Operation device and interventional operation robot

Abstract

The utility model belongs to the technical field of medical instruments, and relates to an operation device and an interventional surgical robot. The operation device comprises a first torque feedback mechanism, a first angle detection mechanism and a first operation mechanism, the first operation mechanism is used for uninterruptedly operating and outputting a first control instruction, and the first angle detection mechanism is used for detecting the rotation angle of the first operation mechanism; and the first torque feedback mechanism is used for providing a reverse force for the first operating mechanism. The first operating mechanism can be operated continuously to control delivery or withdrawal of the slender medical device, the hand feeling of a user for continuously delivering or withdrawing the slender medical device can be kept, and distortion of judgment on a force feedback result is avoided.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and more specifically, to an operating device and an interventional surgical robot. Background Technology

[0002] Given that surgeons are exposed to X-rays for extended periods during vascular interventional procedures, a remotely operated master-slave vascular interventional surgical robot has been developed. Currently, the master end of the surgical robot's control lever is connected to a horizontal encoder and a torque motor via a drive rack. As the user moves the control lever back and forth, its displacement is measured by the horizontal encoder on the drive rack. The feedback torque generated by the torque motor is transmitted to the control lever through the drive rack, thus forming a feedback force. This feedback force is transmitted to the user's hand through the control lever. The control lever is connected to the encoder's code disk, and the lever's torsional angle is measured by the code disk.

[0003] However, the above structure has the following drawbacks: when using the joystick, the range of forward and backward movement of the user's hand is limited by the length of the joystick itself and the length of the drive rack; and in force feedback mode, the user needs to repeatedly push and pull the joystick to advance the guidewire catheter. This operation method transforms the process of continuously pushing the guidewire catheter during intervention into a reciprocating motion of the hand, which makes it impossible to maintain the user's continuous delivery feel of the guidewire catheter in terms of mechanism, thus causing the user's judgment of the force feedback result to be distorted. Utility Model Content

[0004] This application provides an operating device and an interventional surgical robot to solve the problem in the prior art where users need to repeatedly push and pull the control lever, resulting in distortion of force feedback.

[0005] To address the aforementioned technical problems, this application provides an operating device that employs the following technical solution:

[0006] An operating device includes: a first torque feedback mechanism, a first angle detection mechanism, and a first operating mechanism. The first operating mechanism is used to operate continuously and output a first control command. The first angle detection mechanism is used to detect the rotation angle of the first operating mechanism. The first torque feedback mechanism is used to provide a reverse force to the first operating mechanism.

[0007] Furthermore, the first operating mechanism includes a first rotating member and a first operating member. The first operating member is continuously arranged along the circumference of the first rotating member. The first rotating member provides support for the first operating member. The first angle detection mechanism is used to detect the rotation angle of the first operating member. The first torque feedback mechanism is used to provide a reverse force to the first operating member.

[0008] Furthermore, the first operating element is a first rolling element, which is sleeved on the first rotating element; or,

[0009] The first operating element is a first control lever, which is connected to the end of the first rotating element, and the length direction of the first control lever is perpendicular to the axial direction of the first rotating element; or,

[0010] The first operating component is a first conveyor component, which includes a first conveyor belt and a first driving component. The two ends of the first conveyor belt are respectively sleeved on the first rotating component and the first driving component.

[0011] Furthermore, the first torque feedback mechanism includes a first motor and a first transmission assembly. The first transmission assembly is connected to both the first rotating member and the first motor. The first motor is used to output a reverse force, and the first transmission assembly is used to transmit the reverse force to the first rotating member; and / or,

[0012] The first angle detection mechanism includes a first code disk and a first encoder. The first code disk is mounted on the first operating member and rotates synchronously with the first operating member.

[0013] Furthermore, the operating device also includes a second torque feedback mechanism, a second angle detection mechanism, and a second operating mechanism. The second operating mechanism is used to operate continuously and output a second control command. The second angle detection mechanism is used to detect the rotation angle of the second operating mechanism. The second torque feedback mechanism is used to provide a reverse force to the second operating mechanism.

[0014] Furthermore, the second operating mechanism includes a second rotating member and a second operating member. The second operating member is continuously arranged along the circumference of the second rotating member. The second rotating member provides support for the second operating member. The second angle detection mechanism is used to detect the rotation angle of the second operating member. The second torque feedback mechanism is used to provide a reverse force to the second operating member.

[0015] Furthermore, the second operating element is a second rolling element, which is sleeved on the second rotating element; or,

[0016] The second operating element is a second joystick, which is connected to the end of the second rotating element, and the length direction of the second joystick is perpendicular to the axial direction of the second rotating element; or,

[0017] The second operating component is a second conveyor component, which includes a second conveyor belt and a second driving component. The two ends of the second conveyor belt are respectively sleeved on the second rotating component and the second driving component.

[0018] Furthermore, the operating device includes a housing, and the first torque feedback mechanism, the first angle detection mechanism, the first operating mechanism, the second torque feedback mechanism, the second angle detection mechanism, and the second operating mechanism are disposed in the housing. The axial direction of the first operating mechanism is perpendicular to the axial direction of the second operating mechanism, and the first operating mechanism and the second operating mechanism respectively protrude from adjacent sides of the housing.

[0019] Furthermore, the operating device includes a first side-pressure switch, a second side-pressure switch, a third torque feedback mechanism, and a fourth torque feedback mechanism. The first side-pressure switch and the third torque feedback mechanism are located on one side of the first operating mechanism, and the second side-pressure switch and the fourth torque feedback mechanism are located on the other side of the first operating mechanism. The first operating mechanism can swing toward the first side-pressure switch or the second side-pressure switch. The third torque feedback mechanism and the fourth torque feedback mechanism are used to provide a reverse force to the first operating mechanism.

[0020] To address the aforementioned technical problems, this application also provides an interventional surgical robot, which employs the following technical solution:

[0021] An interventional surgical robot includes a slave robot and an operating device as described above; the operating device is used to cooperate with the slave robot, the slave robot receives control commands from the first operating mechanism, and performs corresponding operations.

[0022] Compared with the prior art, the embodiments of this application have the following advantages: Since the user can operate the first operating mechanism continuously and output the first control command through the first operating mechanism, the user will not be limited by the length of the first operating mechanism when controlling the delivery or withdrawal of the slender medical device through the operating device. This maintains the user's continuous delivery or withdrawal of the slender medical device in terms of mechanism, thereby avoiding the distortion of the user's judgment of the force feedback result. Attached Figure Description

[0023] To more clearly illustrate the solution of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the structure of an operating device according to this application;

[0025] Figure 2 yes Figure 1 Another perspective;

[0026] Figure 3 yes Figure 1 A schematic diagram of the structure after the outer shell is hidden;

[0027] Figure 4 yes Figure 3 A schematic diagram of the delivery system;

[0028] Figure 5 yes Figure 3 A schematic diagram of the torsion system.

[0029] Reference numerals: 100, delivery system; 110, first rotating component; 120, first torque feedback mechanism; 121, first motor; 122, first transmission assembly; 1221, first gear; 1222, second gear; 130, first angle detection mechanism; 131, first code disk; 132, first encoder; 140, first operating component; 200, torsion system; 210, second rotating component; 220, second torque feedback mechanism; 221, second motor; 222, second transmission assembly; 2221, third gear; 2222, fourth gear; 230, second angle detection mechanism; 231, second code disk; 232, second encoder; 240, second operating component; 300, housing. Detailed Implementation

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0031] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0032] To enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings.

[0033] This application provides an operating device, such as... Figure 3 and4 As shown, the operating device includes: a first torque feedback mechanism 120, a first angle detection mechanism 130, and a first operating mechanism. The first operating mechanism is used to operate continuously and output a first control command. The first angle detection mechanism 130 is used to detect the rotation angle of the first operating mechanism. The first torque feedback mechanism 120 is used to provide a reverse force to the first operating mechanism.

[0034] The working principle of an operating device according to an embodiment of this application is as follows: the user operates the first operating mechanism to rotate, the first angle detection mechanism 130 detects the rotation angle of the first operating mechanism and feeds the rotation angle back to the slave robot, the slave robot controls the delivery or withdrawal of the slender medical device according to the rotation angle, at the same time, the slave robot records the resistance during intervention and feeds the resistance information back to the first torque feedback mechanism 120, the first torque feedback mechanism 120 provides a reverse force to the first operating mechanism according to the resistance information.

[0035] The beneficial effect of an operating device according to an embodiment of this application is that, since the user can operate the first operating mechanism continuously and output the first control command through the first operating mechanism, the user is not limited by the length of the first operating mechanism when controlling the delivery or withdrawal of the slender medical device through the operating device. This maintains the user's continuous delivery or withdrawal of the slender medical device in terms of mechanism, thereby avoiding distortion of the user's judgment of the force feedback result.

[0036] Furthermore, the first operating mechanism includes a first rotating member 110 and a first operating member 140. The first operating member 140 is continuously arranged circumferentially along the first rotating member 110. The first rotating member 110 provides support for the first operating member 140. The first angle detection mechanism 130 is used to detect the rotation angle of the first operating member 140. The first torque feedback mechanism 120 is used to provide a reverse force to the first operating member 140.

[0037] In this embodiment, since the first operating member 140 is continuously arranged along the circumference of the first rotating member 110, the user can control the delivery or withdrawal of the slender medical device by rotating the first operating member 140 without being limited by the length of the first rotating member 110 or the first operating member 140 itself, so as to realize the uninterrupted operation of the first operating member 140. Moreover, the uninterrupted delivery or withdrawal of the slender medical device can be achieved by continuously rubbing the first operating member 140, so that the user can maintain the feeling of continuously delivering or withdrawing the slender medical device in terms of mechanism, thereby avoiding the distortion of the user's judgment of the force feedback result. In addition, this application eliminates the existing operating rod push-pull structure, making the structure of the operating device more compact, thereby reducing the risk of accidental operation due to accidental contact with the operating rod during the operation.

[0038] In this embodiment, the first rotating member 110 is rotatably mounted on the first mounting bracket (not shown).

[0039] Preferably, the first operating member 140 is a first rolling member, which is sleeved on the first rotating member 110.

[0040] In this embodiment, the first rolling element can be a roller or a ball.

[0041] In this embodiment, the user can continuously scroll the first scrolling component by rubbing it. The first angle detection mechanism 130 is used to detect the rotation angle of the first scrolling component, and the first torque feedback mechanism 120 is used to provide a reverse force to the first scrolling component. Moreover, the operation method of the first operating component 140 is similar to that of a common scroll wheel mouse on the market, which reduces the difficulty for users to learn how to use the operating device.

[0042] Optionally, the first operating member 140 is a first control lever (not shown), which is connected to the end of the first rotating member 110, and the length direction of the first control lever is perpendicular to the axial direction of the first rotating member 110.

[0043] In this embodiment, the user moves the first control lever, which drives the first rotating component 110 to rotate continuously. The first angle detection mechanism 130 is used to detect the rotation angle of the first control lever, and the first torque feedback mechanism 120 is used to provide a reverse force to the first control lever.

[0044] Optionally, the first operating member 140 is a first conveyor (not shown), which includes a first conveyor belt and a first driving member, with the two ends of the first conveyor belt respectively sleeved on the first rotating member 110 and the first driving member.

[0045] In this embodiment, the first driving component can be a gear or a shaft.

[0046] In this embodiment, the user rotates the first driving member, which drives the first rotating member 110 to rotate via the first conveyor belt. The first angle detection mechanism 130 is used to detect the rotation angle of the first driving member, and the first torque feedback mechanism 120 is used to provide a reverse force to the first driving member.

[0047] Of course, the first operating mechanism may also include other parts or transmission structures that convert linear motion into rotation or rolling, and this application does not impose any restrictions on these.

[0048] Specifically, the operating device includes a delivery system 100, which includes a first torque feedback mechanism 120, a first angle detection mechanism 130, and a first operating mechanism.

[0049] like Figures 3 to 5As shown, the operating device further includes a second torque feedback mechanism 220, a second angle detection mechanism 230, and a second operating mechanism. The second operating mechanism is used to operate continuously and output a second control command. The second angle detection mechanism 230 is used to detect the rotation angle of the second operating mechanism. The second torque feedback mechanism 220 is used to provide a reverse force to the second operating mechanism.

[0050] In this embodiment, the user operates the second operating mechanism to rotate it. The second angle detection mechanism 230 detects the rotation angle of the second operating mechanism and feeds the rotation angle back to the slave robot. The slave robot controls the rotation of the slender medical device according to the rotation angle. At the same time, the slave robot records the resistance during intervention and feeds the resistance information back to the second torque feedback mechanism 220. The second torque feedback mechanism 220 provides a reverse force to the second operating mechanism according to the resistance information.

[0051] In this embodiment, the first operating mechanism and the second operating mechanism are not connected and are set independently, which reduces the possibility of accidental activation during the operation.

[0052] Furthermore, the second operating mechanism includes a second rotating member 210 and a second operating member 240. The second operating member 240 is continuously arranged circumferentially along the second rotating member 210. The second rotating member 210 provides support for the second operating member 240. The second angle detection mechanism 230 is used to detect the rotation angle of the second operating member 240. The second torque feedback mechanism 220 is used to provide a reverse force to the second operating member 240.

[0053] In this embodiment, since the second operating member 240 is continuously arranged along the circumference of the second rotating member 210, the user can control the rotation of the slender medical device by rotating the second operating member 240 without being limited by the length of the second rotating member 210 or the second operating member 240 itself, so as to realize the uninterrupted operation of the second operating member 240. Moreover, continuously rubbing the second operating member 240 can realize the uninterrupted delivery or withdrawal of the slender medical device, so that the user can maintain the feel of continuously rotating the slender medical device in terms of mechanism, thereby avoiding the distortion of the user's judgment of the force feedback result.

[0054] In this embodiment, the second rotating member 210 is rotatably mounted on the second mounting bracket (not shown).

[0055] Preferably, the second operating member 240 is a second rolling member, which is sleeved on the second rotating member 210.

[0056] In this embodiment, the second rolling element can be a roller or a ball.

[0057] In this embodiment, the user can continuously scroll the second scroll wheel by rubbing it. The second angle detection mechanism 230 is used to detect the rotation angle of the second scroll wheel, and the second torque feedback mechanism 220 is used to provide a reverse force to the second scroll wheel. Moreover, the operation method of the second operating component 240 is similar to that of a common scroll wheel mouse on the market, which reduces the difficulty for users to learn how to use the operating device.

[0058] Optionally, the second operating member 240 is a second control lever (not shown), which is connected to the end of the second rotating member 210, and the length direction of the second control lever is perpendicular to the axial direction of the second rotating member 210.

[0059] In this embodiment, the user moves the second control lever, which drives the second rotating component 210 to rotate continuously. The second angle detection mechanism 230 is used to detect the rotation angle of the second control lever, and the second torque feedback mechanism 220 is used to provide a reverse force to the second control lever.

[0060] Optionally, the second operating member 240 is a second conveyor (not shown), which includes a second conveyor belt and a second driving member. The two ends of the second conveyor belt are respectively sleeved on the second rotating member 210 and the second driving member.

[0061] In this embodiment, the second driving component can be a gear or a shaft.

[0062] In this embodiment, the user rotates the second driving member, which drives the second rotating member 210 to rotate via the second conveyor belt. The second angle detection mechanism 230 is used to detect the rotation angle of the second driving member, and the second torque feedback mechanism 220 is used to provide a reverse force to the second driving member.

[0063] Of course, the second operating mechanism may also include other parts or transmission structures that convert linear motion into rotation or rolling, and this application does not impose any restrictions on these.

[0064] like Figures 1 to 5 As shown, the operating device further includes a housing 300, and the first torque feedback mechanism 120, the first angle detection mechanism 130, the first operating mechanism, the second torque feedback mechanism 220, the second angle detection mechanism 230, and the second operating mechanism are disposed in the housing 300. The axial direction of the first operating mechanism is perpendicular to the axial direction of the second operating mechanism, and the first operating mechanism and the second operating mechanism protrude from adjacent sides of the housing 300 respectively.

[0065] In this embodiment, the axis of the first operating mechanism is perpendicular to the axis of the second operating mechanism, and the first and second operating mechanisms protrude from adjacent sides of the housing 300, so that the user can control the delivery, withdrawal and rotation of the slender medical device with one hand at the same time; for example, the user controls the delivery or withdrawal of the slender medical device by rubbing the first operating mechanism with the index finger, and the user controls the rotation of the slender medical device by rubbing the second operating mechanism with the thumb.

[0066] Specifically, the first operating member 140 and the second operating member 240 protrude from adjacent sides of the housing 300, respectively.

[0067] Optionally, the operating device includes a first side-pressure switch (not shown), a second side-pressure switch (not shown), a third torque feedback mechanism (not shown), and a fourth torque feedback mechanism (not shown). The first side-pressure switch and the third torque feedback mechanism are located on one side of the first operating mechanism, and the second side-pressure switch and the fourth torque feedback mechanism are located on the other side of the first operating mechanism. The first operating mechanism can swing toward the first side-pressure switch or the second side-pressure switch. The third torque feedback mechanism and the fourth torque feedback mechanism are used to provide a reverse force to the first operating mechanism.

[0068] In this embodiment, the user swings the first operating mechanism toward the first or second side-pressure switch. After the first or second side-pressure switch is triggered, it feeds back a rotation signal to the slave robot. The slave robot controls the rotation of the slender medical device according to the rotation signal. At the same time, the slave robot records the resistance during intervention and feeds back the resistance information to the third or fourth torque feedback mechanism. The third or fourth torque feedback mechanism provides a counterforce to the first operating mechanism according to the resistance information.

[0069] Specifically, the first side pressure switch and the third torque feedback mechanism are located on one side of the first operating member 140, and the second side pressure switch and the fourth torque feedback mechanism are located on the other side of the first operating member 140. The first operating member 140 can swing toward the first side pressure switch or the second side pressure switch. The third torque feedback mechanism and the fourth torque feedback mechanism are used to provide a reverse force to the first operating member 140.

[0070] Specifically, the operating device includes a torsion system 200; the torsion system 200 includes a second torque feedback mechanism 220, a second angle detection mechanism 230, and a second operating mechanism; or, the torsion system 200 includes a first side pressure switch, a second side pressure switch, a third torque feedback mechanism, and a fourth torque feedback mechanism.

[0071] In this embodiment, the torsion system 200 is disposed on the side of the first operating mechanism, making the structure of the operating device more compact.

[0072] like Figure 4 As shown, the first torque feedback mechanism 120 further includes a first motor 121 and a first transmission component 122. The first transmission component 122 is connected to the first rotating member 110 and the first motor 121 respectively. The first motor 121 is used to output a reverse force, and the first transmission component 122 is used to transmit the reverse force to the first rotating member 110.

[0073] In this embodiment, the slave robot records the resistance during the intervention of the slender medical device and feeds back the resistance information to the first motor 121. The first motor 121 transmits the reverse force to the first rotating component 110 through the first transmission component 122. The first rotating component 110 transmits the reverse force to the first operating component 140. The first operating component 140 transmits the reverse force to the user's hand, thereby achieving the effect that the first torque feedback mechanism 120 provides a reverse force to the first operating component 140 based on the resistance information.

[0074] Furthermore, the first transmission component 122 includes a first gear 1221 and a second gear 1222. The first gear 1221 is fixed to the drive end of the first motor 121, and the second gear 1222 is sleeved on the first rotating member 110 and fixed to the first rotating member 110. The first gear 1221 meshes with the second gear 1222.

[0075] In this embodiment, the slave robot records the resistance during the intervention of the slender medical device and feeds the resistance information back to the first motor 121. The first motor 121 drives the first gear 1221 to move in the opposite direction relative to the first rotating member 110. The first gear 1221 drives the second gear 1222 to move in the opposite direction. The second gear 1222 provides a reverse force to the first rotating member 110. The first rotating member 110 transmits the reverse force to the first operating member 140. The first operating member 140 transmits the reverse force to the user's hand.

[0076] In this embodiment, the second gear 1222 is sleeved on the first rotating member 110 and fixed to the first rotating member 110. It is also connected to the first motor 121 through the second gear 1222. When the first motor 121 drives the first gear 1221 to move in the opposite direction, the transmission between the first gear 1221 and the second gear 1222 is not limited by the length of the first rotating member 110 or the first operating member 140 itself. This achieves the effect of the first torque feedback mechanism 120 continuously providing reverse force to the first operating member 140 according to the resistance information.

[0077] Optionally, the first motor 121 can be a torque motor, a brushless motor, a stepper motor, or a coreless motor.

[0078] Furthermore, the first angle detection mechanism 130 includes a first code disk 131 and a first encoder 132. The first code disk 131 is mounted on the first operating member 140 and rotates synchronously with the first operating member 140.

[0079] In this embodiment, when the user rotates the first operating component 140, the first code disk 131 rotates along with the first operating component 140. The first encoder 132 measures the rotation angle of the first operating component 140 and feeds the rotation angle back to the slave robot. The rotation angle indicates whether the first rotating component 110 is rotating clockwise or counterclockwise. The slave robot delivers or withdraws the slender medical device according to the rotation angle. At the same time, the slave robot records the resistance during intervention and feeds the resistance information back to the first torque feedback mechanism 120. The first torque feedback mechanism 120 provides a counterforce to the first rotating component 110 and the first operating component 140 according to the resistance information.

[0080] Of course, the first angle detection mechanism 130 can also use accelerometers, gyroscopes, azimuth measuring instruments and motors, etc., which can measure rotation.

[0081] like Figure 5 As shown, the second torque feedback mechanism 220 further includes a second motor 221 and a second transmission component 222. The second transmission component 222 is connected to the second rotating member 210 and the second motor 221 respectively. The second motor 221 is used to output a reverse force, and the second transmission component 222 is used to transmit the reverse force to the second rotating member 210.

[0082] In this embodiment, the slave robot records the resistance during the intervention of the slender medical device and feeds back the resistance information to the second motor 221. The second motor 221 transmits the reverse force to the second rotating component 210 through the second transmission component 222. The second rotating component 210 transmits the reverse force to the second operating component 240. The second operating component 240 transmits the reverse force to the user's hand, thereby achieving the effect of the second torque feedback mechanism 220 providing a reverse force to the second operating component 240 based on the resistance information.

[0083] Furthermore, the second transmission component 222 includes a third gear 2221 and a fourth gear 2222. The third gear 2221 is fixed to the drive end of the second motor 221, and the fourth gear 2222 is sleeved on the second rotating member 210 and fixed to the second rotating member 210. The third gear 2221 meshes with the fourth gear 2222.

[0084] In this embodiment, the slave robot records the resistance during the intervention of the slender medical device and feeds the resistance information back to the second motor 221. The second motor 221 drives the third gear 2221 to move in the opposite direction relative to the second rotating member 210. The third gear 2221 drives the fourth gear 2222 to move in the opposite direction. The fourth gear 2222 provides a reverse force to the second rotating member 210. The second rotating member 210 transmits the reverse force to the second operating member 240. The second operating member 240 transmits the reverse force to the user's hand.

[0085] In this embodiment, the fourth gear 2222 is sleeved on the second rotating member 210 and fixed to the second rotating member 210, and is connected to the second motor 221 through the third gear 2221. This allows the transmission between the third gear 2221 and the fourth gear 2222 to be unrestricted by the length of the second rotating member 210 or the second operating member 240 when the second motor 221 drives the third gear 2221 to move in the opposite direction. This achieves the effect of the second torque feedback mechanism 220 continuously providing a reverse force to the second operating member 240 based on the resistance information.

[0086] Optionally, the second motor 221 can be a torque motor, a brushless motor, a stepper motor, or a coreless motor.

[0087] Furthermore, the second angle detection mechanism 230 includes a second code disk 231 and a second encoder 232. The second code disk 231 is mounted on the second rotating member 210 and rotates synchronously with the second rotating member 210.

[0088] In this embodiment, when the user rotates the second operating member 240, the second code disk 231 rotates along with the second rotating member 210. The second encoder 232 measures the rotation angle of the second rotating member 210 and feeds the rotation angle back to the slave robot. The rotation angle indicates whether the second rotating member 210 is rotating clockwise or counterclockwise. The slave robot controls the slender medical device to rotate clockwise or counterclockwise according to the rotation angle. At the same time, the slave robot records the resistance during intervention and feeds the resistance information back to the second torque feedback mechanism 220. The second torque feedback mechanism 220 provides a counterforce to the second rotating member 210 and the second operating member 240 according to the resistance information.

[0089] Of course, the second angle detection mechanism 230 can also use devices that can measure rotation, such as accelerometers, gyroscopes, azimuth measuring instruments, and motors.

[0090] This application also provides an interventional surgical robot, which includes a slave robot and the operating device described above; the operating device is used to cooperate with the slave robot, the slave robot receives control commands from the first operating mechanism and performs corresponding operations, such as delivering or withdrawing a slender medical device.

[0091] The beneficial effects of an interventional surgical robot according to an embodiment of this application are as follows: Since the user can operate the first operating mechanism continuously and output the first control command through the first operating mechanism, the user will not be limited by the length of the first operating mechanism itself when delivering or withdrawing a slender medical device through the operating device. This maintains the user's continuous delivery or withdrawal of the slender medical device in terms of mechanism, thereby avoiding distortion of the user's judgment of the force feedback result.

[0092] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An apparatus operable to, The operation device comprises a first torque feedback mechanism, a first angle detection mechanism and a first operation mechanism, the first operation mechanism is used for uninterrupted operation and outputs a first control instruction, the first angle detection mechanism is used for detecting the rotation angle of the first operation mechanism, and the first torque feedback mechanism is used for providing a reverse force to the first operation mechanism. The first operation mechanism comprises a first rotating member and a first operation member, the first operation member is arranged uninterrupted in the circumferential direction of the first rotating member, the first rotating member provides support for the first operation member, the first angle detection mechanism is used for detecting the rotation angle of the first operation member, and the first torque feedback mechanism is used for providing a reverse force to the first operation member.

2. The operating device according to claim 1, characterized in that The first operation member is a first rolling member, and the first rolling member is sleeved on the first rotating member; or 3. The operating device according to claim 2, characterized in that The first operation member is a first joystick, the first joystick is connected with the end of the first rotating member, and the length direction of the first joystick is arranged perpendicular to the axial direction of the first rotating member; or The first operation member is a first conveying member, the first conveying member comprises a first conveying belt and a first driving member, and the two ends of the first conveying belt are sleeved on the first rotating member and the first driving member respectively. The first torque feedback mechanism comprises a first motor and a first transmission assembly, the first transmission assembly is connected with the first rotating member and the first motor respectively, the first motor is used for outputting a reverse force, and the first transmission assembly is used for transmitting the reverse force to the first rotating member; and / or 4. The operating device according to claim 2, characterized in that The first angle detection mechanism comprises a first code disc and a first encoder, the first code disc is arranged on the first operation member and rotates synchronously with the first operation member. The operation device further comprises a second torque feedback mechanism, a second angle detection mechanism and a second operation mechanism, the second operation mechanism is used for uninterrupted operation and outputs a second control instruction, the second angle detection mechanism is used for detecting the rotation angle of the second operation mechanism, and the second torque feedback mechanism is used for providing a reverse force to the second operation mechanism.

5. Operating device according to any one of claims 1 to 4, characterized in that The second operation mechanism comprises a second rotating member and a second operation member, the second operation member is arranged uninterrupted in the circumferential direction of the second rotating member, the second rotating member provides support for the second operation member, the second angle detection mechanism is used for detecting the rotation angle of the second operation member, and the second torque feedback mechanism is used for providing a reverse force to the second operation member.

6. The operating device according to claim 5, characterized in that The second operation member is a second rolling member, and the second rolling member is sleeved on the second rotating member; or 7. The operating device according to claim 6, characterized in that The second operation member is a second joystick, the second joystick is connected with the end of the second rotating member, and the length direction of the second joystick is arranged perpendicular to the axial direction of the second rotating member; or the second operation member is a second conveying member, the second conveying member comprises a second conveying belt and a second driving member, and the two ends of the second conveying belt are sleeved on the second rotating member and the second driving member respectively. ​ 8. The operating device according to claim 5, characterized in that The operation device comprises a housing, the first torque feedback mechanism, the first angle detection mechanism, the first operation mechanism, the second torque feedback mechanism, the second angle detection mechanism and the second operation mechanism are arranged in the housing, the axial direction of the first operation mechanism is perpendicular to the axial direction of the second operation mechanism, and the first operation mechanism and the second operation mechanism respectively protrude from two adjacent sides of the housing.

9. Operating device according to any one of claims 1 to 4, characterized in that The operation device comprises a first side pressure switch, a second side pressure switch, a third torque feedback mechanism and a fourth torque feedback mechanism, the first side pressure switch and the third torque feedback mechanism are located on one side of the first operation mechanism, the second side pressure switch and the fourth torque feedback mechanism are located on the other side of the first operation mechanism, the first operation mechanism can swing towards the first side pressure switch or the second side pressure switch, and the third torque feedback mechanism and the fourth torque feedback mechanism are used for providing reverse force to the first operation mechanism.

10. An interventional procedure robot, characterized by The operation device comprises a slave robot and any one of claims 1 to 9, the operation device is used in cooperation with the slave robot, the slave robot receives a control instruction of the first operation mechanism and performs corresponding operation.

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