Interventional consumable delivery mechanism with acceleration sensing and method for sensing circumferential torque and axial force

Abstract

The present invention provides an interventional consumable delivery mechanism with acceleration sensing and a method for sensing a circumferential torque and an axial force. An actual torque borne by the intervention consumable in the axial rotation direction can be measured by subtracting an offset corresponding to a rotating shaft of the interventional consumable delivery mechanism at the current rotation angle and / or the current acceleration from a torque detected by a torque-sensing element of the interventional consumable delivery mechanism at the current moment. According to the method for sensing an axial force for use in the interventional consumable delivery mechanism, an actual axial resistance borne by the interventional consumable in the axis direction can be measured by subtracting an axial force offset corresponding to the rotating shaft of the interventional consumable delivery mechanism at the current acceleration from an axial force detected by an axial force-sensing element of the interventional consumable delivery mechanism at the current moment. The present invention can detect the acceleration in the force sensing direction, and calculate the offset of the axial force or the torque via a mathematical model, thereby achieving precise axial force sensing and torque sensing.

Description

An interventional consumables delivery mechanism with acceleration sensing and its circumferential torque and axial force sensing method Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to an interventional consumables delivery mechanism with acceleration sensing and a circumferential torque and axial force sensing method thereof. 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 surgeons. During the procedure, DSA emits X-rays, requiring surgeons to wear heavy lead aprons. This rapidly degrades surgeons' 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 lead aprons can damage the surgeon's spine. Furthermore, the cumulative damage from long-term ionizing radiation exposure significantly increases the surgeon's risk of leukemia, cancer, and acute cataracts. Therefore, to ensure surgeons' 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 use a master-slave end operating structure to isolate doctors from radioactive environments. Existing interventional robot slave end devices need to clamp slender medical devices such as catheters and guidewires and move them from their proximal end to the distal end. The coordinated movement of the devices drives the catheters and guidewires forward and delivers them to the lesions in the patient's body (such as within blood vessels), making it easier 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. 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; and an interventional surgical robot slave end guidewire catheter control device with application number 202210326352.0. An interventional surgical robot slave device, etc.; it splits the power of controlling the catheter / guidewire, controls the delivery of the corresponding catheter through the catheter delivery mechanism, controls the rotation of the corresponding catheter through the catheter rotation mechanism, controls the delivery of the guidewire through the guidewire delivery mechanism, and controls the rotation of the guidewire through the guidewire rotation mechanism. Its shortcomings are: (1) The structure of the catheter rotation mechanism and the guidewire rotation mechanism is relatively complex; (2) The balloon delivery mechanism applies friction power to the balloon catheter through the synchronous rotation of the active roller and the driven roller. Under the action of the friction power, 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; (3) The coordinated delivery of multiple catheters and guidewires cannot be achieved.

[0005] Therefore, how to provide an interventional consumable delivery mechanism and its force sensing method that are convenient for controlling the movement and rotation of one or more groups of catheters and guidewires, perform force sensing on the delivery process of multiple groups of catheters and guidewires, and obtain the actual torsional torque exerted on the interventional consumables in the direction around the axis (because the delivery device has acceleration during the delivery of the interventional consumables, it will cause inertial force interference to the force sensing element, so this interference needs to be eliminated) is a problem that technical personnel in this field urgently need to solve.

[0006] Summary of the Invention

[0007] The purpose of the present invention is to provide an interventional consumables delivery mechanism with acceleration sensing and a circumferential torque and axial force sensing method thereof, so as to solve the existing technical defects and unmet technical requirements.

[0008] To achieve the above-mentioned objectives, the present invention provides the following technical solutions: a circumferential torque sensing method for an interventional consumable delivery mechanism, wherein when the interventional consumable delivery mechanism is rotating to deliver the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism is locked with the interventional consumable. When it is necessary to measure the torsional torque exerted on the interventional consumable, the torsional torque measured by the torque force sensing element of the interventional consumable delivery mechanism at the current moment is subtracted from the offset corresponding to the rotating axis of the interventional consumable delivery mechanism at the current rotation angle and / or current acceleration, thereby measuring the actual torsional torque exerted on the interventional consumable in the direction around the axis.

[0009] Preferably, a first mathematical model is established based on the relationship between the offset and the current acceleration of the rotating shaft, so that during compensation, the offset corresponding to the rotating shaft under different accelerations is calculated by the first mathematical model.

[0010] Preferably, the current acceleration of the rotating axis is measured by an accelerometer or IMU sensor in the rotating axis, wherein the current acceleration of the rotating axis includes one or a combination of gravitational acceleration, centripetal acceleration during rotation, angular acceleration during rotation, and acceleration during axial acceleration and deceleration; the parameters of the first mathematical model are stored in a storage chip in the rotating axis, and when the rotating axis is installed in an interventional consumables delivery mechanism, the parameters can be directly read out for calculating the offset.

[0011] Preferably, when the accelerometer is a multi-axis accelerometer, one acceleration measurement axis of the accelerometer is a first axis, and the first axis is parallel to the measurement axis of the force sensor of the torque sensing element; when two accelerometers are provided, one of the accelerometers is used to calculate the offset of the force sensor of the torque sensing element, and the acceleration measurement axis of the accelerometer is the first axis, and the first axis is parallel to the measurement axis of the force sensor of the torque sensing element; the first axis can be made to coincide with the measurement axis of the force sensor of the torque sensing element by translating along the rotation axis of the rotation axis; the position of the accelerometer can be made to coincide with the position of the force sensor by translating along the rotation axis of the rotation axis;

[0012] When the accelerometer detects the acceleration component on the first axis, it is equivalent to detecting the acceleration component of the torque sensing element's force transmission element on the force sensor's measurement axis. Based on Newton's second law F=ma, the offset of the force sensor caused by gravity and inertia can be calculated. The first mathematical model uses the following formula for calculation:

[0013]

[0014] Preferably, the offset is the reading of the torque sensing element when the rotating shaft is at the same rotation angle and the locking mechanism of the interventional consumable delivery mechanism does not lock any interventional consumable. The offset corresponding to the rotating shaft at the current rotation angle is obtained through actual measurement. Before the interventional consumable delivery mechanism rotates and delivers the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism does not lock any interventional consumable. The rotating shaft is driven to rotate one circle around the axis, and the torsional torque measured by the torque sensing element at different rotation angles of the rotating shaft is recorded. When performing compensation, the torsional torque corresponding to the current rotation angle of the rotating shaft is read out as the offset. Preferably, the rotation angle of the rotating shaft is measured by an angle sensor on the rotation drive assembly of the interventional consumable delivery mechanism. Since multiple rotations are involved, it is necessary to mark the zero position on the rotating shaft. A travel switch or an induction switch can be used to mark the zero point on the rotating shaft, and then the offset is read based on the rotation angle of the rotating shaft.

[0015] Alternatively, when the locking mechanism does not lock any interventional consumable, a zero point on the rotating shaft is marked based on a change trend of the torque value measured by the torque sensing element when the rotating shaft rotates one circle, and then the offset of the torsional moment is calculated based on the rotation angle of the rotating shaft;

[0016] Specifically, the zero point on the rotating shaft is marked by the changing trend of the torque value: when the torque value curve reaches the lowest point or the highest point or a certain value, the rotation angle of the rotating shaft is marked as the zero point;

[0017] The torsional moment measured by the torque sensing element of the rotating shaft at different rotation angles is stored in a storage chip inside the rotating shaft. When the rotating shaft is installed in an interventional consumables delivery mechanism, the stored information can be directly read for reading the offset.

[0018] An axial force sensing method for an interventional consumable delivery mechanism. When the interventional consumable delivery mechanism is axially delivering an interventional consumable, the locking mechanism of the interventional consumable delivery mechanism is locked with the interventional consumable. When it is necessary to measure the axial resistance experienced by the interventional consumable, the axial force measured by the axial force sensing element of the interventional consumable delivery mechanism at the current moment is subtracted from the axial force offset corresponding to the rotating shaft of the interventional consumable delivery mechanism under the current acceleration, so as to obtain the actual axial resistance experienced by the interventional consumable along the axial direction.

[0019] Preferably, a second mathematical model is established based on the relationship between the axial force offset and the current axial acceleration of the rotating shaft, so that during compensation, the axial force offset corresponding to the rotating shaft under different axial accelerations is calculated by the second mathematical model; the parameters of the second mathematical model are stored in a storage chip inside the rotating shaft, and when the rotating shaft is installed in the interventional consumables delivery mechanism, the parameters can be directly read out for calculating the axial force offset, and the current acceleration of the rotating shaft is measured by an accelerometer or IMU sensor inside the rotating shaft, wherein the current acceleration of the rotating shaft includes the acceleration due to gravity and the acceleration during axial acceleration and deceleration.

[0020] Preferably, when the accelerometer is a multi-axis accelerometer, another acceleration measurement axis of the accelerometer is a second axis, and the second axis is parallel to the measurement axis of the axial force sensor of the axial force sensing element; when two accelerometers are provided, the other accelerometer is used to calculate the offset of the axial force sensor of the axial force sensing element, and the acceleration measurement axis of the accelerometer is the second axis, and the second axis is parallel to the measurement axis of the axial force sensor of the axial force sensing element; the second axis is parallel to the rotation axis of the rotation shaft;

[0021] When the accelerometer detects the acceleration component on the second axis, it is equivalent to detecting the acceleration component of the sensor force transmission element of the axial force sensing element on the measuring axis of the axial force sensor. Based on Newton's second law F=ma, the offset of the axial force sensor caused by gravity and inertia at this time can be calculated;

[0022] The second mathematical model uses the following formula for calculation:

[0023]

[0024] An interventional consumable delivery mechanism with acceleration sensing includes a locking mechanism capable of locking or loosening the interventional consumable, a rotating delivery mechanism capable of driving the locked interventional consumable to rotate and / or deliver, and a force sensing component capable of detecting the axial force and torsional torque exerted on the interventional consumable. The rotating delivery mechanism includes a rotating shaft drive seat and a rotating shaft rotatably mounted in the rotating shaft drive seat. The force sensing component includes an axial force sensing element and a torque force sensing element. The axial force sensing element measures the axial force exerted on the interventional consumable, and the torque force sensing element measures the torsional torque exerted on the interventional consumable in the direction around the axis. An accelerometer or IMU sensor is provided in the rotating shaft for measuring the current acceleration of the rotating shaft during the delivery and / or rotation of the interventional consumable.

[0025] Preferably, a hinge connector is coaxially arranged inside the rotating shaft, a rotating frame is rotatably arranged inside the hinge connector through a bearing structure or a sleeve structure, the rotating frame locks the interventional consumable through a locking mechanism, and the torque sensing element is arranged on the side of the interventional consumable.

[0026] Preferably, one end of the torque force sensing element is connected to the rotating shaft, and the other end is circumferentially limited by the rotating frame through a torque coupling structure. When the locked interventional consumable is subjected to a torsional torque in the direction around the axis, the rotating frame can rotate around its axis, and the torsional torque is transmitted to the torque force sensing element through the rotating frame and the torque coupling structure.

[0027] Preferably, the torque sensing element is a force sensor, and the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to a torsional torque during rotation, the torsional torque is converted into a push-pull force through the torque conversion structure by the rotating frame, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torsional torque of the interventional consumable can be converted into the torsional torque of the interventional consumable in combination with the force arm; when the accelerometer is a multi-axis accelerometer, one acceleration measurement axis of the accelerometer is the first axis, and the first axis is parallel to the measurement axis of the force sensor; when there are two accelerometers, one of the accelerometers is used to calculate the bias of the force sensor, and the acceleration measurement axis of the accelerometer is the first axis, and the first axis is parallel to the measurement axis of the force sensor; the first axis can be translated along the rotation axis of the rotating axis to coincide with the measurement axis of the force sensor; the position of the accelerometer can be translated along the rotation axis of the rotating axis to coincide with the position of the force sensor.

[0028] Preferably, when the torque force sensing element is a torque sensor, the torque coupling structure is a torque amplification structure. When the interventional consumable is subjected to a torsional torque during rotation, the torsional torque is applied to the torque sensor through the torque amplification structure through the rotating frame. After the torsional torque is measured, the torsional torque exerted on the interventional consumable can be converted into the torsional torque in combination with the torque amplification ratio.

[0029] Preferably, the rotary delivery mechanism further comprises a rotary drive assembly mounted on the rotary shaft drive seat, the rotary drive assembly drives the rotary shaft to rotate, and an angle sensor is provided on the rotary drive assembly, which can measure the rotation angle of the rotary shaft.

[0030] Preferably, the axial force sensing element is an axial force sensor. When the accelerometer is a multi-axis accelerometer, another acceleration measurement axis of the accelerometer is a second axis, and the second axis is parallel to the measurement axis of the axial force sensor. When two accelerometers are provided, the other accelerometer is used to calculate the offset of the axial force sensor, and the measurement axis of the accelerometer is the second axis, and the second axis is parallel to the measurement axis of the axial force sensor. The second axis is parallel to the rotation axis of the rotating shaft.

[0031] The hinge connector is connected to the rotating shaft via an axial force sensor. The force measurement direction of the axial force sensor coincides with or is parallel to the axis direction of the interventional consumable. When the interventional consumable is subjected to an axial force during delivery, the axial force will push the rotating frame and the hinge connector, and the axial force sensor can detect the axial force.

[0032] Alternatively, the locking mechanism is connected to the rotating frame via an 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 force during delivery, the axial force will push the entire locking mechanism, and the axial force sensor can detect the axial force.

[0033] Alternatively, the force measuring end of the axial force sensor is axially limited by the rotating frame through 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 axial force during the delivery process, the axial force will push the rotating frame, and the rotating frame will transmit the axial force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial force. Beneficial effects

[0034] 1. When the interventional consumable delivery mechanism is rotating and delivering the interventional consumable, the torque sensing element will be interfered with by the inertial force and inertial moment when the rotating shaft rotates and accelerates and decelerates axially. The torsional moment measured by the torque sensing element is not the torsional moment actually experienced by the interventional consumable in the direction around the axis. Therefore, when it is necessary to measure the torsional moment experienced by the interventional consumable, the torsional moment measured by the torque sensing element at the current moment is subtracted from the offset corresponding to the current rotation angle and / or current acceleration of the rotating shaft to obtain the torsional moment actually experienced by the interventional consumable in the direction around the axis. The same situation also occurs with the axial force sensing element. 2. The interventional consumable delivery mechanism of the present invention includes an IMU or accelerometer, which can measure the acceleration in the force sensing direction and calculate the offset of the axial force or torsional moment through a mathematical model, thereby achieving high-precision axial force sensing and torsional force sensing. 3. When the interventional consumable is subjected to a torsional torque around its axis during rotation, the torsional torque of the interventional consumable in the direction of the axis is measured by a combination of a force sensor and a torque conversion structure, or a combination of a torque sensor and a torque amplification structure. This has the function of amplifying the force signal or torque signal, has high sensitivity, reliable detection, and can achieve the measurement of weak torque signals received by the interventional consumable. 4. When the interventional consumable is subjected to axial force during axial delivery, the axial force received by the interventional consumable is measured by an axial force sensor, or a combination of an axial force sensor and an axial force coupling structure. This has high sensitivity, reliable detection, and can achieve the measurement of weak axial force signals received by the interventional consumable. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] FIG1 is a schematic diagram of the structure of Example 4;

[0036] FIG2 is a schematic diagram of the second structure of Example 4;

[0037] FIG3 is a schematic diagram of structure 3 of Example 4;

[0038] FIG4 is a schematic diagram of a fourth structure of Example 4;

[0039] FIG5 is a schematic diagram of the structure of Example 5;

[0040] FIG6 is a schematic diagram of the second structure of Example 5;

[0041] FIG7 is a schematic diagram of structure 3 of Example 5;

[0042] FIG8 is a schematic diagram of the fourth structure of Example 5;

[0043] FIG9 is a schematic diagram of the first embodiment of the present invention;

[0044] FIG10 is a second schematic diagram of the sixth embodiment;

[0045] FIG11 is a third schematic diagram of the sixth embodiment;

[0046] FIG12 is a fourth schematic diagram of the sixth embodiment;

[0047] FIG13 is a schematic diagram of a portion of a force sensor as a force transmitting member of the sensor;

[0048] FIG14 is a force trend diagram of Example 6. Modes for Carrying Out the Invention

[0049] 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.

[0050] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined. The guidewires here include but are not limited to guiding guidewires, microguidewires, angiographic guidewires and other guiding and supporting interventional medical devices; catheters include but are not limited to guiding catheters, microcatheters, angiographic catheters, multifunctional tubes (also known as intermediate catheters), thrombolytic catheters, balloon dilatation catheters and balloon expansion stent catheters and other therapeutic interventional medical devices. Example 1

[0052] A method for sensing circumferential torque of an interventional consumable delivery mechanism. When the interventional consumable delivery mechanism is rotating to deliver the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism is locked with the interventional consumable. When it is necessary to measure the torsional torque exerted on the interventional consumable, the torsional torque measured by the torque force sensing element of the interventional consumable delivery mechanism at the current moment is subtracted from the offset corresponding to the rotating axis of the interventional consumable delivery mechanism at the current rotation angle and / or current acceleration. In this way, the actual torsional torque exerted on the interventional consumable in the direction around the axis can be measured.

[0053] Preferably, a first mathematical model is established based on the relationship between the offset and the current acceleration of the rotating shaft, so that during compensation, the offset corresponding to the rotating shaft under different accelerations is calculated by the first mathematical model.

[0054] Preferably, the current acceleration of the rotating axis is measured by an accelerometer or IMU sensor in the rotating axis, wherein the current acceleration of the rotating axis includes one or a combination of gravitational acceleration, centripetal acceleration during rotation, angular acceleration during rotation, and acceleration during axial acceleration and deceleration; the parameters of the first mathematical model are stored in a storage chip in the rotating axis, and when the rotating axis is installed in an interventional consumables delivery mechanism, the parameters can be directly read out for calculating the offset.

[0055] Preferably, when the accelerometer is a multi-axis accelerometer, one acceleration measurement axis of the accelerometer is a first axis, and the first axis is parallel to the measurement axis of the force sensor of the torque sensing element; when two accelerometers are provided, one of the accelerometers is used to calculate the offset of the force sensor of the torque sensing element, and the acceleration measurement axis of the accelerometer is the first axis, and the first axis is parallel to the measurement axis of the force sensor of the torque sensing element; the first axis can be made to coincide with the measurement axis of the force sensor of the torque sensing element by translating along the rotation axis of the rotation axis; the position of the accelerometer can be made to coincide with the position of the force sensor by translating along the rotation axis of the rotation axis;

[0056] When the accelerometer detects the acceleration component on the first axis, it is equivalent to detecting the acceleration component of the torque sensing element's force transmission element on the measuring axis of the force sensor. Based on Newton's second law F=ma, the offset of the force sensor caused by gravity and inertia at this time can be calculated.

[0057] The first mathematical model uses the following formula for calculation:

[0058]

[0059] Among them, the sensor force transmission part refers to the part located at the rear end of the force measuring element (such as the strain beam structure). When the force sensor is an S-type sensor, the range of the sensor force transmission part includes this part in the S-type sensor (specifically the boxed part in Figure 13), because this part is directly connected to the force measuring strain beam structure in the S-type sensor and is located at the rear end of the strain beam structure. Example 2

[0060] The parts of this embodiment that are the same as those in Embodiment 1 do not have specific parameters, and the difference lies in that: the offset is the reading of the torque sensing element when the rotating shaft is at the same rotation angle and the locking mechanism of the interventional consumable delivery mechanism does not lock any interventional consumable. The offset corresponding to the rotating shaft at the current rotation angle is obtained through actual measurement. Before the interventional consumable delivery mechanism rotates to deliver the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism does not lock any interventional consumable, and drives the rotating shaft to rotate around the axis for one circle. The torsional torque measured by the torque sensing element of the rotating shaft at different rotation angles is recorded, and when compensating, the torsional torque corresponding to the current rotation angle of the rotating shaft is read out as the offset.

[0061] Preferably, the rotation angle of the rotating shaft is measured by an angle sensor on the rotary drive assembly of the interventional consumable delivery mechanism. Since multiple rotations are involved, it is necessary to mark the zero position on the rotating shaft. A travel switch or an inductive switch can be used to mark the zero point on the rotating shaft, and then the offset is read based on the rotation angle of the rotating shaft.

[0062] Alternatively, when the locking mechanism does not lock any interventional consumable, a zero point on the rotating shaft is marked based on a change trend of the torque value measured by the torque sensing element when the rotating shaft rotates one circle, and then the offset of the torsional moment is calculated based on the rotation angle of the rotating shaft;

[0063] Specifically, the zero point on the rotating shaft is marked by the changing trend of the torque value: when the torque value curve reaches the lowest point or the highest point or a certain value, the rotation angle of the rotating shaft is marked as the zero point;

[0064] The torsional moment measured by the torque sensing element of the rotating shaft at different rotation angles is stored in a storage chip inside the rotating shaft. When the rotating shaft is installed in an interventional consumables delivery mechanism, the stored information can be directly read for reading the offset. Example 3

[0065] An axial force sensing method for an interventional consumable delivery mechanism. When the interventional consumable delivery mechanism is axially delivering an interventional consumable, the locking mechanism of the interventional consumable delivery mechanism is locked with the interventional consumable. When it is necessary to measure the axial resistance experienced by the interventional consumable, the axial force measured by the axial force sensing element of the interventional consumable delivery mechanism at the current moment is subtracted from the axial force offset corresponding to the rotating shaft of the interventional consumable delivery mechanism under the current acceleration. In this way, the actual axial resistance experienced by the interventional consumable along the axial direction can be measured.

[0066] Preferably, a second mathematical model is established based on the relationship between the axial force offset and the current axial acceleration of the rotating shaft, so that during compensation, the axial force offset corresponding to the rotating shaft under different axial accelerations is calculated by the second mathematical model.

[0067] Preferably, the parameters of the second mathematical model are stored in a storage chip within the rotating shaft. When the rotating shaft is installed in an interventional consumables delivery mechanism, the parameters can be directly read out and used to calculate the axial force offset. The current acceleration of the rotating shaft is measured by an accelerometer or IMU sensor within the rotating shaft, wherein the current acceleration of the rotating shaft includes the acceleration due to gravity and the acceleration during axial acceleration and deceleration. Preferably, when the accelerometer is a multi-axis accelerometer, the other acceleration measurement axis of the accelerometer is the second axis, and the second axis is parallel to the measurement axis of the axial force sensor of the axial force sensing element; when there are two accelerometers, the other accelerometer is used to calculate the offset of the axial force sensor of the axial force sensing element, and the acceleration measurement axis of the accelerometer is the second axis, and the second axis is parallel to the measurement axis of the axial force sensor of the axial force sensing element; the second axis is parallel to the rotation axis of the rotating shaft;

[0068] When the accelerometer detects the acceleration component on the second axis, it is equivalent to detecting the acceleration component of the sensor force transmission element of the axial force sensing element on the measuring axis of the axial force sensor. Based on Newton's second law F=ma, the offset of the axial force sensor caused by gravity and inertia at this time can be calculated;

[0069] The second mathematical model uses the following formula for calculation:

[0070]

[0071] is the acceleration of the accelerometer along the second axis. The sensor force transmission element refers to the portion located at the rear end of the force-measuring element (e.g., the strain beam structure). When the axial force sensor is an S-type sensor, the sensor force transmission element includes this portion of the S-type sensor (specifically, the boxed portion in Figure 13), as this portion is directly connected to the force-measuring strain beam structure in the S-type sensor and is located at the rear end of the strain beam structure. Example 4

[0072] It includes a locking mechanism that can lock or release the interventional consumable, a rotating delivery mechanism that can drive the locked interventional consumable to rotate and / or deliver, and a force sensing component that can detect the axial force and torsional torque exerted on the interventional consumable. The rotating delivery mechanism includes a rotating shaft drive seat and a rotating shaft rotatably mounted in the rotating shaft drive seat. The force sensing component includes an axial force sensing element and a torque force sensing element. The axial force sensing element measures the axial force exerted on the interventional consumable, and the torque force sensing element measures the torsional torque exerted on the interventional consumable in the direction around the axis. An accelerometer or IMU sensor is provided in the rotating shaft for measuring the current acceleration of the rotating shaft during the delivery and / or rotation of the interventional consumable. A circuit board (not shown in the figure) is fixedly provided in the rotating shaft, and the accelerometer or IMU sensor is provided on the circuit board.

[0073] Preferably, a hinge connector is coaxially arranged inside the rotating shaft, a rotating frame is rotatably arranged inside the hinge connector through a bearing structure or a sleeve structure, the rotating frame locks the interventional consumable through a locking mechanism, and the torque sensing element is arranged on the side of the interventional consumable.

[0074] The bearing structure adopts one or a combination of a rolling element bearing structure, an air bearing structure, and a magnetic suspension bearing structure.

[0075] The shaft sleeve structure adopts one or a combination of a ball shaft sleeve structure, a magnetic suspension shaft sleeve structure, an air shaft sleeve structure, and a hydraulic shaft sleeve structure.

[0076] Furthermore, the locking mechanism is one or a combination of a clamping mechanism, a snap locking mechanism or a threaded locking mechanism, and the clamping mechanism is a claw clamping mechanism or a side clamping mechanism or a rotary clamping mechanism; the locking mechanism has a self-locking structure and can maintain the locked state after locking.

[0077] The locking mechanism includes an active locking mechanism and a passive locking mechanism. The active locking mechanism drives the clamping mechanism through a driving element to achieve locking and / or loosening of the interventional consumables; the passive locking mechanism drives one or a combination of the clamping mechanism, the snap locking mechanism, and the threaded locking mechanism through an external driving method to achieve locking or loosening of the interventional consumables. The external driving method is manual driving, and the passive locking mechanism is arranged on the outside of the rotating shaft or the rotating shaft driving seat for easy operation.

[0078] When the interventional consumable is a catheter with a Luer connector at the tail end, the passive locking structure includes a threaded transition head, which is screwed to the Luer connector at the tail end of the interventional consumable via a threaded structure, and the threaded transition head is connected to the rotating frame via a snap structure, or the threaded transition head is directly connected to the rotating frame;

[0079] When the interventional consumable is a guide wire or a headless catheter, the passive locking structure includes a clamping transition head, which is clamped on the guide wire or headless catheter through a clamping structure, and the clamping transition head is connected to the rotating frame through a snap structure, or the clamping transition head is directly connected to the rotating frame; the rotating frame extends from the inside to the outside of the rotating shaft or the rotating shaft drive seat.

[0080] Preferably, one end of the torque force sensing element is connected to the rotating shaft, and the other end is circumferentially limited by the rotating frame through a torque coupling structure. When the locked interventional consumable is subjected to a torsional torque in the direction around the axis, the rotating frame can rotate around its axis, and the torsional torque is transmitted to the torque force sensing element through the rotating frame and the torque coupling structure.

[0081] Furthermore, the torque force sensing element is a force sensor, and the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to a torsional torque during rotation, the torsional torque is converted into a push-pull force through the torque conversion structure via the rotating frame, and the push-pull force is applied to the force sensor. After the push-pull force is measured, the torsional torque exerted on the interventional consumable can be converted into the force arm.

[0082] Furthermore, when the accelerometer is a multi-axis accelerometer, one acceleration measurement axis of the accelerometer is a first axis, and the first axis is parallel to the measurement axis of the force sensor; when two accelerometers are provided, one of the accelerometers is used to calculate the bias of the force sensor, and the acceleration measurement axis of the accelerometer is the first axis, and the first axis is parallel to the measurement axis of the force sensor; the first axis can be made to coincide with the measurement axis of the force sensor by translating along the rotation axis of the rotation axis; the position of the accelerometer can be made to coincide with the position of the force sensor by translating along the rotation axis of the rotation axis;

[0083] Furthermore, the force sensor is one or a combination of a discrete force beam, a parallel force beam, and a unidimensional force sensor, and also includes a sensor force transmission part. The rotating frame and the sensor force transmission part 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. One end of the force sensor is fixed on the rotating shaft, and the other end is fixedly connected to or integrally formed with the sensor force transmission part. The force axis of the force sensor is perpendicular to the rotation axis of the rotating shaft. When the interventional consumable is subjected to torque during rotation, the rotating frame converts the torque into a push-pull force through the torque conversion structure and applies it to the sensor force transmission part. At this time, the force sensor will detect the push-pull force.

[0084] Preferably, the axial force sensing element is an axial force sensor. When the accelerometer is a multi-axis accelerometer, the other acceleration measurement axis of the accelerometer is the second axis, which is parallel to the measurement axis of the axial force sensor. When there are two accelerometers, the other accelerometer is used to calculate the bias of the axial force sensor, and the measurement axis of the accelerometer is the second axis, which is parallel to the measurement axis of the axial force sensor. The second axis is parallel to the rotation axis of the rotating shaft.

[0085] Furthermore, the hinge connector is connected to the sensor connector inside the rotating shaft via an 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 force during delivery, the axial force will push the rotating frame and the hinge connector, and the axial force sensor can detect the axial force.

[0086] Alternatively, the locking mechanism is connected to the rotating frame via an 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 force during delivery, the axial force will push the entire locking mechanism, and the axial force sensor can detect the axial force.

[0087] Alternatively, the force measuring end of the axial force sensor is axially limited by the rotating frame through 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 axial force during the delivery process, the axial force will push the rotating frame, and the rotating frame will transmit the axial force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial force.

[0088] Preferably, the rotary delivery mechanism further comprises a rotary drive assembly mounted on the rotary shaft drive seat, the rotary drive assembly drives the rotary shaft to rotate, and an angle sensor is provided on the rotary drive assembly, which can measure the rotation angle of the rotary shaft.

[0089] Furthermore, the rotary drive assembly drives the rotating shaft to rotate through the transmission assembly, and the transmission assembly realizes power transmission by meshing with the driven gear ring on the rotating shaft, or realizes power transmission through the friction force between the driven friction ring on the rotating shaft, and the transmission assembly is an active gear or an active friction wheel or an active transmission belt or an active friction belt.

[0090] Preferably, a slip ring for transmitting electric energy and signals is connected between one end of the rotating shaft and the rotating shaft driving seat, and the other end of the rotating shaft is connected to the rotating shaft driving seat via a bearing structure;

[0091] The bearing structure is a detachable connection structure, and the slip ring is detachably arranged on the rotating shaft drive seat. The entire rotating shaft can be removed from the rotating shaft drive seat, and the interventional consumables are installed through the through hole on the side of the rotating shaft;

[0092] Alternatively, the rotating shaft is an openable and closable structure, the side of the bearing structure is provided with a slot, the slip ring is an openable and closable structure, the slip ring opens and closes independently, or the slip ring is directly set on the rotating shaft and opens and closes as the rotating shaft opens and closes, and the interventional consumables can be installed directly from the side through their side openings.

[0093] Preferably, the axial force sensing element and the torque force sensing element adopt waterproof force sensors or / and torque sensors, and the waterproof force sensors or / and torque sensors are provided with soft rubber sealing parts, which can waterproof and isolate the electrical components inside them.

[0094] The example is introduced in which a rotating frame is rotatably set on a hinge connection through a bearing structure, and the torsional torque exerted on the interventional consumable in the direction around the axis is measured by a combination of a force sensor and a torque conversion structure.

[0095] Specifically: As shown in Figures 1 to 4, an interventional consumables delivery mechanism with acceleration perception 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 the 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.

[0096] 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 opening lid utilizes a quick-release or magnetic connection. The rotating shaft is a housing structure comprised of housing A10233 and housing B10234, connected in an openable and closable manner.

[0097] The rotating frame 102374 is rotatably arranged in the hinge connector 102375, and the rotation can be achieved by setting a 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.

[0098] 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 sensor connecting seat or the hinge connector 102375 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 pin 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.

[0099] The preferred force sensor is a one-dimensional force sensor 102293, which is an S-shaped parallel beam force sensor. 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 member 102210. The actual range of the sensor force transmission member is not limited to the sensor force transmission member 102210. 02210 also includes this part of the force sensor (specifically the boxed part in Figure 13), because this part is directly connected to the force-measuring strain beam structure in the force sensor. When the interventional consumable is subjected to torque during the delivery process, the force-measuring end 1022932 of the unidimensional force sensor 102293 acts on the strain beam structure, causing it to generate a larger strain. The strain gauge in the strain beam structure measures the strain generated to feedback the push-pull force applied to the force sensor. Combined with the force arm, the torque applied to the interventional consumable can be converted.

[0100] As shown in Figures 1 to 4, the preferred torque conversion structure is a pin 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 fixedly connected to the rotating shaft 10225 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 10221111 along the radial direction of the rotation center on one side of the rotating frame 102374, and the pin One end of 1022112 is mounted on the sensor force transmission member 102210, and the other end of the pin 1022112 is placed in the slot 10221111, and the axial direction of the pin 1022112 is parallel to the axis of the interventional consumable and is at a certain distance from it (this distance is the force arm. In order to maximize the force applied to the unidimensional force sensor 102293 when the torque applied to the interventional consumable is fixed, if the interventional consumable is a guidewire, the distance should be less than 20 mm, preferably 3-8 mm; if the interventional consumable is a catheter, the distance should be less than 50 mm, preferably 15-30 mm, and the range of the unidimensional force sensor 102293 should be less than 5 N, preferably 0.5-2 N). The pin 1022112 can slide along the slot 10221111. Of course, a pin can also be provided on the torsion arm 1022111, and a slot can be provided on the corresponding sensor force transmission member 102210.

[0101] Preferably, the head end of the pin 1022112 is a ball head, and the ball head abuts against both side walls of the slot hole 10221111, thereby achieving point contact. Point contact can prevent the pin 1022112 from getting stuck when the cylindrical surface is not parallel to the two side walls of the slot hole 10221111, and can also reduce friction resistance and avoid interference with the detection of axial force.

[0102] Of course, it can also be replaced by the following solution: a ball hinge hole is provided inside the slot hole 10221111 of the torsion arm 1022111, and a force transmission ball hinge is just stuck in it. The force transmission ball hinge is adapted to the shape of the ball hinge hole and can rotate. The force transmission ball hinge is provided with a round hole for the pin 1022112 to pass through, and the pin 1022112 can slide relatively in the round hole of the force transmission ball hinge, which can avoid the outer cylindrical surface of the pin 1022112 from getting stuck when it is not parallel to the inner wall of the slot hole 10221111 of the torsion arm 1022111.

[0103] 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.

[0104] The axial resistance detection module is an axial force sensor 513111, which has three setting positions: first, the bracket connecting block 102376 is fixedly set on the sensor connecting seat inside the shell A10233 through the axial force sensor 513111, and the axial force sensor 513111 is offset 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 consumable passes through the through-hole of the axial force sensor 513111). The force measuring 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 bracket connecting block, and the axial force sensor 513111 can detect the axial external force;

[0105] The locking mechanism is fixed on the rotating frame 102374 through the axial force sensor 513111. The force measuring 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 axial external force during the delivery process, the axial external force will push the entire locking mechanism, and the axial force sensor 513111 can detect the axial external force.

[0106] The force measuring end of the axial force sensor 513111 is axially limited by the rotating frame 102374 through the axial force coupling structure. The force measuring 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 axial force during the delivery process, the axial force will push the rotating frame 102374, and the rotating frame 102374 will transmit the axial force to the axial force sensor 513111 through the axial force coupling structure, and the axial force sensor 513111 can detect the axial force.

[0107] In this embodiment, the axial force sensor 513111 is preferably set in the first position. Example 5

[0108] The example is introduced in which a rotating frame is rotatably set on a hinge connection through a sleeve structure, and the torsional torque of the interventional consumable in the direction around the axis is measured by a combination of a force sensor and a torque conversion structure.

[0109] As shown in Figures 5 to 7, a torque sensing device for an interventional robot includes a rotating shaft 10225, a second rotating frame 102231 and a second force sensor 102251. The second rotating frame 102231 is rotatably arranged in a hinge connector 102375 through a sleeve structure. The sleeve structure includes one or a combination of a ball sleeve structure, a magnetic suspension sleeve structure, an air sleeve structure, and a hydraulic sleeve structure. The sleeve structure of this embodiment adopts a ball sleeve structure 102232. At this time, the second rotating frame 102231 is axially moved and circumferentially rotated on the hinge connector 102375. The hinge connector 102375 is arranged coaxially with the rotating shaft 10225, and the rotating axis of the rotating shaft 10225 coincides with or is parallel to the axis of the interventional consumable. The second rotating frame 102231 can lock the interventional consumable 102. When the interventional consumable 102 is subjected to torque during rotation, the second rotating frame 102231 can rotate around the rotating axis of the hinge connection. The second rotating frame 102231 converts the torsional torque it receives into a push-pull force through the torque conversion structure, and applies the push-pull force to the second force sensor 102251. After the push-pull force is measured, the torsional torque received by the interventional consumable can be converted into the force arm.

[0110] As shown in Figures 6 and 7, 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. A number of balls 102200304 are provided on the retaining frame 102200302. 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. The elastic elements can prevent the retaining frame 102200302 from having excessive axial displacement, which may cause the retaining frame 102200302 to separate from the inner sleeve or the outer sleeve 102200303.

[0111] The elastic element of this solution 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.

[0112] The hinge connector 102375 is fixed on the rotating shaft or on an external rotation drive mechanism. When the hinge connector 102375 is fixed on the rotating shaft (the hinge connector 102375 is directly connected to the rotating shaft, or the hinge connector 102375 is connected to the rotating shaft through an axial force sensor), one end of the second force sensor 102251 is fixed on the rotating shaft or on the hinge connector 102375.

[0113] In this embodiment, when the hinge connector 102375 is fixed to the external rotation drive mechanism, one end of the second force sensor 102251 is fixed to the rotation shaft 10225. The external rotation drive mechanism can drive the rotation shaft to rotate around its own axis.

[0114] In this embodiment, a second sensor force transmission member 102254 is provided at the other end of the second force sensor 102251, wherein the second rotating frame 102231 in this embodiment is connected to the second sensor force transmission member 102254 through a torque conversion structure. The specific structure of the torque conversion structure can be referred to Example 4.

[0115] After the locking mechanism locks the interventional consumable, when the interventional consumable is subjected to torque, the second rotating frame 102231 rotates a certain angle relative to the hinge connection 102375, and the torsional torque is converted into a push-pull force through the torque conversion structure and applied to the second sensor force transmission member 102254. The second sensor force transmission member 102254 pushes and pulls the second force sensor 102251, so that the second force sensor 102251 can detect the push-pull force. Combined with the force arm, the torque applied to the interventional consumable can be converted.

[0116] It also includes an axial force sensor 513111, the force measuring end of the axial force sensor 513111 is axially limited by the second rotating frame 102231 through an axial force coupling structure, and the force measuring direction of the axial force sensor 513111 coincides with or is parallel to the axial direction of the interventional consumable 102. When the interventional consumable 102 is subjected to an axial external force during the delivery process, the axial external force will push the second rotating frame 102231, and the second rotating frame 102231 will transmit the axial external force to the axial force sensor 513111 through the axial force coupling structure, and the axial force sensor can detect the axial external force.

[0117] In this embodiment, the fixed end of the axial force sensor 513111 is fixedly connected to the hinge connector 102375. The axial force coupling structure adopts a pin-and-slot structure or a bearing structure, which directly applies the axial force applied to the second rotating frame 102231 to the axial force sensor 513111. Specifically, the pin-and-slot structure adopts a slotted hole in the second rotating frame 102231. A pin 513112 is fixedly provided on the force-measuring end of the axial force sensor 513111. The pin can be inserted into the slotted hole. The slotted hole has a certain width along the circumference to prevent the second rotating frame 102231 from getting stuck when it rotates slightly due to torque, thereby avoiding interference with torque force sensing. Preferably, as shown in Figure 8, the head end of the pin is a ball head 102250101, which abuts against both side walls of the slotted hole, thereby achieving point contact. This point contact can prevent the pin from getting stuck when the cylindrical surface of the pin is not parallel to the side walls of the slotted hole, and can also reduce frictional resistance and avoid interference with axial force detection. Example 6

[0118] As shown in Figures 9 to 11, when measuring circumferential torque, the offset corresponding to the rotating shaft under different accelerations is calculated using the first mathematical model, and the torque force sensing element using a combination of a pin structure and a force sensor is used as an example for introduction.

[0119] The first mathematical model uses the following formula for calculation:

[0120]

[0121]

[0122] The physical quantity that needs to be measured in real time is the acceleration of the rotating shaft in the axial direction ; can be measured by an accelerometer.

[0123] Alternatively, an accelerometer (such as an accelerometer integrated into an IMU, or a separate accelerometer) is placed on a circuit board (not shown in the figure). The accelerometer's position on the cross-section of the rotating shaft is the same as the position of the sensor force transmission member on the cross-section of the rotating shaft, so that both are subjected to the same gravitational acceleration, centripetal acceleration, and circumferential acceleration when the rotating shaft undergoes axial and circumferential motion. One acceleration measurement axis of the accelerometer is parallel to the measurement axis of the force sensor. When the accelerometer detects the acceleration component on this axis, it is equivalent to detecting the acceleration component of the sensor force transmission member on the measurement axis of the force sensor. Based on Newton's second law F=ma, the offset of the force sensor caused by gravity and inertial force at this time can be calculated. (That is, Example 1)

[0124] When the accelerometer is multi-axis, its other acceleration measurement axis is parallel to the measurement axis of the axial force sensor. When the rotating shaft undergoes axial and circumferential motion, the accelerometer and the shaft structure (including the bearing structure, rotating frame, and locking mechanism) are subjected to the same gravitational acceleration and axial acceleration. When this acceleration measurement axis of the accelerometer detects the acceleration component on this axis, it is equivalent to detecting the acceleration component experienced by the shaft structure on this axis. Based on Newton's second law F=ma, the offset of the axial force sensor caused by gravity and inertia can be calculated. (This is also Example 3)

[0125] Alternatively, an additional accelerometer is provided for calculating the offset of the axial force sensor, and the measuring axis of the accelerometer is parallel to the measuring axis of the axial force sensor.

[0126] In the above embodiment, due to the potential delay in signal acquisition between the accelerometer and force sensor, real-time compensation may not be guaranteed. Consequently, the force sensor reading minus the offset calculated based on the accelerometer reading may produce a spike-like error, as shown in FIG14 . Filtering can be performed on the calculated result to mitigate the impact of this spike-like error. The filtering algorithm may include Kalman filtering, mean filtering, low-pass filtering, and the like.

[0127] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention. Therefore, from all points of view, the embodiments should be regarded as illustrative 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 range of equivalents of the claims are included in the present invention. Any reference signs in the claims should not be construed as limiting the claim to which they relate.

Claims

1. A circumferential torque sensing method for an interventional consumable delivery mechanism, characterized in that: When the interventional consumable delivery mechanism is rotating to deliver the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism is locked with the interventional consumable. When it is necessary to measure the torsional torque exerted on the interventional consumable, the torsional torque measured by the torque sensing element of the interventional consumable delivery mechanism at the current moment is subtracted from the offset corresponding to the rotating axis of the interventional consumable delivery mechanism at the current rotation angle and / or current acceleration, so that the actual torsional torque exerted on the interventional consumable in the direction around the axis can be measured.

2. The circumferential torque sensing method for an interventional consumable delivery mechanism according to claim 1, characterized in that: A first mathematical model is established based on the relationship between the offset and the current acceleration of the rotating shaft, so that during compensation, the offset corresponding to the rotating shaft under different accelerations is calculated using the first mathematical model.

3. The circumferential torque sensing method for an interventional consumable delivery mechanism according to claim 2, characterized in that: The current acceleration of the rotating axis is measured by an accelerometer or IMU sensor in the rotating axis, wherein the current acceleration of the rotating axis includes one or a combination of gravitational acceleration, centripetal acceleration during rotation, angular acceleration during rotation, and acceleration during axial acceleration and deceleration; the parameters of the first mathematical model are stored in a storage chip in the rotating axis, and when the rotating axis is installed in an interventional consumables delivery mechanism, the parameters can be directly read out for calculating the offset.

4. The circumferential torque sensing method for an interventional consumable delivery mechanism according to claim 3, characterized in that: When the accelerometer is a multi-axis accelerometer, one acceleration measurement axis of the accelerometer is a first axis, and the first axis is parallel to the measurement axis of the force sensor of the torque sensing element; when two accelerometers are provided, one of the accelerometers is used to calculate the offset of the force sensor of the torque sensing element, and the acceleration measurement axis of the accelerometer is the first axis, and the first axis is parallel to the measurement axis of the force sensor of the torque sensing element; the first axis can be translated along the rotation axis of the rotation axis to coincide with the measurement axis of the force sensor of the torque sensing element; the position of the accelerometer can be translated along the rotation axis of the rotation axis to coincide with the position of the force sensor; When the accelerometer detects the acceleration component on the first axis, it is equivalent to detecting the acceleration component of the torque sensing element's force transmission element on the measuring axis of the force sensor. Based on Newton's second law F=ma, the offset of the force sensor caused by gravity and inertia at this time can be calculated. The first mathematical model uses the following formula for calculation: 。 5. The circumferential torque sensing method for an interventional consumable delivery mechanism according to claim 1, characterized in that: The offset is the reading of the torque sensing element when the rotating shaft is at the same rotation angle and the locking mechanism of the interventional consumable delivery mechanism does not lock any interventional consumable. The offset corresponding to the rotating shaft at the current rotation angle is obtained through actual measurement. Before the interventional consumable delivery mechanism rotates and delivers the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism does not lock any interventional consumable. The rotating shaft is driven to rotate around the axis for one circle, and the torsional torque measured by the torque sensing element of the rotating shaft at different rotation angles is recorded. When compensating, the torsional torque corresponding to the current rotation angle of the rotating shaft is read out as the offset.

6. A method for sensing axial force in an interventional consumable delivery mechanism, characterized in that: When the interventional consumable delivery mechanism is axially delivering the interventional consumable, the locking mechanism of the interventional consumable delivery mechanism is locked with the interventional consumable. When it is necessary to measure the axial resistance encountered by the interventional consumable, the axial force measured by the axial force sensing element of the interventional consumable delivery mechanism at the current moment is subtracted from the axial force offset corresponding to the rotating axis of the interventional consumable delivery mechanism under the current acceleration, so as to measure the actual axial resistance encountered by the interventional consumable along the axial direction.

7. The axial force sensing method for an interventional consumable delivery mechanism according to claim 6, characterized in that: A second mathematical model is established based on the relationship between the axial force offset and the current axial acceleration of the rotating shaft, so that during compensation, the axial force offset corresponding to the rotating shaft under different axial accelerations is calculated by the second mathematical model; the parameters of the second mathematical model are stored in a storage chip inside the rotating shaft, and when the rotating shaft is installed in the interventional consumables delivery mechanism, the parameters can be directly read out to calculate the axial force offset, and the current acceleration of the rotating shaft is measured by an accelerometer or IMU sensor inside the rotating shaft, wherein the current acceleration of the rotating shaft includes the acceleration due to gravity and the acceleration during axial acceleration and deceleration.

8. The axial force sensing method for an interventional consumable delivery mechanism according to claim 7, characterized in that: When the accelerometer is a multi-axis accelerometer, another acceleration measurement axis of the accelerometer is a second axis, and the second axis is parallel to the measurement axis of the axial force sensor of the axial force sensing element; when two accelerometers are provided, the other accelerometer is used to calculate the offset of the axial force sensor of the axial force sensing element, and the acceleration measurement axis of the accelerometer is the second axis, and the second axis is parallel to the measurement axis of the axial force sensor of the axial force sensing element; The second axis is parallel to the rotation axis of the rotating shaft; when the accelerometer detects the acceleration component on the second axis, it is equivalent to detecting the acceleration component of the sensor force transmission member of the axial force sensing element on the measuring axis of the axial force sensor. Based on Newton's second law F=ma, the offset of the axial force sensor caused by gravity and inertia at this time can be calculated; The second mathematical model uses the following formula for calculation:

9. An interventional consumables delivery mechanism with acceleration sensing, characterized in that: It includes a locking mechanism that can lock or release the interventional consumable, a rotating delivery mechanism that can drive the locked interventional consumable to rotate and / or deliver, and a force sensing component that can detect the axial force and torsional torque exerted on the interventional consumable. The rotating delivery mechanism includes a rotating shaft drive seat and a rotating shaft rotatably mounted in the rotating shaft drive seat. The force sensing component includes an axial force sensing element and a torque force sensing element. The axial force sensing element measures the axial force exerted on the interventional consumable, and the torque force sensing element measures the torsional torque exerted on the interventional consumable in the direction around the axis. An accelerometer or IMU sensor is provided in the rotating shaft for measuring the current acceleration of the rotating shaft during the delivery and / or rotation of the interventional consumable.

10. The interventional consumable delivery mechanism with acceleration sensing according to claim 9, characterized in that: A hinge connection is coaxially arranged inside the rotating shaft, and a rotating frame is rotatably arranged inside the hinge connection through a bearing structure or a sleeve structure. The rotating frame locks the interventional consumable through a locking mechanism, and the torque force sensing element is arranged on the side of the interventional consumable; one end of the torque force sensing element is connected to the rotating shaft, and the other end is circumferentially limited with the rotating frame through a torque coupling structure. When the locked interventional consumable is subjected to a torsional torque in the direction around the axis, the rotating frame can rotate around its axis, and the torsional torque is transmitted to the torque force sensing element through the rotating frame and the torque coupling structure; the torque force sensing element is a force sensor, and the torque coupling structure is a torque conversion structure. When the interventional consumable is subjected to a torsional torque during the rotation process, the torsional torque is converted into a push-pull force through the torque conversion structure through the rotating frame, and the push-pull force is applied to the force sensor. After the push-pull force is measured, it is combined with the force arm to The torsional torque applied to the interventional consumables can be converted; when the accelerometer is a multi-axis accelerometer, one of the acceleration measurement axes of the accelerometer is the first axis, which is parallel to the measurement axis of the force sensor; when there are two accelerometers, one of the accelerometers is used to calculate the bias of the force sensor, and the acceleration measurement axis of the accelerometer is the first axis, which is parallel to the measurement axis of the force sensor; the first axis can be translated along the rotation axis of the rotating shaft to coincide with the measurement axis of the force sensor; the position of the accelerometer can be translated along the rotation axis of the rotating shaft to coincide with the position of the force sensor; the rotation delivery mechanism also includes a rotation drive component mounted on the rotating shaft drive seat, the rotation drive component drives the rotating shaft to rotate, and the rotation drive component is provided with an angle sensor, which can measure the rotation angle of the rotating shaft.

11. The interventional consumable delivery mechanism with acceleration sensing according to claim 9, characterized in that: The axial force sensing element is an axial force sensor. When the accelerometer is a multi-axis accelerometer, the other acceleration measurement axis of the accelerometer is the second axis, which is parallel to the measurement axis of the axial force sensor. When two accelerometers are provided, the other accelerometer is used to calculate the offset of the axial force sensor. The measurement axis of the accelerometer is the second axis, which is parallel to the measurement axis of the axial force sensor. The second axis is parallel to the rotation axis of the rotating shaft. The hinge connection is connected to the rotating shaft via an axial force sensor. The force measurement 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 force during delivery, the axial force will push the rotating frame and the hinge connection, and the axial force sensor can detect the axial force. Alternatively, the locking mechanism is connected to the rotating frame via an 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 force during delivery, the axial force will push the entire locking mechanism, and the axial force sensor can detect the axial force. Alternatively, the force measuring end of the axial force sensor is axially limited by the rotating frame through 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 axial force during the delivery process, the axial force will push the rotating frame, and the rotating frame will transmit the axial force to the axial force sensor through the axial force coupling structure, and the axial force sensor can detect the axial force.

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