Vascular intervention surgical robot operating handle and vascular intervention surgical robot
By designing a vascular interventional robot operating handle with elastic parts, the problem of the traditional operating handle cannot be automatically reset is solved, and the convenience of operation and safety of surgery is achieved.
Patent Information
- Application Number
- CN202421573921.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-07-04
- Publication Date
- 2025-04-25
- Estimated Expiration
- 2034-07-04
AI Technical Summary
The operating handle of the traditional vascular interventional robot cannot be automatically reset, and a doctor needs to operate manually to restore the initial position, resulting in inconvenient operation.
A vascular interventional robot operating handle is designed, including a fixing frame, a spindle, an operating part, a detection assembly and a connecting assembly. Through the action of the elastic member, the operating part can automatically restore the initial state, reducing the need for manual operation by the doctor.
The automatic reset of the operating handle is achieved, which reduces the operating steps of the doctor during the operation, improves the convenience and efficiency of the operation, and reduces vibration during the operation, and improves the safety of the operation.
Smart Images
Figure CN222787864U_ABST
Abstract
Description
Technical Field
[0001] The present disclosure relates to the field of medical devices, and more specifically, to a vascular interventional surgery robot operating handle and a vascular interventional surgery robot. Background Art
[0002] Traditional vascular interventional surgery is performed by doctors in a radiation environment. Since doctors are in a radiation environment for a long time, it will cause serious harm to the doctor's body. Therefore, the use of vascular interventional surgery robots to replace the manual operation of traditional vascular interventional surgery allows doctors to operate in a main control room away from the radiation environment. Doctors control the vascular interventional surgery robot's slave execution device by operating the vascular interventional surgery robot's master control device to achieve the purpose of vascular interventional surgery treatment.
[0003] In the related art, the vascular interventional surgery robot includes a master-end control device and a slave-end actuator. The master-end control device controls the movement of the slave-end actuator, thereby driving the movement of the interventional consumables. In order to enable the doctor to make a reasonable and accurate judgment on the movement state and force condition of the interventional consumables during the process of operating the master-end control device to control the movement of the interventional consumables, the vascular interventional surgery robot operating handle is set on the master-end control device, so as to realize the control of the movement state of the interventional consumables through rotation or swinging operation.
[0004] However, after the doctor controls the operating handle of the vascular interventional surgery robot to drive the interventional consumables to move, the operating handle of the vascular interventional surgery robot cannot be reset automatically. The doctor needs to manually control the operating handle of the vascular interventional surgery robot to restore it to its initial position, which is inconvenient for the doctor's operation.
[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Utility Model Content
[0006] The purpose of the present disclosure is to provide a vascular interventional surgery robot operating handle and a vascular interventional surgery robot, which can automatically reset the vascular interventional surgery robot operating handle after the doctor performs the operation, thereby facilitating the doctor's operation.
[0007] Additional aspects and advantages of the disclosure will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the disclosure.
[0008] According to one aspect of the present disclosure, there is provided an operating handle of a vascular interventional surgery robot, comprising a fixed frame, a main shaft, an operating part, a detection assembly and a connecting assembly, wherein one end of the main shaft is rotatably connected to the fixed frame; the operating part is connected to the other end of the main shaft; the detection assembly comprises a first detection member and a second detection member, the first detection member is arranged in the operating part, and is used to control the rotation of the interventional consumable when the operating part rotates; one side of the second detection member is connected to the fixed frame, and is used to control the movement of the interventional consumable when the operating part swings, and to hinder the swing of the operating part when the movement of the interventional consumable encounters resistance; the connecting assembly is connected to the main shaft and the second detection member; the connecting assembly comprises a connecting member, a fixing member, a matching member and an elastic member, one end of the connecting member is connected to the main shaft, and the other end is connected to the second detection member, the fixing member is fixed on the fixed frame, the matching member is fixed on one side of the connecting member, and the elastic member is connected between the fixing member and the matching member, and is used to drive the operating part to restore to an initial state.
[0009] In an exemplary embodiment of the present disclosure, the fixing member is provided with a first groove, and the matching member is provided with a second groove; the elastic member includes a spring and a clamping ring, and there are two clamping rings, which are respectively embedded in the first groove and the second groove and connected to the two ends of the spring; wherein the axis of the clamping ring is perpendicular to the elongation direction of the spring.
[0010] In an exemplary embodiment of the present disclosure, the matching piece is arranged on a side of the connecting piece facing the fixing frame, and along a projection direction perpendicular to the main axis, a distance between the connecting piece and the operating part is smaller than a distance between the fixing piece and the operating part.
[0011] In an exemplary embodiment of the present disclosure, when the operating portion swings to drive the fitting member to compress the spring, a gap is formed between the fitting member and the fixing member.
[0012] In an exemplary embodiment of the present disclosure, there are two fixing members, two matching members and two elastic members, and the two fixing members, two matching members and two elastic members are symmetrically distributed along the connecting direction of the connecting member.
[0013] In an exemplary embodiment of the present disclosure, the elastic properties of the two elastic members are the same; and / or
[0014] The two springs are vertically connected between the adjacent fixing members and the matching members.
[0015] In an exemplary embodiment of the present disclosure, the first detection member includes a circuit board support frame and a circuit board, the circuit board includes a first encoder, the circuit board support frame is connected to the operating part, and the first encoder is arranged on a side of the circuit board support frame away from the main shaft; the second detection member includes a motor support frame and a motor, the motor support frame is fixedly connected to the fixing frame, and the motor is connected to the motor support frame and the connecting member.
[0016] In an exemplary embodiment of the present disclosure, the motor includes: a fixed part and a moving part, which are fixedly connected to the motor support frame; one side of the moving part is rotatably connected to the fixed part, and the other side is fixedly connected to the connecting member, and the moving part includes a second encoder; and / or
[0017] The vascular interventional surgical robot further includes a first power module and a second power module, the interventional consumables include a first interventional consumable and a second interventional consumable, the first power module controls the rotation of the first interventional consumable, and the second power module controls the rotation of the second interventional consumable;
[0018] The circuit board further includes a button, the button being used to switch between the first power module and the second power module; and / or
[0019] When the movement of the interventional consumable encounters resistance, the running state of the motor switches between a first state, a second state and a third state;
[0020] The blocking current corresponding to the second state is greater than the blocking current corresponding to the first state, and less than the blocking current corresponding to the third state.
[0021] In an exemplary embodiment of the present disclosure, there are two operating handles of the vascular interventional surgery robot, and the two operating handles of the vascular interventional surgery robot respectively control the movement of the interventional catheter and the interventional guidewire.
[0022] According to another aspect of the present disclosure, a vascular interventional surgery robot is provided, including a vascular interventional surgery robot operating handle and a main console, a fixed frame is fixed on the main console, an operating unit is arranged outside the main console, and a main axis is at least partially arranged outside the main console.
[0023] The present disclosure has the following beneficial effects:
[0024] The operating handle of the vascular interventional surgery robot provided by the present invention includes a fixed frame, a main shaft, an operating part, a detection component and a connecting component, wherein one end of the main shaft is rotatably connected to the fixed frame; the operating part is connected to the other end of the main shaft; the detection component includes a first detection member and a second detection member, wherein the first detection member is arranged in the operating part, and is used to control the rotation of the interventional consumable when the operating part rotates; one side of the second detection member is connected to the fixed frame, and is used to control the movement of the interventional consumable when the operating part swings, and to prevent the operating part from swinging when the movement of the interventional consumable encounters resistance.
[0025] The connecting component is connected to the main shaft and the second detection part; the connecting component includes a connecting component, a fixing component, a matching component and an elastic component, one end of the connecting component is connected to the main shaft, and the other end is connected to the second detection part, the fixing component is fixed on the fixing frame, the matching component is fixed on one side of the connecting component, and the elastic component is connected between the fixing component and the matching component, and is used to drive the operating part to restore the initial state. On the one hand, the vibration of the operating handle when resetting is reduced by improving the structure, and on the other hand, the connecting component is directly connected to the detection component and the main shaft, and the connecting component directly transmits the force of the main shaft to the detection component, which has a simple structure, reduces the loss of force, makes the force feedback more accurate, and improves the safety of the operation.
[0026] 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
[0027] 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 paying creative work.
[0028] Figure 1 It is a schematic diagram of the structure of the operating handle of the vascular interventional surgery robot disclosed in the present invention.
[0029] Figure 2 yes Figure 1 main view.
[0030] Figure 3 yes Figure 1 Exploded diagram.
[0031] Figure 4 yes Figure 2 Cross-sectional view of the operating handle of the mid-vascular interventional surgery robot along the AA direction.
[0032] Figure 5 It is a schematic diagram of the structure of the vascular interventional surgery robot disclosed in the present invention.
[0033] In the drawings, the same or corresponding reference numerals represent the same or corresponding parts. The reference numerals of the main elements in the drawings are described as follows:
[0034] 1. Operating handle of vascular interventional surgery robot; 2. Vascular interventional surgery robot;
[0035] 11. Fixed frame; 12. Spindle; 13. Operation unit; 14. Detection component; 15. Connection component; 21. Main console;
[0036] 141. first detection member; 142. second detection member;
[0037] 151, connecting piece; 152, fixing piece; 153, matching piece; 154, elastic piece;
[0038] 1411. circuit board support frame; 1412. circuit board;
[0039] 1421, motor support frame; 1422, motor; 1423, fixed part; 1424, moving part;
[0040] 1541. Spring; 1542. Snap ring. DETAILED DESCRIPTION
[0041] 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.
[0042] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the illustration to another component, these terms are used in this specification only for convenience, such as according to the orientation of the examples described in the drawings. It is understood that if the device of the illustration 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.
[0043] The terms "a", "an", "the", "said" 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 inclusion 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.
[0044] In addition, the described features, structures or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced without one or more of the specific details, or other methods, components, devices, steps, etc. may be adopted. In other cases, known methods, devices, implementations or operations are not shown or described in detail to avoid blurring the various aspects of the present disclosure.
[0045] The present application is described in detail below with reference to embodiments, but the present application is not limited to these embodiments.
[0046] According to one aspect of the present disclosure, a vascular intervention surgery robot operating handle 1 is provided. Figure 1 As shown, the operating handle 1 of the vascular interventional surgery robot includes a fixed frame 11, a main shaft 12, an operating part 13, a detection component 14 and a connecting component 15. The fixed frame 11 is used to support the main shaft 12, so that when the operating part 13 drives the main shaft 12 to swing, that is, when the main shaft 12 rotates relative to the fixed frame 11, the main shaft 12 will not be separated from the fixed frame 11, thereby enhancing the stability of the main shaft 12. One end of the main shaft 12 is rotatably connected to the fixed frame 11, and the other end of the main shaft 12 is connected to the operating part 13. On the one hand, by swinging the operating part 13, the main shaft 12 rotates relative to the fixed frame 11 under the drive of the operating part 13, so as to realize the control of the movement of the interventional consumables; on the other hand, by rotating the operating part 13, the main shaft 12 does not move relative to the fixed frame 11, so as to realize the control of the rotation of the interventional consumables under the rotation movement of the operating part 13.
[0047] The operation part 13 is the control part of the operation handle 1 of the vascular interventional surgery robot, and is operated by the doctor. The doctor controls the operation part 13 to drive the main shaft 12, the detection component 14, the connection component 15 and other components to move, thereby controlling the different movement states of the interventional consumables. The detection component 14 includes a first detection component 141 and a second detection component 142. Figure 2 and Figure 3 As shown, the first detection member 141 is disposed in the operating portion 13, and is used to control the rotation of the interventional consumable when the operating portion 13 rotates; one side of the second detection member 142 is connected to the fixed frame 11, and is used to control the movement of the interventional consumable when the operating portion 13 swings, and to prevent the operating portion 13 from swinging when the movement of the interventional consumable encounters resistance.
[0048] It should be noted that the vascular interventional surgical robot usually includes a master-end control device and a slave-end actuator, wherein the master-end control device is arranged outside the operating room for the doctor to operate, and the slave-end actuator is arranged in the operating room to drive the interventional consumables to move. The doctor controls the slave-end actuator to work by operating the master-end control device, thereby driving the interventional consumables to move. Of course, the present disclosure does not limit the specific structure of the slave-end actuator, as long as the slave-end actuator can drive the interventional consumables to produce corresponding actions based on the operation signal received by the master-end control device.
[0049] Specifically, the doctor rotates the operating part 13, and the operating part 13 drives the first detection member 141 inside to rotate synchronously. The first detection member 141 transmits the rotation signal to the slave-end execution device. The specific signal transmission method is not limited, thereby driving the interventional consumable to rotate accordingly, thereby realizing the control of the rotational movement of the interventional consumable. Similarly, the doctor swings the operating part 13. Of course, the specific swinging direction can be set according to actual usage needs and operating habits. The operating part 13 drives the main shaft 12 to rotate relative to the fixed frame 11, and then drives the second detection member 142 connected to the main shaft 12 to rotate, thereby driving the interventional consumable to move, thereby realizing the control of the movement of the interventional consumable. When the interventional consumable is subject to resistance in the blood vessel, the slave-end execution device transmits the signal of the resistance to the movement of the interventional consumable to the second detection member 142. The second detection member 142 generates resistance to hinder the swing of the operating part 13, thereby hindering the swing of the operating part 13, realizing force feedback on the movement process of the interventional consumable, and facilitating the doctor's perception. At the same time, since the operating portion 13 accommodates the first detecting member 141 therein, the first detecting member 141 is protected, thereby extending the service life of the first detecting member 141 .
[0050] Furthermore, the connecting assembly 15 is connected to the main shaft 12 and the second detecting member 142; the connecting assembly 15 includes a connecting member 151, a fixing member 152, a matching member 153 and an elastic member 154. Figure 2 , Figure 3 and Figure 4 As shown, one end of the connecting member 151 is connected to the main shaft 12, and the other end is connected to the second detecting member 142, the fixing member 152 is fixed on the fixing frame 11, the matching member 153 is fixed on one side of the connecting member 151, and the elastic member 154 is connected between the fixing member 152 and the matching member 153, and is used to drive the operating part 13 to restore the initial state.
[0051] Specifically, when the doctor manipulates the operating part 13 to control the movement of the interventional consumable, the operating part 13 drives the main shaft 12 to rotate relative to the fixed frame 11 by swinging the operating part 13. While the main shaft 12 rotates, the second detection member 142 is driven to move through the connecting member 151, and then the swing signal of the operating part 13 is transmitted to the slave-end execution device to drive the movement of the interventional consumable. Since the fixing member 152 is fixed on the fixed frame 11, the matching member 153 is fixed on one side of the connecting member 151, and the elastic member 154 is connected between the fixing member 152 and the matching member 153, after the operating part 13 is swung to a suitable position, when the doctor does not need to further manipulate the operating part 13 to control the movement of the interventional consumable, he only needs to stop swinging the operating part 13 and release his hand. Under the elastic force of the elastic member 154, the connecting member 151 and the matching member 153 will be driven to return to the initial state, thereby driving the operating part 13 to return to the initial state. It should be noted that the initial state of the operating portion 13 is a state in which no operation is applied to the operating portion 13 , that is, the state in which the operating portion 13 is in a state in which no external force is applied to the operating portion 13 .
[0052] During the process of swinging the operating part 13 to control the movement of the interventional consumables, when the doctor does not need to continue swinging the operating part 13 to control the movement of the interventional consumables, he only needs to stop swinging the operating part 13, and the operating part 13 will be restored to its original state under the elastic action of the elastic member 154 in the connecting assembly 15. On the one hand, the doctor does not need to perform additional reverse operation on the operating part 13, that is, the doctor does not need to manually operate the operating part 13 to reset it, and the operating part 13 can be reset, which can reduce the doctor's operation process and facilitate the doctor's operation. On the other hand, the operating part 13 can accurately restore to its original state under the elastic force of the elastic member 154, thereby improving the accuracy of restoring the initial state of the operating handle 1 of the vascular interventional surgery robot.
[0053] As an optional embodiment, one end of the connecting member 151 is provided with a through hole, and is sleeved on the main shaft 12 through the through hole and connected to the outer wall of the main shaft 12. Figure 3 and Figure 4 As shown, since one end of the connecting member 151 is provided with a through hole and is connected to the outer wall of the main shaft 12 through the through hole, on the one hand, the tightness of the connection between the connecting member 151 and the main shaft 12 can be ensured, thereby ensuring that when the operating part 13 swings to drive the main shaft 12 to rotate relative to the fixed frame 11, the connecting member 151 can rotate synchronously with the rotation of the main shaft 12; on the other hand, since one end of the connecting member 151 is sleeved on the side wall of the main shaft 12, the connecting member 151 can keep the force at the connection between the connecting member 151 and the main shaft 12 balanced during the process of synchronous rotation with the main shaft 12, thereby avoiding the connection between the connecting member 151 and the main shaft 12 from being skewed or even falling off due to uneven force after frequent rotation, thereby improving the stability of the connection between the connecting member 151 and the main shaft 12.
[0054] In an exemplary embodiment of the present disclosure, the fixing member 152 is provided with a first groove, the matching member 153 is provided with a second groove; the elastic member 154 includes a spring 1541 and a snap ring 1542. Figure 1 and Figure 3 As shown, there are two snap rings 1542 , which are respectively embedded in the first groove and the second groove and connected to both ends of the spring 1541 ; wherein the axis of the snap ring 1542 is perpendicular to the extension direction of the spring 1541 .
[0055] Specifically, a first groove is provided on the fixing member 152, a second groove is provided on the matching member 153, two snap rings 1542 are respectively embedded in the first groove and the second groove, one end of the spring 1541 is connected to the snap ring 1542, and the other end is connected to the matching member 153, the first groove and the second groove are firmly connected to the snap ring 1542, and are used to fix the spring 1541, to prevent the spring 1541 from falling off when it is stressed or rebounds, affecting the stability of the structure. In addition, the axis of the snap ring 1542 is perpendicular to the elongation direction of the spring 1541, and is used to change the positional relationship of the spring 1541 relative to the matching member 153 and the fixing member 152 when the second detection member 142 rotates, so that when the spring 1541 is deformed, the spring 1541 and the matching member 153 move to a suitable position, and after the operating part 13 is released, the spring 1541 can rebound to the initial position. At the same time, since the axis of the clamping ring 1542 is perpendicular to the elongation direction of the spring 1541, the spring 1541 can be arranged relative to the fixing member 152 in a direction perpendicular to the fixing member 152, which can reduce the space occupied along the height direction of the fixing member 152, thereby reducing the overall space occupied by the vascular interventional surgery robot operating handle 1 and improving the overall space utilization.
[0056] In an exemplary embodiment of the present disclosure, the matching member 153 is disposed on a side of the connecting member 151 facing the fixing frame 11, and along a projection direction perpendicular to the main axis 12, the distance between the connecting member 151 and the operating portion 13 is smaller than the distance between the fixing member 152 and the operating portion 13. Figure 2 and Figure 3As shown, in the process of the swinging operation part 13 driving the main shaft 12 to rotate relative to the fixed frame 11, the main shaft 12 needs to transmit the rotational force to the second detection part 142 through the interconnected connecting parts 151. Since the distance between the connecting part 151 and the operation part 13 is smaller than the distance between the fixing part 152 and the operation part 13 along the projection direction perpendicular to the main shaft 12, the number of components on one side of the operation part 13 can be reduced, and the matching part 153, the elastic part 154 and other components can be prevented from interfering with the operation part 13 during the control of the operation part 13, thereby affecting the normal operation of the operation part 13. In addition, when the operation part 13 swings, the matching part 153 rotates with the rotation of the connecting part 151, and the matching part 153 and the fixing part 152 collide, thereby affecting the stability of the overall structure of the vascular intervention surgery robot operating handle 1.
[0057] In an exemplary embodiment of the present disclosure, when the operating part 13 swings to drive the fitting 153 to compress the spring 1541, there is a gap between the fitting 153 and the fixing part 152, and the fitting 153 gets closer and closer to the fixing part 152 when rotating. When the connecting part 151 drives the fitting 153 to rotate, a certain distance is maintained between the fitting 153 and the fixing part 152, thereby ensuring that the fitting 153 and the fixing part 152 do not collide, which can not only enhance the stability of the overall structure and thus enable the overall structure to operate normally, but also avoid collisions between the various components inside the operating handle 1 of the vascular interventional surgery robot, thereby causing malfunctions or even damage, and can increase the service life of the overall structure.
[0058] In an exemplary embodiment of the present disclosure, the number of the fixing member 152, the matching member 153 and the elastic member 154 is two, and the two fixing members 152, the two matching members 153 and the two elastic members 154 are symmetrically distributed along the connection direction of the connecting member 151. Figure 1 , Figure 2 and Figure 4 As shown, one end of one of the elastic members 154 is connected to one of the fixing members 152 , and the other end is connected to one of the matching members 153 ; one end of another elastic member 154 is connected to another fixing member 152 , and the other end is connected to another matching member 153 .
[0059] It is understandable that when the control operating part 13 swings, the main shaft 12 swings under the drive of the operating part 13, and the connecting member 151 drives the matching member 153 to rotate, one of the elastic members 154 is compressed, and the other elastic member 154 is stretched. When the operating part 13 is released, under the elastic force of the elastic member 154, the compressed elastic member 154 stretches, and the stretched elastic member 154 rebounds and shortens. The two elastic members 154 simultaneously drive the matching member 153 to rotate, so that the connecting member 151 returns to its initial state, and then drives the second detection member 142 to return to its initial position. Since the connecting component 15 forms a symmetrically arranged structure, the symmetrical structure on both sides makes the forces on both sides uniform, the elastic member 154 vibrates less when rebounding, and the structure is more stable and reliable.
[0060] In an exemplary embodiment of the present disclosure, the two elastic members 154 have the same elastic properties; and / or the two springs 1541 are vertically connected between the adjacent fixing members 152 and the matching members 153. When the matching member 153 rotates, the elastic member 154 disposed on one side of the matching member 153 is compressed, and the elastic member 154 on the other side is stretched. Since the two elastic members 154 have the same elastic properties, the elastic members 154 on both sides store the same elastic potential energy when deformed. When the elastic members 154 recover, the elastic members 154 on both sides generate the same reverse force on the matching member 153, so that the matching member 153 is balanced in force, rotates smoothly, and has a stable structure. While the operating handle 1 of the vascular intervention surgery robot is automatically reset, the vibration generated during the reset process can be reduced, thereby improving the reset effect.
[0061] like Figure 1 , Figure 2 and Figure 4 As shown, when the spring 1541 on one side of the fitting 153 is stretched and the spring 1541 on the other side is compressed, the force directions of the springs 1541 on both sides are on the same horizontal line, and the force is balanced, which can reduce damage to the spring 1541 and the clamping ring 1542, thereby extending the service life of the spring 1541 and the clamping ring 1542 and reducing the vibration when the spring 1541 rebounds.
[0062] In an exemplary embodiment of the present disclosure, the first detection member 141 includes a circuit board support frame 1411 and a circuit board 1412, the circuit board 1412 includes a first encoder, the circuit board support frame 1411 is connected to the operating part 13, and the first encoder is arranged on the side of the circuit board support frame 1411 away from the main shaft 12; the second detection member 142 includes a motor support frame 1421 and a motor 1422, the motor support frame 1421 is fixedly connected to the fixing frame 11, and the motor 1422 is connected to the motor support frame 1421 and the connecting member 151.
[0063] like Figure 3As shown, the first encoder is fixedly connected to the circuit board support frame 1411. When the operating part 13 is rotated, the operating part 13 drives the first encoder and the circuit board support frame 1411 to rotate synchronously relative to the main shaft 12. The first encoder will not deviate from the main shaft 12 due to the rotational force, which can make the rotation signal fed back by the first encoder more accurate, thereby accurately controlling the movement of the interventional consumables. In addition, since the circuit board support frame 1411 is rotatably connected to the main shaft 12, in the process of rotating the operating part 13, it will only drive the circuit board support frame 1411 to rotate synchronously relative to the main shaft 12, and then synchronously drive the first encoder to rotate, but will not drive the main shaft 12 to rotate, thereby realizing the separation of the rotation and swing of the operating part 13, thereby realizing the separate control of the movement and rotation of the interventional consumables, which is convenient for the doctor's operation.
[0064] As an exemplary embodiment of the present disclosure, the first encoder is an angle encoder, which is used to convert angle information into a digital signal. Since the angle encoder is small in size and high in precision, on the one hand, the space occupied by the first encoder in the operating part 13 can be reduced, thereby further reducing the space occupied by the operating handle 1 of the vascular interventional surgery robot, making the structure of the main end control device simple, and saving space inside the main end control device. On the other hand, the angle encoder can be used to accurately control the angle of rotation of the operating part 13, thereby achieving precise control of the rotation of the interventional consumables and improving the accuracy of the interventional consumables in the treatment site of the patient.
[0065] In addition, the motor 1422 is fixedly connected to the motor support frame 1421, and the motor support frame 1421 is fixedly connected to the fixed frame 11. When the control operation unit 13 drives the spindle 12 to swing, the motor 1422 will be driven to rotate through the connecting member 151. The motor 1422 is fixed to the motor support frame 1421, and the motor support frame 1421 is connected to the fixed frame 11, so that the device is an integrated structure, which reduces the vibration and noise during the rotation of the motor 1422 and makes the overall structure stable. In addition, since the second detection member 142 includes the motor 1422, when the interventional consumables are obstructed during movement, the obstruction information will be transmitted to the motor 1422, and the motor 1422 will then generate a resistance current to prevent the connecting member 151 and the spindle 12 from further rotating, thereby achieving the effect of force feedback.
[0066] In an exemplary embodiment of the present disclosure, the motor 1422 includes a fixed portion 1423 and a moving portion 1424. Figure 1 and Figure 3As shown, it is fixedly connected to the motor support frame 1421; one side of the moving part 1424 is rotatably connected to the fixed part 1423, and the other side is fixedly connected to the connecting piece 151, and the moving part 1424 includes a second encoder; and / or the vascular interventional surgical robot also includes a first power module and a second power module; the interventional consumables include a first interventional consumable and a second interventional consumable, the first power module controls the rotation of the first interventional consumable, and the second power module controls the rotation of the second interventional consumable; the circuit board 1412 also includes a button, which is used to switch the first power module and the second power module; and / or when the movement of the interventional consumable is subject to resistance, the operating state of the motor 1422 switches between the first state, the second state and the third state; wherein the blocking current corresponding to the second state is greater than the blocking current corresponding to the first state, and less than the blocking current corresponding to the third state.
[0067] Specifically, during the swinging process of the operating part 13, the operating part 13 drives the main shaft 12 and then drives the connecting part 151 to swing synchronously. Since the motor 1422 includes a fixed part 1423 and a moving part 1424, one side of the moving part 1424 is rotatably connected to the fixed part 1423, and the other side is fixedly connected to the connecting part 151. Therefore, during the swinging process of the operating part 13, the moving part 1424 of the motor 1422 can be rotated relative to the fixed part 1423, so that the swinging angle of the operating part 13 is judged by the rotation angle of the moving part 1424 relative to the fixed part 1423, and finally the movement of the interventional consumables is controlled.
[0068] It should be noted that since the moving part 1424 includes a second encoder, the second encoder is an angle encoder, which is used to convert angle information into a digital signal. It can accurately measure and encode the rotation angle, thereby realizing precise control of the swing angle of the operating part 13. On the one hand, it can accurately control the swing angle of the operating part 13, thereby accurately controlling the movement of the interventional consumables; on the other hand, it can facilitate the doctor's control of the swing angle of the operating part 13, thereby facilitating the doctor's operation process.
[0069] Furthermore, the first power module is controlled to work by a button, thereby controlling the first interventional consumable to produce corresponding actions. The first power module can be switched to the second power module by triggering the button, thereby controlling the second interventional consumable to produce corresponding actions to meet different operational requirements during surgery.
[0070] In addition, technical personnel in this field can set the specific values of the corresponding blocking currents in different states according to actual usage requirements. As long as the blocking current corresponding to the second state is greater than the blocking current corresponding to the first state and less than the blocking current corresponding to the third state, the blocking current corresponding to the first state is a low-speed blocking current, the blocking current corresponding to the second state is a mid-speed blocking current, and the blocking current corresponding to the third state is a high-speed blocking current.
[0071] Among them, when the interventional consumable encounters resistance during movement, the interventional consumable will feedback the information of the resistance to motor 1422. When the resistance encountered by the interventional consumable is small, the information of the resistance encountered is fed back to motor 1422 as a low-level resistance transfer current; when the resistance encountered by the interventional consumable is moderate, the information of the resistance encountered is fed back to motor 1422 as a medium-level resistance transfer current; when the resistance encountered by the interventional consumable is large, the information of the resistance encountered is fed back to motor 1422 as a high-level resistance transfer current, so that the doctor can get different feelings according to the different resistances encountered by the interventional consumable, which is convenient for the doctor's operation.
[0072] In an exemplary embodiment of the present disclosure, there are two operating handles 1 of the vascular interventional surgery robot, and the two operating handles 1 of the vascular interventional surgery robot can respectively control the movement of the interventional catheter and the interventional guidewire. Specifically, since there are two operating handles 1 of the vascular interventional surgery robot, and the two operating handles 1 of the vascular interventional surgery robot respectively control the movement of the interventional catheter and the interventional guidewire, the doctor can respectively control the movement of the interventional catheter and the interventional guidewire by controlling the two operating handles 1 of the vascular interventional surgery robot, so that the movement of the interventional catheter and the interventional guidewire do not affect each other, thereby improving the controllability of the doctor's operation process and facilitating the doctor's operation process.
[0073] According to another aspect of the present disclosure, a vascular intervention surgery robot 2 is provided. Figure 1 , Figure 3 and Figure 5 As shown, the main end control device of the vascular interventional surgery robot 2 includes a vascular interventional surgery robot operating handle 1 and a main console 21, the fixed frame 11 is fixed on the main console 21, the operating part 13 is arranged outside the main console 21, and the main axis 12 is at least partially arranged outside the main console 21.
[0074] Specifically, in the process of the vascular interventional surgery robot 2 controlling the movement of the interventional consumables and providing force feedback on the movement of the interventional consumables, the operating part 13 is arranged outside the main console 21, the spindle 12 is at least partially arranged outside the main console 21, the first detection member 141 is arranged inside the operating part 13, and the second detection member 142 is connected to the spindle 12. On the one hand, the control of the movement of the interventional consumables and the force feedback during the movement of the interventional consumables can be achieved only through the first detection member 141 and the second detection member 142, and no additional transmission components are required, so that the structure of the vascular interventional surgery robot operating handle 1 is simple and the size is small, and the structure of the vascular interventional surgery robot 2 can be simple. On the other hand, the spindle 12 is at least partially arranged outside the main console 21, and the second detection member 142 is connected to the spindle 12, so that the first detection member 141 is arranged outside the main console 21, and only the second detection member 142 is arranged inside the main console 21, which can reduce the space occupied by the components inside the main console 21, so that the main console 21 has a larger space, and the space utilization rate of the components inside the main console 21 is improved.
[0075] As an optional implementation, the operating part 13 is arranged outside the main console 21, and the main shaft 12 is arranged outside the main console 21. In this case, the first detection member 141 is arranged outside the main console 21, and the second detection member 142 is also arranged outside the main console 21, thereby further increasing the space inside the main console 21, and the main console 21 can have a larger design space.
[0076] Optionally, the main console 21 includes a shell, a display screen and a power switch. The shell serves as the external shell structure of the main console 21. On the one hand, it is used to support the operating handle 1, the display screen and the power switch of the vascular interventional surgery robot; on the other hand, it can protect the internal electronic components from external damage, thereby increasing their service life. The power switch is used to control the opening and closing of the display screen. The display screen is used to display real-time image information of the movement of interventional consumables such as interventional catheters or interventional guidewires in the patient's blood vessels when necessary. Doctors can clearly know the dynamic information of interventional consumables such as interventional guidewires or interventional catheters, which is convenient for more precise control and operation of interventional consumables.
[0077] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing what is disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary technical means in the art that are not disclosed in the present disclosure. The specification and embodiments are to be considered as exemplary only, and the true scope and spirit of the present disclosure are indicated by the claims.
[0078] It should be understood that the present disclosure does not limit its application to the detailed structure and arrangement of the components proposed in the present disclosure. The present disclosure can have other embodiments and can be implemented and executed in a variety of ways. The aforementioned variations and modifications fall within the scope of the present disclosure. It should be understood that the scope disclosed and defined in the present disclosure includes all alternative combinations of two or more individual features mentioned or evident in the text and / or the drawings that the present disclosure extends to. All of these different combinations constitute multiple alternative aspects of the present disclosure. The embodiments described in the present disclosure illustrate the best known methods for implementing the present disclosure and will enable those skilled in the art to utilize the present disclosure.
Claims
1. A vascular interventional surgery robot operating handle, characterized in that: include: Fixed frame; A main shaft, one end of which is rotatably connected to the fixed frame; An operating part connected to the other end of the main shaft; The detection assembly includes a first detection member and a second detection member, wherein the first detection member is disposed in the operating portion and is used to control the rotation of the interventional consumable when the operating portion rotates; one side of the second detection member is connected to the fixing frame and is used to control the movement of the interventional consumable when the operating portion swings, and to prevent the operating portion from swinging when the movement of the interventional consumable encounters resistance; A connecting component connected to the main shaft and the second detecting member; The connecting component includes a connecting piece, a fixing piece, a matching piece and an elastic piece. One end of the connecting piece is connected to the main shaft, and the other end is connected to the second detecting piece. The fixing piece is fixed on the fixing frame, and the matching piece is fixed on one side of the connecting piece. The elastic piece is connected between the fixing piece and the matching piece to drive the operating part to restore to an initial state.
2. The vascular interventional surgery robot operating handle according to claim 1, characterized in that: The fixing member is provided with a first groove, and the matching member is provided with a second groove; The elastic member includes a spring and a clamping ring. There are two clamping rings. The two clamping rings are respectively embedded in the first groove and the second groove and connected to both ends of the spring. Wherein, the axis of the clamping ring is perpendicular to the extension direction of the spring.
3. The vascular interventional surgery robot operating handle according to claim 1, characterized in that: The matching piece is arranged on a side of the connecting piece facing the fixing frame, and along a projection direction perpendicular to the main axis, a distance between the connecting piece and the operating portion is smaller than a distance between the fixing piece and the operating portion.
4. The vascular interventional surgery robot operating handle according to claim 2, characterized in that: When the operating part swings to drive the matching piece to compress the spring, a gap is formed between the matching piece and the fixing piece.
5. The vascular interventional surgery robot operating handle according to claim 2, characterized in that: There are two fixing members, two matching members and two elastic members, and the two fixing members, the two matching members and the two elastic members are symmetrically distributed along the connecting direction of the connecting member.
6. The vascular interventional surgery robot operating handle according to claim 5, characterized in that: The two elastic members have the same elastic properties; and / or The two springs are vertically connected between the adjacent fixing members and the matching members.
7. The vascular interventional surgery robot operating handle according to any one of claims 1 to 6, characterized in that: The first detection member includes a circuit board support frame and a circuit board, the circuit board includes a first encoder, the circuit board support frame is connected to the operating part, and the first encoder is arranged on a side of the circuit board support frame away from the main shaft; The second detection member includes a motor support frame and a motor. The motor support frame is fixedly connected to the fixing frame, and the motor is connected to the motor support frame and the connecting member.
8. The vascular interventional surgery robot operating handle according to claim 7, characterized in that: The motor comprises: A fixing part, fixedly connected to the motor support frame; a moving part, one side of which is rotatably connected to the fixed part and the other side of which is fixedly connected to the connecting member, the moving part comprising a second encoder; and / or The vascular interventional surgery robot further includes a first power module and a second power module, the interventional consumables include a first interventional consumable and a second interventional consumable, the first power module controls the rotation of the first interventional consumable, and the second power module controls the rotation of the second interventional consumable; The circuit board further comprises a button, wherein the button is used to switch between the first power module and the second power module; and / or When the interventional consumable encounters resistance when moving, the running state of the motor switches between a first state, a second state and a third state; The blocking current corresponding to the second state is greater than the blocking current corresponding to the first state and less than the blocking current corresponding to the third state.
9. The vascular interventional surgery robot operating handle according to any one of claims 1 to 6, characterized in that: The vascular interventional surgery robot has two operating handles, and the two operating handles of the vascular interventional surgery robot respectively control the movement of the interventional catheter and the interventional guidewire.
10. A vascular interventional surgery robot, characterized in that: It comprises the operating handle and main console of the vascular interventional surgery robot as described in any one of claims 1 to 9, wherein the fixing frame is fixed on the main console, the operating part is arranged outside the main console, and the main axis is at least partially arranged outside the main console.