Torque-sensing device for interventional robot and use method therefor

Abstract

Disclosed in the present invention are a torque-sensing device for an interventional robot and a use method therefor. The torque-sensing device comprises a rotary shaft, a rotary frame, and a force sensor. The rotary frame is rotatably arranged within a hinge connecting member by means of a bearing structure a or a bushing structure. The hinge connecting member is coaxially arranged with the rotary shaft. The rotary frame can secure an interventional consumable. When the interventional consumable is subjected to torque during rotation, the rotary frame can rotate around the hinge connecting member, the torque is converted into a push-pull force by means of a torque conversion structure, and the push-pull force is applied to the force sensor. The push-pull force, after being measured and combined with a force arm, enables calculation of the torque applied to the interventional consumable. Compared to torque sensors, the force sensor exhibits higher sensitivity. Therefore, this approach possesses high sensitivity, providing reliable detection and enabling measurement of weak torque signals applied to the interventional consumable. The present invention has high-precision force-sensing functionality, can measure circumferential torque applied to the interventional consumable during delivery, and has simple operation and precise control.

Description

A torque sensing device for interventional robot and its use method Technical Field

[0001] The present invention relates to the technical field of interventional robots, and in particular to a torque sensing device for an interventional robot and a method of using the same. Background Art

[0002] Minimally invasive interventional therapy is the primary treatment for cardiovascular and cerebrovascular diseases. Guided by fluoroscopic imaging equipment, it utilizes interventional devices to diagnose and treat diseases through physiological cavities. Compared to traditional surgical procedures, it offers significant advantages, including improved efficacy, increased safety, smaller incisions, and shorter postoperative recovery times.

[0003] Vascular interventional procedures primarily include femoral / radial artery puncture, coordinated advancement of a guidewire and angiography catheter, digital subtraction angiography (DSA), coordinated advancement of a therapeutic guidewire and balloon catheter, and stent placement. The coordinated advancement of the guidewire, catheter, and balloon catheter is a time-consuming step in these procedures and requires X-ray image navigation. Currently, vascular interventional procedures are typically performed manually by physicians. During the procedure, DSA emits X-rays, requiring the physician to wear a heavy lead vest. This rapidly degrades the physician's stamina, concentration, and stability, leading to decreased precision and a high risk of life-threatening accidents such as intimal damage and vascular perforation and rupture caused by improper thrust. Furthermore, prolonged wear of the lead vest can damage the physician's spine. Furthermore, the cumulative damage from long-term ionizing radiation exposure significantly increases the physician's risk of leukemia, cancer, and acute cataracts. Therefore, to ensure physician health and surgical quality, research and development of interventional surgical robots is intensifying, and a growing number of robots are now being used in clinical practice.

[0004] Existing interventional surgical robots mainly adopt a master-slave end operation structure to isolate doctors from the radioactive environment. The existing interventional robot slave end device needs to clamp slender medical devices such as catheters and guide wires and move them from their proximal end to the distal end. The coordinated movement of the device drives the catheter and guide wire forward and delivers them to the lesion in the patient's body (such as within the blood vessel), making it convenient for doctors to perform subsequent related treatments such as angiography, embolization of abnormal blood vessels, dissolution of blood clots, and dilation of narrowed blood vessels.

[0005] For example, the following patents applied for by Shenzhen Aibo Medical Robot Co., Ltd.: an interventional surgical robot slave end with application number 2022116787026; an interventional surgical robot slave end with application number 202211686818.4; an interventional surgical robot slave end guidewire catheter control device with application number 202210923132.6; an interventional surgical robot slave end device with application number 202210326352.0, etc.; they split the power of controlling the catheter / guidewire, and control the delivery of the corresponding catheter through the catheter delivery mechanism, the rotation of the corresponding catheter through the catheter rotation mechanism, the delivery of the guidewire through the guidewire delivery mechanism, and the rotation of the guidewire through the guidewire rotation mechanism. The shortcomings are: the balloon delivery mechanism applies friction force to the balloon catheter through the synchronous rotation of the active roller and the driven roller. Under the action of the friction force, the balloon is delivered forward. There is no force perception during the delivery process, so force feedback cannot be achieved and the safety of the operation cannot be guaranteed. Among the force sensing of interventional consumables, torque sensing is the most difficult technology, because the resistance torque applied to the interventional consumables is very weak. Therefore, how to provide a torque sensing device for interventional robots and perform force sensing during the delivery process of catheters and guidewires is an urgent problem that technical personnel in this field need to solve.

[0006] Summary of the Invention

[0007] In order to solve the above-mentioned existing technical problems, defects and unattainable technical requirements, the purpose of the present invention is to provide a torque sensing device for an interventional robot and a method of use thereof, which has a high-precision force sensing function, can measure the circumferential torque exerted on the interventional consumables during rotation, is simple to operate and has precise control.

[0008] The technical solution adopted by the present invention to achieve its invention object is:

[0009] A torque sensing device for an interventional robot, comprising a rotating shaft, a rotating frame and a force sensor, wherein the rotating frame is rotatably arranged in a hinge connector through a bearing structure a or a sleeve structure, the hinge connector is coaxially arranged with the rotating shaft, and the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The rotating frame can lock the interventional consumable. When the interventional consumable is subjected to torque during rotation, the rotating frame can rotate around the rotation axis of the hinge connector, and the torque will be converted into a push-pull force through a torque conversion structure, and the push-pull force will be applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm.

[0010] Preferably, the force sensor is one or a combination of a discrete force beam, a parallel force beam, and a one-dimensional force sensor, and also includes a sensor force transmission member. The rotating frame and the sensor force transmission member are connected through a torque conversion structure. The torque conversion structure is one or a combination of a direct connection structure, a hinged structure, a toggle structure, and a linear transmission structure. The hinge connection member is fixed on the rotating shaft or on an external rotation drive mechanism. When the hinge connection member is fixed on the rotating shaft, one end of the force sensor is fixed on the rotating shaft or on the hinge connection member; when the hinge connection member is fixed on the external rotation drive mechanism, one end of the force sensor is fixed on the rotating shaft, and the other end of the force sensor is fixedly connected to the sensor force transmission member or is integrally formed. The force measuring axis of the force sensor is perpendicular to the rotation axis of the rotating shaft.

[0011] Preferably, when the torque conversion structure is a direct connection structure, the rotating frame is directly fixedly connected to the sensor force transmission member, or is integrally formed, or is flexibly connected; when the torque conversion structure is a hinged structure, the rotating frame is hingedly connected to the sensor force transmission member; when the torque conversion structure is a toggle structure, the rotating frame is matched with the sensor force transmission member through one or a combination of a pin groove structure, a paddle structure, and a magnetic field toggle structure; when the torque conversion structure is a linear transmission structure, the rotating frame is connected to the sensor force transmission member through one or a combination of a gear rack structure, a friction wheel structure, a connecting rod structure, and a rope drive structure.

[0012] Preferably, when the torque conversion structure is a pin-slot structure between the rotating frame and the sensor force transmission member, the interventional consumable is locked with the rotating frame, the force sensor is a one-dimensional force sensor, the fixed end of the one-dimensional force sensor is fixedly connected to the rotating shaft or the hinge connector and is located on one side of the interventional consumable, the force measuring end of the one-dimensional force sensor is fixedly connected to the sensor force transmission member or is integrally formed, a pin or slot is provided on the sensor force transmission member, and a slot or pin is provided on the rotating frame to match it, the relative position of the sensor force transmission member and the rotating frame enables the pin to be inserted into the slot, and the pin The axis direction of the pin is parallel to the axis of the interventional consumable and is at a certain distance from it. When the interventional consumable is subjected to torque, the rotating frame will rotate, and the slot or pin on the rotating frame will push the pin or slot on the sensor force transmission member. At this time, the torsional moment will be converted into a push-pull force and applied to the sensor force transmission member. At this time, the force sensor will detect the push-pull force and convert the torque exerted on the interventional consumable based on the force arm. The head end of the pin is a spherical structure, and the spherical structure is tangent to the side wall of the slot, or the pin is connected to the slot through a ball hinge structure.

[0013] Preferably, the rotating frame is equipped with a locking mechanism that can lock or release the interventional consumable. After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque during rotation, the rotating frame converts the torque into a push-pull force on the sensor force transmission member through the torque conversion structure, and the sensor force transmission member applies the force to the force sensor connected to the other end. After the force sensor measures the push-pull force, the torque applied to the interventional consumable can be converted in combination with the force arm.

[0014] Preferably, the rotating shaft is in the form of a rotating shell structure, the rotating axis of the rotating shell structure is coaxial with the axis of the interventional consumables, the rotating shell structure adopts an open cover structure, the rotating shell structure can be opened, and the interior thereof can be cleaned or inspected, the open cover structure adopts a quick snap connection or a magnetic connection, and the force sensor is arranged inside the rotating shell structure; the bearing structure a adopts a rolling bearing structure, and the sleeve structure adopts a ball sleeve structure, the ball sleeve structure includes an inner sleeve, a retaining frame, and an outer sleeve sequentially arranged from the inside to the outside, a plurality of balls are provided on the retaining frame, and the balls are tangent to the outer wall of the inner sleeve and the inner wall of the outer sleeve at the same time, and the two end faces of the retaining frame are respectively provided with elastic elements, and the elastic elements can prevent the retaining frame from having excessive axial displacement, which causes the retaining frame to separate from the inner sleeve or the outer sleeve.

[0015] Preferably, the force sensor is a waterproof force sensor, which is provided with a soft rubber sealing cover for sealing, or the fixed end of the force sensor is detachably mounted in the rotating shaft through a force sensor fixing seat, and the detachable connection method can be a quick snap connection or a magnetic connection, and the force sensor fixing seat is provided with metal contacts for electrical connection with the waterproof force sensor. The force sensor does not need to be cleaned and can be directly replaced once.

[0016] Preferably, the device further comprises an axial force sensor, wherein the hinge connector is connected to the rotating shaft via the axial force sensor, and the force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame and the hinge connector, and the axial force sensor can detect the axial external force. Alternatively, the locking mechanism is connected to the rotating frame via the axial force sensor, and the force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the entire locking mechanism, and the axial force sensor can detect the axial external force. Alternatively, the force measuring end of the axial force sensor is axially limited to the rotating frame via an axial force coupling structure, and the force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the rotating frame, and the rotating frame transmits the axial external force to the axial force sensor via the axial force coupling structure, and the axial force sensor can detect the axial external force.

[0017] Preferably, when the force sensor is a discrete force beam, at least one discrete force beam is provided, and the discrete force beam is arranged parallel to the axis of the rotating shaft between the sensor force transmission part and the rotating shaft or the hinge connection part. When multiple discrete force beams are provided, the multiple discrete force beams are symmetrically arranged relative to the axis of the bearing structure a, or are arranged at an angle. Each discrete force beam is provided with at least one group of thin-walled weak areas on the beam body, and the thin-walled weak areas are bonded with strain gauges; the neutral plane of the thin-walled weak areas of each discrete force beam passes through the axis of the interventional consumable; when the interventional consumable is subjected to torque during rotation, it will be converted into a push-pull force applied to the discrete force beam, causing the discrete force beam to bend, and a large strain will be generated in the thin-walled weak area of ​​the discrete force beam, and the strain generated is measured by the strain gauge on its surface, and the torque exerted on the interventional consumable is fed back through a combination of one or more strain gauges.

[0018] Preferably, when the force sensor is a parallel force beam, a long groove is provided inside the parallel force beam along its length, and both ends of the long groove are thinning grooves, the width of the thinning groove is greater than the width of the long groove but less than the width of the parallel force beam, so that the upper and lower ends of the thinning groove on the parallel force beam are thin-walled weak positions of the parallel force beam, and strain gauges are bonded at the thin-walled weak positions. When the interventional consumable is subjected to torque during rotation, a large strain will be generated in the thin-walled weak area of ​​the parallel force beam, and the strain generated is measured by the strain gauge on its surface, and the torque exerted on the interventional consumable is fed back through a combination of multiple strain gauges.

[0019] A method for using an interventional robot torque sensing device. During the rotational delivery of an interventional consumable, when it is necessary to measure the torsional torque exerted on the interventional consumable, the torsional torque exerted on the interventional consumable is measured by subtracting the corresponding offset from the torsional torque measured at the current moment. The offset of the torsional torque is: when the locking mechanism does not lock any interventional consumable, the rotating shaft is at the same rotation angle and / or the same acceleration, and the force sensor should theoretically be subjected to the torsional torque or the actually measured torsional torque.

[0020] In addition, an IMU acceleration sensor is also provided in the rotating shaft. This sensor can detect various acceleration values ​​of the interventional consumable during delivery and / or rotation (including gravitational acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration) during the force sensing process and perform inertial force and inertial moment compensation, thereby obtaining the actual axial force exerted on the interventional consumable and the actual torque exerted on the interventional consumable in the direction around the axis. Beneficial effects

[0021] 1. In the present invention, when the interventional consumable is subjected to torque around the axis during rotation, the torque will be converted into a push-pull force through the torque conversion structure, and the push-pull force will be applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm. Since the force sensor is more sensitive than the torque sensor, this method has high sensitivity and reliable detection, and can measure the weak torque signal applied to the interventional consumable. 2. When the interventional consumable is subjected to an axial external force during delivery, the axial force sensor can detect the axial external force without interfering with the torque measurement, thus achieving decoupled measurement of force and torque. Even if the rigidity of the force sensor measuring torque is very low (because the more sensitive the force sensor, the lower the rigidity), it will not affect the axial delivery of the interventional consumable. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] FIG1 is a schematic structural diagram of Example 1;

[0023] FIG2 is a schematic diagram of the internal structure of Example 1;

[0024] FIG3 is a schematic structural diagram of Example 1 without the rotating shaft;

[0025] FIG4 is a schematic structural diagram of the force sensor, the force transmission member of the sensor, and the torque conversion structure of Example 1;

[0026] FIG5 is a schematic diagram of the internal structure of Example 2;

[0027] FIG6 is a schematic structural diagram of Example 2 without the rotating shaft;

[0028] FIG7 is a schematic structural diagram of a force sensor, a sensor force transmission member, and a torque conversion structure according to Example 2;

[0029] FIG8 is a schematic diagram of the internal structure of Example 3;

[0030] FIG9 is a schematic structural diagram of Example 3 without the rotating shaft;

[0031] FIG10 is a schematic structural diagram of a force sensor, a sensor force transmission member, and a torque conversion structure according to Example 3;

[0032] FIG11 is a schematic diagram of the internal structure of Example 4;

[0033] FIG12 is a schematic structural diagram of Example 4 without the rotating shaft;

[0034] FIG13 is a schematic structural diagram of a force sensor, a force transmission member of the sensor, and a torque conversion structure of Example 4;

[0035] FIG14 is a schematic diagram of the internal structure of Example 5;

[0036] FIG15 is a schematic structural diagram of Example 5 without the rotating shaft;

[0037] FIG16 is a schematic structural diagram of a force sensor, a force transmission member of the sensor, and a torque conversion structure of Example 5;

[0038] FIG17 is a schematic diagram of the internal structure of Example 6;

[0039] FIG18 is a schematic structural diagram of Example 6 without the rotating shaft;

[0040] FIG19 is a schematic structural diagram of a force sensor, a force transmission member of the sensor, and a torque conversion structure of Example 6;

[0041] FIG20 is a schematic diagram of the internal structure of Example 7;

[0042] FIG21 is a schematic structural diagram of Example 7 without the rotating shaft;

[0043] FIG22 is a schematic structural diagram of a force sensor, a sensor force transmission member, and a torque conversion structure according to Example 7;

[0044] FIG23 is a schematic diagram of the internal structure of Example 8;

[0045] FIG24 is a schematic structural diagram of Example 8 without the rotating shaft;

[0046] FIG25 is a schematic structural diagram of a force sensor, a force transmission member of the sensor, and a torque conversion structure of Example 8;

[0047] FIG26 is a schematic diagram of the structure of Example 9;

[0048] FIG27 is a second structural diagram of Example 9;

[0049] FIG28 is a schematic structural diagram of Example 10;

[0050] FIG29 is a second structural diagram of Example 10;

[0051] FIG30 is a schematic structural diagram of Example 11;

[0052] FIG31 is a second structural diagram of Example 11;

[0053] FIG32 is a third structural diagram of Example 11;

[0054] FIG33 is a schematic diagram of the internal structure of the ball bushing structure of Example 11;

[0055] FIG34 is a partial enlarged schematic diagram of the ball bushing structure of Example 11;

[0056] FIG35 is a schematic structural diagram of Example 12;

[0057] FIG36 is a second structural diagram of Example 12. Modes for Carrying Out the Invention

[0058] 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.

[0059] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connections, detachable connections, integrated connections, or even connections that allow relative movement; they may refer to mechanical connections or electrical connections; they may refer to direct connections or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances. Example 1

[0060] A torque sensing device for an interventional robot includes a rotating shaft, a rotating frame, and a force sensor. The rotating frame is rotatably disposed within a hinge connector via a bearing structure a or a sleeve structure. The hinge connector is coaxially arranged with the rotating shaft, and the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The rotating frame can lock the interventional consumable. When the interventional consumable is subjected to torque during rotation, the rotating frame can rotate around the rotation axis of the hinge connector. The torque is converted into a push-pull force by a torque conversion structure, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the force sensor in combination with the lever arm. In this embodiment, the rotating frame is rotatably disposed within the hinge connector via the bearing structure a.

[0061] The force sensor is one or a combination of a discrete force beam, a parallel force beam, and a one-dimensional force sensor, and also includes a sensor force transmission member. The rotating frame and the sensor force transmission member are connected through a torque conversion structure. The torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, and a linear transmission structure. The hinge connection member is fixed on the rotating shaft or on an external rotation drive mechanism. When the hinge connection member is fixed on the rotating shaft, one end of the force sensor is fixed on the rotating shaft or on the hinge connection member; when the hinge connection member is fixed on the external rotation drive mechanism, one end of the force sensor is fixed on the rotating shaft, and the other end of the force sensor is fixedly connected to the sensor force transmission member or is integrally formed. The rotating frame can rotate freely around the axis of the hinge connection member, thereby forming a hinge structure. The axis of the hinge structure coincides with or is parallel to the axis of the interventional consumables, and the force measuring axis of the force sensor is perpendicular to the rotation axis of the rotating shaft.

[0062] The specific configuration of the torque conversion structure is as follows: when the torque conversion structure is a direct connection structure, the rotating frame 102374 is directly fixedly connected to the sensor force transmission member 102210, or is integrally formed, or is flexibly connected; when the torque conversion structure is a hinged structure, the rotating frame 102374 is hingedly connected to the sensor force transmission member 102210; when the torque conversion structure is a toggle structure, the rotating frame 102374 cooperates with the sensor force transmission member 102210 through one or a combination of a pin slot structure, a paddle structure, and a magnetic field toggle structure; when the torque conversion structure is a linear transmission structure, the rotating frame 102374 is connected to the sensor force transmission member 102210 through one or a combination of a gear rack structure, a friction wheel structure, a connecting rod structure, and a rope drive structure;

[0063] As shown in Figures 1 to 4, a torque sensing device for an interventional robot includes a rotating shaft 10225, a rotating frame 102374, a hinge connector 102375 and a bracket connecting block 102376. The rotating shaft 10225 can be installed on a rotating shaft drive seat 10226 in the forward or reverse direction along its axis; the rotating shaft drive seat has an open cover structure, and a rotating drive component capable of driving the rotating shaft to rotate is installed inside or outside the rotating shaft drive seat; the interventional consumable passes through the middle of the rotating shaft, and the hinge connector 102375 and the bracket connecting block 102376 are installed in the rotating shaft 10225.

[0064] The rotating shaft is a rotating housing structure, the axis of rotation of which is coaxial with the axis of the interventional consumable. The housing structure features an opening lid, allowing for cleaning or maintenance. The force sensor is housed within the housing structure. The opening lid utilizes a quick-release or magnetic connection. The rotating shaft is comprised of a housing structure comprising housing A10233 and housing B10234, which are connected in an openable manner to facilitate loading and unloading of interventional consumables.

[0065] The rotating frame 102374 is rotatably arranged in the hinge connector 102375, and the rotation can be achieved by setting a bearing structure a. The bearing structure a adopts a rolling bearing structure. The hinge connector 102375 is fixedly connected or integrally formed with the bracket connecting block 102376. The interventional consumables pass through the rotating frame 102374, the hinge connector 102375 and the bracket connecting block 102376, and the locking mechanism is arranged inside or outside the rotating frame 102374.

[0066] The force sensor is one or a combination of a discrete force beam, a parallel force beam, and a one-dimensional force sensor. One end of the force sensor is fixed on the bracket connecting block 102376 or the hinge connecting part inside the rotating shaft 10225, and the other end of the force sensor is fixedly connected or integrally formed with a sensor force transmission part 102210. The rotating frame 102374 is connected to the sensor force transmission part 102210 through a torque conversion structure. The torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, and a linear transmission structure, so that the rotating frame 102374 will convert the torsional torque into a push-pull force and apply it to the sensor force transmission part 102210 when rotating. After the force sensor measures the push-pull force, it can convert the torque applied to the interventional consumables in combination with the force arm.

[0067] The preferred force sensor is the one-dimensional force sensor 102293, which is arranged in an S shape. The one-dimensional force sensor 102293 includes a fixed end 1022931 and a force measuring end 1022932. One end of the force measuring end 1022932 and one end of the fixed end 1022931 are integrally formed through a strain beam structure. The force measuring end 1022932 is provided with a hole for fixing the sensor force transmission part 102210. When the interventional consumable is subjected to torque during rotation, the force measuring end 1022932 of the one-dimensional force sensor 102293 acts on the strain beam structure, causing it to produce a larger strain. The strain gauge in the strain beam structure measures the strain generated to feedback the push and pull force applied to the force sensor. Combined with the force arm, the torque applied to the interventional consumable can be converted.

[0068] As shown in Figures 1 to 4, the preferred torque conversion structure is that the rotating frame 102374 cooperates with the sensor force transmission member 102210 through a pin-slot structure. At this time, the fixed end of the unidimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and is located on one side of the interventional consumables, wherein the above-mentioned fixed connection can be a direct or indirect connection, the force measuring end of the unidimensional force sensor 102293 is fixedly connected or integrally formed with the sensor force transmission member 102210, and the torque conversion structure includes a torsion arm 1022111 and a pin 1022112, the torsion arm 1022111 is fixedly sleeved on the rotating frame 102374 (or the two are integrally formed), and the torsion arm 1022111 is provided with a slot 1022 along the radial direction of the rotation center on one side of the rotating frame 102374. 1111. One end of pin 1022112 is mounted on sensor force transmission member 102210, and the other end of pin 1022112 is placed in slot 10221111. The axial direction of pin 1022112 is parallel to the axis of the interventional consumable and separated by a certain distance (this distance is the force arm. In order to maximize the force applied to the uniaxial force sensor 102293 when the torque applied to the interventional consumable is fixed, if the interventional consumable is a guidewire, this distance should be less than 20 mm, preferably 3-8 mm; if the interventional consumable is a catheter, this distance should be less than 50 mm, preferably 15-30 mm. The range of the uniaxial force sensor 102293 should be less than 5 N, preferably 0.5-2 N). Pin 1022112 can slide along slot 10221111. Of course, a pin can also be provided on torsion arm 1022111, and a corresponding slot can be provided on sensor force transmission member 102210.

[0069] Preferably, the head end of the pin is a spherical structure, the spherical structure is tangent to the side wall of the slot, or the pin is connected to the slot via a ball hinge structure.

[0070] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the torsion arm 1022111 rotates along the rotating frame 102374. The pin 1022112 slides along the slot 10221111 and will be pushed by the slot 10221111 of the torsion arm 1022111, converting the torsional torque into a push-pull force applied to the sensor force transmission part 102210. The sensor force transmission part 102210 pushes and pulls the one-dimensional force sensor 102293, so that the one-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance to the interventional consumable can be measured by the one-dimensional force sensor 102293.

[0071] The axial resistance detection module is an axial force sensor 513111. The axial force sensor 513111 has two setting positions: 1. The bracket connecting block 102376 is fixedly set inside the shell A10233 through the axial force sensor 513111, and deviates from the rotation center of the rotating frame 102374 (or when the axial force sensor 513111 is a through-hole type, the through-hole of the axial force sensor 513111 can be coaxially set with the rotation center, and the interventional consumables pass through the through-hole of the axial force sensor 513111). The force measuring direction of the axial force sensor 513111 is the same as that of the rotating frame 102374. The axial direction of the interventional consumable coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the stent connection block, and the axial force sensor 513111 can detect the axial external force. Second, the locking mechanism is fixedly installed on the rotating frame 102374 via the axial force sensor 513111. The force measurement direction of the axial force sensor 513111 coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the entire locking mechanism, and the axial force sensor 513111 can detect the axial external force. In this embodiment, the first setting position is preferably used for the axial force sensor 513111.

[0072] The force sensor is a waterproof force sensor, and a soft rubber sealing cover for sealing is provided on the waterproof force sensor, or the fixed end of the force sensor is detachably mounted in the rotating shaft through a force sensor fixing seat. The detachable connection method can adopt a quick snap connection or a magnetic connection. The force sensor fixing seat is provided with metal contacts for electrical connection with the waterproof force sensor. The force sensor does not need to be cleaned and can be directly replaced once.

[0073] A method for using a torque sensing device for an interventional robot. During the rotational delivery of an interventional consumable, when it is necessary to measure the torsional torque experienced by the interventional consumable, the torsional torque experienced by the interventional consumable is measured by subtracting a corresponding offset from the torsional torque currently measured. The offset for the torsional torque is the torsional torque that the force sensor should theoretically experience or the actual measured torsional torque when the locking mechanism does not lock any interventional consumable and the rotating shaft is at the same rotation angle and / or the same acceleration. Furthermore, an IMU acceleration sensor is provided within the rotating shaft. This sensor can detect various acceleration values ​​(including gravitational acceleration, acceleration during rotation, and acceleration during axial acceleration and deceleration) of the interventional consumable during the force sensing process and perform inertial force and inertial moment compensation, thereby obtaining the actual axial force experienced by the interventional consumable and the actual torque experienced by the interventional consumable in the direction around the axis. Example 2

[0074] The parts of this embodiment that are identical in structure to those of embodiment 1 are not described in detail. The differences are as follows: As shown in FIG5-FIG7, the torque conversion structure is a flexible connection structure between the rotating frame 102374 and the sensor force transmission member 102210. At this time, the fixed end of the unidirectional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and is located on one side of the interventional consumable. The fixed connection can be a direct or indirect connection. The force measuring end of the unidirectional force sensor 102293 is fixedly connected to the sensor force transmission member 102210. 210 is fixedly connected or integrally formed, a plug post 1022121 is fixed or integrally provided on the rotating frame 102374, and a flexible connector 1022122 is mounted on the sensor force transmission member 102210, wherein the flexible connector 1022122 is an elastic block or elastic rod, and a slot or hole is provided on the flexible connector 1022122. The relative position of the sensor force transmission member 102210 and the rotating frame 102374 allows the plug post 1022121 to be precisely inserted into the slot or hole of the flexible connector 1022122. Of course, the plug post 1022121 and the flexible connector 1022122 can also be replaced by other forms of flexible connectors. The flexible connector 1022122 is made of elastic materials such as rubber, polyurethane, silicone, latex, etc. Its flexible and deformable characteristics can make the process of converting torque into push-pull force smoother.

[0075] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the column 1022121 rotates with the rotating frame 102374. The column 1022121 will squeeze the flexible connector 1022122 on the sensor force transmission member 102210, and convert the torsional torque into a push-pull force applied to the sensor force transmission member 102210. The sensor force transmission member 102210 pushes and pulls the one-dimensional force sensor 102293, so that the one-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the one-dimensional force sensor 102293. Example 3

[0076] The structural components of this embodiment, which are identical to those of Embodiment 1, are not further described. The differences are as follows: As shown in Figures 8-10 , the torque conversion structure is a paddle structure between the rotating frame 102374 and the sensor force transmission member 102210. In this case, the fixed end of the uniaxial force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and is located on one side of the interventional consumable. The fixed connection may be direct or indirect. The force-measuring end of the uniaxial force sensor 102293 is fixedly connected to or integrally formed with the sensor force transmission member 102210. A paddle block 1022131 is fixedly or integrally provided on the rotating frame 102374. The sensor force transmission member 102210 is provided with a paddle slot 1022132, into which the paddle block 1022131 precisely inserts. Alternatively, a paddle slot may be provided on the rotating frame 102374, and a paddle block may be provided on the corresponding sensor force transmission member 102210.

[0077] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the shift block 1022131 rotates with the rotating frame 102374. The shift block 1022131 will press against the inner wall of the shift slot 1022132 on the sensor force transmission member 102210, and convert the torsional torque into a push-pull force applied to the sensor force transmission member 102210. The sensor force transmission member 102210 pushes and pulls the one-dimensional force sensor 102293, so that the one-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance experienced by the interventional consumable can be measured by the one-dimensional force sensor 102293. Example 4

[0078] The parts of this embodiment that are identical in structure to those of embodiment 1 are not described in detail. The differences are as follows: as shown in Figures 11 to 13, the torque conversion structure is a magnetic field toggle structure between the rotating frame 102374 and the sensor force transmission member 102210. At this time, the fixed end of the unidirectional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and is located on one side of the interventional consumable. The above-mentioned fixed connection can be a direct or indirect connection. The force measuring end of the unidirectional force sensor 102293 is fixedly connected to the sensor force transmission member 102210 or is integrally formed. A shift block 1022131 is fixed or integrally mounted on the rotating frame 102374. A shift slot 1022132 is provided on the sensor force transmission member 102210. Two sets of first magnets 1022141 are mounted on the shift slot 1022132, one above the other. A second magnet 1022142 is mounted on the shift block 1022131. The first and second magnets 1022141 and 1022142 repel each other due to their like charges. The shift block 1022131 can be inserted into the shift slot 1022132, with the second magnet 1022142 positioned between the two sets of first magnets 1022141. Alternatively, the shift slot may be provided with only one set of first magnets, with the second magnet positioned between the first magnets and the inner wall of the shift slot. Alternatively, the first and second magnets may be positioned with opposite charges. Alternatively, the shift slot may be provided on the rotating frame 102374, with the corresponding shift block mounted on the sensor force transmission member 102210.

[0079] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the shift block 1022131 rotates with the rotating frame 102374. Through the magnetic field repulsion, the torsional torque is converted into a push-pull force and applied to the sensor force transmission part 102210. The sensor force transmission part 102210 pushes and pulls the one-dimensional force sensor 102293, so that the one-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the one-dimensional force sensor 102293. The magnetic field force can eliminate the toggle gap of the toggle structure, so that the torsional torque can be more consistently converted into a push-pull force. Example 5

[0080] The parts of this embodiment that are identical in structure to those of Example 1 will not be described in detail. The differences are as follows: as shown in Figures 14 to 16, the torque conversion structure is a gear rack structure between the rotating frame 102374 and the sensor force transmission member 102210. At this time, the fixed end of the unidimensional force sensor 102293 is preferably fixedly connected to the hinge connector 102375 and is located on one side of the interventional consumable, so as to better ensure the engagement of the gear rack structure (but the fixed end of the unidimensional force sensor 102293 can also be fixedly connected to the rotating shaft). The above-mentioned fixed connection can be a direct or indirect connection. The force measuring end of the unidimensional force sensor 102293 is fixedly connected or integrally formed with the sensor force transmission member 102210. A gear 1022151 is fixed or integrally provided on the rotating frame 102374, and a rack 1022152 is fixed or integrally provided on the sensor force transmission member 102210. The gear 1022151 is engaged with the rack 1022152.

[0081] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the gear 1022151 rotates with the rotating frame 102374. The gear 1022151 will drive the rack 1022152 to move, converting the torsional torque into a push-pull force applied to the sensor force transmission part 102210. The sensor force transmission part 102210 pushes and pulls the one-dimensional force sensor 102293, so that the one-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the one-dimensional force sensor 102293. Example 6

[0082] The parts of this embodiment that are identical in structure to those of embodiment 1 will not be described in detail, and the differences are as follows: as shown in Figures 17 to 19, the torque conversion structure is a friction wheel structure between the rotating frame 102374 and the sensor force transmission member 102210. At this time, the fixed end of the one-dimensional force sensor 102293 is fixedly connected to the hinge connector 102375 and is located on one side of the interventional consumables, which can better ensure the friction fit of the friction wheel structure, wherein the above-mentioned fixed connection can be a direct or indirect connection, the force measuring end of the one-dimensional force sensor 102293 is fixedly connected or integrally formed with the sensor force transmission member 102210, a friction wheel 1022161 is fixed or integrally provided on the rotating frame 102374, and a friction strip 1022162 is fixed or integrally provided on the sensor force transmission member 102210, and the friction wheel 1022161 is tightly attached to the friction strip 1022162.

[0083] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the friction wheel 1022161 rotates along with the rotating frame 102374. The friction wheel 1022161 drives the friction bar 1022162 to move through friction, and converts the torsional torque into a push-pull force applied to the sensor force transmission part 102210. The sensor force transmission part 102210 pushes and pulls the one-dimensional force sensor 102293, so that the one-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the one-dimensional force sensor 102293. Example 7

[0084] The parts of this embodiment that are identical in structure to those of embodiment 1 are not described in detail. The differences are as follows: As shown in FIG20 to FIG22, the torque conversion structure is a connecting rod structure between the rotating frame 102374 and the sensor force transmission member 102210. At this time, the fixed end of the unidirectional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and is located on one side of the interventional consumable. The fixed connection can be a direct or indirect connection. The unidirectional force sensor 102293 The force measuring end is fixedly connected to or integrally formed with the sensor force transmission member 102210, and a first connecting rod 1022171 is fixed or integrally provided on the rotating frame 102374. The first connecting rod 1022171 is connected to the sensor force transmission member 102210 through the second connecting rod 1022172. One end of the second connecting rod 1022172 is hingedly matched with one end of the first connecting rod 1022171, and the other end of the second connecting rod 1022172 is hingedly matched with the sensor force transmission member 102210.

[0085] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the first connecting rod 1022171 rotates with the rotating frame 102374. The first connecting rod 1022171 will drive the second connecting rod 1022172 to move, and convert the torsional torque into a push-pull force applied to the sensor force transmission part 102210. The sensor force transmission part 102210 pushes and pulls the one-dimensional force sensor 102293, so that the one-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the one-dimensional force sensor 102293. Example 8

[0086] The parts of this embodiment that are identical in structure to those of embodiment 1 are not described in detail. The differences are as follows: as shown in Figures 23 to 25, the torque conversion structure is a rope-driven structure between the rotating frame 102374 and the sensor force transmission member 102210. In this case, the fixed end of the unidimensional force sensor 102293 is fixedly connected to the rotating shaft 10225 or the hinge connector 102375 and is located on one side of the interventional consumable. The above-mentioned fixed connection can be a direct or indirect connection. The force-measuring end of the unidimensional force sensor 102293 is fixedly connected to or integrally formed with the sensor force transmission member 102210. The rope-driven structure includes a wheel frame 1022181 and a pull rope 1022182. A winding wheel 1022183 is fixedly set on the rotating frame 102374, and the wheel frame 1022181 is fixed or integrally set on the hinge connector 102375 or the rotating shaft 10225. The wheel frame 1022181 is provided with a guide wheel 1022184 for guiding the pull rope 1022182. One end of the pull rope 1022182 is wound around the winding wheel 1022183 in the positive direction, and the other end is wound around the winding wheel 1022183 in the reverse direction after making a circle under the guidance of the guide wheel 1022184. A point on the pull rope 1022182 and the sensor force transmission member 102210 are fixedly connected by a locking screw 1022185.

[0087] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating shaft 10225, and the winding wheel 1022183 rotates with the rotating frame 102374. The winding wheel 1022183 pulls the pull rope 1022182, converting the torsional torque into a pulling force of the pull rope 1022182, which is applied to the sensor force transmission member 102210. The sensor force transmission member 102210 pulls the unidirectional force sensor 102293, allowing the unidirectional force sensor 102293 to detect the pulling force. At this time, the actual rotational torque resistance of the interventional consumable can be measured by the unidirectional force sensor 102293. The pull rope structure can also be replaced with a belt drive structure, such as a synchronous belt drive structure.

[0088] Alternatively, a two-pronged structure is fixed to the sensor force transmission member 102210, with the two forks of the two-pronged structure located above and below the winding wheel 1022183, respectively. The two forks of the two-pronged structure are locked to the front and rear ends of the pull rope. The winding wheel 1022183 rotates with the rotating frame 102374, and the winding wheel 1022183 pulls the pull rope 1022182, converting the torsional torque into a pulling force on the pull rope 1022182, which is applied to the two-pronged structure of the sensor force transmission member 102210. Example 9

[0089] The parts of this embodiment that are identical in structure to those of embodiment 1 are not described in detail. The differences are as follows: as shown in FIG26-FIG27, the force sensor is a discrete force beam 102291, and at least one discrete force beam 102291 is provided. The discrete force beam 102291 is arranged parallel to the axis of the rotating shaft and between the sensor force transmission member 102210 and the rotating shaft or the hinge connection member. When a plurality of discrete force beams 102291 are provided, the plurality of discrete force beams 102291 are arranged symmetrically relative to the axis of the bearing structure a, or are arranged at an angle, and each discrete force beam 102291 At least one group of thin-walled weak areas is provided on the beam body, and strain gauges 102294 are bonded to the thin-walled weak areas; the neutral plane of the thin-walled weak areas of each discrete force measuring beam 102291 passes through the axis of the interventional consumable; when the interventional consumable is subjected to torque during rotation, it will be converted into push-pull force applied to the discrete force measuring beam, causing the discrete force measuring beam to bend, and a large strain will be generated in the thin-walled weak areas of the discrete force measuring beam 102291, and the strain generated is measured by the strain gauges 102294 on its surface, and the torque exerted on the interventional consumable is fed back through a combination of one or more strain gauges 102294.

[0090] When the torque conversion structure is that the rotating frame 102374 and the sensor force transmission member 102210 are directly fixed or integrally formed, one or more mounting parts 1023741 are provided on the rotating frame 102374, and each mounting part 1023741 is fixedly connected or integrally formed or flexibly connected or hinged to one end of a sensor force transmission member 102210, and the other end of each sensor force transmission member 102210 is fixedly connected or integrally formed with the discrete force measuring beam 102291, and the rotating frame 102374 is provided with a first locking mechanism 102219 that can lock the interventional consumables, and the first locking mechanism 102219 is a clamping claw locking mechanism.

[0091] After the first locking mechanism 102219 locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the rotating frame 102374 directly converts the torsional torque into a push-pull force and applies it to the sensor force transmission part 102210. The discrete force beam 102291 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the discrete force beam 102291. Example 10

[0092] The parts of this embodiment that are identical in structure to those of the first embodiment are not described in detail. The differences are as follows: As shown in FIG28-29, the force sensor is a parallel force beam 102292. A long groove 1022921 is provided inside the parallel force beam 102292 along its length, and both ends of the long groove 1022921 are thinning grooves 1022922. The width of the thinning groove 1022922 is greater than the width of the long groove 1022921 but less than the width of the parallel force beam 102292, so that the parallel force beam 10229 2 and located at the upper and lower ends of the thinning groove 1022922 are the thin-wall weak positions of the parallel force measuring beam 102292. Strain gauges 102294 are bonded at the thin-wall weak positions of the parallel force measuring beam 102292. When the interventional consumable is subjected to torque during rotation, a large strain will be generated in the thin-wall weak area of ​​the parallel force measuring beam 102292, and the strain generated will be measured by the strain gauges 102294 on its surface. The torque exerted on the interventional consumable is fed back through a combination of multiple strain gauges 102294.

[0093] The torque conversion structure is a hinged structure between the rotating frame 102374 and the sensor force transmission member 102210, or adopts the technical solutions described above, such as direct connection, flexible connection, pin groove structure, gear rack, etc. When a hinged connection is adopted, the sensor force transmission member 102210 and the parallel force measuring beam 102292 are provided with at least one group and are located on the side of the hinge connection member 102375. At this time, the rotating frame 102374 is connected to one end of the sensor force transmission member 102210 through the bearing structure b, and the other end of the sensor force transmission member 102210 is fixedly connected to the parallel force measuring beam 102292 or integrally formed.

[0094] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the rotating frame 102374 rotates a certain angle relative to the rotating axis 10225, and the rotating frame 102374 directly converts the torsional torque into a push-pull force and applies it to the sensor force transmission part 102210. The parallel force beam 102292 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable can be measured by the parallel force beam 102292. The bearing structure b is equivalent to a hinge structure, which can make the torsional torque more smoothly converted into a push-pull force. Example 11

[0095] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0096] When the hinge connection is fixed on the external rotation drive mechanism, one end of the force sensor is fixed on the rotating shaft, and the other end of the force sensor is fixedly connected to or integrally formed with the sensor force transmission member, and the force measuring axis of the force sensor is perpendicular to the rotation axis of the rotating shaft.

[0097] The sleeve structure adopts a ball sleeve structure, which includes an inner sleeve, a retaining frame, and an outer sleeve that are sequentially arranged from the inside to the outside. The retaining frame is provided with a plurality of balls, and the balls are tangent to the outer wall of the inner sleeve and the inner wall of the outer sleeve at the same time. The two end faces of the retaining frame are respectively provided with elastic elements, and the elastic elements can prevent the retaining frame from having excessive axial displacement, which may cause the retaining frame to separate from the inner sleeve or the outer sleeve.

[0098] The force measuring end of the axial force sensor is axially limited by the rotating frame through the axial force coupling structure. The force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to axial external force during the delivery process, the axial external force will push the rotating frame, and the rotating frame will transmit the axial external force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial external force.

[0099] Specifically, as shown in Figures 30 and 31, the second rotating frame 102231 is rotatably arranged in the second hinge connector 10244 through the sleeve structure 1022003. At this time, when the second rotating frame 102231 is axially movable and circumferentially rotatable on the second hinge connector 10244, the sleeve structure adopts one or a combination of a ball sleeve structure, a magnetic levitation sleeve structure, an air sleeve structure, and a hydraulic sleeve structure.

[0100] The volume of the second rotating shaft is reduced to a ring shape, and is only mounted on the second rotating frame 102231. The second rotating frame 102231 and the second hinge connector 10244 are connected by a sleeve structure 1022003. The rotation drive assembly 1021 drives the ring-shaped second rotating shaft 10240 to rotate. The second hinge connector is fixed on the rotation drive assembly. The rotation drive assembly can adopt a structure that cooperates with a motor and an active gear or an active friction wheel or an active friction belt.

[0101] The fixed end of the second axial force sensor 1024901 is fixedly connected to the second hinge connector 10244, and the force measuring end of the second axial force sensor 1024901 is connected to the second rotating frame 102231 through an axial force coupling structure. The axial force coupling structure is one or a combination of a bearing structure and a pin structure. When the locked interventional consumable is subjected to axial force, the second rotating frame 102231 transfers the axial force to the second axial force sensor 1024901 through the axial force coupling structure; the axial force coupling structure in this embodiment is a bearing structure c1022501201.

[0102] When the interventional consumable is subjected to torque during rotation, the torque is converted into a push-pull force through the torque conversion structure by the second rotating frame 102231, and the push-pull force is applied to the second force sensor 10251. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm.

[0103] The torque conversion mechanism employs a pin-and-slot structure. The fixed end of the second force sensor 10251 is fixedly connected to the second rotating shaft 10240. The force-measuring end of the second force sensor 10251 is fixedly connected to a force transmission plate 1022009. Force transmission plate 1022009 has a through-hole. A detent pin 10220010 is fixed to the second rotating frame 102231 and passes through the through-hole. The torque applied to the second rotating frame 102231 is transmitted to the second force sensor 10251 via the detent pin 10220010 and the force transmission plate 1022009, thereby detecting the torque.

[0104] As shown in Figure 32, preferably, a ball hinge hole is provided inside the through hole of the force transmission plate 1022009, and a force transmission ball hinge 102200901 is just stuck in it. The force transmission ball hinge 102200901 is adapted to the shape of the ball hinge hole and can rotate. The force transmission ball hinge 102200901 is provided with a circular hole for allowing the detent pin 10220010 to pass through, and the detent pin 10220010 can slide relatively in the circular hole of the force transmission ball hinge 102200901, which can avoid the detent pin 10220010 from getting stuck when the outer cylindrical surface is not parallel to the inner wall of the through hole of the force transmission plate 1022009.

[0105] As shown in Figures 33 and 34, the ball sleeve structure 1022003 includes an inner sleeve 102200301, a retaining frame 102200302, and an outer sleeve 102200303, which are sequentially arranged from the inside to the outside. The retaining frame 102200302 is provided with a plurality of balls 102200304, and the balls 102200304 are restricted from rolling on the retaining frame 102200302. The balls 102200304 are tangent to the outer wall of the inner sleeve 102200301 and the inner wall of the outer sleeve 102200303 at the same time. The two end faces of the retaining frame 102200302 are respectively provided with elastic elements, which can prevent the retaining frame 102200302 from having excessive axial displacement, which may cause the retaining frame 102200302 to separate from the inner sleeve 102200301 or the outer sleeve 102200303.

[0106] The elastic element of this embodiment adopts spring 102200305, and spring 102200305 is sleeved on the outside of the inner sleeve 102200301, and two springs 102200305 are respectively arranged at the two ends of the inner sleeve 102200301, and support rings 102200306 are provided at both ends of the inner sleeve 102200301. One end of the spring 102200305 is against the support ring 102200306, and the other end of the spring 102200305 is against the retaining frame 102200302. The elasticity of the spring 102200305 prevents the retaining frame 102200302 from excessive axial displacement, causing the retaining frame 102200302 to separate from the inner sleeve 102200301 or the outer sleeve 102200303. Example 12

[0107] The parts of this embodiment that have the same structure as that of embodiment 1 will not be described in detail. The differences are as follows:

[0108] As shown in Figures 35 and 36, a slot 10221111 is provided on the sensor force transmission member 102210 at the force measuring end of the third force sensor 1022008, and a pin 1022112 is provided on the third rotating frame 1022501. The head end of the pin 1022112 is a ball head, and the ball head is against both side walls of the slot 10221111, thereby achieving point contact. Point contact can avoid the cylindrical surface of the pin 1022112 from getting stuck when it is not parallel to the two side walls of the slot 10221111, and can also reduce friction resistance to avoid interference with the detection of axial force.

[0109] 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. A torque sensing device for an interventional robot, characterized in that: It includes a rotating shaft, a rotating frame and a force sensor. The rotating frame is rotatably arranged in a hinge connector through a bearing structure a or a sleeve structure. The hinge connector is coaxially arranged with the rotating shaft. The rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The rotating frame can lock the interventional consumable. When the interventional consumable is subjected to torque during rotation, the rotating frame can rotate around the rotation axis of the hinge connector. The torque will be converted into a push-pull force through a torque conversion structure, and the push-pull force will be applied to the force sensor. After the push-pull force is measured, the torque applied to the interventional consumable can be converted into the torque applied to the interventional consumable in combination with the force arm.

2. The torque sensing device for an interventional robot according to claim 1, characterized in that: The force sensor is one or a combination of a discrete force beam, a parallel force beam, and a one-dimensional force sensor, and also includes a sensor force transmission member. The rotating frame and the sensor force transmission member are connected through a torque conversion structure. The torque conversion structure is one or a combination of a direct connection structure, a hinged structure, a toggle structure, and a linear transmission structure. The hinge connection member is fixed on the rotating shaft or on an external rotation drive mechanism. When the hinge connection member is fixed on the rotating shaft, one end of the force sensor is fixed on the rotating shaft or on the hinge connection member; when the hinge connection member is fixed on the external rotation drive mechanism, one end of the force sensor is fixed on the rotating shaft, and the other end of the force sensor is fixedly connected to the sensor force transmission member or is integrally formed. The force measuring axis of the force sensor is perpendicular to the rotation axis of the rotating shaft.

3. The torque sensing device for an interventional robot according to claim 2, characterized in that: When the torque conversion structure is a direct connection structure, the rotating frame and the sensor force transmission member are directly fixedly connected, or integrally formed, or flexibly connected; when the torque conversion structure is an articulated structure, the rotating frame and the sensor force transmission member are hingedly connected; When the torque conversion structure is a toggle structure, the rotating frame cooperates with the sensor force transmission member through one or a combination of a pin slot structure, a paddle structure, and a magnetic field toggle structure; When the torque conversion structure is a linear transmission structure, the rotating frame is connected to the sensor force transmission member through one or a combination of a gear rack structure, a friction wheel structure, a connecting rod structure, and a rope drive structure.

4. The torque sensing device for an interventional robot according to claim 3, characterized in that: When the torque conversion structure is a pin-slot structure between the rotating frame and the sensor force transmission member, the intervention consumable is locked with the rotating frame, the force sensor is a one-dimensional force sensor, the fixed end of the one-dimensional force sensor is fixedly connected to the rotating shaft or the hinge connector and is located on one side of the intervention consumable, the force measuring end of the one-dimensional force sensor is fixedly connected to the sensor force transmission member or is integrally formed, a pin or slot is provided on the sensor force transmission member, and a slot or pin is provided on the rotating frame to match it. The relative position of the sensor force transmission member and the rotating frame enables the pin to be inserted into the slot, and the axis of the pin is fixedly connected to the rotating shaft or the hinge connector. The direction of the line is parallel to the axis of the interventional consumable and is at a certain distance from it. When the interventional consumable is subjected to torque, the rotating frame will rotate, and the slot or pin on the rotating frame will push the pin or slot on the sensor force transmission part. At this time, the torsional moment will be converted into a push-pull force and applied to the sensor force transmission part. At this time, the force sensor will detect the push-pull force and convert the torque exerted on the interventional consumable based on the force arm. The head end of the pin is a spherical structure, and the spherical structure is tangent to the side wall of the slot, or the pin is connected to the slot through a ball hinge structure.

5. The torque sensing device for an interventional robot according to claim 2, characterized in that: The rotating frame is equipped with a locking mechanism that can lock or release the interventional consumable. After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque during rotation, the rotating frame converts the torque into a push-pull force on the sensor force transmission part through the torque conversion structure. The sensor force transmission part applies the force to the force sensor connected to the other end. After the force sensor measures the push-pull force, the torque applied to the interventional consumable can be converted into the force arm.

6. The torque sensing device for an interventional robot according to claim 2, characterized in that: The rotating shaft is in the form of a rotating shell structure, the rotating axis of the rotating shell structure is coaxial with the axis of the interventional consumable, the rotating shell structure adopts an open cover structure, the rotating shell structure can be opened and the interior thereof can be cleaned or repaired, and the force sensor is arranged inside the rotating shell structure; The bearing structure a adopts a rolling element bearing structure, and the sleeve structure adopts a ball sleeve structure. The ball sleeve structure includes an inner sleeve, a retaining frame, and an outer sleeve arranged in sequence from the inside to the outside. A plurality of balls are provided on the retaining frame, and the balls are tangent to the outer wall of the inner sleeve and the inner wall of the outer sleeve at the same time. The two end faces of the retaining frame are respectively provided with elastic elements, and the elastic elements can prevent the retaining frame from having excessive axial displacement, which may cause the retaining frame to separate from the inner sleeve or the outer sleeve.

7. The torque sensing device for an interventional robot according to claim 5, characterized in that: It also includes an axial force sensor, the hinge connection is connected to the rotating shaft through the axial force sensor, the force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable, when the interventional consumable is subjected to an axial external force during the delivery process, the axial external force will push the rotating frame and the hinge connection, and the axial force sensor can detect the axial external force; or, the locking mechanism is connected to the rotating frame through the axial force sensor, the force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable, when the interventional consumable is subjected to an axial external force during the delivery process, the axial external force will push the entire locking mechanism, and the axial force sensor can detect the axial external force; or, the force measuring end of the axial force sensor is axially limited by the rotating frame through an axial force coupling structure, the force measuring direction of the axial force sensor coincides with or is parallel to the axial direction of the interventional consumable, when the interventional consumable is subjected to an axial external force during the delivery process, the axial external force will push the rotating frame, and the rotating frame transmits the axial external force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial external force.

8. The torque sensing device for an interventional robot according to claim 2, characterized in that: When the force sensor is a discrete force beam, at least one discrete force beam is provided, and the discrete force beam is arranged parallel to the axis of the rotating shaft between the sensor force transmission part and the rotating shaft or the hinge connection part. When multiple discrete force beams are provided, the multiple discrete force beams are arranged symmetrically relative to the axis of the bearing structure a, or are arranged at an angle. Each discrete force beam is provided with at least one group of thin-walled weak areas on the beam body, and the thin-walled weak areas are bonded with strain gauges; the neutral plane of the thin-walled weak areas of each discrete force beam passes through the axis of the interventional consumable; when the interventional consumable is subjected to torque during rotation, it will be converted into a push-pull force applied to the discrete force beam, causing the discrete force beam to bend, and a large strain will be generated in the thin-walled weak area of the discrete force beam, and the strain generated is measured by the strain gauge on its surface, and the torque exerted on the interventional consumable is fed back through a combination of one or more strain gauges.

9. The torque sensing device for an interventional robot according to claim 2, characterized in that: When the force sensor is a parallel force beam, a long groove is provided inside the parallel force beam along its length, and both ends of the long groove are thinning grooves. The width of the thinning groove is greater than the width of the long groove but less than the width of the parallel force beam, so that the upper and lower ends of the thinning groove on the parallel force beam are the thin-wall weak positions of the parallel force beam, and strain gauges are bonded at the thin-wall weak positions of the parallel force beam. When the interventional consumable is subjected to torque during rotation, a large strain will be generated in the thin-wall weak area of the parallel force beam, and the strain generated is measured by the strain gauge on its surface. The torque exerted on the interventional consumable is fed back through a combination of multiple strain gauges.

10. A method for using the torque sensing device for an interventional robot according to any one of claims 1 to 9, characterized in that: During the rotation of the interventional consumable, when it is necessary to measure the torsional torque exerted on the interventional consumable, it is necessary to subtract the corresponding offset from the torsional torque measured at the current moment to measure the torsional torque exerted on the interventional consumable. The offset of the torsional torque is: when the locking mechanism does not lock any interventional consumable, the rotating shaft is at the same rotation angle and / or the same acceleration, and the force sensor should theoretically be subjected to the torsional torque or the torsional torque actually measured.

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