Force feedback control device of vascular intervention surgical robot

Abstract

The utility model provides a force feedback control device of a vascular interventional surgical robot, the vascular interventional surgical robot comprises a master console, and the force feedback control device comprises an operating handle. Wherein the operating handle comprises a fixing frame, an operating part, a main shaft, a first detection assembly and a second detection assembly, the fixing frame is fixedly arranged on the main console, the first end of the main shaft is rotationally connected to the fixing frame, the operating part is rotationally connected to the second end of the main shaft, the operating part is arranged outside the main console, and at least part of the main shaft is arranged outside the main console. The first detection assembly is arranged in the operation part and is used for controlling the intervention consumable to rotate when the operation part rotates; the second detection assembly is connected to the fixing frame and the main shaft and used for controlling the intervention consumables to move when the operation part swings. According to the force feedback control device of the vascular intervention surgical robot, the structure of the force feedback control device can be simpler, and the internal space of the force feedback control device can be saved.

Description

Technical Field

[0001] The present disclosure relates to the field of medical devices, and more particularly, to a force feedback control device for a vascular intervention surgical robot. Background Art

[0002] A vascular intervention surgical robot is a device that replaces manual operation in traditional vascular intervention surgeries, allowing doctors to perform vascular intervention surgeries outside the operating room away from the radiation environment, such as in the main control room. This reduces the harm of radiation to doctors' bodies and alleviates the doctors' workload.

[0003] In related technologies, a vascular intervention surgical robot includes a master control device and a slave operation device. The master control device controls the movement of the slave operation device, which in turn drives the movement of the intervention consumables. In order to enable doctors to make reasonable and accurate judgments on the movement state and force conditions of the intervention consumables during the process of operating the master control device to control the movement of the intervention consumables, a force feedback mechanism is provided in the master control device to achieve feedback on the resistance received by the intervention consumables.

[0004] However, the force feedback mechanism includes multiple fixed components, a force feedback motor, and connection components. The structure of the force feedback mechanism is complex and its size is large, resulting in a complex structure of the master control device and occupying a large amount of space inside the master control device.

[0005] It should be noted that the information disclosed in the above background art section is only used to enhance the understanding of the background of the present disclosure, and thus may include information that does not constitute the prior art known to those of ordinary skill in the art. Summary of the Utility Model

[0006] The purpose of the present disclosure is to provide a force feedback control device for a vascular intervention surgical robot, which can not only simplify the structure of the force feedback control device, but also save the space inside the force feedback control device.

[0007] Additional aspects and advantages of the present disclosure will be partially described below, and will partially become apparent from the description, or can be learned through the practice of the present disclosure.

[0008] According to one aspect of the present disclosure, a force feedback control device for a vascular intervention surgical robot is provided. The vascular intervention surgical robot includes a main console. The force feedback control device includes an operating handle, which includes a fixing bracket, an operating part, a main shaft, a first detection component, and a second detection component. The fixing bracket is fixedly arranged on the main console. The first end of the main shaft is rotatably connected to the fixing bracket, and the operating part is rotatably connected to the second end of the main shaft. The operating part is arranged outside the main console, and at least part of the main shaft is arranged outside the main console. Among them, the first detection component is arranged inside the operating part and is used to control the rotation of the intervention consumables when the operating part rotates. The second detection component is connected to the fixing bracket and the main shaft and is used to control the movement of the intervention consumables when the operating part swings. When the movement of the intervention consumables encounters resistance, it hinders the swinging of the operating part.

[0009] In an exemplary embodiment of the present disclosure, the fixing bracket includes a support plate and a limiting plate. The support plate is fixedly connected to the main console, and the limiting plate is fixedly connected to the support plate. The limiting plate is provided with a through hole. The main shaft includes a main shaft body and a universal ball. The universal ball is connected to the main shaft body. The main shaft body penetrates through the through hole, and the universal ball is arranged on one side of the through hole and is used to drive the main shaft body to pull the universal ball to rotate when the operating part swings.

[0010] In an exemplary embodiment of the present disclosure, the first detection component includes a circuit board support frame and a circuit board. The circuit board includes a first encoder. The circuit board support frame is rotatably connected to the main shaft body, and the first encoder is arranged on the side of the circuit board support frame away from the main shaft body. The second detection component includes a motor support frame and a motor. The motor support frame is fixedly connected to the fixing bracket, and the motor is connected to the motor support frame and the main shaft body.

[0011] In an exemplary embodiment of the present disclosure, the second detection component further includes a connecting member, which includes a connecting unit and a matching unit. The connecting unit is connected to the motor and the matching unit, and the matching unit is sleeved on the main shaft body and abuts against the limiting plate.

[0012] In an exemplary embodiment of the present disclosure, the motor includes a fixed part and a moving part. The fixed part is 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 unit. The moving part includes a second encoder.

[0013] In an exemplary embodiment of the present disclosure, the vascular intervention surgical robot further includes a first power module and a second power module. The intervention consumables include a first intervention consumable and a second intervention consumable. The first power module controls the rotation of the first intervention consumable, and the second power module controls the rotation of the second intervention consumable.

[0014] The circuit board further includes a button, which is used to switch between the first power module and the second power module; and / or

[0015] When the movement of the interventional consumables encounters resistance, the operating state of the motor switches among a first state, a second state, and a third state;

[0016] Among them, the locked-rotor current corresponding to the second state is greater than the locked-rotor current corresponding to the first state and less than the locked-rotor current corresponding to the third state.

[0017] In an exemplary embodiment of the present disclosure, the side of the matching unit facing the limiting plate is arc-shaped, and the side of the limiting plate facing the matching unit matches the shape of the matching unit.

[0018] In an exemplary embodiment of the present disclosure, the operating handle further includes a first reset component and a second reset component; the first reset component is connected to the first detection component and the main shaft body for resetting the first detection component; the second reset component is connected to the second detection component and the main shaft body for resetting the second detection component.

[0019] In an exemplary embodiment of the present disclosure, the first reset component includes: a torsion spring support frame and a torsion spring, the torsion spring support frame is connected to the main shaft body; both ends of the torsion spring are respectively connected to a torsion spring fixing frame and a circuit board support frame; and / or

[0020] The second reset component includes a spring clamping member and a spring, the spring clamping member is fixedly arranged on the main shaft body; the spring, both ends of the spring are respectively connected to the spring clamping member and a connecting member.

[0021] In an exemplary embodiment of the present disclosure, the operating part includes a top cover and a bottom cover, the top cover and the bottom cover enclose to form a cavity, the first detection component is arranged in the cavity, the bottom cover is fixedly connected to the second end of the main shaft, the top cover is rotatably connected to the bottom cover, and the first detection component is fixedly connected to the top cover; and / or

[0022] The operating handle further includes a protective sleeve, the protective sleeve is sleeved on the main shaft and connected to the operating part and the fixing frame; and / or

[0023] There are two operating handles, and the two operating handles respectively control the movements of the interventional catheter and the interventional guide wire.

[0024] The present disclosure has the following beneficial effects:

[0025] The force feedback control device of the vascular interventional surgical robot provided by the present disclosure, the vascular interventional surgical robot includes a main console, and the force feedback control device includes an operating handle. The operating handle includes a fixing frame, an operating part, a main shaft, a first detection component and a second detection component. The fixing frame is fixedly arranged on the main console. The first end of the main shaft is rotatably connected to the fixing frame. The operating part is rotatably connected to the second end of the main shaft. The operating part is arranged outside the main console, and at least part of the main shaft is arranged outside the main console. Among them, the first detection component is arranged inside the operating part and is used to control the rotation of the interventional consumables when the operating part rotates. The second detection component is connected to the fixing frame and the main shaft and is used to control the movement of the interventional consumables when the operating part swings. When the movement of the interventional consumables encounters resistance, it hinders the swinging of the operating part. On the one hand, the operating part of the operating handle is arranged outside the main console, and the fixing frame, the first detection component and the second detection component are all integrated on the main shaft of the operating handle. Force feedback can be realized through the operating handle, which can not only make the structure of the force feedback control device simpler, but also save the internal space of the force feedback control device. On the other hand, the occupied space inside the main console is reduced, the external shape design space of the main console is improved, which is convenient for reasonably designing the main console and facilitating the doctor to perform vascular interventional surgical operations.

[0026] It should be understood that the above general description and the following detailed description are only exemplary and explanatory, and cannot limit the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] The accompanying drawings here are incorporated into the specification and constitute a part of this specification, showing embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the accompanying drawings in the following description are only some embodiments of the present disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0028] Figure 1 It is a schematic structural diagram of the force feedback control device of the vascular interventional surgical robot of the present disclosure.

[0029] Figure 2 It is a schematic structural diagram of the operating handle of the present disclosure.

[0030] Figure 3 is Figure 2 the front view of

[0031] Figure 4 is Figure 2 the exploded view of

[0032] Figure 5 is Figure 3 the cross-sectional view of the operating handle along the A-A direction in

[0033] In the accompanying drawings, the same or corresponding reference numerals indicate the same or corresponding parts. The reference numerals of the main components in the drawings are described as follows:

[0034] 1. Force feedback control device;

[0035] 11. Main console; 12. Operating handle;

[0036] 121. Fixed bracket; 122. Operating part; 123. Main shaft; 124. First detection component; 125. Second detection component; 127. Protective sleeve;

[0037] 1211. Support plate; 1212: Limiting plate;

[0038] 1221. Top cover; 1222. Bottom cover;

[0039] 1231. Main shaft body; 1232. Universal ball;

[0040] 1241. Circuit board support bracket; 1242: Circuit board;

[0041] 1251. Motor support bracket; 1252. Motor; 1253. Connecting piece; 1254. Connecting unit; 1255. Matching unit; 1256. Fixed part; 1257. Moving part;

[0042] 1261. First reset component; 1262. Second reset component; 1263. Torsion spring support bracket; 1264. Torsion spring; 1265. Spring clamping part; 1266. Spring. Detailed implementation manners

[0043] Now, example embodiments will be described more fully with reference to the accompanying drawings. However, the example embodiments can be implemented in various forms and should not be construed as limited to the embodiments set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the example embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and thus their detailed descriptions will be omitted. In addition, the drawings are only schematic illustrations of the present disclosure and are not necessarily drawn to scale.

[0044] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of the icon to another component, these terms are used in this specification only for convenience, for example, according to the direction of the examples described in the accompanying drawings. It can be understood that if the device of the icon is turned upside down, the component described as "upper" will become the component "lower". When a structure is "on" another structure, it may mean that a structure is integrally formed on another structure, or that a structure is "directly" disposed on another structure, or that a structure is "indirectly" disposed on another structure through another structure.

[0045] The terms "a", "an", "the", "said" and "at least one" are used to denote the presence of one or more elements / components / etc.; the terms "comprising" and "having" are used to mean an open inclusion and refer to the possible existence of additional elements / components / etc. in addition to the listed elements / components / etc.; the terms "first", "second" are used only as labels and are not a limitation on the quantity of their objects.

[0046] In addition, the described features, structures or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided to give a thorough understanding of the embodiments of the present disclosure. However, those skilled in the art will realize 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, well-known methods, devices, implementations or operations are not shown or described in detail to avoid obscuring aspects of the present disclosure.

[0047] According to one aspect of the present disclosure, a force feedback control device 1 for a vascular intervention surgical robot is provided. As Figure 1 shown, the vascular intervention surgical robot includes a main control console 11 and a robot body. The main control console 11 is arranged outside the operating room. A doctor can control the robot body arranged in the operating room by operating the main control console 11, and further control the movement of the interventional consumables through the robot body. The force feedback control device 1 includes an operating handle 12. The main control console 11 serves as the main control platform of the vascular intervention surgical robot. On the one hand, it is used to support and fix the operating handle 12 and accommodate other components. On the other hand, by performing corresponding control operations on the main control console 11, the movement of the interventional consumables can be controlled. The operating handle 12 serves as the core operating component of the force feedback control device 1. By controlling the operating handle 12, the control of the interventional consumables can be achieved. At the same time, the information on the resistance received by the interventional consumables during movement is fed back, so as to achieve the force feedback of the interventional consumables.

[0048] Specifically, the operating handle 12 includes a fixing frame 121, an operating part 122, a main shaft 123, a first detection component 124 and a second detection component 125. As Figure 2 、 Figure 3 and Figure 4As shown, the fixing bracket 121 is fixedly arranged on the main control console 11 and serves as the support frame of the operating handle 12, which is used to support structures such as the operating part 122, the main shaft 123, the first detection component 124, and the second detection component 125 to ensure the normal operation of the operating handle 12. The first end of the main shaft 123 is rotatably connected to the fixing bracket 121, and the operating part 122 is rotatably connected to the second end of the main shaft 123, so as to control the operating handle 12 by controlling the movement of the main shaft 123.

[0049] Furthermore, the operating part 122 is arranged outside the main control console 11, and at least part of the main shaft 123 is arranged outside the main control console 11. The first detection component 124 is arranged inside the operating part 122 and is used to control the rotation of the intervention consumable when the operating part 122 rotates. The second detection component 125 is connected to the fixing bracket 121 and the main shaft 123. Among them, part of the second detection component 125 is fixedly connected to the fixing bracket 121, and part of the second detection component 125 is fixedly connected to the main shaft 123. Exemplarily, the second detection component 125 includes a motor support frame 1251 and a motor 1252. The motor support frame 1251 is fixedly connected to the fixing bracket 121, and the motor 1252 is connected to the motor support frame 1251 and the main shaft body 1231 and is used to control the movement of the intervention consumable when the operating part 122 swings, and to hinder the swing of the operating part 122 when the movement of the intervention consumable encounters resistance.

[0050] Among them, in the process of the force feedback control device 1 controlling the movement of the intervention consumable, when it is necessary to control the rotation of the intervention consumable, by rotating the operating part 122, the operating part 122 drives the first detection component 124 inside the operating part 122 and the main shaft 123 outside to rotate synchronously. The first detection component 124 then transmits the rotation signal to the robot body located in the operating room, so as to realize the rotation control of the intervention consumable. When it is necessary to control the movement of the intervention consumable, by swinging the operating part 122, the swinging direction can be set according to actual operation requirements and habits. The operating part 122 drives the main shaft 123 connected to the operating part 122 to swing, and then drives the second detection component 125 connected to the main shaft 123 to rotate. The second detection component 125 transmits the rotation signal to the robot body, so as to realize the movement control of the intervention consumable.

[0051] On the contrary, when the intervention consumable encounters resistance during movement in the blood vessel, the robot body transmits the obstruction information to the second detection component 125, and the second detection component 125 generates a rotation resistance current, which then hinders the swing of the operating part 122, so as to realize the force feedback during the movement of the intervention consumable.

[0052] During the process of the force feedback control device 1 controlling the movement of the interventional consumables and performing force feedback on the movement of the interventional consumables, the operation part 122 is arranged outside the main console 11, the main shaft 123 is at least partially arranged outside the main console 11, the first detection component 124 is arranged inside the operation part 122, and the second detection component 125 is connected to the main shaft 123. 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 component 124 and the second detection component 125, without the need for additional transmission components, thereby making the structure of the operation handle 12 simple and small in size, and enabling the structure of the master control device to be simple. On the other hand, the main shaft 123 is at least partially arranged outside the main console 11, and the second detection component 125 is connected to the main shaft 123, so that the first detection component 124 is arranged outside the main console 11, and only the second detection component 125 is arranged inside the main console 11, which can reduce the space occupied by the components inside the main console 11, thereby enabling the main console 11 to have a larger space and improving the space utilization rate of the components inside the main console 11.

[0053] In addition, during the process of the doctor operating the force feedback control device 1 to control the interventional consumables, only by rotating the operation part 122 can the rotational operation of the interventional consumables be realized, and by swinging the operation part 122 can the translational operation of the interventional consumables be realized, which can facilitate the doctor's operation and improve the doctor's work efficiency.

[0054] As an alternative embodiment, the operation part 122 is arranged outside the main console 11, and the main shaft 123 is entirely arranged outside the main console 11. As Figure 1 and Figure 2 shown, at this time, the first detection component 124 is arranged outside the main console 11, and the second detection component 125 is also arranged outside the main console 11, thereby further increasing the space inside the main console 11 and enabling the main console 11 to have a larger design space.

[0055] Optionally, a display screen and a power switch are arranged on the tabletop of the main console 11. The power switch is used to control the opening and closing of the display screen. The display screen is used to display the real-time image information of the movement of the interventional consumables in the patient's blood vessel when needed, so that the doctor can clearly know the dynamic information of the interventional guide wire or interventional catheter and other interventional consumables, which is convenient for more accurate control and operation of the interventional consumables.

[0056] The following will elaborate on each part of the force feedback control device 1 of the vascular interventional surgical robot in detail:

[0057] In an exemplary embodiment of the present disclosure, the fixing frame 121 includes a support plate 1211 and a limiting plate 1212. As Figure 1 、 Figure 2 and Figure 4As shown, the support plate 1211 is fixedly connected to the main console 11, the limit plate 1212 is fixedly connected to the support plate 1211, and the limit plate 1212 is provided with a through hole; the main shaft 123 includes a main shaft body 1231 and a universal ball 1232, the universal ball 1232 is connected to the main shaft body 1231, the main shaft body 1231 penetrates through the through hole, and the universal ball 1232 is arranged on one side of the through hole and is used to drive the main shaft body 1231 to drive the universal ball 1232 to rotate when the operating part 122 swings.

[0058] Specifically, the support plate 1211 is connected to the main console 11. On the one hand, it is used to support the operating handle 12, so that the structure of the operating handle 12 is more stable; on the other hand, it can make the structure of the whole device stable, and the operating handle 12 will not generate large vibrations during rotation or swinging. When the operating handle 12 swings to drive the universal ball 1232 to rotate, the universal ball 1232 will not move longitudinally. The support plate 1211 is connected to the limit plate 1212 and is used to strengthen the structural stability of the limit plate 1212, so that the movement of the main shaft 123 can be more stable during the movement of the main shaft 123 relative to the limit plate 1212.

[0059] In addition, since the main shaft 123 includes a main shaft body 1231 and a universal ball 1232, the universal ball 1232 is arranged below the main shaft body 1231, and when the main shaft body 1231 swings, it drives the universal ball 1232 to move in the corresponding direction. When the operating part 122 swings, the operating part 122 drives the main shaft body 1231 to swing, thereby pulling the universal ball 1232 to rotate, so as to realize the swinging movement of the operating part 122 relative to the fixed frame 121, which is convenient for the doctor's swinging operation.

[0060] In an exemplary embodiment of the present disclosure, the first detection component 124 includes a circuit board support frame 1241 and a circuit board 1242. As Figure 4 and Figure 5 shown, the circuit board support frame 1241 is rotatably connected to the main shaft body 1231, and the circuit board 1242 includes a first encoder, and the first encoder is arranged on the side of the circuit board support frame 1241 away from the main shaft body 1231; the second detection component 125 includes a motor support frame 1251 and a motor 1252, the motor support frame 1251 is fixedly connected to the fixed frame 121, and the motor 1252 is connected to the motor support frame 1251 and the main shaft body 1231.

[0061] Specifically, the first encoder is fixedly connected to the circuit board support frame 1241. When the operation part 122 is rotated, the operation part 122 drives the first encoder and the circuit board support frame 1241 to rotate synchronously relative to the main shaft body 1231. The first encoder will not deviate from the main shaft body 1231 due to the rotational force, which can make the rotational signal fed back by the first encoder more accurate, thereby precisely controlling the movement of the intervention consumables. In addition, since the circuit board support frame 1241 is rotatably connected to the main shaft body 1231, during the process of rotating the operation part 122, only the circuit board support frame 1241 will be driven to rotate synchronously relative to the main shaft body 1231, and then the first encoder will be driven to rotate synchronously, rather than driving the main shaft body 1231 to rotate, so as to realize the separation of the rotation and swing of the operation part 122, and thus realize the separate control of the movement and rotation of the intervention consumables, which is convenient for the doctor to operate.

[0062] Among them, the first encoder is an angle encoder, which is used to convert angle information into digital signals. Since the angle encoder is small in size and high in precision, on the one hand, it can reduce the space occupied by the first encoder in the operation part 122, and thus can further reduce the space occupied by the operation handle 12. The force feedback control device 1 can have a simple structure and save the space inside the force feedback control device 1. On the other hand, the rotation angle of the operation part 122 can be accurately controlled by the angle encoder, so as to realize the precise control of the rotation of the intervention consumables and improve the accuracy of the intervention consumables entering the patient's treatment site.

[0063] In addition, the motor 1252 is fixedly connected to the motor support frame 1251, and the motor support frame 1251 is fixedly connected to the fixed frame 121. During the process of controlling the operation part 122 to drive the main shaft 123 to swing, the motor 1252 will be driven to rotate through the connecting member 1253. Fixing the motor 1252 on the motor support frame 1251 and connecting the motor support frame 1251 to the fixed frame 121 makes the device an integral structure, reduces the vibration and noise during the rotation of the motor 1252, and at the same time makes the overall structure stable. In addition, since the second detection component 125 includes the motor 1252, when the intervention consumables are blocked during the movement, the information of being blocked will be transmitted to the motor 1252, and the motor 1252 will generate a blocking current to prevent the connecting member 1253 and the main shaft 123 from further rotating, so as to realize the function of force feedback.

[0064] In an exemplary embodiment of the present disclosure, the second detection component 125 further includes a connecting member 1253. The connecting member 1253 includes a connecting unit 1254 and a matching unit 1255. The connecting unit 1254 is connected between the motor 1252 and the matching unit 1255, and the matching unit 1255 is sleeved on the main shaft body 1231 and abuts against the limiting plate 1212.

[0065] Specifically, since the second detection component 125 further includes a connecting member 1253. As Figure 3 , Figure 4 and Figure 5 shown, the connecting member 1253 is connected between the motor 1252 and the main shaft body 1231 through a connecting unit 1254 and a matching unit 1255. It is possible to connect the motor 1252 and the main shaft body 1231 with quite different structures through the connecting unit 1254 and the matching unit 1255. Furthermore, the movement of the main shaft body 1231 can drive the motor 1252 to move synchronously. It can be understood that since the matching unit 1255 is sleeved on the main shaft body 1231, the connection between the matching unit 1255 and the main shaft body 1231 can be made closer, avoiding the situation that the matching unit 1255 falls off from one side of the main shaft body 1231, improving the stability of the connection between the motor 1252 and the main shaft body 1231, and thus improving the stability of the operation handle 12 during the working process.

[0066] In an exemplary embodiment of the present disclosure, the motor 1252 includes a fixing part 1256 and a moving part 1257. As Figure 3 and Figure 4 shown, the fixing part 1256 is fixedly connected to the motor support frame 1251. One side of the moving part 1257 is rotatably connected to the fixing part 1256, and the other side is fixedly connected to the connecting unit 1254. The moving part 1257 includes a second encoder.

[0067] Specifically, during the process of swinging the operation part 122, the operation part 122 drives the main shaft 123 and then drives the connecting member 1253 to swing synchronously. Since the motor 1252 includes a fixing part 1256 and a moving part 1257, and one side of the moving part 1257 is rotatably connected to the fixing part 1256 and the other side is fixedly connected to the connecting unit 1254 of the connecting member 1253, it is possible to realize the rotation of the moving part 1257 of the motor 1252 relative to the fixing part 1256 during the process of swinging the operation part 122. Thus, the swinging angle of the operation part 122 can be judged by the rotation angle of the moving part 1257 relative to the fixing part 1256, and finally the movement of the intervention consumables can be controlled.

[0068] It should be noted that since the moving part 1257 includes a second encoder, and the second encoder is an angle encoder, which is used to convert angle information into digital signals, and can accurately measure and encode the rotation angle, realizing the precise control of the swinging angle of the operation part 122. On the one hand, the swinging angle of the operation part 122 can be accurately controlled, so as to accurately control the movement of the intervention consumables; on the other hand, it is convenient for the doctor to control the swinging angle of the operation part 122 and facilitates the doctor's operation process.

[0069] In an exemplary embodiment of the present disclosure, the vascular intervention surgical robot further includes a first power module and a second power module; the intervention consumables include a first intervention consumable and a second intervention consumable; the first power module controls the rotation of the first intervention consumable, and the second power module controls the rotation of the second intervention consumable; the circuit board 1242 further includes a button for switching between the first power module and the second power module; and / or when the movement of the intervention consumable encounters resistance, the operating state of the motor 1252 switches among a first state, a second state, and a third state; wherein, the stall current corresponding to the second state is greater than the stall current corresponding to the first state and less than the stall current corresponding to the third state.

[0070] Specifically, the first power module is controlled by the button to work, so as to control the first intervention consumable to generate corresponding actions. By triggering the button, the first power module can be switched to the second power module, so as to control the second intervention consumable to generate corresponding actions to meet different operation requirements during the surgery.

[0071] It should be noted that those skilled in the art can set the specific values of the stall current corresponding to different states according to actual usage requirements, as long as the stall current corresponding to the second state is greater than the stall current corresponding to the first state and less than the stall current corresponding to the third state. The stall current corresponding to the first state is the low-gear stall current, the stall current corresponding to the second state is the medium-gear stall current, and the stall current corresponding to the third state is the high-gear stall current.

[0072] Specifically, when the movement of the intervention consumable encounters resistance, the intervention consumable will feedback the information of the encountered resistance to the motor 1252. When the resistance received by the intervention consumable is small, it feedbacks a low-gear stall current to the motor 1252; when the resistance received by the intervention consumable is moderate, it feedbacks a medium-gear stall current to the motor 1252; when the resistance received by the intervention consumable is large, it feedbacks a high-gear stall current to the motor 1252, so that the motor 1252 can generate different stall torques according to the received different magnitudes of stall current, and further enable the doctor to obtain different feelings according to the different resistances received by the intervention consumable, improve the force feedback feeling for the doctor, and facilitate the operation of the doctor.

[0073] In an exemplary embodiment of the present disclosure, one side of the matching unit 1255 facing the limiting plate 1212 is arc-shaped, and the shape of the side of the limiting plate 1212 facing the matching unit 1255 matches that of the matching unit 1255. As Figure 5As shown, since the side of the matching unit 1255 facing the limit plate 1212 is in an arc shape, and the side of the limit plate 1212 facing the matching unit 1255 matches the shape of the matching unit 1255, during the process of the operating part 122 driving the main shaft 123 to swing, the swing between the matching unit 1255 and the limit plate 1212 can be smoother, avoiding the matching unit 1255 and the limit plate 1212 from getting stuck or even conflicting with each other during the swinging process, and the process of the operating part 122 driving the main shaft 123 to swing can proceed normally.

[0074] As an optional implementation, the diameter of the through hole is larger than the diameter of the main shaft body 1231 and smaller than the diameter of the universal ball 1232 .

[0075] Specifically, a through hole is provided on the limit plate 1212, and the diameter of the through hole is larger than the spindle body 1231, so that the limit plate 1212 can be sleeved on the spindle body 1231. When the control operating part 122 is swung, the spindle 123 will not separate from the spindle body 1231 during the swinging of the operating part 122. The diameter of the through hole of the limit plate 1212 is smaller than the diameter of the universal ball 1232, which limits the universal ball 1232. When the spindle body 1231 drives the universal ball 1232 to rotate, the universal ball 1232 will not move longitudinally under the restriction of the limit plate 1212, which affects the control effect of the spindle 123 on the interventional consumables and enhances the reliability of the structure of the operating handle 12.

[0076] In an exemplary embodiment of the present disclosure, the operating handle 12 further includes a first reset component 1261 and a second reset component 1262. Figure 4 As shown, the first reset component 1261 is connected to the first detection component 124 and the spindle body 1231 for resetting the first detection component 124 ; the second reset component 1262 is connected to the second detection component 125 and the spindle body 1231 for resetting the second detection component 125 .

[0077] Specifically, after the doctor rotates the operating part 122 of the operating handle 12 to control the rotation of the interventional consumable, when there is no need to continue rotating the operating handle 12, the operating handle 12 will return to its original state under the action of the first resetting component 1261, so that the doctor does not need to perform additional operations to reset the operating handle 12, which can reduce the doctor's operations and improve the doctor's work efficiency.

[0078] Similarly, after the doctor swings the operating part 122 of the operating handle 12 to control the movement of the interventional consumable, when there is no need to continue swinging the operating handle 12, the operating handle 12 will return to its original state under the action of the second resetting component 1262, so that the doctor does not need to perform additional operations to reset the operating handle 12, which can reduce the doctor's operations and improve the doctor's work efficiency.

[0079] In an exemplary embodiment of the present disclosure, the first reset assembly 1261 includes a torsion spring support frame 1263 and a torsion spring 1264. As Figure 4 and Figure 5 shown, the torsion spring support frame 1263 is connected to the main shaft body 1231; both ends of the torsion spring 1264 are respectively connected to the torsion spring support frame 1263 and the circuit board support frame 1241; and / or the second reset assembly 1262 includes a spring clamping member 1265 and a spring 1266. As Figure 4 and Figure 5 shown, the spring clamping member 1265 is fixedly arranged on the main shaft body 1231; both ends of the spring 1266 are respectively connected to the spring clamping member 1265 and the connecting member 1253.

[0080] Specifically, as Figure 4 and Figure 5 shown, the torsion spring support frame 1263 is fixedly connected to the main shaft body 1231, the torsion spring 1264 is fixed on the torsion spring support frame 1263, and the torsion spring support frame 1263 fixes the torsion spring 1264 on the main shaft body 1231. When the torsion spring 1264 deforms as the first detection assembly 124 rotates, one end can be firmly connected to the main shaft body 1231 without detaching from the main shaft body 1231, making the connection between the torsion spring 1264 and the main shaft body 1231 more firm. When the torsion spring 1264 is deformed by the force under the drive of the operation part 122 and the operation part 122 is released, the torsion spring 1264 will drive the operation part 122 to reset under the action of its own resilience force, which is convenient for subsequent surgical operations by doctors.

[0081] Furthermore, during the process of swinging the operation part 122, the spring 1266 is used to realize the reset of the operation part 122. During the process of swinging the operation part 122, the operation part 122 drives the main shaft 123 to rotate relative to the fixed frame 121. Since the spring 1266 is connected between the spring clamping member 1265 and the connecting member 1253, a corresponding force will be applied to the spring 1266 during the rotation of the main shaft 123. When no force is applied to the operation part 122, the main shaft 123 will return to its initial state under the reaction force of the spring 1266, thereby realizing the automatic reset of the operation part 122 through the spring 1266, which is convenient for doctors' surgical operations.

[0082] In an exemplary embodiment of the present disclosure, the operation part 122 includes a top cover 1221 and a bottom cover 1222. As Figure 2 and Figure 4As shown, the top cover 1221 and the bottom cover 1222 enclose to form a cavity. The first detection component 124 is disposed within the cavity. The bottom cover 1222 is fixedly connected to the second end of the main shaft 123. The top cover 1221 is rotatably connected to the bottom cover 1222. The first detection component 124 is fixedly connected to the top cover 1221; and / or the operating handle 12 further includes a protective sleeve 127. As Figure 1 , Figure 2 and Figure 4 shown, the protective sleeve 127 is sleeved on the main shaft 123 and connected to the operating part 122 and the fixing bracket 121; and / or there are two operating handles 12, and the two operating handles 12 respectively control the movements of the intervention catheter and the intervention guide wire.

[0083] Specifically, the bottom cover 1222 is fixedly connected to one end of the main shaft 123. The top cover 1221 has an opening facing downward and is recessed upward to form a cavity. The bottom cover 1222 has an opening facing upward and is recessed downward to form a cavity. The top cover 1221 and the bottom cover 1222 are rotatably connected to enclose a cavity. On the one hand, the cavity formed by the top cover 1221 and the bottom cover 1222 is used to protect the first detection component 124 to prevent the first detection component 124 from being damaged externally; on the other hand, the doctor drives the main shaft 123 to rotate by rotating the top cover 1221, thereby controlling the rotation of the intervention consumables. The doctor drives the main shaft 123 to swing by swinging the bottom cover 1222, thereby controlling the movement of the intervention consumables. Different operations on the operating part 122 can be performed to achieve different movement controls of the intervention consumables. The rotation control and the swing control of the operating part 122 can be independently controlled without affecting each other, which is convenient for the doctor to control the operating part 122 and makes the control of the operating part 122 more convenient during the control process. To achieve the movement control of the operating part 122, the top cover 1221 and the bottom cover 1222 are separately arranged, and the rotation control and the swing of the operating part 122 can be separately controlled without affecting each other, which is convenient for the doctor's operation.

[0084] Furthermore, the protective sleeve 127 is disposed between the operating part 122 and the tabletop of the main control console 11 and is close to the main control console 11. On the one hand, the protective sleeve 127 plays a protective role for the device and increases the service life of the device; on the other hand, the protective sleeve 127 houses multiple structures, making the overall structure more beautiful.

[0085] Since there are two operating handles 12, and the two operating handles 12 respectively control the movements of the intervention catheter and the intervention guide wire, the doctor can respectively control the movements of the intervention catheter and the intervention guide wire by controlling the two operating handles 12, which can make the movements of the intervention catheter and the intervention guide wire not affect each other, improve the controllability of the doctor's operation process, and facilitate the doctor's operation process.

[0086] Other embodiments of the present disclosure will be readily apparent to those skilled in the art upon consideration of the specification and practice of the disclosure 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 known common general knowledge or conventional technical means in the technical field not disclosed by the present disclosure. The specification and examples are only to be considered as exemplary, and the true scope and spirit of the present disclosure are pointed out by the claims.

[0087] It should be understood that the present disclosure does not limit its application to the detailed structures and arrangements of the components set forth in the present disclosure. The present disclosure can have other embodiments and can be implemented and carried out in various ways. The foregoing 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 separate features that are mentioned or apparent in the text and / or drawings. All such different combinations constitute multiple alternative aspects of the present disclosure. The embodiments described in the present disclosure illustrate the best mode known for carrying out the present disclosure and will enable those skilled in the art to utilize the present disclosure.

Claims

1. A force feedback control device for a vascular interventional surgery robot, the vascular interventional surgery robot comprising a main console, characterized in that: include: An operating handle, comprising a fixing frame, an operating part, a main shaft, a first detection assembly and a second detection assembly, wherein the fixing frame is fixedly mounted on the main console, a first end of the main shaft is rotatably connected to the fixing frame, the operating part is rotatably connected to a second end of the main shaft, the operating part is disposed outside the main console, and the main shaft is at least partially disposed outside the main console; Among them, the first detection component is arranged in the operating part, and is used to control the rotation of the interventional consumable when the operating part rotates; the second detection component is connected to the fixed frame and the main shaft, 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.

2. The force feedback control device according to claim 1, characterized in that: The fixing frame includes a supporting plate and a limiting plate, wherein the supporting plate is fixedly connected to the main console, the limiting plate is fixedly connected to the supporting plate, and the limiting plate is provided with a through hole; The spindle includes a spindle body and a universal ball, the universal ball is connected to the spindle body, the spindle body passes through the through hole, and the universal ball is arranged on one side of the through hole, and is used to drive the spindle body to pull the universal ball to rotate when the operating part swings.

3. The force feedback control device according to claim 2, characterized in that: The first detection assembly includes a circuit board support frame and a circuit board, the circuit board includes a first encoder, the circuit board support frame is rotatably connected to the spindle body, and the first encoder is arranged on a side of the circuit board support frame away from the spindle body; The second detection component 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 spindle body.

4. The force feedback control device according to claim 3, characterized in that: The second detection component also includes: The connecting member comprises a connecting unit and a matching unit, wherein the connecting unit is connected to the motor and the matching unit, and the matching unit is sleeved on the main shaft body and abuts against the limiting plate.

5. The force feedback control device according to claim 4, 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 unit, and the moving part includes a second encoder.

6. The force feedback control device according to claim 3, characterized in that: 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.

7. The force feedback control device according to claim 4, characterized in that: The side of the matching unit facing the limiting plate is in an arc shape, and the side of the limiting plate facing the matching unit matches the shape of the matching unit.

8. The force feedback control device according to claim 5, characterized in that: The operating handle also includes: A first reset component, the first reset component is connected to the first detection component and the spindle body, and is used to reset the first detection component; A second resetting component is connected to the second detection component and the spindle body, and is used for resetting the second detection component.

9. The force feedback control device according to claim 8, characterized in that: The first reset component comprises: A torsion spring support frame, wherein the torsion spring support frame is connected to the main shaft body; A torsion spring, wherein both ends of the torsion spring are respectively connected to the torsion spring fixing frame and the circuit board supporting frame; and / or The second reset component comprises: A spring retaining member, fixedly disposed on the main shaft body; A spring, two ends of which are respectively connected to the spring retaining member and the connecting member.

10. The force feedback control device according to any one of claims 1 to 9, characterized in that: The operating unit comprises: Top cover; Bottom cover; The top cover and the bottom cover are arranged to form a cavity, the first detection component is arranged in the cavity, the bottom cover is fixedly connected to the second end of the main shaft, the top cover is rotatably connected to the bottom cover, and the first detection component is fixedly connected to the top cover; and / or The operating handle also includes: a protective sleeve, the protective sleeve being sleeved on the main shaft and connected to the operating part and the fixing frame; and / or There are two operating handles, and the two operating handles respectively control the movement of the intervention catheter and the intervention guide wire.

Images