Rotating shaft assembly with force sensing for interventional consumable delivery mechanism

Abstract

The utility model discloses a rotating shaft assembly with a force sensing function for an interventional consumable delivery mechanism. A rotating shaft is rotatably arranged in a rotating shaft driving seat; a first connecting part or a handle of an intervention consumable is rotatably arranged in the rotating shaft through a bearing structure or a shaft sleeve structure, and the first connecting part can be connected with the intervention consumable in a locking manner; the axial force sensing element measures the axial force borne by the intervention consumable, the torque sensing element measures the torque borne by the intervention consumable in the axis direction, and the axial force sensing element and the torque sensing element are independently connected to the rotating shaft. Or the axial force sensing element is connected to the rotating shaft, and the torque force sensing element is indirectly connected to the rotating shaft through the axial force sensing element. The rotating shaft assembly can clamp interventional consumables and drive the interventional consumables to rotate, can detect axial force and torque of the interventional consumables, provides powerful support for a force feedback technology of a main hand end, and is more accurate in detection and higher in sensitivity.

Description

Technical Field

[0001] This utility model relates to the technical field of interventional robots, specifically to a force-sensing rotating shaft assembly of an interventional consumable delivery mechanism. Background Technology

[0002] Minimally invasive interventional therapy is a major treatment method for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, interventional instruments are used to diagnose and treat diseases through physiological cavities. Compared with traditional surgery, it has significant advantages such as better efficacy, higher safety, smaller incisions, and shorter postoperative recovery time.

[0003] The main steps in vascular interventional surgery include femoral / radial artery puncture, coordinated advancement of the guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of the treatment guidewire and balloon catheter, and placement of the vascular stent. The coordinated advancement of the guidewire, catheter, and balloon catheter is the most time-consuming step and requires X-ray-guided image navigation. Currently, vascular interventional surgery is usually performed manually by a surgeon. During the procedure, because DSA emits X-rays, the surgeon needs to wear a heavy lead apron, which leads to a rapid decline in physical strength, reduced attention, and decreased stability, resulting in decreased operational precision and an increased risk of accidents such as endothelial damage, vascular perforation, and rupture due to improper pushing force, endangering the patient's life. Furthermore, long-term wearing of lead aprons can damage the surgeon's spine. Secondly, the cumulative damage from long-term ionizing radiation significantly increases the surgeon's risk of leukemia, cancer, and acute cataracts. Therefore, to protect the health of surgeons and ensure surgical quality, research and development of interventional surgical robots are increasing, and more and more robots are being used clinically.

[0004] Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radiation environment. The slave end device of the existing interventional robot needs to hold the slender medical instruments such as catheters and guidewires and move them from the proximal end to the distal end. Through the coordinated movement of the device, the catheters and guidewires are advanced and delivered to the lesion in the patient's body (such as inside the blood vessel), so that doctors can carry out subsequent related treatments such as angiography, embolization of malformed blood vessels, thrombolysis, and dilation of narrowed 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 / catheter control device for an interventional surgical robot; Application No. 202210326352.0, a slave end device for an interventional surgical robot, etc.; these patents separate the power control of the catheter / guidewire and control it through the catheter delivery mechanism. The system controls the delivery of corresponding catheters, the rotation of corresponding catheters by a catheter rotation mechanism, the delivery of guidewires by a guidewire delivery mechanism, and the rotation of guidewires by a guidewire rotation mechanism. However, its shortcomings are: (1) the structures of the catheter rotation mechanism and the guidewire rotation mechanism are relatively complex; (2) the balloon delivery mechanism applies frictional force to the balloon catheter by synchronously rotating the active roller and the driven roller, and the balloon is delivered forward under the action of frictional force. During the delivery process, force feedback cannot be achieved, thus failing to guarantee surgical safety; (3) it cannot achieve coordinated delivery of multiple catheters and guidewires. Therefore, how to provide a rotating shaft assembly that facilitates the rotational control of interventional consumables and has force sensing capabilities 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 present invention aims to provide a force-sensing rotating shaft assembly for an interventional consumable delivery mechanism. This assembly enables the rotation of interventional consumables during vascular interventional surgery, possesses high-precision force sensing capabilities, and can simultaneously measure the axial resistance and circumferential torque experienced by the interventional consumables.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] A force-sensing rotary shaft assembly for an interventional consumable delivery mechanism includes a rotary shaft, an axial force sensing element, and a torque force sensing element. A first connecting portion or a handle of the interventional consumable is rotatably mounted within the rotary shaft via a bearing structure or a bushing structure. The first connecting portion is lockably connected to the interventional consumable. The axial force sensing element measures the axial force acting on the interventional consumable, and the torque force sensing element measures the torque acting on the interventional consumable in the direction about the axis. The axial force sensing element and the torque force sensing element are independently connected to the rotary shaft; or the axial force sensing element is connected to the rotary shaft, and the torque force sensing element is indirectly connected to the rotary shaft via the axial force sensing element.

[0009] Preferably, the first connecting part or the handle of the intervention consumable is axially movable and circumferentially rotatable on the rotating shaft through a bushing structure. The bushing structure is one or a combination of ball bushing, magnetic levitation bushing, air bushing, and hydraulic bushing.

[0010] Preferably, the torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the rotating shaft or to the force measuring end of the axial force sensing element. The first connecting part or the handle of the interventional consumable is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the first connecting part or the handle of the interventional consumable is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the interventional consumable can be calculated by combining the lever arm.

[0011] Alternatively, the torque sensing element may be a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft. The first connecting part or the handle of the interventional consumable is connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part or the handle of the interventional consumable is amplified and then applied to the torque sensor. After the torque is measured, the torque received by the interventional consumable can be calculated by combining the torque amplification ratio.

[0012] The axial force sensing element is a combination of an axial force sensor and an axial force coupling structure. The fixed end of the axial force sensor is fixedly connected to the rotating shaft, and the first connecting part or the handle of the intervention consumable is directly connected to the force measuring end of the axial force sensor through the axial force coupling structure.

[0013] Alternatively, the force measuring end of the axial force sensor is connected to the fixed end of the force sensor, and the first connecting part or the handle of the interventional consumable is connected to the force measuring end of the force sensor through an axial force coupling structure. At this time, the axial force coupling structure is also a torque conversion structure, which applies the axial force received by the first connecting part or the handle of the interventional consumable to the axial force sensor.

[0014] Preferably, when the torque sensing element is indirectly connected to the rotating shaft through the axial force sensing element, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a pin hole structure. The pin hole structure includes a pin or a through hole provided on the first connecting part or the handle of the interventional consumable. The force measuring end of the axial force sensor is fixedly connected to a connecting plate, and the connecting plate is fixedly connected to the fixed end of the force sensor. The force measuring end of the force sensor is fixedly connected to a force transmission plate, and the force transmission plate is provided with a corresponding through hole or pin. The pin passes through the through hole and is in close contact with the side wall of the through hole. The torque received by the interventional consumable is converted into a push-pull force and transmitted to the force sensor through the pin under the guidance of the bushing structure. The axial force received by the interventional consumable is directly transmitted to the axial force sensor through the pin and the force transmission plate.

[0015] When the torque sensing element and the axial force sensing element are independently connected to the rotating shaft, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a first pin groove structure, and the axial force coupling structure adopts a second pin groove structure. The first pin groove structure includes a first pin or a first slot provided on the first connecting part or the handle of the interventional consumable. The force measuring end of the force sensor is correspondingly provided with a first slot or a first pin. The direction of the first slot is parallel to the axial direction of the first connecting part or the handle of the interventional consumable. The first pin extends into the first slot, and the second pin groove... The structure includes a second pin or a second slot disposed on the first connecting part or the handle of the interventional consumable. The force measuring end of the axial force sensor is correspondingly provided with a second slot or a second pin. The direction of the second slot is around the circumference of the first connecting part or the handle of the interventional consumable. The second pin extends into the second slot. Under the guidance of the first pin groove structure, the torque received by the interventional consumable is converted into a push-pull force and transmitted to the force measuring sensor. The axial force received by the interventional consumable is directly transmitted to the axial force sensor through the second pin groove structure. The fixed ends of the force measuring sensor and the axial force sensor are both fixedly connected to the rotating shaft.

[0016] Preferably, the through hole of the force transmission plate is provided with a ball joint hole, and a force transmission ball joint is inserted into the ball joint hole. The shape of the force transmission ball joint is adapted to the ball joint hole and can rotate. The force transmission ball joint is provided with a circular hole for the pin to pass through, and the pin can slide relative to the pin in the circular hole of the force transmission ball joint.

[0017] Preferably, the rotating shaft is provided with a rotating sleeve, which is sleeved on the first connecting part. The first connecting part is axially limited and circumferentially rotatable on the rotating sleeve by a bearing structure. The bearing structure is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure, and an air bearing structure.

[0018] Preferably, the axial force sensing element is an axial force sensor. The rotating sleeve is fixedly connected to the force measuring end of the axial force sensor, and the fixed end of the axial force sensor is fixedly connected to the rotating shaft. The axial force received by the first connecting part is transmitted to the rotating sleeve through the bearing structure, and the rotating sleeve transmits the axial force to the axial force sensor.

[0019] The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the rotating shaft. The first connecting part is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the first connecting part is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the intervention consumable can be calculated by combining the force arm.

[0020] Alternatively, the torque sensing element may be a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft, and the first connecting part is connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part is amplified and then applied to the torque sensor. After the torque is measured, the torque received by the intervention consumable can be calculated by combining the torque amplification ratio.

[0021] Preferably, when the torque sensing element is a combination of a force sensor and a torque conversion structure, it also includes a sensor force transmission component. The first connecting part is connected to the sensor force transmission component through the torque conversion structure. The torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, a linear transmission structure, and a pin hole structure. The fixed end of the force sensor is fixed on the rotating shaft. The force measuring 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 axis of the rotating shaft.

[0022] Preferably, when the torque sensing element is a combination of a torque sensor and a torque amplification structure, the torque amplification structure is one or a combination of a pin structure, a linkage mechanism, a gear mechanism, a belt drive mechanism, and a wire drive mechanism; it also includes a torque transmission component, the first connecting part and the torque transmission component are connected through the torque amplification structure, the fixed end of the torque sensor is fixed on the rotating shaft, the torque measuring end of the torque sensor is fixedly connected to or integrally formed with the torque transmission component, and the torque measuring axis of the torque sensor is parallel to the axis of the rotating shaft.

[0023] Preferably, the rotary shaft drive seat has an open cover structure, and a rotary drive assembly capable of driving the rotary shaft to rotate is installed inside or outside the rotary shaft drive seat. The rotary shaft can be installed on the rotary shaft drive seat in the forward or reverse direction along its axial direction.

[0024] The rotary drive assembly drives the rotary shaft to rotate through the transmission assembly. The transmission assembly transmits power by meshing with the driven gear ring on the rotary shaft, or by the friction between the driven friction rings on the rotary shaft. The transmission assembly is a drive gear, a drive friction wheel, a drive transmission belt, or a drive friction belt.

[0025] Preferably, the rotating shaft is a shell structure in which the outer shell A and the outer shell B are connected together in an openable manner, which facilitates the disassembly and cleaning of the internal structure. Each of the outer shell A and the outer shell B is provided with a toothed ring. After the outer shell A and the outer shell B are closed, the toothed rings on the outer shell A and the outer shell B close to form a complete toothed ring.

[0026] The beneficial effects of this utility model are as follows:

[0027] 1. The rotating shaft assembly of this utility model consists of a shell structure in which outer shell A and outer shell B are connected together in an openable manner, which facilitates the disassembly and cleaning of the internal structure. The rotating shaft is rotatably equipped with a first connecting part or the handle of the interventional consumable through a bearing structure or bushing structure. The first connecting part can be locked with the interventional consumable. This allows the rotating shaft to drive the interventional consumable to rotate. At the same time, the axial force sensing element measures the axial force on the interventional consumable, and the torque force sensing element measures the torque on the interventional consumable in the direction around the axis. When the external force on the interventional consumable is too large, delivery can be stopped in time for protection. At the same time, it provides strong support for the force feedback technology of the master end.

[0028] 2. When the first connecting part or the handle of the interventional consumable is rotatably mounted inside the rotating shaft through a bushing structure, the axial force sensing element and the torque force sensing element are independently connected to the rotating shaft, or the axial force sensing element is connected to the rotating shaft and the torque force sensing element is indirectly connected to the rotating shaft through the axial force sensing element. Force or torque transmission is achieved through the axial force coupling structure, torque conversion structure, and torque amplification structure, so as to reduce the mass of the first connecting part or the handle of the interventional consumable as much as possible, and make the force sensing element more accurate and sensitive in detecting the axial force and torsional torque on the interventional consumable or the handle of the interventional consumable locked by the first connecting part. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the structure of Embodiment 1 of the present utility model;

[0030] Figure 2 This is an internal sectional view of Embodiment 1 of the present invention;

[0031] Figure 3 This is a schematic diagram of the cooperation structure between the first connecting part and the locking structure in Embodiment 1 of this utility model;

[0032] Figure 4 This is a schematic diagram of the cooperation structure between the transmission sleeve and the force sensing element in Embodiment 1 of this utility model;

[0033] Figure 5 This is a schematic diagram of the connection structure between an axial force sensor and a force measuring sensor when a pin is set on the transmission sleeve of Embodiment 1 of this utility model.

[0034] Figure 6 This is a schematic diagram of the structure of the force transmission plate of Embodiment 1 of this utility model, in which a ball joint hole is provided inside the through hole;

[0035] Figure 7 This is an internal sectional view of the bushing structure of Embodiment 1 of this utility model;

[0036] Figure 8This is a partially enlarged schematic diagram of the bushing structure in Embodiment 1 of this utility model;

[0037] Figure 9 This is an internal sectional view of Embodiment 2 of the present invention;

[0038] Figure 10 This is one of the schematic diagrams showing the connection structure between the axial force sensor and the force measuring sensor in Embodiment 2 of this utility model;

[0039] Figure 11 This is the second schematic diagram of the connection structure between the axial force sensor and the force measuring sensor in Embodiment 2 of this utility model;

[0040] Figure 12 This is a schematic diagram of the structure of the pin in Embodiment 2 of this utility model when the head end is a ball head;

[0041] Figure 13 This is a schematic diagram of the structure of Embodiment 3 of this utility model;

[0042] Figure 14 This is an internal cross-sectional view of the rotating shaft assembly for rotating delivery of radiofrequency ablation electrode catheter according to Embodiment 4 of this utility model;

[0043] Figure 15 This is a schematic diagram of the handle structure of the rotating shaft assembly for rotating delivery of the radiofrequency ablation electrode catheter according to Embodiment 4 of this utility model;

[0044] Figure 16 This is a schematic diagram of the connection structure between the handle of the radiofrequency ablation electrode catheter, the axial force sensor, and the force sensor in Embodiment 4 of this utility model.

[0045] Figure 17 This is an internal cross-sectional view of the handle of the radiofrequency ablation electrode catheter in Embodiment 5 of this utility model, which is connected to the axial force sensor and the force sensor respectively.

[0046] Figure 18 This is one of the structural schematic diagrams of the radiofrequency ablation electrode catheter in Embodiment 5 of this utility model, in which the handle is connected to the axial force sensor and the force sensor respectively.

[0047] Figure 19 This is the second schematic diagram of the structure in Embodiment 5 of this utility model, showing the handle of the radiofrequency ablation electrode catheter connected to the axial force sensor and the force sensor respectively.

[0048] Figure 20 This is a schematic diagram of the structure of the pin in Embodiment 5 of this utility model when the head end is a ball head;

[0049] Figure 21 This is a schematic diagram of the structure of Embodiment 6 of the present invention;

[0050] Figure 22This is a schematic diagram of the structure of the first connecting part, the axial force sensing element, and the torque force sensing element in Embodiment 6 of this utility model;

[0051] Figure 23 This is a schematic diagram of the first connecting part and the locking structure in Embodiment 6 of this utility model;

[0052] Figure 24 This is a schematic diagram of the bearing structure of Embodiment 6 of this utility model;

[0053] Figure 25 A schematic diagram of the structure of Embodiment 7 of this utility model;

[0054] Figure 26 A schematic diagram of the axial force sensor, rotating sleeve, and first connecting part in Embodiment 7 of this utility model;

[0055] Figure 27 A schematic diagram of the torque sensor and torque amplification structure in Embodiment 7 of this utility model. Detailed Implementation

[0056] 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.

[0057] 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.

[0058] The guidewires mentioned here include, but are not limited to, wire-like interventional medical devices such as guidewires, microguidewires, angiography guidewires, and loach guidewires; the catheters include, but are not limited to, tubular interventional medical devices such as guide tubes, microcatheters, angiography catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilation catheters, and balloon dilation stent catheters.

[0059] Example 1

[0060] A force-sensing rotary shaft assembly for an interventional consumable delivery mechanism includes a rotary shaft drive seat, a rotary shaft, an axial force sensing element, and a torque force sensing element. The rotary shaft is rotatably mounted within the rotary shaft drive seat. A first connecting portion is rotatably mounted within the rotary shaft via a bushing structure, and the first connecting portion can be locked to the interventional consumable. The axial force sensing element measures the axial force acting on the interventional consumable, and the torque force sensing element measures the torque acting on the interventional consumable in the direction about the axis. The axial force sensing element is connected to the rotary shaft, and the torque force sensing element is indirectly connected to the rotary shaft through the axial force sensing element.

[0061] The first connecting part is axially movable and circumferentially rotatable on the rotating shaft through a bushing structure. The bushing structure adopts one or a combination of ball bushing, magnetic levitation bushing, air bushing, and hydraulic bushing.

[0062] The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the force measuring end of the axial force sensing element. The first connecting part is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the first connecting part is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the intervention consumable can be calculated by combining the force arm.

[0063] The force measuring end of the axial force sensor is connected to the fixed end of the force sensor. The first connecting part is connected to the force measuring end of the force sensor through an axial force coupling structure. At this time, the axial force coupling structure is also a torque conversion structure, which applies the axial force received by the first connecting part to the axial force sensor.

[0064] When the torque sensing element is indirectly connected to the rotating shaft through the axial force sensing element, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a pin hole structure. The pin hole structure includes a pin or a through hole set on the first connecting part. The force measuring end of the axial force sensor is fixedly connected to a connecting plate, and the connecting plate is fixedly connected to the fixed end of the force sensor. The force measuring end of the force sensor is fixedly connected to a force transmission plate, and the force transmission plate is provided with a through hole or a pin. The pin passes through the through hole and is in close contact with the side wall of the through hole. The torque received by the intervention consumable is converted into a push-pull force and transmitted to the force sensor through the pin under the guidance of the bushing structure. The axial force received by the intervention consumable is directly transmitted to the axial force sensor through the pin and the force transmission plate.

[0065] When the torque sensing element is a combination of a force sensor and a torque conversion structure, it also includes a sensor force transmission component. The first connecting part is connected to the sensor force transmission component through the torque conversion structure. The torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, a linear transmission structure, and a pin hole structure. The fixed end of the force sensor is fixed on the rotating shaft. The force measuring end of the force sensor is fixedly connected to the sensor force transmission component or integrally formed. The force measuring axis of the force sensor is perpendicular to the axis of the rotating shaft.

[0066] The rotary shaft drive seat has an open cover structure, and a rotary drive assembly capable of driving the rotary shaft to rotate is installed inside or outside the rotary shaft drive seat. The rotary shaft can be installed on the rotary shaft drive seat in the forward or reverse direction along its axial direction.

[0067] The rotary drive assembly drives the rotary shaft to rotate through the transmission assembly. The transmission assembly transmits power by meshing with the driven gear ring on the rotary shaft, or by the friction between the driven friction rings on the rotary shaft. The transmission assembly is a drive gear, a drive friction wheel, a drive transmission belt, or a drive friction belt.

[0068] The rotating shaft is a shell structure consisting of outer shell A and outer shell B connected together in an openable manner, which facilitates the disassembly and cleaning of the internal structure. Each of the outer shells A and B has a toothed ring on its outside. When the outer shells A and B are closed, the toothed rings on the outside of the outer shells A and B close to form a complete toothed ring.

[0069] Specifically, such as Figures 1-5 As shown, a force-sensing rotary shaft assembly for an interventional consumable delivery mechanism includes a rotary shaft 10225 and a rotary shaft drive seat. The rotary shaft drive seat includes a base 10226 and a rotary cover 10227. The interventional consumable passes through the central axis of the rotary shaft 10225. The rotary shaft 10225 is rotatably mounted on the rotary shaft drive seat. The rotary shaft drive seat is equipped with a rotary drive assembly capable of driving the rotary shaft 10225 to rotate, either internally or externally. The rotary drive assembly can be a structure that uses a motor and a drive gear, drive friction wheel, or drive friction belt. The rotary cover 10227 is hinged to the base 10226 and is locked to the base 10226 by means of snap fasteners, magnetic attraction, screws, or latches. The rotary shaft 10225 can be easily installed and removed by opening the rotary cover 10227.

[0070] The rotating shaft 10225 has a first connecting part a1022501 inside. The Luer connector at the tail end of the conduit 1022002 is fixed on the first connecting part a1022501 by the locking structure 1022001. The locking structure 1022001 is one or a combination of clamping structure, snap-locking structure or threaded locking structure.

[0071] The locking structure 1022001 includes a threaded transition head 102200101, which is screwed to the Luer connector at the tail end of the conduit 1022002 via a Luer thread structure. A butt joint 102200103 is fixedly connected to the front end of the first connecting part a1022501. Openable hooks 102200102 are provided on both sides of the threaded transition head 102200101. Pinch the tail of hook 102200102 to open the head of hook 102200102, then insert the threaded transition head 102200101 into the front end of the connector 102200103, and loosen the tail of hook 1033020017 so that hook 1033020017 is locked in the groove formed by connector 102200103 and first connecting part a1022501 under its own elastic force.

[0072] A bushing structure 1022003 is provided between the first connecting part a1022501 and the rotating shaft 10225. The bushing structure 1022003 allows the first connecting part a1022501 to rotate around the axis of the rotating shaft 10225 and move along its axis. The bushing structure 1022003 adopts one or a combination of ball bushing structure, magnetic levitation bushing structure, air bushing structure, and hydraulic bushing structure to reduce frictional resistance. A transmission sleeve 1022004 is fixedly connected to the rear end of the first connecting part a1022501. One or more pins 10220010 are fixedly connected to the transmission sleeve 1022004. An axial force sensor 1022006 is provided inside the rotating shaft 10225. The fixed end of the axial force sensor 1022006 is fixedly connected to the rotating shaft 10225. The force measuring direction of the axial force sensor 1022006 is parallel to the axis of the first connecting part a1022501. The transmission sleeve 1022004 is connected to the force sensor 1022008 via a torque conversion structure, converting the torque received by the transmission sleeve 1022004 and the first connecting part a1022501 into a push-pull force that acts on the force sensor 1022008. Alternatively, it can be connected to the torque sensor via a torque amplification structure. The transmission sleeve 1022004 is also connected to the axial force sensor 1022006 via an axial force coupling structure, thereby directly applying the axial force received by the transmission sleeve 1022004 and the first connecting part a1022501 to the axial force sensor 1022006.

[0073] When only one pin 10220010 is fixedly connected to the transmission sleeve 1022004, the torque conversion structure is an axial force coupling structure. The force measuring end of the axial force sensor 1022006 is fixedly connected to a connecting plate 1022007. The connecting plate 1022007 is fixedly connected to the fixed end of the force sensor 1022008. The force measuring axis of the axial force sensor 1022006 is perpendicular to the force measuring axis of the force sensor 1022008. The force measuring end of the force sensor 1022008 is fixedly connected to a force transmission plate 1022009. The force transmission plate 1022009 is provided with a through hole, through which the pin 10220010 passes. The torque received by the conduit 1022002, guided by the bushing structure 1022003, is converted into a push-pull force via the pin 10220010 and transmitted to the force sensor 1022008 (the force sensor 1022008 is also a force sensor and can measure push-pull forces). The axial force received by the conduit 1022002 is transmitted to the axial force sensor 1022006 via the pin 10220010, the force transmission plate 1022009, and the force sensor 1022008, thereby detecting the axial force. The positions of the pin 10220010 and the through hole can be interchanged; that is, the pin 10220010 is provided on the force transmission plate 1022009, and the through hole is provided on the transmission sleeve 1022004.

[0074] like Figure 6 As shown, a ball joint hole is provided inside the through hole of the force transmission plate 1022009, and a force transmission ball joint 102200901 is inserted into the ball joint hole. The force transmission ball joint 102200901 is adapted to the shape of the ball joint hole and can rotate. The force transmission ball joint 102200901 has 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.

[0075] like Figure 7 and Figure 8The bushing structure 1022003 adopts a ball bearing bushing structure, which includes an inner bushing 102200301, a retainer 102200302, and an outer bushing 102200303 arranged sequentially 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 bushing 102200301 and the inner wall of the outer bushing 102200303. The two end faces of the retainer 102200302 are respectively provided with elastic elements. The elastic elements can prevent the retainer 102200302 from detaching from the inner bushing or the outer bushing 102200303 due to excessive axial displacement.

[0076] 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 elastic force 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.

[0077] Example 2

[0078] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0079] The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the rotating shaft. The first connecting part is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the first connecting part is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the intervention consumable can be calculated by combining the force arm.

[0080] The axial force sensing element is a combination of an axial force sensor and an axial force coupling structure. The fixed end of the axial force sensor is fixedly connected to the rotating shaft, and the first connecting part is directly connected to the force measuring end of the axial force sensor through the axial force coupling structure.

[0081] When the torque sensing element and the axial force sensing element are independently connected to the rotating shaft, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a first pin groove structure, and the axial force coupling structure adopts a second pin groove structure. The first pin groove structure includes a first pin or a first slot provided on the first connecting part. The force measuring end of the force sensor is correspondingly provided with a first slot or a first pin. The direction of the first slot is parallel to the axial direction of the first connecting part, and the first pin extends into the first slot. The second pin groove structure includes a second pin or a second slot provided on the first connecting part. The force measuring end of the axial force sensor is correspondingly provided with a second slot or a second pin. The direction of the second slot is around the circumference of the first connecting part, and the second pin extends into the second slot. Under the guidance of the first pin groove structure, the torque received by the insert consumable is converted into a push-pull force and transmitted to the force sensor. The axial force received by the insert consumable is directly transmitted to the axial force sensor through the second pin groove structure. The fixed ends of the force sensor and the axial force sensor are both fixedly connected to the rotating shaft.

[0082] Specifically, such as Figures 9 to 12 The axial force sensor 1022006 and the force sensor 1022008 are separately arranged. A first axial force detection groove 102250101 and a first torque detection groove 102250102 are respectively provided on the side of the first connecting part a1022501. A first pin is provided on the force measuring end of the axial force sensor 1022006, and the first pin extends into the first axial force detection groove 102250101. A second pin is provided on the force measuring end of the force sensor 1022008, and the second pin extends into the first torque detection groove 102250102.

[0083] Or such as Figure 12 The first and second pins have ball heads at their ends. The ball heads abut against both sides of the first axial force detection groove 102250101 or the first torque detection groove 102250102, thereby achieving point contact. Point contact can prevent the side of the pin from getting stuck when it is not parallel to the two sides of the first axial force detection groove 102250101 or the first torque detection groove 102250102, and can also reduce frictional resistance and avoid interfering with the detection of axial force.

[0084] Example 3

[0085] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0086] The torque sensing element is a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft. The first connecting part or the handle of the interventional consumable is connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part or the handle of the interventional consumable is amplified and then applied to the torque sensor. After the torque is measured, the torque received by the interventional consumable can be calculated by combining the torque amplification ratio.

[0087] The axial force sensing element is a combination of an axial force sensor and an axial force coupling structure. The fixed end of the axial force sensor is fixedly connected to the rotating shaft, and the first connecting part or the handle of the intervention consumable is directly connected to the force measuring end of the axial force sensor through the axial force coupling structure.

[0088] like Figure 13 As shown, when the first connecting part a1022501 is axially movable and circumferentially rotatable on the rotating shaft 10225, a bushing structure is provided between the first connecting part a1022501 and the rotating shaft 10225. The bushing structure adopts one or a combination of ball bushing structure, magnetic levitation bushing structure, air bushing structure, and hydraulic bushing structure. In this embodiment, the bushing structure adopts ball bushing structure 1022003.

[0089] The axial force sensing element is an axial force sensor 1022006. The fixed end of the axial force sensor 1022006 is fixedly connected to the rotating shaft 10225. The force measuring end of the axial force sensor 1022006 is connected to the first connecting part a1022501 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 first connecting part a1022501 transmits the axial force through the axial force... The coupling structure transmits the force to the axial force sensor 1022006. Specifically, the first connecting part a1022501 is provided with a slot 1022501010, and the force measuring end of the axial force sensor 1022006 is fixedly provided with a pin 102200601. The pin 102200601 can be inserted into the slot 1022501010 to prevent the first connecting part a1022501 from being affected by the slight rotation caused by torque when it rotates.

[0090] Preferably, the head end of the pin 102200601 is a ball head, which abuts against both side walls of the slot 1022501010, thereby achieving point contact. Point contact can prevent the cylindrical surface of the pin 102200601 from getting stuck when it is not parallel to the side walls of the slot 1022501010, and can also reduce frictional resistance and avoid interfering with axial force.

[0091] When the torque sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. The first connecting part a1022501 is equipped with a locking structure 1022001 that can lock or release the interventional consumable 102. After the locking structure 1022001 locks the interventional consumable 102, when the interventional consumable is subjected to torque during rotation, the torque is applied to the torque sensor through the torque amplification structure via the first connecting part a1022501. After the torsional torque is measured, the torque subjected to the interventional consumable can be calculated by combining the torque amplification ratio.

[0092] When the torque amplification structure is a gear mechanism, the interventional consumable 102 is coaxially disposed inside the first connecting part a1022501. The fixed end of the torque sensor 102251 is fixedly connected to the rotating shaft 10225 and located on one side of the interventional consumable 102. The torque measuring end of the torque sensor 102251 is fixedly connected to or integrally formed with the torque transmission component 102254. The first connecting part a1022501 is provided with a first gear 102250103, and the torque transmission component 102254 is provided with a second gear 10225401. The relative positions of the first connecting part a1022501 and the torque transmission component 102254 cause the first gear 102250103 and the second gear 10225401 to be in gear phase. When the first connecting part a1022501 locks the interventional consumable 102, when the interventional consumable 102 is subjected to torque, the first gear 102250103 on the first connecting part a1022501 will drive the second gear 10225401 of the torque transmission component 102254 to rotate. Since the pitch circle diameter of the first gear 102250103 is smaller than the pitch circle diameter of the second gear 10225401, the torsional torque will be amplified and applied to the torque transmission component 102254. At this time, the torque sensor 102251 will detect the torsional torque and calculate the torque received by the interventional consumable 102 based on the gear diameter ratio.

[0093] Example 4

[0094] A force-sensing rotary shaft assembly for an interventional consumable delivery mechanism includes a rotary shaft drive seat, a rotary shaft, an axial force sensing element, and a torque force sensing element. The rotary shaft is rotatably mounted within the rotary shaft drive seat. A handle for the interventional consumable is rotatably mounted within the rotary shaft via a bushing structure. The axial force sensing element measures the axial force acting on the interventional consumable, and the torque force sensing element measures the torque acting on the interventional consumable in the direction about the axis. The axial force sensing element is connected to the rotary shaft, and the torque force sensing element is indirectly connected to the rotary shaft through the axial force sensing element.

[0095] The handle of the interventional consumable is axially movable and circumferentially rotatable on a rotating shaft via a bushing structure. The bushing structure is one or a combination of ball bushing, magnetic levitation bushing, air bushing, and hydraulic bushing.

[0096] The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the force measuring end of the axial force sensing element. The handle of the interventional consumable is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the handle of the interventional consumable is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the interventional consumable can be calculated by combining the force arm.

[0097] The force measuring end of the axial force sensor is connected to the fixed end of the force sensor. The handle of the interventional consumable is connected to the force measuring end of the force sensor through the axial force coupling structure. At this time, the axial force coupling structure is also a torque conversion structure, which applies the axial force on the handle of the interventional consumable to the axial force sensor.

[0098] When the torque sensing element is indirectly connected to the rotating shaft through the axial force sensing element, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a pin hole structure. The pin hole structure includes a pin or a through hole set on the handle of the interventional consumable. The force measuring end of the axial force sensor is fixedly connected to a connecting plate, and the connecting plate is fixedly connected to the fixed end of the force sensor. The force measuring end of the force sensor is fixedly connected to a force transmission plate, and the force transmission plate is provided with a corresponding through hole or pin. The pin passes through the through hole and is in close contact with the side wall of the through hole. The torque received by the interventional consumable is converted into a push-pull force by the pin under the guidance of the bushing structure and transmitted to the force sensor. The axial force received by the interventional consumable is directly transmitted to the axial force sensor through the pin and the force transmission plate.

[0099] like Figures 14-16 As shown, the interventional consumable delivery mechanism is used to clamp a rotating radiofrequency ablation electrode catheter. The front end of the radiofrequency ablation electrode catheter is equipped with a radiofrequency ablation electrode, and the rear end of the radiofrequency ablation electrode is equipped with a handle 10220012. A telescopic rod 10220013 is located at the front end of the handle 10220012. When the telescopic rod 10220013 moves back and forth relative to the handle 10220012, it can control the angle of the radiofrequency ablation electrode at the front end of the radiofrequency ablation electrode catheter. The handle 10220012 is disposed within the rotating shaft 10225 of the interventional consumable delivery mechanism.

[0100] A first limiting pin 102241 is fixedly connected to the side of the handle 10220012, and a second limiting pin 102242 is fixedly connected to the side of the telescopic rod 10220013. A first motor 102236 and a second motor 102240 are installed inside the rotating shaft 10225. The output shafts of the first motor 102236 and the second motor 102240 are respectively fixedly connected to a first lead screw 102234 and a second lead screw 102239. A first moving seat 102233 and a second moving seat 102239 are threadedly connected to the first lead screw 102234 and the second lead screw 102239. The two movable seats 102238 have a first limiting groove on the first movable seat 102233 and a second limiting groove on the second movable seat 102238. A first limiting pin 102241 is placed in the first limiting groove of the first movable seat 102233, and there is a gap between the first limiting groove and the first limiting pin 102241. A second limiting pin 102242 is placed in the second limiting groove of the second movable seat 102238, and there is a gap between the second limiting groove and the second limiting pin 102242, so as not to affect the force detection of the sensor on the handle 10220012.

[0101] When it is necessary to move the telescopic rod 10220013 forward (such as controlling the bending or straightening of the radiofrequency ablation electrode at the front end of the radiofrequency ablation electrode conduit 10220011), the first motor 102236 drives the first lead screw 102234 to rotate, and the first lead screw 102234 drives the first moving seat 102233 to move, so that the first limiting groove of the first moving seat 102233 abuts against the front end face of the first limiting pin 102241. Then the second motor 102240 drives the second lead screw 102239 to rotate, and the second lead screw 102239 drives the second moving seat 102238 to move. The second limiting groove of the second moving seat 102238 abuts against the rear end face of the second limiting pin 102242, and drives the telescopic rod 10220013 to move forward, thereby bending or straightening the radiofrequency ablation electrode. Then, the first motor 102236 drives the first moving seat 102233 to move to a state where the first limiting groove and the first limiting pin are not in contact. The second motor 102240 drives the second moving seat 102238 to move to a state where the second limiting groove and the second limiting pin are not in contact, so as to avoid affecting the force detection of the handle 10220012 by the influence sensor.

[0102] When it is necessary to move the telescopic rod 10220013 backward (such as to straighten or bend the radiofrequency ablation electrode at the front end of the radiofrequency ablation electrode conduit 10220011), the first motor 102236 drives the first lead screw 102234 to rotate, and the first lead screw 102234 drives the first moving seat 102233 to move, so that the first limiting groove of the first moving seat 102233 abuts against the rear end face of the first limiting pin 102241. Then the second motor 102240 drives the second lead screw 102239 to rotate, and the second lead screw 102239 drives the second moving seat 102238 to move. The second limiting groove of the second moving seat 102238 abuts against the front end face of the second limiting pin 102242, and drives the telescopic rod 10220013 to move backward, thereby straightening or bending the radiofrequency ablation electrode. Then, the first motor 102236 drives the first moving seat 102233 to move to a state where the first limiting groove and the first limiting pin are not in contact. The second motor 102240 drives the second moving seat 102238 to move to a state where the second limiting groove and the second limiting pin are not in contact, so as to avoid affecting the force detection of the handle 10220012 by the influence sensor.

[0103] The telescopic rod 10220013 has a damping structure, which allows it to be fixed in its original position after moving back and forth. Alternatively, the telescopic rod 10220013 can be replaced by a threaded rod or other motion mechanism with a self-locking structure. In this case, the threaded rod can be axially moved along the thread by an external drive mechanism, thereby controlling the angle of the radiofrequency ablation electrode at the front end of the radiofrequency ablation electrode conduit 10220011. After the threaded rod is turned, the external drive mechanism disengages from the threaded rod, thus preventing the influence sensor from detecting the force on the handle 10220012.

[0104] A bushing structure 1022003 is provided between the handle 10220012 and the rotating shaft 10225, allowing the handle 10220012 to rotate around its axis and move along its axis. The bushing structure 1022003 adopts one or a combination of ball bushing structure, magnetic levitation bushing structure, air bushing structure, and hydraulic bushing structure to reduce frictional resistance. The handle 10220012 is fixed with a pry pin 10220010. An axial force sensor 1022006 is provided inside the rotating shaft 10225. The fixed end of the axial force sensor 1022006 is connected to the rotating shaft 10225. A rotating shaft 10225 is fixedly connected. The force measuring direction of the axial force sensor 1022006 is parallel to the axis of the handle of the interventional consumable. A connecting plate 1022007 is fixedly connected to the force measuring end of the axial force sensor 1022006. The connecting plate 1022007 is fixedly connected to the fixed end of the force sensor 1022008. A force transmission plate 1022009 is fixedly connected to the force measuring end of the force sensor 1022008. The force transmission plate 1022009 has a through hole, through which a pin 10220010 passes, and the pin is in close contact with the side wall of the through hole. The torque and axial force received by the radiofrequency ablation electrode catheter 10220011 are transmitted to the force sensor 1022008 and the axial force sensor 1022006 through the pin 10220010 and the force transmission plate 1022009, thereby detecting the torque and axial force. Alternatively, the fixed ends of the axial force sensor 1022006 and the force sensor 1022008 can be fixedly connected to the rotating shaft 10225, and rotate together with the rotating shaft 10225.

[0105] Preferably, such as Figure 6 As shown, 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.

[0106] Example 5

[0107] The parts of this embodiment that are structurally identical to those in Embodiment 4 will not be described again. The differences are as follows:

[0108] The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the rotating shaft. The handle of the interventional consumable is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the handle of the interventional consumable is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the interventional consumable can be calculated by combining the force arm.

[0109] The axial force sensing element is a combination of an axial force sensor and an axial force coupling structure. The fixed end of the axial force sensor is fixedly connected to the rotating shaft, and the handle of the intervention consumable is directly connected to the force measuring end of the axial force sensor through the axial force coupling structure.

[0110] When the torque sensing element and the axial force sensing element are independently connected to the rotating shaft, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a first pin groove structure, and the axial force coupling structure adopts a second pin groove structure. The first pin groove structure includes a first pin or a first slot on the handle of the interventional consumable. The force measuring end of the force sensor is correspondingly provided with a first slot or a first pin. The direction of the first slot is parallel to the axial direction of the handle of the interventional consumable. The first pin extends into the first slot. The second pin groove structure includes a second pin or a second slot on the handle of the interventional consumable. The force measuring end of the axial force sensor is correspondingly provided with a second slot or a second pin. The direction of the second slot is around the circumference of the handle of the interventional consumable. The second pin extends into the second slot. Under the guidance of the first pin groove structure, the torque received by the interventional consumable is converted into a push-pull force and transmitted to the force sensor. The axial force received by the interventional consumable is directly transmitted to the axial force sensor through the second pin groove structure. The fixed ends of the force sensor and the axial force sensor are both fixedly connected to the rotating shaft.

[0111] Specifically, such as Figures 17 to 19 When the axial force sensor 1022006 and the force sensor 1022008 are separately configured, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a first pin groove structure, and the axial force coupling structure adopts a second pin groove structure. A second axial force detection groove 1022001201 and a second torque detection groove 1022001202 are respectively provided on the side of the handle 10220012. A first pin is provided on the force-measuring end of the axial force sensor 1022006, extending into the second axial force detection groove 1022001201. A second pin is provided on the force-measuring end of the force sensor 1022008, extending into the second torque detection groove 1022001202. The torque on the interventional consumable is converted into a push-pull force under the guidance of the first pin groove structure and transmitted to the force sensor. The axial force on the interventional consumable is directly transmitted to the axial force sensor through the second pin groove structure. The fixed ends of both the force sensor and the axial force sensor are fixedly connected to the rotating shaft.

[0112] Or such as Figure 20 As shown, the head ends of the first and second pins can be replaced with ball heads. The ball heads abut against both sides of the second axial force detection groove 1022001201 or the second torque detection groove 1022001202, thereby achieving point contact. Point contact can prevent the side of the pin from getting stuck when it is not parallel to the two sides of the second axial force detection groove 1022001201 or the second torque detection groove 1022001202, and can also reduce frictional resistance and avoid interfering with the detection of axial force.

[0113] The bushing structure in this embodiment is the same as that in Embodiment 1, and will not be described again here.

[0114] Example 6

[0115] A force-sensing rotary shaft assembly for an interventional consumable delivery mechanism includes a rotary shaft drive seat, a rotary shaft, an axial force sensing element, and a torque force sensing element. The rotary shaft is rotatably mounted within the rotary shaft drive seat. A first connecting portion is rotatably mounted within the rotary shaft via a bearing structure, and the first connecting portion can be locked to the interventional consumable. The axial force sensing element measures the axial force acting on the interventional consumable, and the torque force sensing element measures the torque acting on the interventional consumable in the direction about the axis. The axial force sensing element and the torque force sensing element are independently connected to the rotary shaft.

[0116] The rotating shaft is provided with a rotating sleeve, which is sleeved on the first connecting part. The first connecting part is axially limited and circumferentially rotatable on the rotating sleeve by a bearing structure. The bearing structure is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure, and an air bearing structure.

[0117] The axial force sensing element is an axial force sensor. The rotating sleeve is fixedly connected to the force measuring end of the axial force sensor, and the fixed end of the axial force sensor is fixedly connected to the rotating shaft. The axial force received by the first connecting part is transmitted to the rotating sleeve through the bearing structure, and the rotating sleeve transmits the axial force to the axial force sensor.

[0118] The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the rotating shaft. The first connecting part is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the first connecting part is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the intervention consumable can be calculated by combining the force arm.

[0119] Alternatively, the torque sensing element may be a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft, and the first connecting part is connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part is amplified and then applied to the torque sensor. After the torque is measured, the torque received by the intervention consumable can be calculated by combining the torque amplification ratio.

[0120] When the torque sensing element is a combination of a force sensor and a torque conversion structure, it also includes a sensor force transmission component. The first connecting part is connected to the sensor force transmission component through the torque conversion structure. The torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, a linear transmission structure, and a pin hole structure. The fixed end of the force sensor is fixed on the rotating shaft. The force measuring end of the force sensor is fixedly connected to the sensor force transmission component or integrally formed. The force measuring axis of the force sensor is perpendicular to the axis of the rotating shaft.

[0121] Specifically, such as Figures 21-24 As shown, a force-sensing rotary shaft assembly for an interventional consumable delivery mechanism includes a rotary shaft 10225 and a rotary shaft drive seat. The rotary shaft drive seat includes a base 10226 and a rotary cover. The rotary shaft 10225 is rotatably mounted on the rotary shaft drive seat. The rotary shaft drive seat is equipped with a rotary drive assembly capable of driving the rotary shaft 10225 to rotate, either inside or outside. The rotary drive assembly can adopt a gear transmission, friction wheel transmission, or friction belt transmission structure. The rotary cover is hinged to the base 10226 and is locked to the base 10226 by means of snap fasteners, magnetic attraction, screw structures, locks, etc. The rotary shaft 10225 can be easily installed and removed by opening the rotary cover.

[0122] The rotating shaft 10225 includes a housing A10233 and a housing B10234. Housings A10233 and B10234 are assembled together in an openable manner, facilitating disassembly and cleaning of the internal structure. The front end of the rotating shaft 10225 is provided with a first connecting part a for locking interventional consumables. The first connecting part a extends from the inside of the housing of the rotating shaft 10225 to the outside, allowing for direct external assembly and disassembly. The first connecting part a includes a first connecting pipe 10225010 and a second connecting pipe 10225011. The tail end of the first connecting pipe 10225010 is fixedly connected to the second connecting pipe 1022501. 1. The second connecting pipe 10225011 extends into the rotating shaft 10225. The rotating shaft 10225 is provided with a rotating sleeve 10225012, which is fitted outside the second connecting pipe 10225011. The second connecting pipe 10225011 is rotatable but axially limited within the rotating sleeve 10225012. This rotation can be achieved by setting a bearing structure 1022501201. The bearing structure 1022501201 is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure, and an air bearing structure, thereby reducing rotational resistance. The rolling element bearing structure is a ball bearing structure or a circumferentially arranged roller structure.

[0123] The first connecting tube 10225010 and the second connecting tube 10225011 can also be integrally formed.

[0124] The front end of the first connecting tube 10225010 is provided with a locking structure capable of locking or releasing the interventional consumables. The locking structure is one or a combination of a clamping structure, a snap-locking structure, or a threaded locking structure. The clamping structure is a jaw clamping structure, a side clamping structure, or a rotary clamping structure. The jaw locking structure achieves clamping by the relative movement of several jaws towards each other, and release by the relative movement of jaws away from each other. Specific methods include one or a combination of hinged jaws, sliding jaws, and elastic jaws.

[0125] In this embodiment, the tail of the first elastic gripper 102232 is inserted into the front of the first connecting tube 10225010. The first elastic gripper 102232 includes multiple claw flaps 1022321, which are arranged in a ring at intervals. Each claw flap 1022321 has a first conical surface 10223211 on its outer side of the head. Each claw flap 1022321 has an elastic body on its inner side of the head, or the head of the claw flap 1022321 itself is an elastic body, which can prevent damage to the interventional consumables. The constraint sleeve 102231 is threadedly connected to the front end of the first connecting tube 10225010. The interior of the constraint sleeve 102231 has a surface that interacts with the first conical surface 10223211. The tail of the first elastic gripper 102232, which is adapted to the second conical surface, is inserted into the first connecting tube 10225010. Then, a constraint sleeve 102231 is fitted onto the outside. When the constraint sleeve 102231 is screwed tightly onto the first connecting tube 10225010, the second conical surface presses against the first conical surface 10223211, causing the multiple gripper flaps 1022321 to close, thereby clamping the interventional consumable. When the constraint sleeve 102231 is unscrewed from the first connecting tube 10225010, the first conical surface 10223211 loses the pressure from the second conical surface, allowing the multiple gripper flaps 1022321 to recover their deformation under their own elasticity and open, thus releasing the interventional consumable. The locking part of this locking method is the middle or rear end of the interventional consumable, such as the tube body and rear end of a catheter, or the wire body of a guidewire.

[0126] An axial force connecting plate 51311101 is fixedly connected to the rotating sleeve 10225012. The axial force connecting plate 51311101 is connected to the force measuring end of the second axial force sensor 513111. The second axial force sensor 513111 is fixedly installed inside the outer shell A10233. The force measuring direction of the second axial force sensor 513111 coincides with or is parallel to the axial direction of the interventional consumable. After the interventional consumable is locked by the locking structure, when the interventional consumable is subjected to an axial external force during delivery, the interventional consumable transmits the axial force to the first connecting pipe 10225010 and the second connecting pipe 10225011 through the locking structure. Then, the force is transmitted by the second connecting pipe 10225011. The bearing structure 1022501201 between the connecting pipe 10225011 and the rotating sleeve 10225012 transmits axial force to the rotating sleeve 10225012. Under the action of the bearing structure 1022501201, the second connecting pipe 10225011 and the rotating sleeve 10225012 can achieve circumferential relative rotation. Therefore, the second connecting pipe 10225011 can only transmit axial force to the rotating sleeve 10225012, but cannot transmit circumferential torque. This axial external force is transmitted to the second axial force sensor 513111 through the axial force connecting plate 51311101 fixedly connected to the rotating sleeve 10225012. The first connecting pipe 10225010 and the second connecting pipe 10225011 can also be integrally formed.

[0127] After the locking structure locks the interventional consumable, when the interventional consumable is subjected to torque around the axis during delivery, the torque on the interventional consumable in the axial direction is measured by a combination of torque amplification structure and torque sensor, or a combination of torque conversion structure and force sensor.

[0128] Preferably, the torque on the interventional consumable is measured in the axial direction by a combination of a torque conversion structure and a force sensor. The force sensor is a single-dimensional force sensor 102293. One end of the single-dimensional force sensor 102293 is fixed on the rotating shaft 10225, and the other end of the single-dimensional force sensor 102293 is fixedly connected to or integrally formed with a sensor force transmission component 102210. The second connecting pipe 10225011 cooperates with the sensor force transmission component 102210 through a pin groove structure, so that when the second connecting pipe 10225011 rotates, it will convert the torsional torque into a push-pull force and apply it to the sensor force transmission component 102210. After the force sensor measures the push-pull force, the torque on the interventional consumable can be calculated by combining the lever arm.

[0129] At this time, the fixed end of the single-dimensional force sensor 102293 is fixedly connected to the outer shell (outer shell A10233 or outer shell B10234) of the rotating shaft 10225 and located on one side of the interventional consumables. The 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, including a sleeve 1022111 and a pin 1022112. The sleeve 1022111 is fixedly connected to the second connecting pipe 10225011 (or integrally formed). The sleeve 1022111 has a slot 10221111 on one side of the second connecting pipe 10225011 along the radial direction of the rotation center. One end of the pin 1022112 is installed on the transmission component. On the sensor force transmission component 102210, the other end of the pin 1022112 is placed in the slot 10221111, and 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; in order 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 interventional consumable being a guidewire, preferably 3-8mm; for the interventional consumable being 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 second connecting pipe 10225011, and the corresponding slot can be set on the sensor force transmission component 102210.

[0130] Example 7

[0131] The parts of this embodiment that are structurally identical to those in Embodiment 6 will not be described again. The differences are as follows:

[0132] The rotating shaft is provided with a rotating sleeve, which is sleeved on the first connecting part. The first connecting part is axially limited and circumferentially rotatable on the rotating sleeve by a bearing structure. The bearing structure is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure, and an air bearing structure.

[0133] The axial force sensing element is an axial force sensor. The rotating sleeve is fixedly connected to the force measuring end of the axial force sensor, and the fixed end of the axial force sensor is fixedly connected to the rotating shaft. The axial force received by the first connecting part is transmitted to the rotating sleeve through the bearing structure, and the rotating sleeve transmits the axial force to the axial force sensor.

[0134] The torque sensing element is a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft. The first connecting part is connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part is amplified and then applied to the torque sensor. After the torque is measured, the torque received by the intervention consumable can be calculated by combining the torque amplification ratio.

[0135] When the torque sensing element is a combination of a torque sensor and a torque amplification structure, the torque amplification structure is one or a combination of a pin structure, a linkage mechanism, a gear mechanism, a belt drive mechanism, and a wire drive mechanism; it also includes a torque transmission component, the first connecting part and the torque transmission component are connected through the torque amplification structure, the fixed end of the torque sensor is fixed on the rotating shaft, the torque measuring end of the torque sensor is fixedly connected to or integrally formed with the torque transmission component, and the torque measuring axis of the torque sensor is parallel to the axis of the rotating shaft.

[0136] Specifically, such as Figures 25-27 As shown, the first connecting part b102231 is axially limited but circumferentially rotatable within the rotating shaft 10225. It also includes a rotating sleeve 102375 and a support connecting block 102376. The first connecting part b102231 is rotatably disposed within the rotating sleeve 102375, and this rotation can be achieved by setting a bearing structure. The rotating sleeve 102375 and the support connecting block 102376 are fixedly connected or integrally formed. The support connecting block 102376 is fixedly disposed on the outer shell A of the rotating shaft via a second axial force sensor 513111, and is offset from the rotation center of the first connecting part b102231. The force measuring direction of the second axial force sensor 513111 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 be transmitted through the first connecting part b102231, the rotating sleeve 102375, and the support connecting block 102376, and the second axial force sensor 513111 can detect this axial external force.

[0137] The torque on the interventional consumable is measured by a torque sensor 102251 in the axial direction. The torque sensor 102251 is fixedly mounted on the rotating shaft and located on one side of the interventional consumable. The first connecting part b102231 applies the received torque to the torque sensor 102251 through a torque amplification structure. The torque amplification structure can amplify the torque on the interventional consumable and improve the sensitivity of the torque sensor. The torque amplification structure is one or a combination of a lever, a pin, a linkage mechanism, a gear, a friction wheel mechanism, a belt drive, a wire drive mechanism, and a cam mechanism.

[0138] In this embodiment, the torque amplification structure is preferably a pin mechanism, including a second torsion arm 102252, a second pin 102253, and a torque transmission component 102254. The torque measuring end of the torque sensor 102251 is fixedly connected to or integrally formed with the torque transmission component 102254. The second torsion arm 102252 is fixedly connected to the first connecting part b102231 (or integrally formed). The second torsion arm 102252 has a second slot 1022521 radially along the rotation center on one side of the first connecting part b102231. One end of the second pin 102253 is mounted on the torque transmission component. On component 102254, the other end of the second pin 102253 is placed in the second slot 1022521, and the axial direction of the second pin 102253 is parallel to the axis of the interventional consumable and at a certain distance (this distance is the lever arm; in order to maximize the torque when the torque on the interventional consumable is fixed, for guidewires this distance should be less than 20mm, preferably 3-8mm; for catheters this distance should be less than 40mm, preferably 15-30mm), and the ratio of the two lever arms is 1:3 to 1:20. The second pin 102253 can slide along the second slot 1022521. Alternatively, the second pin can be provided on the second torsion arm 102252, and the corresponding torque transmission component 102254 can be provided with the second slot.

[0139] After the locking structure clamps the interventional consumable, when the interventional consumable is subjected to torque, the first connecting part b102231 rotates at a certain angle relative to the rotating shaft 10225. The second torsion arm 102252 rotates with the first connecting part b102231. The second pin 102253 is pushed by the second slot 1022521 of the second torsion arm 102252, amplifying the torsional torque and applying it to the torque transmission component 102254. The torque transmission component 102254 torsionalizes the torque sensor 102251, so that the torque sensor 102251 can detect the torsional torque. At this time, the actual rotational torque of the interventional consumable can be measured by the torque sensor 102251.

[0140] 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.

[0141] 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 force-sensing rotary shaft assembly for an interventional consumable delivery mechanism, characterized in that: The device includes a rotating shaft, an axial force sensing element, and a torque force sensing element. A first connecting part or the handle of an interventional consumable is rotatably mounted inside the rotating shaft via a bearing structure or a bushing structure. The first connecting part can be locked to the interventional consumable. The axial force sensing element measures the axial force on the interventional consumable, and the torque force sensing element measures the torque on the interventional consumable in the direction about the axis. The axial force sensing element and the torque force sensing element are independently connected to the rotating shaft; or the axial force sensing element is connected to the rotating shaft, and the torque force sensing element is indirectly connected to the rotating shaft through the axial force sensing element.

2. The rotary shaft assembly with force sensing in an interventional consumable delivery mechanism according to claim 1, characterized in that: The first connecting part or the handle of the intervention consumable is axially movable and circumferentially rotatable on the rotating shaft through a bushing structure. The bushing structure adopts one or a combination of ball bushing, magnetic levitation bushing, air bushing, and hydraulic bushing.

3. The rotary shaft assembly with force sensing in an interventional consumable delivery mechanism according to claim 2, characterized in that: The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the rotating shaft or to the force measuring end of the axial force sensing element. The first connecting part or the handle of the interventional consumable is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the first connecting part or the handle of the interventional consumable is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the interventional consumable can be calculated by combining the lever arm. Alternatively, the torque sensing element may be a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft. The first connecting part or the handle of the interventional consumable is connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part or the handle of the interventional consumable is amplified and then applied to the torque sensor. After the torque is measured, the torque received by the interventional consumable can be calculated by combining the torque amplification ratio. The axial force sensing element is a combination of an axial force sensor and an axial force coupling structure. The fixed end of the axial force sensor is fixedly connected to the rotating shaft, and the first connecting part or the handle of the intervention consumable is directly connected to the force measuring end of the axial force sensor through the axial force coupling structure. Alternatively, the force measuring end of the axial force sensor is connected to the fixed end of the force sensor, and the first connecting part or the handle of the interventional consumable is connected to the force measuring end of the force sensor through an axial force coupling structure. At this time, the axial force coupling structure is also a torque conversion structure, which applies the axial force received by the first connecting part or the handle of the interventional consumable to the axial force sensor.

4. The force-sensing rotating shaft assembly of an interventional consumable delivery mechanism according to claim 3, characterized in that: When the torque sensing element is indirectly connected to the rotating shaft through the axial force sensing element, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a pin hole structure. The pin hole structure includes a pin or a through hole set on the first connecting part or the handle of the interventional consumable. The force measuring end of the axial force sensor is fixedly connected to a connecting plate, and the connecting plate is fixedly connected to the fixed end of the force sensor. The force measuring end of the force sensor is fixedly connected to a force transmission plate, and the force transmission plate is provided with a corresponding through hole or pin. The pin passes through the through hole and is in close contact with the side wall of the through hole. The torque received by the interventional consumable is converted into a push-pull force by the pin under the guidance of the bushing structure and transmitted to the force sensor. The axial force received by the interventional consumable is directly transmitted to the axial force sensor through the pin and the force transmission plate. When the torque sensing element and the axial force sensing element are independently connected to the rotating shaft, and the torque sensing element is a combination of a force sensor and a torque conversion structure, the torque conversion structure adopts a first pin groove structure, and the axial force coupling structure adopts a second pin groove structure. The first pin groove structure includes a first pin or a first slot provided on the first connecting part or the handle of the interventional consumable. The force measuring end of the force sensor is correspondingly provided with a first slot or a first pin. The direction of the first slot is parallel to the axial direction of the first connecting part or the handle of the interventional consumable. The first pin extends into the first slot, and the second pin groove... The structure includes a second pin or a second slot disposed on the first connecting part or the handle of the interventional consumable. The force measuring end of the axial force sensor is correspondingly provided with a second slot or a second pin. The direction of the second slot is around the circumference of the first connecting part or the handle of the interventional consumable. The second pin extends into the second slot. Under the guidance of the first pin groove structure, the torque received by the interventional consumable is converted into a push-pull force and transmitted to the force measuring sensor. The axial force received by the interventional consumable is directly transmitted to the axial force sensor through the second pin groove structure. The fixed ends of the force measuring sensor and the axial force sensor are both fixedly connected to the rotating shaft.

5. The force-sensing rotary shaft assembly of an interventional consumable delivery mechanism according to claim 4, characterized in that: The force transmission plate has a ball joint hole inside the through hole, and a force transmission ball joint is inserted into the ball joint hole. The shape of the force transmission ball joint is adapted to the ball joint hole and can rotate. The force transmission ball joint has a circular hole for the pin to pass through, and the pin can slide relative to the circular hole of the force transmission ball joint.

6. The rotary shaft assembly with force sensing in an interventional consumable delivery mechanism according to claim 1, characterized in that: The rotating shaft is provided with a rotating sleeve, which is sleeved on the first connecting part. The first connecting part is axially limited and circumferentially rotatable on the rotating sleeve by a bearing structure. The bearing structure is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure, and an air bearing structure.

7. The force-sensing rotary shaft assembly of an interventional consumable delivery mechanism according to claim 6, characterized in that: The axial force sensing element is an axial force sensor. The rotating sleeve is fixedly connected to the force measuring end of the axial force sensor, and the fixed end of the axial force sensor is fixedly connected to the rotating shaft. The axial force received by the first connecting part is transmitted to the rotating sleeve through the bearing structure, and the rotating sleeve transmits the axial force to the axial force sensor. The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the rotating shaft. The first connecting part is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the first connecting part is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the intervention consumable can be calculated by combining the force arm. Alternatively, the torque sensing element may be a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft, and the first connecting part is connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the first connecting part is amplified and then applied to the torque sensor. After the torque is measured, the torque received by the intervention consumable can be calculated by combining the torque amplification ratio.

8. The force-sensing rotary shaft assembly of an interventional consumable delivery mechanism according to claim 7, characterized in that: When the torque sensing element is a combination of a force sensor and a torque conversion structure, it also includes a sensor force transmission component. The first connecting part is connected to the sensor force transmission component through the torque conversion structure. The torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, a linear transmission structure, and a pin hole structure. The fixed end of the force sensor is fixed on the rotating shaft. The force measuring end of the force sensor is fixedly connected to the sensor force transmission component or integrally formed. The force measuring axis of the force sensor is perpendicular to the axis of the rotating shaft.

9. A force-sensing rotary shaft assembly for an interventional consumable delivery mechanism according to claim 7, characterized in that: When the torque sensing element is a combination of a torque sensor and a torque amplification structure, the torque amplification structure is one or a combination of a pin structure, a linkage mechanism, a gear mechanism, a belt drive mechanism, and a wire drive mechanism; it also includes a torque transmission component, the first connecting part and the torque transmission component are connected through the torque amplification structure, the fixed end of the torque sensor is fixed on the rotating shaft, the torque measuring end of the torque sensor is fixedly connected to or integrally formed with the torque transmission component, and the torque measuring axis of the torque sensor is parallel to the axis of the rotating shaft.

10. A force-sensing rotary shaft assembly for an interventional consumable delivery mechanism according to claim 1, characterized in that: The rotating shaft is a shell structure consisting of outer shell A and outer shell B connected together in an openable manner. Each of outer shell A and outer shell B has a toothed ring. When outer shell A and outer shell B are closed, the toothed rings on the outer shell A and outer shell B close to form a complete toothed ring.

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