Position prompting device for vascular intervention surgical robot
By designing a position prompt device for vascular interventional surgery robots, the problem of lack of obvious prompts for the movement position of the drive device is solved, and doctors can accurately judge the movement status and improve surgical safety.
Patent Information
- Application Number
- CN202420730216.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-10
- Publication Date
- 2025-02-11
- Estimated Expiration
- 2034-04-10
AI Technical Summary
In vascular interventional surgery, the driving device lacks obvious positional prompts relative to the robot body, making it difficult for doctors to accurately judge the movement status, affecting the safety of the surgery.
A position prompting device is designed, including a fixing frame, a motor, a transmission assembly, an encoder and a position prompting assembly. The motor drives the transmission assembly to drive the fixed frame to move, the encoder detects and feedbacks the motion data, and the position prompt assembly uses the light strip to feedback the position status of the consumable box based on the detection data.
This device enables doctors to accurately judge the movement status of the drive device relative to the robot body, and improves the safety of vascular interventional surgery.
Smart Images
Figure CN222444313U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the technical field of medical devices, and in particular to a position prompting device for a vascular interventional surgery robot. Background Art
[0002] Vascular interventional surgery is an operation technique that uses interventional consumables such as guidewires and catheters to diagnose and treat through blood vessels under the guidance of medical imaging equipment. However, vascular interventional surgery needs to be performed under ionizing radiation. To ensure the safety of personnel, doctors need to wear heavy lead suits for safety protection, which may cause damage to the doctor's skeletal system in the long run. With the rapid development of intelligent technology and medicine, the development of vascular interventional surgery robots has become a reality.
[0003] The vascular interventional surgery robot includes a master end and a slave end connected by communication. The operator controls the slave end through the master end. The slave end mainly includes a robot body and a drive device. During the interventional surgery, the robot body, the drive device, the consumable box and the interventional consumables cooperate with each other to achieve the patient's vascular interventional surgery. Specifically, the drive device is movably connected to the robot body, the consumable box is fixed on the drive device, and the interventional consumables are arranged on the consumable box. Through the movement of the drive device relative to the robot body, the interventional consumables are driven to intervene in the patient's treatment area, thereby achieving the patient's vascular interventional surgery.
[0004] However, there is no obvious position indication of the movement position of the drive device relative to the robot body, and the doctor needs to observe with the naked eye. The doctor cannot accurately judge the relative position and movement state of the drive device relative to the robot body, which affects the safety of the operation. Utility Model Content
[0005] The purpose of the present disclosure is to overcome at least one of the shortcomings of the above-mentioned related technologies and to provide a position prompt device for a vascular interventional surgery robot, which can enable doctors to accurately judge the movement state of the drive device relative to the robot body, thereby improving the safety of vascular interventional surgery.
[0006] 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.
[0007] According to one aspect of the present disclosure, a position prompting device for a vascular interventional surgery robot is provided. The vascular interventional surgery robot includes a robot body and a driving device. The robot body is provided with a notch. The driving device is used to connect a consumable box. The driving device is slidably provided on the notch. The position prompting device includes:
[0008] A fixed frame, fixedly connected to the driving device;
[0009] A motor is arranged on a fixed frame;
[0010] A transmission assembly, one side of which is connected to the output shaft of the motor, and the other side of which is movably connected to the robot body, and the transmission assembly is used to drive the fixed frame to move relative to the robot body under the drive of the motor;
[0011] An encoder connected to the output shaft of the motor;
[0012] The position prompt component is electrically connected to the encoder and is used to provide feedback on the position state of the consumable box according to the detection data of the encoder when the motor controls the drive device to move relative to the robot body through the transmission component.
[0013] In an exemplary embodiment of the present disclosure, the transmission assembly includes a first transmission member and a second transmission member, the first transmission member is used to connect the output shaft of the motor and the second transmission member, and the second transmission member is movably connected to the robot body.
[0014] In an exemplary embodiment of the present disclosure, the location prompt component further includes:
[0015] A circuit board, electrically connected to the encoder, for identifying and feeding back detection data of the encoder;
[0016] The light strip is electrically connected to the circuit board and is used to emit light in response to detection data related to the encoder fed back by the circuit board.
[0017] In an exemplary embodiment of the present disclosure, the light strip includes a plurality of lamp beads, and the number of revolutions of the output shaft of the motor corresponds to the distance moved by the driving device and the distance between the plurality of lamp beads.
[0018] In an exemplary embodiment of the present disclosure, along the extension direction of the notch, the notch includes a first end and a second end;
[0019] The encoder is provided with a zeroing position, and during the movement of the driving device along the first direction, the zeroing position is the position of the driving device at the second end of the slot;
[0020] The first direction is the direction in which the driving device moves along the second end of the slot toward the first end of the slot, intervening in the treatment area of the patient.
[0021] In an exemplary embodiment of the present disclosure, a plurality of lamp beads are evenly arranged along a first direction.
[0022] In an exemplary embodiment of the present disclosure, the extending direction of the notch is parallel to the first direction;
[0023] The length of the light strip extending along the first direction is greater than or equal to the length of the slot extending along the first direction.
[0024] In an exemplary embodiment of the present disclosure, the position prompting device further includes:
[0025] Coupling, connecting the encoder and the output shaft of the motor.
[0026] In an exemplary embodiment of the present disclosure, the position prompting device further includes:
[0027] The light partition is connected to the light strip and is used to separate the light-emitting areas of multiple lamp beads.
[0028] In an exemplary embodiment of the present disclosure, the light isolation member includes:
[0029] A first light-isolating plate connected to one side perpendicular to the extending direction of the light strip;
[0030] A second light-isolating plate connected to the other side perpendicular to the extending direction of the light strip;
[0031] A partition plate, wherein there are multiple partition plates, and the multiple partition plates are connected between the first light-isolating plate and the second light-isolating plate;
[0032] Among them, the area between two adjacent partition plates corresponds to one of the lamp beads.
[0033] The position prompting device for a vascular interventional surgery robot disclosed in the present invention comprises a robot body and a driving device, the robot body is provided with a slot, the driving device is used to connect the consumables box, the driving device can be slidably arranged on the slot, and the position prompting device comprises a fixed frame, a motor, a transmission assembly, an encoder and a position prompting assembly. The fixed frame is fixedly connected to the driving device; the motor is arranged on the fixed frame; one side of the transmission assembly is connected to the output shaft of the motor, and the other side is movably connected to the robot body, and the transmission assembly is used to drive the fixed frame to move relative to the robot body under the drive of the motor; the encoder is connected to the output shaft of the motor; the position prompting assembly is electrically connected to the encoder, and is used to feedback the position state of the consumables box according to the detection data of the encoder when the motor controls the driving device to move relative to the robot body through the transmission assembly. The position prompting device for a vascular interventional surgery robot disclosed in the present invention can enable doctors to accurately judge the movement state of the driving device relative to the robot body, and can improve the safety of vascular interventional surgery.
[0034] 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
[0035] 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.
[0036] Figure 1 It is a structural schematic diagram of the position prompting device disclosed in the present invention applied to a vascular interventional surgery robot.
[0037] Figure 2 It is a schematic diagram of the structure of the vascular interventional surgery robot disclosed in the present invention.
[0038] Figure 3 It is a structural schematic diagram of the position prompting device disclosed in the present invention connected to a robot body and a driving device.
[0039] Figure 4 yes Figure 1 Schematic diagram of the local enlarged structure at point A in the middle.
[0040] Figure 5 It is a structural schematic diagram of a position prompt device disclosed in the present invention having a light strip on one side.
[0041] Figure 6 It is a structural schematic diagram of the connection between the light strip and the light isolation member disclosed in the present invention.
[0042] The main components in the figure are described as follows:
[0043] 1. Position prompt device; 2. Vascular interventional surgery robot;
[0044] 11. Fixing frame; 12. Motor; 13. Transmission assembly; 14. Encoder; 15. Position prompt assembly; 16. Coupling; 17. Light isolation member;
[0045] 21. robot body; 22. driving device; 211. notch;
[0046] 131, a first transmission member; 132, a second transmission member;
[0047] 151. Circuit board; 152. Light strip. DETAILED DESCRIPTION
[0048] 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.
[0049] 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.
[0050] 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.
[0051] The embodiment of the present disclosure provides a position prompt device for a vascular interventional surgery robot. The vascular interventional surgery robot includes a master end and a slave end connected in communication. The master end is located outside the operating room, and the slave end is located in the operating room. The doctor controls the action of the slave end by operating the master end. The slave end mainly includes a robot body and a driving device. The robot body is provided with a notch. The driving device is used to connect the consumable box. The driving device can be slidably arranged on the notch. The position prompt device includes a fixed frame, a motor, a transmission assembly, an encoder and a position prompt assembly. The fixed frame is fixedly connected to the driving device; the motor is arranged on the fixed frame; one side of the transmission assembly is connected to the output shaft of the motor, and the other side is movably connected to the robot body. The transmission assembly is used to drive the fixed frame to move relative to the robot body under the drive of the motor; the encoder is connected to the output shaft of the motor; the position prompt assembly is electrically connected to the encoder, and is used to feedback the position state of the consumable box according to the detection data of the encoder when the motor controls the driving device to move relative to the robot body through the transmission assembly. The position prompt device disclosed in the present disclosure can enable doctors to accurately judge the motion state of the driving device relative to the robot body, and can improve the safety of vascular intervention surgery.
[0052] The present disclosure provides a position prompting device 1 for a vascular interventional surgery robot. The vascular interventional surgery robot 2 includes a robot body 21 and a driving device 22. Figure 1 , Figure 2 and Figure 3 As shown, the robot body 21 is provided with a notch 211, and the driving device 22 is slidably arranged on the notch 211. Specifically, the robot body 21 serves as the slave end operating body of the vascular interventional surgery robot 2, and is used to control the movement of the consumable box connected to the robot body 21 when the doctor manipulates the manipulation handle of the master end, so that the interventional consumables arranged on the consumable box are accurately aligned with the part of the patient that needs intervention. The consumable box, as a container for installing the interventional consumables, is connected to the robot body 21, so that the interventional consumables arranged on the consumable box act on the part of the patient that needs treatment under the drive of the driving device 22. The robot body 21 includes a shell, and the shell is provided with a notch 211. The driving device 22 is arranged on the notch 211, and is connected to the shell and the consumable box, so as to achieve precise adjustment of the part of the patient that needs treatment.
[0053] The driving device 22 is arranged on one side of the robot body 21 and is connected to the robot body 21 and the consumable box. The driving device 22 serves as the power mechanism of the vascular interventional surgery robot 2. The connection between the robot body 21 and the consumable box can be realized through the driving device 22, so that the movement of the consumable box is driven by the movement of the driving device 22, so that the consumable box moves relative to the robot body 21 until the interventional consumables set on the consumable box move to the part of the patient that needs treatment.
[0054] Furthermore, the position prompting device 1 includes a fixing frame 11, a motor 12, a transmission component 13, an encoder 14 and a position prompting component 15. Figure 1 and Figure 4 As shown, the fixing frame 11 is fixedly connected to the driving device 22. On the one hand, it serves as a supporting frame of the position prompting device 1, and is used to support and fix structures such as the motor 12, the transmission assembly 13, the encoder 14, and the position prompting assembly 15; on the other hand, it is fixedly connected to the driving device 22, thereby achieving the fixation and support of the driving device 22. The motor 12 is arranged on the fixing frame 11. The motor 12 serves as a power structure of the position prompting device 1, and is used to provide power for the movement of the driving device 22, thereby driving the driving device 22 to move, and then driving the consumable box connected to the driving device 22 to drive the interventional consumables to intervene in the treatment site of the patient, thereby achieving the vascular interventional surgery treatment of the patient.
[0055] The transmission assembly 13 is connected to the output shaft of the motor 12 on one side and movably connected to the robot body 21 on the other side. The transmission assembly 13 is used to drive the fixed frame 11 to move relative to the robot body 21 under the drive of the motor 12, and then drive the driving device 22 fixedly connected to the fixed frame 11 to move relative to the robot body 21. The encoder 14 is connected to the output shaft of the motor 12; the position prompt assembly 15 is electrically connected to the encoder 14, and is used to feedback the position state of the consumable box according to the detection data of the encoder 14 when the motor 12 controls the driving device 22 to move relative to the robot body 21 through the transmission assembly 13.
[0056] Specifically, since the transmission component 13 is connected to the output shaft of the motor 12, and the encoder 14 is connected to the output shaft of the motor 12, during the rotation of the motor 12, the output shaft of the motor 12 and the output shaft of the motor 12 always keep synchronous movement, so that the movement of the transmission component 13 and the encoder 14 keep synchronous movement. Since the transmission component 13 is movably connected to the robot body 21, and the encoder 14 is electrically connected to the position prompt component 15, the movement of the transmission component 13 relative to the robot body 21 and the movement of the encoder 14 recognized and fed back by the position prompt component 15 are always kept synchronous. At the same time, it can be understood that the fixed frame 1 1 is fixedly connected to the driving device 22, so that the movement of the transmission component 13 relative to the robot body 21 is synchronized with the movement of the driving device 22 driven by the fixed frame 11 relative to the robot body 21, so that the movement state of the encoder 14 recognized and fed back by the position prompt component 15 is synchronized with the movement of the driving device 22 relative to the robot body 21. Therefore, by observing the state of the position prompt component 15, the movement state of the driving device 22 relative to the robot body 21 can be accurately fed back, so that the doctor can accurately judge the movement state of the driving device 22 relative to the robot body 21, and the safety of vascular intervention surgery can be improved.
[0057] In addition, during the process of vascular interventional surgery, since the movement state of the encoder 14 recognized and fed back by the position prompt component 15 is always synchronized with the movement state of the drive device 22 relative to the robot body 21, the doctor can directly judge the movement state of the drive device 22 relative to the robot body 21 by observing the state of the position prompt component 15, which can simplify the process of the doctor judging the movement state of the drive device 22 relative to the robot body 21 and facilitate the doctor's operation.
[0058] The following is a detailed description of each part of the position prompting device 1:
[0059] In an exemplary embodiment of the present disclosure, the transmission assembly 13 includes a first transmission member 131 and a second transmission member 132. Figure 1 and Figure 4As shown, the first transmission member 131 is used to connect the output shaft of the motor 12 and the second transmission member 132, and the second transmission member 132 is movably connected to the robot body 21. As a specific embodiment, the first transmission member 131 and the second transmission member 132 are gear structures rotatably arranged on the fixed frame 11, and the first transmission member 131 and the second transmission member 132 are coaxially arranged and can rotate synchronously. A power output gear is arranged on the output shaft of the motor 12, and the power output gear is meshed with the first transmission member 131. The motor 12 transmits power to the second transmission member 132 through the power output gear and the first transmission member 131. The second transmission member 132 is meshed with a rack arranged on the robot body 21. Based on this, when the second transmission member 132 rotates, it can drive the driving device 22 to move relative to the robot body 21.
[0060] Specifically, since there are many parts inside the robot body 21, the first transmission member 131 is connected to the output shaft of the motor 12 and the second transmission member 132, and the second transmission member 132 is movably connected to the robot body 21. The relative position of the output shaft of the motor 12 with respect to the robot body 21 can be changed by using the first transmission member 131 and the second transmission member 132 connected in multiple directions, so that the output shaft of the motor 12 can be set according to the actual situation inside the robot body 21, without being limited to the problem of many parts and small space inside the robot body 21. The output shaft of the motor 12 can be adapted to the specific structure inside the robot body 21 through the cooperation of multiple transmission components 13.
[0061] In addition, through the cooperation of the first transmission member 131 and the second transmission member 132, the complexity of the internal structure of the robot body 21 caused by setting more transmission components 13 can be reduced, and at the same time, the production and manufacturing costs of setting more transmission components 13 can be reduced. Of course, the transmission components 13 can be reasonably arranged according to the specific conditions inside the robot body 21, and the connection method of multiple transmission components 13 will not be repeated here.
[0062] In an exemplary embodiment of the present disclosure, the position prompt component 15 further includes a circuit board 151 and a light strip 152. Figure 4 and Figure 5 As shown, the circuit board 151 is electrically connected to the encoder 14 for identifying and feeding back the detection data of the encoder 14 ; the light strip 152 is electrically connected to the circuit board 151 for emitting light in response to the detection data of the encoder 14 fed back by the circuit board 151 .
[0063] Specifically, the circuit board 151 is a substrate for supporting and connecting electronic components, and is usually composed of a non-conductive base material and a conductive copper layer covering it. Since the circuit board 151 is electrically connected to the encoder 14 and the light strip 152, when the output shaft of the motor 12 drives the encoder 14 to move, the circuit board 151 can identify the detection data of the encoder 14 and feed the detection data of the encoder 14 back to the light strip 152, so that the light strip 152 emits light according to the detection data of the encoder 14.
[0064] It can be understood that since the movement state of the encoder 14 is synchronized with the movement state of the drive device 22 relative to the robot body 21, the doctor can directly observe the movement state of the encoder 14 through the light strip 152, and thus directly observe the movement state of the drive device 22 relative to the robot body 21 through the light strip 152. This allows the doctor to accurately judge the movement state of the drive device 22 relative to the robot body 21, thereby improving the safety of vascular interventional surgery.
[0065] In an exemplary embodiment of the present disclosure, the light strip 152 includes a plurality of lamp beads, and the number of revolutions of the output shaft of the motor 12 corresponds to the distance moved by the driving device 22 and the distance between the plurality of lamp beads. Specifically, since the light strip 152 includes a plurality of lamp beads, the number of revolutions of the output shaft of the motor 12 corresponds to the distance moved by the driving device 22 and the distance between the plurality of lamp beads. During the vascular interventional surgery, as the number of revolutions of the motor 12 changes, the light strip 152 can correspond to the number of revolutions of the motor 12 through the plurality of lamp beads, thereby providing feedback on the different moving distances of the driving device 22 through the light emission changes of different lamp beads, which can facilitate the doctor's observation and simplify the doctor's operation.
[0066] As an optional embodiment, the light strip 152 can be set by the system so that as the number of revolutions of the output shaft of the motor 12 increases, the number of illuminated lamp beads gradually increases, thereby achieving a correspondence between the lamp beads and the moving distances of the driving device 22. Similarly, the light strip 152 can be set by the system so that as the number of revolutions of the output shaft of the motor 12 increases, specific lamp beads light up at a specific number of revolutions, thereby achieving a correspondence between the lamp beads and the moving distances of the driving device 22. This solution does not limit the correspondence between the lamp beads and the number of revolutions of the output shaft of the motor 12 and the moving distance of the driving device 22, and will not be elaborated here.
[0067] In an exemplary embodiment of the present disclosure, along the extension direction of the slot 211, the slot 211 includes a first end and a second end; the encoder 14 is provided with a return to zero position, and during the movement of the driving device 22 along the first direction, the return to zero position is the position of the driving device 22 at the second end of the slot 211; wherein the first direction is the movement of the driving device 22 along the second end of the slot 211 toward the first end of the slot 211, which is the movement direction of the intervention patient treatment site.
[0068] It should be noted that the first direction is Figure 1 The X direction in the figure is the movement direction of the driving device 22 intervening in the treatment part of the patient.
[0069] Specifically, since the encoder 14 is provided with a zero position, it can be used as a reference point for calibrating and aligning other positions or measurement results. During the vascular interventional surgery, the specific position corresponding to the zero position can be set to eliminate errors and deviations, thereby ensuring the accuracy and reliability of the results recognized and fed back by the encoder 14. In addition, the zero position of the encoder 14 can be used to detect whether there are deviations or failures in the components of the position prompt device 1, and corresponding repairs and adjustments can be made, which helps to improve the overall service life of the device.
[0070] In addition, since the zero position is the position where the drive device 22 is located at the second end of the slot 211, during the process of vascular interventional surgery, as the interventional consumables gradually intervene in the patient's treatment site, the movement state of the encoder 14 can always maintain the same direction of movement as the interventional consumables intervene in the patient's treatment site, which can facilitate the doctor's grasp of the movement state of the encoder 14, thereby facilitating the doctor's grasp of the movement state of the drive device 22 and the interventional consumables through the position prompt component 15.
[0071] In an exemplary embodiment of the present disclosure, a plurality of lamp beads are evenly arranged along a first direction. Specifically, since a plurality of lamp beads are evenly arranged along the first direction, on the one hand, it is convenient to realize the correspondence between the distance between the plurality of lamp beads and the number of rotations of the output shaft of the motor 12, and it is easier to set the correspondence between the lamp beads and the number of rotations of the output shaft of the motor 12; on the other hand, the even arrangement between the plurality of lamp beads can simplify the connection of the circuits between the lamp beads.
[0072] In an exemplary embodiment of the present disclosure, the extension direction of the slot 211 is parallel to the first direction; the length of the light strip 152 extending along the first direction is greater than or equal to the length of the slot 211 extending along the first direction. Specifically, since the distance between the multiple lamp beads in the light strip 152 corresponds to the number of rotations of the output shaft of the motor 12, the output shaft of the motor 12 drives the drive device 22 to move relative to the robot body 21, and the length of the light strip 152 extending along the first direction is greater than or equal to the length of the slot 211 extending along the first direction, the distance of the drive device 22 moving along the slot 211 can be completely corresponded to the length of the light strip 152, thereby facilitating the correspondence between the light strip 152 and the drive device 22, and simplifying the design of the position prompt device 1. In addition, since the movement position of the light strip 152 and the drive device 22 is completely corresponding, the doctor can more accurately judge the movement state of the drive device 22 relative to the robot body 21, which can improve the safety of vascular intervention surgery.
[0073] In an exemplary embodiment of the present disclosure, the position prompting device 1 further includes a coupling 16, which is connected to the encoder 14 and the output shaft of the motor 12. Specifically, the coupling 16 transmits the power and torque of the output shaft of the motor 12 to the encoder 14, which can realize the power transmission between the encoder 14 and the output shaft of the motor 12, thereby realizing the synchronous motion between the output shaft of the motor 12 and the encoder 14. On the other hand, during the motion transmission process, the mechanical system may generate vibration and impact. The setting of the coupling 16 can play a role in shock absorption and vibration reduction, thereby protecting the output shaft of the encoder 14 and the motor 12 and extending the service life of the output shaft of the encoder 14 and the motor 12.
[0074] In an exemplary embodiment of the present disclosure, the position prompting device 1 further includes a light partition 17 connected to the light strip 152 and used to separate the light emitting areas of the plurality of lamp beads. Figure 4 , Figure 5 and Figure 6 As shown, since the position prompt device 1 also includes a light isolation member 17, which is connected to the light strip 152, the glare stimulation to the human eye can be reduced during the light emission of the light strip 152, and the doctor's visual discomfort or eye fatigue can be reduced during the doctor's observation of the movement state of the drive device 22 relative to the robot body 21 through the light strip 152. In addition, the light isolation member 17 can make the light of the light strip 152 more evenly distributed to avoid uneven sensitivity. It should be noted that the light isolation member 17 separates the light-emitting areas of multiple lamp beads. As the drive device 22 continues to move, the light emission of multiple lamp beads in the light strip 152 changes. Through the setting of the light isolation member 17, the light emission of multiple lamp beads can be accurately judged, so that the doctor can accurately judge the movement state of the drive device 22 relative to the robot body 21.
[0075] In an exemplary embodiment of the present disclosure, the light isolation member 17 includes a first light isolation plate, a second light isolation plate and a plurality of partition plates. The first light isolation plate is connected to one side perpendicular to the extension direction of the light strip 152; the second light isolation plate is connected to the other side perpendicular to the extension direction of the light strip 152; a plurality of partition plates are connected between the first light isolation plate and the second light isolation plate; wherein the area between two adjacent partition plates corresponds to one of the lamp beads.
[0076] Specifically, since multiple partitions are connected between the first light isolation plate and the second light isolation plate, one of the lamp beads is correspondingly arranged in the area between two adjacent partitions, which can effectively isolate light from different directions so that only light between the multiple partitions can pass through, allowing doctors to clearly identify specific light-emitting lamp beads, and thus judge the movement state of the driving device 22 relative to the robot body 21 through the light emission of the lamp beads.
[0077] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the utility model 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. A position prompt device for a vascular interventional surgery robot, the vascular interventional surgery robot comprising a robot body and a drive device, the robot body being provided with a notch, the drive device being used to connect a consumable box, the drive device being slidably disposed on the notch, characterized in that: The position prompting device comprises: A fixed frame, fixedly connected to the driving device; A motor, arranged on the fixing frame; A transmission assembly, one side of which is connected to the output shaft of the motor, and the other side of which is movably connected to the robot body, wherein the transmission assembly is used to drive the fixing frame to move relative to the robot body under the drive of the motor; An encoder connected to an output shaft of the motor; A position prompt component is electrically connected to the encoder and is used to provide feedback on the position state of the consumable box according to detection data of the encoder when the motor controls the drive device to move relative to the robot body through the transmission component.
2. The position prompting device according to claim 1, characterized in that: The transmission assembly includes a first transmission member and a second transmission member, the first transmission member is used to connect the output shaft of the motor and the second transmission member, and the second transmission member is movably connected to the robot body.
3. The position prompting device according to claim 1, characterized in that: The location prompt component also includes: A circuit board, electrically connected to the encoder, for identifying and feeding back detection data of the encoder; The light strip is electrically connected to the circuit board and is used to emit light according to the detection data related to the encoder fed back by the circuit board.
4. The position prompting device according to claim 3, characterized in that: The light strip includes a plurality of lamp beads, and the number of revolutions of the output shaft of the motor corresponds to the moving distance of the driving device and the distance between the plurality of lamp beads.
5. The position prompting device according to claim 4, characterized in that: Along the extension direction of the notch, the notch includes a first end and a second end; The encoder is provided with a return-to-zero position, and during the movement of the drive device along the first direction, the return-to-zero position is the position of the drive device at the second end of the notch; The first direction is the direction in which the driving device moves along the second end of the slot toward the first end of the slot, intervening in the treatment area of the patient.
6. The position prompting device according to claim 5, characterized in that: The plurality of lamp beads are evenly arranged along the first direction.
7. The position prompting device according to claim 5, characterized in that: The extending direction of the notch is parallel to the first direction; A length of the light strip extending along the first direction is greater than or equal to a length of the slot extending along the first direction.
8. The position prompting device according to any one of claims 1 to 7, characterized in that: The position prompting device also includes: A coupling is connected to the encoder and the output shaft of the motor.
9. The position prompting device according to any one of claims 4 to 7, characterized in that: The position prompting device also includes: A light partition is connected to the light strip and is used to separate the light emitting areas of the plurality of lamp beads.
10. The position prompting device according to claim 9, characterized in that: The light isolation member comprises: A first light-isolating plate connected to a side perpendicular to the extending direction of the light strip; A second light-isolating plate connected to the other side perpendicular to the extending direction of the light strip; A partition plate, wherein there are a plurality of the partition plates, and the plurality of the partition plates are connected between the first light-isolating plate and the second light-isolating plate; Wherein, the area between two adjacent partition plates corresponds to one of the lamp beads.