Translation operation handle structure

Abstract

The utility model relates to the technical field of medical instruments, and provides a translation operation handle structure which comprises a base, a handle portion, a hysteresis brake, an encoder and a transmission assembly. The handle part is slidably connected with the base; the hysteresis brake is connected with the handle part and synchronously slides along with the handle part; the encoder is connected with a shaft body of the hysteresis brake and is used for sending linear displacement information of the handle part to the control panel; the hysteresis brake adjusts rotation torque according to excitation current information fed back by the control panel. And the linear displacement resistance of the handle part is positively correlated with the rotating torque of the hysteresis brake through the transmission assembly. The rotating torque of the hysteresis brake is changed by changing the exciting current transmitted to the hysteresis brake, and the rotating torque is converted into the moving resistance of the handle part through the transmission assembly, so that the resistance change is fed back truly, the safety of an operation is improved, and the operation is ensured to be carried out stably.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a translation operation handle structure. Background Art

[0002] With the application and development of mechatronics technology in medical equipment, master-slave teleoperation has become one of the methods to solve the radiation problem of doctors in interventional radiology. Master-slave teleoperation has been used in cutting surgery for a long time and has developed rapidly. Master-slave teleoperation requires more accurate force feedback, because the tactile feedback of force can make doctors feel the real feedback force in the operating room. If necessary, the tiny force can be amplified according to the set ratio to ensure that doctors can get a better perception of the actual situation, thereby ensuring the safety of the operation; however, the existing hydraulic force feedback equipment is not easy to meet the cleanliness requirements of the medical system, and the elastic force feedback equipment has low feedback accuracy. Utility Model Content

[0003] The utility model provides a translation operation handle structure, which is used to solve the defects in the prior art that the hydraulic force feedback device is difficult to meet the cleanliness requirement of the medical system and the elastic force feedback device has low feedback accuracy.

[0004] According to the utility model, a translational operating handle structure is provided, comprising: a base, a handle part, a hysteresis brake, an encoder and a transmission assembly; the handle part is slidably connected to the base; the hysteresis brake is connected to the handle part and slides synchronously with the handle part; the encoder is connected to the shaft of the hysteresis brake and is used to send linear displacement information of the handle part to a control board; wherein the hysteresis brake adjusts the rotational torque according to the excitation current information fed back by the control board; the linear displacement resistance of the handle part is positively correlated with the rotational torque of the hysteresis brake through the transmission assembly.

[0005] According to an embodiment of the utility model, the handle portion includes: a mounting seat and a handle body; the mounting seat is slidably connected to the base; the handle body is arranged on the mounting seat; wherein the hysteresis brake is connected to the mounting seat.

[0006] Specifically, this embodiment provides an implementation of a mounting base and a handle body.

[0007] According to an embodiment of the utility model, the handle portion further includes: an adapter, which is extended and arranged perpendicular to the moving direction of the handle body; wherein one end of the adapter is connected to the mounting seat, and the other end of the adapter is connected to the encoder.

[0008] Specifically, this embodiment provides an implementation of a transition piece.

[0009] According to one embodiment of the utility model, the handle body includes: a handle support section and a handle grip section; the handle support section is connected to the mounting seat; the handle grip section is connected to the handle support section and forms an L-shaped structure with the handle support section.

[0010] Specifically, this embodiment provides an implementation of a handle support section and a handle grip section.

[0011] According to an implementation of the utility model, the extension direction of the handle gripping section is parallel to the sliding direction.

[0012] Specifically, this embodiment provides an implementation of a handle grip section.

[0013] According to an embodiment of the utility model, the transmission assembly includes: a rack and a gear; the rack is connected to the base; the gear is respectively connected to the shaft of the hysteresis brake and the encoder, and meshes with the rack.

[0014] Specifically, this embodiment provides an implementation of a rack and a gear.

[0015] According to an implementation manner of the utility model, it further comprises: a coupling, wherein the coupling is respectively connected to the gear and the shaft of the encoder; wherein the shaft of the encoder rotates synchronously with the gear.

[0016] Specifically, this embodiment provides an implementation of a coupling.

[0017] According to an implementation manner of the utility model, the hysteresis brake and the encoder are arranged on both sides of the rack.

[0018] Specifically, this embodiment provides an implementation of a hysteresis brake and an encoder.

[0019] According to one embodiment of the utility model, the transmission assembly further includes: a slide rail and a slider; the slide rail is arranged on the base, and the slide rail is arranged parallel to the rack; the slider is slidably matched with the slide rail; wherein the handle portion is connected to the slider.

[0020] Specifically, this embodiment provides an implementation of a slide rail and a slider.

[0021] According to an embodiment of the utility model, the base is provided with a sink groove for accommodating the hysteresis brake; wherein the rack and the slide rail are respectively arranged on both sides of the sink groove along the length direction.

[0022] Specifically, this embodiment provides an implementation of a base.

[0023] The above one or more technical solutions in the utility model have at least one of the following technical effects: the utility model provides a translational operating handle structure, which changes the rotational torque of the hysteresis brake by changing the excitation current delivered to the hysteresis brake, and converts the rotational torque into the moving resistance of the handle part through the transmission component, so as to truly feedback the resistance change, improve the safety of the operation, and ensure the smooth progress of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] 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.

[0025] Figure 1 This is one of the schematic diagrams of the assembly relationship of the translation operating handle structure provided by the utility model;

[0026] Figure 2 This is the second schematic diagram of the assembly relationship of the translation operating handle structure provided by the utility model;

[0027] Figure 3 This is the third schematic diagram of the assembly relationship of the translation operating handle structure provided by the utility model;

[0028] Figure 4 This is one of the schematic diagrams of the assembly relationship of the hysteresis brake, the mounting seat, the gear, the coupling and the encoder in the translation operating handle structure provided by the utility model;

[0029] Figure 5 This is the second schematic diagram of the assembly relationship of the hysteresis brake, the mounting seat, the gear, the coupling and the encoder in the translation operating handle structure provided by the utility model;

[0030] Figure 6 It is a schematic diagram of the assembly relationship between a base, a rack and a slide rail in the translation operating handle structure provided by the utility model.

[0031] Reference numerals:

[0032] 10. Base; 11. Sink;

[0033] 20. Handle part;

[0034] 21. Mounting seat; 2. Handle body; 221. Handle support section; 222. Handle grip section; 23. Adapter;

[0035] 30. Hysteresis brake;

[0036] 40. Encoder;

[0037] 50. Transmission assembly; 51. Rack; 52. Gear; 3. Slide rail; 54. Slider;

[0038] 60. Coupling. DETAILED DESCRIPTION

[0039] 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.

[0040] 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.

[0041] The present invention will be described in detail below in conjunction with specific implementation methods.

[0042] In some specific embodiments of the present invention, Figures 1 to 6 As shown, the present invention provides a translational operating handle structure, comprising: a base 10, a handle portion 20, a hysteresis brake 30, an encoder 40 and a transmission assembly 50; the handle portion 20 is slidably connected to the base 10; the hysteresis brake 30 is connected to the handle portion 20 and slides synchronously with the handle portion 20; the encoder 40 is connected to the shaft of the hysteresis brake 30, and is used to send linear displacement information of the handle portion 20 to the control board; wherein the hysteresis brake 30 adjusts the rotational torque according to the excitation current information fed back by the control board; the linear displacement resistance of the handle portion 20 is positively correlated with the rotational torque of the hysteresis brake 30 through the transmission assembly 50.

[0043] It should be noted that when the utility model controls the movement of certain components of the medical device through the handle part 20, 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 delivered to the hysteresis brake 30 according to the resistance electrical signal. According to the linear relationship between the excitation current and the rotational torque of the hysteresis brake 30, the resistance encountered by the terminal device is converted into the rotational torque according to a certain ratio. When the handle part 20 is moving, the rotational torque is converted into the moving resistance of the handle part 20 through the transmission assembly 50, so that the handle part 20 can accurately reflect the actual resistance changes during the operation, thereby improving the surgical effect.

[0044] Furthermore, the encoder 40 is electrically connected to the control board. The encoder 40 converts the rotation angle information of the shaft of the hysteresis brake 30 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.

[0045] In some possible implementations of the utility model, the handle portion 20 includes: a mounting seat 21 and a handle body 22; the mounting seat 21 is slidably connected to the base 10; the handle body 22 is disposed on the mounting seat 21; wherein the hysteresis brake 30 is connected to the mounting seat 21.

[0046] Specifically, this embodiment provides an implementation of a mounting seat 21 and a handle body 22, wherein the mounting seat 21 provides a connection position for the sliding connection between the handle body 22 and the base 10, facilitates the installation and disassembly of the handle body 22, and also provides a connection position for the connection of other components.

[0047] In some possible embodiments of the present invention, the handle portion 20 further includes: an adapter 23 extending perpendicular to the moving direction of the handle body 22 ; wherein one end of the adapter 23 is connected to the mounting seat 21 , and the other end of the adapter 23 is connected to the encoder 40 .

[0048] Specifically, this embodiment provides an implementation of an adapter 23 . The configuration of the adapter 23 enables the encoder 40 to be connected to the mounting seat 21 , and can also achieve coaxial rotation with the shaft of the hysteresis brake 30 .

[0049] In a possible embodiment, the adapter 23 is arranged perpendicular to the moving direction of the handle portion 20 , so that the handle portion 20 is arranged on one side of the base 10 , the encoder 40 is connected to the other side, and the hysteresis brake 30 is arranged in the middle of the base 10 .

[0050] In some possible embodiments of the present invention, the handle body 22 includes: a handle support section 221 and a handle grip section 222; the handle support section 221 is connected to the mounting seat 21; the handle grip section 222 is connected to the handle support section 221 and forms an L-shaped structure with the handle support section 221.

[0051] Specifically, this embodiment provides an implementation of a handle support section 221 and a handle grip section 222, and the handle body 22 is configured to include the handle support section 221 and the handle grip section 222, which facilitates the doctor or operator to apply force while also optimizing the connection structure between the handle body 22 and the mounting seat 21.

[0052] In some possible implementations of the present invention, the extension direction of the handle gripping section 222 is parallel to the sliding direction.

[0053] Specifically, this embodiment provides an implementation of a handle grip section 222, in which the handle grip section 222 is arranged parallel to the sliding direction, so that the doctor or operator can better feel the effect of the feedback resistance during the force application process, so that the overall perception of the resistance is balanced, avoiding the problem of different resistance perception when the handle grip section 222 is perpendicular to the sliding direction.

[0054] In some possible implementations of the present invention, the transmission assembly 50 includes: a rack 51 and a gear 52 ; the rack 51 is connected to the base 10 ; the gear 52 is respectively connected to the shaft of the hysteresis brake 30 and the encoder 40 , and meshes with the rack 51 .

[0055] Specifically, this embodiment provides an implementation of a rack 51 and a gear 52 . By providing the rack 51 and the gear 52 , power transmission and linkage can be achieved between the handle portion 20 and the hysteresis brake 30 .

[0056] Furthermore, the hysteresis brake 30 is connected to the gear 52 in the transmission assembly 50, and the rack 51 in the transmission assembly 50 is installed on the base 10. When the hysteresis brake 30 moves, the gear 52 rolls on the rack 51, thereby driving the shaft of the hysteresis brake 30 to rotate.

[0057] In a possible embodiment, the resistance detection element detects the size of the resistance encountered by the terminal device during operation. The resistance detection element converts the detected resistance value into an electrical signal and sends it to the control board. The control board changes the size of the excitation current transmitted to the hysteresis brake 30 according to the resistance electrical signal. The rotational torque of the hysteresis brake 30 is linearly related to the excitation current. The rotational torque of the hysteresis brake 30 is changed by changing the excitation current. The gear 52 and the rack 51 convert the rotational torque of the hysteresis brake assembly into the movement resistance of the handle part 20. The handle part 20 can truly feel the resistance or resistance change encountered by the terminal device during the movement. When the ratio of the resistance encountered by the terminal device to the movement resistance of the handle part 20 is 1:1, the resistance encountered by the terminal device and the resistance change encountered by the handle part 20 can be felt during the movement of the handle part 20; when the ratio of the resistance encountered by the terminal device to the movement resistance of the handle part 20 is not 1:1, the resistance change encountered by the terminal device can be felt during the movement of the handle part 20.

[0058] In a possible embodiment, during the use of the translational operating handle structure, the resistance detection element detects the resistance encountered by the terminal device during movement in real time. The control board controls the magnitude of the excitation current delivered to the hysteresis brake 30 according to the resistance detected by the resistance detection element. According to the linear relationship between the excitation current and the rotational torque of the hysteresis brake 30, the resistance encountered by the terminal device is converted into a rotational torque in a certain proportion, and then the rotational torque is converted into the moving resistance of the handle part 20 through the matching mechanism of the gear 52 and the rack 51, so that the handle part 20 can accurately reflect the resistance and resistance change during the operation, improve the surgical effect, and ensure the smooth progress of the operation; the encoder 40 converts the rotation angle of the gear 52 into an electrical signal, and sends the electrical signal of the rotation angle to the control board, the control board converts the angle electrical signal into movement distance information, and then sends the movement distance information to the terminal device, controls the movement of the terminal device, and ensures the smooth progress of the operation.

[0059] In a possible embodiment, the terminal device may correspond to a guidewire in a vascular interventional surgery robot. In actual use, the ratio between the actual detected resistance and the movement resistance of the handle 210 may be set according to actual conditions to improve the use effect.

[0060] In some possible implementations of the present invention, the present invention further includes: a coupling 60 , which is connected to the gear 52 and the shaft of the encoder 40 respectively; wherein the shaft of the encoder 40 rotates synchronously with the gear 52 .

[0061] Specifically, this embodiment provides an implementation of a coupling 60, by setting the coupling 60 to achieve the connection between the encoder 40 and the hysteresis brake 30 shaft, so that the movement of the handle part 20, the rotation of the hysteresis brake 30 shaft and the rotation of the encoder 40 shaft are synchronized.

[0062] In some possible implementations of the present invention, the hysteresis brake 30 and the encoder 40 are disposed on both sides of the rack 51 .

[0063] Specifically, this embodiment provides an implementation of a hysteresis brake 30 and an encoder 40 , and by arranging the hysteresis brake 30 and the encoder 40 on both sides of the rack 51 , the overall structure is made more compact, avoiding occupying more space.

[0064] In some possible embodiments of the present invention, the transmission assembly 50 further includes: a slide rail 53 and a slider 54; the slide rail 53 is disposed on the base 10, and the slide rail 53 is disposed parallel to the rack 51; the slider 54 is slidably matched with the slide rail 53; wherein the handle portion 20 is connected to the slider 54.

[0065] Specifically, this embodiment provides an implementation of a slide rail 53 and a slider 54 . By providing the slide rail 53 and the slider 54 , the reciprocating motion of the handle 20 on the base 10 is achieved.

[0066] In some possible implementations of the present invention, the base 10 is provided with a sink 11 for accommodating the hysteresis brake 30 ; wherein the rack 51 and the slide rail 53 are respectively provided on both sides of the sink 11 along the length direction.

[0067] Specifically, this embodiment provides an implementation of a base 10, on which a recessed groove 11 capable of accommodating a hysteresis brake 30 is provided, thereby reducing the overall height of the translational operating handle structure and facilitating the coordination between the handle portion 20 and components such as the slide rail 53 and the slider 54.

[0068] 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.

[0069] 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.

[0070] 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.

[0071] 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 translation operating handle structure, characterized in that: include: A base (10), a handle (20), a hysteresis brake (30), an encoder (40) and a transmission assembly (50); The handle portion (20) is slidably connected to the base (10); The hysteresis brake (30) is connected to the handle portion (20) and slides synchronously with the handle portion (20); The encoder (40) is connected to the shaft of the hysteresis brake (30) and is used to send linear displacement information of the handle (20) to the control panel; Wherein, the hysteresis brake (30) adjusts the rotation torque according to the excitation current information fed back by the control board; The linear displacement resistance of the handle portion (20) is positively correlated with the rotational torque of the hysteresis brake (30) through the transmission assembly (50).

2. The translation operating handle structure according to claim 1, characterized in that: The handle portion (20) comprises: a mounting seat (21) and a handle body (22); The mounting seat (21) is slidably connected to the base (10); The handle body (22) is arranged on the mounting seat (21); Wherein, the hysteresis brake (30) is connected to the mounting seat (21).

3. The translation operating handle structure according to claim 2, characterized in that: The handle portion (20) further comprises: a transfer member (23), wherein the transfer member (23) is extended and arranged perpendicular to the moving direction of the handle body (22); One end of the adapter (23) is connected to the mounting seat (21), and the other end of the adapter (23) is connected to the encoder (40).

4. The translation operating handle structure according to claim 2, characterized in that: The handle body (22) comprises: a handle support section (221) and a handle grip section (222); The handle support section (221) is connected to the mounting seat (21); The handle gripping section (222) is connected to the handle supporting section (221), and forms an L-shaped structure with the handle supporting section (221).

5. The translation operation handle structure according to claim 4, characterized in that: The extension direction of the handle gripping section (222) is parallel to the sliding direction.

6. The translation operating handle structure according to any one of claims 1 to 5, characterized in that: The transmission assembly (50) comprises: a rack (51) and a gear (52); The rack (51) is connected to the base (10); The gear (52) is respectively connected to the shaft of the hysteresis brake (30) and the encoder (40), and meshes with the rack (51).

7. The translation operating handle structure according to claim 6, characterized in that: Also includes: A coupling (60), the coupling (60) being connected to the shaft of the gear (52) and the encoder (40) respectively; Wherein, the shaft of the encoder (40) rotates synchronously with the gear (52).

8. The translation operating handle structure according to claim 6, characterized in that: The hysteresis brake (30) and the encoder (40) are arranged on both sides of the rack (51).

9. The translation operation handle structure according to claim 6, characterized in that: The transmission assembly (50) further comprises: a slide rail (53) and a slide block (54); The slide rail (53) is arranged on the base (10), and the slide rail (53) is arranged parallel to the rack (51); The sliding block (54) is slidably matched with the sliding rail (53); Wherein, the handle portion (20) is connected to the slider (54).

10. The translation operating handle structure according to claim 9, characterized in that: The base (10) is provided with a sink (11) for accommodating the hysteresis brake (30); The rack (51) and the slide rail (53) are respectively arranged on both sides of the sink (11) along the length direction.

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