Operation part touch detection device, circuit system and interventional operation robot
By introducing a combination of touch sensor module, controller module and logic circuit module into the interventional surgical robot, and utilizing dual logic AND operation and encoder detection, the safety risks caused by touch sensor failure are resolved, ensuring surgical safety.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SHENZHEN INST OF ADVANCED BIOMEDICAL ROBOT CO LTD
- Filing Date
- 2025-05-15
- Publication Date
- 2026-05-08
AI Technical Summary
The touch sensors of existing interventional surgical robots are prone to failure, causing the catheter and guidewire to move continuously during the operation, which poses a great safety risk.
The system employs a combination of touch sensor module, controller module, and logic circuit module. Through dual logic AND operation and redundant detection, the reliability of the touch signal is ensured, and additional safety is provided by displacement encoder and angle encoder in case of touch sensor failure.
When the touch sensor fails, logical AND operations and encoder detection are used to ensure the safety of the interventional surgical robot operation, prevent improper movement of catheters and guidewires, and improve surgical safety.
Smart Images
Figure CN224216882U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of medical robot control technology, and in particular to a touch detection device for operating components, a circuit system, and an interventional surgical robot. Background Technology
[0002] During interventional surgical robotic procedures, to prevent accidental contact between other components and the operating parts, which could lead to unintended movements by the robot, the advancement and rotation of the operating parts are only effective after the operator touches and the touch is detected. To enhance the operator's experience, touch detection uses touch sensors to detect the operator's hand. Even when the operator is wearing gloves or the equipment is covered with a sterile tarpaulin, the touch sensors can still detect the hand effectively, providing a very user-friendly experience. However, touch sensors are susceptible to environmental factors and individual differences, posing a small probability of failure. If a failure occurs, it could pose a significant safety risk. For example, when using an interventional surgical robot to deliver catheters and guidewires in speed modes (constant speed and variable speed), the touch signal is the sole motion command. If the touch signal fails, the catheter or guidewire may continuously advance or retreat, posing a substantial safety risk.
[0003] Therefore, how to avoid the significant safety risks that may arise when the touch signal fails is an urgent problem to be solved. Utility Model Content
[0004] This invention provides a touch detection device for operating components, a circuit system, and an interventional surgical robot, aiming to solve the problem of the great safety risks that may arise when the touch signal fails.
[0005] To achieve the above-mentioned utility model objectives, the first aspect of this utility model proposes a touch detection device for the operating components of an interventional surgical robot. The interventional surgical robot includes a master control device and a slave drive device communicatively connected to the master control device. The master control device is provided with an operating component, which is used to control the movement of interventional instruments on the slave drive device. The operating component integrates a touch sensor. The touch detection device for the operating component includes: a touch sensor module, a controller module, and a logic circuit module.
[0006] The touch sensor module is used to detect the touch state of the operating component based on the touch sensor and output a first signal.
[0007] The controller module is used to control the output of a second signal based on whether the micro-motion state of the operating component is detected within a preset time threshold.
[0008] The logic circuit module is used to receive the first signal and the second signal, and output a touch signal after performing a logical AND operation.
[0009] Furthermore, the touch sensor module is configured to output a high level when the touch signal is detected; and to output a low level when the touch signal is not detected.
[0010] Furthermore, the touch sensor is a capacitive sensor or a pressure sensor.
[0011] Furthermore, the controller module includes: a displacement encoder and / or an angle encoder;
[0012] The displacement encoder is used to detect the displacement change of the operating component in real time and output a first pulse signal, and the angle encoder is used to detect the angle change of the operating component in real time and output a second pulse signal.
[0013] Furthermore, the controller module also includes: a timer and a controller;
[0014] The controller is used to control the timer to keep running when the first pulse signal and / or the second pulse signal are not detected, and to control the timer to be reset to zero when the first pulse signal and / or the second pulse signal are detected. If the timer count is greater than the preset time threshold, the controller controls the output to be low. If the timer count is less than or equal to the preset time threshold, the controller controls the output to be high.
[0015] Furthermore, the preset time threshold is 500ms.
[0016] The second aspect of this utility model proposes a circuit system for a touch sensor isolation module, which is applied to an interventional surgical robot. The interventional surgical robot includes a main control device, an operating component is provided on the main control device, and a touch sensor is integrated on the operating component. The circuit system of the touch sensor isolation module includes: an input power supply, a power isolation circuit unit, a touch sensor unit, an optocoupler isolation circuit unit, and a main control board circuit unit.
[0017] The power isolation circuit unit is electrically connected to the input power supply and is used to generate a set of isolated power supplies that are isolated from the input power supply, the isolated power supplies being used to power the touch sensor;
[0018] The touch sensor unit is used to detect the touch state of the operating component based on the touch sensor and output a touch signal;
[0019] The optocoupler isolation circuit unit is used to receive the touch signal and output an isolated touch signal to the main control board circuit unit;
[0020] The main control board circuit unit is used to perform related signal processing operations based on the isolated touch signal.
[0021] The third aspect of this utility model provides an interventional surgical robot, including the circuit system of the aforementioned interventional surgical robot operation component touch detection device or the aforementioned touch sensor isolation module.
[0022] This invention provides a touch detection device for an operating component, a circuit system, and an interventional surgical robot. The device detects touch signals using a touch sensor module and outputs a first signal. A controller module controls the output of a second signal based on whether the operating component's micro-motion state is detected within a preset time threshold. The device receives the first and second signals, performs a logical AND operation, and outputs the final touch signal. This invention provides dual protection for the entire touch detection process. When the touch sensor fails—for example, if the touch sensor is still triggered when the user releases the operating component—it outputs a touch signal. However, the controller module will not detect any micro-motion state within the preset time threshold and therefore will not output a touch signal. The logic circuit module then prevents the output of a touch signal, ensuring that even if the touch sensor fails, releasing the operating component will not trigger a safety risk, thus improving the safety of the interventional surgical robot operation. Attached Figure Description
[0023] Figure 1 This is a schematic diagram of a touch detection device for the operating components of an interventional surgical robot according to an embodiment of the present invention;
[0024] Figure 2 This is a schematic diagram of the control logic of a touch detection device for the operating components of an interventional surgical robot according to an embodiment of the present invention;
[0025] Figure 3 This is a schematic diagram of the output waveforms of the displacement encoder and the angle encoder when the touch-operated component moves and rotates according to an embodiment of the present invention.
[0026] Figure 4 This is a schematic diagram of the output waveforms of the displacement encoder and the angle encoder when the operating component is not moved, according to an embodiment of the present invention.
[0027] Figure 5 This is a schematic diagram of the output waveforms of the displacement encoder and the angle encoder when the operating component is released, according to an embodiment of the present invention.
[0028] Figure 6This is a schematic diagram illustrating the complete isolation of power supply and signal between the touch sensor circuit and the main control board circuit in one embodiment of the present invention.
[0029] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0030] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.
[0031] Those skilled in the art will understand that, unless specifically stated otherwise, the singular forms “a,” “an,” “the,” and “the” used herein may also include the plural forms. It should be further understood that the word “comprising” as used in this specification means the presence of features, integers, steps, operations, elements, modules, and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, modules, components, and / or groups thereof. It should be understood that when we say an element is “connected” or “coupled” to another element, it can be directly connected or coupled to the other element, or there may be intermediate elements. Furthermore, “connected” or “coupled” as used herein can include wireless connections or wireless coupling. The word “and / or” as used herein includes all or any modules and all combinations of one or more associated listed items.
[0032] It will be understood by those skilled in the art that, unless otherwise defined, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. It should also be understood that terms such as those defined in general dictionaries should be understood to have the same meaning as in the context of the prior art, and should not be interpreted in an idealized or overly formal sense unless specifically defined as herein.
[0033] Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this utility model, "many" or "multiple" means two or more.
[0034] Without compromising the user experience, and to ensure the absolute reliability of the operating components, this utility model embodiment has been optimized in the following two aspects.
[0035] On the one hand, this utility model embodiment provides a control algorithm and judgment logic, which provides dual protection by adding redundant detection and optimizing the design of control strategies.
[0036] Specifically, this utility model embodiment provides a touch detection device for the operating components of an interventional surgical robot, such as... Figure 1 As shown in the diagram, the interventional surgical robot includes a master control device and a slave drive device communicatively connected to the master control device. The master control device serves as the surgeon's operating end, located on an operating table outside the operating room. The slave drive device serves as the execution end, located inside the operating room. Through the coordinated operation of the master control device and the slave drive device, precise and safe remote or proximal surgical operations are achieved. The master control device simulates traditional surgical methods and includes operating components, such as a lever, used to control the movement of interventional instruments on the slave drive device. Specifically, a corresponding drive mechanism on the slave drive device holds a catheter and / or guidewire, enabling operations such as forward delivery, retraction, and rotation of the catheter and / or guidewire. Under the control of the master control device, the interventional instruments are manipulated to perform the surgery. This master-slave separation design allows surgeons to operate outside the operating room, protecting them from X-ray radiation and reducing occupational hazards.
[0037] Specifically, the operating component integrates a touch sensor, and the touch detection device for the operating component includes: a touch sensor module 10, a controller module 20, and a logic circuit module 30. The touch sensor module 10 is used to detect the touch state of the operating component based on the touch sensor and output a first signal; the controller module 20 is used to control the output of a second signal based on whether a micro-motion state of the operating component is detected within a preset time threshold; the logic circuit module 30 is used to receive the first signal and the second signal, perform a logical AND operation, and then output a touch signal.
[0038] Specifically, the touch sensor can be a capacitive sensor or a pressure sensor, etc. Based on the relatively sensitive characteristics of capacitive sensors, this embodiment of the present invention preferably uses a capacitive sensor as the touch sensor.
[0039] Specifically, we know that the logical AND operation is one of the fundamental operations in Boolean algebra, used to determine whether two conditions are simultaneously true. Its core rule is: the output result is "true" only when all input conditions are "true"; otherwise, the result is "false". In this embodiment of the invention, the final touch signal is generated by a logical AND operation on two touch detection signals. That is, a hardware touch signal is output to the controller only after both signals detect a touch, serving as the logical basis for touch detection. In other words, the logical AND operation provides double protection for the entire touch detection process, solving the problem of significant security risks that may arise when the touch signal fails.
[0040] Optionally, the master control device of the interventional surgical robot includes various motion modes, such as position mode, linkage mode, and speed mode. The speed mode includes constant speed mode and variable speed mode. In speed mode, the slave drive device controls the slender medical device to perform linear motion according to a preset speed. When the operator uses speed mode to deliver catheters and guidewires, the touch signal is the only motion command.
[0041] Specifically, the touch sensor module 10 outputs a level signal based on the detected touch state of the operating component and processed by its built-in signal processing circuit. More specifically, the touch sensor module outputs a high level when a touch signal is detected and outputs a low level when no touch signal is detected.
[0042] Specifically, see Appendix for control logic. Figure 2 As shown, the first signal is the output signal of the touch sensor. After power-on, the touch sensor performs self-calibration. Taking a capacitive sensor as an example, it obtains the capacitance value of the surrounding environment as a reference value to ensure it is not affected by environmental changes. When the operating component is touched, the capacitive sensor detects a change in capacitance and outputs a high level; when the operating component is not touched, the capacitive sensor outputs a low level.
[0043] Specifically, the controller module 20 includes a displacement encoder and / or an angle encoder; the displacement encoder is used to detect the displacement change of the operating component in real time and output a first pulse signal, and the angle encoder is used to detect the angle change of the operating component in real time and output a second pulse signal.
[0044] The operating component requires precise calculation of its displacement and rotation angle. The existing main control device of the interventional surgical robot already includes displacement and angle encoders. When a human hand touches the operating component and remains stationary while continuously delivering the catheter and guidewire, the hand tremor is imperceptible to the naked eye. However, the sensors are extremely sensitive, capable of detecting rotational angles as low as 0.02° and displacement changes as low as 0.01mm. Specifically, as shown in the attached... Figures 3-5 The figures show the output waveforms of the displacement encoder and the angle encoder under three conditions: touching and moving / rotating the operating component, touching the operating component without moving it, and releasing the operating component. As can be seen from the figures, even if a person's hand remains stationary after touching the component, subtle hand tremors can be detected by the displacement encoder or the angle encoder. By using the rising and falling edges of phases A and B of the output waveforms of the displacement encoder and the angle encoder, respectively, combined with the microcontroller's algorithm, it is possible to determine whether a person's hand is touching the operating component, thus providing double protection. The output signal of the displacement encoder is only related to minute displacement changes, and the output signal of the angle encoder is only related to minute angle changes, unaffected by environmental or other electromagnetic interference, exhibiting very high stability and reliability.
[0045] Specifically, the controller module 20 further includes: a timer and a controller; the controller is used to control the timer to count when no first pulse signal and / or second pulse signal is detected, and to control the timer to count to zero when the first pulse signal and / or second pulse signal is detected; if the timer count is greater than the preset time threshold, the controller controls the output to be low; if the timer count is less than or equal to the preset time threshold, the controller controls the output to be high.
[0046] Specifically, this embodiment of the invention uses the controller module 20, which includes the displacement encoder and the angle encoder, as an example. The second signal is a minute displacement change signal detected by the displacement encoder or a minute angle change signal detected by the angle encoder, which is detected, processed, and output by the controller. When a person touches the operating component, the displacement encoder or the angle encoder on the operating component will detect the minute tremor of the person's hand and output a pulse signal. The controller detects the pulse signal, controls the generation of an interrupt, and resets the timer to zero. During the period of touching the operating component, there are continuous pulses, and the timer will be continuously reset to zero, causing the timer to always be less than the preset time threshold. Therefore, the controller will always control the output to be high. When the person releases the operating component, the displacement encoder and the angle encoder on the operating component do not detect any change, so no pulse signal is output. At this time, the timer continues to count until the timer exceeds the preset time threshold, at which point the controller controls the output to be low.
[0047] Preferably, in this embodiment of the invention, the preset time threshold is 500ms.
[0048] Although the probability of touch sensor failure is extremely low, safety is paramount in medical devices, and absolute safety and reliability must be ensured to prevent any unforeseen incidents. This embodiment of the invention fully utilizes the existing displacement encoder and angle encoder of the interventional surgical robot. Without adding additional sensors or compromising the user experience, it provides dual protection for the entire touch detection process through algorithms and logical operations. When the touch sensor fails—that is, when the user releases the operating component but the touch sensor is still triggered—the touch sensor module outputs a high level. At this time, the displacement encoder and angle encoder of the interventional surgical robot itself do not detect any displacement or angle change, and there is no pulse output. When this time exceeds 500ms, the controller outputs a low level. A logical AND operation between the touch sensor module output and the controller module output still results in a low level, and finally, the hardware output is low, forcibly pulling the touch signal low. This ensures that even if the touch sensor fails during surgery in speed mode, the drive unit can be stopped when the user releases the operating component, preventing the drive unit from continuously advancing or retracting the catheter or guidewire.
[0049] On the other hand, this utility model embodiment provides an optimized design to increase the anti-interference capability of the touch sensor.
[0050] As attached Figure 6 As shown, by completely isolating the touch sensor circuit from the main control board circuit in terms of power and signal, interference from stray capacitance and parasitic capacitance between other circuit boards is minimized.
[0051] Specifically, this utility model embodiment provides a circuit system for a touch sensor isolation module applied to an interventional surgical robot. The interventional surgical robot includes a master control device and a slave drive device communicatively connected to the master control device. The master control device is equipped with an operating component for controlling the movement of interventional instruments on the slave drive device. The operating component integrates a touch sensor. The circuit system of the touch sensor isolation module includes: an input power supply, a power isolation circuit unit, a touch sensor unit, an optocoupler isolation circuit unit, and a main control board circuit unit. The power isolation circuit unit is electrically connected to the input power supply and generates a set of isolated power supplies, which are used to power the touch sensor. The touch sensor unit detects the touch state of the operating component based on the touch sensor and outputs a touch signal. The optocoupler isolation circuit unit receives the touch signal and outputs an isolated touch signal to the main control board circuit unit. The main control board circuit unit performs related signal processing operations based on the isolated touch signal.
[0052] Specifically, the input power supply provided in this embodiment of the invention is a 3.3V power supply. The touch sensor can be a capacitive sensor or a pressure sensor, etc. Based on the relatively sensitive characteristics of capacitive sensors, this embodiment of the invention preferably uses a capacitive sensor as the touch sensor. Figure 6 The optocouplers in the circuit have independent power supplies, including input and output power supplies (not shown in detail in the figure), and are electrically isolated. The isolated touch signal output by the optocouplers is input to the main control board circuit unit, where it undergoes signal processing operations such as filtering and debouncing to obtain a processed isolated touch signal. This processed signal is then subjected to a logical AND operation to output the final touch signal. The purpose of the filtering signal processing operation is to eliminate noise and interference in the isolated touch signal, ensuring its purity. The debouncing signal processing operation mainly eliminates the problem of momentary jitter, minimizing false triggers. The logical AND operation processing has been described in detail in the previous embodiments and will not be repeated here.
[0053] This utility model embodiment employs power isolation and signal isolation. The signal isolation uses optocoupler isolation, which completely isolates the touch sensors of the other circuit boards and operating components, reducing interference from other capacitors.
[0054] Specifically, the anti-interference capability of the touch sensor can also be increased by reducing the sensing area of the touch sensor. The larger the sensing area of the touch sensor, the higher the sensitivity, but the worse the anti-interference capability. The optimized structural design provided in this embodiment only uses the operating handle as the sensing area; touch on other parts is ineffective. Specifically, the operating component is hollowed out. The stator end of a conductive slip ring is connected to the sensor input pin, and the rotor end of the conductive slip ring is routed through the hollow part of the operating component, directly connecting to the operating handle. The operating handle and the metal structural components are isolated by insulating material, ensuring that only the operating handle is the sensing area. Compared to the original design using a mechanical connection of a structural shaft as the connection between the operating component and the sensor input, which resulted in the entire structure of the operating component being interconnected as the sensor's sensing area, this embodiment significantly improves the sensor's anti-interference capability and increases its stability and reliability.
[0055] This utility model also proposes an interventional surgical robot, including the circuit system of the above-mentioned interventional surgical robot operation component touch detection device or the above-mentioned touch sensor isolation module.
[0056] The two optimized design aspects provided in this embodiment of the utility model, without adding additional sensors, increasing structural installation complexity (such as physical buttons, handbrakes, foot pedals, etc. used in the traditional market), and without degrading the user experience, enhance the anti-interference capability of the touch sensor through structural optimization; and provide dual protection for touch detection through algorithmic and logical strategies. This ensures the absolute safety and reliability of touch detection, providing a safety guarantee when using interventional surgical robots for surgery.
[0057] Finally, it should be noted that, unless otherwise specified, the embodiments of this utility model and the various features thereof can be combined with each other, all of which are within the protection scope of this utility model. Of course, this utility model may have other various embodiments. Without departing from the spirit and essence of this utility model, those skilled in the art can make various corresponding changes and modifications based on this utility model, but these corresponding changes and modifications should all fall within the protection scope of the claims of this utility model.
[0058] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the content of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.
Claims
1. A touch detection device for an operating component of an interventional surgical robot, the interventional surgical robot comprising a master control device and a slave drive device communicatively connected to the master control device, the master control device being provided with an operating component for controlling the movement of interventional instruments on the slave drive device, the operating component integrating a touch sensor, characterized in that... The touch detection device for the operating component includes: a touch sensor module, a controller module, and a logic circuit module; The touch sensor module is used to detect the touch state of the operating component based on the touch sensor and output a first signal. The controller module is used to control the output of a second signal based on whether the micro-motion state of the operating component is detected within a preset time threshold. The logic circuit module is used to receive the first signal and the second signal, and output a touch signal after performing a logical AND operation.
2. The touch detection device for the operating components of the interventional surgical robot as described in claim 1, characterized in that, The touch sensor module is configured to output a high level when the touch signal is detected; the touch sensor module is configured to output a low level when the touch signal is not detected.
3. The touch detection device for the operating components of the interventional surgical robot as described in claim 1, characterized in that, The touch sensor is a capacitive sensor or a pressure sensor.
4. The touch detection device for the operating components of the interventional surgical robot as described in claim 1, characterized in that, The controller module includes: a displacement encoder and / or an angle encoder; The displacement encoder is used to detect the displacement change of the operating component in real time and output a first pulse signal, and the angle encoder is used to detect the angle change of the operating component in real time and output a second pulse signal.
5. The touch detection device for the operating components of the interventional surgical robot as described in claim 4, characterized in that, The controller module further includes: a timer and a controller; The controller is used to control the timer to keep running when the first pulse signal and / or the second pulse signal are not detected, and to control the timer to be reset to zero when the first pulse signal and / or the second pulse signal are detected. If the timer count is greater than the preset time threshold, the controller controls the output to be low. If the timer count is less than or equal to the preset time threshold, the controller controls the output to be high.
6. The touch detection device for the operating components of the interventional surgical robot as described in claim 5, characterized in that, The preset time threshold is 500ms.
7. A circuit system for a touch sensor isolation module, applied to an interventional surgical robot, the interventional surgical robot including a main control device, the main control device being provided with an operating component, the operating component integrating a touch sensor, characterized in that, The circuit system of the touch sensor isolation module includes: an input power supply, a power isolation circuit unit, a touch sensor unit, an optocoupler isolation circuit unit, and a main control board circuit unit; The power isolation circuit unit is electrically connected to the input power supply and is used to generate a set of isolated power supplies that are isolated from the input power supply, the isolated power supplies being used to power the touch sensor; The touch sensor unit is used to detect the touch state of the operating component based on the touch sensor and output a touch signal; The optocoupler isolation circuit unit is used to receive the touch signal and output an isolated touch signal to the main control board circuit unit; The main control board circuit unit is used to perform related signal processing operations based on the isolated touch signal.
8. An interventional surgical robot, characterized in that, A circuit system including the touch detection device for the operating components of the interventional surgical robot as described in any one of claims 1-6 or the touch sensor isolation module as described in claim 7.