Interventional robot master arm device based on rope driving force feedback

Abstract

An interventional robot master arm device based on rope driving force feedback, comprising an operating bar component, a torque feedback component, an axial force feedback component and a floating anti-rotation mechanism. An operator manually operates the operating bar component so as to remotely control a slave arm device for a vascular interventional operation to rotate and deliver an interventional consumable. The torque feedback component is connected to the operating bar component and applies a torque around the axis to the operating bar component, thereby simulating a torque resistance during an operation process. The floating anti-rotation mechanism is arranged between a base (1013101) and the torque feedback component, and is used for allowing the torque feedback component to slide relative to the base (1013101) in the axial direction; and the floating anti-rotation mechanism prevents a fixed end of the torque feedback component from rotating around the axis. The axial force feedback component comprises a rotary motor (10130004), a winding wheel (10130007) and pull ropes (10130021, 10130022), the pull ropes (10130021, 10130022) being spirally wound on the winding wheel (10130007), the rotary motor (10130004) driving the winding wheel (10130007) to rotate so as to wind the pull ropes (10130021, 10130022), and the pull ropes (10130021, 10130022) directly or indirectly applying a corresponding axial force to the operating bar component, thereby simulating an axial force resistance during an operation process. The interventional robot master arm device is safe to operate and involves a high response speed and good sense of presence in operations.

Description

Interventional robot master hand device based on rope-driven force feedback Technical Field

[0001] The present invention relates to the technical field of medical devices, in particular to an interventional robot main hand device based on rope-driven force feedback. 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 above device uses a spring to feedback the axial force exerted on the interventional consumable, and cannot accurately and quickly feedback the resistance exerted on the interventional consumable during surgery. Moreover, when the operator needs to rotate the interventional consumable during surgery, the above device cannot simulate the resistance torque exerted on the interventional consumable in the rotation direction. Summary of the Invention

[0005] The object of the present invention is to provide an interventional robot master hand device based on rope-driven force feedback to solve the existing technical defects and unmet technical requirements.

[0006] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: an interventional robot master hand device based on rope-driven force feedback, comprising an operating rod assembly, a torque feedback assembly, an axial force feedback assembly, and a floating anti-rotation mechanism; an operating rod assembly, which is manually manipulated by an operator to remotely control the rotation and delivery of interventional consumables by a slave hand device during vascular interventional surgery; a torque feedback assembly, which is connected to the operating rod assembly and applies a torque around the axis to the operating rod assembly, thereby simulating the torque resistance during surgery; a floating anti-rotation mechanism, which is arranged between a base and the torque feedback assembly and is used to enable the torque feedback assembly and the base to slide relative to each other in the axial direction, and the floating anti-rotation mechanism prevents the fixed end of the torque feedback assembly from rotating around the axis. The axial force feedback assembly comprises a rotary motor, a winding wheel, and a pull rope, the pull rope being spirally wound around the winding wheel, the rotary motor driving the winding wheel to rotate to wind the pull rope, and the pull rope directly or indirectly applying a corresponding axial force to the operating rod assembly, thereby simulating the axial force resistance during surgery.

[0007] Preferably, the operating rod assembly includes an operating handle, and the torque feedback assembly includes a torque motor. The output shaft of the torque motor is directly coaxially connected to the operating handle or coaxially connected through a connecting rod, and torque around the axis is applied to the operating handle, thereby simulating the torque resistance during the operation. The torque motor moves axially along with the operating rod assembly under the drive of the operating handle.

[0008] Preferably, the floating anti-rotation mechanism includes a front and rear floating structure, which keeps the axial position of the operating rod assembly floating relative to the base during movement. The front and rear 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; a rolling body is provided in the guide rail slider structure to reduce friction, or the guide rail slider adopts one or a combination of air flotation, liquid flotation, and magnetic suspension to achieve suspension guidance to reduce friction; the anti-rotation shaft hole structure is a flat shaft or a spline shaft or a square shaft or a toothed shaft or an irregular-shaped shaft and a hole structure corresponding to its shape; the anti-rotation structure is a protrusion sliding in a straight groove, or anti-rotation is prevented by multiple sets of pulleys.

[0009] Preferably, the floating anti-rotation mechanism also includes a pitch angle floating structure and a yaw angle floating structure. The yaw angle floating structure enables the operating rod assembly to deflect left and right when moving along the axial direction, and the pitch angle floating structure enables the operating rod assembly to deflect up and down when moving along the axial direction.

[0010] Preferably, the axial force feedback assembly is provided with a single axial feedback element, the pull rope includes a pull rope A and a pull rope B, the floating ends of 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 joystick assembly, or the front end of the floating ends of the front and rear floating structures and the rear end of the joystick assembly, or the front and rear ends of the joystick assembly are respectively connected to the pull rope A and the pull rope B, and the pull rope A and the pull rope B are changed in direction through the pulley and then connected to the same axial feedback element to form a closed loop, or the pull rope A and the pull rope B are the front and rear parts of the same pull rope.

[0011] Preferably, the pull rope A and the pull rope B are respectively wound on the winding wheel in the same spiral direction. When the winding wheel rotates in the positive direction, the pull rope A is wound on the winding wheel and the pull rope B is released from the winding wheel. When the winding wheel rotates in the reverse direction, the pull rope B is wound on the winding wheel and the pull rope A is released from the winding wheel.

[0012] Preferably, when the axis of the connecting rod is parallel to the axial direction of the master hand device, the minimum distance between the axis of the output shaft of the torque feedback assembly and the front and rear floating structures is less than 100 mm.

[0013] Preferably, when the output shaft of the torque motor is coaxially connected to the operating handle through a connecting rod, the output shaft of the torque feedback assembly is coaxially connected to the connecting rod, and the distance between the operating handle and the output shaft of the torque feedback assembly is greater than 150 mm. During the axial reciprocating movement of the operating handle along the front and rear floating structures, the positions of the operating handle and the front and rear floating structures are staggered in the axial direction, leaving sufficient gripping space for the operating handle; when the front and rear floating structures adopt a guide rail slider structure, the operating handle extends from one side of the guide rail in the axial direction, leaving sufficient gripping space for the operating handle.

[0014] Preferably, the winding wheel has a spiral groove for guiding the pull rope to be evenly wound on the winding wheel in a spiral shape, and the outer diameter of the winding wheel is 10~50mm.

[0015] Preferably, the rotating motor is a brushless motor with a pole pair number of 1 and a stall torque of 50-150 mNm. Beneficial effects

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The pull rope of the axial force feedback assembly of the present invention is spirally wound on the winding wheel, and the rotating motor drives the winding wheel to rotate so that the pull rope is wound. The pull rope directly or indirectly applies corresponding axial force to the operating rod assembly, thereby simulating the axial force resistance during the operation. It is safe to operate, has a high response speed, and has a good sense of presence. 2. During the operation, the torque feedback assembly and the axial force feedback assembly simulate the torque resistance and axial force resistance experienced by the interventional consumables during the operation, which can completely restore the feel of the interventional consumables in real situations and increase the safety of the operation; the operating handle is connected to the torque feedback assembly through a sufficiently long connecting rod, and the operating handle is staggered from the front and rear floating structures in the axial direction. When the operator pinches the operating handle and moves it back and forth along the front and rear floating structures, even if it moves to the extreme position, the hand holding the operating handle will not touch the front and rear floating structures, leaving enough space for the operating handle to be held. 3. When the front and rear floating structures adopt the guide rail slider structure, the minimum distance between the output shaft axis of the torque feedback component and the guide rail is 30-50mm, and a pitch angle and yaw angle floating structure is provided to effectively reduce the uneven friction between the guide rail and the slider caused by the overturning moment, avoid the friction from interfering with the force feedback effect, and feel smooth. In addition, the motor is used to realize active force feedback, with high response speed and good operational presence. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] FIG1 is a schematic diagram of the overall structure of Example 1 of the present invention;

[0018] FIG2 is a side sectional view of the operating handle of Example 1 of the present invention;

[0019] FIG3 is a schematic structural diagram of the inner core of Example 1 of the present invention;

[0020] FIG4 is a cross-sectional view of the quick-connect structure of Example 1 of the present invention;

[0021] FIG5 is an exploded view of the quick-connect structure of Example 1 of the present invention;

[0022] FIG6 is a schematic diagram of the overall structure of Example 2 of the present invention;

[0023] FIG7 is a schematic diagram of the internal structure of Example 2 of the present invention;

[0024] FIG8 is a schematic structural diagram of a torque feedback assembly and a floating anti-rotation mechanism according to Example 2 of the present invention;

[0025] FIG9 is a schematic diagram of the overall structure of Example 3 of the present invention;

[0026] FIG10 is a schematic structural diagram of an operating handle according to Example 3 of the present invention;

[0027] FIG11 is a schematic structural diagram of a floating anti-rotation mechanism according to Example 3 of the present invention;

[0028] FIG12 is a schematic diagram of the overall structure of Example 4 of the present invention;

[0029] FIG13 is a schematic structural diagram of a floating anti-rotation mechanism according to Example 4 of the present invention. Best Mode for Carrying Out the Invention

[0030] 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.

[0031] Example 1

[0032] An interventional robot master hand device based on rope-driven force feedback includes an operating rod assembly, a torque feedback assembly, an axial force feedback assembly, and a floating anti-rotation mechanism; the operating rod assembly, through manual manipulation of the operating rod assembly by an operator, enables remote control of the slave hand device of vascular interventional surgery to rotate and deliver interventional consumables; the torque feedback assembly, which is connected to the operating rod assembly and applies torque around the axis to the operating rod assembly, thereby simulating torque resistance during surgery; the floating anti-rotation mechanism, which is arranged between the base and the torque feedback assembly and is used to enable relative sliding of the torque feedback assembly and the base in the axial direction, and the floating anti-rotation mechanism prevents the fixed end of the torque feedback assembly from rotating around the axis. The axial force feedback assembly includes a rotating motor, a winding wheel, and a pull rope, the pull rope being spirally wound around the winding wheel, the rotating motor driving the winding wheel to rotate so that the pull rope is wound, and the pull rope directly or indirectly applies corresponding axial force to the operating rod assembly, thereby simulating axial force resistance during surgery.

[0033] The operating rod assembly includes an operating handle, and the torque feedback assembly includes a torque motor. The output shaft of the torque motor is directly coaxially connected to the operating handle or coaxially connected through a connecting rod, and applies torque around the axis to the operating handle, thereby simulating the torque resistance during surgery. The torque motor moves axially along with the operating rod assembly under the drive of the operating handle. The floating anti-rotation mechanism includes a front and rear floating structure, and the front and rear floating structure keeps the axial position of the operating rod assembly relative to the base during movement. The front and rear 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 guide rail slider structure is provided with a rolling body to reduce friction, or the guide rail slider adopts one or a combination of air flotation, liquid flotation, and magnetic suspension to achieve suspension guidance to reduce friction; the anti-rotation shaft hole structure is a flat shaft or a spline shaft or a square shaft or a toothed shaft or an irregular-shaped shaft and a hole structure with a shape that matches the shape; the anti-rotation structure is a protrusion sliding in a straight groove, or is anti-rotated by multiple sets of pulleys. The floating anti-rotation mechanism also includes a pitch angle floating structure and a yaw angle floating structure. The yaw angle floating structure enables the operating rod assembly to deflect left and right when moving along the axis direction, and the pitch angle floating structure enables the operating rod assembly to deflect up and down when moving along the axis direction.

[0034] The axial force feedback assembly includes a single axial feedback element. The pull cables include ropes A and B. Ropes A and B are connected to the floating end of the front-to-rear floating structure, the front and rear ends of the torque feedback assembly, the front end of the torque feedback assembly and the rear end of the joystick assembly, the front end of the floating end of the front-to-rear floating structure and the rear end of the joystick assembly, or the front and rear ends of the joystick assembly, respectively. Ropes A and B are then connected to the same axial feedback element via pulleys, forming a closed loop. Alternatively, ropes A and B may be the front and rear halves of a single rope. In this embodiment, the front and rear ends of the floating end of the front-to-rear floating structure are connected to ropes A and B, respectively.

[0035] The pull rope A and the pull rope B 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 pull rope A is wound on the winding wheel and the pull rope B 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 pull rope B is wound on the winding wheel and the pull rope A is released from the winding wheel.

[0036] 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, and the axial feedback element can apply rotational torque to the winding wheel, and convert it into the tension of the pull rope acting on the joystick assembly to realize force feedback. When the axis of the connecting rod is parallel to the axis of the master hand device, the minimum distance between the output shaft axis of the torque feedback assembly and the front and rear floating structures is less than 100mm. In this embodiment, since the front and rear floating structures adopt a guide rail slider structure, the axis of the master hand device is the track direction of the guide rail, and therefore the axis of the connecting rod is parallel to the track direction of the guide rail of the guide rail slider structure.

[0037] When the output shaft of the torque motor is coaxially connected to the operating handle via a connecting rod, the output shaft of the torque feedback assembly is coaxially connected to the connecting rod, and the distance between the operating handle and the output shaft of the torque feedback assembly is greater than 150 mm. During the axial reciprocating movement of the operating handle along the front and rear floating structures, the operating handle is axially offset from the front and rear floating structures, leaving ample grip space for the operating handle. Specifically, because the front and rear floating structures utilize a guide rail slider structure, the operating handle extends axially outside the guide rail during axial reciprocating movement along the guide rails of the front and rear floating structures, maintaining a constant offset from the guide rails and ensuring ample grip space for the operating handle. When the front and rear floating structures utilize a guide rail slider structure, the operating handle extends axially from one side of the guide rail, leaving ample grip space for the operating handle. The winding reel has a spiral groove for guiding the draw cord to be evenly wound spirally around the reel. The outer diameter of the winding reel is 10 to 50 mm. The rotary motor is a brushless motor with a pole pair number of 1 and a stall torque of 50 to 150 mNm.

[0038] As shown in Figure 1, the torque feedback assembly includes a torque motor 10130019. The output shaft of the 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 with 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 torque motor 10130019 is parallel to the guide rail 1013106, the output shaft axis of the 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.

[0039] The axial force feedback component includes a rotating motor 10130004 and a winding wheel 10130007. The output shaft of the rotating motor 10130004 is fixedly connected to the winding wheel 10130007. One end of the pull rope A10130021 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 pull rope A10130021 is wound around the winding wheel 10130007. One end of the pull rope B10130022 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). The other end of the pull rope B10130022 is wound around the winding wheel 10130007. The winding wheel 10130007 has a spiral groove for guiding the pull rope to be spirally wound on the winding wheel. The outer diameter is 10~50mm.

[0040] The torque feedback component wiring is all routed through a ribbon cable or a multi-strand flexible cable. The ribbon cable 1013200110 or the multi-strand flexible cable is wound into a U-shape on the side of the sliding mechanism. During the forward and backward movement of the guide rail slider, the ribbon cable 1013200110 or the multi-strand flexible cable adaptively deforms flexibly and does not cause too much resistance interference to the guide rail slider. The ribbon cable 1013200110 is connected to a first limit buckle 10132001101 and a second limit buckle 10132001102 for limiting it.

[0041] As shown in Figures 2 to 5, the surrounding elastic body uses a conductive silicone tube 1013000102 with an outer diameter of 5-15 mm and a wall thickness of 0.5-3 mm to ensure a good grip and pinching feel. A quick-connect structure is provided between the connecting rod 101300011 and the operating handle 10130001. 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 It is arranged in the threaded connector A10130001101, and the elastic contact extends out. A second wire 10130001105 connected to the conductive silicone tube is provided in the operating handle 10130001. 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 is provided on the outside of the mounting shell 1013000111 and is connected to the notch 101300011011. Insert a stop rod and fit it into the notch 101300011011 of the threaded connector A10130001101 to prevent the threaded connector A10130001101 from rotating (the stop rod can also be replaced by a stop wrench). At this time, control the threaded connector B10130001104 on the operating handle 10130001 to dock with the threaded connector A10130001101. Then rotate the operating handle 10130001 to tighten the threaded connector B10130001104 and the threaded connector A10130001101. At the same time, the spring pin 10130001103 contacts the spring pin connector 10130001106, so that the first wire 10130001102 and the second wire 10130001105 are docked and connected.

[0042] The electrical signal from conductive silicone tube 1013000102 is then introduced into the controller via second wire 10130001105, first wire 10130001102, slip ring 10133012, and ribbon cable 1013200110. 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, slip ring 10133012, 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. These grooves are evenly arranged around the outer circumference of the inner core rod 1013000101 and parallel to the axis of the inner core rod 1013000101. The depth of the anti-slip grooves 1013000103 is greater than 0.3 mm. These grooves increase the friction between the conductive silicone tube 1013000102 and the inner core rod 1013000101, effectively preventing the operator from slipping during pinching and rotation. Alternatively, the electrical signal from the inner core can be replaced by a flexible wire. In this case, a spring pin connector C or D is also required on the quick-change mechanism, and the signal is transmitted using the same method as the electrical signal from the surrounding elastic body. Example 2

[0043] This embodiment refers to the working principle of embodiment 1, and differs from embodiment 1 in that:

[0044] The solution adopted in this embodiment is as follows: the front end of the torque feedback assembly and the rear end of the joystick assembly are connected to rope A and rope B respectively. After rope A and rope B are changed in direction by pulleys, they are connected to the same axial feedback element to form a closed loop, or rope A and rope B are the front and rear parts of the same rope.

[0045] As shown in Figures 6 to 8 , an interventional robot master hand device based on cable-driven force feedback includes an axial force feedback component, a torque feedback component, an operating rod assembly, and a base 1013101. A housing 1013101 is mounted on the base 1013101. The operating rod assembly includes an operating handle 10130001, one end of which is fixedly connected to a connecting rod 101300011. The connecting rod 101300011 passes through a through hole in the housing 10131011 and enters the interior of the housing 10131011. The connecting rod 101300011 passes through the center through hole of a slip ring 101300191 and connects to the torque motor 10130019 of the torque feedback assembly. The torque motor 10130019 is fixed to a fixed base 101300192. The slip ring 101300191 is also fixed to the fixing seat 101300192, or is directly sleeved on the outside of the connecting rod 101300011. The fixed seat 101300192 and the top of the box 10131011 are supported and limited in linear movement by the guide rail 1013106 and the slider 1013107. The guide rail 1013106 is fixed to the top of the box 10131011 (or it can also be fixed to the base 1013101. In this case, the installation direction of the slider 1013107 and the fixed seat 101300192 will be flipped 180 degrees). A pitch angle floating structure 1013100102 and a yaw angle floating structure 1013100103 are provided between the slider 1013107 and the fixed seat 101300192. The yaw angle floating structure 1013100103 includes a rotating column 10131001031. The rotating column 10131001031 Rotatably mounted on the fixed base 101300192, the operating handle 10130001 can rotate around the axis of the rotating column 10131001031 during axial movement, achieving left-right yaw angle fluctuation. When the axis of the torque motor 10130019 is parallel to the guide rail 1013106, the minimum spacing between the axis of the torque motor 10130019 and the guide rail 1013106 is less than 100 mm, preferably 30-50 mm. This effectively prevents the overturning moment from causing uneven friction between the guide rail 1013106 and the slider 1013107, thereby interfering with the force feedback effect.

[0046] However, this results in a smaller distance between operating handle 10130001 and guide rail 1013106, making it difficult for the operator to grip the machine. Therefore, a longer connecting rod 101300011 is used to connect operating handle 10130001 to torque motor 10130019. The distance between operating handle 10130001 and torque motor 10130019 is greater than the travel of guide rail 1013106 and slider 1013107. This allows operating handle 10130001 to extend from one side of guide rail 1013106, leaving ample space for gripping. Preferably, the distance between operating handle 10130001 and torque motor 10130019 is greater than 150 mm.

[0047] The pitch angle floating structure 1013100102 includes a pitch block 10131001021 and a rotation axis 10131001022. The pitch block 10131001021 is fixedly installed below the slider 1013107. The two sides of the rotating column 10131001031 are fixedly connected with mounting plates 101310010311. The pitch block 10131001021 is set between the two mounting plates 101310010311. The two rotation axes 10131001022 are respectively fixed on both sides of the pitch block 10131001021. The two rotation axes 10131001022 respectively pass through the mounting plates 101310010311 on both sides and are rotatably connected thereto. The operating handle 10130001 During the movement along the axis, it can rotate around the axis of the rotation axis 10131001022 to achieve floating of the pitch angle in the up and down directions, effectively preventing the guide rail 1013106 from swinging and causing the slider 1013107 to be "stuck".

[0048] The system also includes a circumferential braking device. A first brake disc (not shown) is mounted on the output shaft of torque motor 10130019. The circumferential braking device comprises a first brake generator and a first friction plate mounted on the output shaft of the first brake generator. The first friction plate on the output shaft of the first brake generator contacts the side of the first brake disc, enabling the first brake generator to deliver a sufficiently damping thrust to the first brake disc. The friction between the first friction plate and the first brake disc maintains the circumferential angle of the operating handle. Alternatively, PID position control of torque motor 10130019 can be used to maintain the output shaft at a fixed angle, achieving a locking function.

[0049] The axial force feedback component includes a winding wheel 10130007 and a rotating motor 10130004. The output shaft of the rotating motor 10130004 is fixedly connected to the winding wheel 10130007. The rotating motor 10130004 is installed on the support member 10130003 of the base 1013101. A pull rope is wound around the winding wheel 10130007. The pull rope includes a pull rope A10130021 and a pull rope B10130022 with opposite rotation directions. The pull rope A10130021 passes through the two sets of traction wheels on the left side of the base 1013101 and is connected to the rear end of the slider or torque motor 10130019. The pull rope B10130022 passes through the two sets of traction wheels on the reversing column on the right side of the base 1013101 and is connected to the right end of the operating handle 10130001.

[0050] Alternatively, pull rope A and pull rope B are connected to two sets of rotating motors and winding wheels forward and backward respectively. The two sets of rotating motors drive the winding wheels to rotate, and the winding wheels pull pull rope A10130021 or pull rope B10130022, so that the operating rod assembly (including connecting rod 101300011, operating handle 10130001 and torque motor 10130019) can be subjected to force in the forward and backward directions.

[0051] The operating lever assembly also includes an axial braking device. The output shaft of rotating motor 10130004 is equipped with a second brake disc (not shown). The axial braking device comprises a second brake generator and a second friction plate on the output shaft of the second brake generator. The second friction plate on the output shaft of the second brake generator contacts the side of the second brake disc, and the second brake generator is capable of delivering a sufficiently damped thrust to the second brake disc. The friction between the second friction plate and the second brake disc maintains the axial position of the operating lever assembly. Alternatively, PID position control of rotating motor 10130004 can be used to maintain the output shaft at a fixed angle, thereby achieving a locking function.

[0052] Alternatively, the axial braking device directly locks the operating rod assembly or other mechanisms or components axially linked to the operating rod assembly, such as a slider, a traction wheel, etc. Example 3

[0053] This embodiment refers to the working principle of embodiment 1, and differs from embodiment 1 in that:

[0054] The solution adopted in this embodiment is as follows: the front end of the floating end of the front and rear floating structures and the rear end of the joystick assembly are respectively connected to the pull rope A and the pull rope B. After the pull rope A and the pull rope B are changed in direction by the pulley, they are connected to the same axial feedback element to form a closed loop, or the pull rope A and the pull rope B are the front and rear parts of the same pull rope.

[0055] The torque feedback assembly is connected to the operating rod assembly and, driven by the operating handle of the operating rod assembly, moves axially with the operating rod assembly, applying torque about the axis to the operating rod assembly, thereby simulating the torque resistance during surgery. The assembly also includes a floating anti-rotation mechanism, which is located between the base and the torque feedback assembly. This mechanism allows the torque feedback assembly and the base to slide relative to each other in the axial direction and prevents the fixed end of the torque feedback assembly from rotating about the axis. The floating anti-rotation mechanism includes a front and rear floating structure, which keeps the axial position of the operating rod assembly floating relative to the base during movement. 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; a rolling body is provided in the guide rail slider structure to reduce friction, or the guide rail slider adopts one or a combination of air flotation, liquid flotation, and magnetic suspension to achieve suspension guidance to reduce friction; the anti-rotation shaft hole structure is a flat shaft or a spline shaft or a square shaft or a toothed shaft or an irregular shaped shaft and a hole structure with a shape matching that of the shaft; the anti-rotation structure is a protrusion sliding in a straight groove, or anti-rotation through multiple sets of pulleys; the floating anti-rotation mechanism also includes a pitch angle floating structure and a yaw angle floating structure, the yaw angle floating structure enables the operating rod assembly to deflect left and right when moving along the axial direction, and the pitch angle floating structure enables the operating rod assembly to deflect up and down when moving along the axial direction.

[0056] As shown in Figures 9 to 11 , an interventional robot master hand device with cable-driven force feedback includes a base 1013101, an axial force feedback assembly mounted on the base, a torque feedback assembly located above the axial force feedback assembly, and an operating lever assembly. Base 1013101 is equipped with traction bases on either side (a left traction base 1013103 and a right traction base 1013104), each with upper and lower traction wheels 1013105. Alternatively, each traction base may be equipped with only one traction wheel 1013105. The operating rod assembly includes an operating handle 10130001, which includes a connecting rod 101300011. The connecting rod 101300011 is covered with a sealing capsule 10130011, which contains liquid or gas. One end of the connecting rod 10130001 is connected to a pressure sensor 10130013 through a connecting sleeve 10130012. When the operator holds the sealing capsule 10130011, a force is applied to the liquid or gas inside. The liquid or gas transmits the force to the pressure sensor 10130013 through the connecting rod 101300011, thereby detecting whether the operator has clamped or loosened the operating rod assembly. The connecting rod 101300011 is fixedly mounted on a fixing bracket 10130014, which is fixed to the fixing bracket 10130014. The rear end of the shaft is fixedly connected to a force sensor 10130015 for detecting axial force, and the force sensor 10130015 is fixedly connected to a transmission shaft 10130017. The force sensor 10130015 can also be omitted, and the axial force is not detected. The transmission shaft 10130017 is installed on the slip ring 10130016. The slip ring 10130016 solves the cable entanglement problem of the output line of the pressure sensor 10130013 when it rotates around its own axis, so that the operator can drive it to rotate while holding the connecting rod 101300011, simulating the action of rotating the interventional consumable. The transmission shaft 10130017 is connected to the torque motor 10130019 of the torque feedback component through the coupling 10130018. The torque motor 10130019 simulates the resistance torque encountered by the interventional consumable during the rotation process. The rear end of the torque motor 10130019 is installed with an encoder 10130020 for measuring the rotation angle of the operating rod assembly, which is used to send it to the slave end to realize master-slave follow-up control.

[0057] Alternatively, the sealing bag 10130011 structure is cancelled, and the operator directly wears gloves or finger sleeves with a pressure sensing device to hold the connecting rod 101300011 for operation. The pressure sensing device can measure the operator's grip strength on the connecting rod 101300011. When the pressure sensing device senses a pressure change, it can be determined whether the operator is squeezing the operating rod assembly.

[0058] Or the sealing bag 10130011 structure is cancelled and replaced with a conductive silicone tube and a conductive metal tube. The conductive silicone tube itself is elastic and does not contact the conductive metal tube under normal conditions. When the operator presses the conductive silicone tube during use, it will deform and contact and conduct with the conductive metal tube. The generated electrical signal is transmitted to the external controller to detect the operator's clamping or loosening status of the operating lever assembly.

[0059] The operating handle is provided with a touchable portion and an intouchable portion for relieving force, and the measuring switch is provided at the touchable portion. The operating rod assembly is provided with a quick-change mechanism for facilitating replacement of the operating handle, and the quick-change mechanism adopts a threaded structure or a snap-fit ​​structure.

[0060] The control system also includes a circumferential braking device. A first brake disc is mounted on the output shaft of torque motor 10130019. The circumferential braking device comprises a first brake generator and a first friction plate mounted on the output shaft of the first brake generator. The first friction plate on the output shaft of the first brake generator contacts the side of the first brake disc, and the first brake generator is capable of delivering a sufficiently damping thrust to the first brake disc. The friction between the first friction plate and the first brake disc maintains the circumferential posture of the operating lever assembly. Alternatively, PID position control of torque motor 10130019 can be used to maintain the output shaft at a fixed angle, achieving a locking function.

[0061] The axial force feedback component includes a winding wheel 10130007 and a rotating motor 10130004. The output shaft of the rotating motor 10130004 is fixedly connected to the winding wheel 10130007. The rotating motor 10130004 is installed on the base 1013101. A pull rope is wound around the winding wheel 10130007. The pull rope includes a pull rope A10130021 and a pull rope B10130022 with opposite rotation directions. The pull rope A10130021 passes through the traction wheel on the left side of the base 1013101 and is connected to the guide rail 1013106 (equivalent to the floating end of the front and rear floating structures). The other end of the guide rail 1013106 is fixedly connected to the torque motor 10130019 of the torque feedback component. The pull rope B10130022 is wound from the base 1013101 The right traction wheel is connected to the right end of the operating rod assembly, and the upper part of the support member 10130003 is fixedly equipped with a slider 1013107 that cooperates with the guide rail 1013106.

[0062] Alternatively, the pull rope A and the pull rope B are connected to two sets of rotating motors and the winding wheel forward and backward respectively, and the two sets of rotating motors and the winding wheel move synchronously, so that the operating rod assembly can be subjected to force in both the forward and backward directions.

[0063] The control system also includes an axial braking device. The output shaft of rotating motor 10130004 is equipped with a second brake disc. The axial braking device comprises a second brake generator and a second friction plate on the output shaft of the second brake generator. The second friction plate on the output shaft of the second brake generator contacts the side of the second brake disc. The second brake generator is capable of delivering a sufficiently damped thrust to the second brake disc. The friction between the second friction plate and the second brake disc maintains the axial position of the operating rod assembly. Alternatively, PID position control of rotating motor 10130004 can be used to maintain the output shaft at a fixed angle, achieving a locking function. Alternatively, the axial braking device directly locks the operating rod assembly or other mechanisms or components axially linked to the operating rod assembly, such as a slider or traction wheel.

[0064] Support member 10130003 is provided with a pitch floating structure 1013100102 and a yaw floating structure 1013100103. Yaw floating structure 1013100103 includes a rotating column 10131001031 rotatably mounted on support member 10130003. The operating handle 10130001 can rotate around the axis of rotating column 10131001031 during movement along its axis, achieving left-right yaw floating. Alternatively, pitch floating structure 1013100102 and yaw floating structure 1013100103 utilize elastic floating structures, lacking a mechanical rotating hinge structure, but instead supporting slider 1013107 via the elastic support member 10130003.

[0065] The pitch angle floating structure 1013100102 includes a pitch block 10131001021 and a rotation axis 10131001022. The pitch block 10131001021 is fixedly installed below the slider 1013107. The two sides of the rotating column 10131001031 are fixedly connected with mounting plates 101310010311. The pitch block 10131001021 is set between the two mounting plates 101310010311. The two rotation axes 10131001022 are respectively fixed on both sides of the pitch block 10131001021. The two rotation axes 10131001022 respectively pass through the mounting plates 101310010311 on both sides and are rotatably connected thereto. The operating handle 10130001 During the movement along the axis, it can rotate and float around the axis of the rotation axis 10131001022 to achieve pitch angle floating in the up and down directions, effectively preventing the deflection of the guide rail 1013106 from causing the slider 1013107 to be "pinned", avoiding the application of excessive overturning torque to the slider 1013107, and making the relative sliding between the slider 1013107 and the guide rail 1013106 smoother. Example 4

[0066] This embodiment refers to the working principle of embodiment 1, and differs from embodiment 1 in that:

[0067] The solution adopted in this embodiment is: the two ends of the front and rear floating structures are connected to the pull rope A and the pull rope B respectively, and the pull rope A and the pull rope B are transmission-connected to the same axial feedback element to form a closed loop, or the pull rope A and the pull rope B are the front and rear parts of the same pull rope.

[0068] The torque feedback assembly is connected to the operating rod assembly and moves axially with the operating rod assembly driven by the operating handle of the operating rod assembly. The axial feedback element of the axial force feedback assembly applies a bidirectional force to one side of the operating rod assembly. A sliding mechanism is provided between the operating rod assembly and the base, which drives the operating rod assembly to reciprocate along the guiding direction of the sliding mechanism.

[0069] The operating rod assembly and the sliding mechanism are supported by a single support member, and the support member is provided with a floating anti-rotation mechanism. The yaw angle floating and the pitch angle floating are achieved by the left and right and up and down deflection of the floating anti-rotation mechanism, thereby preventing the sliding mechanism from getting stuck during the movement of the operating rod assembly.

[0070] As shown in Figures 12 and 13, an interventional robot main hand device based on rope-driven force feedback includes an operating rod assembly, a sliding mechanism, an axial force feedback assembly and a torque feedback assembly, including a second base 1013100101, and a support member supporting a second operating handle 1013100104 is provided on the second base 1013100101. The support member adopts a floating anti-rotation mechanism, and the floating anti-rotation mechanism includes a pitch angle floating structure 1013100102 and a yaw angle floating structure 1013100103.

[0071] As shown in FIG12 , the yaw angle floating structure 1013100103 includes a rotating column 10131001031 rotatably mounted on the second base 1013100101. The second operating handle 1013100104 can rotate around the axis of the rotating column 10131001031 during movement along the axis to achieve left and right yaw angle floating.

[0072] As shown in FIG13 , the pitch angle floating structure 1013100102 includes a pitch block 10131001021 and a rotation axis 10131001022. The pitch block 10131001021 is fixedly mounted below the second slider 1013100105 of the sliding mechanism. Mounting plates 101310010311 are fixedly connected to both sides of the rotation column 10131001031. The pitch block 10131001021 is disposed between the two mounting plates 101310010311. Two rotation axes 10131001022 are respectively fixed to both sides of the pitch block 10131001021. The two rotation axes 10131001022 respectively pass through the mounting plates 101310010311 on both sides and are rotationally connected thereto. The second operating handle 1013100104 During the movement along the axis, it can rotate around the axis of rotation 10131001022 to achieve floating pitch angles in the up and down directions.

[0073] The sliding mechanism includes a second guide rail 1013100106 and a second slider 1013100105. The second guide rail 1013100106 is slidably installed on the second slider 1013100105. The lower end of the second slider 1013100105 is fixedly connected to the pitch block 10131001021. The second operating handle 1013100104 is arranged at one end of the second guide rail 1013100106 and can move back and forth on the second slider 1013100105 together with the second guide rail 1013100106. The axial force feedback assembly includes a second rotary motor 10131001071, a pull rope 10131001072, a connecting seat 10131001073 and a second winding wheel 10131001074. The two connecting seats 10131001073 are respectively fixedly mounted on the two ends of the second guide rail 1013100106. The two ends of the pull rope 10131001072 are respectively fixedly connected to the connecting seats 10131001073 on both sides (equivalent to the floating ends of the front and rear floating structures). The side of the pitch block 10131001021 is fixedly connected with a mounting plate 10131001075. The second rotary motor 10131001071 is fixedly mounted on the mounting plate 10131001075. The output shaft of the second rotary motor 10131001071 is connected to the second winding wheel 10131001074. Fixedly connected, the pull rope 10131001072 is wound around the second winding wheel 10131001074, the second rotating motor 10131001071 drives the second winding wheel 10131001074 to rotate forward and reverse, the second winding wheel 10131001074 drives the pull rope 10131001072 to drive the connecting seat 10131001073 to move, and drives the second guide rail 1013100106 to reciprocate on the second slider 1013100105, thereby applying a bidirectional force to one end of the second operating handle 1013100104, simulating the axial force resistance during the operation.

[0074] The torque feedback component includes a second torque motor 1013100108, which is fixed to one end of the second guide rail 1013100106. The output shaft of the second torque motor 1013100108 is fixedly connected to the second operating handle 1013100104. The second torque motor 1013100108 drives the second operating handle 1013100104 to rotate forward and reverse, simulating the torque resistance during surgery.

[0075] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention. Therefore, no matter from which point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claims involved. In addition, it should be understood that although this specification is described in terms of implementation methods, not each implementation method contains only an independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. An intervention robot master hand device based on rope driving force feedback, characterized in that It includes a joystick assembly, a torque feedback assembly, an axial force feedback assembly, and a floating anti-rotation mechanism; the joystick assembly, by manually operating the joystick assembly by an operator, realizes the rotation and delivery of the intervention consumables by the slave hand device for remotely controlling the vascular intervention surgery; the torque feedback assembly, the torque feedback assembly is connected to the joystick assembly, applies a torque around the axis to the joystick assembly, so as to simulate the torque resistance during the surgery process; the floating anti-rotation mechanism, which is arranged between the base and the torque feedback assembly, is used to enable the torque feedback assembly and the base to relatively slide axially, and the floating anti-rotation mechanism prevents the fixed end of the torque feedback assembly from rotating around the axis; the axial force feedback assembly, the axial force feedback assembly includes a rotating motor, a winding wheel, and a pulling rope, the pulling rope is spirally wound around the winding wheel, the rotating motor drives the winding wheel to rotate so that the pulling rope is wound, and the pulling rope directly or indirectly applies a corresponding axial force to the joystick assembly, so as to simulate the axial force resistance during the surgery process.

2. The master hand device of the intervention robot based on cable driving force feedback according to claim 1, wherein The joystick assembly includes an operating handle, the torque feedback assembly includes a torque motor, the output shaft of the torque motor is directly coaxially connected to the operating handle or coaxially connected through a connecting rod, applies a torque around the axis to the operating handle, so as to simulate the torque resistance during the surgery process, and the torque motor moves axially along with the joystick assembly under the drive of the operating handle.

3. The master hand device of the intervention robot based on rope driving force feedback according to claim 2, characterized in that, The floating anti-rotation mechanism includes a front-back floating structure, the front-back floating structure keeps the axial position between the joystick assembly and the base relatively floating during the movement process, and 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; rolling elements are arranged in the guide rail-slider structure to reduce friction, or the guide rail-slider realizes suspension guidance by using one or a combination of air floating, liquid floating, and magnetic levitation to reduce friction; the anti-rotation shaft-hole structure is a flat shaft, or a spline shaft, or a square shaft, or a shaft with a tooth shape, or an irregularly shaped shaft and a hole structure adapted to its shape; the anti-rotation structure is that a protrusion slides in a straight groove, or is anti-rotated by multiple groups of pulleys.

4. The master hand device of the intervention robot based on cable driving force feedback according to claim 3, characterized in that, The floating anti-rotation mechanism further includes a pitch angle floating structure and a yaw angle floating structure, the yaw angle floating structure enables the joystick assembly to deflect left and right when moving along the axis direction, and the pitch angle floating structure enables the joystick assembly to deflect up and down when moving along the axis direction.

5. The master hand device of the intervention robot based on rope driving force feedback according to claim 3, characterized in that, The axial force feedback assembly is provided with a single axial feedback element, the pulling rope includes pulling rope A and pulling rope B, the floating end of the front-back floating structure 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 joystick assembly, or the front end of the floating end of the front-back floating structure and the rear end of the joystick assembly, or the front and rear ends of the joystick assembly are respectively connected to pulling rope A and pulling rope B, pulling rope A and pulling rope B are transmitted to the same axial feedback element through a pulley after being deflected, forming a closed loop, or pulling rope A and pulling rope B are the front and rear parts of the same pulling rope.

6. The master hand device of the intervention robot based on rope driving force feedback according to claim 5, wherein, The pull cord A and the pull cord B are respectively wound around the winding wheel in the same helical direction. When the winding wheel rotates in the positive direction, the pull cord A is wound around the winding wheel, and the pull cord B is released from the winding wheel. When the winding wheel rotates in the reverse direction, the pull cord B is wound around the winding wheel, and the pull cord A is released from the winding wheel.

7. The master hand device of the intervention robot based on cable driving force feedback according to claim 3, characterized in that, When the axis of the connecting rod is parallel to the axis of the master hand device, the minimum distance between the axis of the output shaft of the torque feedback component and the front and rear floating structure is less than 100 mm.

8. The master hand device of the intervention robot based on rope driving force feedback according to claim 3, characterized in that, When the output shaft of the torque motor is coaxially connected to the operating handle through the connecting rod, the output shaft of the torque feedback component is coaxially connected to the connecting rod. The distance between the operating handle and the output shaft of the torque feedback component is greater than 150 mm. During the reciprocating movement of the operating handle along the axial direction of the front and rear floating structure, the positions of the operating handle and the front and rear floating structure are staggered axially, leaving enough space for holding the operating handle. When the front and rear floating structure adopts a guide rail slider structure, the operating handle extends from one side of the guide rail axially, leaving enough space for holding the operating handle.

9. The master hand device of the intervention robot based on rope driving force feedback according to claim 1, wherein, The winding wheel has a helical groove for guiding the pull cord to be wound around the winding wheel evenly in a spiral shape. The outer diameter of the winding wheel is 10 - 50 mm.

10. The master hand device of the intervention robot based on cable driving force feedback according to claim 1, wherein, The rotating motor is a brushless motor with a pole pair number of 1, and the stall torque is 50 - 150 mNm.

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