Force feedback controller operating device of interventional robot

Abstract

The utility model provides a force feedback controller operation device of an interventional robot. The force feedback controller operation device comprises a fixing piece, a grip strength detection assembly, a transmission end and a connecting assembly. The connecting assembly comprises a first plug and a second plug. The grip strength detection assembly generates a grip strength detection signal when the hand is held tightly, the grip strength detection signal is converted into a grip strength feedback signal through the detection device, and then the grip strength feedback signal is input to the control equipment through the connecting assembly and the transmission end. When an operation needs to be carried out, a new grip strength detection assembly, a new fixing piece and a new first plug are directly assembled, and the first plug and the second plug are mutually connected and electrically connected. By means of the mode, the installation process of the force feedback controller operation device can be simplified, the first plug and the second plug are directly inserted in use, the first plug is pulled out after use, operation is easy and convenient, replacement is convenient, and the operation progress is not affected.

Description

Technical Field

[0001] The present invention generally relates to the technical field of medical interventional robots, and in particular to a force feedback controller operating device of an interventional robot. Background Art

[0002] In recent years, the incidence of cardiovascular diseases in the elderly has shown a gradual upward trend. Therefore, vascular interventional surgery has become the mainstream treatment for cardiovascular diseases and plays an important role in clinical treatment. Vascular interventional surgery refers to the movement of interventional devices such as catheters and guidewires in blood vessels by doctors with the cooperation of fingers and wrists under the guidance of angiography equipment after percutaneous puncture of the patient's femoral artery, brachial artery, etc., to release stents, fill aneurysms, release target drugs, etc. at the lesion site for targeted treatment.

[0003] In the prior art, the main end control device of the vascular intervention robot realizes pushing and twisting motions by means of a joystick, and specifically includes a main end controller and a slave end robot. During the operation, the doctor holds the main end controller to perform actions, and the slave end robot simulates the doctor's actions.

[0004] Before the operation, a new main control device needs to be replaced and installed on the control device. The process of disassembly and installation is very cumbersome. If the main control device fails during the operation and needs to be replaced, the process of disassembly and installation will seriously affect the progress of the operation. Utility Model Content

[0005] In view of the above-mentioned defects or deficiencies in the prior art, it is desirable to provide a force feedback controller operating device for an interventional robot.

[0006] The present application provides a force feedback controller operating device for an interventional robot, comprising:

[0007] A grip force detection component, which is fixedly mounted on one end of the fixing member; the grip force detection component is electrically connected to the detection device, and is used to detect the grip force and transmit a grip force detection signal to the detection device; the detection device is used to receive the grip force detection signal and generate a grip force feedback signal;

[0008] A connecting component, the connecting component comprising a first plug and a second plug; the first plug is mounted on the fixing member and one end of the first plug is electrically connected to the detection device; the first plug and the second plug are detachably connected, and the first plug and the second plug are electrically connected when connected to each other, so as to transmit the grip force feedback signal;

[0009] A transmission end, the transmission end is electrically connected to the control device; the second plug is installed on the transmission end and electrically connected to the transmission end, and is used to transmit the grip force feedback signal to the control device through the transmission end.

[0010] According to the technical solution provided by the present invention, the grip force detection component includes:

[0011] A grip tube, one end of which is fixedly connected to the fixing member and communicated with the interior of the fixing member;

[0012] A detection member is disposed in the grip tube, and is used to detect grip force and generate the grip force detection signal.

[0013] According to the technical solution provided by the present invention, the detection element includes:

[0014] A base layer is provided on which a detection conductor layer is laid. The detection conductor layer is electrically connected to the detection device, and a grounding wire is laid around the detection conductor layer.

[0015] According to the technical solution provided by the present invention, the detection conductor layer has a detection portion and a connection portion; the detection member is rolled into a cylindrical shape in the grip tube and the detection portion is in contact with the inner surface of the grip tube.

[0016] According to the technical solution provided by the present invention, the grip strength detection component also includes:

[0017] A conversion connector, one end of which is electrically connected to the detection device, and the other end of which has a connecting pin and a grounding pin, wherein the connecting pin is electrically connected to the connecting portion, and the grounding pin is electrically connected to the grounding wire.

[0018] According to the technical solution provided by the present invention, a protrusion is provided on one side of the fixing member close to the first plug, and the outer wall of the protrusion has an external thread structure; a connection hole communicating with the interior of the fixing member is provided inside the protrusion;

[0019] The outer side wall of the first plug is provided with an annular protrusion;

[0020] The connection component also includes:

[0021] A locking ring, wherein the locking ring is sleeved on the outer side wall of the first plug; the locking ring has a first end and a second end; a rotation groove is provided at the inner side wall of the first end of the locking ring; the annular protrusion is rotatably installed in the rotation groove, so that the locking ring and the first plug are rotatably connected; an internal thread structure is provided at the inner side wall of the second end of the locking ring, and an installation gap is left between the second end and the outer side wall of the first plug;

[0022] When the first plug is installed on the fixing member, the protrusion is inserted into the installation gap, one end of the first plug extends into the fixing member, and the second end of the locking ring is threadedly connected to the protrusion.

[0023] According to the technical solution provided by the present invention, a limiting groove is provided on the inner side wall of the fixing member, and a limiting protrusion is provided on one end of the first plug close to the fixing member;

[0024] When the first plug is mounted on the fixing member, the limiting protrusion is arranged in the limiting groove to limit the first plug.

[0025] According to the technical solution provided by the present invention, a first threaded hole is provided on the outer side wall of the second plug, and a second threaded hole is provided on the side wall of the transmission end; the connection assembly further includes:

[0026] A limiting bolt passes through the second threaded hole and the first threaded hole in sequence, and is used to fix the second plug and the transmission end.

[0027] According to the technical solution provided by the present invention, a raised ring is fixedly connected to the outer side wall of the second plug; the raised ring is used to abut against the end of the transmission end close to the second plug.

[0028] The beneficial effects of this application are:

[0029] Provided is a force feedback controller operating device for an interventional robot, comprising: a fixing, a grip force detection component, a transmission end and a connecting component. The connecting component comprises a first plug and a second plug. The grip force detection component generates a grip force detection signal when the hand is clenched, which is converted into a grip force feedback signal by the detection device, and then input into the control device through the connecting component and the transmission end. When surgery is required, a new grip force detection component, a fixing and a first plug are directly assembled, and the first plug and the second plug are connected to each other to generate an electrical connection. The above method can simplify the installation process of the force feedback controller operating device. When in use, the first plug and the second plug are directly plugged in, and the first plug is unplugged after use. The operation is simple and easy to replace, and does not affect the progress of the surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Other features, objects and advantages of the present application will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings:

[0031] Figure 1 A schematic diagram of the structure of a force feedback controller operating device of an interventional robot provided in this application;

[0032] Figure 2 An exploded view of the force feedback controller operating device;

[0033] Figure 3 This is an exploded view of the fixings;

[0034] Figure 4 It is a schematic diagram of the structure of the locking ring;

[0035] Figure 5 A schematic diagram of a detection conductor;

[0036] Figure 6 It is a structural schematic diagram of a grip force detection component;

[0037] Figure 7 It is a schematic diagram of the connection relationship of the conversion joint;

[0038] Figure 8 It is the pin diagram of the detection device;

[0039] Among them: 1. fixing part; 2. grip force detection component; 3. transmission end; 4. connection component; 5. detection device; 6. grip tube; 7. detection part; 8. base layer; 9. conversion joint; 10. detection conductor layer; 11. detection part; 12. connection part; 13. grounding wire; 14. first plug; 15. second plug; 16. locking ring; 17. limiting groove; 18. limiting protrusion; 19. second threaded hole; 20. first threaded hole; 21. limiting bolt; 22. protrusion ring. DETAILED DESCRIPTION

[0040] The present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It is to be understood that the specific embodiments described herein are only used to explain the relevant invention, rather than to limit the invention. It is also necessary to explain that, for ease of description, only the parts related to the invention are shown in the accompanying drawings.

[0041] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present application will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0042] Please refer to Figure 1-Figure 3 The present application provides a force feedback controller operating device for an interventional robot, comprising:

[0043] A fixing member 1, wherein a detection device 5 is installed inside the fixing member 1;

[0044] A grip force detection component 2, wherein the grip force detection component 2 is fixedly mounted at one end of the fixing member 1; the grip force detection component 2 is electrically connected to the detection device 5, and is used to detect the grip force and transmit a grip force detection signal to the detection device 5; the detection device 5 is used to receive the grip force detection signal and generate a grip force feedback signal;

[0045] A connecting component 4, the connecting component 4 comprising a first plug 14 and a second plug 15; the first plug 14 is mounted on the fixing member 1 and one end of the first plug 14 is electrically connected to the detection device 5; the first plug 14 and the second plug 15 are detachably connected, and the first plug 14 and the second plug 15 are electrically connected when connected to each other, so as to transmit the grip force feedback signal;

[0046] The transmission terminal 3 is electrically connected to the control device; the second plug 15 is installed on the transmission terminal 3 and electrically connected to the transmission terminal 3, and is used to transmit the grip force feedback signal to the control device through the transmission terminal 3.

[0047] In some embodiments, reference Figure 8 , the detection device 5 is a SG2302 control chip, and its voltage operating range is 2.4 to 5.5V. Its pin definition is shown in Table 1:

[0048] Table 1 SG2302 control chip pin definition table

[0049]

[0050] Among them, I represents CMOS single memory input, O represents CMOS output, I / O represents CMOS input / output, P represents power / ground, and I-PH represents CMOS input with built-in pull-up resistor.

[0051] Figure 8 In the figure, GND represents grounding, VDD represents high level, C1, C2, CS represent different capacitors, S1 represents switch, R0 represents resistor, SO represents output level, and TP represents sensor input.

[0052] Specifically, the detection device 5 is powered by the control device through the transmission end 3 and the connection component 4, converts the grip force detection signal, converts the electrical signal generated by the sensor into a level output, and outputs a grip force feedback signal; and then transmits the grip force feedback signal to the control device through the transmission end 3 and the connection component 4. The detection device 5 can also adjust the detection sensitivity by adjusting the size of the capacitor to adapt to different surgical scenarios.

[0053] The transmission end 3 and the fixing member 1 are fixedly connected by the connecting component 4. The grip force detection component 2 detects the grip force to generate a grip force detection signal, which is converted into a grip force feedback signal by the detection device 5 and transmitted to the control device by the transmission end 3, so that the main end controller of the hand grip can feedback the force, thereby facilitating the doctor to adjust the force and ensuring the accuracy of the force.

[0054] In some embodiments, when surgery is required, a new grip strength detection assembly 2, a fixing member 1, and a first plug 14 are directly assembled, and the first plug 14 and the second plug 15 are connected to each other to generate an electrical connection. The first plug 14 is a female aviation plug, and the second plug 15 is a male aviation plug; when in use, direct plugging or unplugging facilitates connection and operation, is easy to replace, and does not affect the progress of the surgery.

[0055] In some embodiments, the first plug 14 is installed on the fixing member 1, and the second plug 15 is installed on the transmission end 3. When operation is required, the first plug 14 and the second plug 15 are connected, so that the detection device 5 installed in the fixing member 1 is electrically connected to the transmission end 3 through the connection component 4. When disassembly is required, the first plug 14 is directly pulled out to disconnect the first plug 14 from the second plug 15, so as to facilitate replacement of the grip detection component 2, the fixing member 1 and the detection device 5.

[0056] An aviation plug is used to connect the fixing part 1 and the transmission end 3. When the hand grip force detection component 2 rotates, the aviation plug can transmit torque to ensure that the transmission end 3 rotates with the grip force detection component 2, so that relative rotation occurs between the transmission end 3 and the control device, and finally torque feedback is realized.

[0057] In some embodiments, the grip force detection assembly 2, the fixing member 1, the detection device 5 and the first plug 14 are disposable. During surgery, the doctor can operate the surgical instruments without changing sterile gloves.

[0058] Furthermore, the grip strength detection component 2 comprises:

[0059] a grip tube 6, one end of which is fixedly connected to the fixing member 1 and communicated with the interior of the fixing member 1;

[0060] A detection member 7 is disposed in the grip tube 6 , and is used for detecting grip force and generating the grip force detection signal.

[0061] Further, refer to Figure 5 , the detection member 7 comprises:

[0062] A base layer 8 , on which a detection conductor layer 10 is laid. The detection conductor layer 10 is electrically connected to the detection device 5 , and a grounding wire 13 is laid around the detection conductor layer 10 .

[0063] Specifically, the base layer 8 is a piezoelectric polyvinylidene fluoride (PVDF) polymer film.

[0064] The working principle of the grip force detection component 2 is:

[0065] General piezoelectric materials are sensitive to pressure. For the detection piece 7 with detection function, when the hand gripping force detection component 2 applies pressure to the detection piece 7, the detection piece 7 can generate a microcurrent, i.e., a gripping force detection signal, and the size of the gripping force detection signal is proportional to the deformation of the detection piece 7.

[0066] In some embodiments, the grounding wire 13 is additionally provided outside the detection conductor layer 10 , so as to avoid leakage of the detection unit 11 or static electricity generated by friction between the grip tube 6 and the hand, which may affect the detection sensitivity of the grip detection component 2 .

[0067] Further, refer to Figure 6 The detection conductor layer 10 has a detection portion 11 and a connection portion 12 ; the detection member 7 is rolled into a cylindrical shape in the grip tube 6 and the detection portion 11 is in contact with the inner surface of the grip tube 6 .

[0068] In some embodiments, the detection conductor layer 10 is a metal conductor with a large detection area.

[0069] Setting the detection conductor layer 10 in the insulating grip tube 6 can not only prevent the generated current from being transmitted to the operator's hand, but also reduce the external wear on the detection conductor layer 10, which may lead to failure; the above method can effectively ensure the normal operation of the grip force detection component 2.

[0070] Further, refer to Figure 7 , the grip force detection component 2 also includes:

[0071] A conversion connector 9, one end of which is electrically connected to the detection device 5, and the other end of which has a connecting pin and a grounding pin, wherein the connecting pin is electrically connected to the connecting portion 12, and the grounding pin is electrically connected to the grounding wire 13.

[0072] In some embodiments, the detection conductor layer 10 is plated on the surface of the detection member 7, and it is difficult to directly connect and electrically connect with the pins of the detection device 5. Therefore, it is necessary to additionally connect the conversion connector 9 to electrically connect the connection pins with the connection part 12, and the ground pins with the ground wire 13. The above method can electrically connect the detection conductor layer 10 with the detection device 5 to transmit the grip detection signal.

[0073] In some embodiments, the detection conductor layer 10 has a larger area, which can make the detection part 11 easier to generate an electrical signal, thereby improving the detection sensitivity of the grip detection component 2. The connection part 12 is electrically connected to the connection pin of the conversion connector 9, so that the generated grip detection signal can be transmitted from the conversion connector 9 to the detection device 5.

[0074] Further, refer to Figure 4A protrusion is provided on one side of the fixing member 1 close to the first plug 14, and the outer wall of the protrusion has an external thread structure; a connection hole communicating with the inside of the fixing member 1 is provided inside the protrusion;

[0075] The outer side wall of the first plug 14 has an annular protrusion;

[0076] The connection component 4 also includes:

[0077] A locking ring 16, wherein the locking ring 16 is sleeved on the outer side wall of the first plug 14; the locking ring 16 has a first end and a second end; a rotation groove is provided at the inner side wall of the first end of the locking ring 16; the annular protrusion is rotatably installed in the rotation groove, so that the locking ring 16 and the first plug 14 are rotatably connected; an internal thread structure is provided at the inner side wall of the second end of the locking ring 16, and an installation gap is left between the second end and the outer side wall of the first plug 14;

[0078] When the first plug 14 is installed on the fixing member 1 , the protrusion is inserted into the installation gap, one end of the first plug 14 extends into the fixing member 1 , and the second end of the locking ring 16 is threadedly connected to the protrusion.

[0079] In some embodiments, one end of the locking ring 16 is rotatably mounted on the outer side wall of the first plug 14, and the other end is provided with an internal thread structure for threaded connection with the external thread structure of the fixing member 1 to fix the first plug 14 and the fixing member 1. The above connection method can prevent the first plug 14 from being separated from the fixing member 1 during operation, resulting in operation failure.

[0080] Furthermore, a limiting groove 17 is provided on the inner side wall of the fixing member 1, and a limiting protrusion 18 is provided on one end of the first plug 14 close to the fixing member 1;

[0081] When the first plug 14 is mounted on the fixing member 1 , the limiting protrusion 18 is disposed in the limiting groove 17 to limit the first plug 14 .

[0082] In some embodiments, the limiting protrusion 18 is disposed in the limiting groove 17, and during the rotation of the hand-grip force detection component 2, the limiting protrusion 18 abuts against the side wall of the limiting groove 17 to prevent the first plug 14 and the fixing member 1 from rotating relative to each other. The above method can fix the first plug 14 and the fixing member 1, and when the hand-grip force detection component 2 rotates, the fixing member 1 and the first plug 14 remain relatively fixed, which is convenient for transmitting torque.

[0083] Furthermore, a first threaded hole 20 is formed on the outer side wall of the second plug 15, and a second threaded hole 19 is formed on the side wall of the transmission end 3; the connection assembly 4 further includes:

[0084] The limiting bolt 21 passes through the second threaded hole 19 and the first threaded hole 20 in sequence, and is used to fix the second plug 15 and the transmission end 3.

[0085] In some embodiments, the second plug 15 is fixedly connected to the transmission end 3 via a limiting bolt 21, which can fix the relative position between the two and prevent the second plug 15 and the transmission end 3 from rotating relative to each other to facilitate torque transmission.

[0086] Furthermore, a raised ring 22 is fixedly connected to the outer side wall of the second plug 15 ; the raised ring 22 is used to abut against the end of the transmission end 3 close to the second plug 15 .

[0087] In some embodiments, the raised ring 22 on the second plug 15 is used to abut against the end of the transmission end 3 close to the second plug 15 to facilitate alignment of the first threaded hole 20 and the second threaded hole 19, thereby facilitating the installation of the second plug 15 to the transmission end 3.

[0088] Working process:

[0089] Replace and assemble a new grip force detection assembly 2, a fixing member 1, a detection device 5 and a first plug 14, hold the fixing member 1 by hand, and connect the first plug 14 and the second plug 15 to each other and electrically connect;

[0090] During the operation, the doctor holds the grip detection component 2 to perform telescopic and rotational movements; the grip detection component 2 generates an electrical signal and outputs a grip detection signal; the detection device 5 receives the grip detection signal and outputs a grip feedback signal; the grip feedback signal is input to the control device through the connection component 4 and the transmission end 3;

[0091] After the operation is completed, the fixing member 1 is held by hand, and the grip force detection component 2, the fixing member 1, the detection device 5 and the first plug 14 are removed.

[0092] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

Claims

1. A force feedback controller operating device for an interventional robot, mounted on a control device, characterized in that: include: A fixing member (1), wherein a detection device (5) is installed inside the fixing member (1); A grip force detection component (2), the grip force detection component (2) being fixedly mounted on one end of the fixing member (1); the grip force detection component (2) being electrically connected to the detection device (5) and being used for detecting grip force and transmitting a grip force detection signal to the detection device (5); the detection device (5) being used for receiving the grip force detection signal and generating a grip force feedback signal; A connecting component (4), the connecting component (4) comprising a first plug (14) and a second plug (15); the first plug (14) is mounted on the fixing member (1) and one end of the first plug is electrically connected to the detection device (5); the first plug (14) and the second plug (15) are detachably connected, and the first plug (14) and the second plug (15) maintain electrical connection when connected to each other, so as to transmit the grip force feedback signal; A transmission end (3), the transmission end (3) being electrically connected to the control device; the second plug (15) being installed on the transmission end (3) and electrically connected to the transmission end (3), and being used for transmitting the grip force feedback signal to the control device via the transmission end (3).

2. The force feedback controller operating device of an interventional robot according to claim 1, characterized in that: The grip force detection component (2) comprises: a grip tube (6), one end of which is fixedly connected to the fixing member (1) and communicates with the interior of the fixing member (1); A detection member (7), wherein the detection member (7) is arranged in the grip tube (6), and the detection member (7) is used to detect grip force and generate the grip force detection signal.

3. The force feedback controller operating device of an interventional robot according to claim 2, characterized in that: The detection member (7) comprises: A base layer (8), on which a detection conductor layer (10) is laid, the detection conductor layer (10) is electrically connected to the detection device (5), and a grounding wire (13) is laid around the detection conductor layer (10).

4. The force feedback controller operating device of an interventional robot according to claim 3, characterized in that: The detection conductor layer (10) comprises a detection portion (11) and a connection portion (12); the detection element (7) is rolled into a cylindrical shape inside the grip tube (6) and the detection portion (11) is in contact with the inner surface of the grip tube (6).

5. The force feedback controller operating device of an interventional robot according to claim 4, characterized in that: The grip force detection component (2) further comprises: A conversion connector (9), one end of the conversion connector (9) is electrically connected to the detection device (5), and the other end of the conversion connector (9) has a connecting pin and a grounding pin, the connecting pin is electrically connected to the connecting portion (12), and the grounding pin is electrically connected to the grounding wire (13).

6. The force feedback controller operating device of an interventional robot according to claim 1, characterized in that: A protrusion is provided on one side of the fixing member (1) close to the first plug (14), and the outer wall of the protrusion has an external thread structure; a connection hole communicating with the interior of the fixing member (1) is provided inside the protrusion; The outer side wall of the first plug (14) is provided with an annular protrusion; The connection component (4) further comprises: A locking ring (16), the locking ring (16) being sleeved on the outer side wall of the first plug (14); the locking ring (16) having a first end and a second end; a rotation groove is provided at the inner side wall of the first end of the locking ring (16); the annular protrusion is rotatably installed in the rotation groove, so that the locking ring (16) and the first plug (14) are rotatably connected; an internal thread structure is provided at the inner side wall of the second end of the locking ring (16), and an installation gap is left between the second end and the outer side wall of the first plug (14); When the first plug (14) is installed on the fixing member (1), the protrusion is inserted into the installation gap, one end of the first plug (14) extends into the fixing member (1), and the second end of the locking ring (16) is threadedly connected to the protrusion.

7. The force feedback controller operating device of an interventional robot according to claim 6, characterized in that: The inner side wall of the fixing member (1) is provided with a limiting groove (17), and the end of the first plug (14) close to the fixing member (1) is provided with a limiting protrusion (18); When the first plug (14) is mounted on the fixing member (1), the limiting protrusion (18) is arranged in the limiting groove (17) to limit the first plug (14).

8. The force feedback controller operating device of an interventional robot according to claim 1, characterized in that: A first threaded hole (20) is provided on the outer side wall of the second plug (15), and a second threaded hole (19) is provided on the side wall of the transmission end (3); the connection assembly (4) further comprises: A limiting bolt (21), the limiting bolt (21) passes through the second threaded hole (19) and the first threaded hole (20) in sequence, and is used to fix the second plug (15) and the transmission end (3) together.

9. The force feedback controller operating device of an interventional robot according to claim 8, characterized in that: A raised ring (22) is fixedly connected to the outer side wall of the second plug (15); the raised ring (22) is used to abut against the end of the transmission end (3) close to the second plug (15).

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