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 intervention surgical robot. The force feedback device comprises a roller, a hysteresis brake and an encoder. The roller is arranged on a console of the vascular intervention surgical robot, and a through hole is formed in the axis direction of the roller; the hysteresis brake is arranged on one side of the roller, and an output shaft of the hysteresis brake is fixedly connected to the first end of the through hole; the encoder is arranged on the other side of the roller, and an output shaft of the encoder is fixedly connected to the second end of the through hole and used for judging the rotation direction, angle and number of turns of the roller. When the roller rotates, an output shaft of the encoder is driven to rotate, and the intervention consumable is controlled to move. When movement of the intervention consumable is subjected to resistance, the hysteresis brake is used for blocking rotation of the roller. According to the method, force feedback can be provided for an operator in the process that the intervention consumable intervenes a patient, 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 distal manipulation device.

[0003] In related manipulation devices, the manipulation device includes a joystick, electrical components, and a sensor. 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 press the blood vessel wall when the blood vessel path is not smooth, causing unnecessary harm to the patient. Summary of the Utility Model

[0005] The purpose of the present disclosure is to overcome at least one of the above-mentioned related technologies, and 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 is provided on the console of the vascular intervention surgical robot, and a through hole is provided along the axis direction of the roller;

[0009] A hysteresis brake is provided on one side of the roller, and the output shaft of the hysteresis brake is fixedly connected to the first end of the through hole;

[0010] An encoder is provided on the other side of the roller, and the output shaft of the encoder is fixedly connected to the second end of the through hole, and is used to judge the rotation direction, angle and number of turns of the roller;

[0011] When the roller rotates, it drives the output shaft of the encoder to rotate, thereby controlling the movement of the interventional consumables.

[0012] When the movement of the interventional consumables encounters resistance, the hysteresis brake is used to hinder the rotation of the roller.

[0013] In an exemplary embodiment of the present disclosure, the area of contact between the output shaft of the hysteresis brake and the through-hole is larger than the area of contact between the output shaft of the encoder and the through-hole.

[0014] In an exemplary embodiment of the present disclosure, along the axial direction of the through-hole, within the through-hole, the length of the output shaft of the hysteresis brake is greater than the length of the output shaft of the encoder.

[0015] In an exemplary embodiment of the present disclosure, the through-hole is a variable-diameter through-hole, including a first connecting portion and a second connecting portion;

[0016] The diameter of the first connecting portion is larger than the diameter of the second connecting portion. The output shaft of the hysteresis brake is fixedly connected in the first connecting portion, and the diameter of the output shaft of the hysteresis brake is equal to the diameter of the first connecting portion. The output shaft of the encoder is fixedly connected in the second connecting portion, and the diameter of the output shaft of the encoder is equal to the diameter of the second connecting portion.

[0017] In an exemplary embodiment of the present disclosure, the force feedback device further includes:

[0018] A connecting shaft, passing through the through-hole and fixedly connected to the through-hole;

[0019] A coupling, including a first coupling and a second coupling. The first coupling is fixedly connected between the output shaft of the hysteresis brake and the connecting shaft, and the second coupling is fixedly connected between the output shaft of the encoder and the connecting shaft.

[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 and correspondingly control the movement of the interventional consumables.

[0021] In an exemplary embodiment of the present disclosure, there is a gap between the output shaft of the hysteresis brake and the output shaft of the encoder; and / or

[0022] The diameter of the roller is larger than the diameter of the body of the hysteresis brake; and / or

[0023] The diameter of the roller is larger than the diameter of the body of the encoder; and / or

[0024] The hysteresis brake is used to generate a corresponding braking current according to the information about the magnitude of the resistance received when the interventional consumables move, and provide a corresponding braking torque for the roller.

[0025] According to one aspect of the present disclosure, there is provided a vascular intervention surgical robot, including a console and a force feedback device;

[0026] The force feedback device is partially located inside the console, and the roller is at least partially located outside the console.

[0027] 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 intervention consumables into the human body.

[0028] In an exemplary embodiment of the present disclosure, the vascular intervention surgical robot further includes:

[0029] A controller, a hysteresis brake, and an encoder are respectively electrically connected to the controller;

[0030] Wherein, when the roller is rubbed, the controller is used to receive the signal of the rotation of the encoder and control the movement of the intervention consumables; when the movement of the intervention consumables encounters resistance, the controller is used to provide current to the hysteresis brake, and the output shaft of the hysteresis brake hinders the rotation of the roller.

[0031] For the force feedback device and the vascular intervention surgical robot of the present disclosure, the force feedback device includes a roller, a hysteresis brake, and an encoder. The roller is arranged on the console of the vascular intervention surgical robot, and a through hole is arranged along the axis direction of the roller; the hysteresis brake is arranged on one side of the roller, and the output shaft of the hysteresis brake is fixedly connected to the first end of the through hole; the encoder is arranged on the other side of the roller, and the output shaft of the encoder is fixedly connected to the second end of the through hole, and is used to judge the rotation direction, angle and number of turns of the roller. Wherein, when the roller rotates, it drives the output shaft of the encoder to rotate and controls the movement of the intervention consumables; when the movement of the intervention consumables encounters resistance, the hysteresis brake is used to hinder the rotation of the roller. 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 consumables entering the patient, and avoid causing unnecessary harm to the patient.

[0032] 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

[0033] The accompanying drawings here are incorporated into the specification and form 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, and those of ordinary skill in the art can also obtain other drawings based on these drawings without creative efforts.

[0034] Figure 1 It is a schematic structural diagram of the force feedback device of the present disclosure.

[0035] Figure 2 This is a schematic structural diagram of another perspective of the force feedback device of the present disclosure.

[0036] The descriptions of the main component reference numerals in the figure are as follows:

[0037] 1. Force feedback device;

[0038] 11. Roller; 12. Hysteresis brake; 13. Encoder;

[0039] 121. Output shaft of the hysteresis brake; 131. Output shaft of the encoder. Specific embodiments

[0040] 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.

[0041] 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 in the examples of 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.

[0042] 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.

[0043] One aspect of the present disclosure provides a force feedback device 1 for a vascular intervention surgical robot, as Figure 1 and Figure 2As shown in the figure, the force feedback device 1 includes a roller 11, a hysteresis brake 12, and an encoder 13. The roller 11 serves as the operating structure of the force feedback device 1. It is used for a doctor to operate the roller 11, so as to control the intervention consumables at the distal end of the vascular intervention surgical robot. 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.

[0044] Specifically, the roller 11 is arranged on the console of the vascular intervention surgical robot. A through hole is arranged along the axial direction of the roller 11. The hysteresis brake 12 is arranged on one side of the roller 11, and the output shaft 121 of the hysteresis brake is fixedly connected to the first end of the through hole. The encoder 13 is arranged on the other side of the roller 11, and the output shaft 131 of the encoder is fixedly connected to the second end of the through hole, and is used to judge the rotation direction, angle and number of turns of the roller 11. Among them, when the roller 11 rotates, it drives the output shaft 131 of the encoder to rotate to control the movement of the intervention consumables. When the movement of the intervention consumables is resisted, the hysteresis brake 12 is used to prevent the roller 11 from rotating.

[0045] It should be noted that the hysteresis brake 12 is an excellent torque control component. It utilizes the hysteresis principle and generates a certain torque by controlling the input exciting current. There is a good linear relationship between the control current and the output torque. It can provide smooth, steplessly adjustable torque control independent of the rotational speed. Except for the bearings, there is no other friction in the system, and it has the advantages of stable and reliable operation, high operating speed, low noise, long service life, and low maintenance cost. By adopting the hysteresis brake 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, thereby greatly extending the service life of the force feedback device 1. At the same time, since the volume of the hysteresis brake 12 is small, the overall volume of the force feedback device 1 can be ensured to be small, thereby improving the space utilization rate of the force feedback device 1. The encoder 13 is a device that encodes signals (such as bitstreams) or data and converts them into signal forms that can be used for communication, transmission, and storage. Based on this, the hysteresis brake 12 and the encoder 13 can achieve a better feedback effect and effectively ensure the user experience.

[0046] Furthermore, since through holes are provided along the axis direction of the roller 11, and the hysteresis brake 12 and the encoder 13 are respectively fixedly connected to both sides of the through holes, during the rotation of the roller 11, the rotations of the hysteresis brake 12 and the encoder 13 are always synchronized with the rotation of the roller 11. Thus, during the process of rubbing the roller 11, the direction, angle, and number of turns of the rotation of the roller 11 can be identified by the encoder 13, and based on the obtained information and the corresponding mapping relationship, the intervention consumables can be controlled to perform corresponding movements, and the movements can be translations or rotations. At the same time, when the robot's slave end detects that the movement of the intervention consumables encounters resistance, the operating state of the hysteresis brake 12 can be controlled in reverse based on the obtained resistance information, so as to perform force feedback on the roller 11 through the hysteresis brake 12. On the one hand, the design of the force feedback device 1 can be simplified, and the manufacturing difficulty of this device can be reduced. On the other hand, the force feedback process can be stable and accurate through coaxial connection. It should be noted that the present disclosure does not limit the specific manner of the robot's slave end detecting the movement resistance of the intervention consumables, and those skilled in the art can set it according to actual usage requirements. The limitation of the present disclosure is only limited to the force feedback part of the master end.

[0047] In addition, when the movement of the intervention consumables encounters resistance, force feedback is performed on the roller 11 through the hysteresis brake 12, which can provide force feedback to the operator during the process of the intervention consumables entering the patient, avoiding unnecessary harm to the patient.

[0048] It should be noted that the encoder 13 identifies and determines the direction, angle, and number of turns of the rotation of the roller 11, and transmits the obtained information to the controller of the robot. The controller can control the intervention consumables to perform different movements according to the settings of the system and the different parameters such as the direction, angle, and number of turns of the rotation of the roller 11. For example, the intervention consumables perform rotational movement or translational movement. The specific control manner of the controller is not limited here.

[0049] Since the present disclosure only needs to use the hysteresis brake 12 and the encoder 13 that move synchronously with the roller 11 to achieve the control of different movement states of the intervention consumables and perform corresponding force feedback when the intervention consumables encounter resistance, the control logic can be simplified, facilitating the operation of doctors.

[0050] The following will elaborate on the force feedback device 1 and each part of the vascular intervention surgical robot in detail:

[0051] In an exemplary embodiment of the present disclosure, the contact area between the output shaft 121 of the hysteresis brake and the through hole is larger than the contact area between the output shaft 131 of the encoder and the through hole. Of course, the specific manner of controlling the contact area is not restrictive. It can be increasing the contact diameter, increasing the contact length, or other ways. Specifically, it can be understood that when the intervention consumable is subject to resistance, force feedback is performed on the roller 11 through the hysteresis brake 12. When the contact area between the output shaft 121 of the hysteresis brake and the through hole is larger than the contact area between the output shaft 131 of the encoder and the through hole, the contact area between the hysteresis brake 12 and the through hole can be made larger relative to the contact area between the encoder 13 and the through hole, so that the connection between the hysteresis brake 12 and the through hole is tighter, and further the connection between the hysteresis brake 12 and the roller 11 is tighter. Thus, during the process of the hysteresis brake 12 performing force feedback on the roller 11, the force feedback process can be made more stable and accurate.

[0052] In an exemplary embodiment of the present disclosure, along the axial direction of the through hole, within the through hole, the length of the output shaft 121 of the hysteresis brake is greater than the length of the output shaft 131 of the encoder, so as to increase the contact area by increasing the contact length. Specifically, when the intervention consumable is subject to resistance, the hysteresis brake 12 performs a force feedback action on the roller 11. Since within the through hole, the length of the output shaft 121 of the hysteresis brake is greater than the length of the output shaft 131 of the encoder, the stability of the connection between the hysteresis brake 12 and the roller 11 can be improved, and further the stability and accuracy of the force feedback process can be improved.

[0053] In addition, since the length of the output shaft 121 of the hysteresis brake is greater than the length of the output shaft 131 of the encoder, when the connection between the hysteresis brake 12 and the encoder 13 and the roller 11 is tighter, the diameters of the output shaft 121 of the hysteresis brake, the output shaft 131 of the encoder, and the through hole are all equal, so that the stability of the coaxial connection can be improved, and further the overall stability of the force feedback device 1 can be improved.

[0054] In an exemplary embodiment of the present disclosure, the through hole is a variable-diameter through hole, including a first communication portion and a second communication portion; the diameter of the first communication portion is greater than the diameter of the second communication portion. The output shaft 121 of the hysteresis brake is fixedly connected in the first communication portion, the diameter of the output shaft 121 of the hysteresis brake is equal to the diameter of the first communication portion, the output shaft 131 of the encoder is fixedly connected in the second communication portion, and the diameter of the output shaft 131 of the encoder is equal to the diameter of the second communication portion.

[0055] Specifically, when the interventional consumable encounters resistance, the hysteresis brake 12 exerts a force feedback on the roller 11. Since the diameter of the first communication part is larger than that of the second communication part, the diameter of the output shaft 121 of the hysteresis brake is equal to the diameter of the first communication part, and the diameter of the output shaft 131 of the encoder is equal to the diameter of the second communication part, that is, the diameter of the output shaft 121 of the hysteresis brake is larger than the diameter of the output shaft 131 of the encoder. On the one hand, the connection stability between the hysteresis brake 12 and the roller 11 can be improved, thereby enhancing the stability and accuracy of the force feedback process. On the other hand, when ensuring that the connection between the hysteresis brake 12 and the encoder 13 and the roller 11 is tighter, there is no need to increase the length of the output shaft 121 of the hysteresis brake to improve the tightness, so that the space occupied by the force feedback device 1 along the axis direction of the roller 11 can be saved, and further the space occupied by the hysteresis brake 12 can be reduced, thus improving the space utilization rate of the force feedback device 1.

[0056] In an exemplary embodiment of the present disclosure, the force feedback device 1 further includes a connecting shaft and a coupling. The connecting shaft is disposed through the through hole and fixedly connected to the through hole; the coupling includes a first coupling and a second coupling. The first coupling is fixedly connected between the output shaft 121 of the hysteresis brake and the connecting shaft, and the second coupling is fixedly connected between the output shaft 131 of the encoder and the connecting shaft.

[0057] Specifically, since the output shaft 121 of the hysteresis brake and the through hole are fixedly connected through the first coupling and the connecting shaft, and the output shaft 131 of the encoder and the through hole are fixedly connected through the second coupling and the connecting shaft. On the one hand, it can ensure that the axes of the output shaft 121 of the hysteresis brake and the through hole of the roller 11 and the output shaft 131 of the encoder are coaxially connected, so that during the movement of the force feedback device 1, the smoothness and stability of the overall device are always maintained. 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.

[0058] 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 and correspondingly control the movement of the interventional consumables. Specifically, since there are multiple force feedback devices 1 and multiple interventional consumables, and the multiple force feedback devices 1 respectively and correspondingly control the movement of the interventional consumables, the movement of different interventional consumables can be controlled separately. Exemplarily, when the multiple interventional consumables are a catheter and a guide wire respectively, two force feedback devices 1 can be used to control the movement of the catheter and the guide wire respectively, so that interventional consumables such as the catheter and the guide wire can work independently to meet the usage requirements for different working states.

[0059] In an exemplary embodiment of the present disclosure, there is a gap between the output shaft 121 of the hysteresis brake and the output shaft 131 of the encoder; and / or the diameter of the roller 11 is greater than the diameter of the body of the hysteresis brake 12; and / or the diameter of the roller 11 is greater than the diameter of the body of the encoder 13; and / or the hysteresis brake 12 is configured to generate a corresponding blocking current according to the information on the magnitude of the resistance received when the intervention consumable moves, and provide a corresponding blocking torque for the roller 11.

[0060] Specifically, since there is a gap between the output shaft 121 of the hysteresis brake and the output shaft 131 of the encoder, during the process that the output shaft 121 of the hysteresis brake and the output shaft 131 of the encoder move synchronously with the roller 11, interference between the output shaft 121 of the hysteresis brake and the output shaft 131 of the encoder can be avoided, so that the hysteresis brake 12 and the encoder 13 can respectively realize their corresponding functions, thereby improving the accuracy of the overall operation of the force feedback device 1.

[0061] Furthermore, since the diameter of the roller 11 is greater than the diameter of the body of the hysteresis brake 12 and the diameter of the roller 11 is greater than the diameter of the body of the encoder 13, on the one hand, during the process of rubbing the roller 11, the sizes of the hysteresis brake 12 and the encoder 13 can be prevented from being too large to affect the rubbing process of the roller 11, and the operation process of the force feedback device 1 can proceed normally; on the other hand, the space occupied by the hysteresis brake 12 and the encoder 13 respectively can be reduced, thereby reducing the overall volume of the force feedback device 1, and thus improving the overall space utilization rate of the force feedback device 1.

[0062] Wherein, when the intervention consumable is subject to resistance during movement, the resistance information of the intervention consumable is transmitted to the controller, and then the operation of the hysteresis brake 12 is controlled, so that the output shaft 121 of the hysteresis brake generates a blocking torque to hinder the rotation of the roller 11, and force feedback can be provided to the operator during the process of the intervention consumable entering the blood vessel of the patient, avoiding unnecessary harm to the patient.

[0063] As an alternative embodiment, the encoder 13 is an electromagnetic encoder 13. The electromagnetic encoder 13 can convert mechanical motion into an electrical signal, and it determines the position and direction by measuring and recording the change of the magnetic field. Compared with other encoders 13, on the one hand, the electromagnetic encoder 13 has very high resolution and accuracy, and can provide more accurate position and direction information, thereby improving the accuracy of the force feedback device 1; on the other hand, the electromagnetic encoder 13 determines the position and direction by measuring the change of the magnetic field rather than physical contact, so there are no problems of friction and wear, making its life longer and more reliable. In addition, the electromagnetic encoder 13 can work under various environmental conditions, including high temperature, low temperature, humidity and dirty environments, etc. They have good anti-interference ability and can provide stable measurement results.

[0064] According to one aspect of the present disclosure, a vascular intervention 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 avoid being damaged by the external environment. At the same time, by controlling the movement of the roller 11 at least partially located outside the console, the movement of the intervention consumables can be controlled. At the same time, when the intervention consumables encounter resistance, force feedback can be performed by acting on the roller 11, which is convenient for the operation of the operator.

[0065] It should be noted that the distal end of the vascular intervention surgical robot includes a robot body, a robotic arm, a driving mechanism, and a consumable box. The robot body is the main structure of the distal end of the vascular intervention surgical robot. By adjusting the position of the robot body relative to the patient, the vascular intervention surgical robot can easily access the treatment site of the patient. It can be adaptively adjusted according to different treatment sites of different patients, which is convenient for the operation of the doctor.

[0066] The driving mechanism is arranged on one side of the robot body and is connected to the robot body and the consumable box. As the power mechanism of the vascular intervention surgical robot, the driving mechanism can connect the robot body and the consumable box, and drive the movement of the consumable box through the movement of the driving mechanism, so that the consumable box moves relative to the robot body until the intervention consumables on the consumable box move to the treatment site of the patient.

[0067] 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 on the operating table, and by adjusting the posture of the robotic arm, the robot body can be driven towards the treatment site of the patient to adjust the initial position and posture of the robot body. Driven by the driving mechanism, the consumable box is driven to move, so that the intervention consumables on the consumable box access the treatment site of the patient according to the needs, and the actions of the intervention consumables on the consumable box are controlled to realize the vascular intervention surgical treatment of the patient, thereby improving the accuracy of the treatment.

[0068] 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 into the human body. Specifically, since a control panel is provided on the console and the control panel is used to display the simulation image of the movement of the interventional consumables into the human body, when the medical staff operates the force feedback device 1 to control the interventional consumables to enter the part of the patient that needs treatment, the relative position of the interventional consumables to the part of the patient that needs treatment can be observed and adjusted through the movement simulation image displayed on the control panel, which can facilitate the operation of the medical staff and make the whole operation process safer and more reliable.

[0069] In an exemplary embodiment of the present disclosure, the vascular interventional surgical robot further includes a controller, and the hysteresis brake 12 and the encoder 13 are respectively electrically connected to the controller. Among them, when the roller 11 is rubbed, the controller is used to receive the signal of the encoder 13 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 hysteresis brake 12, and the output shaft 121 of the hysteresis brake hinders the rotation of the roller 11.

[0070] Specifically, when interventional consumables such as a guide wire or a catheter move into the patient's body, the roller 11 is rubbed, and the controller will receive the signal of the encoder 13 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 of the interventional consumables to the controller, and then control the current parameters of the hysteresis brake 12, so that the output shaft 121 of the hysteresis brake generates a torque to prevent rotation, hindering the rotation of the roller 11, which can provide force feedback to the operator during the process of the interventional consumables entering the patient and avoid unnecessary harm to the patient.

[0071] Those skilled in the art will readily conceive 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 known common general knowledge or conventional technical means in the technical field not disclosed in the present disclosure. The specification and embodiments are only to be 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 is arranged on the control console of the vascular intervention surgery robot, and a through hole is arranged along the axis direction of the roller; A hysteresis brake is arranged on one side of the roller, and an output shaft of the hysteresis brake is fixedly connected to the first end of the through hole; An encoder is arranged on the other side of the roller, and the output shaft of the encoder is fixedly connected to the second end of the through hole, and is used to determine the direction, angle and number of revolutions of the roller; When the roller rotates, the output shaft of the encoder is driven to rotate, thereby controlling the movement of the interventional consumables; When the movement of the interventional consumable encounters resistance, the hysteresis brake is used to prevent the roller from rotating.

2. The force feedback device according to claim 1, characterized in that: An area where the output shaft of the hysteresis brake contacts the through hole is larger than an area where the output shaft of the encoder contacts the through hole.

3. The force feedback device according to claim 2, characterized in that: Along the axial direction of the through hole, inside the through hole, the length of the output shaft of the hysteresis brake is greater than the length of the output shaft of the encoder.

4. The force feedback device according to claim 2, characterized in that: The through hole is a variable diameter through hole, comprising a first connecting portion and a second connecting portion; The diameter of the first connecting part is greater than the diameter of the second connecting part, the output shaft of the hysteresis brake is fixedly connected in the first connecting part, and the diameter of the output shaft of the hysteresis brake is equal to the diameter of the first connecting part, and the output shaft of the encoder is fixedly connected in the second connecting part, and the diameter of the output shaft of the encoder is equal to the diameter of the second connecting part.

5. The force feedback device according to claim 1, characterized in that: The force feedback device further comprises: A connecting shaft is passed through the through hole and fixedly connected to the through hole; The coupling comprises a first coupling and a second coupling, wherein the first coupling is fixedly connected between the output shaft of the hysteresis brake and the connecting shaft, and the second coupling is fixedly connected between the output shaft of the encoder and the connecting shaft.

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: There is a gap between the output shaft of the hysteresis brake and the output shaft of the encoder; and / or The diameter of the roller is greater than the diameter of the body of the hysteresis brake; and / or The diameter of the roller is greater than the diameter of the encoder body; and / or The hysteresis brake 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 8, characterized in that: The vascular interventional surgery robot further comprises: A controller, wherein the hysteresis brake and the encoder are electrically connected to the controller respectively; Wherein, when rubbing the roller, the controller is used to receive the signal of the encoder rotation and 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 hysteresis brake, and the output shaft of the hysteresis brake hinders the rotation of the roller.

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