Dsa pedal press control system

Abstract

The application provides a DSA pedal pressing control system, which comprises at least one pedal pressing control mechanism, a main controller and a remote controller, the remote controller is in communication connection with the main controller; the pedal pressing control mechanism has a P1 interface and a P2 interface, and a plurality of pedal pressing control mechanisms are connected in series to the main controller through the P1 interface and the P2 interface of each pedal pressing control mechanism; the main controller automatically identifies the serial number of each pedal pressing control mechanism, and drives the corresponding pedal pressing control mechanism to perform the pressing action of the DSA pedal according to the control signal sent by the remote controller. The P1 / P2 series connection is used to realize the series combination of multiple devices to meet the synchronous pressing demand of multiple keys, the serial number automatic identification is used to realize the accurate addressing and directional control, the network port or the optical fiber is used to ensure the stable transmission of the remote signal, and the automatic pressing is realized to avoid the radiation hazard, the quick-dismounting adapter head is compatible with different pedals, and the vertical guide rail ensures the accurate and stable pressing.

Description

Technical Field

[0001] This invention relates to the field of digital subtraction angiography (DSA) technology, specifically to a DSA foot pedal control system. More particularly, it relates to a universal, modular DSA foot pedal control mechanism for interventional procedures. Background Technology

[0002] Digital subtraction angiography (DSA) is a commonly used intraoperative imaging technique in interventional procedures. Surgeons control the start and stop of angiography by pressing a foot pedal on the DSA device. In traditional operation, surgeons must stand beside the operating table and manually press the DSA foot pedal. The DSA device generates ionizing radiation during operation, which poses a serious long-term health threat to surgeons. To address this radiation issue, automated DSA foot pedal devices have emerged, enabling automated operation via remote control. However, existing automated pedal solutions still have the following system-level shortcomings: 1. DSA foot pedals may have multiple buttons. During surgical procedures, it is sometimes necessary to press multiple buttons simultaneously or in a specific combination. However, existing automatic pressing devices lack the ability to coordinate control of multiple devices, making them inconvenient to use.

[0003] 2. Interventional operating rooms have strict requirements for the electromagnetic environment. The transmission of control signals between the outside and inside of the operating room needs to balance stability and anti-interference. Existing remote control solutions are still lacking in the reliability of signal transmission, and are prone to problems such as signal delay, loss or false triggering, which affect the accurate execution of intraoperative pressure actions.

[0004] 3. When existing automatic pressing devices are used in combination with multiple devices, each device is independent and cannot be automatically distinguished, resulting in control commands in multi-device scenarios not being accurately matched to the target device and making coordination difficult.

[0005] Patent document CN216877754U discloses a crank-rocker type rehabilitation training device, including: a base, a support frame, and an upper limb training mechanism, wherein the upper limb training mechanism adopts a crank-rocker structure. However, due to differences in technical fields, it does not have an adapter head designed for stepping or pressing, nor does it have remote control functionality, and therefore cannot be used to solve the technical problems faced by this application. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a DSA foot pedal pressure control system.

[0007] A DSA foot pedal pressure control system provided by the present invention includes: At least one foot pedal control mechanism; Main controller; A remote controller, which is communicatively connected to the main controller; The foot pedal pressing control mechanism has a P1 interface and a P2 interface, and multiple foot pedal pressing control mechanisms are connected in series to the main controller through their respective P1 interfaces and P2 interfaces; The main controller automatically identifies the serial number of each foot pedal pressing control mechanism and drives the corresponding foot pedal pressing control mechanism to perform the pressing action of the DSA foot pedal according to the control signal sent by the remote controller.

[0008] Preferably, the foot pedal pressing control mechanism includes: Main body fixing plate; A rotary drive device is fixed to the main body fixing plate, and the output shaft of the rotary drive device can reciprocate and rotate at a preset angle. The longitudinal guide rail is fixedly mounted on the main body fixing plate; One end of the transmission rod is fixedly connected to the output shaft of the rotary drive device; The movable block is slidably connected to the longitudinal guide rail; A connecting rod, with its two ends hinged to the other end of the transmission rod and the moving block respectively, wherein the transmission rod, the connecting rod, and the moving block constitute a crank-slider mechanism; and An adapter head assembly is fixedly connected to the movable block and is used to press the DSA foot pedal; When the output shaft of the rotary drive device reciprocates, it drives the moving block to move linearly along the longitudinal guide rail through the transmission rod and connecting rod, thereby driving the adapter head assembly to press or release the DSA foot pedal.

[0009] Preferably, the adapter assembly includes: Press the adapter head body and fix it to the moving block; The pressing rotating head is rotatably connected to the end of the pressing adapter head body on the side opposite to the connection with the moving block; The pressing rotating head can rotate freely around the pressing adapter head body to adapt to the stepping surface angle of the DSA pedal.

[0010] Preferably, the adapter head assembly further includes a pressing pad, which is disposed on the side of the pressing rotating head away from the pressing adapter head body, and the pressing pad is made of an elastic material.

[0011] Preferably, the foot pedal pressing control mechanism further includes a connecting block and an unlock button: The connecting block is fixedly disposed at the end of the moving block opposite to the longitudinal guide rail, and the adapter head assembly is connected to the moving block through the connecting block; The connecting block has a groove on its end face facing the adapter assembly, and the adapter assembly has a protrusion on its end face near the connecting block. The protrusion has a locking part, and the protrusion can be inserted into the groove laterally to restrict the relative movement of the adapter assembly and the connecting block in a direction perpendicular to the insertion direction. An unlock button is movably disposed on the connecting block and has a locked position and an unlock position; in the locked position, the unlock button extends into the engaging portion to restrict the lateral movement of the protrusion; in the unlock position, the unlock button retracts from the engaging portion to allow the protrusion to be removed laterally from the groove.

[0012] Preferably, the unlock button is L-shaped, comprising a vertical segment and a horizontal segment extending laterally from the end of the vertical segment; The groove wall of the groove is provided with a slot, and the slot and the engaging part are aligned after the protrusion is inserted into the groove; the connecting block is provided with a sliding groove that extends longitudinally and communicates with the slot, and the vertical section slides in cooperation with the sliding groove. When locked, the horizontal segment extends into the engaging part through the slot, and when unlocked, it retracts from the engaging part back into the slot.

[0013] Preferably, the foot pedal pressing control mechanism further includes a compression spring and a pressure plate: The compression spring is located between the bottom of the slide and the unlock button, providing the unlock button with a restoring force toward the locked position; The clamping plate is fixed to the connecting block, limiting the unlocking button within the slide groove, so that the unlocking button can only reciprocate along the axial direction of the slide groove.

[0014] Preferably, the foot pedal pressing control mechanism further includes a base, a transverse guide rail, and a fixed knob: The base is used to hold the DSA foot pedal; The transverse guide rail is fixedly mounted on the base, and the main body fixing plate is slidably connected to the transverse guide rail, so that the main body fixing plate can slide relative to the base along the transverse guide rail to adjust the position of the adapter head assembly relative to the DSA foot pedal. The fixing knob is located on the base and is used to lock the relative position of the main body fixing plate and the base after the position of the main body fixing plate is adjusted.

[0015] Preferably, the foot pedal pressing control mechanism further includes a drive board and a connector: The drive plate is fixedly mounted on the main body fixed plate and electrically connected to the rotary drive device for driving and controlling the rotary drive device. The connector is electrically connected to the driver board and is used to realize signal transmission between external control devices and the driver board; The rotary drive device is a rotary electromagnet.

[0016] Preferably, the multiple foot pedal pressing control mechanisms are connected in series as follows: the P1 interface of the first foot pedal pressing control mechanism is connected to the main controller, and the P1 interface of each subsequent foot pedal pressing control mechanism is connected to the P2 interface of the previous foot pedal pressing control mechanism; the remote controller and the main controller are connected via a network port or optical fiber communication.

[0017] Compared with the prior art, the present invention has the following beneficial effects: 1. This invention sets up multiple foot pedal pressing control mechanisms and connects them in series to the main controller through P1 and P2 interfaces to realize the series combination of multiple devices, meet the scenario requirements of pressing multiple buttons on the DSA foot pedal at the same time, and adapt to complex surgical operations.

[0018] 2. This invention automatically identifies the serial number of each foot pedal pressing control mechanism through the main controller, realizing accurate addressing and directional control in multi-device scenarios, avoiding mismatch between control commands and execution devices, and ensuring that each foot pedal pressing control mechanism can independently or in combination execute pressing actions synchronously as needed.

[0019] 3. This invention achieves stable transmission of control signals between the operating room and the main controller by using a network port or fiber optic communication connection between the remote controller and the main controller, ensuring accurate execution of pressing commands and reducing the risk of signal delay, loss or interference.

[0020] 4. This invention uses a rotary drive device to drive a crank-slider mechanism to automate the pressing of the DSA foot pedal. Doctors can operate it remotely outside the operating room, avoiding exposure to ionizing radiation at the source and improving the safety of surgical procedures.

[0021] 5. By setting up a quick-release adapter head assembly, the present invention allows for quick replacement of the corresponding adapter head according to different brands and specifications of DSA pedals, achieving full compatibility with mainstream DSA pedals and greatly improving the versatility of the device.

[0022] 6. This invention provides linear guidance for the moving block through a longitudinal guide rail, combined with the fixed-angle rotation of the rotary drive device, to ensure the consistency of force, angle and stroke during the pressing process, thereby achieving precise and stable pressing operation and improving the accuracy of intraoperative imaging. Attached Figure Description

[0023] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 This is a perspective view illustrating the structure of the DSA foot pedal press control mechanism, which is the main feature of this invention. Figure 2This is a cross-sectional view of the DSA foot pedal press control mechanism structure, which is the main feature of this invention. Figure 3 This is a front view illustrating the structure of the adapter assembly, which is the main feature of this invention.

[0024] Figure 4a This is a front view illustrating the main structure of the connecting block in this invention; Figure 4b This is a side view that mainly illustrates the connecting block structure of the present invention; Figure 4c This is a rear view that mainly illustrates the connecting block structure of the present invention; Figure 4d for Figure 4c A sectional view of the central cutting plane; Figure 5 This is a top view illustrating the usage state of the DSA foot pedal pressure control system, which is the main feature of this invention. Figure 6 This is a circuit connection diagram illustrating the DSA foot pedal pressure control system, which is the main feature of this invention. Figure 7 This is a schematic diagram illustrating the series structure of the DSA foot pedal pressure control system, which is the main feature of this invention. Figure 8 This is a schematic diagram of the circuit connection of the DSA foot pedal pressure control system structure, which is mainly reflected in this invention, and is controlled by a foot pedal outside the operating room.

[0025] Figure label: Detailed Implementation

[0026] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0027] like Figures 1 to 8 As shown, this embodiment provides a DSA foot pedal pressing control system, including at least one foot pedal pressing control mechanism, a main controller, and a remote controller.

[0028] The remote controller communicates with the main controller. The remote controller can be located outside the operating room, allowing the doctor to send control signals; the main controller is located inside the operating room, receiving control signals from the remote controller. Each foot pedal control mechanism has P1 and P2 interfaces. When the system includes multiple foot pedal control mechanisms, these mechanisms are connected in series to the main controller via their respective P1 and P2 interfaces, forming a series structure. The main controller automatically identifies the serial number of each foot pedal control mechanism and drives the corresponding mechanism to perform the DSA foot pedal pressing action according to the control signals sent by the remote controller, achieving coordinated control of multiple devices.

[0029] Furthermore, when the system includes multiple foot pedal control mechanisms, the series connection of these mechanisms is as follows: the P1 interface of the first foot pedal control mechanism is connected to the main controller, and the P1 interfaces of each subsequent foot pedal control mechanism are connected to the P2 interface of the preceding foot pedal control mechanism, forming a series connection. In practical applications, the P1 interface of the first foot pedal control mechanism can be indirectly connected to the main controller via the P interface of the trolley. The trolley acts as a relay connection device, leading the output signal of the main controller to the first foot pedal control mechanism. The remote controller and the main controller are connected via Ethernet or fiber optic communication to ensure stable signal transmission between the operating room and the outside of the operating room.

[0030] Furthermore, after the series connection is completed, the hardware circuit completes the sequential numbering according to the sequence of the series connection itself. The foot pedal pressing control mechanism connected to the P interface of the trolley is number 1, and the subsequent numbers are ordered sequentially. The main controller has completed the numbering of the foot pedal pressing mechanisms, so that when it receives the control signal from the remote controller, it can accurately drive the corresponding foot pedal pressing control mechanism to perform the pressing action.

[0031] The specific structure of the foot pedal control mechanism will be described in detail below.

[0032] The foot pedal pressing control mechanism mainly includes a main body fixing plate 19, a rotary drive device, a longitudinal guide rail 161, a transmission rod 14, a moving block 12, a connecting rod 13, and an adapter head assembly 9.

[0033] The main mounting plate 19 serves as the mounting plate for all components of the entire mechanism. The rotary drive device and the longitudinal guide rail 161 are both fixed to the main mounting plate 19 via threaded connections through pre-drilled holes.

[0034] The rotary drive device is fixed to the main body fixing plate 19, and its output shaft can reciprocate at a preset angle. In this embodiment, the rotary drive device specifically adopts a rotary electromagnet 15, which is the power element of this mechanism. Its base is fixed to the main body fixing plate 19 through preset holes. It integrates a mechanical limit function, which can accurately achieve 90° fixed angle rotation and automatic return. The shaft end is rigidly connected to the transmission rod 14 to achieve direct torque output. The longitudinal guide rail 161 is fixedly set on the main body fixing plate 19 to provide linear guidance for the reciprocating motion of the moving block 12, ensuring the motion accuracy during the pressing and resetting process and avoiding jamming or offset.

[0035] One end of the transmission rod 14 is fixedly connected to the output shaft of the rotary drive device, serving as the crank in the crank-slider mechanism. When the output shaft of the rotary drive device reciprocates, the transmission rod 14 rotates synchronously with the output shaft, and its rotational motion is converted into the translation and oscillation of the connecting rod 13 through a hinged connection. The moving block 12 is slidably connected to the longitudinal guide rail 161, serving as the slider structure in the crank-slider mechanism, and moves linearly reciprocally along the longitudinal guide rail 161. One end of the moving block 12 is hinged to the connecting rod 13, and the other end is fixedly connected to the adapter head assembly 9, which can synchronously transmit the linear motion on the guide rail to the adapter head assembly 9. The connecting rod 13 is an intermediate transmission component, with both ends hinged to the other end of the transmission rod 14 and the moving block 12, respectively. The transmission rod 14, the connecting rod 13, and the moving block 12 together constitute the crank-slider mechanism, converting the fixed-angle rotational motion of the rotary drive device into the linear reciprocating motion of the adapter head assembly 9. The adapter head assembly 9 is fixedly connected to the moving block 12 and is the pressing actuator that directly acts on the DSA foot pedal.

[0036] When the output shaft of the rotary drive device reciprocates, it drives the moving block 12 to move linearly along the longitudinal guide rail 161 via the transmission rod 14 and connecting rod 13, thereby causing the adapter assembly 9 to press or release the DSA foot pedal. Specifically, after the rotary electromagnet 15 is energized, its output shaft rotates 90°, causing the transmission rod 14 to rotate. The transmission rod 14 pushes the connecting rod 13 downward, and the connecting rod 13 further pushes the moving block 12 to slide downward along the longitudinal guide rail 161, causing the adapter assembly 9 to press down on the DSA foot pedal. When the pressing command ends, the rotary electromagnet 15 rotates 90° in the opposite direction to automatically return to its original position, causing the transmission rod 14 and connecting rod 13 to move in the opposite direction, pulling the moving block 12 upward along the longitudinal guide rail 161. The adapter assembly 9 synchronously resets upward with the moving block 12, separating from the DSA foot pedal surface, completing one full pressing operation.

[0037] Optionally, the adapter assembly 9 includes a pressing adapter body 9-4 and a pressing rotating head 9-2. The pressing adapter body 9-4 is fixedly connected to the moving block 12, serving as the main structure of the adapter assembly 9. The pressing rotating head 9-2 is rotatably connected to the end of the pressing adapter body 9-4 opposite to the connection with the moving block 12, specifically through a rotating shaft 9-3. The pressing rotating head 9-2 can rotate freely around the pressing adapter body 9-4 to adapt to the pedal surface angle of the DSA pedal. Since different brands and specifications of DSA pedals have different pedal surface tilt angles, the pressing rotating head 9-2 can automatically rotate and adjust the fitting angle according to the tilt state of the pedal surface during pressing, ensuring full fit between the pressing end and the pedal surface, and avoiding pressing failure or pedal damage caused by partial pressing.

[0038] The adapter assembly 9 may also include a pressing pad 9-1, which is located on the side of the pressing rotary head 9-2 away from the pressing adapter body 9-4, i.e., the side of the pressing rotary head 9-2 facing the DSA pedal. The pressing pad 9-1 can be glued to the pressing rotary head 9-2. The pressing pad 9-1 is made of elastic material, which acts as a buffer and shock absorber during pressing, reducing the impact of rigid pressing on the DSA pedal, achieving precise and gentle pressing operation, and protecting the lifespan of the pedal. The pressing pad 9-1 is in direct contact with the surface of the DSA pedal, and due to the deformation capability of the elastic material, it can further compensate for minor unevenness on the pedal surface, ensuring the effectiveness of pressing.

[0039] like Figures 4a to 4d As shown, this mechanism also includes a connecting block 10 and an unlocking button 11. The connecting block 10 is fixedly disposed at the end of the movable block 12 opposite to the longitudinal guide rail 161, serving as a connecting base for quick-release adapters. The adapter head assembly 9 is connected to the movable block 12 via the connecting block 10. A groove 101 is provided on the end face of the connecting block 10 facing the adapter head assembly 9, and a protrusion 9-5 is provided on the end face of the pressing adapter head body 9-4 facing the connecting block 10. The protrusion 9-5 can be inserted into or removed from the groove 101 laterally. The protrusion 9-5 and the groove 101 are mutually adapted in shape. When the protrusion 9-5 is inserted into the groove 101, the two are fixed relative to each other in a direction perpendicular to the insertion direction (i.e., longitudinal and perpendicular to the contact end face). In this embodiment, the groove 101 is in the shape of a dovetail groove, and the protrusion 9-5 is in a shape that matches the dovetail groove. Furthermore, the protrusion 9-5 is wedge-shaped in the transverse direction, that is, one side is narrower and the other side gradually becomes wider. The wedge-shaped fit can increase the firmness of the connection between the protrusion 9-5 and the groove 101.

[0040] The unlock button 11 has an L-shaped structure, including a vertical section 111 and a horizontal section 112 extending laterally from the end of the vertical section 111. A groove 102 extending into the connecting block 10 is formed on the groove wall of the groove 101, and a locking part is formed on the protrusion 9-5. When the protrusion 9-5 is inserted laterally into the groove 101, the groove 102 aligns with the locking part. A longitudinally extending slide groove 103 is provided on the end face of the connecting block 10 away from the groove 101. The slide groove 103 extends downward from the top of the connecting block 10 until it communicates with the groove wall of the groove 102. The cross-section of the slide groove 103 matches the vertical section 111, and the vertical section 111 slides in conjunction with the slide groove 103, guiding the unlock button 11 to move up and down longitudinally.

[0041] The horizontal segment 112 of the unlock button 11 moves with the vertical segment 111, switching between the locked and unlocked positions: in the locked position, the horizontal segment 112 extends into the engaging part through the slot 102, restricting the lateral movement of the protrusion 9-5 and locking the adapter assembly 9 to the connecting block 10; in the unlocked position, pressing the unlock button 11 causes the horizontal segment 112 to retract into the slot 102, no longer interfering with the movement of the protrusion 9-5, allowing the protrusion 9-5 to be removed laterally from the groove 101.

[0042] Furthermore, the mechanism also includes a compression spring 7 and a clamping plate 8. The compression spring 7 is disposed at the bottom of the vertical section 111 of the unlock button 11, with one end fitted into the round hole at the bottom of the slide groove 103 of the connecting block 10, and the other end fitted into the hole at the bottom of the vertical section 111, providing elastic force to the unlock button 11 toward the locked position, so that it always remains in the locked position when not in operation. The clamping plate 8 is fixedly disposed at the opening of the slide groove 103, pressing down on the vertical section 111 of the unlock button 11 to prevent the unlock button 11 from coming out of the slide groove 103, while allowing the vertical section 111 to make longitudinal reciprocating movements along the slide groove 103.

[0043] The specific operation process for quick assembly and unlocking is as follows: Press the top of the vertical section 111 of the unlock button 11 to overcome the elasticity of the compression spring 7 and move it from the locked position to the unlocked position. At this time, the horizontal section 112 retracts into the slot 102 of the groove wall of the groove 101, no longer restricting the lateral movement of the protrusion 9-5. After inserting the protrusion 9-5 of the adapter assembly 9 into the groove 101 of the connecting block 10 laterally, release the unlock button 11. The compression spring 7 pushes the vertical section 111 upward back to the locked position, and the horizontal section 112 extends into the engaging part through the slot 102, locking and fixing the adapter assembly 9. If it is necessary to match other specifications of DSA pedals, repeat the above pressing and unlocking action, remove the original adapter assembly 9 laterally from the groove 101, and replace it with the corresponding specification component to complete the quick adaptation.

[0044] Furthermore, the mechanism also includes a base 1 and a transverse guide rail 162. The base 1 serves as the overall load-bearing base, and the DSA foot pedal can be placed on the front half of the base 1. The transverse guide rail 162 is fixedly mounted on the base 1, and the main fixing plate 19 is slidably connected to the transverse guide rail 162, allowing the main fixing plate 19 to slide relative to the base 1 along the transverse guide rail 162 to adjust the position of the adapter head assembly 9 relative to the DSA foot pedal. Based on the actual size and placement position of the DSA foot pedal, the main fixing plate 19 is pushed to slide along the transverse guide rail 162 on the base 1 to adjust the facing position of the adapter head assembly 9 and the DSA foot pedal, adapting to the placement requirements of DSA foot pedals of different sizes.

[0045] Furthermore, the mechanism also includes a fixing knob 6, which is mounted on the base 1 and used to lock the relative position of the main fixing plate 19 and the base 1 after the position of the main fixing plate 19 is adjusted, preventing the mechanism from shifting during pressing. In this embodiment, two fixing knobs 6 are provided. The base 1 is also provided with a base cover 5, which is fixed to the base 1 by bolts. The base cover 5 has a mounting hole, and the fixing knob 6 is assembled into the mounting hole. The fixing knob 6 passes through the mounting hole on the base cover 5 and engages with the main fixing plate 19 to complete the locking and fixing after position adjustment.

[0046] The mechanism may also include a front shell 2 and a rear shell 3. Both the front shell 2 and the rear shell 3 are fixed to the main body fixing plate 19 by bolts. The two are spliced ​​together to form the outer protective shell of the mechanism, which plays a role in protecting the internal drive plate, transmission rod and other precision components from dust and collision.

[0047] Furthermore, this device also includes a drive board 18 and connector 4. The drive board 18 is a dedicated drive control element for the rotary drive device, fixedly mounted on the main body mounting plate 19, and electrically connected to the rotary drive device for driving and controlling the rotary drive device. In this embodiment, the drive board 18 is fixed to the main body mounting plate 19 by copper nuts 17. Four copper nuts 17 are provided, symmetrically distributed at the four corners of the drive board 18. The copper nuts 17 have good conductivity and anti-loosening properties, ensuring the installation stability and signal transmission efficiency of the drive board 18. Connector 4 is fixed at the joint between the front shell 2 and the rear shell 3, and electrically connected to the drive board 18 by wires, for realizing signal transmission between the external control device and the drive board 18, providing power and action commands to the rotary drive device. The external control device sends a pressing command to the drive board 18 through connector 4. The drive board 18 supplies power to the rotating electromagnet 15, which rotates at a fixed angle of 90° according to a preset program. Doctors can remotely operate the device outside the operating room through the external control device, avoiding radiation exposure at the source.

[0048] Working principle The working process of this embodiment is as follows: First, select the corresponding adapter assembly 9 according to the specifications of the DSA foot pedal. Press the unlock button 11 to insert the protrusion of the adapter assembly 9 into the groove of the connecting block 10. After releasing the unlock button 11, the compression spring 7 pushes it back to lock. Then, according to the actual size and placement position of the DSA foot pedal, loosen the fixing knob 6 and push the main body fixing plate 19 to slide along the transverse guide rail 162 on the base 1 to adjust the alignment of the adapter assembly 9 and the DSA foot pedal. After adjustment, tighten the fixing knob 6 to lock.

[0049] When the system contains multiple foot pedal control mechanisms, each foot pedal control mechanism is connected in series via P1 and P2 interfaces. The P1 interface of the first mechanism is connected to the main controller. The main controller automatically identifies the serial number of each foot pedal control mechanism and completes the system configuration.

[0050] During the surgery, the doctor operates a remote controller outside the operating room to send control signals. These signals are transmitted to the main controller inside the operating room via Ethernet or fiber optic cable. The main controller then drives the corresponding foot pedal control mechanism to perform the pressing action based on the control signals. Specifically, the main controller sends a pressing command to the drive board 18 of the corresponding foot pedal control mechanism. The drive board 18 powers the rotating electromagnet 15, which rotates 90° at a fixed angle. This rotation, via the transmission rod 14 and connecting rod 13, drives the moving block 12 to slide downwards along the longitudinal guide rail 161, causing the adapter head assembly 9 to press down on the DSA foot pedal. The pressing pad 9-1 first contacts the foot pedal surface, and the pressing rotating head 9-2 automatically adapts to the foot pedal's inclined surface to ensure a complete fit. After the pressing command is completed, the rotating electromagnet 15 rotates 90° in the opposite direction to automatically return to its original position, causing the moving block 12 to reset upwards. The adapter head assembly 9 then separates from the DSA foot pedal, completing one full pressing operation.

[0051] When multiple buttons on the DSA foot pedal need to be pressed simultaneously, the remote controller sends a synchronous pressing command. The main controller simultaneously drives multiple foot pedal pressing control mechanisms to perform the pressing action. The remote controller has multiple foot switches, the same number as the foot pedal pressing control mechanisms, and each foot switch corresponds to one foot pedal pressing control mechanism. When multiple buttons on the DSA foot pedal need to be pressed simultaneously, the operator presses multiple foot switches at the same time. The remote controller sends multiple control signals accordingly, and the main controller simultaneously drives multiple foot pedal pressing control mechanisms to perform the pressing action, realizing synchronous pressing of multiple buttons.

[0052] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application 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 application.

[0053] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A DSA foot pedal pressure control system, characterized in that, include: At least one foot pedal control mechanism; Main controller; A remote controller, which is communicatively connected to the main controller; The foot pedal pressing control mechanism has a P1 interface and a P2 interface, and multiple foot pedal pressing control mechanisms are connected in series to the main controller through their respective P1 interfaces and P2 interfaces; The main controller automatically identifies the serial number of each foot pedal pressing control mechanism and drives the corresponding foot pedal pressing control mechanism to perform the pressing action of the DSA foot pedal according to the control signal sent by the remote controller.

2. The DSA foot pedal pressure control system as described in claim 1, characterized in that, The foot pedal pressing control mechanism includes: Main body fixing plate (19); A rotary drive device is fixed on the main body fixing plate (19), and the output shaft of the rotary drive device can reciprocate and rotate at a preset angle; Longitudinal guide rail (161) is fixedly mounted on the main body fixing plate (19). One end of the transmission rod (14) is fixedly connected to the output shaft of the rotary drive device; The movable block (12) is slidably connected to the longitudinal guide rail (161); The connecting rod (13) is hinged at both ends to the other end of the transmission rod (14) and the moving block (12), respectively. The transmission rod (14), the connecting rod (13), and the moving block (12) constitute a crank-slider mechanism. The adapter head assembly (9) is fixedly connected to the moving block (12) and is used to press the DSA foot pedal; When the output shaft of the rotary drive device reciprocates, the moving block (12) is driven to move linearly along the longitudinal guide rail (161) via the transmission rod (14) and the connecting rod (13), thereby driving the adapter assembly (9) to press or release the DSA foot pedal.

3. The DSA foot pedal pressure control system as described in claim 2, characterized in that, The adapter head component (9) includes: Press the adapter head body (9-4) and fix it to the moving block (12); The pressing rotating head (9-2) is rotatably connected to the end of the pressing adapter head body (9-4) on the side opposite to the connection with the moving block (12); The pressing rotating head (9-2) can rotate freely around the pressing adapter head body (9-4) to adapt to the stepping surface angle of the DSA pedal.

4. The DSA foot pedal pressure control system as described in claim 3, characterized in that, The adapter assembly (9) also includes a pressing pad (9-1), which is located on the side of the pressing rotating head (9-2) away from the pressing adapter body (9-4), and the pressing pad (9-1) is made of elastic material.

5. The DSA foot pedal pressure control system as described in claim 2, characterized in that, The foot pedal pressing control mechanism also includes a connecting block (10) and an unlock button (11): The connecting block (10) is fixedly disposed at the end of the moving block (12) on the side away from the longitudinal guide rail (161), and the adapter head assembly (9) is connected to the moving block (12) through the connecting block (10); The connecting block (10) has a groove (101) on the end face facing the adapter assembly (9), and the adapter assembly (9) has a protrusion (9-5) on the end face near the connecting block (10). The protrusion (9-5) has a locking part, and the protrusion (9-5) can be inserted into the groove (101) in the lateral direction to restrict the relative movement of the adapter assembly (9) and the connecting block (10) in the direction perpendicular to the insertion direction. The unlock button (11) is movably disposed on the connecting block (10) and has a locked position and an unlocked position; in the locked position, the unlock button (11) extends into the engaging part to restrict the movement of the protrusion (9-5) in the lateral direction; in the unlocked position, the unlock button (11) exits the engaging part to allow the protrusion (9-5) to be removed from the groove (101) in the lateral direction.

6. The DSA foot pedal pressure control system as described in claim 5, characterized in that, The unlock button (11) is L-shaped, including a vertical segment (111) and a horizontal segment (112) extending laterally from the end of the vertical segment (111). The groove (101) has a slot (102) on its groove wall. The slot (102) and the engaging part are aligned after the protrusion (9-5) is inserted into the groove (101). The connecting block (10) has a sliding groove (103) that extends longitudinally and communicates with the slot (102). The vertical section (111) is slidably engaged with the sliding groove (103). In the locked position, the horizontal segment (112) extends into the engaging part through the slot (102), and in the unlocked position, it retracts from the engaging part into the slot (102).

7. The DSA foot pedal pressure control system as described in claim 6, characterized in that, The foot pedal pressing control mechanism also includes a compression spring (7) and a pressure plate (8): The compression spring (7) is located between the bottom of the slide groove (103) and the unlock button (11) to provide the unlock button (11) with a rebound force toward the locked position; The clamping plate (8) is fixed on the connecting block (10) and limits the unlocking button (11) in the slide groove (103) so that the unlocking button (11) can only move back and forth along the axial direction of the slide groove (103).

8. The DSA foot pedal pressure control system as described in claim 2, characterized in that, The foot pedal pressing control mechanism also includes a base (1), a horizontal guide rail (162), and a fixed knob (6): The base (1) is used to place the DSA foot pedal; The transverse guide rail (162) is fixedly mounted on the base (1), and the main body fixing plate (19) is slidably connected to the transverse guide rail (162), so that the main body fixing plate (19) can slide along the transverse guide rail (162) relative to the base (1) to adjust the position of the adapter head assembly (9) relative to the DSA foot pedal. The fixing knob (6) is located on the base (1) and is used to lock the relative position of the main fixing plate (19) and the base (1) after the position of the main fixing plate (19) is adjusted.

9. The DSA foot pedal pressure control system as described in claim 2, characterized in that, The foot pedal pressing control mechanism also includes a drive board (18) and a connector (4): The drive plate (18) is fixedly mounted on the main body fixed plate (19) and electrically connected to the rotary drive device for driving and controlling the rotary drive device. The connector (4) is electrically connected to the drive board (18) to realize signal transmission between the external control device and the drive board (18); The rotary drive device is a rotary electromagnet (15).

10. The DSA foot pedal pressure control system as described in claim 1, characterized in that, The multiple foot pedal pressing control mechanisms are connected in series as follows: the P1 interface of the first foot pedal pressing control mechanism is connected to the main controller, and the P1 interface of each subsequent foot pedal pressing control mechanism is connected to the P2 interface of the previous foot pedal pressing control mechanism.

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