Force feedback device of vascular intervention surgical robot and vascular intervention surgical robot

Abstract

The utility model provides a force feedback device and a vascular interventional surgical robot, and the force feedback device comprises a roller and a servo motor. And the rollers are arranged on a console of the vascular intervention surgical robot. The servo motor comprises a motor, a sensor and an encoder, an output shaft of the motor is fixedly connected to the roller, a rotating shaft of the output shaft of the motor coincides with a rotating shaft of the roller, and the sensor and the encoder are both connected to the output shaft of the motor. When the rolling wheel is twisted to rotate, the output shaft of the motor rotates synchronously, the sensor transmits a signal to a controller of the vascular interventional surgical robot to control the interventional consumable to move, and the encoder is used for judging the rotating direction, angle and number of turns of the rolling wheel; when the intervention consumables are subjected to resistance in movement, the output shaft of the motor is used for stopping the rollers from rotating; the torque of the motor hindering rotation of the roller is positively correlated with acting force applied by an operator. In the process that the intervention consumable intervenes the patient, force feedback can be provided for an operator, and unnecessary harm to the patient is avoided.

Description

Technical Field

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

[0002] During the treatment of a vascular intervention surgical robot, the intervention surgical robot is connected to an intervention consumable to achieve precise treatment of a patient by controlling the intervention consumable. A manipulation device is provided on a side of the intervention surgical robot away from the intervention consumable, so that medical staff can control the intervention consumable through the manipulation device at the distal end.

[0003] In related manipulation devices, the manipulation device includes a joystick, electrical components, and sensors. The joystick is used to control the movement of the intervention consumable within the patient's blood vessel. The electrical components are electrically connected to the joystick and the slave end execution device of the robot, and are used to transmit the control instruction of the joystick to the slave end execution device of the robot in the form of an electrical signal, thereby controlling the movement of the intervention consumable.

[0004] However, during the process of the intervention consumable entering the patient, due to the lack of force feedback of the manipulation device, medical staff cannot make a reasonable judgment on the movement state of the intervention consumable, and the intervention consumable may excessively squeeze the blood vessel wall when the blood vessel path is not smooth, causing unnecessary harm to the patient. Summary of the Utility Model

[0005] An object of the present disclosure is to overcome at least one deficiency of the above related technologies, and to provide a force feedback device for a vascular intervention surgical robot and a vascular intervention surgical robot, which can provide force feedback to an operator during the process of the intervention consumable entering the patient, and avoid causing unnecessary harm to the patient.

[0006] 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.

[0007] According to one aspect of the present disclosure, there is provided a force feedback device for a vascular intervention surgical robot, including:

[0008] A roller, provided on a console of the vascular intervention surgical robot;

[0009] A servo motor, including a motor, a sensor, and an encoder, an output shaft of the motor is fixedly connected to the roller, and an axis of rotation of the output shaft of the motor coincides with an axis of rotation of the roller, and both the sensor and the encoder are connected to the output shaft of the motor;

[0010] When the rolling wheel rotates by rubbing, the output shaft of the motor rotates synchronously. The sensor transmits signals to the controller of the vascular interventional surgical robot to control the movement of the interventional consumables. The encoder is used to judge the rotation direction, angle and number of turns of the rolling wheel;

[0011] When the movement of the interventional consumables encounters resistance, the output shaft of the motor is used to hinder the rotation of the rolling wheel; the torque of the motor to hinder the rotation of the rolling wheel is positively correlated with the force applied by the operator.

[0012] In an exemplary embodiment of the present disclosure, the servo motor further includes:

[0013] A gear, connected between the output shaft of the motor and the sensor.

[0014] In an exemplary embodiment of the present disclosure, a through hole is provided in the axial direction of the rolling wheel, and the force feedback device further includes:

[0015] A connecting shaft, passing through the through hole and fixedly connected to the through hole;

[0016] A coupling, fixedly connected between the output shaft of the motor and the connecting shaft.

[0017] In an exemplary embodiment of the present disclosure, within the through hole, the length of the output shaft of the motor is greater than or equal to 1 / 2 of the length of the through hole; and / or

[0018] The diameter of the rolling wheel is greater than the diameter of the motor body.

[0019] In an exemplary embodiment of the present disclosure, along the axial direction of the through hole, on the side of the through hole away from the motor, the output shaft of the motor extends into the through hole.

[0020] In an exemplary embodiment of the present disclosure, there are multiple force feedback devices and multiple interventional consumables, and the multiple force feedback devices respectively control the movement of the interventional consumables one by one.

[0021] In an exemplary embodiment of the present disclosure, the motor is used to generate a corresponding reverse rotation current according to the information of the resistance magnitude received when the interventional consumables move, and provide a corresponding reverse rotation torque for the rolling wheel.

[0022] According to one aspect of the present disclosure, a vascular interventional surgical robot is provided, including a console and a force feedback device;

[0023] The force feedback device is partially located within the console, and the rolling wheel is at least partially located outside the console.

[0024] In an exemplary embodiment of the present disclosure, a control panel is provided on the console, and the control panel is used to display a simulated image of the movement of the interventional consumables inside the human body.

[0025] In an exemplary embodiment of the present disclosure, the vascular intervention surgical robot further includes:

[0026] A controller, and the bodies of the sensor and the motor are electrically connected to the controller respectively;

[0027] Wherein, when the roller is rubbed, the controller is configured to receive the signal sent by the sensor and control the movement of the intervention consumable; when the movement of the intervention consumable encounters resistance, the controller is configured to supply current to the motor, and the output shaft of the motor obstructs the rotation of the roller.

[0028] The force feedback device and the vascular intervention surgical robot of the present disclosure, the force feedback device includes a roller and a servo motor. The roller is arranged on the console of the vascular intervention surgical robot. The servo motor includes a motor, a sensor and an encoder. The output shaft of the motor is fixedly connected to the roller, and the rotation axes of the output shaft of the motor and the roller coincide. Both the sensor and the encoder are connected to the output shaft of the motor. When the roller is rubbed and rotated, the output shaft of the motor rotates synchronously. The sensor transmits the signal to the controller of the vascular intervention surgical robot to control the movement of the intervention consumable. The encoder is used to judge the rotation direction, angle and number of turns of the roller; when the movement of the intervention consumable encounters resistance, the output shaft of the motor is used to obstruct the rotation of the roller; the torque of the motor obstructing the rotation of the roller is positively correlated with the force applied by the operator. The force feedback device and the vascular intervention surgical robot of the present disclosure can provide force feedback to the operator during the process of the intervention consumable intervening in the patient, and avoid causing unnecessary harm to the patient.

[0029] 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

[0030] The drawings here are incorporated into the specification and form a part of the specification, showing the embodiments consistent with the present disclosure, and are used together with the specification to explain the principles of the present disclosure. Obviously, the 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.

[0031] Figure 1 is a schematic structural diagram of the force feedback device of the present disclosure.

[0032] Figure 2 is a schematic structural diagram of the force feedback device from another perspective of the present disclosure.

[0033] The main reference numerals of the elements in the drawings are described as follows:

[0034] 1. Force feedback device;

[0035] 11. Roller; 12. Servo motor;

[0036] 121. Output shaft of the motor. Detailed implementation manners

[0037] Example embodiments will now 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. Like reference numerals in the figures denote like 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.

[0038] Although relative terms such as "upper" and "lower" are used in this specification to describe the relative relationship of one component of an icon to another component, these terms are used in this specification only for convenience, for example, according to the directions of the examples in the 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 described as "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.

[0039] The terms "a", "an", "the", "" and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "comprising" and "having" are used to mean an open inclusion and mean that there may be additional elements / components / etc. in addition to the listed elements / components / etc.; the terms "first" and "second" are used only as labels and are not a limitation on the quantity of their objects.

[0040] One aspect of the present disclosure provides a force feedback device 1 for a vascular intervention surgical robot, as Figure 1 and Figure 2 shown. The force feedback device 1 includes a roller 11 and a servo motor 12. The roller 11 serves as the operating structure of the force feedback device 1. When a doctor operates the roller 11, the intervention consumables at the distal end of the vascular intervention surgical robot can be controlled. At the same time, when the intervention consumables are subjected to resistance, a reverse torque is provided to the roller 11, thereby realizing force feedback.

[0041] Specifically, the roller 11 is arranged on the console of the vascular intervention surgical robot; the servo motor 12 includes a motor, a sensor and an encoder. The output shaft 121 of the motor is fixedly connected to the roller 11, and the rotation axes of the output shaft 121 of the motor and the roller 11 coincide. Both the sensor and the encoder are connected to the output shaft 121 of the motor. Among them, when the roller 11 is rubbed to rotate, the output shaft 121 of the motor rotates synchronously. The sensor transmits a signal to the controller of the vascular intervention surgical robot to control the movement of the intervention consumables. The encoder is used to judge the rotation direction, angle and number of turns of the roller 11; when the movement of the intervention consumables encounters resistance, the output shaft 121 of the motor is used to hinder the rotation of the roller 11, and the torque of the motor to hinder the rotation of the roller 11 is positively correlated with the force applied by the operator. Of course, the specific mapping relationship between the torque and the force can be set by those skilled in the art according to actual needs, which is not restrictive, as long as the overall is positively correlated.

[0042] It should be noted that the servo motor 12 is an electromagnetic device that converts an electrical signal into a controlled motion using a negative feedback mechanism. Basically, the behavior of the servo system is similar to that of an actuator, providing precise control over speed, acceleration, and linear or angular position. Specifically, the servo motor 12 refers to the motor that controls the operation of mechanical components in the servo system, and it is an auxiliary motor indirect speed change device. The servo motor 12 can control speed, and the position accuracy is very accurate. It can convert the voltage signal into torque and rotational speed to drive the control object. The rotational speed of the rotor of the servo motor 12 is controlled by the input signal and can respond quickly. In an automatic control system, it is used as an actuator and has characteristics such as a small electromechanical time constant and high linearity. It can convert the received electrical signal into angular displacement or angular velocity output on the motor shaft.

[0043] Based on the above settings, during the rotation of the roller 11, the rotation of the output shaft 121 of the motor always remains synchronized with the rotation of the roller 11. Thus, during the process of rubbing the roller 11, on the one hand, the rotation direction, angle and number of turns of the roller 11 can be identified by the encoder. At the same time, through the synchronous rotation of the output shaft 121 of the motor, the sensor transmits a signal to the controller of the vascular intervention surgical robot to control the movement of the intervention consumables. When the movement of the intervention consumables encounters resistance, it can act on the motor in the reverse direction, and through the output shaft 121 of the motor, force feedback is applied to the roller 11. This can simplify the design of the force feedback device 1, reduce the manufacturing difficulty of this device, and can make the process of force feedback stable and accurate through coaxial connection.

[0044] It should be noted that the present disclosure does not limit the specific manner of the robot's distal end detecting the resistance of the intervention consumables. Those skilled in the art can set it according to actual usage needs. The limitation of the present disclosure is only limited to the force feedback part at the master end.

[0045] In addition, when the movement of the interventional consumable encounters resistance, force feedback is provided to the roller 11 through the output shaft 121 of the motor, so as to provide force feedback to the operator during the process of the interventional consumable being inserted into the patient, and avoid causing unnecessary harm to the patient.

[0046] It should be noted that the encoder identifies and judges the rotation direction, angle and number of turns of the roller 11, and the sensor transmits the signal to the controller of the vascular interventional surgical robot. The robot controls the interventional consumable to generate corresponding movements from the end. The controller can, according to the settings of the system, control the interventional consumable to perform different movements according to different parameters such as the rotation direction, angle and number of turns of the roller 11. For example, the interventional consumable performs rotational movement or translational movement. The specific control method of the controller is not limited here.

[0047] Since the present disclosure only needs to adopt the servo motor 12 that moves synchronously with the roller 11, through the motor, sensor and encoder in the servo motor 12, it is possible to realize the control of different movement states of the interventional consumable and perform corresponding force feedback when the interventional consumable encounters resistance, which can simplify the control logic and facilitate the operation of the doctor.

[0048] It is worth noting that when the movement of the interventional consumable encounters resistance, the torque of the motor to prevent the roller 11 from rotating is positively correlated with the acting force applied by the operator. That is, when the movement of the interventional consumable encounters resistance, the greater the acting force applied by the operator, the greater the reverse torque of the motor, so that a greater resistance can be provided, and thus the main driving force can be provided, which can better provide force feedback to the operator, improve the accuracy of force feedback, and facilitate the operation of the doctor.

[0049] By adopting the servo motor 12 as the component for force feedback in the present disclosure, compared with the lossy resistance device using mechanical friction plates, the design of the present disclosure can achieve no friction loss, thus greatly prolonging the service life of the force feedback device 1. At the same time, since the volume of the servo motor 12 is small, it can ensure that the force feedback device 1 has a small overall volume, thereby improving the space utilization rate of the force feedback device 1.

[0050] It can be understood that the present disclosure adopts the servo motor 12 as the component for force feedback. Since the servo motor 12 itself has structures such as sensors and encoders, it can accurately sense the position of the motor and perform real-time adjustment through the feedback control algorithm, so as to achieve very precise motion control. And since the servo motor 12 is usually equipped with a dedicated control circuit and driver inside, it can monitor and adjust the operating state of the motor in real time, and can complete the changes in speed and position instantly, making the process of force feedback more accurate, thereby improving the accuracy during the operation of the doctor.

[0051] In addition, since the servo motor 12 itself has structures such as a motor, a sensor, and an encoder, that is, the servo motor 12 integrates the motor, the sensor, and the encoder into one body. On the one hand, the sensors and encoders built into the servo motor 12 can monitor key parameters such as the position, speed, and acceleration of the motor in real time, so as to achieve precise control of the motor. This high-precision control enables the servo motor 12 to achieve more accurate position positioning and speed control during operation, improving the motion accuracy and stability of the system. On the other hand, the sensors and encoders inside the servo motor 12 can feedback the state information of the motor in real time, and the control system can make real-time adjustments and controls based on this information. This fast response ability enables the servo motor 12 to quickly adapt to changes in the external environment, achieve faster and more accurate dynamic response, which can facilitate the operation of the doctor and improve the accuracy of force feedback during the doctor's operation.

[0052] Similarly, since the servo motor 12 integrates the motor, the sensor, and the encoder into one body, the number of components and connection lines in the force feedback device 1 is reduced, simplifying the design and installation process of the force feedback device 1. This integrated design can reduce the complexity of the force feedback device 1 and improve the reliability and stability of the force feedback device 1.

[0053] The following will detail the force feedback device 11 and each part of the vascular intervention surgical robot:

[0054] In an exemplary embodiment of the present disclosure, the servo motor 12 further includes a gear connected between the output shaft 121 of the motor and the sensor. Specifically, since the servo motor 12 further includes a gear connected between the output shaft 121 of the motor and the sensor, on the one hand, the gear transmission has high transmission precision and transmission efficiency. Since the meshing relationship of the gear pair is determined by the tooth profile shape, a precise transmission ratio can be maintained during the transmission process. On the other hand, due to its rigidity and stability, the gear transmission has high reliability and durability. The gear transmission method enables smooth transmission of force and torque when the load changes, reducing the generation of impact and vibration, thereby extending the service life of the servo motor 12 and further improving the service life of the force feedback device 1.

[0055] In an exemplary embodiment of the present disclosure, a through hole is provided in the axial direction of the roller 11, and the force feedback device 1 further includes a connecting shaft and a coupling. The connecting shaft passes through the through hole and is fixedly connected to the through hole; the coupling is fixedly connected between the output shaft 121 of the motor and the connecting shaft. Specifically, since the output shaft 121 of the motor and the connecting shaft are fixedly connected by a coupling, on the one hand, it can ensure that the axes of the output shaft 121 of the motor and the through hole of the roller 11 are coaxially connected, so that during the movement of the force feedback device 1, the smoothness and stability of the overall device can be maintained all the time; on the other hand, since the coupling has certain elasticity and flexibility, it can automatically align between the two shafts. Even if the shafts have a certain deviation or axial movement, a good transmission effect can still be maintained.

[0056] In an exemplary embodiment of the present disclosure, within the through hole, the length of the output shaft 121 of the motor is greater than or equal to 1 / 2 of the length of the through hole; and / or the diameter of the roller 11 is greater than the diameter of the motor body.

[0057] Specifically, during the process of rubbing the roller 11 to drive the intervention consumable to move and during the process that the intervention consumable is resisted to hinder the movement of the roller 11, the synchronous movement of the roller 11 and the servo motor 12 is required to control the movement of the intervention consumable and the movement that hinders the roller 11. Since within the through hole, the length of the output shaft 121 of the motor is greater than or equal to 1 / 2 of the length of the through hole, the connection between the output shaft 121 of the motor and the roller 11 can be made tight, so that the accuracy and stability of the synchronous movement of the motor with the roller 11 can be further improved, thereby improving the stability and accuracy of the control of the movement of the intervention consumable. At the same time, when the movement of the intervention consumable is resisted, the accuracy and stability of the force feedback effect of the servo motor 12 on the roller 11 can be improved, so as to more accurately avoid causing unnecessary harm to the patient.

[0058] Furthermore, since the diameter of the roller 11 is greater than the diameter of the motor body, on the one hand, during the process of rubbing the roller 11, the size of the motor can be prevented from being too large and affecting the rubbing process of the roller 11, so that the operation process of the force feedback device 1 can proceed normally; on the other hand, the space occupied by the motor can be reduced, thereby reducing the space occupied by the servo motor 12, and further reducing the overall volume of the force feedback device 1, so as to improve the overall space utilization rate of the force feedback device 1.

[0059] In an exemplary embodiment of the present disclosure, along the axial direction of the through hole, on the side of the through hole away from the motor, the output shaft 121 of the motor extends into the through hole. It can be understood that since along the axial direction of the through hole, on the side of the through hole away from the motor, the output shaft 121 of the motor extends into the through hole, on the one hand, it can make the connection between the output shaft 121 of the motor and the roller 11 tight, thereby further improving the accuracy and stability of the synchronous movement of the motor with the roller 11, thus improving the stability and accuracy of the movement control of the interventional consumables. At the same time, when the movement of the interventional consumables encounters resistance, it can improve the accuracy and stability of the force feedback effect of the servo motor 12 on the roller 11. On the other hand, since the servo motor 12 is arranged on one side of the roller 11, the forces on both sides of the roller 11 will be unbalanced. When the force feedback device 1 is in this position for a long time, it will inevitably cause excessive pressure on one side of the roller 11, resulting in the roller 11 being skewed or even flipped, thus affecting the normal use of the roller 11 and ultimately the normal use of the force feedback device 1. By extending the output shaft 121 of the motor into the through hole on the side of the through hole away from the motor, the forces on both sides of the roller 11 can be balanced, thereby further increasing the service life of the roller 11 and ultimately increasing the service life of the force feedback device 1.

[0060] In an exemplary embodiment of the present disclosure, there are multiple force feedback devices 1 and multiple interventional consumables. The multiple force feedback devices 1 respectively control the movement of the interventional consumables in a one-to-one correspondence. Specifically, since there are multiple force feedback devices 1 and multiple interventional consumables, and the multiple force feedback devices 1 respectively control the movement of the interventional consumables in a one-to-one correspondence, the movement of different interventional consumables can be controlled separately. Exemplarily, when the multiple interventional consumables are a catheter and a guide wire respectively, the movement of the catheter and the guide wire can be controlled by two force feedback devices 1 respectively, so that the interventional consumables such as the catheter and the guide wire can work independently to meet the usage requirements for different working states.

[0061] In an exemplary embodiment of the present disclosure, the motor is used to generate a corresponding blocking rotation current according to the information on the magnitude of the resistance received when the interventional consumable moves, and provide a corresponding blocking rotation torque for the roller 11. When the interventional consumable encounters resistance during movement, the resistance information received by the interventional consumable is transmitted to the controller, and then the output shaft 121 of the motor is controlled to generate a blocking rotation torque to hinder the rotation of the roller 11, which can provide force feedback to the operator during the process of the interventional consumable entering the patient's blood vessel and avoid causing unnecessary harm to the patient.

[0062] As an alternative embodiment, the sensor is a position sensor. Specifically, since the sensor is a position sensor, on the one hand, during the process of the output shaft 121 of the motor rotating synchronously with the roller 11, the rotation amount of the output shaft 121 of the motor can be accurately identified and sensed, and the position of the object can be accurately detected and measured, so as to provide accurate information instructions for the controller, thereby improving the accuracy of the movement control of the interventional consumables. On the other hand, the position sensor can monitor the position change of the output shaft 121 of the motor in real time and immediately feedback it to the controller, which enables the controller to make timely responses and adjustments to the position change of the output shaft 121 of the motor, improving the real-time performance and flexibility of the force feedback device 1.

[0063] According to one aspect of the present disclosure, a vascular interventional surgical robot is provided, including a console and a force feedback device 1; a part of the force feedback device 1 is located inside the console, and at least a part of the roller 11 is located outside the console. Specifically, since a part of the force feedback device 1 is located inside the console and at least a part of the roller 11 is located outside the console, the internal structure of the force feedback device 1 can be protected by the console to prevent the internal structure of the force feedback device 1 from being damaged by the external environment. At the same time, by controlling the movement of at least a part of the roller 11 located outside the console, the movement of the interventional consumables can be controlled. At the same time, when the interventional consumables are subjected to resistance, force feedback can be performed by acting on the roller 11, which facilitates the operation of the operator.

[0064] It should be noted that the distal end of the vascular interventional surgical robot includes a robot body, a robotic arm, a driving mechanism, and a consumable cartridge. The robot body serves as the main structure of the distal end of the vascular interventional surgical robot. By adjusting the position of the robot body relative to the patient, the vascular interventional surgical robot can be conveniently inserted into the part of the patient that needs treatment. It can be adaptively adjusted according to different treatment parts of different patients, facilitating the operation of the doctor.

[0065] The driving mechanism is disposed on one side of the robot body and is connected to the robot body and the consumable cartridge. The driving mechanism serves as the power mechanism of the vascular interventional surgical robot. The connection between the robot body and the consumable cartridge can be realized through the driving mechanism, and thus the movement of the consumable cartridge can be driven by the movement of the driving mechanism, so that the consumable cartridge moves relative to the robot body until the interventional consumables on the consumable cartridge move to the part of the patient that needs treatment.

[0066] The robotic arm is connected to the robot body. During the process of the vascular intervention surgical robot accessing the treatment site of the patient, the robotic arm is fixed to the operating table, and the attitude of the robotic arm is adjusted to drive the robot body towards the treatment site required by the patient, so as to adjust the initial position and attitude of the robot body. Driven by the driving mechanism, the consumable box is driven to move, so that the interventional consumables on the consumable box access the treatment site of the patient according to the demand, and the actions of the interventional consumables on the consumable box are controlled to realize the vascular intervention surgical treatment of the patient, thereby improving the accuracy of the treatment.

[0067] In an exemplary embodiment of the present disclosure, a control panel is provided on the console, and the control panel is used to display a simulation image of the movement of the interventional consumables accessing the human body. Specifically, since a control panel is provided on the console and the control panel is used to display a simulation image of the movement of the interventional consumables accessing the human body, when the medical staff manipulates the force feedback device 1 to control the interventional consumables to access the treatment site required by the patient, the movement simulation image displayed on the control panel can be used to observe and adjust the interventional consumables relative to the treatment site required by the patient, which can facilitate the operation of the medical staff and make the whole operation process safer and more reliable.

[0068] In an exemplary embodiment of the present disclosure, the vascular intervention surgical robot further includes a controller, and the bodies of the sensor and the motor are respectively electrically connected to the controller. Among them, when the roller 11 is rubbed, the output shaft 121 of the motor rotates synchronously with the roller 11, and the controller is used to receive the signal sent by the sensor and control the corresponding movement of the interventional consumables at the slave end; when the movement of the interventional consumables encounters resistance, the controller is used to provide current to the motor, and the output shaft 121 of the motor hinders the rotation of the roller 11.

[0069] Specifically, when interventional consumables such as guide wires or catheters move into the patient's body, the roller 11 is rubbed, and the controller will receive the signal sent by the sensor and control the movement of the interventional consumables, thereby realizing the control of the movement of the interventional consumables. When the movement of the interventional consumables encounters resistance, the force detection device at the slave end will transmit the resistance information received by the interventional consumables to the controller, and then control the current parameters of the motor, so that the output shaft 121 of the motor generates a reverse torque to hinder the rotation of the roller 11, which can provide force feedback to the operator during the process of the interventional consumables accessing the patient and avoid causing unnecessary harm to the patient.

[0070] Those skilled in the art will readily think of other embodiments of the present disclosure after considering the specification and practicing the utility model disclosed herein. The present utility model is intended to cover any variations, uses, or adaptations of the present disclosure, which follow the general principles of the present disclosure and include well-known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and examples are only regarded as exemplary, and the true scope and spirit of the present disclosure are pointed out by the appended claims.

Claims

1. A force feedback device for a vascular interventional surgery robot, characterized in that: include: A roller, arranged on a control panel of the vascular intervention surgery robot; A servo motor, comprising a motor, a sensor and an encoder, wherein the output shaft of the motor is fixedly connected to the roller, and the rotating shaft of the output shaft of the motor coincides with the rotating shaft of the roller, and the sensor and the encoder are both connected to the output shaft of the motor; When the roller is rubbed to rotate, the output shaft of the motor rotates synchronously, the sensor transmits a signal to the controller of the vascular interventional surgery robot to control the movement of the interventional consumables, and the encoder is used to determine the direction, angle and number of rotations of the roller; When the movement of the interventional consumable encounters resistance, the output shaft of the motor is used to hinder the rotation of the roller; and the torque of the motor that hinders the rotation of the roller is positively correlated with the force applied by the operator.

2. The force feedback device according to claim 1, characterized in that: The servo motor also includes: A gear is connected between the output shaft of the motor and the sensor.

3. The force feedback device according to claim 1, characterized in that: A through hole is provided in the axial direction of the roller, and the force feedback device further comprises: A connecting shaft is passed through the through hole and fixedly connected to the through hole; A coupling is fixedly connected between the output shaft of the motor and the connecting shaft.

4. The force feedback device according to claim 3, characterized in that: In the through hole, the length of the output shaft of the motor is greater than or equal to 1 / 2 of the length of the through hole; and / or The diameter of the roller is greater than the diameter of the body of the motor.

5. The force feedback device according to claim 3, characterized in that: Along the axial direction of the through hole, on a side of the through hole away from the motor, the output shaft of the motor extends from the through hole.

6. The force feedback device according to any one of claims 1 to 5, characterized in that: There are a plurality of the force feedback devices and a plurality of the interventional consumables, and the plurality of the force feedback devices control the movement of the interventional consumables in a one-to-one correspondence.

7. The force feedback device according to any one of claims 1 to 5, characterized in that: The motor is used to generate a corresponding anti-rotation current according to the received information about the magnitude of the resistance encountered by the interventional consumable during movement, and to provide a corresponding anti-rotation torque for the roller.

8. A vascular interventional surgery robot, characterized in that: Comprising a control console and a force feedback device according to any one of claims 1 to 7; The force feedback device is partially located inside the control console, and the roller is at least partially located outside the control console.

9. The vascular interventional surgery robot according to claim 8, characterized in that: The control console is provided with a control panel, and the control panel is used to display a simulated image of the interventional consumables intervening in the human body.

10. The vascular interventional surgery robot according to claim 9, characterized in that: The vascular interventional surgery robot further comprises: A controller, wherein the sensor and the motor are electrically connected to the controller respectively; Wherein, when rubbing the roller, the controller is used to receive the signal sent by the sensor to control the movement of the interventional consumable; when the movement of the interventional consumable encounters resistance, the controller is used to provide current to the motor, and the output shaft of the motor hinders the rotation of the roller.

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