Closed-loop interventional robot master hand device

Abstract

The utility model discloses a closed-loop interventional robot master hand device which comprises an axial force feedback assembly, a torque feedback assembly and an operating rod assembly. The operation rod assembly is manually operated by an operator, so that the slave hand device for the vascular interventional operation is remotely controlled to rotate and deliver the interventional consumables; the axial force feedback assembly applies corresponding axial force to the operating rod assembly; the axial force feedback assembly comprises a single axial force feedback element, the front end and the rear end of the operating rod assembly or the front end of the torque feedback assembly and the rear end of the operating rod assembly are connected with the front end and the rear end of the same pull rope or transmission belt respectively, and the pull rope or the transmission belt is in transmission connection with the axial force feedback element after being turned by the reversing assembly. A closed loop is formed, and the torque feedback assembly applies torque around the axis to the operating rod assembly. Meanwhile, the axial force feedback assembly and the torque feedback assembly are arranged, so that the axial hand feeling and the circumferential hand feeling of the intervention consumables under the real condition can be completely restored, and the operation safety is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to medical instrument technical field especially a closed loop interventional robot master device. BACKGROUND

[0002] Vascular interventional surgery is a kind of minimally invasive surgery in human body blood vessel through interventional surgical medical consumables such as guide wire, catheter and stent, is used to treat cardiovascular disease, neurovascular disease and other blood vessel related diseases, vascular interventional surgery is mainly divided into intravascular embolization, stenosis, surgical treatment of intravascular hemorrhage according to treatment direction, needs to be assisted by various interventional instruments and image equipment. Since in the process of vascular interventional surgery, angiography needs to be used, but angiography will produce radiation at the same time, when the doctor works in this environment for a long time, it will affect his health. Therefore, vascular interventional robot is developed to solve this problem, the operator only needs to control the master hand in the environment without radiation, can control the delivery and rotation of interventional surgical medical consumables beside the operating bed, but the delivery and rotation of interventional surgical medical consumables will be resisted, the operator needs to judge based on this resistance, therefore, exerting as possible realistic force feedback to the operator is crucial to the safety of surgery.

[0003] Prior art publication number: CN116350356A of an interventional robot bionic force feedback master end operation device, including: bottom plate;Guide wire force feedback push rod device, it includes: push rod operation mechanism and push rod tactile resistance feedback mechanism are all arranged on the bottom plate, push rod tactile resistance feedback mechanism is connected with push rod operation mechanism through movable guide wire force tactile resistance tension spring;Catheter force feedback push rod device, it is installed on the bottom plate;Balloon stent force feedback rocker device, it includes: rocker operation mechanism and rocker tactile resistance feedback mechanism are all installed on the bottom plate, rocker tactile resistance feedback mechanism is connected with rocker through movable stent force tactile resistance tension spring;And controller.

[0004] But the above-mentioned device adopts spring to feed back the axial force that interventional consumables is subjected to, has strong hysteresis, cannot accurately simulate the resistance that interventional consumables is subjected to in the process of surgery, and operating personnel need to rotate interventional consumables in the process of surgery, the above-mentioned device cannot simulate the torque that interventional consumables is subjected to in the direction of rotation. UTILITY MODEL CONTENT

[0005] The utility model aims at providing a kind of closed loop interventional robot master device to solve the technical defects of prior art and the technical requirements that cannot be achieved.

[0006] To achieve the above object, the utility model provides the following technical scheme: a kind of closed loop interventional robot master device, including axial force feedback component, torque feedback component and operating lever component;

[0007] The operating lever assembly is manually manipulated by an operator to realize rotation and delivery of an interventional consumable by the slave device in a remote-controlled vascular interventional surgery;

[0008] The axial force feedback assembly applies corresponding axial force to the operating lever assembly to simulate axial resistance in the surgery process; the axial force feedback assembly comprises a single axial force feedback element, and the front and rear ends of the operating lever assembly or the front end of the torque feedback assembly and the rear end of the operating lever assembly are respectively connected to the front and rear ends of a single pull rope or transmission belt, the pull rope or transmission belt is changed in direction by the reversing assembly and then is in transmission connection with the axial force feedback element to form a closed loop;

[0009] Alternatively, the front and rear ends of the operating lever assembly or the front end of the torque feedback assembly and the rear end of the operating lever assembly are respectively connected to two pull ropes or transmission belts, the two pull ropes or transmission belts are changed in direction by the reversing assembly and then are in transmission connection with the same axial force feedback element to form a closed loop, and the axial force feedback element applies bidirectional force to the operating lever assembly through the pull rope or transmission belt;

[0010] The torque feedback assembly applies torque around the axis to the operating lever assembly to simulate torque resistance in the surgery process.

[0011] As a preferred option, the axial force feedback element comprises a motor and a winding wheel, and the pull rope is spirally wound on the winding wheel; the motor drives the winding wheel to rotate to make the pull rope be wound, and the pull rope applies corresponding axial force to the operating lever assembly to simulate axial resistance in the surgery process.

[0012] As a preferred option, the axial force feedback element comprises a motor and a transmission belt wheel, and the transmission belt is wrapped around the transmission belt wheel; the motor drives the transmission belt wheel to rotate to make the transmission belt be driven, and the transmission belt applies corresponding axial force to the operating lever assembly to simulate axial resistance in the surgery process; the rear end of the operating lever assembly is connected to the transmission belt through a pull rope or a bearing structure, so that the operating lever assembly can rotate around the axis of the operating lever assembly relative to the transmission belt.

[0013] As a preferred option, the pull rope comprises a pull rope A and a pull rope B, the front and rear ends of the operating lever assembly or the front end of the torque feedback assembly and the rear end of the operating lever assembly are respectively connected to the pull rope A and the pull rope B, both ends of the base are respectively provided with a support seat, the support seat is provided with a pulley, the pull rope A and the pull rope B are changed in direction by the pulley and then are in transmission connection with the same axial force feedback element to form a closed loop, or the pull rope A and the pull rope B are two parts of the same pull rope;

[0014] Pull rope A and pull rope B are wound on the winding wheel in the same spiral direction. When the winding wheel rotates in the forward direction, pull rope A is wound on the winding wheel and pull rope B is released from the winding wheel. When the winding wheel rotates in the reverse direction, pull rope B is wound on the winding wheel and pull rope A is released from the winding wheel.

[0015] The winding wheel has a spiral groove for guiding the pull rope to wind in a spiral shape on the winding wheel, and the outer diameter of the winding wheel is 10-50mm.

[0016] Preferably, the operating lever assembly includes an operating handle, which includes an inner core and a surrounding elastomer. The surrounding elastomer wraps around the inner core of the operating handle at certain intervals. Both the inner core and the surrounding elastomer are provided with conductors. When the surrounding elastomer is not subjected to external force or is only slightly touched, the inner core and the conductors of the surrounding elastomer remain insulated. When the operator pinches the surrounding elastomer, causing it to deform, the inner core and the conductors of the surrounding elastomer come into contact and conduct electricity. At this time, the operator's pinching of the operating handle is detected. When the operator releases the operating handle, the surrounding elastomer returns to its original position, keeping the inner core and the conductors of the surrounding elastomer insulated. At this time, the operator's release of the operating handle is detected.

[0017] Preferably, the system also includes a support assembly for supporting the control lever assembly suspended in the air, making it easier for the operator to grip the control lever assembly. The support assembly is mounted on a base and includes a floating anti-rotation mechanism for maintaining relative sliding between the torque feedback assembly and the base along the axis of the control lever assembly, and preventing relative rotation between the fixed end of the torque feedback assembly and the base about the axis of the control lever assembly.

[0018] Preferably, the floating anti-rotation mechanism adopts one or a combination of a front-to-back floating structure, a yaw angle floating structure, and a pitch angle floating structure; the front-to-back floating mechanism maintains the relative axial position of the control lever assembly with respect to the base during movement; the yaw angle floating structure allows the control lever assembly to deflect left and right when moving along the axial direction of the control lever assembly, and the pitch angle floating structure allows the control lever assembly to deflect up and down when moving along the axial direction of the control lever assembly.

[0019] Preferably, the output end of the torque feedback component is directly coaxially connected to the operating handle of the operating lever assembly or coaxially connected through a connecting rod. The torque feedback component generates torque feedback to the operating handle of the operating lever assembly. At this time, a front and rear floating mechanism is provided between the fixed end of the torque feedback component and the support component.

[0020] Alternatively, the torque feedback component can be mounted on the support component, in which case a front and rear floating mechanism is provided between the output end of the torque feedback component and the operating lever assembly.

[0021] The front end of the torque feedback component is connected to the pull rope through the floating end of the front and rear floating structure, or the front end of the torque feedback component is directly connected to the pull rope.

[0022] Preferably, when the axis of the operating handle of the operating lever assembly is parallel to the axis of the front and rear floating structures, the distance between the axis of the operating handle and the axis of the front and rear floating structures is less than 50mm.

[0023] Preferably, when the axis of the operating handle of the operating lever assembly is parallel to the base plane, the distance between the axis of the operating handle and the base plane is greater than 50mm.

[0024] The beneficial effects of this utility model are as follows:

[0025] 1. It is equipped with both axial force feedback and torque feedback components, which can completely reproduce the axial and circumferential feel of inserting consumables under real conditions, increasing the safety of operation;

[0026] 2. The system detects whether the operator is squeezing or releasing the operating handle by contacting and conducting or maintaining the insulation state of the conductive body, and applies force feedback only when the operating handle is squeezed, thereby enhancing safety and preventing undesirable movements of the axial force feedback component and torque feedback component.

[0027] 3. The control stick assembly is suspended and supported in the air by the support component, so that the control stick assembly is at a certain height from the base, giving the operator enough space to hold the control stick assembly;

[0028] 4. The floating anti-rotation mechanism on the support assembly can prevent the fixed end of the torque feedback component from rotating while maintaining the forward and backward floating between the fixed end of the torque feedback component and the support assembly or between the output end of the torque feedback component and the operating lever assembly. The floating anti-rotation mechanism allows the operating lever assembly to float forward and backward, left and right, and up and down, preventing the forward and backward floating structure of the floating anti-rotation mechanism from "getting stuck" during forward and backward movement, reducing the jamming feeling of the operating lever assembly when moving along the axial direction, improving the freedom of the operating handle, and making it more convenient for the operator to use. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the overall structure of Example 1;

[0030] Figure 2 This is a schematic diagram of the torque feedback component structure in Example 1;

[0031] Figure 3 This is a schematic diagram of the floating anti-rotation mechanism structure in Example 1;

[0032] Figure 4 This is a schematic diagram of the overall structure of Example 2;

[0033] Figure 5 This is a schematic diagram of the floating anti-rotation mechanism structure in Example 2;

[0034] Figure 6 This is a schematic diagram of the overall structure of Example 3;

[0035] Figure 7 This is a schematic diagram of the internal structure of Example 3;

[0036] Figure 8 This is a schematic diagram of the floating anti-rotation mechanism in Example 3. Detailed Implementation

[0037] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0038] Example 1

[0039] A closed-loop interventional robot master hand device includes an axial force feedback component, a torque feedback component, and an operating lever component;

[0040] The control lever assembly allows the operator to manually manipulate the control lever assembly to remotely control the rotation and delivery of interventional consumables in vascular interventional surgery.

[0041] The axial force feedback component applies a corresponding axial force to the operating lever assembly, thereby simulating the axial resistance during the operation. The axial force feedback component includes a single axial force feedback element. The front and rear ends of the operating lever assembly or the front end of the torque feedback component and the rear end of the operating lever assembly are respectively connected to the front and rear ends of the same pull rope or transmission belt. The pull rope or transmission belt is reversed by the reversing component and then connected to the axial force feedback element to form a closed loop.

[0042] Alternatively, the front and rear ends of the lever assembly or the front end of the torque feedback assembly and the rear end of the lever assembly are respectively connected to two pull ropes or transmission belts. After the two pull ropes or transmission belts are reversed by the reversing assembly, they are connected to the same axial force feedback element to form a closed loop. The axial force feedback element applies a bidirectional force to the lever assembly through the pull ropes or transmission belts.

[0043] The torque feedback component applies a torque about the axis to the operating lever assembly, thereby simulating the torque resistance during surgery.

[0044] Preferably, the axial force feedback element includes a motor and a winding wheel. The pull rope is wound in a spiral shape on the winding wheel. The motor drives the winding wheel to rotate, causing the pull rope to be wound. The pull rope applies a corresponding axial force to the operating rod assembly, thereby simulating the axial resistance during the operation.

[0045] Preferably, the axial force feedback element includes a motor and a drive pulley, with the drive belt wrapped around the drive pulley. The motor drives the drive pulley to rotate, thereby driving the drive belt. The drive belt applies a corresponding axial force to the operating lever assembly, thus simulating the axial resistance during the surgical process. The rear end of the operating lever assembly is connected to the drive belt via a pull rope or bearing structure, allowing the operating lever assembly to rotate relative to the drive belt around the axis of the operating lever assembly.

[0046] Preferably, the pull rope includes pull rope A and pull rope B. The front and rear ends of the operating lever assembly or the front end of the torque feedback assembly and the rear end of the operating lever assembly are respectively connected to pull rope A and pull rope B. The two ends of the base are respectively provided with support seats, and the support seats are provided with pulleys. After the pulleys change direction, pull rope A and pull rope B are connected to the same axial feedback element to form a closed loop. Alternatively, pull rope A and pull rope B are the front and rear parts of the same pull rope.

[0047] Pull rope A and pull rope B are wound on the winding wheel in the same spiral direction. When the winding wheel rotates in the forward direction, pull rope A is wound on the winding wheel and pull rope B is released from the winding wheel. When the winding wheel rotates in the reverse direction, pull rope B is wound on the winding wheel and pull rope A is released from the winding wheel.

[0048] The winding wheel has a spiral groove for guiding the pull rope to wind in a spiral shape on the winding wheel, and the outer diameter of the winding wheel is 10-50mm.

[0049] Preferably, the operating lever assembly includes an operating handle, which includes an inner core and a surrounding elastomer. The surrounding elastomer wraps around the inner core of the operating handle at certain intervals. Both the inner core and the surrounding elastomer are provided with conductors. When the surrounding elastomer is not subjected to external force or is only slightly touched, the inner core and the conductors of the surrounding elastomer remain insulated. When the operator pinches the surrounding elastomer, causing it to deform, the inner core and the conductors of the surrounding elastomer come into contact and conduct electricity. At this time, the operator's pinching of the operating handle is detected. When the operator releases the operating handle, the surrounding elastomer returns to its original position, keeping the inner core and the conductors of the surrounding elastomer insulated. At this time, the operator's release of the operating handle is detected.

[0050] Preferably, the system also includes a support assembly for supporting the control lever assembly suspended in the air, making it easier for the operator to grip the control lever assembly. The support assembly is mounted on a base and includes a floating anti-rotation mechanism for maintaining relative sliding between the torque feedback assembly and the base along the axis of the control lever assembly, and preventing relative rotation between the fixed end of the torque feedback assembly and the base about the axis of the control lever assembly.

[0051] Preferably, the floating anti-rotation mechanism adopts one or a combination of a front-to-back floating structure, a yaw angle floating structure, and a pitch angle floating structure; the front-to-back floating mechanism maintains the relative axial position of the control lever assembly with respect to the base during movement; the yaw angle floating structure allows the control lever assembly to deflect left and right when moving along the axial direction of the control lever assembly, and the pitch angle floating structure allows the control lever assembly to deflect up and down when moving along the axial direction of the control lever assembly.

[0052] Preferably, the output end of the torque feedback component is directly coaxially connected to the operating handle of the operating lever assembly or coaxially connected through a connecting rod. The torque feedback component generates torque feedback to the operating handle of the operating lever assembly. At this time, a front and rear floating mechanism is provided between the fixed end of the torque feedback component and the support component.

[0053] Alternatively, the torque feedback component can be mounted on the support component, in which case a front and rear floating mechanism is provided between the output end of the torque feedback component and the operating lever assembly.

[0054] The front end of the torque feedback component is connected to the pull rope through the floating end of the front and rear floating structure, or the front end of the torque feedback component is directly connected to the pull rope.

[0055] Preferably, when the axis of the operating handle of the operating lever assembly is parallel to the axis of the front and rear floating structures, the distance between the axis of the operating handle and the axis of the front and rear floating structures is less than 50mm.

[0056] Preferably, when the axis of the operating handle of the operating lever assembly is parallel to the base plane, the distance between the axis of the operating handle and the base plane is greater than 50mm.

[0057] like Figures 1 to 3 A closed-loop interventional robot master hand device includes a base 1013101, an axial force feedback component mounted on the base 1013101 (equivalent to a base), a torque feedback component located above the axial force feedback component, and an operating lever assembly. Traction seats (equivalent to support seats, including a left traction seat 1013103 and a right traction seat 1013104) are respectively installed on both sides of the base 1013101. Each traction seat is equipped with two upper and lower traction wheels 1013105 (equivalent to pulleys). Alternatively, each traction seat may have only one traction wheel 1013105.

[0058] The control lever assembly includes a control handle 10130001, which comprises an inner core and a surrounding elastomer 101300011. The surrounding elastomer wraps around the inner core of the control handle 10130001 at certain intervals. Both the inner core and the surrounding elastomer are provided with conductors. When the surrounding elastomer is not subjected to external force or is only slightly touched, the conductors of the inner core and the surrounding elastomer remain insulated. When the operator pinches the surrounding elastomer, causing it to deform, the conductors of the inner core and the surrounding elastomer come into contact and conduct electricity. At this time, the operation is detected. When the operator squeezes the operating handle 10130001, and releases it, the surrounding elastomer resets, keeping the inner core insulated from the conductor of the surrounding elastomer. This release of the operating handle 10130001 is detected. The operating handle 10130001 is fixedly mounted on the mounting bracket 10130014. A force sensor 10130015, which detects axial force, is fixedly connected to the rear end of the mounting bracket 10130014. The force sensor 10130015 is fixedly connected to a drive shaft 10130017. The force sensor 10130015 can be omitted, and axial force detection is not required. The drive shaft 10130017 is mounted on a slip ring 10130016, which solves the problem of cable entanglement when the conductor's lead rotates around its own axis. The operator holds the wraparound elastomer 101300011 and rotates it to simulate the action of rotating the intervention consumable. The drive shaft 10130017 is connected to the torque motor 10130019 with torque feedback component through the coupling 10130018. The torque motor 10130019 simulates the resistance torque encountered by the intervention consumable during rotation. The rear end of the torque motor 10130019 is equipped with an encoder 10130020 for measuring the rotation angle of the operating lever assembly.

[0059] It also includes a circumferential braking device. A first brake disc is mounted on the output shaft of the torque motor 10130019. The circumferential braking device comprises a first brake generator and a first friction plate on the output shaft of the first brake generator. The first friction plate on the output shaft of the first brake generator is in contact with the side of the first brake disc. The first brake generator can output a sufficiently large thrust to the first friction plate. The friction between the first friction plate and the first brake disc keeps the operating lever assembly in a stable circumferential posture. Alternatively, the output shaft can be kept at a fixed angle by PID position control of the torque motor 10130019 to achieve a locking function.

[0060] The axial force feedback assembly includes a winding reel 10130007 and an axial force motor 10130004. The output shaft of the axial force motor 10130004 is fixedly connected to the winding reel 10130007. The axial force motor 10130004 is mounted on a base 1013101. A pull rope is wound on the winding reel 10130007. The pull rope includes pull ropes A10130021 and B10130022 with opposite rotation directions. 21 Two sets of traction wheels from the left side of the base 1013101 are connected to the guide rail 1013106. The other end of the guide rail 1013106 is fixedly connected to the torque motor 10130019 of the torque feedback component. The pull rope B10130022 from the right side of the base 1013101 is connected to the right end of the operating lever assembly. The upper part of the support 10130003 is fixedly equipped with a slider 1013107 that cooperates with the guide rail 1013106.

[0061] Alternatively, ropes A and B can be connected to two sets of axial force motors and winding wheels respectively, moving forward and backward. The two sets of axial force motors and winding wheels move synchronously, so that the operating lever assembly can be subjected to force in both the forward and backward directions.

[0062] It also includes an axial braking device. The output shaft of the axial force motor 10130004 is equipped with a second brake disc. The axial braking device consists of a second brake generator and a second friction plate on the output shaft of the second brake generator. The second friction plate on the output shaft of the second brake generator is in contact with the side of the second brake disc. The second brake generator can output a sufficiently large thrust to the second friction plate. The friction between the second friction plate and the second brake disc keeps the axial attitude of the operating lever assembly unchanged. Alternatively, the PID position control of the axial force motor 10130004 can be used to keep the output shaft at a fixed angle to achieve a locking function.

[0063] Alternatively, the axial braking device can directly lock the operating lever assembly or other mechanisms or components that are axially linked to the operating lever assembly, such as sliders, traction wheels, etc.

[0064] The support assembly includes a support member 10130003, on which a front and rear floating structure, a pitch angle floating structure 1013100102, and a yaw angle floating structure 1013100103 are provided. The front and rear floating structures use a slider 1013107 and a guide rail 1013106. The yaw angle floating structure 1013100103 includes a rotating column 10131001031, which is rotatably mounted on the support member 10130003. The operating handle 10130001 can rotate around the axis of the rotating column 10131001031 during the movement along the axis, thereby realizing yaw angle floating in the left and right directions. Alternatively, the pitch angle floating structure 1013100102 and the yaw angle floating structure 1013100103 adopt an elastic floating structure without a mechanical rotating hinge structure, but the slider 1013107 is supported by an elastic support member 10130003.

[0065] The pitch angle floating structure 1013100102 includes a pitch block 10131001021 and a rotation shaft 10131001022. The pitch block 10131001021 is fixedly installed below the slider 1013107. Mounting plates 101310010311 are fixedly connected to both sides of the rotation column 10131001031. The pitch block 10131001021 is positioned between the two mounting plates 101310010311. The two rotation shafts 10131001022 are respectively fixed to both sides of the pitch block 10131001021. Two rotating shafts 10131001022 pass through the mounting plates 101310010311 on both sides and are rotatably connected to them. The operating handle 10130001 can rotate and float around the axis of the rotating shaft 10131001022 during the movement along the axis, realizing the pitch angle floating in the up and down direction. This effectively prevents the guide rail 1013106 from swaying and causing the slider 1013107 to be "locked up", avoids applying excessive overturning torque to the slider 1013107, and makes the relative sliding between the slider 1013107 and the guide rail 1013106 smoother.

[0066] When the axis of the operating handle 10130001 of the operating lever assembly is parallel to the axis of the front and rear floating structures, the distance between the axis of the operating handle and the axis of the front and rear floating structures is less than 50mm. The axis of the front and rear floating structures is the mounting direction of the guide rail 1013106. This close proximity avoids applying excessive overturning torque to the slider 1013107, resulting in smoother relative sliding between the slider 1013107 and the guide rail 1013106.

[0067] When the axis of the operating handle 10130001 of the operating lever assembly is parallel to the plane of the base 1013101, the distance between the axis of the operating handle 10130001 and the plane of the base 1013101 is greater than 50mm, thus leaving sufficient gripping space.

[0068] Example 2

[0069] This embodiment refers to the working principle of embodiment 1, and the difference from embodiment 1 is that: the output end of the torque feedback component is directly coaxially connected to the operating handle of the operating lever assembly or coaxially connected through a connecting rod. The torque feedback component is set on the support assembly. At this time, a front and rear floating mechanism is provided between the output end of the torque feedback component and the operating lever assembly. The front end of the torque feedback component is connected to the pull rope through the floating end of the front and rear floating structure.

[0070] Specifically, such as Figure 4 and Figure 5 A closed-loop interventional robot master hand device is disclosed, wherein the operating handle 10130001 is fixedly connected to a transmission rod 101300301, the front end of the transmission rod 101300301 is directly connected to a pull rope, and the transmission rod 101300301 passes through a sliding hole in the middle of the transmission ring 101300302 to achieve axial sliding, but maintains circumferential limitation between the transmission ring 101300302 and the transmission rod 101300301 (such as through a ball spline structure). The torque feedback component includes a second torque motor 101300303, the output shaft of the second torque motor 101300303 is fixedly connected to a second winding wheel 101300304, and the second winding wheel 101300304 and the transmission ring 101300302 transmit power through a transmission rope 101300305 or a transmission belt.

[0071] Alternatively, the second torque motor 101300303 can be a hollow motor with a tubular output shaft. Torque transmission to the transmission rod 101300301 (such as a splined shaft) can be achieved by directly setting a transmission ring 101300302 (such as a splined bushing) on ​​its output shaft.

[0072] The support assembly includes a support member 10130003, on which a front and rear floating structure, a pitch angle floating structure 1013100102, and a yaw angle floating structure 1013100103 are provided. The yaw angle floating structure 1013100103 includes a rotating column 10131001031, which is rotatably mounted on the support member 10130003. The operating handle 10130001 can rotate around the axis of the rotating column 10131001031 during the movement along the axis, thereby realizing yaw angle floating in the left and right directions.

[0073] The pitch angle floating structure 1013100102 includes a pitch block 10131001021 and a rotation shaft 10131001022. A second torque motor 101300303 is mounted on the pitch block 10131001021 via a connecting plate 101300306. A transmission ring 101300302 is rotatably mounted on the pitch block 10131001021. Mounting plates 101310010311 are fixedly connected to both sides of the rotation column 10131001031. The pitch block 10131001021 is positioned on the two mounting plates 10131001021. Between 1310010311, two rotating shafts 10131001022 are fixed on both sides of the pitch block 10131001021. The two rotating shafts 10131001022 pass through the mounting plates 101310010311 on both sides and are rotatably connected to them. The operating handle 10130001 can rotate around the axis of the rotating shaft 10131001022 during the movement along the axis, so as to realize the pitch angle floating in the up and down direction, effectively preventing the transmission rod 101300301 from being "stuck" by the transmission ring 101300302.

[0074] Example 3

[0075] This embodiment refers to the working principle of embodiment 1, and the difference from embodiment 1 is that: the output end of the torque feedback component is coaxially connected to the operating handle of the operating lever assembly through a connecting rod (instead of being directly coaxially connected), the torque feedback component generates torque feedback to the operating handle of the operating lever assembly, and at this time, a front and rear floating mechanism is provided between the fixed end of the torque feedback component and the support component; the front end of the torque feedback component is directly connected to the pull rope.

[0076] like Figures 6 to 8 A closed-loop interventional robot master hand device includes an axial force feedback component, a torque feedback component, an operating lever component, and a base 1013101, with a housing 10131011 mounted on the base 1013101.

[0077] The control lever assembly includes a control handle 10130001. One end of the control handle 10130001 is fixedly connected to a connecting rod 101300011. The connecting rod 101300011 passes through a through hole in the housing 10131011 and enters the housing 10131011. The connecting rod 101300011 passes through the central through hole of a slip ring 101300191 and connects to the torque motor 10130019 of the torque feedback assembly. The torque motor 10130019 is fixed to a mounting base 101300192. The slip ring 101300191 is also fixed to the mounting base 101300192, or directly sleeved on the outside of the connecting rod 101300011.

[0078] The fixed base 101300192 and the top of the housing 10131011 are supported and have their linear movement limited by the guide rail 1013106 and the slider 1013107. The guide rail 1013106 is fixed to the top of the housing 10131011 (or it can be fixed to the base 1013101, in which case the installation direction of the slider 1013107 and the fixed base 101300192 will be reversed by 180 degrees). The slider 1013107 and the fixed base 101300192... A pitch angle floating structure 1013100102 and a yaw angle floating structure 1013100103 are provided. The yaw angle floating structure 1013100103 includes a rotating column 10131001031, which is rotatably mounted on a fixed base 101300192. The operating handle 10130001 can rotate around the axis of the rotating column 10131001031 during movement along the axis, achieving yaw angle floating in the left and right directions. When the axis of rotation of the torque motor 10130019 is parallel to the guide rail 1013106, the minimum distance between the axis of rotation of the torque motor 10130019 and the guide rail 1013106 is less than 100mm, preferably 30-50mm. This effectively prevents the overturning moment from causing uneven friction between the guide rail 1013106 and the slider 1013107, thus avoiding interference with the force feedback effect.

[0079] However, this would result in a small gap between the operating handle 10130001 and the guide rail 1013106, making it difficult for the operator to grip. Therefore, a longer connecting rod 101300011 is used to connect the operating handle 10130001 to the shaft of the torque motor 10130019. The distance between the operating handle 10130001 and the torque motor 10130019 is greater than the travel distance of the guide rail 1013106 and the slider 1013107, allowing the operating handle 10130001 to extend from one side of the guide rail 1013106, providing sufficient gripping space. Preferably, the distance between the operating handle 10130001 and the torque motor 10130019 is greater than 150mm.

[0080] The pitch angle floating structure 1013100102 includes a pitch block 10131001021 and a rotation shaft 10131001022. The pitch block 10131001021 is fixedly installed below the slider 1013107. Mounting plates 101310010311 are fixedly connected to both sides of the rotation column 10131001031. The pitch block 10131001021 is positioned between the two mounting plates 101310010311. Two rotation shafts 10131001022... 01022 is fixed on both sides of the pitch block 10131001021. The two rotating shafts 10131001022 pass through the mounting plates 101310010311 on both sides and are rotatably connected to them. The operating handle 10130001 can rotate around the axis of the rotating shaft 10131001022 during the movement along the axis, so as to realize the pitch angle floating in the up and down direction, effectively preventing the guide rail 1013106 from swaying and causing the slider 1013107 to be "stuck".

[0081] The axial force feedback assembly includes a winding wheel 10130007 and an axial force motor 10130004. The output shaft of the axial force motor 10130004 is fixedly connected to the winding wheel 10130007. The axial force motor 10130004 is mounted on the support member 10130003 of the base 1013101. A pull rope is wound on the winding wheel 10130007. The pull rope includes pull ropes A10130021 and B10130022 with opposite rotation directions. Pull rope A10130021 passes around two sets of traction wheels on the left reversing column of the base 1013101 and is connected to the left end (or front end) of the slider or torque motor 10130019. Pull rope B10130022 passes around two sets of traction wheels on the right reversing column of the base 1013101 and is connected to the right end (or rear end) of the operating handle 10130001.

[0082] Alternatively, pull ropes A and B can be connected to two sets of axial force motors and winding wheels respectively, in the forward and backward directions. The two sets of axial force motors drive the winding wheels to rotate, and the winding wheels pull pull ropes A10130021 or B10130022, so that the connecting rod 101300011, the operating handle 10130001, and the torque motor 10130019 can be subjected to forces in both the forward and backward directions.

[0083] In the above embodiments, the pull rope A and pull rope B can also be replaced with a transmission belt, and the winding wheel can be replaced with a transmission pulley accordingly. One end of the transmission belt is wrapped around the outer circle of the transmission pulley. The axial force motor 10130004 drives the transmission pulley to rotate, thereby driving the transmission belt. The transmission belt passes over the two sets of traction wheels on the left reversing column of the base 1013101 and is connected to the left end (or front end) of the slider or torque motor 10130019. The transmission belt passes over the two sets of traction wheels on the right reversing column of the base 1013101 and is connected to the right end (or rear end) of the operating handle 10130001 through a pull rope structure or bearing structure. The pull rope structure or bearing structure allows the operating handle 10130001 to rotate relative to the transmission belt around the axis of the operating handle 10130001.

[0084] The foregoing has shown and described the basic principles, main features, and advantages of this utility model. It will be apparent to those skilled in the art that this utility model is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or basic characteristics of this utility model. Therefore, the embodiments should be considered exemplary and non-limiting in all respects. The scope of this utility model is defined by the appended claims rather than the foregoing description, and thus all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this utility model. No reference numerals in the claims should be construed as limiting the scope of the claims.

[0085] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A closed-loop interventional robotic master device, characterized by The axial force feedback assembly, the torque feedback assembly and the operating lever assembly are included; The operating lever assembly is manually manipulated by an operator to realize rotation and delivery of an interventional consumable by the slave device of the remote control vascular interventional surgery; The axial force feedback assembly applies corresponding axial force to the operating lever assembly to simulate axial resistance in the surgery process; the axial force feedback assembly includes a single axial force feedback element, and the front and rear ends of the operating lever assembly or the front end of the torque feedback assembly and the rear end of the operating lever assembly are respectively connected with the front and rear ends of the same pull rope or transmission belt, the pull rope or transmission belt is changed direction by the reversing assembly and then is in transmission connection with the axial force feedback element to form a closed loop; Alternatively, the front and rear ends of the operating lever assembly or the front end of the torque feedback assembly and the rear end of the operating lever assembly are respectively connected with two pull ropes or transmission belts, the two pull ropes or transmission belts are changed direction by the reversing assembly and then are in transmission connection with the same axial force feedback element to form a closed loop, and the axial force feedback element applies bidirectional force to the operating lever assembly through the pull rope or transmission belt; The torque feedback assembly applies torque around the axis to the operating lever assembly to simulate torque resistance in the surgery process.

2. The closed-loop interventional robotic master device of claim 1, wherein, The axial force feedback element includes a motor and a winding wheel, the pull rope is spirally wound on the winding wheel, the motor drives the winding wheel to rotate to make the pull rope be wound, and the pull rope applies corresponding axial force to the operating lever assembly to simulate axial resistance in the surgery process.

3. The closed-loop interventional robotic master device of claim 1, wherein, The axial force feedback element includes a motor and a transmission belt wheel, the transmission belt is wrapped around the transmission belt wheel, the motor drives the transmission belt wheel to rotate to make the transmission belt be driven, the transmission belt applies corresponding axial force to the operating lever assembly to simulate axial resistance in the surgery process, and the rear end of the operating lever assembly is connected with the transmission belt through a pull rope or a bearing structure to make the operating lever assembly rotatable relative to the transmission belt around the axis of the operating lever assembly.

4. The closed-loop interventional robotic master device of claim 2, wherein, The pull rope includes a pull rope A and a pull rope B, the front and rear ends of the operating lever assembly or the front end of the torque feedback assembly and the rear end of the operating lever assembly are respectively connected with the pull rope A and the pull rope B, both ends of the base are respectively provided with support seats, the support seats are provided with pulleys, the pull rope A and the pull rope B are changed direction by the pulleys and then are in transmission connection with the same axial feedback element to form a closed loop, or the pull rope A and the pull rope B are two parts of the same pull rope; The pull rope A and the pull rope B are spirally wound on the winding wheel in the same spiral direction, when the winding wheel rotates in the positive direction, the pull rope A is wound on the winding wheel, and the pull rope B is released from the winding wheel, when the winding wheel rotates in the reverse direction, the pull rope B is wound on the winding wheel, and the pull rope A is released from the winding wheel; The winding wheel has a spiral groove for guiding the pull rope to be spirally wound on the winding wheel, and the outer diameter of the winding wheel is 10-50 mm.

5. The closed-loop interventional robotic master device of claim 1, wherein, The operating lever assembly comprises an operating handle, the operating handle comprises an inner core and a surrounding elastomer, the surrounding elastomer is spaced from the inner core of the operating handle, the inner core and the surrounding elastomer are both provided with conductors, the conductors of the inner core and the surrounding elastomer are in an insulating state when the surrounding elastomer is not subjected to external force or is only slightly touched, the conductors of the inner core and the surrounding elastomer are in contact and conduct when the operator squeezes the surrounding elastomer to deform the surrounding elastomer and make the conductors of the inner core and the surrounding elastomer contact each other, at this time, the squeezing of the operator on the operating handle is detected, when the operator releases the operating handle, the surrounding elastomer returns to the original position, so that the conductors of the inner core and the surrounding elastomer are in an insulating state, at this time, the release of the operator on the operating handle is detected.

6. The closed-loop interventional robotic master device of claim 1, wherein, The support assembly is further provided, the support assembly is used for supporting the operating lever assembly to suspend in the air, so that the operator can hold the operating lever assembly more easily, the support assembly is arranged on the base, the support assembly comprises a floating anti-rotation mechanism, the floating anti-rotation mechanism is used for keeping the torque feedback assembly and the base relatively slidable along the axis of the operating lever assembly, and the floating anti-rotation mechanism prevents the fixed end of the torque feedback assembly and the base from relatively rotating around the axis of the operating lever assembly.

7. The closed-loop interventional robotic master device of claim 6, wherein, The floating anti-rotation mechanism adopts one or a combination of front and rear floating structure, yaw angle floating structure and pitch angle floating structure; the front and rear floating structure keeps the axial position between the operating lever assembly and the base relatively floating during movement; the yaw angle floating structure enables the operating lever assembly to deflect left and right when moving along the axis of the operating lever assembly, and the pitch angle floating structure enables the operating lever assembly to deflect up and down when moving along the axis of the operating lever assembly.

8. The closed-loop interventional robotic master device of claim 7, wherein, The output end of the torque feedback assembly is coaxially connected with the operating handle of the operating lever assembly directly or through a connecting rod, the torque feedback assembly generates torque feedback on the operating handle of the operating lever assembly, at this time, the front and rear floating structure is arranged between the fixed end of the torque feedback assembly and the support assembly; Or the torque feedback assembly is arranged on the support assembly, at this time, the front and rear floating structure is arranged between the output end of the torque feedback assembly and the operating lever assembly; The front end of the torque feedback assembly is connected with the pull rope through the floating end of the front and rear floating structure, or the front end of the torque feedback assembly is directly connected with the pull rope.

9. The closed-loop interventional robotic master device of claim 8, wherein, When the axis of the operating handle of the operating lever assembly is parallel to the axis of the front and rear floating structure, the distance between the axis of the operating handle and the axis of the front and rear floating structure is less than 50 mm.

10. The closed-loop interventional robotic master device of claim 1, wherein, When the axis of the operating handle of the operating lever assembly is parallel to the base plane, the distance between the axis of the operating handle and the base plane is greater than 50 mm.

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