is rotatably connected to the main housing 1 via the damping shaft 16 and electrically connected to the controller 3. The display screen 17 can rotate freely via the damping shaft 16 and be fixed at any angle after rotation. In this embodiment, the display screen 17 is a touch screen and displays information related to the guidewire, microcatheter, and intermediate catheter in sections, such as forward and retraction distances, rotation angles, force feedback parameters, the magnetic field direction of the magnetic field generator 11, and whether each button is in an operational state. When a certain area is operated, that area will be highlighted. When the doctor does not need to operate, clicking the lock button (not shown) on the display screen 17 locks all the scroll wheels, buttons, and trackball 12. At this time, operating the scroll wheels, buttons, and trackball 12 is ineffective; operation is only effective after clicking the lock button on the display screen 17 again to unlock them.

[0097] Furthermore, the back of the display screen 17 is provided with a screen cable cover 18, and the outer side of the main end housing 1 is provided with a damping shaft cover 19. The fixed end of the damping shaft 16 is fixedly connected to the inside of the damping shaft cover 19, and the movable end of the damping shaft 16 is fixedly connected to the inside of the screen cable cover 18. The inside of the damping shaft 16 is hollow to form a wire hole 161, through which the wire connecting the display screen 17 and the controller 3 passes. Specifically, the mating structure of the damping shaft 16 with the screen cable cover 18 and the damping shaft cover 19 facilitates the storage of the wires between the display screen 17 and the controller 3, preventing the wires in the main end control device of the surgical robot from becoming tangled.

[0098] In another embodiment of this invention, the main control device of the surgical robot further includes a power cord interface 20, a network cable interface 21, and a power switch 22. The power cord interface 20, network cable interface 21, and power switch 22 are all located on the outside of the main housing 1 and are electrically connected to the controller 3, as detailed below. Figure 5 and Figure 10 Specifically, the main casing 1 includes a matching upper casing 101 and a lower casing 102. Each scroll wheel, each button, and the trackball 12 are respectively mounted on the upper casing 101. The power cord interface 20, the network cable interface 21, and the power switch 22 are respectively mounted on the side of the lower casing 102 to prevent the network cable and power cord from interfering with the doctor's operation. The power switch 22 is used to cut off the power supply between the outside and the controller 3.

[0099] Furthermore, in another embodiment, the main control device of the surgical robot also includes an emergency stop switch 23, which is disposed on the outside of the main housing 1 and electrically connected to the controller 3. The emergency stop switch 23 is used to simultaneously cut off the power supply connecting the main control device of the surgical robot to the outside world and the power supply connecting the slave surgical robot to the outside world.

[0100] Example 2

[0101] This embodiment also provides a vascular interventional surgical robot system, which includes the surgical robot master control device described in any of the embodiments in Embodiment 1.

[0102] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," and "circumferential" indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0103] 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 technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this invention, "a plurality of" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0104] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0105] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "over," and "on top" of the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0106] It should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on the other element or there may be an intervening element. When an element is considered to be "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0107] Of course, the above description of the embodiments of the present invention is quite detailed, but it should not be construed as a limitation on the scope of protection of the present invention. The present invention may have many other implementations. Based on this implementation, other implementations obtained by those skilled in the art without any creative effort are all within the scope of protection of the present invention. The scope of protection of the present invention is determined by the appended claims.

Claims

1. A master-end control device for a surgical robot, characterized in that, include: Main casing; A roller mechanism is rotatably disposed inside the main end housing, with a portion of the roller mechanism extending outside the main end housing; The controller is located inside the main end housing and is electrically connected to both the roller mechanism and the slave surgical robot to adjust the feed state of the slave surgical robot according to the signal generated by the roller mechanism. The first gear damper is disposed inside the main end housing and meshes with the roller mechanism; A trackball, rotatably mounted on the outside of the main end housing, is connected to the magnetic field generator in the conduit chamber via the controller, and is used to change the direction of the magnetic field around the magnetic field generator. A magnetic field switch is located on the outside of the main end housing and electrically connected to the controller to turn the magnetic field generator on or off; A human body induction switch, which is electrically connected to the controller, is used to sense a human body and thereby control the opening or closing of the magnetic field switch; An indicator light is located on the outside of the main housing and electrically connected to the controller to indicate the on or off status of the magnetic field generator. The roller mechanism includes a first roller assembly, the first roller assembly comprising: The first support is fixedly installed inside the main end housing, and the first gear damper is installed on the first support; The first roller has one end rotatably connected to the first support; The first gear is fixedly sleeved on the first roller and meshes with the first gear damper; The first roller is fixedly sleeved on the first roller shaft and a portion of the first roller extends out of the main end housing. The second support is opposite to the first support and is fixedly disposed inside the main end housing, and the other end of the first roller is rotatably connected to the second support. The first magnetic element is disposed inside the other end of the first roller; A first encoder is mounted on the second support and electrically connected to the controller. The end of the first roller with the first magnetic element is coaxially mounted in the center hole of the first encoder with a gap between them. The first encoder generates a signal by rotating the first magnetic element to adjust the feed state of the guide wire of the end surgical robot. The second gear is fixedly sleeved on the other end of the first roller; The motor is mounted on the second support and is electrically connected to the controller. The third gear is fixedly sleeved on the motor shaft and meshes with the second gear.

2. The surgical robot master control device according to claim 1, characterized in that, The first roller assembly further includes: A first support plate is mounted on the second support, and one side of the first encoder is mounted in the first mounting hole of the first support plate. The first end cap is disposed on the first support plate, and the other side of the first encoder is disposed inside the first end cap.

3. The surgical robot master control device according to claim 1, characterized in that, Also includes: The first button is located on the surface of the main end housing and is electrically connected to the controller, and is used to control the guide wire of the slave end surgical robot to rotate in the forward direction; The second button, located on the surface of the main end housing and electrically connected to the controller, is used to control the guidewire of the slave surgical robot to reverse.

4. The surgical robot master control device according to claim 1, characterized in that, The roller mechanism further includes: At least one second roller assembly is rotatably disposed within the main end housing and electrically connected to the controller. A portion of the second roller assembly extends outside the main end housing for manual rolling. The signal generated when the second roller assembly is triggered is used to adjust the feed state of the microcatheter and / or intermediate catheter of the slave surgical robot. The second gear damper is disposed inside the main end housing and is engaged with one end of the second roller assembly.

5. The surgical robot master control device according to claim 4, characterized in that, The second roller assembly includes: The third support is fixedly installed inside the main end housing, and the second gear damper is installed on the third support; The second roller has one end rotatably connected to the third support; The fourth gear is fixedly sleeved on the second roller and meshes with the second gear damper; The second roller is fixedly sleeved on the second roller shaft and a portion of the second roller extends out of the main end housing. The fourth support is opposite to the third support and is fixedly disposed inside the main end housing, and the other end of the second roller is rotatably connected to the fourth support; The second magnetic element is disposed inside the other end of the second roller; The second encoder is mounted on the fourth support and electrically connected to the controller. The end of the second roller with the second magnetic element is coaxially mounted in the center hole of the second encoder with a gap between them.

6. The surgical robot master control device according to claim 5, characterized in that, The second roller assembly also includes: The second support plate is disposed on the fourth support, and one side of the second encoder is disposed in the second mounting hole of the second support plate; The second end cap is disposed on the second support plate, and the other side of the second encoder is disposed inside the second end cap.

7. The surgical robot master control device according to claim 6, characterized in that, Also includes: At least one third button is disposed on the surface of the main end housing and electrically connected to the controller for controlling the forward rotation of the microcatheter and / or the intermediate catheter of the slave surgical robot. At least one fourth button is disposed on the surface of the main end housing and electrically connected to the controller for controlling the reversal of the microcatheter and / or intermediate catheter of the slave surgical robot.

8. The surgical robot master control device according to claim 1, characterized in that, Also includes: Damped shaft; The display screen is rotatably connected to the main end housing via the damping shaft and is electrically connected to the controller.

9. The surgical robot master control device according to claim 8, characterized in that, The back of the display screen is provided with a screen cable cover, and the outer side of the main end housing is provided with a damping shaft cover; the fixed end of the damping shaft is fixedly connected to the inside of the damping shaft cover, and the movable end of the damping shaft is fixedly connected to the inside of the screen cable cover. The inside of the damping shaft is hollow to form a cable hole, and the wire connecting the display screen and the controller passes through the cable hole.

10. The surgical robot master control device according to claim 1, characterized in that, Also includes: A power cord interface is located on the outside of the main housing and is electrically connected to the controller; A network cable interface is located on the outside of the main housing and is electrically connected to the controller; A power switch is located on the outside of the main housing and is electrically connected to the controller; An emergency stop switch is located on the outside of the main housing and is electrically connected to the controller.

11. A vascular interventional surgical robot system, characterized in that, Includes the surgical robot master control device as described in any one of claims 1-10.

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