Interventional consumable force measuring device and vascular interventional surgical robot

Abstract

The utility model provides an intervention consumable force measuring device and a vascular intervention surgical robot, and belongs to the technical field of medical instruments. The vascular interventional surgical robot comprises a delivery platform and an interventional consumable driving mechanism, the interventional consumable driving mechanism is arranged on the delivery platform, and the interventional consumable force measuring device comprises a fixing part, a connecting part and a force sensor. The fixing part is arranged between the delivery platform and the intervention consumable driving mechanism, and the fixing part is connected to the delivery platform; the connecting part is connected between the interventional consumable driving mechanism and the fixing part, and the connecting part is fixedly connected with the interventional consumable driving mechanism and rotationally connected with the fixing part through a first rotating shaft; and the force sensor is fixedly connected with the fixed part and is rotationally connected with the connecting part through a second rotating shaft. When the interventional consumables are subjected to resistance, acting force is applied to the interventional consumable driving mechanism, the force sensor is used for detecting the stress at the second rotating shaft, the amplification value of the resistance can be obtained, and the resistance borne by the interventional consumables can be accurately measured.

Description

Technical Field

[0001] The present disclosure relates to the technical field of medical machinery, and in particular to an interventional consumables force measuring device and a vascular interventional surgery robot. Background Art

[0002] The vascular interventional surgery robot is an important medical device that replaces human labor to perform interventional surgery. Through the control of the master end, the catheters, guide wires, stents and other interventional consumables located at the slave end are introduced into the blood vessels in the body to perform minimally invasive diagnosis and treatment of diseases.

[0003] When interventional consumables move in blood vessels, they will encounter resistance from the blood vessel wall. If the resistance of interventional consumables can be measured, it will be convenient for operators to control the interventional consumables more accurately, which is of great help to improve the safety of surgery. At present, there are also some devices for measuring the resistance of interventional consumables. For example, a motor is used as a power source to drive the movement of interventional consumables, and the resistance of the interventional consumables is approximately converted by the influence of the resistance of the motor on the current.

[0004] However, since the resistance of the interventional consumables is very small, the existing resistance measuring devices cannot accurately measure the size of the resistance of the interventional consumables, resulting in the operator being unable to make effective judgments and operations based on the size of the resistance of the interventional consumables, and unable to ensure the safety of the operation.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content

[0006] The purpose of the present disclosure is to overcome at least one of the above-mentioned shortcomings of the related art and provide an interventional consumable force measuring device.

[0007] Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.

[0008] According to a first aspect of the present disclosure, there is provided an interventional consumable force measuring device for a vascular interventional surgery robot, the vascular interventional surgery robot comprising a delivery platform and an interventional consumable drive mechanism, the interventional consumable drive mechanism being arranged on the delivery platform, the interventional consumable drive mechanism being used to drive the delivery of the interventional consumable, the interventional consumable force measuring device comprising:

[0009] A fixing part, disposed between the delivery platform and the interventional consumables driving mechanism, the fixing part being connected to the delivery platform;

[0010] a connecting portion connected between the interventional consumable driving mechanism and the fixing portion, wherein the connecting portion is fixedly connected to the interventional consumable driving mechanism and is rotationally connected to the fixing portion, and a rotation axis of the rotational connection is a first rotation axis;

[0011] a force sensor, wherein the force sensor is fixedly connected to the fixing portion and is rotationally connected to the connecting portion, and the rotation axis of the rotational connection is a second rotation axis;

[0012] Among them, the axis of the first rotating shaft is parallel to the axis of the second rotating shaft and perpendicular to the delivery direction of the interventional consumable. When the interventional consumable encounters resistance during the delivery process, a force is applied to the interventional consumable driving mechanism, and the force can be transmitted to the first rotating shaft.

[0013] In an exemplary embodiment of the present disclosure, the second rotation shaft is located between the first rotation shaft and the interventional consumable driving mechanism.

[0014] In an exemplary embodiment of the present disclosure, the interventional consumable force measuring device further includes:

[0015] The sensor fixing frame is rotationally connected to the connecting portion via the second rotating shaft, and the force sensor is fixedly connected to the sensor fixing frame.

[0016] In an exemplary embodiment of the present disclosure, a side mounting plate is connected between the connecting portion and the fixing portion, the side mounting plate is rotationally connected to the connecting portion via the first rotating shaft, and is fixedly connected to a side edge of the fixing portion;

[0017] Wherein, the side mounting plates are rotatably connected to both ends of the first rotating shaft.

[0018] In an exemplary embodiment of the present disclosure, the connecting portion includes a horizontal plate and a vertical plate, the horizontal plate and the vertical plate are fixedly connected in a T-shape, the side of the horizontal plate away from the vertical plate is fixedly connected to the interventional consumable drive mechanism, and the first rotating axis and the second rotating axis are arranged on the vertical plate.

[0019] In an exemplary embodiment of the present disclosure, there is a gap between an end of the vertical plate away from the horizontal plate and the fixing portion.

[0020] According to a second aspect of the present disclosure, a vascular interventional surgery robot is provided, comprising the above-mentioned interventional consumables force measuring device, the vascular interventional surgery robot also comprising a delivery platform and an interventional consumables driving mechanism, the interventional consumables driving mechanism is connected to the delivery platform through the fixing portion, the interventional consumables driving mechanism comprises a driving wheel, at least two of the driving wheels are provided, wherein at least two of the driving wheels are arranged relative to each other for clamping the interventional consumables and realizing the delivery of the interventional consumables through the rotation of the driving wheels

[0021] In an exemplary embodiment of the present disclosure, the interventional consumable driving mechanism is provided with multiple groups, and the interventional consumable force measuring device is arranged between each group of the interventional consumable driving mechanism and the delivery platform, and different interventional consumable force measuring devices are used to measure the force of different interventional consumables.

[0022] In an exemplary embodiment of the present disclosure, the fixing portion is fixedly connected or slidably connected to the delivery platform;

[0023] The interventional consumables driving mechanism is fixed or slidable relative to the delivery platform.

[0024] In an exemplary embodiment of the present disclosure, the interventional consumables driving mechanism is provided in multiple groups, one group is a catheter driving mechanism, and the other group is a guidewire driving mechanism.

[0025] The interventional consumable force measuring device disclosed in the present invention has the following beneficial effects:

[0026] In the present disclosure, the interventional consumable force measuring device is arranged between the delivery platform and the interventional consumable driving mechanism, and the interventional consumable driving mechanism can clamp the interventional consumable and drive the interventional consumable to move. The interventional consumable driving mechanism is rotatably connected to the fixed part through the first rotating shaft. When the interventional consumable is subjected to resistance during the delivery process, the resistance will give a reaction force to the interventional consumable driving mechanism, thereby driving the interventional consumable driving mechanism to have a tendency to rotate around the first rotating shaft, that is, the reaction force of the resistance on the interventional consumable driving mechanism on the interventional consumable can generate a torque on the first rotating shaft, and the torque is the same as the torque generated by the pressure value detected by the force sensor on the first rotating shaft at the second rotating shaft. The force sensor is used to detect the force at the second rotating shaft, so as to obtain the amplified value of the resistance, and then the resistance on the interventional consumable can be accurately measured.

[0027] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0029] Figure 1 It is a schematic diagram of the structure of the delivery platform and interventional consumables driving mechanism of the vascular interventional surgery robot according to the embodiment of the present disclosure.

[0030] Figure 2 It is a schematic diagram of the structure of the interventional consumable force measuring device and the interventional consumable driving mechanism according to an embodiment of the present disclosure.

[0031] Figure 3 It is a cross-sectional view of the interventional consumable force measuring device and the interventional consumable driving mechanism according to an embodiment of the present disclosure.

[0032] Figure 4 It is a side sectional view of the interventional consumable force measuring device according to an embodiment of the present disclosure.

[0033] Figure 5 It is an exploded view of the structure of the interventional consumable force measuring device according to an embodiment of the present disclosure.

[0034] The main structural marks in the figure are explained as follows:

[0035] 1. Delivery platform; 2. Interventional consumables driving mechanism; 3. Fixing part; 31. Side mounting plate; 4. Connecting part; 41. First rotating shaft; 42. Second rotating shaft; 5. Force sensor; 51. Sensor fixing bracket. DETAILED DESCRIPTION

[0036] Example embodiments will now be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in a variety of forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that the present disclosure will be comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The same reference numerals in the figures represent the same or similar structures, and thus their detailed description will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0037] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the diagram to another component, these terms are used in this specification only for convenience, such as according to the direction of the examples in the drawings. It is understood that if the device of the diagram is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" other structures, it may mean that the structure is formed integrally on the other structure, or that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0038] The terms "a", "an", "the", "" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "including" and "having" are used to express an open-ended inclusive meaning and mean that additional elements / components / etc. may exist in addition to the listed elements / components / etc.; the terms "first" and "second" are used merely as labels and are not intended to limit the quantity of their objects.

[0039] During vascular interventional surgery, interventional consumables need to be introduced into human blood vessels. When the interventional consumables move in the blood vessels, they will encounter resistance, which will interfere with the movement of the interventional consumables in the blood vessels. The operator can only make adjustments through force feedback combined with the size of the resistance to ensure the safety of the operation. If the size of the resistance encountered by the interventional consumables can be measured, it will help the operator to take effective operation strategies in a timely manner and improve the safety of the operation.

[0040] Among the existing devices for measuring the resistance of interventional consumables, some use the influence of the resistance of the motor on the current to approximately calculate the resistance of the interventional consumables; some use floating slide rails and pressure sensors for measurement; or add torque sensors to the motor output shaft for measurement. However, the force on the interventional consumables in the blood vessels is a small value. After the interventional consumables are subjected to resistance and then transmit the resistance to the measuring device, the measured value has deviations, and the resistance of the interventional consumables cannot be accurately measured.

[0041] Based on this, Figures 1 to 5As shown, the present disclosure proposes an interventional consumable force measuring device for a vascular interventional surgical robot, which includes a delivery platform 1 and an interventional consumable drive mechanism 2. The interventional consumable drive mechanism 2 is disposed on the delivery platform 1 and is used to drive the delivery of the interventional consumable. Of course, the present disclosure does not limit the specific structure and connection relationship between the delivery platform 1 and the interventional consumable drive mechanism 2, as long as the interventional consumable drive mechanism 2 is disposed on the delivery platform 1 and the interventional consumable drive mechanism 2 can be used to drive the delivery of the interventional consumable. The interventional consumable force measuring device includes a fixing portion 3, a connecting portion 4 and a force sensor 5. The fixed part 3 is arranged between the delivery platform 1 and the interventional consumable driving mechanism 2, and the fixed part 3 is connected to the delivery platform 1; the connecting part 4 is connected between the interventional consumable driving mechanism 2 and the fixed part 3, and the connecting part 4 is fixedly connected to the interventional consumable driving mechanism 2, and is rotationally connected to the fixed part 3, and the rotating axis of the rotational connection is the first rotating axis 41; the force sensor 5 is fixedly connected to the fixed part 3, and is rotationally connected to the connecting part 4, and the rotating axis of the rotational connection is the second rotating axis 42; wherein, the axis of the first rotating axis 41 is parallel to the axis of the second rotating axis 42, and is perpendicular to the delivery direction of the interventional consumable, and when the interventional consumable encounters resistance during the delivery process, a force is applied to the interventional consumable driving mechanism 2, and the force can be transmitted to the first rotating axis 41.

[0042] The interventional consumable force measuring device disclosed in the present invention is arranged between the delivery platform 1 and the interventional consumable driving mechanism 2, and the interventional consumable driving mechanism 2 can clamp the interventional consumable and drive the interventional consumable to move. The interventional consumable driving mechanism 2 is rotatably connected to the fixed part 3 through the first rotating shaft 41. When the interventional consumable is subjected to resistance during the delivery process, the resistance will give the interventional consumable driving mechanism 2 a reaction force, thereby driving the interventional consumable driving mechanism 2 to rotate around the first rotating shaft 41 or have a tendency to rotate, that is, the resistance of the interventional consumable to the reaction force of the interventional consumable driving mechanism 2 can generate a torque on the first rotating shaft 41, and the torque is the same as the torque generated by the pressure value detected by the force sensor 5 on the first rotating shaft 42 at the second rotating shaft 42. The force sensor 5 is used to detect the force at the second rotating shaft 42, so as to obtain the amplified value of the resistance, and then the resistance of the interventional consumable can be accurately measured.

[0043] The following will describe in detail the various parts of the interventional consumable force measuring device provided by the embodiment of the present disclosure in conjunction with the accompanying drawings:

[0044] In the embodiments of the present disclosure, Figure 1 , Figure 2 , Figure 3As shown, the interventional consumable force measuring device is used for a vascular interventional surgical robot, which includes a delivery platform 1 and an interventional consumable driving mechanism 2. The interventional consumable driving mechanism 2 is arranged on the delivery platform 1, and the interventional consumable driving mechanism 2 can be fixed on the delivery platform 1, or can be slidably arranged on the interventional consumable delivery platform 1. The interventional consumable driving mechanism 2 is provided with a clamping part for clamping the interventional consumable, and the interventional consumable can be inserted into the clamping part and the friction force is used to realize the delivery of the interventional consumable.

[0045] The interventional consumable force measuring device includes a fixing part 3, a connecting part 4 and a force sensor 5. The fixing part 3 is arranged between the delivery platform 1 and the interventional consumable driving mechanism 2, and the fixing part 3 is connected to the delivery platform 1; the connecting part 4 is connected between the interventional consumable driving mechanism 2 and the fixing part 3, and the connecting part 4 is fixedly connected to the interventional consumable driving mechanism 2, and is rotationally connected to the fixing part 3, and the rotation axis of the rotational connection is the first rotation axis 41; the force sensor 5 is fixedly connected to the fixing part 3, and is rotationally connected to the connecting part 4, and the rotation axis of the rotational connection is the second rotation axis 42. The axis of the first rotation axis 41 is parallel to the axis of the second rotation axis 42, and is perpendicular to the delivery direction of the interventional consumable. When the interventional consumable is subjected to resistance during the delivery process, a force is applied to the interventional consumable driving mechanism 2, and the force can be transmitted to the first rotation axis 41.

[0046] The fixing part 3 is used to install the interventional consumable drive mechanism 2 on the delivery platform 1, the connecting part 4 is fixedly connected to the interventional consumable drive mechanism 2, and the side of the connecting part 4 away from the interventional consumable drive mechanism 2 is rotationally connected to the fixing part 3 through the first rotating shaft 41. When the interventional consumable is subjected to resistance, the connecting part 4 and the interventional consumable drive mechanism 2 form a lever structure, wherein the reaction point of the resistance to the interventional consumable on the interventional consumable drive mechanism 2 is the power point of the lever; the first rotating shaft 41 is the fulcrum of the lever; the rotation point of the connecting part 4 and the second rotating shaft 42 can be used as the resistance point of the lever; the distance between the first rotating shaft 41 and the resistance to the interventional consumable is the power arm of the lever; the distance between the axis of the second rotating shaft 42 and the axis of the first rotating shaft 41 is the resistance arm of the lever.

[0047] When the interventional consumable encounters resistance, the reaction force of the resistance on the interventional consumable driving mechanism 2 can drive the connecting part 4 and the interventional consumable driving mechanism 2 to have a tendency to rotate around the first rotating axis 41, so that the reaction force can generate a torque on the first rotating axis 41. At this time, the torque is the same as the torque generated at the second rotating axis 42 on the first rotating axis 41, and the force at the second rotating axis 42 can be detected by the force sensor 5, and then the magnitude of the resistance encountered by the interventional consumable can be converted through the detection value of the force sensor 5.

[0048] It should be noted that the second rotating shaft 42 is located between the first rotating shaft 41 and the interventional consumable driving mechanism 2. This makes the force arm of the moment of the second rotating shaft 42 on the first rotating shaft 41 smaller than the force arm of the moment of the reaction force of the interventional consumable resistance on the interventional consumable driving mechanism 2 on the first rotating shaft 41. Therefore, the pressure value detected by the force sensor 5 is the amplified value of the resistance of the interventional consumable, and the resistance of the interventional consumable can be measured more accurately.

[0049] It is understandable that the resistance to the interventional consumable is smaller than the force delivered by the interventional consumable driving mechanism 2, that is, the friction between the clamping part and the interventional consumable. Since the resistance to the interventional consumable is very small and the force sensor 5 is arranged between the connecting part 4 and the fixing part 3, the interventional consumable driving mechanism 2 and the connecting part 4 will not rotate at a large angle around the first rotating shaft 41, or only have a tendency to rotate, and this rotation tendency can be transmitted to the force sensor 5.

[0050] In one embodiment of the present disclosure, Figure 4 , Figure 5 As shown, the interventional consumable force measuring device further includes a sensor fixing frame 51. The sensor fixing frame 51 is connected to the connecting portion 4 via the second rotating shaft 42, and the force sensor 5 is fixedly connected to the sensor fixing frame 51. The force sensor 5 is located between the sensor fixing frame 51 and the fixing portion 3, one end of the force sensor 5 is fixedly connected to the sensor fixing frame 51, and the other end is fixedly connected to the fixing portion 3. The force sensor 5 is rotatably connected to the connecting portion 4 via the sensor fixing frame 51, and the force sensor 5 can always be in a state parallel to the delivery platform 1, so that the pressure value detected by the force sensor 5 is more accurate.

[0051] In one embodiment of the present disclosure, the interventional consumable force measuring device further includes a side mounting plate 31. The side mounting plate 31 is connected between the connecting portion 4 and the fixing portion 3, the side mounting plate 31 is rotationally connected to the connecting portion 4 through a first rotating shaft 41, and is fixedly connected to the side of the fixing portion 3, wherein the side mounting plates 31 are rotationally connected to both ends of the first rotating shaft 41. The connecting portion 4 and the fixing portion 3 are clamped in the middle by two side mounting plates 31, the two side mounting plates 31 are rotationally connected to both sides of the connecting portion 4 through the first rotating shaft 41, and the side mounting plates 31 are fixed to the fixing portion 3. By connecting the fixing portion 3 and the connecting portion 4 with two side mounting plates 31, the force sensor 5 can be arranged between the connecting portion 4 and the fixing portion 3, which simplifies the structure of the interventional consumable force measuring device and can save space.

[0052] In one embodiment of the present disclosure, the connecting portion 4 includes a horizontal plate and a vertical plate, the horizontal plate and the vertical plate are fixedly connected in a T-shape, the side of the horizontal plate away from the vertical plate is fixedly connected to the interventional consumable drive mechanism 2, and the first rotating shaft 41 and the second rotating shaft 42 are arranged on the vertical plate. The side of the horizontal plate away from the vertical plate fits with the bottom of the interventional consumable drive mechanism 2, which can make the connection between the connecting portion 4 and the interventional consumable drive mechanism 2 more firmly fixed, ensuring that the connecting portion 4 does not interfere with the rotation trend of the interventional consumable drive mechanism 2. In addition, the first rotating shaft 41 and the second rotating shaft 42 are both arranged on the vertical plate, and can be located on the same side of the vertical plate. After the interventional consumable is subjected to resistance, it is convenient to more completely transmit the force applied to the interventional consumable drive mechanism 2 to the first rotating shaft 41, and it is also convenient to transmit the force to the pressure sensor 5.

[0053] In one embodiment of the present disclosure, there is a gap between the end of the vertical plate away from the horizontal plate and the fixing portion 3 .

[0054] It should be noted that the fixing portion 3 is used to connect the interventional consumables drive mechanism 2 and the delivery platform 1, and the present disclosure does not specifically limit the specific shape and structure of the fixing portion 3. For example, the fixing portion 3 is wedge-shaped and is partially located below the connecting portion 4, which is beneficial to improving the stability of the interventional consumables drive mechanism 2. The connecting portion 4 is located between the fixing portion 3 and the interventional consumables drive mechanism 2, so that there is a gap between the end of the vertical plate of the connecting portion 4 away from the horizontal plate and the fixing portion 3, that is, the connecting portion 4 and the fixing portion 3 will not abut or fit. Therefore, when the resistance to the interventional consumables is transmitted to the first rotating shaft 41, the rotation or rotation tendency of the connecting portion 4 around the first rotating shaft 41 will not be offset.

[0055] In the embodiment of the present disclosure, the resistance experienced by the interventional consumable satisfies the following relationship and can be specifically calculated by the following formula:

[0056] F1×L1=F2×L2;

[0057] Among them, F1 is the resistance experienced by the interventional consumable, L1 is the distance between the axis of the first rotating shaft 41 and the interventional consumable, F2 is the value detected by the force sensor 5, and L2 is the distance between the axis of the first rotating shaft 41 and the axis of the second rotating shaft 42.

[0058] It should be noted that the value of F1×L1 is the torque generated by the reaction force of the interventional consumable drive mechanism 2 on the first rotating shaft 41 after the interventional consumable is subjected to resistance; the value of F2×L2 is the torque generated by the force detected by the force sensor 5 on the first rotating shaft 41 when the reaction force of the interventional consumable drive mechanism 2 generates a torque on the first rotating shaft 41. The forces that generate the two torques act on the lever composed of the connecting portion 4 and the interventional consumable drive mechanism 2, and the two torques are generated when the interventional consumable is subjected to resistance. Since the reaction force of the resistance to the interventional consumable on the interventional consumable drive mechanism 2 is the power of the lever, the two torques are the same. Thus, the magnitude of the resistance to the interventional consumable can be converted, and the measured value of the force sensor 5 is the amplified value of the resistance, and then the magnitude of the resistance to the interventional consumable can be accurately obtained. Of course, it can be understood that the above calculation formula is only a basic calculation formula, and technicians in this field can also adjust the above calculation formula according to actual use needs, for example, by adding various correction coefficients.

[0059] The present disclosure also proposes a vascular interventional surgery robot, including the above-mentioned interventional consumables force measuring device, the vascular interventional surgery robot also includes a delivery platform 1 and an interventional consumables driving mechanism 2, the interventional consumables driving mechanism 2 is connected to the delivery platform 1 through a fixing portion 3, the interventional consumables driving mechanism 2 includes a driving wheel, at least two driving wheels are provided, wherein at least two driving wheels are arranged relative to each other for clamping the interventional consumables and delivering the interventional consumables by rotating the driving wheels. The delivery platform 1 may include a long rail delivery mechanism, the interventional consumables driving mechanism 2 may slide on the long rail delivery mechanism, and the sliding direction is parallel to the delivery direction of the interventional consumables.

[0060] The two driving wheels are symmetrically arranged on both sides of the delivery direction of the interventional consumables, and the axes of the two driving wheels are perpendicular to the delivery direction of the interventional consumables. The two driving wheels are used to clamp the interventional consumables, and by driving the two driving wheels to rotate in opposite directions at the same time, the interventional consumables can be driven for delivery. The two driving wheels drive the interventional consumables to move through the friction between them and the interventional consumables. Therefore, when the interventional consumables are subject to resistance, and the resistance is less than the friction between the two driving wheels and the interventional consumables, the interventional consumables driving mechanism 2 will have a movement trend opposite to the movement direction of the interventional consumables, and the interventional consumables driving mechanism 2 is rotatably connected to the fixed part 3 through the connecting part 4, so that the reaction force received by the interventional consumables driving mechanism 2 will generate a torque on the first rotating shaft 41 with the connecting part 4 and the interventional consumables driving mechanism 2 as the lever arm, so as to facilitate the measurement of the resistance received by the interventional consumables.

[0061] In the disclosed embodiment, multiple groups of interventional consumables drive mechanisms 2 are provided, and interventional consumables force measuring devices are provided between each group of interventional consumables drive mechanisms 2 and the delivery platform 1, and different interventional consumables force measuring devices are used to measure the forces of different interventional consumables. Since a variety of interventional consumables are required in vascular interventional surgery, a vascular interventional surgery robot usually has multiple groups of interventional consumables drive mechanisms 2, and the multiple groups of interventional consumables drive mechanisms 2 cooperate with each other to simultaneously drive different interventional consumables for delivery. Multiple groups of interventional consumables drive mechanisms 2 are all provided on the delivery platform 1, and interventional consumables force measuring devices are provided between each group of interventional consumables drive mechanisms 2 and the delivery platform 1, which can measure the forces of the interventional consumables delivered by each group of interventional consumables drive mechanisms 2, which helps operators to take effective operation strategies for different interventional consumables in a timely manner, and is conducive to improving the safety of the operation.

[0062] In one embodiment of the present disclosure, the fixing portion 3 is fixedly connected or slidably connected to the delivery platform 1, and the interventional consumable drive mechanism 2 is fixed relative to the delivery platform 1 or slides on the delivery platform 1. The delivery platform 1 may include a long rail delivery mechanism, and the fixing portion 3 is used to connect the interventional consumable drive mechanism 2 and the delivery platform 1. When the fixing portion 3 is fixed to the delivery platform 1, the interventional consumable drive mechanism 2 is fixed relative to the delivery platform 1; when the fixing portion 3 is slidably connected to the delivery platform 1, the interventional consumable drive mechanism 2 can slide on the long rail delivery mechanism.

[0063] For example, in vascular intervention surgery, it is necessary to introduce a catheter and a guidewire into a blood vessel. The interventional consumables drive mechanism 2 may be provided with two groups, one of which is a catheter drive mechanism and the other is a guidewire drive mechanism, wherein the guidewire drive mechanism can slide back and forth on the delivery platform 1 in a direction parallel to the guidewire delivery direction. Both the catheter drive mechanism and the guidewire drive mechanism can drive the interventional consumables clamped by themselves for delivery. Both the catheter drive mechanism and the guidewire drive mechanism are provided with interventional consumables force measuring devices. During the delivery of the catheter and the guidewire, the corresponding interventional consumables force measuring devices can detect the resistance of the corresponding catheter and guidewire.

[0064] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The utility model is intended to cover any variation, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and examples are to be regarded as exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

Claims

1. An interventional consumable force measuring device, used for a vascular interventional surgery robot, the vascular interventional surgery robot comprising a delivery platform and an interventional consumable driving mechanism, the interventional consumable driving mechanism being arranged on the delivery platform, the interventional consumable driving mechanism being used to drive the delivery of the interventional consumable, It is characterized in that The interventional consumables force measuring device comprises: A fixing part, disposed between the delivery platform and the interventional consumables driving mechanism, the fixing part being connected to the delivery platform; a connecting portion connected between the interventional consumable driving mechanism and the fixing portion, wherein the connecting portion is fixedly connected to the interventional consumable driving mechanism and is rotationally connected to the fixing portion, and a rotation axis of the rotational connection is a first rotation axis; a force sensor, wherein the force sensor is fixedly connected to the fixing portion and is rotationally connected to the connecting portion, and the rotation axis of the rotational connection is a second rotation axis; Among them, the axis of the first rotating shaft is parallel to the axis of the second rotating shaft and perpendicular to the delivery direction of the interventional consumable. When the interventional consumable encounters resistance during the delivery process, a force is applied to the interventional consumable driving mechanism, and the force can be transmitted to the first rotating shaft.

2. The interventional consumable force measuring device according to claim 1, It is characterized in that The second rotating shaft is located between the first rotating shaft and the interventional consumable driving mechanism.

3. The interventional consumable force measuring device according to claim 2, It is characterized in that Also includes: The sensor fixing frame is rotationally connected to the connecting portion via the second rotating shaft, and the force sensor is fixedly connected to the sensor fixing frame.

4. The interventional consumable force measuring device according to any one of claims 1 to 3, It is characterized in that Also includes: a side mounting plate connected between the connecting portion and the fixing portion, the side mounting plate being rotatably connected to the connecting portion via the first rotating shaft and being fixedly connected to a side edge of the fixing portion; Wherein, the side mounting plates are rotatably connected to both ends of the first rotating shaft.

5. The interventional consumable force measuring device according to any one of claims 1 to 3, It is characterized in that The connecting portion includes a horizontal plate and a vertical plate, the horizontal plate is fixedly connected to the vertical plate in a T-shape, the side of the horizontal plate away from the vertical plate is fixedly connected to the interventional consumables driving mechanism, and the first rotating shaft and the second rotating shaft are arranged on the vertical plate.

6. The interventional consumable force measuring device according to claim 5, It is characterized in that There is a gap between the end of the vertical plate away from the horizontal plate and the fixing portion.

7. A vascular interventional surgery robot, It is characterized in that The interventional consumables force measuring device comprises the interventional consumables force measuring device according to any one of claims 1 to 6, the vascular interventional surgical robot further comprises a delivery platform and an interventional consumables driving mechanism, the interventional consumables driving mechanism is connected to the delivery platform via the fixing portion, the interventional consumables driving mechanism comprises a driving wheel, at least two driving wheels are provided, wherein at least two of the driving wheels are arranged relative to each other for clamping the interventional consumables and realizing the delivery of the interventional consumables by rotating the driving wheels.

8. The vascular interventional surgery robot according to claim 7, It is characterized in that The interventional consumables driving mechanism is provided with multiple groups, and the interventional consumables force measuring device is arranged between each group of the interventional consumables driving mechanism and the delivery platform, and different interventional consumables force measuring devices are used to measure the forces of different interventional consumables.

9. The vascular interventional surgery robot according to claim 8, It is characterized in that The fixing portion is fixedly connected or slidably connected to the delivery platform; The interventional consumables driving mechanism is fixed or slidable relative to the delivery platform.

10. The vascular interventional surgery robot according to claim 7, It is characterized in that The interventional consumables driving mechanism is provided with multiple groups, one group is a catheter driving mechanism, and the other group is a guide wire driving mechanism.

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