Master end control device of vascular intervention surgical robot

Abstract

The utility model provides a main end control device of a vascular interventional surgical robot, which belongs to the technical field of medical instruments and comprises a resistance generating mechanism and a control component, and the resistance generating mechanism is used for dynamically adjusting resistance according to a control signal generated by stress information of interventional consumables; the manipulation member is operable to control movement of the interventional consumable, connected to the resistance generating mechanism for presenting a resistance change in response to the dynamic adjustment of the resistance. According to the utility model, the resistance or barrier force in the interventional operation process can be obtained in time, the uncertainty and risk in the operation process are effectively reduced, the operation efficiency is improved, and the operation safety is ensured.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a master control device for a vascular intervention surgical robot. Background Art

[0002] As a model of modern minimally invasive medical technology, vascular intervention surgery relies on the guidance of real-time dynamic medical images. Doctors precisely control intravascular instruments such as catheters, guide wires, and balloons, and send them to specific lesion sites in the patient's body to achieve accurate diagnosis and treatment of the lesions. However, in this precise operation process of the existing technology, there is a key limitation in the roller propulsion device for delivering vascular instruments: the lack of an effective feedback mechanism.

[0003] When the intervention consumables are advanced in a complex vascular network and encounter stenosis, plaque, or other obstacles, the resulting resistance or obstructive force cannot be timely and accurately fed back to the operating physician through the existing device. This lack means that during the operation, the doctor may not be able to immediately perceive the change in resistance at the front end of the intervention consumables, thus lacking the necessary warning signals to timely adjust the operation force or strategy and avoid the risks of possible vascular injury, catheter breakage, or other complications. Summary of the Utility Model

[0004] The purpose of the utility model is to overcome at least one of the above-mentioned deficiencies of the existing technology, and provide a master control device for a vascular intervention surgical robot that can effectively reduce the uncertainty and risks during the operation and improve the operation efficiency.

[0005] The additional aspects and advantages of the utility model will be partially described below, and will be partially obvious from the description, or can be learned through the practice of the utility model.

[0006] According to one aspect of the utility model, there is provided a master control device for a vascular intervention surgical robot, the master control device comprising:

[0007] A resistance generating mechanism for dynamically adjusting the resistance according to a control signal generated based on the force information of the intervention consumables;

[0008] A manipulation member for being operated to control the movement of the intervention consumables, connected to the resistance generating mechanism for presenting a resistance change in response to the dynamic adjustment of the resistance.

[0009] In some exemplary embodiments of the utility model, based on the foregoing solution, the resistance generating mechanism comprises:

[0010] A drive control unit for converting the control signal into a physical action for driving the adjustable damping unit to work;

[0011] An adjustable damping unit that changes the property or structure of the internal damping material according to the physical action to achieve dynamic adjustment of the resistance.

[0012] In some exemplary embodiments of the present invention, based on the foregoing solution, the drive control unit includes a control electrode to convert the control signal into an electric field;

[0013] The adjustable damping unit includes an electrorheological fluid;

[0014] Wherein, one end of the control electrode is in contact with the electrorheological fluid so that the electrorheological fluid changes its state according to the electric field generated by the control electrode.

[0015] In some exemplary embodiments of the present invention, based on the foregoing solution, the adjustable damping unit further includes:

[0016] A friction force generating member, which is wrapped in the electrorheological fluid and in frictional contact with the electrorheological fluid to generate a corresponding resistance according to the state change of the electrorheological fluid.

[0017] In some exemplary embodiments of the present invention, based on the foregoing solution, the resistance output device includes:

[0018] The control member includes:

[0019] An operation part for being operated;

[0020] A transmission shaft, one end of which is connected to the friction force generating member and the other end is connected to the operation part to transmit the resistance generated by the friction force generating member to the operation part;

[0021] Wherein, the operation part responds to and presents the change of the resistance.

[0022] In some exemplary embodiments of the present invention, based on the foregoing solution, the operation part is a roller.

[0023] In some exemplary embodiments of the present invention, based on the foregoing solution, the friction force generating member is a sliding friction plate.

[0024] In some exemplary embodiments of the present invention, based on the foregoing solution, the resistance generating mechanism further includes:

[0025] A housing, the interior of which is hollow to form a sealed cavity;

[0026] Wherein, the electrorheological fluid is filled in the sealed cavity, and one end of the control electrode in contact with the electrorheological fluid is located inside the sealed cavity, and the other end is exposed outside the sealed cavity.

[0027] In some exemplary embodiments of the present utility model, based on the foregoing solution, the electrorheological fluid is a Ca-Ti-O electrorheological fluid, an Al2O3 electrorheological fluid, a modified TiO2 electrorheological fluid, or a Sm-TiO2 electrorheological fluid.

[0028] According to another aspect of the present utility model, there is provided a vascular intervention surgical robot, which includes:

[0029] The master control device of the vascular intervention surgical robot according to the above; and

[0030] A robot body for controlling the movement of the interventional consumable according to the operation signal of the control member; and

[0031] A force detection device disposed on the robot body for detecting the force information of the interventional consumable; and

[0032] A control processing device for receiving the force information of the interventional consumable and generating a corresponding control signal according to the force information of the interventional consumable.

[0033] From the above technical solutions, the present utility model has the following advantages and positive effects:

[0034] Since the resistance generation mechanism can realize the dynamic adjustment of the resistance according to the control signal generated from the force information of the interventional consumable in the blood vessel, it means that when the interventional consumable encounters resistance or requires more precise operation in the blood vessel, the resistance generation mechanism can correspondingly adjust its output resistance to form an effective force feedback for the operator to know in time. Thus, on the one hand, the dynamic adjustment of the resistance helps to avoid blood vessel damage caused by the operator's excessive advancement of the consumable without knowing, thereby improving the safety of the operation; on the other hand, the operator can timely adjust the operation force and plan of the vascular intervention surgery according to the response presentation, which can effectively avoid blood vessel damage caused by excessive force, and at the same time can also help the operator overcome the resistance brought by the natural curvature and stenosis of the blood vessel, contributing to reducing the uncertainty and risk during the operation and improving the operation efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] By referring to the accompanying drawings and describing its exemplary embodiments in detail, the above and other features and advantages of the present utility model will become more obvious.

[0036] Figure 1 It is a schematic structural diagram of an embodiment of the master control device of the present utility model;

[0037] Figure 2 is Figure 1 a cross-sectional view of;

[0038] Figure 3It is a schematic diagram of the working principle of an embodiment of the vascular intervention surgical robot of the present utility model.

[0039] The descriptions of the main component reference numerals in the figure are as follows:

[0040] 1. Resistance generating mechanism; 11. Control electrode; 12. Friction generating member; 13. Housing; 14. Sealed cavity; 2. Manipulation member; 21. Operation part; 22. Transmission shaft; 3. Force detection device; 4. Control processing device. Specific embodiments

[0041] Now, the exemplary embodiments will be described more fully with reference to the accompanying drawings. However, the exemplary 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 the present utility model will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the figures denote the same or similar structures, and thus their detailed descriptions will be omitted.

[0042] The features, structures or characteristics described above can be combined in any suitable manner in one or more embodiments. If possible, the features discussed in each embodiment are interchangeable. In the above description, many specific details are provided to give a full understanding of the embodiments of the present utility model. However, those skilled in the art will realize that the technical solutions of the present utility model can be practiced without one or more of the specific details, or other methods, components, materials, etc. can be adopted. In other cases, well-known structures, materials or operations are not shown or described in detail to avoid obscuring various aspects of the present utility model.

[0043] Although relative terms such as "upper" and "lower" are used in the present utility model to describe the relative relationship of one component of the icon to another component, these terms are used in the present utility model only for convenience, for example, according to the directions 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 described as "lower". When a certain structure is "on" another structure, it may mean that a certain structure is integrally formed on another structure, or that a certain structure is "directly" disposed on another structure, or that a certain structure is "indirectly" disposed on another structure through another structure.

[0044] In the present utility model, the terms "a", "one", "the", "said" and "at least one" are used to indicate the existence of one or more elements / components / etc.; the terms "comprising", "including" 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.

[0045] Specifically, a doctor controls the slave end through the master end control device of the vascular intervention surgical robot to drive the intervention consumables to move in the blood vessels, so as to realize the rotation, advancement and retreat of intervention consumables such as guide wires, catheters, and stents in the blood vessel network. When the intervention consumables advance and retreat in a complex blood vessel network and encounter stenosis, plaques or other obstacles, the resulting resistance or obstacle force cannot be timely and accurately fed back to the operating doctor through the existing device. This lack means that during the operation, the doctor may not be able to immediately perceive the change in resistance encountered at the front end of the intervention consumables, thus lacking necessary warning signals to timely adjust the operation force or strategy to avoid possible risks of blood vessel injury, catheter breakage or other complications.

[0046] To solve this problem, as shown in Figure 1 and Figure 2 the present utility model provides a master end control device for a vascular intervention surgical robot, and the master end control device includes:

[0047] A resistance generating mechanism 1 for dynamically adjusting the resistance according to a control signal generated based on the force information of the intervention consumables;

[0048] A control member 2 for being operated to control the movement of the intervention consumables, connected to the resistance generating mechanism 1, and configured to present a resistance change in response to the dynamic adjustment of the resistance.

[0049] Since the resistance generating mechanism 1 can dynamically adjust the resistance according to the control signal generated based on the force information of the intervention consumables in the blood vessels, it means that when the intervention consumables encounter resistance or require more delicate operation in the blood vessels, the resistance generating mechanism can correspondingly adjust its output resistance to form an effective force feedback for the operator to know in time. Thus, on the one hand, the dynamic adjustment of the resistance helps to avoid blood vessel injury caused by the operator advancing the consumables excessively without knowing, thereby improving the safety of the operation; on the other hand, the operator can timely adjust the operation force and plan of the intervention operation according to the presented response, and thus can effectively avoid blood vessel injury caused by excessive force, and at the same time can also help the operator overcome the resistance brought by the natural curvature and stenosis of the blood vessels, which helps to reduce the uncertainty and risk during the operation and improve the operation efficiency.

[0050] First of all, it should be noted that the present utility model does not limit the specific types of interventional consumables controlled by the vascular interventional surgery robot. The operator can select them according to the actual surgical needs; and the specific acquisition method of the force information of the interventional consumables and what kind of control signals are generated according to the force information of the interventional consumables are not the focus of protection of the present utility model, so no specific limitations are made here. As a feasible embodiment, the force information of the interventional consumables can be obtained by setting a force sensor at the slave end of the vascular interventional surgery robot. Of course, the specific setting method of the force sensor is not limited as long as the force sensor can detect the force information of the interventional consumables. In addition, a control signal in positive correlation can be formed according to the magnitude of the force of the obtained interventional consumables to realize the dynamic adjustment of the resistance, that is, the greater the resistance received by the interventional consumables, the stronger the resistance feedback formed by the resistance generating mechanism 1 through the control member 2, and the smaller the resistance received by the interventional consumables, the weaker the resistance feedback formed by the resistance generating mechanism 1 through the control member 2. The specific presentation form can be set according to the actual situation.

[0051] In order to simulate the physical environment in the blood vessel, so that the operator can feel the resistance feedback in the real blood vessel during training or surgery. The resistance generating mechanism 1 can be set to simulate a variety of different conditions to better reflect the actual situation. For example, in some embodiments, the resistance generating mechanism 1 can be designed as a device capable of providing a fixed resistance, a variable resistance or a multi-mode resistance. Among them, the fixed resistance means that the resistance generating mechanism 1 can provide a constant resistance value to simulate a relatively uniform part of the blood vessel; the variable resistance means that the resistance generating mechanism 1 can change the resistance magnitude according to the position of the guide wire or the force applied by the operator to imitate different lesion sites of the blood vessel; the multi-mode resistance means that the resistance generating mechanism 1 can combine various types of resistances (such as frictional force, bending force, torsional force) to comprehensively simulate various mechanical effects when the guide wire is advanced in the blood vessel.

[0052] According to an embodiment of the present utility model, based on the foregoing solution, in order to improve the practicability and cost performance of the master control device of the vascular interventional surgery robot provided by the present utility model, the resistance generating mechanism 1 of the present utility model is designed as a device with variable resistance characteristics. The present utility model does not specifically limit the device capable of realizing the variable resistance characteristic. For example, in some embodiments, the resistance generating mechanism 1 with variable resistance characteristics includes an adjustable damping unit, and the resistance generating mechanism 1 includes:

[0053] A drive control unit for converting a control signal into a physical action for driving the adjustable damping unit to work;

[0054] An adjustable damping unit that changes the properties or structure of the internal damping material according to the physical action to realize the dynamic adjustment of the resistance.

[0055] Here, the physical action is the actual mechanical movement that causes the adjustable damping unit to start or change its state, such as rotation, expansion and contraction, liquefaction, solidification, etc. The driving method can be electromagnetic drive, pneumatic or hydraulic drive, etc., and the specific choice depends on the type of the damping unit and the overall design requirements of the device.

[0056] The adjustable damping unit can use magnetorheological fluid or electro-rheological fluid as the damping medium to quickly adjust its viscosity through the change of the external magnetic field or electric field, so as to achieve precise control of the resistance.

[0057] Considering the requirements of the vascular intervention surgery for the response speed and adjustment accuracy of the damping unit, as a specific implementation manner, optionally, referring to Figure 1 and Figure 2 as shown, the drive control unit provided by the present utility model includes a control electrode 11 to convert the control signal into an electric field; the adjustable damping unit includes an electro-rheological fluid; wherein, one end of the control electrode 11 is in contact with the electro-rheological fluid so that the electro-rheological fluid changes its state according to the electric field generated by the control electrode 11.

[0058] In this way, the control electrode 11, as the core component of the drive control unit, can convert the control signal into an electric field with a specific intensity and distribution, so as to ensure that the master manipulator can accurately generate and regulate the electric field according to the force feedback encountered by the interventional consumables in the blood vessel in real time, so as to regulate the electro-rheological fluid. The electro-rheological fluid is a special material that can quickly change its fluid properties (such as viscosity) under the action of an electric field. When the electric field generated by the control electrode 11 acts on the electro-rheological fluid, the state of the electro-rheological fluid will change accordingly, thereby affecting its damping characteristics. This rapid-response damping adjustment mechanism enables the master manipulator to adjust the resistance during the advancement of the interventional consumables in real time, ensuring the smoothness and safety of the operation.

[0059] The control electrode 11 of the present utility model is composed of a pair of positive and negative copper sheets. These two copper electrodes are arranged inside the sealed cavity 14 and are in direct and sufficient contact with the electro-rheological fluid to maximize the coverage range and influence degree of the electric field on the liquid. Copper, as an excellent conductor, not only has excellent electrical conductivity to ensure the high efficiency of current conduction and reduce energy loss; at the same time, due to its chemical stability, under the continuous action of the electric field, it can effectively prevent side reactions during electrolysis, such as the generation of hydrogen or oxygen, which not only eliminates potential safety hazards, but also maintains the core performance of the electro-rheological fluid and ensures the stable performance of its response characteristics under the stimulation of the electric field.

[0060] The electro-rheological fluid is a non-Newtonian fluid substance, which is usually a suspension. This substance can undergo a liquid-solid transformation under the action of an electric field:

[0061] When there is no externally applied electric field or the electric field strength is lower than the critical value, the conductive particles in the electrorheological fluid are randomly dispersed in the matrix liquid, showing a relatively low viscosity and good fluidity, similar to ordinary liquids. In this state, the electrorheological fluid can flow freely;

[0062] When the externally applied electric field strength gradually approaches and exceeds the critical value, the particles are arranged in a chain-like or network structure under the action of the electric field, resulting in a significant increase in the viscosity of the liquid. This process is continuous. As the electric field strength increases, the viscosity of the electrorheological fluid continuously increases until a distinct turning point is reached;

[0063] Once the externally applied electric field strength is much higher than the critical value, the particle structure in the electrorheological fluid is highly ordered, forming a stable network structure, and the viscosity of the liquid reaches its extreme, showing solid-state characteristics. In this state, the electrorheological fluid almost loses its fluidity and exhibits the rigidity similar to that of a solid, and it is difficult to change its shape even when a large external force is applied.

[0064] Since the damping characteristics of the electrorheological fluid change with the change of the electric field strength, therefore, by controlling the electrode 11, the damping effect of the electrorheological fluid can be flexibly adjusted to achieve dynamic control of the propulsion resistance of the interventional consumables. This design is aimed at the complex environmental conditions inside blood vessels and can help doctors control the interventional consumables more effectively and reduce the surgical risk.

[0065] The electrorheological fluid can be Ca-Ti-O electrorheological fluid, Al2O3 electrorheological fluid, modified TiO2 electrorheological fluid, Sm-TiO2 electrorheological fluid, etc. Those skilled in the art can comprehensively consider factors such as the application environment, required response speed, working temperature range, stability requirements, and cost-effectiveness to determine the most suitable material formulation. However, considering the stability requirements of vascular interventional surgery, the present utility model adopts Sm-TiO2 electrorheological fluid. Since this Sm-TiO2 electrorheological fluid adds rare earth elements such as samarium (Sm) to the TiO2-based electrorheological fluid, the conductivity and electrorheological effect of the material can be significantly improved, and obvious performance improvement can be shown especially at a relatively low electric field strength.

[0066] In order to feedback the state change of the electrorheological fluid to the operator, as an implementation manner, optionally, refer to Figure 2 As shown, the adjustable damping unit of the present utility model further includes:

[0067] A frictional force generating member 12, which is wrapped in the electrorheological fluid and is in frictional contact with the electrorheological fluid to generate a corresponding resistance according to the state change of the electrorheological fluid.

[0068] In this way, the friction force generating member 12 is immersed in the electrorheological fluid, forming a close frictional contact therewith. With the dynamic evolution of the state of the electrorheological fluid, the friction force generating member 12 can respond sensitively and generate a corresponding change in resistance, so that the real-time information of the liquid state can be converted into an intuitive tactile feedback, and thus the accuracy and immediacy of the operator's perception of the system state can be significantly improved.

[0069] The present utility model does not limit the specific structure of the friction force generating member 12. For example, in some embodiments, the friction force generating member 12 may be an electromagnetic damper, a pneumatic / hydraulic damping system, a mechanical friction disk, a composite friction plate, or other structures capable of generating friction force. However, considering the precision requirements, flexibility requirements, and service life requirements of vascular interventional surgery, the present utility model designs the friction force generating member 12 as a sliding friction plate. In particular, the sliding friction plate can be made of a wear-resistant material capable of generating sufficient friction force, such as metal alloy, ceramic, carbon fiber composite material, etc. In addition, the present utility model does not limit the number of the friction force generating members 12. When considering the size of the resistance generating mechanism 1, the friction force generating member 12 can be designed to have only one; when considering the service life of the resistance generating mechanism 1, the friction force generating member 12 can be designed to have multiple ones. Referring to Figure 2 As shown, the friction force generating member 12 can be designed to have two.

[0070] On this basis, since the electrorheological fluid is a mixture composed of extremely fine conductive particles suspended in an insulating liquid medium. Therefore, when there is no electric field, these particles are randomly distributed, and the liquid exhibits a free-flowing state with low viscosity. At this time, the rotation of the sliding friction plate is less resisted, and the electrorheological fluid exhibits liquid-like characteristics. When an external electric field is applied, the conductive particles in the electrorheological fluid will be arranged in a chain-like structure under the action of the electric field. These chain-like structures are intertwined with each other to form a structure similar to a solid network. This structure increases the internal friction of the liquid, resulting in a rapid increase in its viscosity. As the electric field strength increases, the viscosity of the electrorheological fluid increases significantly, and the resistance that the sliding friction plate needs to overcome during rotation also increases accordingly. The electrorheological fluid gradually changes from a fluid state to a solid state. When the electric field strength reaches a certain threshold, the particle chain structure in the electrorheological fluid becomes dense enough that the entire liquid system almost completely loses its fluidity and transforms into a "gel" or "solid" state. At this time, the sliding friction plate can hardly rotate, and the transmission shaft 22 will encounter great resistance when trying to twist until it can no longer rotate, presenting a locked state.

[0071] In addition, in order to ensure the effectiveness and reliability of the resistance generating mechanism 1, referring to Figure 1 and Figure 2As shown in the figure, the resistance generating mechanism 1 of the present utility model includes a housing 13. The interior of the housing 13 is hollow to form a sealed cavity 14. Among them, the electrorheological fluid is filled in the sealed cavity 14, and one end of the control electrode 11 is exposed outside the sealed cavity 14, and the end in contact with the electrorheological fluid is located inside the sealed cavity 14.

[0072] The sealed cavity 14 can accommodate and encapsulate the electrorheological fluid to ensure the operation of the electrorheological fluid under ideal conditions. This not only strengthens the overall sealing of the device but also protects the electrorheological fluid from external interference, improving the stable performance of the device in complex environments. To ensure that the electrorheological fluid can fully contact the friction plate and the control electrode 11, it is necessary to design the electrorheological fluid to fill the entire sealed cavity 14 to ensure the effective exertion of the electrorheological effect. The sealed cavity 14 should be designed to be able to completely accommodate the electrorheological fluid and maintain the integrity and sealing of the structure within the working pressure range. Usually, the internal shape of the cavity is designed as a regular geometric shape (such as a cylinder) to facilitate the uniform distribution of the electrorheological fluid.

[0073] Since the electrorheological fluid is filled in the sealed cavity 14, in order to achieve the frictional contact between the electrorheological fluid and the friction generating member 12, the friction generating member 12 also needs to be arranged in the sealed cavity 14. Then, the operator cannot intuitively feel or see the presentation of the resistance. Therefore, it is necessary to present the resistance from the sealed cavity 14 in an intuitive way. On this basis, the present utility model designs a control member 2. Refer to Figure 1 and Figure 2 As shown in the figure, the control member 2 includes an operation part 21 and a transmission shaft 22. One end of the transmission shaft 22 is connected to the friction generating member 12, and the other end is connected to the operation part 21 to transmit the resistance generated by the friction generating member 12 to the operation part 21; among them, the operation part 21 responds to and presents the change of the resistance.

[0074] In this way, when the resistance generated by the friction generating member 12 is transmitted to the operation part 21 through the transmission shaft 22, the operation part 21 will start to move according to the magnitude of the resistance received. This intuitive physical reaction enables the operator to clearly perceive the change of the resistance.

[0075] It can be imagined that since the friction generating member 12 is located in the sealed cavity 14, therefore, a part of the transmission shaft 22 needs to be located in the sealed cavity 14 to be able to connect with the friction generating member 12, and the other part is exposed outside the sealed cavity 14 to be able to connect with the operation part 21.

[0076] In some embodiments, refer to Figure 1As shown, the operating part 21 can be designed as a roller, or it can be designed as a gear, a pulley, a lever, or even a directly driven motor, etc., as long as they can effectively transmit power from the external environment into the sealed cavity 14 and interact with the friction force generating part 12, thereby realizing the induction and feedback of the state change of the electrorheological fluid. For example, when the operating part 21 is designed as a roller, the transmission shaft 22 is connected to the rotating shaft of the roller, and the roller will start to roll or decelerate according to the magnitude of the resistance it receives.

[0077] The utility model utilizes the unique properties of the electrorheological fluid. By converting the movement resistance of the intervention consumables in the blood vessel into the sliding resistance experienced by the roller propulsion device, it not only demonstrates excellent engineering innovation but also greatly facilitates the precise operation in the interventional surgery. The core advantages are as follows:

[0078] (1) Simple control logic: Based on the electric field response characteristics of the electrorheological fluid, only by adjusting the electric field can the resistance be precisely controlled, without the support of complex mechanical structures or algorithms, greatly simplifying the system design and operation process.

[0079] (2) Low manufacturing difficulty: Compared with the traditional mechanical friction plate resistance device, the utility model does not need to consider the wear and replacement of the friction plate, reduces the dependence on precision machining and material selection, and reduces the manufacturing cost and process complexity.

[0080] (3) High reliability: Since there is no friction loss in the electrorheological fluid itself, the durability of the device is significantly improved, the maintenance frequency is reduced, and long-term stable operation is ensured, especially suitable for medical environments with high reliability requirements.

[0081] (4) No friction loss: Compared with the mechanical friction plate, the electrorheological fluid resistance device does not generate wear during the working process, which means that it can still maintain the initial performance after multiple uses, greatly extending the service life of the equipment.

[0082] (5) Small size: Benefiting from the high-efficiency energy conversion ability of the electrorheological fluid, the utility model can achieve a large resistance adjustment range in a small space, which is conducive to the development of compact and portable medical equipment and improves the flexibility of the usage scenarios.

[0083] In another aspect of the utility model, a blood vessel interventional surgery robot is provided. The blood vessel interventional surgery robot includes:

[0084] The master control device of the blood vessel interventional surgery robot according to the above; and

[0085] The robot body, which is used to control the movement of the intervention consumables according to the operation signal of the control member 2; and

[0086] A force detection device 3 is arranged on the robot body and is used for detecting the force information of the interventional consumables; and

[0087] A control processing device 4 is used for receiving the force information of the interventional consumables and generating corresponding control signals according to the force information of the interventional consumables.

[0088] Due to the existence of the force detection device 3, the force transmitted by the interventional consumables in the blood vessel can be monitored and obtained in real time, so as to realize the accurate perception of the force in the interventional operation; the control processing device 4 can not only receive the force data from the force detection device 3, but also convert the force data into executable control signals, so that the resistance generation mechanism 1 can realize the dynamic adjustment rate of the resistance according to the control signals.

[0089] The interventional consumables can be catheters, guide wires, stents, balloons, etc. Those skilled in the art can select according to the type of interventional surgery, the target site, the specific situation of the patient, etc. This selection only needs to be able to carry the force detection device 3 during the execution of the interventional surgery and obtain the resistance or obstacle force transmitted during the surgery. The present utility model does not make specific limitations.

[0090] The force detection device 3 can be a single sensor, such as a pressure sensor, a strain gauge sensor, a capacitive sensor, an optical fiber sensor, etc., or a sensor group composed of multiple of any one of the above sensors, or formed by combining the above multiple sensors. Those skilled in the art can determine the specific type of sensor applied according to factors such as the application scenario, the accuracy requirement, the cost budget, etc. The present utility model does not make specific limitations.

[0091] On this basis, the control processing device 4 is connected to the force detection device 3 to obtain the force data of the force detection device 3. Since the control processing device 4 has a certain data processing ability, a series of data processing can be performed on the force data. Of course, this series of data processing processes is not unique. Those skilled in the art can select to increase or decrease some data processing processes according to the actual situation, as long as the conversion of the force data into control signals can be finally realized. For example, in some embodiments, a series of data processing on the force data includes data preprocessing and algorithm processing.

[0092] The vascular interventional surgery robot provided by the present utility model has the following working principle:

[0093] When an operator operates a vascular intervention surgical robot during a vascular intervention surgery, the force detection device 3 on the robot body will monitor and obtain in real time the forces transmitted by the intervention consumables (such as guide wires and catheters), and these forces may originate from the natural resistance of blood vessels or the obstruction of lesions. The detected force signals will be transmitted to the control processing device 4, which is responsible for converting the forces into control signals. The control signals sent by the control processing device 4 are sent to the resistance generating mechanism 1. After receiving the signals, the drive control unit in the resistance generating mechanism 1 converts them into physical actions to drive the adjustable damping unit to work, such as generating an electric field of a specific intensity. Since the adjustable damping unit contains electrorheological fluid, and the electrorheological fluid can rapidly change its viscosity under the action of an electric field, thereby changing the resistance, when the control electrode 11 generates an electric field and contacts the electrorheological fluid, the state of the electrorheological fluid changes accordingly, and then the damping characteristics inside it are adjusted. The change in the state of the electrorheological fluid directly affects the frictional force of the friction force generating member 12 (such as a sliding friction plate) during rotation. The frictional force is transmitted to the operation part 21 (such as a roller) through the transmission shaft 22, and the change in the resistance is presented to the operator through the operation part 21 (such as a roller). This process realizes the transmission and conversion of forces from the detection of forces of intervention consumables to the force of the manipulation member 2, enabling the operator to feel the resistance corresponding to the actual vascular intervention operation, so as to adjust the operation force and improve the safety and accuracy of the surgery.

[0094] The utility model has the following beneficial effects:

[0095] 1. The utility model can monitor and adjust the resistance of intervention consumables in real time, thereby helping the operator overcome the resistance brought by the natural curvature and stenosis of blood vessels, and effectively avoiding blood vessel damage caused by excessive force, making the surgical process smoother and safer;

[0096] 2. The utility model can simulate a variety of different vascular environments, provide fixed resistance, variable resistance and multi-mode resistance, help the operator feel the resistance feedback in real blood vessels during training or surgery, and the adjustable damping unit can quickly respond and adjust the resistance to adapt to complex vascular environments;

[0097] 3. The utility model improves the accuracy and safety of the operation by monitoring and adjusting the resistance of intervention consumables in real time. Its innovative resistance generation and feedback mechanism enables the operator to control the intervention consumables more effectively, reduces the surgical risk and improves the surgical efficiency. It has broad application prospects in the fields of cardiovascular, endovascular intervention and neurointervention, demonstrating excellent engineering innovation and practical value.

[0098] It should be understood that the present utility model does not limit its application to the detailed structure and arrangement of the components proposed by the present utility model. The present utility model 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 utility model. It should be understood that the present utility model as disclosed and defined herein extends to all alternative combinations of two or more separate features mentioned or apparent in the text and / or drawings. All such different combinations constitute multiple alternative aspects of the present utility model. The embodiments described in the present utility model illustrate the best mode known for implementing the present utility model and will enable those skilled in the art to utilize the present utility model.

Claims

1. The master control device of a vascular intervention surgical robot, characterized in that, The master control device includes: A resistance generating mechanism for dynamically adjusting the resistance according to a control signal generated based on the force information of the interventional consumable; A manipulation member for being operated to control the movement of the interventional consumable, connected to the resistance generating mechanism for presenting a resistance change in response to the dynamic adjustment of the resistance.

2. The master control device of the vascular intervention surgical robot according to claim 1, wherein, The resistance generating mechanism includes: A drive control unit for converting the control signal into a physical action for driving the adjustable damping unit to work; An adjustable damping unit for changing the property or structure of the internal damping material according to the physical action to achieve dynamic adjustment of the resistance.

3. The master control device of the vascular intervention surgical robot according to claim 2, wherein The drive control unit includes a control electrode for converting the control signal into an electric field; The adjustable damping unit includes an electrorheological fluid; Wherein, one end of the control electrode is in contact with the electrorheological fluid so that the electrorheological fluid changes its state according to the electric field generated by the control electrode.

4. The master control device of the vascular intervention surgical robot according to claim 3, characterized in that, The adjustable damping unit further includes: A friction force generating member wrapped in the electrorheological fluid and in frictional contact with the electrorheological fluid for generating a corresponding resistance according to the state change of the electrorheological fluid.

5. The master control device of the vascular intervention surgical robot according to claim 4, characterized in that, The manipulation member includes: An operation part for being operated; A transmission shaft, one end connected to the friction force generating member and the other end connected to the operation part for transmitting the resistance generated by the friction force generating member to the operation part; Wherein, the operation part responds to and presents the change of the resistance.

6. The master control device of the vascular intervention surgical robot according to claim 5, characterized in that, The operation part is a roller.

7. The master control device of the vascular intervention surgical robot according to claim 4, characterized in that, The friction force generating member is a sliding friction plate.

8. The master control device of the vascular intervention surgical robot according to claim 3, characterized in that The resistance generating mechanism further includes: A housing, the interior of the housing is hollow to form a sealed cavity; Wherein, the electrorheological fluid is filled in the sealed cavity, and one end of the control electrode in contact with the electrorheological fluid is located inside the sealed cavity, and the other end is exposed outside the sealed cavity.

9. The master control device of the vascular intervention surgical robot according to any one of claims 3-8, characterized in that The electrorheological fluid is a Ca-Ti-O electrorheological fluid, an Al2O3 electrorheological fluid, a modified TiO2 electrorheological fluid or a Sm-TiO2 electrorheological fluid.

10. A vascular interventional surgical robot, characterized in that, The vascular intervention surgical robot Includes: The master control device of the vascular intervention surgical robot according to any one of claims 1-9; And A robot body for controlling the movement of the interventional consumable according to the operation signal of the manipulation member; And A force detection device provided on the robot body for detecting the force information of the interventional consumable; And A control processing device for receiving the force information of the interventional consumable and generating a corresponding control signal according to the force information of the interventional consumable.

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