Mistaken touch prevention control device of vascular interventional operation robot and interventional operation robot

Abstract

The utility model provides a mistaken touch prevention control device of a vascular interventional operation robot and the interventional operation robot, and relates to the technical field of medical instruments. The mistaken touch prevention control device of the vascular intervention operation robot comprises an operation handle, a guide line and a trigger detection mechanism. Wherein the operating handle is arranged on a main end console of the vascular intervention surgical robot; one end of the guide wire is connected with the outer wall of the operating handle; and the trigger detection mechanism is electrically connected with the operating handle through a guide wire. The guide wire is used for transmitting the human body electric field to the trigger detection mechanism through the operation handle, and when the trigger detection mechanism receives a trigger signal sent by the operation handle, the trigger detection mechanism carries out mistaken touch judgment on the trigger signal according to the received human body electric field. According to the technical scheme provided by the utility model, the situation that the control device is easily touched by mistake to cause unexpected actions in the related technology can be avoided, and the accuracy and the safety of operation are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, and in particular to an anti-mistouch control device for a vascular interventional surgery robot and the interventional surgery robot. Background Art

[0002] Currently, in the field of interventional surgical robots, the operating handle, as an important device for precisely controlling the movement of guidewires and catheters, can help doctors control a series of complex movements such as positioning, advancing, and rotating the guidewire or catheter within the patient's body.

[0003] However, traditional operating handles lack an effective anti-accidental touch design, which may lead to unintended movement of the guidewire or catheter due to accidental touching of the operating handle by the body during surgery, thereby posing potential risks to the patient.

[0004] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute prior art known to ordinary technicians in this field. Utility Model Content

[0005] The purpose of the present utility model is to overcome the problem in the related art that the control device is easily touched by mistake and thus causes unexpected actions, and to provide an anti-mistouch control device for a vascular interventional surgery robot and an interventional surgery robot having the anti-mistouch control device for the vascular interventional surgery robot.

[0006] Additional aspects and advantages of the present invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the present invention.

[0007] According to a first aspect of the present invention, a device for preventing accidental touches of a vascular interventional surgery robot is provided. The device comprises an operating handle, a guide wire, and a trigger detection mechanism. The operating handle is disposed on a main control console of the vascular interventional surgery robot; one end of the guide wire is connected to the outer wall of the operating handle; and the trigger detection mechanism is electrically connected to the operating handle via the guide wire. The guide wire is used to transmit the human body electric field to the trigger detection mechanism via the operating handle. When the trigger detection mechanism receives a trigger signal sent by the operating handle, the trigger detection mechanism determines whether the trigger signal has been accidentally touched based on the received human body electric field.

[0008] In an exemplary embodiment of the present invention, based on the aforementioned scheme, the guide wire includes a connected connecting section and an extension section, the connecting section is connected to the outer wall of the operating handle, and the extension section extends from the operating handle to one end close to the trigger detection mechanism and is connected to the trigger detection mechanism.

[0009] In an exemplary embodiment of the present invention, based on the above solution, the trigger detection mechanism includes:

[0010] a capacitance detection unit, electrically connected to the extension section, for generating capacitance change information based on the electric field of the human body;

[0011] The trigger judgment unit is electrically connected to the capacitance detection unit and is used to perform trigger judgment on the trigger signal according to the capacitance change information and generate a judgment result.

[0012] In an exemplary embodiment of the present invention, based on the above solution, the capacitance detection unit includes:

[0013] A first conductive end is electrically connected to the epitaxial segment and is used to access the human body electric field;

[0014] a second conductive end, disposed opposite to the first conductive end, and configured to form a capacitance component corresponding to the electric field of the human body;

[0015] When the human body electric field is connected to the first conductive end, the electric field strength between the first conductive end and the second conductive end changes, generating capacitance change information.

[0016] In an exemplary embodiment of the present invention, based on the above solution, the trigger judgment unit includes:

[0017] a judgment circuit, electrically connected to the capacitance detection unit, for comparing capacitance change information with a preset threshold value, and determining the trigger signal as a valid trigger when the capacitance change information is greater than the preset threshold value;

[0018] The control circuit is connected to the judgment circuit and generates a control signal according to the manipulation action when the trigger signal is judged to be a valid trigger.

[0019] In an exemplary embodiment of the present invention, based on the above solution, the anti-accidental-touch control device of the vascular interventional surgery robot further includes:

[0020] The driving motor is electrically connected to the trigger detection mechanism, and is used to receive the trigger judgment result and start when the trigger judgment result is a valid trigger.

[0021] In an exemplary embodiment of the present invention, based on the above solution, the operating handle includes:

[0022] The insulating shell is arranged at the contact surface between the operating handle and the human body. The insulating shell is used to reduce the influence of the human body's electric field on the trigger detection mechanism when there is no operating intention.

[0023] In an exemplary embodiment of the present invention, based on the above solution, the anti-accidental-touch control device of the vascular interventional surgery robot further includes:

[0024] The alarm unit is electrically connected to the trigger detection mechanism and issues an alarm when the result of the trigger judgment is an erroneous touch operation.

[0025] In an exemplary embodiment of the present invention, based on the aforementioned solution, the anti-inadvertent touch control device of the vascular interventional surgery robot further includes: a touch block electrically connected to the guide wire and embedded in the outer wall of the operating handle, wherein the touch block includes a touch surface that is flush with the outer wall of the operating handle;

[0026] Among them, the touch block is made of conductive material and is used for direct contact with the human body and transmitting the human body's electric field.

[0027] According to the second aspect of the present utility model, a vascular interventional surgical robot is provided, which includes a slave end and a master end, the slave end is used to control the action of interventional consumables, and the master end includes the above-mentioned anti-mistouch control device of the vascular interventional surgical robot, and the anti-mistouch control device of the vascular interventional surgical robot is electrically connected to the slave end so that the slave end can execute the action of the interventional consumables according to the control signal sent by the anti-mistouch control device of the vascular interventional surgical robot.

[0028] It can be seen from the above technical solution that the present invention has at least one of the following advantages and positive effects:

[0029] The anti-accidental touch control device of the vascular interventional surgical robot of the present invention includes an operating handle, a guide wire, and a trigger detection mechanism. On the one hand, the guide wire can achieve direct contact with the human body, thereby transmitting the operator's human body electric field to the trigger detection mechanism, thereby providing a basis for subsequent accidental touch judgment; on the other hand, when the trigger detection mechanism receives the trigger signal sent by the operating handle, the trigger detection mechanism performs an accidental touch judgment on the trigger signal based on the received human body electric field, thereby distinguishing between real operating behavior and accidental touch or accidental touch, avoiding unexpected actions caused by accidental touch, and greatly improving the safety of operation; on the other hand, the control device ensures that each trigger signal corresponds to the operator's clear instruction through accidental touch judgment, thereby ensuring the control accuracy of the operating handle. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] The above and other features and advantages of the present invention will become more apparent by describing in detail example embodiments thereof with reference to the accompanying drawings.

[0031] Figure 1 It is a structural schematic diagram of an anti-accidental-touch control device of a vascular interventional surgery robot in an embodiment of the present utility model.

[0032] Figure 2 It is a vertical view of another anti-accidental-touch control device of a vascular interventional surgery robot in an embodiment of the present utility model.

[0033] The main components in the figure are described as follows:

[0034] 1. Operating handle;

[0035] 2. Guide wire; 21. Connecting section; 22. Extension section; 23. Insulating shell; 24. Anti-slip structure; 25. Touch block;

[0036] 3. Trigger detection mechanism; 31. Capacitance detection unit; 32. Trigger judgment unit. DETAILED DESCRIPTION

[0037] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many 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 concepts of the example embodiments to those skilled in the art. Like reference numerals in the figures represent like or similar structures, and thus their detailed description will be omitted.

[0038] The features, structures or characteristics described above can be combined in any suitable manner in one or more embodiments, and if possible, the features discussed in each embodiment are interchangeable. In the above description, many specific details are provided to provide a full understanding of the embodiments of the present invention. However, those skilled in the art will appreciate that the technical solution of the present invention can be practiced without one or more of the specific details, or other methods, components, materials, etc. can be adopted. In other cases, known structures, materials or operations are not shown or described in detail to avoid blurring the various aspects of the present invention.

[0039] Although relative terms such as "upper" and "lower" are used in this disclosure to describe the relationship of one illustrated component to another, these terms are used in this disclosure for convenience only, such as in accordance with the orientation of the examples depicted in the accompanying drawings. It is understood that if the illustrated device is flipped upside down, the component described as "upper" would become the component "lower." Other relative terms such as "high," "lower," "top," "bottom," "front," "back," "left," and "right" have similar meanings. When a structure is "on" another structure, it may mean that the structure is integrally formed on the other structure, that the structure is "directly" disposed on the other structure, or that the structure is "indirectly" disposed on the other structure through another structure.

[0040] In the present invention, the terms "a", "an", "the", "said" and "at least one" are used to indicate the presence of one or more elements / components / etc.; the terms "comprising", "including" and "having" are used to express open-ended inclusion and mean that in addition to the listed elements / components / etc., there may be additional elements / components / etc.; the terms "first", "second" and "third" etc. are used only as labels and are not intended to limit the quantity of their objects.

[0041] Existing operating handles generally lack effective mechanisms to prevent accidental touches. If a person's hand or body accidentally touches the operating handle, it can trigger unintended movement of the guidewire or catheter, even if such contact is not intended for surgical purposes. This unintended movement, especially in an intravascular environment, can potentially cause unpredictable harm to the patient. The safety and precision of touch-controlled devices still require improvement.

[0042] In order to solve all or part of the technical problems in the above-mentioned related devices, an embodiment of the present invention provides an anti-accidental touch control device for a vascular interventional surgery robot. The anti-accidental touch control device for the vascular interventional surgery robot includes an operating handle 1, a guide wire 2 and a trigger detection mechanism 3. The operating handle 1 is arranged on the main end control console of the vascular interventional surgery robot. The main end control console is located outside the operating room and is connected to the signal of the slave end execution part located in the operating room. The operator controls the action of the slave end execution part by operating the main end control console, thereby controlling the action of the interventional consumables set thereon. One end of the guide wire 2 is connected to the outer wall of the operating handle 1; the trigger detection mechanism 3 is electrically connected to the operating handle 1 through the guide wire 2; wherein, the guide wire 2 is used to transmit the human body electric field to the trigger detection mechanism 3 through the operating handle 1. When the trigger detection mechanism 3 receives the trigger signal sent by the operating handle 1, the trigger detection mechanism 3 makes an accidental touch judgment on the trigger signal based on the received human body electric field.

[0043] Specifically, the operating handle 1 is used to provide the operator with control functions. Preferably, the operating handle 1 is made of an insulating material, such as plastic, rubber, etc., to ensure the safety of the operator during use. In addition, the operating handle 1 can also be provided with a microcontroller for receiving operating signals and converting them into electrical signals.

[0044] Guide wire 2 is made of a material with good electrical conductivity, such as copper or silver-plated copper, to ensure effective transmission of the human body's electric field. Its function is to capture the weak human body electric field signals generated by user operation and transmit them to the trigger detection mechanism 3. For example, when the operating handle 1 is a hollow structure, guide wire 2 can be set on the inside of the outer wall of the operating handle 1, or on the outside of the outer wall of the operating handle 1. Of course, it can also be embedded in the outer wall of the operating handle 1. Regardless of the setting strategy, guide wire 2 must be able to receive and transmit the human body's electric field when the operator controls the operating handle 1.

[0045] The trigger detection mechanism 3 is the key component responsible for determining whether the current trigger operation is an accidental touch. It can connect to the human body's electric field through the extension section 22 of the guide wire 2, using the change in capacitance between the human body and the conductive end to identify the operation. It then further analyzes the capacitance change information and determines whether the operation is valid by comparing the capacitance change with a preset threshold. If the change is large enough, that is, exceeds the set threshold, the trigger detection mechanism 3 determines that the current trigger action is a correct operation and not an accidental touch, and then transmits the control signal generated by the operating handle 1.

[0046] During actual operation, the operator controls the operating handle 1 to perform various manipulations, such as pressing, rotating, or pulling. During this process, the human body comes into contact with the operating handle 1, and the naturally generated human body electric field is captured by the connecting section 21 of the guide wire 2 and transmitted to the trigger detection mechanism 3 along the extension section 22. The capacitance change is monitored in real time in the trigger detection mechanism 3. When a significant capacitance change is detected, the capacitance change information is compared with a preset threshold to determine whether the change is due to correct operation rather than an accidental touch. If it is judged to be a valid trigger, the trigger detection mechanism 3 will generate a corresponding control signal, which will be sent to the control circuit. The control circuit sends instructions to the drive motor or other actuator based on the type and strength of the received control signal to drive the corresponding mechanical components to move.

[0047] On the one hand, direct contact with the human body can be achieved through the guide wire 2, and the operator's human body electric field can be transmitted to the trigger detection mechanism 3, thereby providing a basis for subsequent false touch judgment; on the other hand, when the trigger detection mechanism 3 receives the trigger signal sent by the operating handle 1, the trigger detection mechanism 3 judges the trigger signal according to the received human body electric field, thereby distinguishing the real operation behavior from the accidental touch or false touch, avoiding the unexpected action caused by the false touch, and greatly improving the safety of the operation; on the other hand, the control device ensures that each trigger signal corresponds to the operator's clear instruction through false touch judgment, thereby ensuring the control accuracy of the operating handle 1.

[0048] The following is a detailed description of each part of the anti-accidental-touch control device of the above-mentioned vascular interventional surgery robot.

[0049] refer to Figure 1 As shown, the guide wire 2 includes a connecting section 21 and an extension section 22. The connecting section 21 is connected to the outer wall of the operating handle 1, and the extension section 22 extends from the operating handle 1 to the end near the trigger detection mechanism 3 and is connected to the trigger detection mechanism 3. The connecting section 21 of the metal guide wire 2 can achieve direct contact with the human body, and then transmit the operator's human body electric field to the trigger detection mechanism 3 along the extension section 22, thereby providing a basis for subsequent false touch detection.

[0050] In an exemplary embodiment of the present invention, the trigger detection mechanism 3 includes a capacitance detection unit 31 and a trigger judgment unit 32, wherein the capacitance detection unit 31 is electrically connected to the extension section 22 of the guide wire 2, and is used to generate capacitance change information based on the human body electric field; the trigger judgment unit 32 is electrically connected to the capacitance detection unit 31, and is used to trigger the trigger signal based on the capacitance change information and generate a judgment result.

[0051] Among them, the capacitance detection unit 31 is directly connected to the extension section 22 of the guide wire 2. Its main function is to detect the capacitance change caused by the human body's electric field. During actual use, when the operator intentionally grasps the operating handle 1 to operate, the human body's electric field is transmitted to the capacitance detection unit 31 through the guide wire 2, and the capacitance formed between the operator's body (especially the hand) and the capacitance detection unit 31 will change. By monitoring this capacitance change, the capacitance detection unit 31 can capture the operator's control intention.

[0052] The trigger judgment unit 32 can be used to receive capacitance change information from the capacitance detection unit 31, and analyze and process the received signal based on a preset logical algorithm or threshold condition to determine whether the received capacitance change information is caused by the operator's conscious touch, that is, whether it constitutes a valid trigger signal, and then determine the subsequent instruction issuance.

[0053] In an example embodiment of the present invention, the trigger detection mechanism 3 can be a human touch sensing chip. Among them, the human touch sensing chip can use the capacitance effect to detect touch operations. Furthermore, the capacitance effect can indicate that when there is a potential difference between two conductors, an electric field will be generated, and the electric field strength of the electric field is inversely proportional to the distance between the two conductors. When the human body approaches the pins of the sensing chip, the electric field strength will change, thereby triggering a touch signal. The touch sensing chip will process these signals and convert them into high and low levels and output them on the corresponding pins, thereby completing the touch detection of the human body. In addition, by arranging a guide wire 2 on the outer wall of the operating handle 1 and connecting the guide wire 2 to the touch sensing chip, the electric field of the human body can be transferred to the touch sensing chip, thereby extending the working range of the chip.

[0054] For example, when the human touch sensor chip determines that the current trigger signal is a valid trigger, it will output a high level and send this high level to the subsequent control circuit. After receiving this high level, the control circuit determines that the control signals currently output by the operating handle 1 are all valid data, and the operator can perform normal operations. If a human hand or other part of the body accidentally touches and pushes the operating handle 1, because the contact range is not within the operating range of the human touch sensor chip, the chip output pin will not output a high level, and the control circuit will not operate, thereby realizing the anti-accidental touch function of the control device.

[0055] In an exemplary embodiment of the present invention, the capacitance detection unit 31 includes a first conductive end and a second conductive end, wherein the first conductive end is electrically connected to the extension section 22 for accessing the human body electric field; the second conductive end is arranged opposite to the first conductive end for forming a capacitance component corresponding to the human body electric field; when the human body electric field is accessed to the first conductive end, the electric field strength between the first conductive end and the second conductive end changes, generating capacitance change information.

[0056] The first conductive end is directly electrically connected to the extension 22 of the guide wire 2 and serves as an access point for the human body's electric field. When the operator manipulates the operating handle 1, the human body's electric field is transmitted through the first conductive end to the interior of the capacitance detection unit 31, becoming the basic signal source for the capacitance change.

[0057] The second conductive end is positioned opposite the first conductive end, and together they form a variable capacitor structure. While the second conductive end doesn't directly contact the human body, the space between it and the first conductive end forms a capacitor. The magnitude of this capacitance depends on the distance between the two conductive ends, the dielectric properties, and the influence of the human body's electric field. When the human body's electric field is applied to the first conductive end, the electric field strength between it and the second conductive end changes, causing the capacitance value to change.

[0058] Furthermore, by precisely monitoring the capacitance changes between the first conductive end and the second conductive end, the capacitance detection unit 31 can accurately capture tiny fluctuations in the human body's electric field, and even the slightest hand contact can be effectively identified. This highly sensitive detection capability ensures the system's accurate perception of contact events. In addition, since the second conductive end is not in direct contact with the human body, it avoids the physical wear or contamination problems that may be caused by traditional contact sensors, while also reducing signal distortion caused by direct contact, ensuring long-term stability of detection. In addition, the human body's electric field varies over a wide range, from light touch to tight grip. By adjusting the design of the first conductive end and the second conductive end (such as spacing, shape, etc.), the dynamic response range of the capacitance detection unit 31 can be optimized, so that it can not only sensitively detect light touches, but also effectively distinguish between contacts of different intensities, thereby enhancing the adaptability and robustness of the control device.

[0059] In an example embodiment of the present invention, the trigger judgment unit 32 includes a judgment circuit and a control circuit, wherein the judgment circuit is electrically connected to the capacitance detection unit 31, and is used to compare the capacitance change information with a preset threshold. When the capacitance change information is greater than the preset threshold, the trigger signal is judged as a valid trigger; the control circuit is connected to the judgment circuit, and generates a control signal according to the manipulation action when the trigger signal is judged to be a valid trigger.

[0060] Among them, the judgment circuit is directly connected to the capacitance detection unit 31, which can be used to analyze and process the capacitance change information output by the capacitance detection unit 31. Specifically, the judgment circuit compares the detected capacitance change value with a preset threshold value. The threshold value is usually set based on the device usage scenario and user needs to distinguish between unintentional contact and correct operation. If the capacitance change information exceeds this threshold, the judgment circuit will determine the current trigger signal as a valid trigger.

[0061] The control circuit follows the judgment circuit and receives trigger signals from it. Upon receiving a signal indicating a valid trigger action, the control circuit generates a corresponding control signal based on the user's specific manipulation action. This control signal can activate a function, adjust device parameters, or execute a specific operation. This control signal is then transmitted to the device's actuator or system, automatically executing the user's intended action.

[0062] Furthermore, by introducing a judgment circuit and a preset threshold, the trigger judgment unit 32 can intelligently distinguish between invalid triggers and valid triggers, thereby avoiding misoperation and improving the intelligence level and user experience of the control device. The setting of the preset threshold can be personalized according to the actual application environment and user habits, so that the device is more in line with the needs of the user. In addition, the control signal generated by the control circuit based on the effective trigger signal ensures that the device accurately responds to the user's control action and enhances the controllability of the control device. In addition, the trigger judgment unit 32 will only activate the subsequent control process when the capacitance change information reaches the preset threshold, avoiding the waste of resources of the control circuit in the process of continuously monitoring and processing invalid signals, and achieving high efficiency and energy saving.

[0063] In an exemplary embodiment of the present invention, the anti-accidental-touch control device of the vascular interventional surgery robot further includes a drive motor, which is electrically connected to the trigger detection mechanism 3, for receiving a trigger judgment result and starting when the trigger judgment result is a valid trigger.

[0064] Specifically, the drive motor serves as an actuator and is electrically connected to the trigger detection mechanism 3. Its primary function is to receive a valid trigger signal from the trigger determination unit 32 and, based on this signal, initiate or execute a specific mechanical action. For example, the drive motor can be any type of motor, such as a DC motor, a stepper motor, or a servo motor. The type of drive motor depends on the specific requirements and application scenario of the control device.

[0065] The drive motor only starts operating when it receives a valid trigger signal, effectively avoiding unnecessary operation caused by accidental touch or unintentional action, improving the safety and reliability of device use. Furthermore, when there is no user operation, the drive motor is in standby mode, reducing overall energy consumption.

[0066] refer to Figure 2 As shown, the operating handle 1 includes an insulating shell 23, which is arranged on the contact surface between the operating handle 1 and the human body. The insulating shell 23 is used to reduce the influence of the human body's electric field on the trigger detection mechanism 3 when there is no control intention.

[0067] The insulating housing 23 is disposed on the outer layer of the operating handle 1, the surface that directly contacts the human body (e.g., the operator's hand). The insulating housing 23 can be made of an insulating material, such as plastic, rubber, or other non-conductive material, to isolate the human body's electric field from the electronic components within the control device, particularly the trigger detection mechanism 3. The insulating housing 23 effectively reduces the impact of the human body's electric field on the trigger detection mechanism 3 due to unintended control, ensuring that the normal operation of the device is not disturbed.

[0068] Furthermore, the human body's electric field, when not in operation, such as accidentally touching or approaching the operating handle 1, may interfere with the trigger detection mechanism 3, leading to false triggering or unstable operation. The insulating housing 23 significantly reduces this type of interference through physical isolation, improving the accuracy and stability of trigger detection.

[0069] In an exemplary embodiment of the present invention, the anti-mistouch control device of the vascular interventional surgery robot further includes an alarm unit, which is electrically connected to the trigger detection mechanism 3 and issues an alarm when the result of the trigger judgment is a mistouch operation.

[0070] The alarm unit is directly electrically connected to the trigger detection mechanism 3 and is used to immediately issue a visual, auditory, or tactile alarm signal when the trigger judgment unit 32 determines that the current operation is an accidental touch. For example, the alarm unit can be a built-in buzzer, LED light, vibration motor, or a remote alarm system connected to an external device (such as a mobile phone or computer). The specific form depends on the operating environment and needs of the control device. The alarm unit can help operators promptly identify potential operational risks and take corrective measures, thereby avoiding possible equipment misoperation or safety accidents.

[0071] refer to Figure 2 As shown, the operating handle 1 includes an anti-slip structure 24 , which includes a plurality of raised stripes and is provided on the outer surface of the operating handle 1 .

[0072] The anti-slip structure 24 can refer to a series of physical features applied to the outer surface of the operating handle 1 to increase friction and enhance grip stability. For example, the anti-slip structure 24 can be a plurality of raised stripes distributed across the contact surface of the handle. The raised stripes can be arranged in parallel, in a cross-grid pattern, or in other specific patterns. Furthermore, the use of the raised stripes in the anti-slip structure 24 significantly increases the coefficient of friction on the surface of the operating handle 1, enabling the operator to operate more stably and reducing the risk of loss of control due to hand slippage.

[0073] refer to Figure 2 As shown, the anti-accidental-touch control device of the vascular interventional surgical robot also includes a touch block, which is electrically connected to the guide wire 2 and embedded in the outer wall of the operating handle 1, and the touch block includes a touch surface, which is flush with the outer wall of the operating handle 1; wherein, the touch block is made of conductive material and is used for direct contact with the human body and transmitting the human body's electric field.

[0074] The touch block can be a conductive element embedded in the outer wall of the operating handle 1. Its surface (touch surface) remains flush with the outer wall of the handle, ensuring the continuity of the control device's appearance and comfortable grip. The touch block is electrically connected to the guide wire 2 and can serve as an electrical interface between the human body and the control device, capturing the human body's electric field and transmitting it to the trigger detection mechanism 3. The touch block can be made of other suitable conductive materials, such as aluminum, iron, conductive rubber, conductive alloy, etc.

[0075] An embodiment of the utility model also provides a vascular interventional surgical robot, which includes a slave end and a master end, wherein the slave end is used to control the action of interventional consumables, and the master end includes the above-mentioned anti-mistouch control device of the vascular interventional surgical robot, and the anti-mistouch control device of the vascular interventional surgical robot is electrically connected to the slave end so that the slave end can execute the action of the interventional consumables according to the control signal sent by the anti-mistouch control device of the vascular interventional surgical robot.

[0076] Exemplarily, the slave end may include a guidewire actuator and a catheter actuator, wherein the guidewire actuator is used to control the guidewire movement, and the catheter actuator is used to control the catheter movement, and the anti-mistouch control device of the vascular interventional surgery robot is electrically connected to the guidewire actuator and the catheter actuator respectively; wherein the guidewire actuator executes the guidewire movement according to the control signal sent by the anti-mistouch control device of the vascular interventional surgery robot, and the catheter actuator executes the catheter movement according to the control signal sent by the anti-mistouch control device of the vascular interventional surgery robot.

[0077] Among them, the guidewire actuator can represent the key component used for navigation and promotion of the guidewire movement in the interventional surgical robot. It can include a drive system and a control system, which can accurately control the forward, backward, rotation and other movements of the guidewire according to the control signal sent by the control device to achieve precise positioning and advancement of the guidewire in the blood vessel. The catheter actuator can represent the functional component used to work with the guidewire actuator in the interventional surgical robot to control the movement of the catheter. It can respond to the control signal of the control device to realize the forward, backward, rotation and other operations of the catheter, ensuring that the catheter can smoothly pass through the complex vascular network and reach the designated location.

[0078] By electrically connecting the anti-accidental-touch control device of the vascular interventional surgical robot to the guidewire actuator and the catheter actuator respectively, on the one hand, the anti-accidental-touch control device of the vascular interventional surgical robot ensures that only control signals that have been triggered and verified can be executed by the guidewire actuator and the catheter actuator, greatly reducing the surgical risks caused by accidental touch and protecting the safety of patients; on the other hand, the integration of the control device with the guidewire actuator and the catheter actuator enables the operator's operating instructions to be accurately converted into corresponding mechanical actions, thereby improving the accuracy of the operation; on the other hand, by utilizing high-speed networks, the electrical connection between the anti-accidental-touch control device of the vascular interventional surgical robot and the guidewire and catheter actuators enables the remote operator to control the interventional surgical robot in real time through the control device and perform precise remote surgical operations, breaking the limitations of geographical location.

[0079] It should be understood that the present invention does not limit its application to the detailed structure and arrangement of the components proposed in the present invention. The present invention is capable of other embodiments and can be implemented and executed in a variety of ways. The aforementioned variations and modifications fall within the scope of the present invention. It should be understood that the present invention and the invention defined herein extend to all alternative combinations of two or more individual features mentioned or apparent in the text and / or the accompanying drawings. All of these different combinations constitute multiple alternative aspects of the present invention. The embodiments described in the present invention illustrate the best known ways to implement the present invention and will enable those skilled in the art to utilize the present invention.

Claims

1. A device for preventing accidental touch of a vascular interventional surgery robot, characterized in that: include: An operating handle, which is provided on the main console of the vascular interventional surgery robot; a guide wire, one end of which is connected to the outer wall of the operating handle; a trigger detection mechanism, electrically connected to the operating handle via the guide wire; Among them, the guide wire is used to transmit the human body electric field to the trigger detection mechanism through the operating handle. When the trigger detection mechanism receives the trigger signal sent by the operating handle, the trigger detection mechanism judges the trigger signal as a false touch based on the received human body electric field.

2. The anti-accidental-touch control device for a vascular interventional surgery robot according to claim 1, characterized in that: The guide wire includes a connected connecting section and an extension section, the connecting section is connected to the outer wall of the operating handle, and the extension section extends from the operating handle to an end close to the trigger detection mechanism and is connected to the trigger detection mechanism.

3. The anti-accidental-touch control device for a vascular interventional surgery robot according to claim 2, characterized in that: The trigger detection mechanism includes: a capacitance detection unit, electrically connected to the extension segment, and configured to generate capacitance change information according to the human body electric field; The trigger judgment unit is electrically connected to the capacitance detection unit and is used to perform a trigger judgment on the trigger signal according to the capacitance change information and generate a judgment result.

4. The anti-accidental-touch control device for a vascular interventional surgery robot according to claim 3, characterized in that: The capacitance detection unit includes: a first conductive end, electrically connected to the extension segment, and configured to access the human body electric field; a second conductive end, disposed opposite to the first conductive end, and configured to form a capacitance component corresponding to the electric field of the human body; When the human body electric field is connected to the first conductive end, the electric field strength between the first conductive end and the second conductive end changes, thereby generating the capacitance change information.

5. The anti-accidental-touch control device for a vascular interventional surgery robot according to claim 3, characterized in that: The trigger judgment unit includes: a judgment circuit, electrically connected to the capacitance detection unit, configured to compare the capacitance change information with a preset threshold value, and when the capacitance change information is greater than the preset threshold value, determine that the trigger signal is a valid trigger; The control circuit is connected to the judgment circuit and generates a control signal according to the manipulation action when the trigger signal is judged to be a valid trigger.

6. The anti-accidental-touch control device for a vascular interventional surgery robot according to any one of claims 1 to 5, characterized in that: Also includes: The driving motor is electrically connected to the trigger detection mechanism, and is used to receive the trigger judgment result and start when the trigger judgment result is a valid trigger.

7. The anti-accidental-touch control device for a vascular interventional surgery robot according to any one of claims 1 to 5, characterized in that: The operating handle comprises: The insulating shell is arranged on the contact surface between the operating handle and the human body, and the insulating shell is used to reduce the influence of the human body's electric field under non-control intention on the trigger detection mechanism.

8. The anti-accidental-touch control device for a vascular interventional surgery robot according to any one of claims 1 to 5, characterized in that: Also includes: The alarm unit is electrically connected to the trigger detection mechanism and issues an alarm when the result of the trigger judgment is an erroneous touch operation.

9. The anti-accidental-touch control device for a vascular interventional surgery robot according to any one of claims 1 to 5, characterized in that: Also includes: a touch block electrically connected to the guide wire and embedded in the outer wall of the operating handle, wherein the touch block includes a touch surface flush with the outer wall of the operating handle; The touch block is made of conductive material and is used for direct contact with the human body and transmitting the human body's electric field.

10. A vascular interventional surgery robot, characterized in that: The vascular interventional surgery robot includes a slave end and a master end, the slave end is used to control the action of the interventional consumables, and the master end includes the anti-accidental touch control device of the vascular interventional surgery robot according to any one of claims 1 to 9, and the anti-accidental touch control device of the vascular interventional surgery robot is electrically connected to the slave end so that the slave end can execute the action of the interventional consumables according to the control signal sent by the anti-accidental touch control device of the vascular interventional surgery robot.

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