Torque sensing device for interventional robot

Abstract

The utility model discloses a moment sensing device for an interventional robot, which comprises a rotating shaft, a rotating frame and a force transducer, the rotating frame is rotatably arranged in a hinge connecting piece through a bearing structure a or a shaft sleeve structure, the hinge connecting piece and the rotating shaft are coaxially arranged, and the rotating frame can lock interventional consumables. When the interventional consumables are subjected to torque in the rotating process, the rotating frame can rotate around the hinge connecting piece, the torque can be converted into push-pull force through the torque conversion structure, the push-pull force is applied to the force measuring sensor, and the torque borne by the interventional consumables can be converted in combination with the force arm after the push-pull force is measured. Compared with a torque sensor, the force measuring sensor is more sensitive, so that the mode is high in sensitivity and reliable in detection, and the measurement of weak torque signals borne by the intervention consumables can be realized. The device has a high-precision force sensing function, can measure the circumferential torque of the interventional consumable in the delivery process, and is simple to operate and accurate to control.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of interventional robot, specifically relates to a torque sensing device for interventional robot. BACKGROUND

[0002] Minimally invasive interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. It uses interventional devices to diagnose and treat diseases through physiological cavities under the guidance of perspective imaging equipment, and has obvious advantages such as good curative effect, high safety, small incision and short postoperative recovery time compared with traditional surgical operation.

[0003] In the process of vascular interventional surgery, the main steps include femoral artery / radial artery puncture, coordinated progression of guide wire and angiography catheter, digital subtraction angiography (DSA), coordinated progression of treatment guide wire and balloon catheter, and placement of vascular stent. In this operation, the coordinated progression of guide wire, catheter and balloon catheter is a time-consuming link and needs to be carried out under the navigation of X-ray auxiliary image. The current vascular interventional surgery is usually completed manually by doctors. During the operation, the doctor needs to wear heavy lead clothes to complete the operation due to the X-ray emitted by DSA. The doctor's physical strength decreases rapidly, and the attention and stability also decrease, which will lead to the decrease of operation precision and the accidents such as endovascular injury and vascular perforation caused by improper pushing force, which will endanger the patient's life. Moreover, long-term wearing of lead clothes will cause damage to the doctor's spine. Secondly, the accumulation of long-term ionizing radiation will greatly increase the probability of the doctor suffering from leukemia, cancer and acute cataract. Therefore, in order to protect the health of doctors and the quality of operation, the research and development of interventional surgery robots are becoming more and more important, and the robots that can be applied in clinical application are becoming more and more.

[0004] The existing interventional surgery robot mainly adopts master-slave end operation structure to isolate the doctor from the radioactive environment. The existing interventional robot end device needs to clamp the catheter, guide wire and other slender medical instruments to move from the proximal end to the distal end, drive the catheter and guide wire to advance through the coordinated movement of the device and deliver them to the lesion in the patient's body (such as blood vessels), so as to facilitate the doctor to carry out subsequent related treatment such as angiography, embolization of abnormal blood vessels, thrombolysis, and expansion of stenotic blood vessels.

[0005] For example, the following patents applied for by Shenzhen Aibo Medical Robotics Co., Ltd.: Application No. 2022116787026, a slave end of an interventional surgical robot; Application No. 202211686818.4, a slave end of an interventional surgical robot; Application No. 202210923132.6, a slave end guidewire and catheter control device for an interventional surgical robot; Application No. 202210326352.0, a slave end device for an interventional surgical robot, etc.; These patents split the power control of the catheter / guidewire, controlling the delivery of the corresponding catheter through a catheter delivery mechanism, the rotation of the corresponding catheter through a catheter rotation mechanism, the delivery of the guidewire through a guidewire delivery mechanism, and the rotation of the guidewire through a guidewire rotation mechanism. The drawback is that the balloon delivery mechanism applies frictional power to the balloon catheter by synchronously rotating the active and driven rollers. Under the action of this frictional power, the balloon is delivered forward, but it lacks the ability to sense force feedback during delivery, thus failing to achieve force feedback and ensuring surgical safety. Among the force sensing of interventional consumables, torque sensing is the most difficult technology because the resistance torque on interventional consumables is very weak. Therefore, how to provide a torque sensing device for interventional robots and to sense the force during the delivery of catheters and guidewires is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] To address the aforementioned technical problems, defects, and unmet technical requirements, the purpose of this utility model is to provide a torque sensing device for interventional robots, which has high-precision force sensing capabilities, can measure the circumferential torque experienced by interventional consumables during rotation, and is simple to operate and provides precise control.

[0007] The technical solution adopted by this utility model to achieve its utility model objective is:

[0008] A torque sensing device for interventional robots includes a rotating shaft, a rotating frame, and a force sensor. The rotating frame is rotatably mounted within a hinge connector via a bearing structure a or a bushing structure. The hinge connector is coaxially arranged with the rotating shaft, and the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The rotating frame can lock the interventional consumable. When the interventional consumable is subjected to torque during rotation, the rotating frame can rotate around the rotation axis of the hinge connector. The torque is converted into a push-pull force through a torque conversion structure and applied to the force sensor. After the push-pull force is measured, the torque on the interventional consumable can be calculated by combining the force arm.

[0009] Preferably, the force sensor is one or a combination of discrete force beam, parallel force beam, and single-dimensional force sensor, and also includes a sensor force transmission component. The rotating frame and the sensor force transmission component are connected through a torque conversion structure. The torque conversion structure is one or a combination of direct connection structure, hinge structure, actuation structure, and linear transmission structure. The hinge connector is fixed on the rotating shaft or on an external rotating drive mechanism. When the hinge connector is fixed on the rotating shaft, one end of the force sensor is fixed on the rotating shaft or the hinge connector. When the hinge connector is fixed on the external rotating drive mechanism, one end of the force sensor is fixed on the rotating shaft, and the other end of the force sensor is fixedly connected to or integrally formed with the sensor force transmission component. The force measuring axis of the force sensor is perpendicular to the rotation axis of the rotating shaft.

[0010] Preferably, when the torque conversion structure is a direct connection structure, the rotating frame is directly fixedly connected to the sensor force transmission component, or integrally formed, or flexibly connected; when the torque conversion structure is a hinged structure, the rotating frame is hingedly connected to the sensor force transmission component; when the torque conversion structure is a toggle structure, the rotating frame cooperates with the sensor force transmission component through one or a combination of a pin groove structure, a toggle plate structure, and a magnetic field toggle structure; when the torque conversion structure is a linear transmission structure, the rotating frame is connected to the sensor force transmission component through one or a combination of a gear and rack structure, a friction wheel structure, a connecting rod structure, and a rope drive structure.

[0011] Preferably, when the torque conversion structure is a pin-groove structure between the rotating frame and the sensor force transmission component, the interventional consumable is locked to the rotating frame. The force sensor is a one-dimensional force sensor. The fixed end of the one-dimensional force sensor is fixedly connected to the rotating shaft or hinge connector and located on one side of the interventional consumable. The force measuring end of the one-dimensional force sensor is fixedly connected to the sensor force transmission component or integrally formed. The sensor force transmission component is provided with a pin or slot, and the rotating frame is provided with a corresponding slot or pin. The relative position of the sensor force transmission component and the rotating frame allows the pin to be inserted into the slot, and the pin... The axis of the pin is parallel to and a certain distance away from the axis of the interventional consumable. When the interventional consumable is subjected to torque, the rotating frame rotates, and the slot or pin on the rotating frame will push the pin or slot on the sensor force transmission component. At this time, the torsional torque will be converted into a push-pull force and applied to the sensor force transmission component. The force sensor will detect the push-pull force and calculate the torque on the interventional consumable based on the lever arm. The head end of the pin is a spherical structure, and the spherical structure is tangent to the side wall of the slot, or the pin is connected to the slot through a ball joint structure.

[0012] Preferably, the rotating frame is equipped with a locking mechanism that can lock or release the interventional consumables. After the locking mechanism locks the interventional consumables, when the interventional consumables are subjected to torque during rotation, the rotating frame converts the torque into a pushing or pulling force on the sensor force transmission component through a torque conversion structure. The sensor force transmission component then applies this force to a force sensor connected to the other end. After the force sensor measures the pushing or pulling force, the torque on the interventional consumables can be calculated by combining the lever arm.

[0013] Preferably, the rotating shaft is a rotary housing structure, with the rotation axis of the rotary housing structure coaxial with the axis of the interventional consumable. The rotary housing structure has an openable cover structure, allowing it to be opened for cleaning or maintenance. The openable cover structure uses a quick-release snap connection or a magnetic connection. The force sensor is located inside the rotary housing structure. The bearing structure a is a rolling element bearing structure, and the bushing structure is a ball bearing bushing structure. The ball bearing bushing structure includes an inner sleeve, a cage, and an outer sleeve arranged sequentially from the inside to the outside. The cage has a plurality of balls, which are tangent to both the outer wall of the inner sleeve and the inner wall of the outer sleeve. The two end faces of the cage are respectively provided with elastic elements, which can prevent excessive axial displacement of the cage from causing the cage to detach from the inner or outer sleeve.

[0014] Preferably, the force sensor is a waterproof force sensor, which is provided with a soft rubber sealing cap for sealing, or the fixed end of the force sensor is detachably mounted in the rotating shaft through a force sensor mounting base. The detachable connection can be achieved by quick snap-fit ​​connection or magnetic connection. The force sensor mounting base is provided with metal contacts for electrical connection with the waterproof force sensor. The force sensor does not require cleaning and can be replaced directly in one go.

[0015] Preferably, an axial force sensor is also included. The hinge connector is connected to the rotating shaft via the axial force sensor. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame and the hinge connector, and the axial force sensor can detect the axial external force.

[0016] Alternatively, the locking mechanism is connected to the rotating frame via an axial force sensor. The force measurement direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the entire locking mechanism, and the axial force sensor can detect the axial external force.

[0017] Alternatively, the force measuring end of the axial force sensor is axially limited to the rotating frame through an axial force coupling structure. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame. The rotating frame will transmit the axial external force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial external force.

[0018] Preferably, when the force sensor is a discrete force beam, at least one discrete force beam is provided. The discrete force beam is arranged parallel to the axis of the rotation shaft between the sensor force transmission component and the rotation shaft or hinge connection component. When multiple discrete force beams are provided, they are arranged symmetrically or at an angle with respect to the axis of the bearing structure a. Each discrete force beam has at least one set of thin-walled weak regions, and strain gauges are bonded to the thin-walled weak regions. The neutral surface of the thin-walled weak regions of each discrete force beam passes through the axis of the interventional consumable. When the interventional consumable is subjected to torque during rotation, it will be converted into a push-pull force applied to the discrete force beam, causing the discrete force beam to bend. Large strain will be generated at the thin-walled weak regions of the discrete force beam, and the strain generated is measured by strain gauges on its surface. The torque received by the interventional consumable is fed back through a combination of one or more strain gauges.

[0019] Preferably, when the force sensor is a parallel force beam, the interior of the parallel force beam has a long groove along its length, and both ends of the long groove are thinning grooves. The width of the thinning groove is greater than the width of the long groove but less than the width of the parallel force beam, so that the upper and lower ends of the parallel force beam located on the thinning groove are the thin-walled weak points of the parallel force beam. Strain gauges are bonded to the thin-walled weak points of the parallel force beam. When the interventional consumable is subjected to torque during rotation, a large strain will be generated in the thin-walled weak area of ​​the parallel force beam, and the strain generated is measured by the strain gauges on its surface. The torque received by the interventional consumable is fed back by combining multiple strain gauges.

[0020] A method for using a torque sensing device for interventional robots: During the rotational delivery of interventional consumables, when it is necessary to measure the torsional torque experienced by the interventional consumables, the torsional torque measured at the current moment needs to be subtracted from the corresponding offset amount to obtain the torsional torque experienced by the interventional consumables. The offset amount of the torsional torque is: the torsional torque that the force sensor should theoretically experience or the actual measured torsional torque when the rotating shaft is at the same rotation angle and / or the same acceleration, provided that the locking mechanism does not lock any interventional consumables.

[0021] In addition, an IMU accelerometer is installed inside the rotating shaft. This sensor can detect various acceleration values ​​(including gravitational acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration) of the interventional consumable during delivery and / or rotation during the force sensing process and perform inertial force and inertial torque compensation, thereby obtaining the actual axial force and torque actually experienced by the interventional consumable in the direction around the axis.

[0022] The beneficial effects of this utility model are as follows:

[0023] 1. When the interventional consumable is subjected to torque around its axis during rotation, the torque is converted into a push-pull force through a torque conversion structure and applied to a force sensor. After the push-pull force is measured, the torque on the interventional consumable can be calculated by combining the force arm. Since the force sensor is more sensitive than the torque sensor, this method has high sensitivity and reliable detection, and can realize the measurement of weak torque signals on the interventional consumable.

[0024] 2. When the interventional consumable is subjected to an axial external force during delivery, the axial force sensor can detect the axial external force without interfering with the torque measurement, thus achieving decoupled measurement of force and torque. Even if the torque measuring force sensor has very low rigidity (because the more sensitive the force sensor, the lower the rigidity), it will not affect the axial delivery of the interventional consumable. Attached Figure Description

[0025] Figure 1 This is a schematic diagram of the structure of Example 1;

[0026] Figure 2 This is a schematic diagram of the internal structure of Example 1;

[0027] Figure 3 This is a schematic diagram of the structure of Example 1 without the rotating shaft;

[0028] Figure 4 This is a schematic diagram of the force sensor, the sensor force transmission component, and the torque conversion structure in Example 1;

[0029] Figure 5 This is a schematic diagram of the internal structure of Example 2;

[0030] Figure 6 This is a schematic diagram of the structure of Example 2 without the rotating shaft;

[0031] Figure 7 This is a schematic diagram of the force sensor, sensor force transmission component, and torque conversion structure in Example 2;

[0032] Figure 8 This is a schematic diagram of the internal structure of Example 3;

[0033] Figure 9 This is a schematic diagram of the structure of Example 3 without the rotating shaft;

[0034] Figure 10 This is a schematic diagram of the force sensor, sensor force transmission component, and torque conversion structure in Example 3;

[0035] Figure 11 This is a schematic diagram of the internal structure of Example 4;

[0036] Figure 12 This is a schematic diagram of the structure of Example 4 without the rotating shaft;

[0037] Figure 13 This is a schematic diagram of the force sensor, sensor force transmission component, and torque conversion structure in Example 4;

[0038] Figure 14 This is a schematic diagram of the internal structure of Example 5;

[0039] Figure 15 This is a schematic diagram of the structure of Example 5 without the rotating shaft;

[0040] Figure 16 This is a schematic diagram of the force sensor, sensor force transmission component, and torque conversion structure in Example 5;

[0041] Figure 17 This is a schematic diagram of the internal structure of Example 6;

[0042] Figure 18 This is a schematic diagram of the structure of Example 6 without the rotating shaft;

[0043] Figure 19 This is a schematic diagram of the force sensor, sensor force transmission component, and torque conversion structure in Example 6;

[0044] Figure 20 This is a schematic diagram of the internal structure of Example 7;

[0045] Figure 21 This is a schematic diagram of the structure of Example 7 without the rotating shaft;

[0046] Figure 22 This is a schematic diagram of the force sensor, sensor force transmission component, and torque conversion structure in Example 7;

[0047] Figure 23 This is a schematic diagram of the internal structure of Example 8;

[0048] Figure 24 This is a schematic diagram of the structure of Example 8 without the rotating shaft;

[0049] Figure 25This is a schematic diagram of the force sensor, sensor force transmission component, and torque conversion structure in Example 8;

[0050] Figure 26 This is one of the structural schematic diagrams of Example 9;

[0051] Figure 27 This is the second structural schematic diagram of Example 9;

[0052] Figure 28 This is one of the structural schematic diagrams of Example 10;

[0053] Figure 29 This is the second structural schematic diagram of Example 10;

[0054] Figure 30 This is one of the structural schematic diagrams of Example 11;

[0055] Figure 31 This is the second structural schematic diagram of Example 11;

[0056] Figure 32 This is the third structural schematic diagram of Example 11;

[0057] Figure 33 This is a schematic diagram of the internal structure of the ball bushing structure in Example 11;

[0058] Figure 34 This is a partially enlarged schematic diagram of the ball bushing structure in Example 11;

[0059] Figure 35 This is one of the structural schematic diagrams of Example 12;

[0060] Figure 36 This is the second structural schematic diagram of Example 12. Detailed Implementation

[0061] 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.

[0062] In this utility model, unless otherwise explicitly specified and limited, the terms "installation," "connection," "joining," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, an integral part, or even a connection that allows relative movement; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0063] Example 1

[0064] A torque sensing device for interventional robots includes a rotating shaft, a rotating frame, and a force sensor. The rotating frame is rotatably mounted within a hinge connector via a bearing structure a or a bushing structure. The hinge connector is coaxially arranged with the rotating shaft, and the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The rotating frame can lock the interventional consumable. When the interventional consumable is subjected to torque during rotation, the rotating frame can rotate around the rotation axis of the hinge connector. The torque is converted into a push-pull force through a torque conversion structure and applied to the force sensor. After measuring the push-pull force, the torque on the interventional consumable can be calculated by combining it with a lever arm. In this embodiment, the rotating frame is rotatably mounted within the hinge connector via a bearing structure a.

[0065] The force sensor is one or a combination of discrete force beam, parallel force beam, and single-dimensional force sensor, and also includes a sensor force transmission component. The rotating frame and the sensor force transmission component are connected through a torque conversion structure. The torque conversion structure is one or a combination of direct connection structure, hinge structure, actuation structure, and linear transmission structure. The hinge connector is fixed on the rotating shaft or on an external rotating drive mechanism. When the hinge connector is fixed on the rotating shaft, one end of the force sensor is fixed on the rotating shaft or the hinge connector. When the hinge connector is fixed on the external rotating drive mechanism, one end of the force sensor is fixed on the rotating shaft, and the other end of the force sensor is fixedly connected to or integrally formed with the sensor force transmission component. The rotating frame can rotate freely around the axis of the hinge connector, thereby forming a hinge structure. The axis of the hinge structure coincides with or is parallel to the axis of the interventional consumable. The force-measuring axis of the force sensor is perpendicular to the rotation axis of the rotating shaft.

[0066] The specific settings of the torque conversion structure are as follows:

[0067] When the torque conversion structure is a direct connection structure, the rotating frame 102374 is directly fixedly connected to the sensor force transmission component 102210, or integrally formed, or flexibly connected; when the torque conversion structure is a hinged structure, the rotating frame 102374 is hingedly connected to the sensor force transmission component 102210; when the torque conversion structure is a toggle structure, the rotating frame 102374 cooperates with the sensor force transmission component 102210 through one or a combination of a pin groove structure, a toggle plate structure, and a magnetic field toggle structure; when the torque conversion structure is a linear transmission structure, the rotating frame 102374 is connected to the sensor force transmission component 102210 through one or a combination of a gear and rack structure, a friction wheel structure, a connecting rod structure, and a rope drive structure.

[0068] When the torque conversion structure is a pin-groove structure between the rotating frame and the sensor force transmission component, the interventional consumable is locked to the rotating frame. The force sensor is a one-dimensional force sensor. The fixed end of the one-dimensional force sensor is fixedly connected to the rotating shaft or hinge connector and located on one side of the interventional consumable. The force measuring end of the one-dimensional force sensor is fixedly connected to the sensor force transmission component or integrally formed. The sensor force transmission component is provided with a pin or slot, and the rotating frame is provided with a corresponding slot or pin. The relative position of the sensor force transmission component and the rotating frame allows the pin to be inserted into the slot, and the pin's shaft... The line direction is parallel to and a certain distance away from the axis of the interventional consumable. When the interventional consumable is subjected to torque, the rotating frame rotates, and the slot or pin on the rotating frame will push the pin or slot on the sensor force transmission component. At this time, the torsional torque will be converted into a push-pull force and applied to the sensor force transmission component. The force sensor will detect the push-pull force and calculate the torque on the interventional consumable based on the lever arm. The head end of the pin is a spherical structure, and the spherical structure is tangent to the side wall of the slot, or the pin is connected to the slot through a ball joint structure.

[0069] The rotating frame is equipped with a locking mechanism that can lock or release the interventional consumables. After the locking mechanism locks the interventional consumables, when the interventional consumables are subjected to torque during rotation, the rotating frame converts the torque into a pushing or pulling force on the sensor force transmission component through a torque conversion structure. The sensor force transmission component then applies this force to the force sensor connected to the other end. After the force sensor measures the pushing or pulling force, the torque on the interventional consumables can be calculated by combining the lever arm.

[0070] Furthermore, the locking mechanism is one or a combination of a clamping mechanism, a snap-locking mechanism, or a threaded locking mechanism; the clamping mechanism is a jaw clamping mechanism, a side clamping mechanism, or a rotary clamping mechanism; the locking mechanism has a self-locking structure, which can maintain the locked state after locking.

[0071] The locking mechanism includes an active locking mechanism and a passive locking mechanism. The active locking mechanism drives the clamping mechanism to lock and / or release the interventional consumables through a driving element. The passive locking mechanism drives one or a combination of clamping mechanism, snap-locking mechanism, and threaded locking mechanism through an external driving method to lock or release the interventional consumables. The external driving method is manual. The passive locking mechanism is located outside the rotating shaft for easy operation.

[0072] When the interventional consumable is a catheter with a Luer connector at the tail, the passive locking structure includes a threaded transition head, which is screwed to the Luer connector at the tail of the interventional consumable through a threaded structure. The threaded transition head is connected to the rotating frame through a snap-fit ​​structure, or the threaded transition head is directly connected to the rotating frame.

[0073] When the interventional consumable is a guidewire or a headless catheter (a headless catheter refers to a catheter whose end does not have a Luer connector), the passive locking structure includes a clamping transition head, which is clamped to the guidewire or headless catheter by a clamping structure. The clamping transition head is connected to the rotating frame by a snap-fit ​​structure, or the clamping transition head is directly connected to the rotating frame; the rotating frame extends from the inside of the rotating shaft or the rotating shaft drive seat to the outside.

[0074] It also includes an axial force sensor. The hinge connector is connected to the rotating shaft via the axial force sensor. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame and the hinge connector, and the axial force sensor can detect the axial external force.

[0075] Alternatively, the locking mechanism is connected to the rotating frame via an axial force sensor. The force measurement direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the entire locking mechanism, and the axial force sensor can detect the axial external force.

[0076] Alternatively, the force measuring end of the axial force sensor is axially limited to the rotating frame through an axial force coupling structure. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame. The rotating frame will transmit the axial external force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial external force.

[0077] When the force sensor is a discrete force beam, at least one discrete force beam is provided. The discrete force beam is arranged parallel to the axis of the rotation shaft between the sensor force transmission component and the rotation shaft or hinge connection component. When multiple discrete force beams are provided, they are arranged symmetrically or at an angle with respect to the axis of the bearing structure a. Each discrete force beam has at least one set of thin-walled weak regions, and strain gauges are bonded to the thin-walled weak regions. The neutral surface of the thin-walled weak regions of each discrete force beam passes through the axis of the interventional consumable. When the interventional consumable is subjected to torque during rotation, it will be converted into a push-pull force applied to the discrete force beam, causing the discrete force beam to bend. Large strain will be generated at the thin-walled weak regions of the discrete force beam, and the strain generated is measured by strain gauges on its surface. The torque received by the interventional consumable is fed back through one or more strain gauge combinations.

[0078] When the force sensor is a parallel force beam, the interior of the parallel force beam has a long groove along its length, and both ends of the long groove are thinning grooves. The width of the thinning grooves is greater than the width of the long grooves but less than the width of the parallel force beam, making the thin-walled weak points of the parallel force beam located at the upper and lower ends of the thinning grooves. Strain gauges are bonded to the thin-walled weak points of the parallel force beam. When the interventional consumable is subjected to torque during rotation, a large strain will be generated in the thin-walled weak area of ​​the parallel force beam, and the strain generated is measured by the strain gauges on its surface. The torque received by the interventional consumable is fed back by combining multiple strain gauges.

[0079] like Figures 1-4 As shown, a torque sensing device for interventional robots includes a rotating shaft 10225, a rotating frame 102374, a hinge connector 102375, and a bracket connecting block 102376. The rotating shaft 10225 can be mounted on the rotating shaft drive seat 10226 in either the forward or reverse direction along its axial direction. The rotating shaft drive seat has an openable cover structure, and a rotating drive assembly capable of driving the rotating shaft to rotate is installed inside or outside the rotating shaft drive seat. Interventional consumables pass through the middle of the rotating shaft, and the hinge connector 102375 and the bracket connecting block 102376 are installed inside the rotating shaft 10225.

[0080] The rotating shaft has a rotating housing structure, with its rotation axis coaxial with the axis of the interventional consumable. The housing structure features a hinged cover, allowing for opening and internal cleaning or maintenance. The force sensor is located inside the housing. The hinged cover is connected via a quick-release snap-fit ​​or magnetic connection. The rotating shaft is a housing structure consisting of outer shells A10233 and B10234 connected in an openable manner, facilitating the loading and unloading of interventional consumables.

[0081] The rotating frame 102374 is rotatably mounted within the hinge connector 102375. This rotation can be achieved by setting a bearing structure a, which is a rolling element bearing structure. The hinge connector 102375 is fixedly connected to or integrally formed with the bracket connecting block 102376. The intervention consumable passes through the rotating frame 102374, the hinge connector 102375, and the bracket connecting block 102376. The locking mechanism is located inside or outside the rotating frame 102374.

[0082] The force sensor is one or a combination of discrete force beam, parallel force beam, and single-dimensional force sensor. One end of the force sensor is fixed to the bracket connecting block 102376 or hinge connector inside the rotating shaft 10225. The other end of the force sensor is fixedly connected to or integrally formed with a sensor force transmission component 102210. The rotating frame 102374 is connected to the sensor force transmission component 102210 through a torque conversion structure. The torque conversion structure is one or a combination of direct connection structure, hinge structure, actuation structure, and linear transmission structure. When the rotating frame 102374 rotates, it converts the torsional torque into a push-pull force and applies it to the sensor force transmission component 102210. After the force sensor measures this push-pull force, the torque on the intervention consumable can be calculated by combining the lever arm.

[0083] The preferred force sensor is a one-dimensional force sensor 102293, which is S-shaped. The one-dimensional force sensor 102293 includes a fixed end 1022931 and a force-measuring end 1022932. One end of the force-measuring end 1022932 and one end of the fixed end 1022931 are integrally formed by a strain beam structure. The force-measuring end 1022932 is provided with holes for fixing the sensor force transmission component 102210. When the interventional consumable is subjected to torque during rotation, the force-measuring end 1022932 of the one-dimensional force sensor 102293 acts on the strain beam structure, causing it to generate a large strain. The strain gauge in the strain beam structure measures the strain generated to provide feedback on the push-pull force on the force sensor. Combined with the lever arm, the torque on the interventional consumable can be calculated.

[0084] like Figures 1-4As shown, the preferred torque conversion structure is that the rotating frame 102374 cooperates with the sensor force transmission component 102210 through a pin groove structure. At this time, the fixed end of the one-dimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and is located on one side of the intervention consumable. The above-mentioned fixed connection can be a direct or indirect connection. The force measuring end of the one-dimensional force sensor 102293 is fixedly connected to the sensor force transmission component 102210 or integrally formed. The torque conversion structure includes a torsion arm 1022111 and a pin 1022112. The torsion arm 1022111 is fixedly sleeved on the rotating frame 102374 (or the two are integrally formed). The torsion arm 1022111 has a slot 1022111 on one side of the rotating frame 102374 along the radial direction of the rotation center. 1. One end of the pin 1022112 is mounted on the sensor force transmission component 102210, and the other end of the pin 1022112 is placed in the slot 10221111. The axial direction of the pin 1022112 is parallel to the axis of the interventional consumable and at a certain distance (this distance is the lever arm; to maximize the force on the single-dimensional force sensor 102293 when the torque on the interventional consumable is fixed, this distance should be less than 20mm for the case of a guidewire, preferably 3-8mm; for the case of a catheter, this distance should be less than 50mm, preferably 15-30mm; the range of the single-dimensional force sensor 102293 should be less than 5N, preferably 0.5-2N). The pin 1022112 can slide along the slot 10221111. Alternatively, the pin can be set on the torsion arm 1022111, and the corresponding slot can be set on the sensor force transmission component 102210.

[0085] Preferably, the head end of the pin is a spherical structure that is tangent to the side wall of the slot, or the pin is connected to the slot through a ball joint structure.

[0086] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The torsion arm 1022111 rotates with the rotating frame 102374. While the pin 1022112 slides along the slot 10221111, it will be pushed by the slot 10221111 of the torsion arm 1022111, converting the torsional torque into a push-pull force applied to the sensor force transmission component 102210. The sensor force transmission component 102210 pushes and pulls the single-dimensional force sensor 102293, so that the single-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the single-dimensional force sensor 102293.

[0087] The axial resistance detection module is an axial force sensor 513111. The axial force sensor 513111 has two installation positions: First, the bracket connecting block 102376 is fixedly installed inside the housing A10233 through the axial force sensor 513111, and is offset from the rotation center of the rotating frame 102374 (or when the axial force sensor 513111 is a through hole type, the through hole of the axial force sensor 513111 can be set coaxially with the rotation center, and the interventional consumables pass through the through hole of the axial force sensor 513111). The force measuring direction of the axial force sensor 513111 coincides with or is parallel to the axial direction of the interventional consumables. When the interventional consumables are subjected to an axial external force during delivery, the axial external force will push the bracket connecting block, and the axial force sensor 513111 can detect the axial external force.

[0088] Second, the locking mechanism is fixedly mounted on the rotating frame 102374 by an axial force sensor 513111. The force measuring direction of the axial force sensor 513111 coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, this axial external force will push the entire locking mechanism, and the axial force sensor 513111 can detect this axial external force. In this embodiment, the axial force sensor 513111 is preferably installed in the first position.

[0089] The force sensor is a waterproof force sensor, which is equipped with a soft rubber sealing cap for sealing. Alternatively, the fixed end of the force sensor can be detachably mounted inside the rotating shaft via a force sensor mounting base. The detachable connection can be achieved by quick snap-fit ​​connection or magnetic connection. The force sensor mounting base is equipped with metal contacts for electrical connection with the waterproof force sensor. The force sensor does not require cleaning and can be replaced directly in one go.

[0090] A method for using a torque sensing device for interventional robots: During the rotational delivery of interventional consumables, when it is necessary to measure the torsional torque experienced by the interventional consumables, the torsional torque measured at the current moment needs to be subtracted from the corresponding offset amount to obtain the torsional torque experienced by the interventional consumables. The offset amount of the torsional torque is: the torsional torque that the force sensor should theoretically experience or the actual measured torsional torque when the rotating shaft is at the same rotation angle and / or the same acceleration, provided that the locking mechanism does not lock any interventional consumables.

[0091] In addition, an IMU accelerometer is installed inside the rotating shaft. This sensor can detect various acceleration values ​​(including gravitational acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration) of the interventional consumable during delivery and / or rotation during the force sensing process and perform inertial force and inertial torque compensation, thereby obtaining the actual axial force and torque actually experienced by the interventional consumable in the direction around the axis.

[0092] Example 2

[0093] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 5-7 As shown, the torque conversion structure is a flexible connection structure between the rotating frame 102374 and the sensor force transmission component 102210. In this case, the fixed end of the single-dimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and located on one side of the interventional consumable. This fixed connection can be direct or indirect. The force measuring end of the single-dimensional force sensor 102293 is fixedly connected to or integrally formed with the sensor force transmission component 102210. The rotating frame 1... A pin 1022121 is fixedly or integrally mounted on the 02374, and a flexible connector 1022122 is installed on the sensor force transmission component 102210. The flexible connector 1022122 is an elastic block or elastic rod, and has a slot or socket. The relative position of the sensor force transmission component 102210 and the rotating frame 102374 allows the pin 1022121 to be inserted into the slot or socket of the flexible connector 1022122. Of course, the pin 1022121 and the flexible connector 1022122 can also be replaced by other forms of flexible connection parts. The flexible connector 1022122 is made of elastic materials such as rubber, polyurethane, silicone, and latex, and its flexible and deformable characteristics allow the process of converting torque into push and pull force to be smoother.

[0094] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The insertion post 1022121 rotates with the rotating frame 102374. The insertion post 1022121 will squeeze the flexible connector 1022122 on the sensor force transmission component 102210, converting the torsional torque into a push-pull force applied to the sensor force transmission component 102210. The sensor force transmission component 102210 pushes and pulls the single-dimensional force sensor 102293, so that the single-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the single-dimensional force sensor 102293.

[0095] Example 3

[0096] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 8-10As shown, the torque conversion structure is a lever structure between the rotating frame 102374 and the sensor force transmission component 102210. In this case, the fixed end of the single-dimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and located on one side of the interventional consumable. This fixed connection can be direct or indirect. The force measuring end of the single-dimensional force sensor 102293 is fixedly connected to or integrally formed with the sensor force transmission component 102210. A lever 1022131 is fixedly or integrally provided on the rotating frame 102374, and a lever groove 1022132 is provided on the sensor force transmission component 102210, allowing the lever 1022131 to be inserted into the lever groove 1022132. Alternatively, the rotating frame 102374 can have a lever groove, and the corresponding sensor force transmission component 102210 can have a lever.

[0097] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The toggle block 1022131 rotates with the rotating frame 102374. The toggle block 1022131 will press against the inner wall of the toggle groove 1022132 on the sensor force transmission component 102210, converting the torsional torque into a push-pull force and applying it to the sensor force transmission component 102210. The sensor force transmission component 102210 pushes and pulls the single-dimensional force sensor 102293, so that the single-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the single-dimensional force sensor 102293.

[0098] Example 4

[0099] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 11-13As shown, the torque conversion structure is a magnetic field actuation structure between the rotating frame 102374 and the sensor force transmission component 102210. At this time, the fixed end of the single-dimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and located on one side of the interventional consumable. The aforementioned fixed connection can be direct or indirect. The force measuring end of the single-dimensional force sensor 102293 is fixedly connected to or integrally formed with the sensor force transmission component 102210. The rotating frame 102374 is fixedly or integrally provided with... The lever 1022131 and the sensor force transmission component 102210 are provided with a lever groove 1022132. The lever groove 1022132 has two sets of first magnets 1022141, and the lever 1022131 has a second magnet 1022142. The first magnets 1022141 and 1022142 are like poles and repel each other. The lever 1022131 can be inserted into the lever groove 1022132, at which point the second magnet 1022142 is located between the two sets of first magnets 1022141. Alternatively, only one set of first magnets can be provided on the lever groove, with the second magnet located between the first magnet and the inner wall of the lever groove. Alternatively, the first magnets and second magnets can be opposite poles and attract each other. Alternatively, the rotating frame 102374 can have a lever groove, and the corresponding sensor force transmission component 102210 can have a lever.

[0100] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225, and the toggle block 1022131 rotates with the rotating frame 102374. Through the magnetic field repulsion, the torsional torque is converted into a push-pull force and applied to the sensor force transmission component 102210. The sensor force transmission component 102210 pushes and pulls the single-dimensional force sensor 102293, so that the single-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the single-dimensional force sensor 102293. The magnetic force can eliminate the toggle gap of the toggle structure, so that the torsional torque is converted into a push-pull force more consistently.

[0101] Example 5

[0102] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 14-16As shown, the torque conversion structure is a gear and rack structure between the rotating frame 102374 and the sensor force transmission component 102210. In this case, the fixed end of the single-dimensional force sensor 102293 is preferably fixedly connected to the hinge connector 102375 and located on one side of the intervention consumable. This can better ensure the meshing of the gear and rack structure (but the fixed end of the single-dimensional force sensor 102293 can also be fixedly connected to the rotating shaft). The above fixed connection can be direct or indirect. The force measuring end of the single-dimensional force sensor 102293 is fixedly connected to the sensor force transmission component 102210 or integrally formed. The rotating frame 102374 is fixedly or integrally provided with a gear 1022151, and the sensor force transmission component 102210 is fixedly or integrally provided with a rack 1022152. The gear 1022151 and the rack 1022152 mesh with each other.

[0103] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The gear 1022151 rotates with the rotating frame 102374, and the gear 1022151 drives the rack 1022152 to move, converting the torsional torque into a push-pull force applied to the sensor force transmission component 102210. The sensor force transmission component 102210 pushes and pulls the single-dimensional force sensor 102293, so that the single-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the single-dimensional force sensor 102293.

[0104] Example 6

[0105] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 17-19 As shown, the torque conversion structure is a friction wheel structure between the rotating frame 102374 and the sensor force transmission component 102210. At this time, the fixed end of the single-dimensional force sensor 102293 is fixedly connected to the hinge connector 102375 and located on one side of the intervention consumable. This can better ensure the friction fit of the friction wheel structure. The fixed connection can be direct or indirect. The force measuring end of the single-dimensional force sensor 102293 is fixedly connected to the sensor force transmission component 102210 or integrally formed. The rotating frame 102374 is fixedly or integrally provided with a friction wheel 1022161, and the sensor force transmission component 102210 is fixedly or integrally provided with a friction strip 1022162. The friction wheel 1022161 and the friction strip 1022162 are in close contact.

[0106] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The friction wheel 1022161 rotates with the rotating frame 102374. The friction wheel 1022161 drives the friction strip 1022162 to move through friction, converting the torsional torque into a push-pull force applied to the sensor force transmission component 102210. The sensor force transmission component 102210 pushes and pulls the single-dimensional force sensor 102293, so that the single-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the single-dimensional force sensor 102293.

[0107] Example 7

[0108] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 20-22 As shown, the torque conversion structure is a linkage structure between the rotating frame 102374 and the sensor force transmission component 102210. At this time, the fixed end of the single-dimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and located on one side of the intervention consumable. The above-mentioned fixed connection can be a direct or indirect connection. The force measuring end of the single-dimensional force sensor 102293 is fixedly connected to the sensor force transmission component 102210 or integrally formed. The rotating frame 102374 is fixedly or integrally provided with a first connecting rod 1022171. The first connecting rod 1022171 is connected to the sensor force transmission component 102210 through a second connecting rod 1022172. One end of the second connecting rod 1022172 is hinged to one end of the first connecting rod 1022171, and the other end of the second connecting rod 1022172 is hinged to the sensor force transmission component 102210.

[0109] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The first connecting rod 1022171 rotates with the rotating frame 102374. The first connecting rod 1022171 will drive the second connecting rod 1022172 to move, converting the torsional torque into a push-pull force applied to the sensor force transmission component 102210. The sensor force transmission component 102210 pushes and pulls the single-dimensional force sensor 102293, so that the single-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the single-dimensional force sensor 102293.

[0110] Example 8

[0111] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 23-25As shown, the torque conversion structure is a rope-driven structure between the rotating frame 102374 and the sensor force transmission component 102210. In this case, the fixed end of the single-dimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and located on one side of the interventional consumable. This fixed connection can be direct or indirect. The force measuring end of the single-dimensional force sensor 102293 is fixedly connected to or integrally formed with the sensor force transmission component 102210. The rope-driven structure includes a wheel frame 1022181 and a pull rope 1022182. A winding wheel is fixedly mounted on the rotating frame 102374. 1022183, the wheel frame 1022181 is fixed or integrally mounted on the hinge connector 102375 or the rotating shaft 10225. The wheel frame 1022181 is provided with a guide wheel 1022184 for guiding the pull rope 1022182. One end of the pull rope 1022182 is wound in the forward direction on the winding wheel 1022183, and the other end is wound in the reverse direction on the winding wheel 1022183 after being guided by the guide wheel 1022184. A point on the pull rope 1022182 and the sensor force transmission component 102210 are fixedly connected by a locking screw 1022185.

[0112] After the locking mechanism locks the interventional consumables, when the consumables are subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The winding wheel 1022183 rotates with the rotating frame 102374, pulling the pull rope 1022182 and converting the torsional torque into a pulling force applied to the sensor force transmission component 102210. The sensor force transmission component 102210 pulls the single-dimensional force sensor 102293, enabling the single-dimensional force sensor 102293 to detect this pulling force. At this time, the actual rotational torque resistance experienced by the interventional consumables can be measured by the single-dimensional force sensor 102293. The pull rope structure can also be replaced with a belt drive structure, such as a synchronous belt drive structure.

[0113] Alternatively, a two-pronged structure can be fixedly installed on the sensor force transmission component 102210. The two prongs of the two-pronged structure are located above and below the winding reel 1022183, respectively, and the two prongs are locked to the front and rear ends of the pull rope. The winding reel 1022183 rotates with the rotating frame 102374, and the winding reel 1022183 pulls the pull rope 1022182, converting the torsional torque into the tension of the pull rope 1022182, which is applied to the two-pronged structure of the sensor force transmission component 102210.

[0114] Example 9

[0115] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 26-27As shown, the force sensor is a discrete force beam 102291. At least one discrete force beam 102291 is provided. The discrete force beam 102291 is arranged parallel to the axis of the rotating shaft between the sensor force transmission component 102210 and the rotating shaft or hinge connector. When multiple discrete force beams 102291 are provided, they are arranged symmetrically with respect to the axis of the bearing structure a, or at an angle. Each discrete force beam 102291 has at least one set of thin-walled weak areas on its beam body. Strain gauges 102294 are bonded to the thin-walled weak areas of each discrete force beam 102291; the neutral plane of the thin-walled weak area of ​​each discrete force beam 102291 passes through the axis of the interventional consumable; when the interventional consumable is subjected to torque during rotation, it will be converted into a push-pull force applied to the discrete force beam, causing the discrete force beam to bend. A large strain will be generated in the thin-walled weak area of ​​the discrete force beam 102291, and the strain generated is measured by the strain gauges 102294 on its surface. The torque on the interventional consumable is fed back by a combination of one or more strain gauges 102294.

[0116] When the torque conversion structure is directly fixed or integrally formed with the rotating frame 102374 and the sensor force transmission component 102210, the rotating frame 102374 is provided with one or more mounting parts 1023741. Each mounting part 1023741 is fixedly connected to one end of a sensor force transmission component 102210, integrally formed, flexibly connected, or hinged. The other end of each sensor force transmission component 102210 is fixedly connected to or integrally formed with the discrete force measuring beam 102291. The rotating frame 102374 is provided with a first locking mechanism 102219 that can lock the intervention consumable. The first locking mechanism 102219 is a gripper locking mechanism.

[0117] After the first locking mechanism 102219 locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The rotating frame 102374 directly converts the torsional torque into a push-pull force and applies it to the sensor force transmission component 102210. The discrete force measuring beam 102291 can detect this push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the discrete force measuring beam 102291.

[0118] Example 10

[0119] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows: Figures 28-29As shown, the force sensor is a parallel force-measuring beam 102292. The interior of the parallel force-measuring beam 102292 has a long groove 1022921 along its length. Both ends of the long groove 1022921 are thinning grooves 1022922. The width of the thinning grooves 1022922 is greater than the width of the long groove 1022921 but less than the width of the parallel force-measuring beam 102292. This allows the parallel force-measuring beam 102292 to be positioned above and below the thinning grooves 1022922. Both ends are thin-walled weak points of the parallel force measuring beam 102292. Strain gauges 102294 are bonded to the thin-walled weak points of the parallel force measuring beam 102292. When the interventional consumable is subjected to torque during rotation, a large strain will be generated in the thin-walled weak area of ​​the parallel force measuring beam 102292. The strain generated is measured by the strain gauges 102294 on its surface. The torque on the interventional consumable is fed back by combining multiple strain gauges 102294.

[0120] The torque conversion structure is a hinged structure between the rotating frame 102374 and the sensor force transmission component 102210, or it can adopt the technical solutions described above such as direct connection, flexible connection, pin groove structure, gear and rack. When the hinged connection is adopted, the sensor force transmission component 102210 and the parallel force measuring beam 102292 are provided with at least one set and located on the side of the hinge connector 102375. At this time, the rotating frame 102374 is connected to one end of the sensor force transmission component 102210 through the bearing structure b, and the other end of the sensor force transmission component 102210 is fixedly connected to the parallel force measuring beam 102292 or integrally formed.

[0121] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates at a certain angle relative to the rotating shaft 10225. The rotating frame 102374 directly converts the torsional torque into a push-pull force and applies it to the sensor force transmission component 102210. The parallel force measuring beam 102292 can detect this push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the parallel force measuring beam 102292. The bearing structure b is equivalent to a hinge structure, which can make the torsional torque more smoothly converted into a push-pull force.

[0122] Example 11

[0123] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0124] A torque sensing device for interventional robots includes a rotating shaft, a rotating frame, and a force sensor. The rotating frame is rotatably mounted within a hinge connector via a bushing structure. The hinge connector is coaxially arranged with the rotating shaft, and the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The rotating frame can lock the interventional consumable. When the interventional consumable is subjected to torque during rotation, the rotating frame can rotate around the hinge connector. The torque is converted into a push-pull force through a torque conversion structure and applied to the force sensor. After the push-pull force is measured, the torque on the interventional consumable can be calculated by combining the force arm.

[0125] When the hinge connector is fixed on the external rotary drive mechanism, one end of the force sensor is fixed on the rotating shaft, and the other end of the force sensor is fixedly connected to or integrally formed with the force transmission component. The force measuring axis of the force sensor is perpendicular to the rotation axis of the rotating shaft.

[0126] The bushing structure adopts a ball bushing structure, which includes an inner sleeve, a cage, and an outer sleeve arranged sequentially from the inside to the outside. The cage is provided with a number of balls, which are tangent to the outer wall of the inner sleeve and the inner wall of the outer sleeve. The two end faces of the cage are respectively provided with elastic elements, which can prevent the cage from detaching from the inner sleeve or the outer sleeve due to excessive axial displacement.

[0127] The force measuring end of the axial force sensor is axially limited to the rotating frame through an axial force coupling structure. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame. The rotating frame will transmit the axial external force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial external force.

[0128] Specifically, such as Figure 30 and Figure 31 As shown, the second rotating frame 102231 is rotatably disposed within the second hinge connector 10244 via the bushing structure 1022003. When the second rotating frame 102231 is axially movable and circumferentially rotatable on the second hinge connector 10244, the bushing structure adopts one or a combination of ball bushing structure, magnetic levitation bushing structure, air bushing structure, and hydraulic bushing structure.

[0129] The volume of the second rotating shaft is reduced to a ring shape, and it is only fitted around the second rotating frame 102231. The second rotating frame 102231 and the second hinge connector 10244 are connected by a bushing structure 1022003. The rotating drive assembly 1021 drives the ring-shaped second rotating shaft 10240 to rotate. The second hinge connector is fixed on the rotating drive assembly. The rotating drive assembly can adopt a structure that uses a motor and a drive gear or drive friction wheel or drive friction belt.

[0130] The fixed end of the second axial force sensor 1024901 is fixedly connected to the second hinge connector 10244. The force measuring end of the second axial force sensor 1024901 is connected to the second rotating frame 102231 through an axial force coupling structure. The axial force coupling structure is one or a combination of a bearing structure and a pin structure. When the locked intervention consumable is subjected to axial force, the second rotating frame 102231 transmits the axial force to the second axial force sensor 1024901 through the axial force coupling structure. In this embodiment, the axial force coupling structure is a bearing structure c1022501201.

[0131] When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force by the torque conversion structure through the second rotating frame 102231, and the push-pull force is applied to the second force sensor 10251. After the push-pull force is measured, the torque on the interventional consumable can be calculated by combining the force arm.

[0132] The torque conversion structure adopts a pin-groove structure. The fixed end of the second force sensor 10251 is fixedly connected to the second rotating shaft 10240, and the force-measuring end of the second force sensor 10251 is fixedly connected to a force transmission plate 1022009. The force transmission plate 1022009 has a through hole, and a pin 10220010 is fixed on the second rotating frame 102231, passing through the through hole. The torque received by the second rotating frame 102231 is transmitted to the second force sensor 10251 through the pin 10220010 and the force transmission plate 1022009, thereby detecting the torque.

[0133] like Figure 32 As shown, preferably, the through hole of the force transmission plate 1022009 is provided with a ball joint hole, and a force transmission ball joint 102200901 is just inserted into it. The shape of the force transmission ball joint 102200901 is adapted to the ball joint hole and can rotate. The force transmission ball joint 102200901 is provided with a circular hole for the pin 10220010 to pass through, and the pin 10220010 can slide relative to the circular hole of the force transmission ball joint 102200901. This can prevent the outer cylindrical surface of the pin 10220010 from getting stuck when it is not parallel to the inner wall of the through hole of the force transmission plate 1022009.

[0134] like Figure 33 and 34 As shown, the ball bushing structure 1022003 includes an inner sleeve 102200301, a retainer 102200302, and an outer sleeve 102200303, which are sequentially arranged from the inside to the outside. The retainer 102200302 is provided with a plurality of balls 102200304, which are restricted to rolling on the retainer 102200302. The balls 102200304 are tangent to both the outer wall of the inner sleeve 102200301 and the inner wall of the outer sleeve 102200303. The two end faces of the retainer 102200302 are respectively provided with elastic elements. The elastic elements can prevent the retainer 102200302 from undergoing excessive axial displacement, which would cause the retainer 102200302 to detach from the inner sleeve 102200301 or the outer sleeve 102200303.

[0135] In this embodiment, the elastic element is a spring 102200305. The spring 102200305 is sleeved on the outside of the inner sleeve 102200301, and the two springs 102200305 are respectively arranged at both ends of the inner sleeve 102200301. The two ends of the inner sleeve 102200301 are provided with support rings 102200306. One end of the spring 102200305 abuts against the support ring 102200306, and the other end of the spring 102200305 abuts against the retainer 102200302. The elasticity of the spring 102200305 prevents the retainer 102200302 from having excessive axial displacement, which would cause the retainer 102200302 to detach from the inner sleeve 102200301 or the outer sleeve 102200303.

[0136] Example 12

[0137] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0138] like Figure 35 and Figure 36 As shown, the force-transmitting component 102210 at the force-measuring end of the third force sensor 1022008 is provided with a slot 10221111, and the third rotating frame 1022501 is provided with a pin 1022112. The head end of the pin 1022112 is a ball head, which abuts against both sides of the slot 10221111, thereby achieving point contact. Point contact can prevent the cylindrical surface of the pin 1022112 from getting stuck when it is not parallel to the two sides of the slot 10221111, and can also reduce frictional resistance and avoid interfering with the detection of axial force.

[0139] 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.

[0140] 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 torque sensing device for interventional robots, characterized in that: The device includes a rotating shaft, a rotating frame, and a force sensor. The rotating frame is rotatably mounted within a hinge connector via a bearing structure a or a bushing structure. The hinge connector is coaxially arranged with the rotating shaft, and the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The rotating frame can lock the interventional consumable. When the interventional consumable is subjected to torque during rotation, the rotating frame can rotate around the rotation axis of the hinge connector. The torque is converted into a push-pull force through a torque conversion structure and applied to the force sensor. After the push-pull force is measured, the torque on the interventional consumable can be calculated by combining the force arm.

2. The torque sensing device for interventional robots according to claim 1, characterized in that: The force sensor is one or a combination of discrete force beam, parallel force beam, and single-dimensional force sensor, and also includes a sensor force transmission component. The rotating frame and the sensor force transmission component are connected through a torque conversion structure. The torque conversion structure is one or a combination of direct connection structure, hinge structure, actuation structure, and linear transmission structure. The hinge connector is fixed on the rotating shaft or fixed on an external rotating drive mechanism. When the hinge connector is fixed on the rotating shaft, one end of the force sensor is fixed on the rotating shaft or the hinge connector. When the hinge connector is fixed on the external rotating drive mechanism, one end of the force sensor is fixed on the rotating shaft, and the other end of the force sensor is fixedly connected to or integrally formed with the sensor force transmission component. The force measuring axis of the force sensor is perpendicular to the rotation axis of the rotating shaft.

3. A torque sensing device for interventional robots according to claim 2, characterized in that: When the torque conversion structure is a direct connection structure, the rotating frame and the sensor force transmission component are directly fixedly connected, integrally formed, or flexibly connected. When the torque conversion structure is a hinged structure, the rotating frame is hinged to the sensor force transmission component. When the torque conversion structure is a toggle structure, the rotating frame cooperates with the sensor force transmission component through one or a combination of pin groove structure, toggle plate structure, and magnetic field toggle structure. When the torque conversion structure is a linear transmission structure, the rotating frame is connected to the sensor force transmission component through one or a combination of gear and rack structure, friction wheel structure, linkage structure, and rope drive structure.

4. A torque sensing device for interventional robots according to claim 3, characterized in that, When the torque conversion structure is a pin-groove structure between the rotating frame and the sensor force transmission component, the interventional consumable is locked to the rotating frame. The force sensor is a one-dimensional force sensor. The fixed end of the one-dimensional force sensor is fixedly connected to the rotating shaft or hinge connector and located on one side of the interventional consumable. The force measuring end of the one-dimensional force sensor is fixedly connected to the sensor force transmission component or integrally formed. The sensor force transmission component is provided with a pin or slot, and the rotating frame is provided with a corresponding slot or pin. The relative position of the sensor force transmission component and the rotating frame allows the pin to be inserted into the slot, and the pin's shaft... The line direction is parallel to and a certain distance away from the axis of the interventional consumable. When the interventional consumable is subjected to torque, the rotating frame rotates, and the slot or pin on the rotating frame will push the pin or slot on the sensor force transmission component. At this time, the torsional torque will be converted into a push-pull force and applied to the sensor force transmission component. The force sensor will detect the push-pull force and calculate the torque on the interventional consumable based on the lever arm. The head end of the pin is a spherical structure, and the spherical structure is tangent to the side wall of the slot, or the pin is connected to the slot through a ball joint structure.

5. A torque sensing device for interventional robots according to claim 2, characterized in that: The rotating frame is equipped with a locking mechanism that can lock or release the interventional consumables. After the locking mechanism locks the interventional consumables, when the interventional consumables are subjected to torque during rotation, the rotating frame converts the torque into a pushing or pulling force on the sensor force transmission component through a torque conversion structure. The sensor force transmission component then applies this force to the force sensor connected to the other end. After the force sensor measures the pushing or pulling force, the torque on the interventional consumables can be calculated by combining the lever arm.

6. A torque sensing device for interventional robots according to claim 2, characterized in that: The rotating shaft has a rotating shell structure, and the rotation axis of the rotating shell structure is coaxial with the axis of the interventional consumable. The rotating shell structure adopts an open cover structure, which can be opened to clean or repair its interior. The force sensor is installed inside the rotating shell structure. The bearing structure a adopts a rolling element bearing structure, and the bushing structure adopts a ball bushing structure. The ball bushing structure includes an inner sleeve, a cage, and an outer sleeve arranged sequentially from the inside to the outside. The cage is provided with a plurality of balls, which are tangent to the outer wall of the inner sleeve and the inner wall of the outer sleeve. The two end faces of the cage are respectively provided with elastic elements, which can prevent the cage from detaching from the inner sleeve or the outer sleeve due to excessive axial displacement.

7. A torque sensing device for interventional robots according to claim 5, characterized in that: It also includes an axial force sensor. The hinge connector is connected to the rotating shaft via the axial force sensor. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame and the hinge connector, and the axial force sensor can detect the axial external force. Alternatively, the locking mechanism is connected to the rotating frame via an axial force sensor. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the entire locking mechanism, and the axial force sensor can detect the axial external force. Alternatively, the force measuring end of the axial force sensor is axially limited to the rotating frame through an axial force coupling structure. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame. The rotating frame will transmit the axial external force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial external force.

8. A torque sensing device for interventional robots according to claim 2, characterized in that: When the force sensor is a discrete force beam, at least one discrete force beam is provided. The discrete force beam is arranged parallel to the axis of the rotation shaft between the sensor force transmission component and the rotation shaft or hinge connection component. When multiple discrete force beams are provided, they are arranged symmetrically or at an angle with respect to the axis of the bearing structure a. Each discrete force beam has at least one set of thin-walled weak regions on its beam body, and strain gauges are bonded to the thin-walled weak regions. The neutral surface of the thin-walled weak regions of each discrete force beam passes through the axis of the interventional consumable. When the interventional consumable is subjected to torque during rotation, it will be converted into a push-pull force applied to the discrete force beam, causing the discrete force beam to bend. Strain will be generated at the thin-walled weak regions of the discrete force beam, and the strain generated will be measured by strain gauges on its surface. The torque received by the interventional consumable is fed back through a combination of one or more strain gauges.

9. A torque sensing device for interventional robots according to claim 2, characterized in that: When the force sensor is a parallel force beam, the interior of the parallel force beam has a long groove along its length, and both ends of the long groove are thinning grooves. The width of the thinning grooves is greater than the width of the long grooves but less than the width of the parallel force beam, making the thin-walled weak points of the parallel force beam located at the upper and lower ends of the thinning grooves. Strain gauges are bonded to the thin-walled weak points of the parallel force beam. When the interventional consumable is subjected to torque during rotation, strain will be generated in the thin-walled weak area of ​​the parallel force beam, and the strain generated will be measured by the strain gauges on its surface. The torque subjected to the interventional consumable is fed back by combining multiple strain gauges.

Images