Operating handle for vascular intervention surgical robot and robot

Abstract

The utility model discloses an operating handle for a vascular intervention surgical robot and the robot. The operating handle comprises a handle body, a feeding information collecting assembly, a linear motion resistance generating assembly and a reversing assembly. The handle body is arranged to be capable of rotating in a fixed-axis mode, and the feeding information collecting assembly is used for collecting rotation angle information of the handle body and sending linear feeding information to the end effector based on the rotation angle information so as to control the intervention consumable to act; the linear motion resistance generation assembly is used for receiving a resistance signal sent by the end effector and outputting linear motion thrust based on the resistance signal; the first end of the reversing assembly is in transmission connection with the linear output end of the linear motion resistance generating assembly, and the second end of the reversing assembly is in transmission connection with the handle body. According to the utility model, the resistance encountered by the intervention consumables can be accurately fed back to the handle main body in the process of controlling the intervention consumables to move through the handle main body, so that the handle main body has the technical effect of force feedback.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and in particular, to an operating handle and a robot for a vascular intervention surgical robot. Background Art

[0002] The operating handle of the wire catheter in the existing cardiovascular angiography and treatment equipment does not have a force feedback mechanism. When the wire catheter encounters an obstacle or resistance during movement in a blood vessel, it cannot feedback this obstructive force to the operator to give the operator a reminder, which may cause dangerous situations. Summary of the Utility Model

[0003] The main purpose of the utility model is to provide an operating handle for a vascular intervention surgical robot to solve the problem that the operating handle in the related technology cannot accurately feedback the resistance encountered by the intervention consumables to the operator when controlling the movement of the intervention consumables.

[0004] To achieve the above purpose, the utility model provides an operating handle for a vascular intervention surgical robot, including: a handle body, a feed information acquisition component, a linear motion resistance generation component, and a commutation component; wherein,

[0005] The handle body is set to be rotatable about a fixed axis. The feed information acquisition component is used to acquire the rotation angle information of the handle body, and send linear feed information to the end effector based on the rotation angle information to control the movement of the intervention consumables;

[0006] The linear motion resistance generation component is used to receive the resistance signal sent by the end effector, and output a linear motion thrust based on the resistance signal;

[0007] The first end of the commutation component is in transmission connection with the linear output end of the linear motion resistance generation component, and the second end of the commutation component is in transmission connection with the handle body. The commutation component is used to convert the linear motion thrust output by the linear motion resistance generation component into a rotational motion thrust acting on the handle body.

[0008] Further, the commutation component includes a first connecting piece and a second connecting piece. The second connecting piece is set to be rotatable about a rotation axis;

[0009] The first end of the first connecting piece is hinged to the linear motion output end of the linear motion resistance generation component. The second end of the first connecting piece is hinged to the first end of the second connecting piece. The second end of the second connecting piece is in transmission connection with the handle body. The hinge point of the second connecting piece and the first connecting piece deviates from the rotation axis of the second connecting piece.

[0010] Further, the first connecting member is arranged as a connecting rod, the second connecting member is arranged as a rotating disk, the handle body is fixedly arranged on the second connecting member, and the rotation axis of the handle body coincides with the central axis of the rotating disk.

[0011] Further, the second connecting member is in transmission connection with the motion input end of the feed information acquisition assembly, so that the second connecting member and the motion input end of the feed information acquisition assembly rotate coaxially.

[0012] Further, the second connecting member is in transmission connection with the motion input end of the feed information acquisition assembly through a transmission shaft.

[0013] Further, the feed information acquisition assembly includes a position encoder. The motion input end of the position encoder is in transmission connection with the second connecting member through the transmission shaft. The position encoder is used to acquire the rotation angle information of the handle body.

[0014] Further, the linear motion resistance generating assembly includes a voice coil motor. The first end of the first connecting member is hinged to the linear motion output end of the voice coil motor.

[0015] Further, the linear motion resistance generating assembly includes a linear motor. The first end of the first connecting member is hinged to the linear output end of the linear motor.

[0016] Further, the operating handle further includes a frame body. Both the feed information acquisition assembly and the linear motion resistance generating assembly are fixedly arranged on the frame body.

[0017] According to another aspect of the present invention, there is provided a vascular intervention surgical robot, including the above-mentioned operating handle.

[0018] On the one hand, the present invention achieves the purpose of obtaining feed information by using the feed information acquisition assembly when the handle body rotates to control the movement of the intervention consumables. During the movement of the intervention consumables, the linear motion resistance generating assembly generates a corresponding linear force based on the resistance encountered by the intervention consumables and transmits it to the handle body through the commutation assembly, so that the operator can accurately feel the resistance encountered by the intervention consumables. Thus, during the process of controlling the movement of the intervention consumables through the handle body, the resistance encountered by the intervention consumables can also be accurately feedback to the handle body, enabling the handle body to have the technical effect of force feedback, and further solving the problem that the operating handle in the related art cannot accurately feedback the resistance encountered by the intervention consumables to the operator when controlling the movement of the intervention consumables; and since the handle body in the present invention controls the feed movement of the intervention consumables through rotational movement, compared with the way that the handle controls the feed movement of the intervention consumables through linear movement, the space occupied by the entire operating handle in the linear direction is reduced. Description of the Drawings

[0019] The accompanying drawings, which form a part of the present utility model, are used to provide a further understanding of the present utility model, making other features, objectives, and advantages of the present utility model more obvious. The schematic embodiments and descriptions of the present utility model in the accompanying drawings are used to explain the present utility model and do not constitute an improper limitation of the present utility model. In the accompanying drawings:

[0020] Figure 1 is a schematic structural diagram according to an embodiment of the present utility model;

[0021] wherein, 1 is the handle body, 2 is the commutation component, 20 is the first connecting piece, 21 is the second connecting piece, 3 is the feed information acquisition component, and 4 is the linear motion resistance generation component. Specific embodiments

[0022] In order to enable those skilled in the art of the present technology to better understand the present utility model solution, the following will clearly and completely describe the technical solutions in the embodiments of the present utility model with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the scope of protection of the present utility model.

[0023] It should be noted that the terms "first", "second", etc. in the description and claims of the present utility model and the above accompanying drawings are used to distinguish similar objects and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances for the embodiments of the present utility model described herein.

[0024] In the present utility model, the orientation or positional relationship indicated by terms such as "upper", "lower", "inner", etc. is based on the orientation or positional relationship shown in the accompanying drawings. These terms are mainly used to better describe the present utility model and its embodiments, and are not used to limit that the indicated devices, elements, or components must have a specific orientation or be constructed and operated in a specific orientation.

[0025] Moreover, in addition to being able to represent an orientation or positional relationship, some of the above terms may also be used to represent other meanings. For example, the term "upper" may also be used to represent a certain attachment relationship or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in the present utility model can be understood according to specific circumstances.

[0026] In addition, terms such as "arranged", "provided with", "connected", "fixed", etc. should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or there can be internal communication between two devices, components or parts. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0027] In addition, the meaning of the term "plurality" should be two or more.

[0028] It should be noted that, without conflict, the embodiments in this utility model and the features in the embodiments can be combined with each other. The following will detail this utility model with reference to the drawings and in combination with the embodiments.

[0029] First, a vascular intervention surgical robot generally includes a slave end arranged outside the operating room and a master end arranged inside the operating room. The slave end includes a robot body and a robotic arm. The robot body is fixed to the operating table through the robotic arm. The robot body can adjust its own posture through the robotic arm. An execution device is arranged on the robot body to drive the interventional consumables to move. The master end includes a console, and an operation handle is arranged on the console. The operator can correspondingly control the actions of the execution device by controlling the operation handle, so as to drive the interventional consumables to perform corresponding actions, thereby meeting the operation requirements in vascular intervention surgery; among them, the operation handle can be the operation handle involved in this utility model. In addition, it can be understood that this utility model does not limit the specific structure of the slave end and the specific structure of other components on the master end console. Those skilled in the art can set them according to actual use requirements.

[0030] To solve related technical problems, as Figure 1 shown, an embodiment of this utility model provides an operation handle for a vascular intervention surgical robot, including: a handle body 1, a feed information acquisition component 3, a linear motion resistance generation component 4, and a commutation component 2; among them,

[0031] The handle body 1 is arranged to be capable of rotating about a fixed axis. The feed information acquisition component 3 is used to acquire the rotation angle information of the handle body 1, and send linear feed information to the end effector based on the rotation angle information to control the movement of the interventional consumables;

[0032] The linear motion resistance generation component 4 is used to receive the resistance signal sent by the end effector, and output a linear motion thrust based on the resistance signal;

[0033] The first end of the commutation component 2 is in driving connection with the linear output end of the linear motion resistance generating component 4, and the second end of the commutation component 2 is in driving connection with the handle body 1. The commutation component 2 is used to convert the linear motion thrust output by the linear motion resistance generating component 4 into a rotational motion thrust acting on the handle body 1.

[0034] In this embodiment, during the operation, the operator can operate the handle body 1 to rotate around a fixed axis. According to the preset control logic, when the handle body 1 rotates clockwise, the interventional consumable can be operated to advance, and when the handle body 1 rotates counterclockwise, the interventional consumable can be operated to retract. Of course, the control logic that when the handle body 1 rotates counterclockwise, the interventional consumable can be operated to advance, and when the handle body 1 rotates clockwise, the interventional consumable can be operated to retract can also be adopted. Those skilled in the art can design according to actual needs, and this embodiment does not limit it here. And the interventional consumable can be a guide wire, a catheter, a stent, etc., and its specific type can be determined according to actual surgical needs.

[0035] To enable the interventional consumable to perform a feeding action based on the rotation information of the handle body 1, in this embodiment, the feeding information acquisition component 3 acquires the rotation angle information of the handle body 1. In one implementation manner, the feeding information acquisition component 3, as a structural component for acquiring the rotation angle information of the handle body 1, can adopt a position encoder capable of obtaining the rotation angle. After the position encoder is connected to the handle body 1 through a rotating shaft, during the rotation of the handle body 1, the position encoder can directly obtain the rotation angle of the handle body 1. In another implementation manner, the feeding information acquisition component 3 can adopt a sensor capable of obtaining linear displacement. During the rotation of the handle body 1, it can drive a sliding member to move, and the rotation angle of the handle body 1 can be determined by obtaining the displacement of the sliding member. It can be understood that according to requirements, the feeding information acquisition component 3 can adopt various structural forms, and this embodiment does not limit it here.

[0036] After the feeding information acquisition component 3 acquires the rotation angle information of the handle body 1, it can send linear feeding information to the end effector based on the rotation angle information in a wireless or wired manner to control the action of the interventional consumable. In this embodiment, the feeding information acquisition component 3 not only has a signal acquisition end but also has a signal receiving end, a processing end, and a sending end, so as to be able to process the received rotation angle information into interventional consumable action information and send it to the end effector.

[0037] To achieve force feedback, the operating handle in this embodiment also includes a linear motion resistance generating assembly 4. This assembly is configured to receive a resistance signal from the end effector and output a linear motion thrust based on the resistance signal. It should be noted that the present invention does not limit the specific method by which the end effector detects the magnitude of the resistance applied to the interventional consumable. For example, a force sensor can be provided on the end effector to detect the resistance, but this is not restrictive. Furthermore, the present invention does not limit the specific form of the resistance signal emitted by the end effector. Those skilled in the art can select the appropriate form based on actual usage requirements, as long as the signal transmission function is achieved. Specifically, the linear motion resistance generating assembly 4 in this embodiment is configured to output linear motion based on a specific electrical signal. In one embodiment, the linear motion resistance generating assembly can be a voice coil motor. When a voltage is input to the coil within the voice coil motor, a current is generated within the coil, causing the coil to move linearly within a magnetic field. In another embodiment, the linear motion resistance generating assembly 4 can be a linear motor, which can control the output end to produce linear reciprocating motion based on the electrical signal. It is understandable that, according to the requirements, the linear motion resistance generating component 4 can adopt various structural forms, which are not limited in this embodiment.

[0038] In this embodiment, the linear motion resistance generating assembly 4 outputs a motion thrust, while the handle body 1 performs a rotational motion. In order for the motion thrust output by the linear motion resistance generating assembly 4 to act in the motion direction of the handle body 1, it is necessary to reverse the motion thrust output by the linear motion resistance generating assembly 4. To this end, the operating handle in this embodiment further includes a reversing assembly 2, the first end of which is transmission-connected to the linear output end of the linear motion resistance generating assembly 4, and the second end of which is transmission-connected to the handle body 1. The reversing assembly 2 is used to convert the linear motion thrust output by the linear motion resistance generating assembly 4 into a rotational motion thrust acting on the handle body 1.

[0039] In this embodiment, the function of the reversing component 2 is essentially to convert linear motion into rotational motion. A structure capable of realizing the motion conversion in related technologies, such as a crank structure, etc., may be adopted. In this embodiment, no limitation is imposed on its specific structure.

[0040] On the one hand, the utility model achieves the purpose of obtaining the feeding information by using the feeding information acquisition component 3 when the operation handle body 1 rotates to control the movement of the interventional consumable. During the movement of the interventional consumable, the linear motion resistance generating component 4 generates a corresponding linear force based on the resistance encountered by the interventional consumable and transmits it to the handle body 1 through the commutation component 2, enabling the operator to accurately feel the resistance encountered by the interventional consumable. Thus, during the process of controlling the movement of the interventional consumable through the handle body 1, the resistance encountered by the interventional consumable can also be accurately feedback to the handle body 1, enabling the handle body 1 to have the technical effect of force feedback, and further solving the problem that the operation handle in the related art cannot accurately feedback the resistance encountered by the interventional consumable to the operator when controlling the movement of the interventional consumable; and because the handle body 1 in the utility model controls the feeding movement of the interventional consumable through rotational movement, compared with the way that the handle controls the feeding movement of the interventional consumable through linear movement, the space occupied by the entire operation handle in the linear direction is reduced.

[0041] In an embodiment of the commutation component 2, the commutation component 2 is a crank and connecting rod structure, specifically as Figure 1 shown. In this embodiment, the commutation component 2 includes a first connecting member 20 and a second connecting member 21, and the second connecting member 21 is arranged to be able to rotate about a rotation axis.

[0042] The first end of the first connecting member 20 is hinged to the linear motion output end of the linear motion resistance generating component 4, the second end of the first connecting member 20 is hinged to the first end of the second connecting member 21, the second end of the second connecting member 21 is in transmission connection with the handle body 1, and the hinge point of the second connecting member 21 with the first connecting member 20 deviates from the rotation axis of the second connecting member 21.

[0043] Specifically, in this embodiment, the second connecting member 21 is connected to the handle body 1, the handle body 1 can drive the second connecting member 21 to rotate, and the rotation axis of the handle body 1 is coaxial with the rotation axis of the second connecting member 21. The second connecting member 21 can be a connecting rod structure or a turntable structure, etc. The two ends of the first connecting member 20 are respectively hinged to the linear motion output end of the linear motion resistance generating component 4 and the second connecting member 21, and the first connecting member 20 can be a connecting rod structure. The first connecting member 20 and the second connecting member 21 together form a crank and connecting rod structure. When the linear motion resistance generating component 4 outputs a thrust in the linear direction, under the action of the first connecting member 20 and the second connecting member 21, a thrust in the rotational direction is applied to the handle body 1, and this thrust can act on the operator, thereby realizing force feedback.

[0044] On the basis of the above embodiment, as Figure 1As shown, the first connecting member 20 is configured as a connecting rod, the second connecting member 21 is configured as a rotating disk, the handle body 1 is fixed on the second connecting member 21, and the rotating axis of the handle body 1 coincides with the central axis of the rotating disk.

[0045] Specifically, in this embodiment, the handle body 1 can be fixed to the edge of the rotating disk, the first connecting member 20 can be hinged to the end face of the rotating disk, and the hinge point of the first connecting member 20 and the linear motion resistance generating component 4 and the rotation axis of the rotating disk are located in the same horizontal plane.

[0046] On the basis of the above embodiment, in order to enable the feed information collection component 3 to collect the rotation angle information of the handle body 1, in this embodiment, the second connecting member 21 is transmission-connected to the motion input end of the feed information collection component 3, so that the second connecting member 21 and the motion input end of the feed information collection component 3 rotate coaxially. Furthermore, the second connecting member 21 and the motion input end of the feed information collection component 3 are transmission-connected via a transmission shaft.

[0047] In one embodiment of the feed information acquisition component 3, the feed information acquisition component 3 includes a position encoder, an angle detection device that utilizes the magnetoelectric effect. Its operating principle can be simply described as follows: when a magnetic material moves in a magnetic field, a magnetoelectric effect is generated on the surface of the material. This effect generates a potential difference, the magnitude and direction of which are related to the magnetic field and the direction of movement. The position encoder utilizes this effect for angle detection, determining the rotation angle by measuring the potential difference. When operating, this device can also accurately measure the rotation speed and number of revolutions.

[0048] Based on this, the motion input end of the position encoder in this embodiment is connected to the second connecting member 21 via a transmission shaft, and the position encoder is used to collect the rotation angle information of the handle body 1.

[0049] Specifically, in this embodiment, the position encoder is a sensor capable of acquiring rotation angles. When the motion input terminal of the position encoder is connected to the second connecting member 21 via a transmission shaft, the position encoder can acquire rotation angle information of the second connecting member 21, which is equivalent to acquiring rotation angle information of the handle body 1.

[0050] In an embodiment of the linear motion resistance generating assembly 4, the linear motion resistance generating assembly 4 includes a voice coil motor. The working principle of the voice coil motor is based on the Ampere's force principle, that is, a current-carrying conductor placed in a magnetic field will generate a force, and the magnitude of the force depends on the magnetic field strength, the current magnitude, and the directions of the magnetic field and the current. This type of motor is a single-phase two-pole device. Applying a voltage to the coil generates a current in the coil, and then a force proportional to the current is generated on the coil, causing the coil to move axially within the air gap. The direction of the current through the coil determines its moving direction. When the coil moves within the magnetic field, a voltage (i.e., induced electromotive force) proportional to the coil's moving speed, magnetic field strength, and wire length will be generated in the coil. The control method of the voice coil motor generally uses PWM wave drive.

[0051] Based on this, in this embodiment, the first end of the first connecting member 20 is hinged to the linear motion output end (coil or the component pushed by the coil) of the voice coil motor.

[0052] When the interventional consumable (such as a guide wire catheter) encounters an obstacle inside the blood vessel, the end effector will activate or activate the corresponding sensor through the controller to output an alarm signal. At this time, the corresponding circuit is driven to make the voice coil motor generate a variable feedback force. Since the voice coil motor is connected through the commutation assembly 2 and the handle body 1, the operator will sense a reverse repulsive force at this time, reminding the operator that the movement of the interventional consumable inside the blood vessel is blocked at this time, and attention needs to be paid to adjusting the direction and speed.

[0053] Similarly, in another embodiment, the linear motion resistance generating assembly 4 includes a linear motor, and the first end of the first connecting member 20 is hinged to the linear output end of the linear motor.

[0054] In an embodiment of an operating handle, the linear motion resistance generating assembly 4 uses a voice coil motor, and the feed information acquisition assembly 3 uses an encoder. The overall control logic of this operating handle is simple, the manufacturing difficulty is low, and the reliability is high. Compared with other devices for realizing force feedback, a relatively large feedback force can be achieved, and the positioning accuracy is also relatively high.

[0055] Furthermore, the operating handle further includes a frame body, and both the feed information acquisition assembly 3 and the linear motion resistance generating assembly 4 are fixedly arranged on the frame body. The frame body serves as a support structure for other components, and its specific structure is not limited as long as it can play a supporting role; for example, it can be a bracket-type structure or a plate-shaped support structure, which are not restrictive. Other components are fixed to the console through the frame body, and the frame body can also be a part of the console.

[0056] According to another aspect of the present invention, there is provided a vascular intervention surgical robot, including the above-mentioned operating handle.

[0057] The above are only the preferred embodiments of the present utility model and are not intended to limit the present utility model. For those skilled in the art, various modifications and variations can be made to the present utility model. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present utility model shall be included within the protection scope of the present utility model.

Claims

1. An operating handle for a vascular intervention surgical robot, characterized in that, Comprising: A handle body, a feed information acquisition component, a linear motion resistance generation component, and a commutation component; wherein, The handle body is configured to be rotatable about a fixed axis, and the feed information acquisition component is used to acquire the rotation angle information of the handle body, and send linear feed information to the end effector based on the rotation angle information to control the movement of the intervention consumables; The linear motion resistance generation component is used to receive the resistance signal sent by the end effector, and output a linear motion thrust based on the resistance signal; The first end of the commutation component is in transmission connection with the linear output end of the linear motion resistance generation component, and the second end of the commutation component is in transmission connection with the handle body. The commutation component is used to convert the linear motion thrust output by the linear motion resistance generation component into a rotational motion thrust acting on the handle body.

2. The operating handle according to claim 1, wherein The commutation component includes a first connecting member and a second connecting member, and the second connecting member is configured to be rotatable about a rotation axis; The first end of the first connecting member is hinged to the linear motion output end of the linear motion resistance generation component, the second end of the first connecting member is hinged to the first end of the second connecting member, the second end of the second connecting member is in transmission connection with the handle body, and the hinge point of the second connecting member with the first connecting member deviates from the rotation axis of the second connecting member.

3. The operating handle according to claim 2, characterized in that, The first connecting member is set as a connecting rod, the second connecting member is set as a rotating disk, the handle body is fixedly arranged on the second connecting member, and the rotation axis of the handle body coincides with the central axis of the rotating disk.

4. The operating handle according to claim 2, wherein, The second connecting member is in transmission connection with the motion input end of the feed information acquisition component, so that the second connecting member and the motion input end of the feed information acquisition component rotate coaxially.

5. The operating handle according to claim 4, characterized in that, The second connecting member and the motion input end of the feed information acquisition component are in transmission connection through a transmission shaft.

6. The operating handle according to claim 5, wherein The feed information acquisition component includes a position encoder, and the motion input end of the position encoder is in transmission connection with the second connecting member through the transmission shaft. The position encoder is used to acquire the rotation angle information of the handle body.

7. The operating handle according to any one of claims 2 to 6, characterized in that, The linear motion resistance generation component includes a voice coil motor, and the first end of the first connecting member is hinged to the linear motion output end of the voice coil motor.

8. The operating handle according to any one of claims 2 to 6, characterized in that, The linear motion resistance generation component includes a linear motor, and the first end of the first connecting member is hinged to the linear output end of the linear motor.

9. The operating handle according to any one of claims 1 to 6, characterized in that, The operating handle further includes a frame body, and both the feed information acquisition component and the linear motion resistance generation component are fixedly arranged on the frame body.

10. A vascular intervention surgical robot, characterized in that, Including the operating handle according to any one of claims 1 to 9.

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