Operation handle with pressable part, interventional robot master apparatus, and method of use

Abstract

Provided is an operation handle with a pressable part. The pressable part is arranged on the operation handle (10130001) and is provided with a pressure measurement assembly. The pressure measurement assembly can measure the grasp or release of the operation handle (10130001) by an operator. The pressure measurement assembly detects whether the operator grasps the operation handle (10130001) or not and the grasp or release of the operation handle (10130001) by the operator and applies force feedback only when the grasp of the operation handle (10130001) is confirmed, so as to prevent undesired movement of a force feedback assembly. Also provided are an interventional robot master apparatus and a method of use.

Description

An operating handle with a pressable portion and an interventional robot main hand device and a method of using the same Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an operating handle with a pressable portion, an interventional robot main hand device, and a method of using the same. Background Art

[0002] Vascular interventional surgery is a minimally invasive surgery performed in human blood vessels using interventional surgical medical supplies such as guidewires, catheters, and stents. It is used to treat cardiovascular diseases, neurovascular diseases, and other vascular-related diseases. Vascular interventional surgery is mainly divided into surgical treatments for intravascular embolism, stenosis, and intravascular bleeding according to the treatment direction. It requires the use of various interventional instruments and imaging equipment. During vascular interventional surgery, angiography is required, but angiography also generates radiation. When doctors work in such an environment for a long time, it will affect their health. Therefore, a vascular interventional robot was developed to solve this problem. The operator only needs to control the main hand in a radiation-free environment to control the delivery and rotation of the interventional surgical medical supplies by the slave hand next to the operating table. However, the delivery and rotation of the interventional surgical medical supplies will be subject to resistance, and the operator needs to make judgments based on this resistance. Therefore, applying as realistic force feedback as possible to the operator is crucial to the safety of the operation.

[0003] The prior art publication number is: CN116350356A. An interventional robot bionic force feedback main end operating device includes: a base plate; a guide wire force feedback push rod device, which includes: a push rod operating mechanism and a push rod tactile resistance feedback mechanism, both of which are arranged on the base plate, and the push rod tactile resistance feedback mechanism is connected to the push rod operating mechanism through a movable guide wire force tactile resistance tension spring; a catheter force feedback push rod device, which is installed on the base plate; a balloon bracket force feedback rocker device, which includes: a rocker operating mechanism and a rocker tactile resistance feedback mechanism, both of which are installed on the base plate, and the rocker tactile resistance feedback mechanism is connected to the rocker through a movable bracket force tactile resistance tension spring.

[0004] However, the aforementioned device uses a spring to feedback the axial force acting on the interventional consumable, making it unable to accurately and quickly provide feedback on the resistance experienced by the consumable during surgery. Furthermore, when the operator needs to rotate the consumable during surgery, the aforementioned device cannot simulate the resistance torque experienced by the consumable in that direction. Furthermore, if the operator lets go of the force feedback mechanism while it continuously applies feedback, the rocker operating mechanism will rapidly shift under the influence of the force feedback mechanism, causing the slave device to shift as well, potentially leading to serious surgical accidents. Therefore, this device makes it difficult for the operator to release their grip and adjust their hand posture. Summary of the Invention

[0005] The object of the present invention is to provide an operating handle with a pressable portion and an interventional robot main hand device and a method of using the same, so as to solve existing technical defects and unmet technical requirements.

[0006] To achieve the above object, the present invention provides the following technical solutions:

[0007] An operating handle with a pressable portion comprises an operating handle, wherein the operating handle is provided with a pressable portion, and the pressable portion is provided with a press measurement component, which can detect whether an operator pinches or releases the operating handle.

[0008] Preferably, the pressure measurement component includes a measuring switch and an elastic element. The elastic element adopts a wraparound elastomer, which wraps the inner core of the operating handle at a certain interval. The measuring switch detects whether the operator pinches or releases the operating handle by the change in the distance between the elastic element and the inner core.

[0009] Preferably, when the measuring switch adopts the conductive detection method to detect when the operator pinches or releases the operating handle, the measuring switch realizes conductive detection by means of the contact between the conductors. The inner core and the surrounding elastomer are both provided with conductors, but when the surrounding elastomer is not subjected to external force, the conductors of the inner core and the surrounding elastomer remain insulated. When the operator pinches the surrounding elastomer to deform it and makes the conductors of the inner core and the surrounding elastomer contact and conduct with each other, the pinching of the operating handle by the operator is detected. When the operator releases the operating handle, the surrounding elastomer resets so that the conductors of the inner core and the surrounding elastomer remain insulated, and the release of the operating handle by the operator is detected.

[0010] Preferably, the surrounding elastomer is made of a conductive soft rubber material, and the conductor is the conductive soft rubber material. In this case, the surrounding elastomer is a conductive soft rubber tube, and the conductive soft rubber material is specifically conductive silicone; or a conductor is attached to the inner surface of the surrounding elastomer, and the conductor is one or a combination of metal mesh, metal wire, and metal sheet.

[0011] Preferably, a non-pressible portion is further included. When the operator pinches the non-pressible portion, it does not affect the pressing measurement component. The non-pressible portion is a filling layer arranged between the surrounding elastomer and the inner core; or the non-pressible portion is a non-pressible section that is integrated or fixedly arranged on the surrounding elastomer; the length of the pressable portion is 20-80mm, and the length of the non-pressible portion is 30-100mm.

[0012] Preferably, the measuring switch uses one or a combination of laser detection, photoelectric detection, capacitance detection, inductance detection, or ultrasonic detection to detect the distance between the surrounding elastomer and the inner core, or sets a closed space between the surrounding elastomer and the inner core and detects the gas pressure or liquid pressure in the closed space, thereby detecting the change in the distance between the surrounding elastomer and the inner core based on the pressure change.

[0013] An interventional robot master hand device includes an operating handle, and an operator manipulates the operating handle to remotely control a slave hand device to rotate and deliver an interventional consumable; the master hand device also includes a torque feedback component and an axial force feedback component; the torque feedback component applies a corresponding torque to the operating handle based on the torque applied to the interventional consumable during rotation of the interventional consumable by the slave hand device, thereby simulating the torque resistance during surgery; the axial force feedback component applies a corresponding axial force to the operating handle based on the axial force applied to the interventional consumable during delivery of the interventional consumable by the slave hand device, thereby simulating the axial force resistance during surgery.

[0014] Preferably, the output shaft of the torque feedback assembly is coaxially connected to the operating handle, and moves axially together under the drive of the operating handle. The operating handle and the torque feedback assembly are connected by a connecting rod, and a floating anti-rotation mechanism is provided between the torque feedback assembly and the base to allow the two to slide relative to each other.

[0015] The floating anti-rotation mechanism includes a front and rear floating structure, a pitch angle floating structure, and a yaw angle floating structure. The front and rear floating structures keep the axial position of the operating handle floating relative to the base during movement. The yaw angle floating structure enables the operating handle to deflect left and right when moving along the axis, and the pitch angle floating structure enables the operating handle to deflect up and down when moving along the axis. The front and rear floating structures adopt a guide rail slider structure, or an anti-rotation shaft hole structure, or a combination of a circular shaft hole structure and an anti-rotation structure.

[0016] The axial force feedback component uses one or a combination of a rope drive structure, a belt drive structure, a gear drive rack structure or a friction wheel drive friction belt structure to apply a bidirectional force to one side of the operating handle;

[0017] When the axial force feedback assembly adopts a rope drive structure or a belt drive structure, the axial force feedback assembly is provided with a single axial feedback element, and the front and rear floating structures or the front and rear ends of the torque feedback assembly, or the front end of the torque feedback assembly and the rear end of the operating handle are respectively connected to the front and rear ends of the same pull rope or transmission belt, and the pull rope or transmission belt forms a closed loop after being changed in direction by the pulley;

[0018] Or the front and rear ends of the front and rear floating structures or the torque feedback component, or the front end of the torque feedback component and the rear end of the operating handle are respectively connected to two pull ropes or transmission belts. The two pull ropes or transmission belts are changed in direction through pulleys and then connected to the same axial feedback element to form a closed loop. The axial feedback element applies a bidirectional force to the front and rear floating structures or the torque feedback component or / and the operating handle through the pull ropes or transmission belts. When a rope-driven structure is adopted, the axial feedback element includes a motor, and a winding wheel is coaxially connected to the output shaft of the motor. The winding wheel has a spiral groove for guiding the pull rope to be spirally wound on the winding wheel. The outer diameter of the winding wheel is 10~50mm.

[0019] A method for using an interventional robot main hand device comprises the following steps:

[0020] 1) The operator squeezes the pressable part of the operating handle. When the pressure measurement component detects that the operator has squeezed the pressable part of the operating handle, the slave hand device is controlled to enter the follow-up state and the master hand device is controlled to enter the force feedback state.

[0021] 2) When the slave device enters the follow-up state, as the operator controls the operating handle to move back and forth axially and rotate circumferentially, the master hand device detects the axial distance and circumferential rotation angle of the operating handle. The slave hand device performs corresponding actions to achieve the delivery of the interventional consumable. The slave hand device also detects the axial resistance and circumferential torque received by the interventional consumable during the movement process. The axial force feedback component and torque feedback component of the master hand device apply corresponding axial force and circumferential torque feedback to the operating handle, thereby simulating the axial force resistance and circumferential resistance torque during the surgery.

[0022] 3) When the operator releases the pressable part of the operating handle, the pressure measurement component detects that the operator has released the pressable part of the operating handle, controls the slave hand device to exit the follow-up state, the slave hand device remains stationary, the master hand device exits the force feedback state, and the axial force feedback component and torque feedback component of the master hand device simultaneously stop applying the corresponding axial force and circumferential torque to the operating handle.

[0023] Preferably, in step 1, the operator pinches the pressable portion of the operating handle only with the index finger and thumb. When the operating handle is provided with a non-pressable portion, in step 3, before the operator releases the pressable portion of the operating handle, the operator first holds the non-pressable portion with fingers other than the thumb and index finger, and then releases the thumb and index finger that pinched the pressable portion of the operating handle. At this time, the operator can avoid the unexpected movement of the operating handle caused by the axial force feedback component and the torque feedback component failing to stop applying axial force and circumferential torque to the operating handle in time at the moment of release.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The pressure measurement component detects whether the operator is gripping the operating handle, and also detects whether the operator is gripping or releasing the operating handle. Force feedback is applied only when the operating handle is gripped, preventing the operating handle from being driven by the force feedback component in an uncontrolled manner, resulting in undesired movement.

[0026] 2. The non-pressable part is used to clamp the operating handle with the middle finger, ring finger, and little finger to keep its rotation angle unchanged. This prevents the instantaneous torque motor from still outputting torque when the index finger and thumb release the pressable part of the operating handle, causing the operating handle to idle or move.

[0027] 3. The quick-connect structure between the connecting rod and the operating handle enables quick disassembly and installation of the operating handle. The wrap-around elastomer on the operating handle is made of conductive soft rubber material. However, the conductive soft rubber material will deform, lose elasticity, and reduce the feel after long-term use. Therefore, it can be replaced every once in a while to maintain the best operating feel. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] FIG1 is a side sectional view of the operating handle of Example 1;

[0029] FIG2 is a schematic diagram of the inner core rod structure of Example 1;

[0030] FIG3 is a schematic diagram of the quick-connect structure of Example 1;

[0031] FIG4 is an exploded schematic diagram of the quick-connect structure of Example 1;

[0032] FIG5 is a side sectional view of Example 2;

[0033] FIG6 is a schematic diagram of the overall structure of Example 3;

[0034] FIG7 is a side sectional view of Example 3;

[0035] FIG8 is a side sectional view of Example 4;

[0036] FIG9 is a side sectional view of Example 5;

[0037] FIG10 is a schematic diagram of the overall structure of Example 6;

[0038] FIG11 is a side sectional view of the operating handle of Example 6;

[0039] FIG12 is a schematic diagram of the overall structure of the master hand device of Example 7;

[0040] FIG13 is a schematic diagram of the overall structure of the slave device of Example 7. Best Mode for Carrying Out the Invention

[0041] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention. Example 1

[0042] A manipulation handle with a pressable portion includes the manipulation handle, the pressable portion being provided thereon, and a pressure measurement assembly being provided on the pressable portion. The pressure measurement assembly can detect whether an operator is tightening or loosening the manipulation handle. The pressure measurement assembly includes a measurement switch and an elastic element, the elastic element being a wraparound elastic body that wraps around the inner core of the manipulation handle at a predetermined interval. The measurement switch detects whether the operator is tightening or loosening the manipulation handle by measuring the change in the distance between the elastic element and the inner core.

[0043] When the measuring switch uses conductivity detection to detect when the operator squeezes or loosens the operating handle, the measuring switch realizes conductivity detection by the contact between the conductors. The inner core and the surrounding elastomer are both provided with conductors, but when the surrounding elastomer is not subjected to external force, the conductors of the inner core and the surrounding elastomer remain insulated. When the operator pinches the surrounding elastomer to deform it and makes the conductors of the inner core and the surrounding elastomer contact and conduct, the operator's pinching of the operating handle is detected. When the operator releases the operating handle, the surrounding elastomer resets so that the conductors of the inner core and the surrounding elastomer remain insulated, and the operator's release of the operating handle is detected.

[0044] The surrounding elastomer is made of a conductive soft rubber material, and the conductor is the conductive soft rubber material. In this case, the surrounding elastomer is a conductive soft rubber tube, and the conductive soft rubber material is specifically conductive silicone; or a conductor is attached to the inner surface of the surrounding elastomer, and the conductor is one or a combination of metal mesh, metal wire, and metal sheet.

[0045] It also includes a non-pressible part. When the operator pinches the non-pressible part, it does not affect the pressing measurement component. The non-pressible part is a filling layer arranged between the surrounding elastomer and the inner core; or the non-pressible part is an integral or fixed non-pressible section on the surrounding elastomer; the length of the pressable part is 20-80mm, and the length of the non-pressible part is 30-100mm.

[0046] The measuring switch detects the distance between the surrounding elastic body and the inner core using one or a combination of laser detection, photoelectric detection, capacitance detection, inductance detection, or ultrasonic detection. Alternatively, a closed space is provided between the surrounding elastic body and the inner core, and the gas pressure or liquid pressure within the closed space is detected to detect changes in the distance between the surrounding elastic body and the inner core. In this embodiment, the surrounding elastic body is preferably a conductive silicone tube.

[0047] As shown in Figures 1 to 4, the operating handle 10130001 includes an inner core rod 1013000101 and a conductive silicone tube 1013000102. The inner core rod 1013000101 is a core with a conductor, while the conductive silicone tube 1013000102 is a wraparound elastic body with a conductor. When the conductive silicone tube 1013000102 is deformed by pinching and contacts the inner core rod 1013000101, the controller can determine whether the operator is pinching the conductive silicone tube 1013000102 based on the continuity between the two electrodes. This pinching requires the operator to maintain contact with the operating handle 10130001 and apply a certain amount of force. Release means that no pinching force is applied to the operating handle. After release, the operator's hand can contact the operating handle 10130001 without applying any force, or the operator's hand completely releases the operating handle 10130001. The conductive silicone tube 1013000102 has an outer diameter of 5-15 mm and a wall thickness of 0.5-3 mm to ensure a good grip and a tight grip.

[0048] The operating handle 10130001 is connected to the output shaft of the torque feedback component through the connecting rod 101300011. A quick-connect structure is provided between the connecting rod 101300011 and the operating handle 10130001. The quick-connect structure can quickly disassemble and install the operating handle 10130001. The wrap-around elastomer on the operating handle 10130001 is made of conductive soft rubber material. The conductive soft rubber material will deform and lose elasticity after long-term use, which reduces the feel. Therefore, it needs to be replaced every once in a while to maintain the best operating feel.The quick-connect structure adopts a threaded connection structure. A threaded connector A10130001101 is provided at the end of the connecting rod 101300011 close to the operating handle 10130001. The operating handle 10130001 is provided with a threaded connector B10130001104. The threaded connector B10130001104 is threadedly connected to the threaded connector A10130001101. A first wire 10130001102 is provided in the connecting rod 101300011, one end of which is connected to the slip ring. The other end of the first wire 10130001102 is fixedly connected to a spring pin 10130001103. The spring pin 10130001103 is provided in the threaded connector A10130001101, and the elastic contact extends out. The operating handle 10130001 A second wire 10130001105 connected to the conductive silicone tube is provided inside. The second wire 10130001105 is connected to an elastic pin connector 10130001106 for contacting the elastic pin 10130001103. A notch 10130001101 is provided on the outside of the threaded connector A10130001101. A mounting shell 1013000111 can also be sleeved on the outside of the connecting rod 101300011. A through hole 101300011101 communicating with the notch 101300011011 is provided on the outside of the mounting shell 1013000111. A stop rod is inserted from the outside of the mounting shell 1013000111 through the through hole 101300011101 and snapped into the threaded connector A10130001101. The stop rod is positioned at notch 101300011011 to prevent threaded connector A10130001101 from rotating (a stop wrench can also be used instead of the stop rod). The threaded connector B10130001104 on the operating handle 10130001 is then aligned with threaded connector A10130001101. The operating handle 10130001 is then rotated to tighten the connection between threaded connector B10130001104 and threaded connector A10130001101. Simultaneously, the spring pin 10130001103 contacts the spring pin connector 10130001106, allowing the first conductor 10130001102 to connect to the second conductor 10130001105. Alternatively, the coaxial threads can be replaced with side screws for securement.

[0049] The electrical signal from conductive silicone tube 1013000102 is introduced into the controller via second wire 10130001105, first wire 10130001102, a slip ring, and a ribbon cable. Since inner core rod 1013000101 is connected to connecting rod 101300011 via threaded connector B 10130001104 and threaded connector A 10130001101, and both threaded connector B 10130001104 and threaded connector A 10130001101 are made of conductive metal, its electrical signal is introduced into the controller via connecting rod 101300011, a slip ring, and ribbon cable 1013200110. When the conductive silicone tube 1013000102 is pinched and deformed, and contacts and conducts with the inner core rod 1013000101, the controller can judge whether the operator pinches the conductive silicone tube 1013000102 by whether the conductive silicone tube 1013000102 and the inner core rod 1013000101 are conductive. The outer circumference of the inner core rod 1013000101 is provided with anti-slip grooves 1013000103. The anti-slip grooves 1013000103 are evenly arranged around the outer circumference of the inner core rod 1013000101, and their directions are parallel to the axis of the inner core rod 1013000101. The depth of the anti-slip grooves 1013000103 exceeds 0.3mm. The anti-slip grooves 1013000103 increase the friction between the conductive silicone tube 1013000102 and the inner core rod 1013000101, effectively preventing the operator from slipping during the pinching and rotation process.

[0050] Alternatively, the electrical signal of the inner core can be replaced by setting up another soft wire. In this case, a spring pin connector C or a spring pin connector D is also required on the quick-change mechanism, and then the electrical signal is transmitted in the same way as the electrical signal of the surrounding elastic body. Alternatively, a conductive glove or finger sleeve connected to the main hand device is also included.

[0051] The outer surface or the entirety of the wraparound elastomer is made of a conductive material, and the operator's touch status of the operating handle is determined by the conductive gloves or finger sleeves. When the operator wears the conductive gloves or finger sleeves and touches the operating handle, the conductive gloves or finger sleeves will be connected to the operating handle to generate an electrical signal.

[0052] Example 2

[0053] This embodiment refers to the working principle of Example 1, and differs from Example 1 in that it further includes a non-pressable portion. When the operator pinches the non-pressable portion, it does not affect the pressing measurement component. The non-pressable portion is located in the non-pressable portion and is a filling layer provided between the surrounding elastic body and the inner core.

[0054] As shown in FIG5 , the filling layer of this embodiment is an insulating sleeve 1013128 provided between the surrounding elastomer and the inner core to prevent contact and conduction between the surrounding elastomer and the inner core. When the operator holds the operating handle 10130001 and drives it to rotate, the operator mainly relies on the thumb and index finger to clamp and rotate the operating handle 10130001, while the other fingers will contact the surface of the operating handle 10130001. In order to prevent the conductive silicone tube 1013000102 from being accidentally triggered by other fingers and causing contact and conduction with the inner core rod 1013000101, the operating handle 10130001 is divided into a pressable part and a non-pressable part. The pressable part can be used to press the conductive silicone tube 1013000102 with the thumb and index finger to make it contact and conduction with the inner core rod 1013000101. The non-pressable part is used to clamp the operating handle 10130001 with the middle finger, ring finger, and little finger to keep its rotation angle unchanged, so as to avoid the instantaneous torque when the hand releases the operating handle 10130001 and the torque output of the motor still occurs, causing the operating handle 10130001 to rotate idly.

[0055] The insulating sleeve 1013128 is arranged at the non-pressible part. The insulating sleeve 1013128 is located at the middle and rear part of the conductive silicone tube 1013000102 and is clamped between the conductive silicone tube 1013000102 and the inner core rod 1013000101. Alternatively, the insulating sleeve 1013128 is sleeved on the outside of the conductive silicone tube 1013000102. Alternatively, the insulating sleeve 1013128 is replaced by the non-pressible rod. The non-pressible rod is directly arranged at the rear end of the conductive silicone tube 1013000102 and serves as a part of the operating handle 10130001.

[0056] The length of the pressable portion is 20-50 mm, and the length of the non-pressable portion is 30-100 mm. The shapes of the pressable portion and the non-pressable portion are both cylindrical, with an outer diameter of 5-20 mm. The outer diameters of the pressable portion and the non-pressable portion are consistent, or the outer diameters are inconsistent but the difference is less than 3 mm.

[0057] Example 3

[0058] This embodiment refers to the working principle of embodiment 2, and differs from embodiment 2 in that:

[0059] The non-pressible portion is a non-pressible segment integrally or fixedly arranged on the surrounding elastic body.

[0060] 6 and 7 , the operating handle includes a conductive silicone tube 1013000102, an inner core rod 1013000101, a front support sleeve 1013123, a non-pressable section 10131201, and a spacer 10131202. The front and rear ends of the conductive silicone tube 1013000102 are respectively jacketed on the front support sleeve 1013123 and the non-pressable section 10131201. The non-pressable section 10131201 is fixedly connected to one end of the conductive silicone tube 1013000102. The middle part of the conductive silicone tube 1013000102 is jacketed outside the spacer 10131202. The spacer 10131202 divides the pressing part into two front and rear first and second pressable parts. The width of each pressable part is 10-50 mm. The conductive silicone tube 1013000102 of each pressable part The spacing between the conductive silicone tube 1013000102 and the inner core rod 1013000101 is 1-5mm. The spacer 10131202 is used to prevent the conductive silicone tube 1013000102 from accidentally triggering the inner core rod 1013000101 due to its own deformation or slight external force when the distance between the conductive silicone tube 1013000102 and the inner core rod 1013000101 is too long. The front support sleeve 1013123, the non-pressable section 10131201, and the spacer 10131202 are made of insulating materials.

[0061] Spacer 10131202 can be considered a filling layer positioned between the conductive silicone tube 1013000102 and the inner core rod 1013000101. During use, the index finger and thumb pinch the first and second depressible portions, creating contact and electrical continuity between the conductive silicone tube 1013000102 and the inner core rod 1013000101. The resulting electrical signal is transmitted via wire 1013127 to an external controller, detecting whether the operator has tightened or loosened the operating handle. To release the index finger and thumb, the operator first grasps the non-depressible portion 10131201 with one or a combination of the middle, ring, or pinky fingers. This maintains the operating handle in place, ensuring that the torque feedback assembly remains in the torque output state even when the index finger and thumb are released, preventing the handle from spinning. The first and second depressible portions can each correspond to different functions, expanding the functionality of the operating handle and enabling more complex operations.

[0062] Alternatively, the first pressable portion and the second pressable portion can be combined into one, in which case the spacer 10131202 will be removed, and the distance between the front support sleeve 1013123 and the non-pressable section 10131201 will be shortened to 20-50 mm to prevent the conductive silicone tube 1013000102 from being mistakenly triggered by the inner core rod 1013000101 due to its own deformation or slight external force when the length of the gap between the conductive silicone tube 1013000102 and the inner core rod 1013000101 is too long.

[0063] Example 4

[0064] This embodiment refers to the working principle of embodiment 3, and the difference from embodiment 3 is that:

[0065] As shown in Figure 8, an insulating member 101312301 is disposed in the middle of the conductive silicone tube, dividing the conductive silicone tube into two parts. The operating handle includes conductive silicone tube A 1013121, conductive silicone tube B 10131211, and an inner core rod 1013000101. An insulating first non-pressible section 10131201 and a second non-pressible section 10131201 are provided at the front and rear ends of the inner core rod 1013000101. A gap is left between the conductive silicone tube A1013121 and the conductive silicone tube B10131211 and the inner core rod 1013000101 through the first non-pressible section 10131201 and the second non-pressible section 101312011. An insulating member 101312301 is provided between the conductive silicone tube A1013121 and the conductive silicone tube B10131211. The insulating member 101312301 divides the conductive silicone tube into a first pressable portion and a second pressable portion respectively together with the first non-pressible section 10131201 and the second non-pressible section 101312011 on both sides.

[0066] The width of the pressable portion is 20-50 mm, and the distance between the conductive silicone tube and the inner core rod 1013000101 at the first pressable portion and the second pressable portion is 1-5 mm. The conductive silicone tube A1013121 and the conductive silicone tube B10131211 are different poles of the measuring switch. When the operator pinches the conductive silicone tube A1013121 or the conductive silicone tube B10131211, and the conductive silicone tube A1013121 or the conductive silicone tube B10131211 respectively contacts the inner core rod 1013000101, a first sensing signal or a second sensing signal can be triggered respectively, thereby controlling the slave device to perform corresponding actions. When the conductive silicone tube A1013121 or the conductive silicone tube B10131211 contacts the inner core rod 1013000101 at the same time, one of the conductive silicone tubes has a higher priority and operates according to the function of the measuring switch with the higher priority. The controller is also conductively connected to a conductive glove or fingertip. If the operator is wearing the conductive glove or fingertip at this time, then at the moment the operator touches the conductive silicone tube A1013121 or the conductive silicone tube B10131211, the third sensing signal and the fourth sensing signal can be detected based on the conduction between the conductive silicone tube A1013121 or the conductive silicone tube B10131211 and the conductive glove or fingertip, thereby controlling the slave hand device to perform corresponding actions.

[0067] Example 5.

[0068] This embodiment refers to the working principle of embodiment 3, and the difference from embodiment 3 is that:

[0069] As shown in Figure 9, the end of the conductive silicone tube 1013000102 is integrally formed or fixedly connected to the non-pressable section. The non-pressable section of this embodiment adopts the holding tube 101300010201. The inner wall of the holding tube 101300010201 is tightly attached to the inner core rod 1013000101, and the thickness of the holding tube 101300010201 is greater than that of the conductive silicone tube 1013000102, so that the outer diameter of the holding tube 101300010201 is consistent with the outer diameter of the conductive silicone tube 1013000102, or inconsistent but the difference is less than 3mm, to ensure a sufficiently good grip feel. One end of the conductive silicone tube 1013000102 is fixedly connected to one end of the holding tube 101300010201, and the conductive silicone tube 1013000102 is tightly attached to the inner core rod 1013000101. A gap is left so that when an operator holds the gripping tube 101300010201, the conductive silicone tube 1013000102 is not affected. Alternatively, the gripping tube 101300010201 and the inner core rod 1013000101 are integrally formed, and one end of the conductive silicone tube 1013000102 is insulated and connected to one end of the gripping tube 101300010201 by an insulating material.

[0070] Example 6

[0071] This embodiment refers to the working principle of embodiment 1, and differs from embodiment 1 in that:

[0072] A cylindrical handle-shaped non-rotatable portion is provided on one side of the operating handle, so that the operator can pinch the operating handle with the index finger and thumb, and then hold the non-rotatable portion with other fingers except the index finger and thumb. During use, the operating handle can move axially and rotate circumferentially, while the non-rotatable portion can only move axially.

[0073] As shown in Figures 10 and 11, a cylindrical handle-shaped non-rotatable portion 10132001072 is provided on one side of the operating handle 10130001. The operating handle 10130001 is affected by the combined action of the axial force feedback component and the torque feedback component, and the non-rotatable portion 10132001072 is only affected by the axial force feedback component. A press switch is provided around the operating handle 10130001.

[0074] The output shaft of the torque motor 1013200106 of the torque feedback assembly is fixedly connected to the connecting rod 101300011, and the connecting rod 101300011 passes through the non-rotatable part 10132001072 and is connected to the operating handle 10130001. The connecting rod 101300011 and the non-rotatable part 10132001072 are connected by a bearing support. The torque motor 1013200106 drives the operating handle 10130001 to rotate through the connecting rod 101300011. The operator holds the operating handle 10130001 and can receive torque feedback and axial force feedback at the same time.

[0075] Non-rotating portion 10132001072 is fixedly mounted on support frame 1013200104. When gripping non-rotating portion 10132001072, the operator experiences only axial force feedback. A push-button switch 101320010721 is located below non-rotating portion 10132001072. This switch is used to relieve force or serve as the other end of the operating lever assembly. When push-button switch 101320010721 is used for force relief, it either directly stops force feedback or stops the follow-up control of the slave device by operating handle 10130001, thereby stopping force feedback. This prevents instantaneous idling or slippage when the operator releases operating handle 10130001.

[0076] Example 7

[0077] A master hand device of an interventional robot includes an operating handle. An operator manipulates the operating handle to remotely control a slave hand device to rotate and deliver an interventional consumable.

[0078] The master hand device also includes a torque feedback component and an axial force feedback component; the torque feedback component applies a corresponding torque to the operating handle based on the torque applied to the interventional consumable by the slave hand device during the rotation process, thereby simulating the torque resistance during the operation; the axial force feedback component applies a corresponding axial force to the operating handle based on the axial force applied to the interventional consumable by the slave hand device during the delivery process, thereby simulating the axial force resistance during the operation. The output shaft of the torque feedback component is coaxially connected to the operating handle, and moves axially together under the drive of the operating handle. The operating handle and the torque feedback component are connected by a connecting rod, and a floating anti-rotation mechanism is provided between the torque feedback component and the base to allow the two to slide relative to each other;

[0079] The floating anti-rotation mechanism includes a front and rear floating structure, a pitch angle floating structure and a yaw angle floating structure. The front and rear floating structures keep the axial position of the operating handle floating relative to the base during movement. The yaw angle floating structure enables the operating handle to deflect left and right when moving along the axial direction, and the pitch angle floating structure enables the operating handle to deflect up and down when moving along the axial direction. The front and rear floating structures adopt a guide rail slider structure, or an anti-rotation shaft hole structure, or a combination of a circular shaft hole structure and an anti-rotation structure. The axial force feedback component adopts one or a combination of a rope drive structure, a belt drive structure, a gear drive rack structure or a friction wheel drive friction belt structure to apply a bidirectional force to one side of the operating handle.

[0080] When the axial force feedback assembly adopts a rope drive structure or a belt drive structure, the axial force feedback assembly is provided with a single axial feedback element, and the front and rear floating structures or the front and rear ends of the torque feedback assembly, or the front end of the torque feedback assembly and the rear end of the operating handle are respectively connected to the front and rear ends of the same pull rope or transmission belt, and the pull rope or transmission belt forms a closed loop after being changed in direction by the pulley;

[0081] Or the front and rear ends of the front and rear floating structures or the torque feedback assembly, or the front end of the torque feedback assembly and the rear end of the operating handle are respectively connected to two pull ropes or transmission belts. The two pull ropes or transmission belts are changed in direction by pulleys and then connected to the same axial feedback element to form a closed loop. The axial feedback element applies a bidirectional force to the front and rear floating structures or the torque feedback assembly and / or the operating handle through the pull ropes or transmission belts.

[0082] When a rope drive structure is adopted, the axial feedback element includes a motor, and a winding wheel is coaxially connected to the output shaft of the motor. The winding wheel has a spiral groove for guiding the pull rope to be spirally wound on the winding wheel. The outer diameter of the winding wheel is 10-50 mm.

[0083] As shown in Figure 12, the torque feedback assembly includes a second torque motor 10130019, the output shaft of the second torque motor 10130019 passes through the middle through hole of the slip ring 10133012 and is connected to one end of the connecting rod 101300011, the other end of the connecting rod 101300011 is connected to the operating handle 10130001, the operating handle 10130001 is provided with a pressable portion and a non-pressable portion (when releasing the pressable portion, pinch the non-pressable portion to avoid idling and axial movement), the base 1013101 is fixedly connected to a connecting piece 101310101, the connecting piece 101310101 is fixedly connected to the guide rail 1013106 (thereby increasing the installation height of the guide rail 1013106 and making it 30~100mm away from the base 1013101), the guide rail 1013106 A slider 1013107 is set on the upper slide, and the slider 1013107 is connected to the torque feedback component through the pitch angle floating structure 1013100102 and the yaw angle floating structure 1013100103 to achieve floating in the up and down directions and left and right directions, effectively preventing the deflection of the operating handle 10130001 from causing the slider 1013107 to be "pinned". The length of the connecting rod 101300011 is greater than 150mm. The connecting rod 101300011 is long enough. In the axial direction, the operating handle 10130001 extends from one side of the guide rail 1013106, leaving enough grip space for the operating handle 10130001. When the output shaft axis of the second torque motor 10130019 is parallel to the guide rail 1013106, the output shaft axis of the second torque motor 10130019 is aligned with the guide rail 1013106. The spacing is 30-50 mm, thereby reducing the overturning moment applied to the slider 1013107 and making the friction between the guide rail 1013106 and the slider 1013107 as small as possible.

[0084] The axial force feedback component includes an axial force motor 10130004 and a winding wheel 10130007. The output shaft of the axial force motor 10130004 is fixedly connected to the winding wheel 10130007. One end of the first pull rope 10130021 is directly connected to one end of the slider (or directly connected to one end of the torque feedback component), and the other end of the first pull rope 10130021 is wound around the winding wheel 10130007. One end of the second pull rope 10130022 passes around the reversing wheel 101300071 and is connected to the other end of the slider (or directly connected to the other end of the torque feedback component, or directly connected to the rear end of the operating handle). The other end of the second pull rope 10130022 is wound around the winding wheel 10130007. There is a spiral groove on the top for guiding the pull rope to be spirally wound on the winding wheel. The outer diameter of the winding wheel 10130007 is 10~50mm.

[0085] The first pull rope and the second pull rope are respectively wound on the winding wheel in the same spiral direction. When the operating lever assembly slides forward and pulls the winding wheel to rotate in the positive direction, the first pull rope is wound on the winding wheel and the second pull rope is released from the winding wheel. In this process, when the operating lever assembly slides backward and pulls the winding wheel to rotate in the reverse direction, the second pull rope is wound on the winding wheel and the first pull rope is released from the winding wheel.

[0086] In the above process, the axial feedback element rotates as the winding wheel rotates, and an angle sensor is provided inside the axial feedback element, which can measure the rotation angle of the winding wheel, thereby converting the displacement of the joystick assembly and sending the displacement to the slave hand to realize master-slave follow-up control. The axial feedback element can apply rotational torque to the winding wheel, and convert it into the tension of the rope to act on the joystick assembly to realize force feedback.

[0087] The torque feedback assembly is routed through a ribbon cable or multi-strand flexible cable. Ribbon cable 1013200110 or multi-strand flexible cable is coiled into a U-shape on the side of the sliding mechanism. As the guide rail slider moves forward and backward, the ribbon cable 1013200110 or multi-strand flexible cable adaptively deforms, minimizing resistance to the guide rail slider. Ribbon cable 1013200110 is connected to a first limit buckle 10132001101 and a second limit buckle 10132001102, which limit its position. The electrical signal from the conductive silicone tube of the operating handle 10130001 is then fed into the controller via the second wire, the first wire, the slip ring 10133012, and finally the ribbon cable 1013200110.

[0088] As shown in Figure 13, the slave hand device includes a first port control mechanism 10271, a second port control mechanism 10273, a first rotary delivery mechanism 10272, a second delivery mechanism 10274101, a third rotary delivery mechanism 10276, an operating table, an injection module 102207, and a pressurized injection module 102208. The injection module 102207 is connected to the branch of the Y-valve of the second port control mechanism 10273 for injecting contrast agent or heparinized saline. The pressurized injection module 102208 is connected to the balloon locked by the second delivery mechanism 10274101 for pressurizing the balloon. The first rotary delivery mechanism 10272 and the third rotary delivery mechanism 10276 are equipped with axial force sensors and torque sensors to detect the axial force and torque acting on the interventional consumable. The controller controls the axial force feedback component and torque feedback component of the master hand device to provide axial force and torque feedback to the operating handle.

[0089] Example 8

[0090] A method for using an interventional robot master hand device, characterized by comprising the following steps:

[0091] 1) The operator squeezes the pressable part of the operating handle. The pressure measurement component detects that the operator has squeezed the pressable part of the operating handle, and controls the slave hand device to enter the follow-up state and the master hand device to enter the force feedback state.

[0092] 2) When the slave device enters the follow-up state, as the operator controls the operating handle to move back and forth axially and rotate circumferentially, the master hand device detects the axial distance and circumferential rotation angle of the operating handle. The slave device performs corresponding actions to achieve the delivery of the interventional consumable. The slave device also detects the axial resistance and circumferential torque experienced by the interventional consumable during movement. The axial force feedback component and torque feedback component of the master hand device apply corresponding axial force and circumferential torque feedback to the operating handle, thereby simulating the axial force resistance and circumferential resistance torque during the surgery.

[0093] 3) When the operator releases the pressable part of the operating handle, the pressure measurement component detects that the operator has released the pressable part of the operating handle, controls the slave hand device to exit the follow-up state, the slave hand device remains stationary, the master hand device exits the force feedback state, and the axial force feedback component and torque feedback component of the master hand device simultaneously stop applying the corresponding axial force and circumferential torque to the operating handle.

[0094] In step 1, the operator only uses the index finger and thumb to pinch the pressable part of the operating handle. When the operating handle is provided with a non-pressable part, in step 3, before the operator releases the pressable part of the operating handle, the operator first holds the non-pressable part with fingers other than the thumb and index finger, and then releases the thumb and index finger that pinched the pressable part of the operating handle. At this time, the operator can avoid the unexpected movement of the operating handle caused by the axial force feedback component and the torque feedback component failing to stop applying axial force and circumferential torque to the operating handle in time at the moment of release.

[0095] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments and that the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive.

[0096] The scope of the present invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations that fall within the meaning and scope of the equivalents of the claims be included within the present invention. Any reference numerals in the claims should not be construed as limiting the claims involved. In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative style of the specification is merely for the sake of clarity, and those skilled in the art should regard the specification as a whole. The technical solutions in the various embodiments may also be appropriately combined to form other implementation methods that those skilled in the art can understand.

Claims

1. An operating handle with a pressable part, characterized in that, It includes an operating handle, on which there is a pressable part, and a pressing measurement component is provided on the pressable part. The pressing measurement component can detect the squeezing or releasing of the operating handle by the operator.

2. The operating handle with a pressable part according to claim 1, characterized in that, The pressing measurement component includes a measurement switch and also an elastic element. The elastic element is a circumferential elastic body, and the circumferential elastic body wraps the inner core of the operating handle at a certain interval. The measurement switch detects the squeezing or releasing of the operating handle by the operator through the change in the distance between the elastic element and the inner core.

3. The operating handle with a pressable part according to claim 2, characterized in that, When the measurement switch uses conduction to detect the squeezing or releasing of the operating handle by the operator, the measurement switch realizes conduction detection by the way of conductors contacting each other. Both the inner core and the circumferential elastic body are provided with conductors, but the conductors of the inner core and the circumferential elastic body remain insulated when the circumferential elastic body is not under external force. When the operator squeezes the circumferential elastic body to cause it to deform and makes the conductors of the inner core and the circumferential elastic body contact and conduct, at this time, it is detected that the operator squeezes the operating handle. And when the operator releases the operating handle, the circumferential elastic body resets to make the conductors of the inner core and the circumferential elastic body remain insulated, and at this time, it is detected that the operator releases the operating handle.

4. The operating handle with a pressable part according to claim 3, characterized in that, The circumferential elastic body is made of a conductive soft rubber material, and the conductor is the conductive soft rubber material. At this time, the circumferential elastic body is a conductive soft rubber tube, and the conductive soft rubber material is specifically conductive silicone. Or a conductor is attached to the inner surface of the circumferential elastic body, and the conductor is one or a combination of a metal mesh, a metal wire, and a metal sheet.

5. The operating handle with a pressable part according to claim 2, characterized in that, It also includes a non-pressable part. When the operator squeezes the non-pressable part, it does not affect the pressing measurement component. The non-pressable part is a filling layer arranged between the circumferential elastic body and the inner core. Or the non-pressable part is a non-pressable section integrally or fixedly arranged on the circumferential elastic body; the length of the pressable part is 20 - 80 mm, and the length of the non-pressable part is 30 - 100 mm.

6. The operating handle with a pressable part according to claim 2, wherein, The measurement switch uses one or a combination of laser detection, or photoelectric detection, or capacitance detection, or inductance detection, or ultrasonic detection to detect the distance between the circumferential elastic body and the inner core, or a closed space is arranged between the circumferential elastic body and the inner core, and the gas pressure or liquid pressure in the closed space is detected, so as to detect the change in the distance between the circumferential elastic body and the inner core according to the pressure change.

7. An intervention robot master hand device, characterized in that, The master hand device includes the operating handle described in any one of claims 1 - 6. The operator realizes remote control of the slave hand device to rotate and deliver the intervention consumables by manipulating the operating handle; the master hand device also includes a torque feedback component and an axial force feedback component. The torque feedback component applies a corresponding torque to the operating handle based on the torque received by the intervention consumable during the rotation of the intervention consumable by the slave hand device, so as to simulate the torque resistance during the surgical process. The axial force feedback component applies a corresponding axial force to the operating handle based on the axial force received by the intervention consumable during the delivery of the intervention consumable by the slave hand device, so as to simulate the axial force resistance during the surgical process.

8. An operating master device of an interventional robot according to claim 7, wherein the output shaft of the torque feedback assembly is coaxially connected to the operating handle and moves axially together under the drive of the operating handle. The operating handle is connected to the torque feedback assembly through a connecting rod, and a floating anti-rotation mechanism for relative sliding between the two is provided between the torque feedback assembly and the base; The floating anti-rotation mechanism includes a front-back floating structure, a pitch angle floating structure and a yaw angle floating structure. The front-back floating structure keeps the axial position between the operating handle and the base floating relative to each other during movement. The yaw angle floating structure enables the operating handle to deflect left and right when moving along the axis direction, and the pitch angle floating structure enables the operating handle to deflect up and down when moving along the axis direction; The front-back floating structure adopts a guide rail-slider structure, or an anti-rotation shaft-hole structure, or a combination of a circular shaft-hole structure and an anti-rotation structure; The axial force feedback assembly applies bidirectional forces to one side of the operating handle by adopting one or a combination of a rope drive structure, a belt drive structure, a gear driving a rack structure or a friction wheel driving a friction belt structure; When the axial force feedback assembly adopts a rope drive structure or a belt drive structure, the axial force feedback assembly is provided with a single axial feedback element. The front and rear ends of the front-back floating structure or the torque feedback assembly, or the front end of the torque feedback assembly and the rear end of the operating handle are respectively connected to the front and rear ends of the same pulling rope or transmission belt. The pulling rope or transmission belt forms a closed loop after being deflected by a pulley; Or the front and rear ends of the front-back floating structure or the torque feedback assembly, or the front end of the torque feedback assembly and the rear end of the operating handle are respectively connected to two pulling ropes or transmission belts. The two pulling ropes or transmission belts are driven and connected to the same axial feedback element through pulleys to form a closed loop. The axial feedback element applies bidirectional forces to the front-back floating structure or the torque feedback assembly or / and the operating handle through the pulling rope or transmission belt; When a rope drive structure is adopted, the axial feedback element includes a motor. A wire reel is coaxially connected to the output shaft of the motor. The wire reel has a spiral groove for guiding the pulling rope to be wound around the wire reel in a spiral shape. The outer diameter of the wire reel is 10 - 50 mm.

9. A method for using the master hand device of an interventional robot, characterized in that, It includes the following steps: 1). The operator squeezes the pressable part of the operating handle. When the press measurement assembly detects that the operator squeezes the pressable part of the operating handle, it controls the slave hand device to enter the follow-up state and the master hand device to enter the force feedback state; 2). After the slave hand device enters the follow-up state, as the operator controls the operating handle to reciprocate axially and rotate circumferentially, the master hand device detects the axial distance and circumferential rotation angle of the operating handle's movement. The slave hand device performs corresponding actions to realize the delivery of the interventional consumables. And the slave hand device detects the axial resistance and circumferential resistance moment suffered by the interventional consumables during movement. Through the axial force feedback assembly and torque feedback assembly of the master hand device, corresponding axial force feedback and circumferential moment feedback are applied to the operating handle, so as to simulate the axial force resistance and circumferential resistance moment during the surgical process; 3). When the operator releases the pressable part of the operating handle, after the pressing measurement component detects that the operator has released the pressable part of the operating handle, the control causes the slave device to exit the follow-up state, the slave device remains stationary, the master device exits the force feedback state, and the axial force feedback component and the torque feedback component of the master device simultaneously stop applying the corresponding axial force and circumferential torque to the operating handle.

10. The method for using a master hand device of an interventional robot according to claim 9, characterized in that, In step 1, the operator only pinches the pressable part of the operating handle with the index finger and thumb. When there is a non-pressable part on the operating handle, in step 3, before the operator releases the pressable part of the operating handle, first hold the non-pressable part with fingers other than the thumb and index finger, and then release the thumb and index finger that pinch the pressable part of the operating handle. This can avoid the unexpected movement of the operating handle caused by the axial force feedback component and the torque feedback component not being able to stop applying the axial force and circumferential torque to the operating handle in time at the moment of release.

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