Vascular intervention surgical robot and main end control mechanism thereof

Abstract

The utility model provides a vascular intervention surgical robot and a main end control mechanism thereof, and belongs to the technical field of medical instruments. The inclination angle encoder is used for detecting swing information of the control piece; the detection assembly comprises a detection piece and a photoelectric sensor, the photoelectric sensor is provided with a detection area, and when the control piece swings, at least part of the detection piece can generate displacement relative to the detection area, so that the photoelectric sensor can detect the swing condition of the control piece and output a detection result; and the controller is used for judging whether a detection result output by the photoelectric sensor is consistent with a detection result of the inclination angle encoder or not and selectively controlling the long and straight intervention consumable to execute corresponding actions according to action information of the control piece. The main end control mechanism provided by the utility model is higher in reliability and better in safety.

Description

Technical Field

[0001] This disclosure relates to the field of medical device technology, and more specifically, to a vascular interventional surgical robot and its master control mechanism. Background Technology

[0002] Currently, interventional surgical robots control the movement of interventional consumables within blood vessels via a master control mechanism, such as forward, backward, or rotation. This control mechanism typically includes a handle, transmission mechanisms, and encoders. During long-term use, the encoder itself and the transmission mechanism between the handle and the encoder are prone to damage and wear. If this occurs, the encoder values ​​acquired by the control system will have significant deviations, indicating encoder data failure. In this situation, it can easily lead to uncontrolled movement of the slave motor; for example, the handle may be in the zero position, but the slave motor may not stop. This will result in uncontrolled catheters and guidewires, seriously affecting the safety of the surgery. Utility Model Content

[0003] To overcome the problems existing in related technologies, this disclosure provides a vascular interventional surgery robot and its main control mechanism, which has higher reliability and better safety.

[0004] According to a first aspect of this disclosure, a master control mechanism for a vascular interventional surgical robot is provided, comprising:

[0005] Manipulators are used to control the movement of the vascular interventional surgical robot from the slave end when manipulated, and thus control the corresponding movement of the long straight interventional consumable held from the slave end.

[0006] An inclinometer encoder is used to detect the oscillation information of the control element;

[0007] The detection component includes a detection element and a photoelectric sensor. The photoelectric sensor has a detection area. When the manipulator swings, at least a portion of the detection element is displaced relative to the detection area, so that the photoelectric sensor can detect the swing of the manipulator and output the detection result.

[0008] The controller is used to determine whether the detection result output by the photoelectric sensor is consistent with the detection result of the tilt encoder, and therefore selectively controls the long straight intervention consumable to perform corresponding actions based on the action information of the manipulator.

[0009] In some exemplary embodiments of this disclosure, the photoelectric sensor includes:

[0010] The transmitting module is used to emit the light source;

[0011] A receiving module is used to receive the optical signal emitted by the transmitting module. The receiving module is disposed opposite to the transmitting module, and the cavity between the transmitting module and the receiving module forms the detection area.

[0012] The detection element includes a trigger unit located between the transmitting module and the receiving module, which is used to change the on / off state of the optical path between the transmitting module and the receiving module;

[0013] The detection element is connected to the manipulation element. When the manipulation element swings, it causes the trigger part to swing in the first plane. The arrangement direction of the transmitting module and the receiving module is perpendicular to the first plane.

[0014] In some exemplary embodiments of this disclosure, the trigger portion has a light-transmitting groove for light emitted by the transmitting module to pass through and reach the receiving module.

[0015] In some exemplary embodiments of this disclosure, the cross-section of the light-transmitting groove in the first plane is an axisymmetric figure symmetrical about the first axis. When the trigger part is in the zero position, the first axis intersects with the light source emitted by the emitting module.

[0016] In some exemplary embodiments of this disclosure, the light-transmitting groove is a fan-shaped groove.

[0017] In some exemplary embodiments of this disclosure, the manipulator is used to control the forward or backward movement of the interventional consumable when it swings;

[0018] The main control mechanism also includes:

[0019] A connector includes an input end and an output end, wherein the input end of the connector is connected to the operating element, and the output end of the connector is connected to the detection element;

[0020] The tilt encoder is connected to the output end of the connector, and the swing information of the control element is synchronously transmitted to the tilt encoder and the detection element through the connector.

[0021] In some exemplary embodiments of this disclosure, the master control mechanism further includes:

[0022] A springback assembly, connected to the connector, is used to spring back the swinging actuator to the zero position.

[0023] In some exemplary embodiments of this disclosure, the connector includes a first link and a second link connected to each other, wherein the extension direction of the first link is perpendicular to the extension direction of the second link;

[0024] The control element is connected to the first link, and both the tilt encoder and the detection element are connected to the second link.

[0025] In some exemplary embodiments of this disclosure, the master control mechanism further includes:

[0026] The limiting seat has a limiting groove, which is used to limit the swing of the operating member in a second plane. The extending direction of the limiting groove is parallel to the second plane, and the first connecting rod is movably embedded in the limiting groove.

[0027] According to a second aspect of this disclosure, a vascular interventional surgical robot is provided, including a slave end and a master end control mechanism as described in the first aspect;

[0028] The slave end includes an interventional consumables execution device, and the operating element controls the movement of the long straight interventional consumables through the interventional consumables execution device.

[0029] The technical solution provided in this disclosure may include the following beneficial effects:

[0030] The main control mechanism of the vascular interventional surgical robot disclosed herein includes a manipulator, a tilt encoder, a detection component, and a controller. The tilt encoder can detect the oscillation information of the manipulator. The detection component includes a detection element and a photoelectric sensor. When the manipulator oscillates, at least a portion of the detection element can be displaced relative to the detection area. This displacement enables the photoelectric sensor to detect the oscillation of the manipulator and output the detection result to the controller. The controller determines whether the detection result output by the photoelectric sensor is consistent with the detection result of the tilt encoder, and selectively controls the long straight interventional consumable to perform corresponding actions accordingly.

[0031] This disclosure utilizes a dual detection mechanism combining an inclinometer and a photoelectric sensor to more accurately detect the oscillation of the control element. The inclinometer provides high-precision angular information, while the photoelectric sensor further verifies the oscillation by detecting the displacement of the control element. This dual detection mechanism effectively reduces errors that may arise from a single detection method, effectively avoids motor runaway problems, and thus improves the accuracy of controlling the movement of long-straight-drive consumables.

[0032] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this specification. Attached Figure Description

[0033] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this specification and, together with the description, serve to explain the principles of this specification.

[0034] Figure 1This is a three-dimensional structural diagram of the main control mechanism in an exemplary embodiment of this disclosure;

[0035] Figure 2 This is an exploded view of the master control mechanism in an exemplary embodiment of this disclosure;

[0036] Figure 3 This is a cross-sectional schematic diagram of the main control mechanism in an exemplary embodiment of this disclosure;

[0037] Figure 4 This is a schematic diagram of the structure of the main control mechanism in which the detection element does not obstruct the optical path transmission of the photoelectric sensor in an exemplary embodiment of this disclosure;

[0038] Figure 5 This is a schematic diagram of the structure in the master control mechanism of the present disclosure where the detection element blocks the optical path transmission of the photoelectric sensor;

[0039] Figure 6 This is a schematic diagram of the detection component structure in the master control mechanism of the exemplary embodiment of this disclosure.

[0040] Explanation of reference numerals in the attached figures

[0041] 100-Operating component; 200-Detection assembly; 210-Detection component; 220-Detection linkage; 211-Trigger part; 2111-Light transmission groove; 212-Detection connector; 220-Photoelectric sensor; 300-Connector; 310-First linkage; 320-Second linkage; 321-Bearing mounting seat; 400-Tilt encoder; 410-Fixed base; 500-Rebound assembly; 510-Elastic component; 520-Snap-fit ​​assembly; 521-First snap-fit ​​component; 522-Second snap-fit ​​component; 530-Protective sleeve; 600-Limit seat; 610-Limit groove; 620-Positioning component; 700-Rotary encoder; 710-Housing. Detailed Implementation

[0042] Exemplary embodiments will now be described more fully with reference to the accompanying drawings. However, these exemplary embodiments can be implemented in many forms and should not be construed as limited to the embodiments set forth herein; rather, they are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the exemplary embodiments to those skilled in the art. The same reference numerals in the drawings denote the same or similar structures, and therefore detailed descriptions of them will be omitted. Furthermore, the drawings are merely illustrative of this disclosure and are not necessarily drawn to scale.

[0043] Although relative terms such as "up" and "down" are used in this specification to describe the relative relationship of one component of an icon to another, these terms are used only for convenience, such as according to the orientation of the examples shown in the accompanying drawings. It is understood that if the device of the icon is flipped upside down, the component described as "up" will become the component described as "down." When a structure is "up" of another structure, it may mean that the structure is integrally formed on the other structure, or that the structure is "directly" mounted on the other structure, or that the structure is "indirectly" mounted on the other structure through another structure.

[0044] The terms “a,” “one,” “the,” “the,” and “at least one” are used to indicate the presence of one or more elements / components / etc.; the terms “including” and “having” are used to indicate an open-ended inclusion and to mean that there may be other elements / components / etc. in addition to the listed elements / components / etc.; the terms “first,” “second,” and “third,” etc., are used only as markers and are not a limitation on the number of objects.

[0045] In this disclosure, terms such as "perpendicular" and "equal" refer to perpendicularity and equality within the range of process error, not absolute perpendicularity and equality. Process error can be within ±10% or ±5%. For example, if the first direction and the second direction are perpendicular, it can be understood that the angle between the first direction and the second direction can be 90° ± 5°.

[0046] Interventional surgical robots generally consist of a master end located outside the operating room and a slave end located inside the operating room. The master end, used for control, includes a master control device, while the slave end, used for execution, includes a connected robot body and a robotic arm. The robot body is connected to the operating table via the robotic arm and can adjust its own posture through the robotic arm. The robot body includes an interventional consumables drive device, which drives the interventional consumables to move. To provide a safer and sterile surgical environment and avoid radiation exposure to medical devices for doctors, interventional surgeries are performed with doctor-patient isolation. In this approach, both the robotic arm and the robot body are located in the operating room. The robotic arm supports the robot body and can move and pitch it to achieve preoperative posture adjustment. The operator can operate the master control device outside the operating room and perform the surgery with the assistance of medical imaging to control the interventional consumables drive device.

[0047] In related technologies, the movement of interventional consumables is controlled by a handle on the main control device. When the handle is swung, the interventional consumables can be moved forward or backward within the blood vessel; when the handle is rotated, the interventional consumables can be rotated within the blood vessel. When switching between forward and backward movements of the interventional consumables, the handle must be returned to the zero position after each forward or backward movement before the next reverse movement can be controlled.

[0048] Based on this, such as Figure 1 and Figure 6 As shown, this disclosure provides a master-end control mechanism for a vascular interventional surgery robot, including a manipulator 100, a tilt encoder 400, a detection component 200, and a controller. The manipulator 100 controls the slave-end movement of the vascular interventional surgery robot when manipulated, and thus controls the corresponding movement of a long, straight interventional consumable held at the slave end. The tilt encoder 400 detects the oscillation information of the manipulator 100. The detection component 200 includes a detection element 210 and a photoelectric sensor 220. The photoelectric sensor 220 has a detection area. When the manipulator 100 oscillates, at least a portion of the detection element 210 is displaced relative to the detection area, enabling the photoelectric sensor 220 to detect the oscillation of the manipulator 100 and output the detection result. The controller determines whether the detection result output by the photoelectric sensor 220 is consistent with the detection result of the tilt encoder 400, and therefore selectively controls the long, straight interventional consumable to perform corresponding actions based on the movement information of the manipulator 100.

[0049] This disclosure utilizes a dual detection mechanism combining an tilt encoder 400 and a photoelectric sensor 220 to more accurately detect the oscillation of the control element 100. The tilt encoder 400 provides high-precision angle information, while the photoelectric sensor 220 further verifies the oscillation of the control element 100 by detecting the displacement of the detection element 210. This dual detection mechanism effectively reduces errors that may arise from a single detection method, effectively avoids motor runaway problems, and thus improves the accuracy of controlling the movement of long-straight-intervention consumables.

[0050] Furthermore, the controller determines whether the detection results of the photoelectric sensor 220 and the tilt encoder 400 are consistent. Only when the results are consistent will the controller control the interventional consumables to perform the corresponding actions based on the motion information of the manipulator 100. This consistency judgment mechanism can effectively avoid inaccurate actions caused by detection errors or misoperation, thereby reducing surgical risks and improving surgical safety.

[0051] The main control mechanism of the vascular interventional surgical robot provided in this disclosure embodiment will now be described in detail with reference to the accompanying drawings:

[0052] The master control mechanism disclosed herein is used in a vascular interventional surgical robot to control a slave device located in the operating room. The slave device includes an interventional consumable actuator for driving the movement of a long, straight interventional consumable. The physician can control the interventional consumable actuator through the master control mechanism to enable the long, straight interventional consumable to perform corresponding movements.

[0053] like Figure 1 and Figure 6As shown, the main control mechanism of the interventional surgical robot provided in this disclosure includes a manipulator 100, a tilt encoder 400, a detection component 200, and a controller. The detection component 200 includes a detection element 210 and a photoelectric sensor 220.

[0054] The manipulator 100 is for gripping by a physician or other operator. When manipulated, the manipulator 100 controls the movement of the distal end of the vascular interventional surgical robot and thus controls the corresponding movement of the long, straight interventional consumable held at the distal end. Specifically, the manipulator 100 can control the long, straight interventional consumable to move forward or backward within the blood vessel when it swings. The manipulator 100 can swing in one plane or simultaneously in multiple planes. In one embodiment, the manipulator 100 can swing in one plane, for example, tilting forward or backward in a certain plane. The amplitude or angle of the manipulator 100's swing can be mapped to the distance or speed at which the long, straight interventional consumable moves forward or backward within the blood vessel. The manipulator 100 can be divided into a gripping end located at the top and a support rod connected to the gripping end. The shape of the gripping end can be set according to the gripping requirements of the human hand.

[0055] A detection component 200 is disposed on one side of the control member 100. The detection component 200 includes a detection element 210 and a photoelectric sensor 220. The photoelectric sensor 220 has a detection area. When the control member 100 swings, at least a portion of the detection element 210 is displaced relative to the detection area. For example, when a medical staff member holds the control end of the control member 100 and operates the control member 100, their action on the control member 100 is transmitted to the detection element 210, causing a portion of the detection element 210 to move relative to the detection area of ​​the photoelectric sensor 220. During the movement of the detection element 210, its position within the detection area changes, resulting in a change in the detection result detected by the photoelectric sensor 220. Different detection results can be mapped to different control results.

[0056] In some embodiments of this disclosure, the main control mechanism further includes an inclinometer 400 for detecting the swing information of the control element 100. When the control element 100 swings, the inclinometer 400 can accurately capture the swing angle of the control element 100. The inclinometer 400 converts the swing information of the control element 100 into an electrical signal through internal sensors and measuring devices. The electrical signal can be transmitted to the controller to achieve precise position control and feedback.

[0057] When the controller receives the detection result output by the photoelectric sensor 220, it can compare the detection result with the detection result of the tilt encoder to determine whether the two detection results are consistent, and selectively control the long straight intervention consumable to perform corresponding actions based on the swing information of the control element 100.

[0058] For example, when the controller determines that the detection result output by the photoelectric sensor 220 is consistent with the detection result of the tilt encoder 400, it can control the long straight intervention consumable to perform the corresponding action according to the swing information of the control element 100. When the controller determines that the detection result output by the photoelectric sensor 220 is inconsistent with the detection result of the tilt encoder 400, it can not control the action of the long straight intervention consumable according to the swing information of the control element 100, such as maintaining the current state of the long straight intervention consumable unchanged.

[0059] In some embodiments of this disclosure, the photoelectric sensor 220 includes a transmitting module and a receiving module. The transmitting module emits a light source, and the receiving module receives the light signal emitted by the transmitting module. The receiving module and the transmitting module are disposed opposite to each other, and the cavity between the transmitting module and the receiving module forms a detection area. In the absence of obstruction, the receiving module can receive the light emitted by the transmitting module. The specific placement of the transmitting module and the receiving module is not limited, as long as one of the transmitting module and the receiving module is disposed on the operating member 100, and the other is disposed on the housing of the main end, that is, one of them can move with the operating member 100, causing relative displacement between the transmitting module and the receiving module.

[0060] The detection element 210 includes a trigger part 211, located between the transmitting module and the receiving module, used to change the on / off state of the optical path between the transmitting module and the receiving module. The photoelectric sensor 220 is a photoelectric switch; when the detection element 210 changes its optical path state, the photoelectric sensor 220 activates and outputs a switching signal. Optionally, the photoelectric sensor 220 can be a slotted photoelectric switch. When the operating element 100 swings, it moves the detection element 210 within the slot of the slotted photoelectric switch to change the on / off state of the optical path, causing the photoelectric switch to activate and output a switching signal. This switching signal can be mapped to whether to control the long-term intervention consumable activity based on the action information of the operating element 100. For example, when the detection element 210 blocks the optical path of the photoelectric switch, the photoelectric switch outputs an open signal, and the controller can control the long-term direct-access consumable activity according to the action information of the control element 100; when the detection element 210 does not block the optical path of the photoelectric switch, that is, the optical path of the photoelectric switch is in the on state, the photoelectric switch outputs a close signal, and the controller cannot control the long-term direct-access consumable activity according to the action information of the control element 100.

[0061] When the control element 100 swings, it causes the trigger part 211 to swing within a first plane, and the arrangement direction of the transmitting module and the receiving module is perpendicular to the first plane. The trigger part 211 can be a plate-shaped structure. This plate structure is approximately parallel to the first plane.

[0062] like Figure 1 , Figures 4 to 6As shown, in some embodiments of this disclosure, the trigger unit 211 has a light-transmitting groove 2111 for light emitted by the transmitting module to pass through and reach the receiving module. When the light emitted by the transmitting module can pass through the light-transmitting groove 2111 and reach the receiving module, the photoelectric sensor 220 can output a shutdown signal, and the controller cannot control the long-term intervention consumable activity based on the action information of the operating element 100, such as... Figure 4 As shown. When the light emitted by the transmitting module is blocked by other areas of the triggering part 211, the photoelectric sensor 220 can output an activation signal, and the controller can control the long-straight-intervention consumable activity according to the action information of the operating element 100, such as... Figure 5 As shown.

[0063] Optionally, the shape and size of the light-transmitting groove 2111 can be set according to actual needs. For example, in one embodiment, to prevent medical staff from accidentally touching the control element 100 and causing the long straight interventional consumable to move in the blood vessel, an angle threshold can be set. Only when the swing angle of the control element 100 is greater than the angle threshold, and the photoelectric sensor 220 outputs an activation signal, can the controller control the long straight interventional consumable to move forward or backward in the blood vessel according to the swing information of the control element 100. Based on this design requirement, the light-transmitting groove 2111 can be adaptively designed in terms of groove area and shape.

[0064] Specifically, the light-transmitting groove 2111 can be designed as an axisymmetric shape with a certain area. When the swing angle of the manipulator 100 relative to the zero position is less than the angle threshold, although the light-transmitting groove 2111 will be displaced relative to the detection area under the action of the manipulator 100, it will still not block the optical path transmission between the transmitting module and the receiving module of the photoelectric sensor 220. At this time, even if the manipulator 100 is swinging, the photoelectric sensor 220 can still output a shut-off signal, and the controller cannot control the long straight insertion consumable to move forward or backward according to the swing information of the manipulator 100.

[0065] When the swing angle of the manipulator 100 relative to the zero position is greater than the angle threshold, the light-transmitting groove 2111 is disengaged from the detection area by the manipulator 100, causing other areas of the trigger part 211 to be located within the detection area, blocking the optical path transmission between the transmitting module and the receiving module. At this time, the photoelectric sensor 220 can output an activation signal, and the controller can control the long straight insertion consumable to move forward or backward according to the swing information of the manipulator 100.

[0066] This disclosure combines the light-transmitting groove 2111 with the swing angle threshold of the manipulator 100, and adds a photoelectric sensor 220 as a switching device, which can greatly increase the reliability of system control and ensure the safety of surgery.

[0067] In one embodiment, the cross-section of the light-transmitting groove 2111 in the first plane is an axisymmetric figure symmetrical about the first axis AB. When the trigger part 211 is in the zero position, the first axis AB intersects with the light source emitted by the transmitting module. That is, the light emitted by the transmitting module can pass through the central axis position of the light-transmitting groove 2111 to reach the receiving module. It should be noted that the zero position mentioned in this disclosure refers to the initial position of the operating member 100, that is, the position when the swing angle of the operating member 100 is 0.

[0068] Optionally, the light-transmitting slot 2111 can be a fan-shaped slot. The central angle corresponding to the fan-shaped slot can be 2α, where α is an angle threshold. For example, when the set angle threshold is 4°, the central angle corresponding to the fan-shaped slot can be 8°. When the swing angle of the operating member 100 relative to the zero position is less than 4°, although the fan-shaped slot will swing under the action of the operating member 100, its swing angle is also less than 4°. At this time, the light emitted by the transmitting module can still reach the receiving module through the light-transmitting slot 2111. However, when the swing angle of the operating member 100 relative to the zero position is greater than or equal to 4°, the fan-shaped slot will swing with an amplitude greater than or equal to 4° under the action of the operating member 100. At this time, the light emitted by the transmitting module will be blocked by other areas of the trigger part 211 around the fan-shaped slot and cannot reach the receiving module.

[0069] like Figures 1 to 3 As shown in some embodiments of this disclosure, the detection element 210 further includes a detection link 220, one end of which is connected to the trigger portion 211, and the other end is connected to the operating element 100. The extending direction of the detection link 220 may be perpendicular to the extending direction of the support rod of the operating element 100, while the trigger portion 211 has a plate-like structure, and its plane is perpendicular to the extending direction of the detection link 220. The detection link 220 may be connected to the operating element 100 through some connecting mechanisms.

[0070] For example, in some embodiments, the main control mechanism further includes a connector 300. The connector 300 includes an input end and an output end; the input end of the connector 300 is connected to the control member 100, and the output end of the connector 300 is connected to the detection member 210. The control member 100 transmits its oscillation information to the detection member 210 through the connector 300.

[0071] The connector 300 may include a first link 310 and a second link 320 connected to each other, with the first link 310 and the second link 320 being approximately perpendicular. The input end of the connector 300 may be located on the first link 310, and the output end may be located on the second link 320. The first link 310 is connected to the operating member 100, and the second link 320 is connected to the detection member 210. The extension direction of the first link 310 is approximately parallel to the extension direction of the support rod of the operating member 100, and the extension direction of the second link 320 is approximately parallel to the extension direction of the detection link 220 of the detection member 210. When the operating member 100 swings, it can cause the first link 310 to swing and the second link 320 to rotate axially, thereby causing the detection member 210 to swing. The second link 320 may be connected to a bearing and a bearing mounting base 321 to increase the stability of the axial rotation of the second link 320. There may be two bearing mounting bases 321, each fixed at a position near one end of the second link 320.

[0072] Specifically, the tilt encoder 400 can be connected to the second link 320 of the connector 300. That is, both the operating element 100 and the detection element 210 are connected to the second link 320. The swing information of the operating element 100 can be synchronously transmitted to the tilt encoder 400 and the detection element 210 through the connector 300. Specifically, one end of the second link 320 can be connected to the tilt encoder 400, the other end can be connected to the detection element 210, and the middle area can be connected to the first link 310. Of course, the positions of the tilt encoder 400 and the detection element 210 can be interchanged, as long as the swing information of the operating element 100 can be synchronously transmitted to the tilt encoder 400 and the detection element 210 through the connector 300.

[0073] In some embodiments of this disclosure, the main control mechanism further includes a limiting seat 600, which has a limiting groove 610. The limiting groove 610 is used to limit the swing of the operating member 100 in a second plane. The extending direction of the limiting groove 610 is parallel to the second plane, and the first connecting rod 310 is movably embedded in the limiting groove 610. When the second connecting rod 320 moves in the limiting groove 610 along its extending direction, the operating member 100 can be limited to swinging only in the second plane. In addition, the extending length of the limiting groove 610 can also limit the swing range of the operating member 100 in the second plane. The longer the extending length of the limiting groove 610, the greater the swing range or swing angle of the operating member 100 in the second plane can be.

[0074] In some embodiments, the main control mechanism may further include a positioning member 620 for cooperating with the limiting seat 600 to limit the swing range of the second link 320. The positioning member 620 may be fixed to the limiting seat 600. There may be two positioning members 620, located at both ends of the limiting groove 610 in the extending direction.

[0075] Optionally, the limiting seat 600 also has a fixed cavity, and the limiting groove 610 communicates with the fixed cavity. The second connecting rod 320 of the connecting member 300 may be located in the fixed cavity. Parts of the tilt encoder 400 and / or parts of the connecting member 300 may also be located in the fixed cavity, which is not limited in this disclosure.

[0076] In addition, the main control mechanism may also include a fixed base 410, and a limit seat 600 may be fixedly connected to the fixed base 410. The tilt encoder 400 may be fixed to the fixed base 410, and its acquisition end is connected to the second link 320 and located in the fixed cavity of the limit seat 600.

[0077] In some embodiments of this disclosure, the main control mechanism further includes a spring-back assembly 500 connected to the connector 300, used to spring the swinging control member 100 back to the zero position. After each swing, the control member 100 needs to be returned to the zero position by the spring-back assembly 500 before the next swing can be performed.

[0078] like Figure 2 and Figure 3 As shown, the rebound assembly 500 may include an elastic element 510, which is sleeved around the periphery of the first connecting rod 310 and abuts against the operating member 100 and the limiting seat 600. When the operating member 100 is in the zero position, the elastic element 510 is in a free state, without external force and without deformation. When the operating member 100 is subjected to an external force and starts to swing from the zero position, the elastic element 510 gradually changes from a free state to a compressed state, and its degree of compression increases accordingly with the increase of the swing angle of the operating member 100. When the external force is removed, the operating member 100 automatically returns to the zero position under the elastic force of the elastic element 510. Optionally, the elastic element 510 may be a spring. The rebound assembly 500 may also include a snap-fit ​​assembly for the elastic element 510 to abut against. The snap-fit ​​assembly 520 includes a first snap-fit ​​member 521 and a second snap-fit ​​member 522. Both the first snap-fit ​​member 521 and the second snap-fit ​​member 522 are sleeved around the first connecting rod 310, and the first snap-fit ​​member 521 and / or the second snap-fit ​​member 522 are provided with a slot for the elastic member 510 to abut. The first snap-fit ​​member 521 is used for the end of the elastic member 510 near the operating member 100 to abut, and the second snap-fit ​​member 522 is used for the end of the elastic member 510 near the second connecting rod 320 to abut. Optionally, the rebound assembly 500 may also include a protective sleeve 530, sleeved around the elastic member 510. The protective sleeve 530 may be a silicone sleeve with a certain deformation capability. For example, the protective sleeve 530 may be a tapered silicone sleeve with threads.

[0079] like Figures 1 to 3As shown, in some embodiments of this disclosure, the manipulator 100 can control the forward or backward movement of the long straight interventional consumable, and can also control the rotation of the long straight interventional consumable. Specifically, when the manipulator 100 rotates, it is used to control the rotation of the long straight interventional consumable. Further, the main control mechanism may also include a rotary encoder 700 connected to the manipulator 100, used to collect the rotation information of the manipulator 100 and map the rotation information to the rotation signal of the long straight interventional consumable.

[0080] When the manipulator 100 rotates, the rotary encoder 700 accurately captures the rotation angle of the manipulator 100. The rotary encoder 700 converts the rotation information of the manipulator 100 into an electrical signal through internal sensors and measuring devices. This electrical signal is transmitted to the controller for precise position control and feedback. The controller then transmits the rotation information to the component in the interventional consumable device used to control the rotation of the long, straight interventional consumable, thus achieving rotational control of the long, straight interventional consumable. The rotary encoder 700 can be placed inside the housing 710 to improve aesthetics and the operating experience for medical staff.

[0081] This disclosure also provides a vascular interventional surgery robot, including a slave end and a master end control mechanism as described in any of the above embodiments. The slave end includes an interventional consumable actuator, and the manipulator 100 controls the movement of a long, straight interventional consumable through the interventional consumable actuator.

[0082] Other embodiments of this disclosure will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of this disclosure that follow the general principles of this disclosure and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of this disclosure are indicated by the appended claims.

Claims

1. A master-end control mechanism for a vascular interventional surgical robot, characterized in that, include: Manipulators are used to control the movement of the vascular interventional surgical robot from the slave end when manipulated, and thus control the corresponding movement of the long straight interventional consumable held from the slave end. An inclinometer encoder is used to detect the oscillation information of the control element; A detection component includes a detection element and a photoelectric sensor. The photoelectric sensor has a detection area. When the manipulator swings, at least a portion of the detection element is displaced relative to the detection area, so that the photoelectric sensor can detect the swing of the manipulator and output the detection result. The controller is used to determine whether the detection result output by the photoelectric sensor is consistent with the detection result of the tilt encoder, and therefore selectively controls the long straight intervention consumable to perform corresponding actions based on the action information of the manipulator.

2. The main control mechanism according to claim 1, characterized in that, The photoelectric sensor includes: The transmitting module is used to emit the light source; A receiving module is used to receive the optical signal emitted by the transmitting module. The receiving module is disposed opposite to the transmitting module, and the cavity between the transmitting module and the receiving module forms the detection area. The detection element includes a trigger unit located between the transmitting module and the receiving module, which is used to change the on / off state of the optical path between the transmitting module and the receiving module; The detection element is connected to the manipulation element. When the manipulation element swings, it causes the trigger part to swing in the first plane. The arrangement direction of the transmitting module and the receiving module is perpendicular to the first plane.

3. The main control mechanism according to claim 2, characterized in that, The trigger section has a light-transmitting groove for light emitted by the transmitting module to pass through and reach the receiving module.

4. The main control mechanism according to claim 3, characterized in that, The cross-section of the light-transmitting groove in the first plane is an axisymmetric figure symmetrical about the first axis. When the trigger part is in the zero position, the first axis intersects with the light source emitted by the transmitting module.

5. The main control mechanism according to claim 4, characterized in that, The light-transmitting groove is a fan-shaped groove.

6. The main control mechanism according to any one of claims 1 to 5, characterized in that, The main control mechanism also includes: A connector includes an input end and an output end, wherein the input end of the connector is connected to the operating element, and the output end of the connector is connected to the detection element; The tilt encoder is connected to the output end of the connector, and the swing information of the control element is synchronously transmitted to the tilt encoder and the detection element through the connector.

7. The main control mechanism according to claim 6, characterized in that, The main control mechanism also includes: A springback assembly, connected to the connector, is used to spring back the swinging actuator to the zero position.

8. The main control mechanism according to claim 6, characterized in that, The connector includes a first link and a second link that are connected to each other, wherein the extension direction of the first link is perpendicular to the extension direction of the second link; The control element is connected to the first link, and both the tilt encoder and the detection element are connected to the second link.

9. The main control mechanism according to claim 8, characterized in that, The main control mechanism also includes: The limiting seat has a limiting groove, which is used to limit the swing of the operating member in a second plane. The extending direction of the limiting groove is parallel to the second plane, and the first connecting rod is movably embedded in the limiting groove.

10. A vascular interventional surgical robot, characterized in that, Includes a slave end and a master end control mechanism as described in any one of claims 1 to 9; The slave end includes an interventional consumables execution device, and the operating element controls the movement of the long straight interventional consumables through the interventional consumables execution device.

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