Main end operation table of interventional operation robot

Abstract

The utility model relates to the technical field of medical instruments, and provides a main end operating table of an interventional surgical robot, which comprises an operating table body, a display component, a translation sliding handle and a push rotating handle, the display assembly, the translation sliding handle and the push rotating handle are arranged on the operation table body. The interventional surgical robot adjusts the action according to the linear displacement of the translation sliding handle and the angular displacement of the pushing rotating handle; the linear displacement resistance of the translation sliding handle and / or the angular displacement resistance of the pushing rotating handle are / is in positive correlation with the action resistance of the interventional operation machine. By arranging components such as the display and the handle, on one hand, linear displacement and angular displacement of the handle are respectively associated with action resistance of the interventional operation robot, the perceptual resistance in the operation process is improved, the operation safety is improved, on the other hand, related states and information in the operation can be synchronously displayed, and the operation safety is improved. And a doctor can observe the whole process of the operation more intuitively.

Description

Technical Field

[0001] The utility model relates to the technical field of medical instruments, in particular to a main end operating table of an interventional surgery robot. Background Art

[0002] With the development of economy and technology, vascular interventional therapy has become an important treatment for vascular diseases and various tumors. In terms of vascular treatment, the main treatment methods include: intravascular balloon angioplasty, vascular stents, thrombolytic therapy, vascular embolization, inferior vena cava filter placement, transjugular intrahepatic portosystemic shunt (TIPS), various angiographic diagnoses, etc. In the treatment of neoplastic diseases, the main treatment methods include: tumor blood supply embolization and drug perfusion (TACE), intra-arterial irradiation, preoperative embolization of tumor blood vessels, etc.; for some tumors, such as liver cancer, lung cancer, pelvic tumors, etc., vascular interventional therapy has become an important treatment method, which has effectively controlled tumor growth, reduced tumor burden, and prolonged survival for a large number of tumor patients who do not have surgical indications.

[0003] As the main equipment for vascular interventional treatment, the vascular interventional surgical robot requires the robot control platform to be the main operating component, which needs to integrate multiple functions. The existing operating equipment is inconvenient to use and cannot timely reflect the force changes of the vascular interventional surgical robot in the human body, affecting the doctor's operation of the hand lever and the surgical effect. Utility Model Content

[0004] The utility model provides a main end operating table of an interventional surgical robot, which is used to solve the defects that the existing operating equipment is inconvenient to use, cannot timely reflect the force changes of the vascular interventional surgical robot in the human body, and affects the doctor's operation of the hand lever and the surgical effect.

[0005] According to the utility model, a main end operating table of an interventional surgical robot includes: an operating table body, a display component, a translation sliding handle and a pushing rotating handle; the display component, the translation sliding handle and the pushing rotating handle are respectively arranged on the operating table body; the interventional surgical robot adjusts its action according to the linear displacement of the translation sliding handle and the angular displacement of the pushing rotating handle; the linear displacement resistance of the translation sliding handle and / or the angular displacement resistance of the pushing rotating handle are positively correlated with the action resistance of the interventional surgical machine.

[0006] According to one embodiment of the utility model, the display component and the translation sliding handle are arranged on the operating table body at intervals along the first direction; the two pushing and rotating handles are arranged on the operating table body at intervals along the second direction, and the two pushing and rotating handles are respectively located on both sides of the display component; wherein the first direction is perpendicular to the second direction.

[0007] Specifically, this embodiment provides an implementation method for the surface layout of an operating table body.

[0008] According to an embodiment of the utility model, an inclined platform is arranged on the operating table body, the display component is arranged on the inclined surface of the inclined platform, and a display area is opened toward the side of the translation sliding handle.

[0009] Specifically, this embodiment provides an implementation of an inclined platform.

[0010] According to an implementation manner of the utility model, the display area is a touch display screen.

[0011] Specifically, this embodiment provides an implementation of a display area.

[0012] According to an embodiment of the utility model, the display assembly further includes: a power switch and an emergency stop switch, and the power switch and the emergency stop switch are respectively arranged at intervals along the first direction.

[0013] Specifically, this embodiment provides an implementation of a power switch and an emergency stop switch.

[0014] According to one embodiment of the utility model, the translational sliding handle includes: a translational sliding base, a first handle part, a hysteresis brake, a third encoder, a rack and a gear; the first handle part is slidingly connected to the translational sliding base; the hysteresis brake is connected to the first handle part and slides synchronously with the first handle part; the third encoder is connected to the shaft of the hysteresis brake through a coupling, and is used to send linear displacement information of the first handle part to the interventional surgical robot; the rack is connected to the translational sliding base; the gear is respectively connected to the shaft of the hysteresis brake and the third encoder, and meshes with the rack; wherein the hysteresis brake adjusts the rotational torque according to the excitation current information fed back by the interventional surgical robot; the movement resistance of the first handle part is positively correlated with the rotational torque of the hysteresis brake.

[0015] Specifically, this embodiment provides an implementation of a translation sliding base, a first handle portion, a hysteresis brake, a third encoder, a rack and a gear.

[0016] According to one embodiment of the utility model, the translational sliding handle also includes: a slide rail and a slider; the slide rail is arranged on the translational sliding base, and the slide rail is arranged parallel to the rack; the slider is slidably matched with the slide rail; wherein the first handle portion is connected to the slider.

[0017] Specifically, this embodiment provides an implementation of a slide rail and a slider.

[0018] According to one embodiment of the utility model, at least one of the pushing and rotating handles includes: a support part, a motor, a first encoder and a second handle part; the motor is connected to the support part; the first encoder is connected to the shaft of the motor, and is used to send angular displacement information of the motor shaft to the interventional surgery robot; the second handle part is connected to the shaft of the motor and rotates synchronously with the shaft of the motor, and the motor adjusts the rotational torque according to the input current fed back by the interventional surgery robot; wherein the rotational resistance of the second handle part is positively correlated with the rotational torque of the motor.

[0019] Specifically, this embodiment provides an implementation of a support portion, a motor, a first encoder, and a second handle portion.

[0020] According to one embodiment of the utility model, the support part includes: a first support seat and a second support seat; the first support seat and the second support seat are arranged at an interval; the first support seat is provided with a first through hole, and the first support seat is arranged between the second handle part and the motor; the second handle part is arranged between the first support seat and the second support seat; wherein the shaft of the motor passes through the first support seat, the second handle part and the second support seat in sequence.

[0021] Specifically, this embodiment provides an implementation of a first support base and a second support base.

[0022] According to one embodiment of the utility model, the second handle portion includes: a first shell, a second shell, an adjustment roller and a second encoder; the first shell and the second shell are snapped together to form a accommodating space, and an adjustment opening is opened on the first shell; the adjustment roller at least partially protrudes from the adjustment opening; the second encoder is arranged in the accommodating space and connected to the adjustment roller; wherein the second encoder sends the rotation information of the adjustment roller to the interventional surgical robot.

[0023] Specifically, this embodiment provides an implementation of a first housing, a second housing, an adjustment wheel, and a second encoder.

[0024] The above one or more technical solutions in the present invention have at least one of the following technical effects: the main end operating table of an interventional surgical robot provided by the present invention, by setting components such as a display and a handle, on the one hand, associates the linear displacement and angular displacement of the handle with the motion resistance of the interventional surgical robot respectively, thereby improving the perception of the size of the resistance encountered during the operation and improving the safety of the operation; on the other hand, it can synchronously display the relevant status and information during the operation, so that the doctor can observe the overall progress of the operation more intuitively. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 This is a schematic diagram of the assembly relationship of the main end operating table of the interventional surgery robot provided by the utility model;

[0027] Figure 2 This is one of the schematic diagrams of the assembly relationship of the translational sliding handle in the main end operating table of the interventional surgery robot provided by the utility model;

[0028] Figure 3 This is the second schematic diagram of the assembly relationship of the translational sliding handle in the main end operating table of the interventional surgery robot provided by the utility model;

[0029] Figure 4 This is the third schematic diagram of the assembly relationship of the translational sliding handle in the main end operating table of the interventional surgery robot provided by the present invention;

[0030] Figure 5 This is the fourth schematic diagram of the assembly relationship of the translational sliding handle in the main end operating table of the interventional surgery robot provided by the utility model;

[0031] Figure 6 This is the fifth schematic diagram of the assembly relationship of the translational sliding handle in the main end operating table of the interventional surgery robot provided by the utility model;

[0032] Figure 7 This is the sixth schematic diagram of the assembly relationship of the translational sliding handle in the main end operating table of the interventional surgery robot provided by the present invention;

[0033] Figure 8 This is one of the schematic diagrams of the assembly relationship of the push-rotating handle in the main end operating table of the interventional surgery robot provided by the utility model;

[0034] Fig. 9 This is the second schematic diagram of the assembly relationship of the push-rotating handle in the main end operating table of the interventional surgery robot provided by the utility model;

[0035] Fig.10 This is the third schematic diagram of the assembly relationship of the push-rotating handle in the main end operating table of the interventional surgery robot provided by the utility model.

[0036] Reference numerals:

[0037] 10. Operating table body; 11. Inclined table;

[0038] 20. Display component; 21. Display area; 22. Power switch; 23. Emergency stop switch;

[0039] 30. Translational sliding handle; 31. Translational sliding base; 311. Sink; 32. First handle portion; 321. Mounting seat; 322. Adapter; 33. Hysteresis brake; 34. Third encoder; 35. Rack; 36. Gear; 37. Slide rail; 38. Sliding block; 39. Coupling;

[0040] 40. Pushing and rotating handle; 41. Supporting part; 411. First supporting seat; 412. Second supporting seat; 413. First through hole; 42. Motor; 43. First encoder; 44. Second handle part; 441. First shell; 442. Second shell; 443. Adjusting roller; 444. Second encoder; 445. Adjusting port; 45. Connecting rod; 46. Cover body;

[0041] N, first direction; M, second direction. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the embodiment of the utility model clearer, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0043] In the description of the embodiments of the present utility model, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the embodiments of the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the embodiments of the present utility model. In addition, the terms "first", "second", and "third" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance.

[0044] Combine the following Figures 1 to 10 The utility model is specifically described.

[0045] The present invention will be described in detail below in conjunction with specific implementation methods.

[0046] In some specific embodiments of the present invention, Figures 1 to 10As shown, the present solution provides a main end operating table of an interventional surgical robot, comprising: an operating table body 10, a display component 20, a translation sliding handle 30 and a pushing rotating handle 40; the display component 20, the translation sliding handle 30 and the pushing rotating handle 40 are respectively arranged on the operating table body 10; the interventional surgical robot adjusts its action according to the linear displacement of the translation sliding handle 30 and the angular displacement resistance of the pushing rotating handle 40; the linear displacement resistance of the translation sliding handle 30 and / or the angular displacement resistance of the pushing rotating handle 40 are positively correlated with the action resistance of the interventional surgical machine.

[0047] It should be noted that the display component 20 can display the resistance experienced by the catheter, balloon stent and guidewire of the vascular interventional surgery robot, and can also display the working resistance of the push-rotating handle 40 and the translational sliding handle 30 .

[0048] In some possible embodiments of the present invention, the display component 20 and the translation sliding handle 30 are arranged on the operating table body 10 at intervals along the first direction N; the two handle units are arranged on the operating table body 10 at intervals along the second direction M, and the two handles are respectively located on both sides of the display component 20; wherein, at least one handle unit is a push rotation handle 40; the first direction N and the second direction M are perpendicular.

[0049] Specifically, this embodiment provides an implementation method for the surface layout of the operating table body 10, wherein at least one push-rotating handle 40 is disposed on the side of the display component 20, and a translational sliding handle 30 is disposed at one end of the display component 20, so as to facilitate the user to operate the interventional surgical robot. The reasonable layout enhances the user experience.

[0050] In a possible embodiment, the translation sliding handle 30 is disposed on a side close to the user.

[0051] In some possible implementations of the present invention, an inclined platform 11 is disposed on the operating table body 10 , the display assembly 20 is disposed on the inclined surface of the inclined platform 11 , and a display area 21 is opened toward the side of the translation sliding handle 30 .

[0052] Specifically, this embodiment provides an implementation of an inclined platform 11 . The configuration of the inclined platform 11 enables the display area 21 to be better tilted toward the operator, making it easier for the operator to observe the display area 21 .

[0053] In some possible implementations of the present invention, the display area 21 is a touch display screen.

[0054] Specifically, this embodiment provides an implementation of the display area 21. By setting the display area 21 as a touch display screen, on the one hand, various status information during the operation can be displayed, and on the other hand, corresponding operations can be performed directly through the touch display screen.

[0055] In some possible implementations of the present invention, the display assembly 20 further includes: a power switch 22 and an emergency stop switch 23, and the power switch 22 and the emergency stop switch 23 are respectively arranged at intervals N along the first direction.

[0056] Specifically, this embodiment provides an implementation of a power switch 22 and an emergency stop switch 23. By setting the power switch 22, the main end operating console is powered on. At the same time, the emergency stop switch 23 can be set to perform an emergency stop operation in an emergency during the operation.

[0057] In an application scenario, in this embodiment, the display area 21 faces the user and is described based on the direction of the user. The translational sliding handle 30 is located on the side of the display area 21 close to the user. The push-rotating handle 40 on the left side of the display area 21 may correspond to the catheter part of the vascular interventional surgery robot, and the push-rotating handle 40 on the right side of the display area 21 may correspond to the balloon stent part of the vascular interventional surgery robot. The translational sliding handle 30 corresponds to the guidewire part of the vascular interventional surgery robot.

[0058] Furthermore, the inclined platform 11 is provided with an emergency stop switch 23 and a power switch 22 on the right side of the display area 21. A power supply and a main control board are provided inside the operating table body 10. The power supply is electrically connected to the main control board. The main control board is electrically connected to the push rotation handle 40, the translation sliding handle 30, the display component 20, the emergency stop switch 23 and the power switch 22 respectively. The main control board has a receiving module and a sending module. The sending module of the main control board can transmit the movement signals of the push rotation handle 40 and the translation sliding handle 30 to the vascular intervention surgery robot, so as to control the operation of the vascular intervention surgery robot. The receiving module of the main control board is used to receive the motion information of the vascular intervention surgery robot, and send the motion information to the display component 20 for display, so as to facilitate the user to intuitively understand the working status of the vascular intervention surgery robot. The power switch 22 is used to control the switch of the main control board.

[0059] In some possible embodiments of the utility model, the translational sliding handle 30 includes: a translational sliding base 31, a first handle portion 32, a hysteresis brake 33, a third encoder 34, a rack 35 and a gear 36; the first handle portion 32 is slidingly connected to the translational sliding base 31; the hysteresis brake 33 is connected to the first handle portion 32 and slides synchronously with the first handle portion 32; the third encoder 34 is connected to the shaft of the hysteresis brake 33 through a coupling 39, which is used to send linear displacement information of the first handle portion 32 to the interventional surgical robot; the rack 35 is connected to the translational sliding base 31; the gear 36 is respectively connected to the shaft of the hysteresis brake 33 and the third encoder 34, and meshes with the rack 35; wherein the hysteresis brake 33 adjusts the rotational torque according to the excitation current information fed back by the interventional surgical robot; the moving resistance of the first handle portion 32 is positively correlated with the rotational torque of the hysteresis brake 33.

[0060] Specifically, this embodiment provides an implementation method of a translational sliding base 31, a first handle portion 32, a hysteresis brake 33, a third encoder 34, a rack 35 and a gear 36. When the first handle portion 32 is used to control the movement of certain components of the medical device, the resistance detection element detects the resistance encountered by the terminal device, and the resistance detection element converts the resistance value into an electrical signal and sends it to the control board. The control board controls the magnitude of the excitation current transmitted to the hysteresis brake 33 according to the resistance electrical signal. According to the linear relationship between the excitation current and the rotational torque of the hysteresis brake 33, the resistance encountered by the terminal device is converted into a rotational torque according to a certain ratio. During the movement of the first handle portion 32, the rotational torque is converted into the moving resistance of the first handle portion 32 through the transmission assembly, so that the first handle portion 32 accurately reflects the actual resistance changes during the operation, thereby improving the surgical effect.

[0061] Furthermore, the third encoder 34 is electrically connected to the control board. The third encoder 34 converts the rotation angle information of the shaft of the hysteresis brake 33 into an electrical signal and sends it to the control board. The control board converts the angle electrical signal into moving distance information, and then sends the moving distance information to the terminal device to control the movement of the terminal device and ensure smooth operation.

[0062] Furthermore, the hysteresis brake 33 and the third encoder 34 are connected via a coupling 39 .

[0063] In some possible implementations of the present invention, the present invention further includes: a mounting seat 321 ; the mounting seat 321 is slidably connected to the translation sliding base 31 ; the first handle portion 32 is disposed on the mounting seat 321 ; wherein the hysteresis brake 33 is connected to the mounting seat 321 .

[0064] Specifically, this embodiment provides an implementation of a mounting seat 321 and a first handle portion 32, wherein the mounting seat 321 provides a connection position for the sliding connection between the first handle portion 32 and the translational sliding base 31, facilitates the installation and disassembly of the first handle portion 32, and also provides a connection position for the connection of other components.

[0065] In some possible implementations of the present invention, it further includes: an adapter 322 extending perpendicular to the moving direction of the first handle portion 32 ; wherein one end of the adapter 322 is connected to the mounting seat 321 , and the other end of the adapter 322 is connected to the third encoder 34 .

[0066] Specifically, this embodiment provides an implementation of an adapter 322 . The configuration of the adapter 322 enables the third encoder 34 to be connected to the mounting seat 321 , and can also achieve coaxial rotation with the shaft of the hysteresis brake 33 .

[0067] In a possible embodiment, the adapter 322 is arranged perpendicular to the moving direction of the first handle portion 32, so that the first handle portion 32 is arranged on one side of the translation sliding base 31, and the other side is connected to the third encoder 34, and the hysteresis brake 33 is arranged in the middle position of the translation sliding base 31.

[0068] In some possible embodiments of the present invention, the translational sliding handle 30 also includes: a slide rail 37 and a slider 38; the slide rail 37 is arranged on the translational sliding base 31, and the slide rail 37 is arranged parallel to the rack 35; the slider 38 slides with the slide rail 37; wherein the first handle portion 32 is connected to the slider 38.

[0069] Specifically, this embodiment provides an implementation of a slide rail 37 and a slider 38 . By providing the slide rail 37 and the slider 38 , the reciprocating motion of the first handle portion 32 on the translational sliding base 31 is achieved.

[0070] In some possible implementations of the present invention, the translational sliding base 31 is provided with a sink 311 for accommodating the hysteresis brake 33 ; wherein the rack 35 and the slide rail 37 are respectively provided on both sides of the sink 311 along the length direction.

[0071] Specifically, this embodiment provides an implementation of a translational sliding base 31, on which a recessed groove 311 capable of accommodating a hysteresis brake 33 is provided, thereby reducing the overall height of the translational sliding handle 30 and facilitating the coordination between the first handle portion 32 and components such as the slide rail 37 and the slider 38.

[0072] In some possible embodiments of the present invention, at least one pushing and rotating handle 40 includes: a support part 41, a motor 42, a first encoder 43 and a second handle part 44; the motor 42 is connected to the support part 41; the first encoder 43 is connected to the shaft of the motor 42, and is used to send angular displacement information of the shaft of the motor 42 to the interventional surgical robot; the second handle part 44 is connected to the shaft of the motor 42, and rotates synchronously with the shaft of the motor 42, and the motor 42 adjusts the rotational torque according to the input current feedback from the interventional surgical robot; wherein the rotational resistance of the second handle part 44 is positively correlated with the rotational torque of the motor 42.

[0073] Specifically, this embodiment provides an implementation of a support part 41, a motor 42, a first encoder 43 and a second handle part 44, the first encoder 43 is connected to the motor 42, the first encoder 43 is used to convert the rotation angle of the motor 42 shaft of the motor 42 into an electrical signal and send it to the control board, the control board converts the electrical signal into movement information and sends it to the vascular interventional surgery robot, thereby controlling the movement of the vascular interventional surgery robot; the shaft of the motor 42 can be used as a hinge shaft, the second handle part 44 is hinged to the support seat through the shaft of the motor 42, the second handle part 44 is fixedly connected to the shaft of the motor 42, the resistance detection element obtains the resistance encountered by the vascular interventional surgery robot, the resistance detection element converts the resistance into an electrical signal and sends it to the control board, the control board controls the current delivered to the motor 42 based on the electrical signal, thereby converting the resistance encountered by the vascular interventional surgery robot into the torque of the motor 42 shaft according to a certain ratio, when the second handle part 44 is rotated, the resistance change encountered by the vascular interventional surgery robot can be truly felt, thereby achieving precise control of the vascular interventional surgery robot.

[0074] In a possible embodiment, the motor 42 of the present invention is a brushed DC motor 42 .

[0075] Furthermore, it also includes: a connecting rod 45 , one end of the connecting rod 45 is connected to the shaft of the motor 42 , and the other end of the connecting rod 45 is detachably connected to the second handle portion 44 .

[0076] It should be noted that the second handle portion 44 provides a force application position for the doctor or operator, and the connecting rod 45 serves as a transfer for the connection between the second handle portion 44 and the shaft of the motor 42; the connecting rod 45 and the second handle portion 44 are plug-in matched and detachably connected by screws or the like.

[0077] In some possible embodiments of the utility model, the support portion 41 includes: a first support seat 411 and a second support seat 412; the first support seat 411 and the second support seat 412 are arranged at intervals; the first support seat 411 is provided with a first through hole 413, and the first support seat 411 is arranged between the second handle portion 44 and the motor 42; the second handle portion 44 is arranged between the first support seat 411 and the second support seat 412; wherein the shaft of the motor 42 passes through the first support seat 411, the second handle portion 44 and the second support seat 412 in sequence.

[0078] Specifically, this embodiment provides an implementation of a first support seat 411 and a second support seat 412, in which the first support seat 411 and the second support seat 412 are arranged at an interval, which realizes the transfer of the connecting rod 45 while ensuring the support stability of the second handle portion 44 and the motor 42, avoiding the problem of insufficient support strength and stress concentration caused by only setting the first support seat 411, and at the same time ensuring the stability of the rotation transmission.

[0079] In some possible embodiments of the utility model, the second handle portion 44 includes: a first shell 441, a second shell 442, an adjustment roller 443 and a second encoder 444; the first shell 441 and the second shell 442 are snapped together to form a accommodating space, and an adjustment port 445 is opened on the first shell 441; the adjustment roller 443 at least partially protrudes from the adjustment port 445; the second encoder 444 is arranged in the accommodating space and connected to the adjustment roller 443; wherein the second encoder 444 sends the rotation information of the adjustment roller 443 to the interventional surgical robot.

[0080] Specifically, this embodiment provides an implementation method of a first shell 441, a second shell 442, an adjustment roller 443 and a second encoder 444. By setting the adjustment roller 443 and the second encoder 444, the adjustment roller 443 is used to rotate the rotating shaft of the second encoder 444, and the second encoder 444 converts the rotation angle information into an electrical signal and sends it to the control board. The control board converts the electrical signal of the angle into a rotation command and sends it to the vascular interventional surgery robot, so that the interventional instrument of the vascular interventional surgery robot rotates, thereby realizing precise control of the vascular interventional surgery robot.

[0081] In a possible embodiment, if Figure 1 As shown, two pushing and rotating handles 40 are provided on the operating table body 10, but the two pushing and rotating handles 40 differ in specific structure. For example, the second handle portion 44 of one of the pushing and rotating handles 40 is provided with a first shell 441, a second shell 442, an adjusting roller 443 and a second encoder 444, while the other pushing and rotating handle 40 does not adopt the above-mentioned second handle portion 44 structure, especially the second encoder 444 and the adjusting roller 443 in the second handle portion 44 structure.

[0082] In some possible implementations of the present invention, the support portion 41 further includes: a bearing, which is disposed in the second support seat 412 and rotatably cooperates with the shaft of the motor 42 .

[0083] Specifically, this embodiment provides an implementation of the support portion 41 , and the arrangement of the bearing provides support between the shaft of the motor 42 and the second support seat 412 , and also reduces the friction during the rotation of the shaft of the motor 42 .

[0084] In some possible implementations of the present invention, a boss is provided on one side of the connecting rod 45 facing the first supporting seat 411 , and the boss is rotatably matched with the first through hole 413 .

[0085] Specifically, this embodiment provides an implementation method of a connecting rod 45. The setting of the boss enables the connecting rod 45 to be axially matched with the first through hole 413 of the first support seat 411, and the connecting rod 45 is connected to the shaft of the motor 42 through the position of the boss. On the one hand, it is convenient for the connection between the connecting rod 45 and the shaft of the motor 42. On the other hand, the connecting rod 45 can be positioned on the first support seat 411 through the matching of the boss and the first through hole 413.

[0086] In some possible implementations of the present invention, the present invention further includes: a cover body 46 , which is disposed between the connecting rod 45 and the second handle portion 44 and covers at least a portion of the support portion 41 .

[0087] Specifically, this embodiment provides an implementation of a cover body 46 , and the cover body 46 provides a protective effect for the outside of the support portion 41 , thereby preventing debris and dust from entering the support portion 41 .

[0088] In the description of the embodiments of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "connected" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in the embodiments of the present utility model can be understood according to specific circumstances.

[0089] In the embodiments of the present invention, unless otherwise clearly specified and limited, the first feature being "above" or "below" the second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0090] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "mode", "specific mode", or "some modes" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or mode are included in at least one embodiment or mode of the utility model embodiment. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or mode. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or modes in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or modes described in this specification and the features of the different embodiments or modes, without contradiction.

[0091] Finally, it should be noted that the above implementation modes are only used to illustrate the present invention, rather than to limit the present invention. Although the present invention is described in detail with reference to the embodiments, a person skilled in the art should understand that various combinations, modifications or equivalent replacements of the technical solutions of the present invention do not deviate from the spirit and scope of the technical solutions of the present invention, and should be included in the scope of the claims of the present invention.

Claims

1. A main operating console of an interventional surgery robot, characterized in that: include: An operating table body (10), a display assembly (20), a translation sliding handle (30) and a push rotating handle (40); The display assembly (20), the translation sliding handle (30) and the pushing rotating handle (40) are respectively arranged on the operating table body (10); The interventional surgical robot adjusts its actions according to the linear displacement of the translation sliding handle (30) and the angular displacement of the push rotating handle (40); The linear displacement resistance of the translation sliding handle (30) and / or the angular displacement resistance of the push rotation handle (40) are positively correlated with the action resistance of the interventional surgery machine.

2. The main operating console of the interventional surgery robot according to claim 1, characterized in that: The display assembly (20) and the translation sliding handle (30) are arranged on the operating table body (10) at intervals along a first direction (N); Two handle units are arranged at intervals on the operating console body (10) along a second direction (M), and the two handle units are respectively located on two sides of the display assembly (20); Wherein, at least one of the handle units is the pushing and rotating handle (40); The first direction (N) and the second direction (M) are perpendicular.

3. The main operating console of the interventional surgery robot according to claim 2, characterized in that: An inclined platform (11) is arranged on the operating table body (10); the display component (20) is arranged on the inclined surface of the inclined platform (11), and a display area (21) is opened toward the side of the translation sliding handle (30).

4. The main operating console of the interventional surgery robot according to claim 3, characterized in that: The display area (21) is a touch display screen.

5. The main operating console of the interventional surgery robot according to claim 3, characterized in that: The display assembly (20) further comprises: a power switch (22) and an emergency stop switch (23), wherein the power switch (22) and the emergency stop switch (23) are respectively arranged at intervals along a first direction (N).

6. The main operating console of the interventional surgery robot according to any one of claims 1 to 5, characterized in that: The translation sliding handle (30) comprises: a translation sliding base (31), a first handle portion (32), a hysteresis brake (33), a third encoder (34), a rack (35) and a gear (36); The first handle portion (32) is slidably connected to the translation sliding base (31); The hysteresis brake (33) is connected to the first handle portion (32) and slides synchronously with the first handle portion (32); The third encoder (34) is connected to the shaft of the hysteresis brake (33) via a coupling (39) and is used to send linear displacement information of the first handle part (32) to the interventional surgical robot; The rack (35) is connected to the translation sliding base (31); The gear (36) is respectively connected to the shaft of the hysteresis brake (33) and the third encoder (34), and meshes with the rack (35); Wherein, the hysteresis brake (33) adjusts the rotation torque according to the excitation current information fed back by the interventional surgery robot; The movement resistance of the first handle portion (32) is positively correlated with the rotation torque of the hysteresis brake (33).

7. The main operating console of the interventional surgery robot according to claim 6, characterized in that: The translation sliding handle (30) further comprises: a slide rail (37) and a slide block (38); The slide rail (37) is arranged on the translation sliding base (31), and the slide rail (37) is arranged parallel to the rack (35); The slide block (38) is slidably matched with the slide rail (37); Wherein, the first handle portion (32) is connected to the slider (38).

8. The main operating console of the interventional surgery robot according to any one of claims 1 to 5, characterized in that: At least one of the pushing and rotating handles (40) comprises: a support portion (41), a motor (42), a first encoder (43) and a second handle portion (44); The motor (42) is connected to the support portion (41); The first encoder (43) is connected to the shaft of the motor (42) and is used to send angular displacement information of the shaft of the motor (42) to the interventional surgery robot; The second handle portion (44) is connected to the shaft of the motor (42) and rotates synchronously with the shaft of the motor (42), and the motor (42) adjusts the rotation torque according to the input current fed back by the interventional surgery robot; The rotational resistance of the second handle portion (44) is positively correlated with the rotational torque of the motor (42).

9. The main operating console of the interventional surgery robot according to claim 8, characterized in that: The support portion (41) comprises: a first support seat (411) and a second support seat (412); The first support seat (411) and the second support seat (412) are arranged at an interval; The first support seat (411) is provided with a first through hole (413), and the first support seat (411) is arranged between the second handle portion (44) and the motor (42); The second handle portion (44) is arranged between the first support seat (411) and the second support seat (412); Wherein, the shaft of the motor (42) passes through the first support seat (411), the second handle portion (44) and the second support seat (412) in sequence.

10. The main operating console of the interventional surgery robot according to claim 8, characterized in that: The second handle portion (44) comprises: a first shell (441), a second shell (442), an adjustment roller (443) and a second encoder (444); The first shell (441) and the second shell (442) are buckled together to form a receiving space, and the first shell (441) is provided with an adjustment port (445); The adjusting roller (443) at least partially protrudes from the adjusting opening (445); The second encoder (444) is disposed in the accommodating space and connected to the adjusting roller (443); Wherein, the second encoder (444) sends the rotation information of the adjustment roller (443) to the interventional surgery robot.

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