Interventional surgical robot doctor control end structure and interventional surgical robot

Abstract

The present disclosure relates to an interventional surgical robot doctor control end structure and an interventional surgical robot. The interventional surgical robot doctor control end structure comprises: a control part, used for controlling a working state of the interventional surgical robot doctor control end structure; an operation rod, used for a doctor to perform translation pushing and / or rotating manipulation; a supporting structure, comprising a sliding hinge seat structure, wherein one end of the operation rod is hinged into the sliding hinge seat structure, the sliding hinge seat structure is capable of moving in the axial direction along with the operation rod, and an operation rod action feedback part electrically connected to the control part is arranged on the sliding hinge seat structure; and a resistance feedback structure, used for generating electromagnetic force according to a guide wire pushing resistance feedback signal output by the control part and converting the electromagnetic force into an operation rod resistance, the resistance feedback structure comprising a non-contact magnetic structure. According to the present disclosure, non-contact force feedback is adopted, and the self-resistance of the mechanism is reduced, such that the guide wire pushing resistance can be fed back more accurately; fine and dexterous operation of the guide wire can be achieved, thereby improving the surgical efficiency; and tactile force feedback is achieved, thereby improving the surgical safety.

Description

Interventional surgery robot doctor control terminal structure and interventional surgery robot

[0001] Related applications

[0002] This application claims priority to the Chinese invention patent application with application number 202410251480.2 filed on March 5, 2024, and cites the entire contents disclosed in the above patent application as part of this application. Technical Field

[0003] The present disclosure relates to the field of interventional surgery, and in particular to an interventional surgery robot doctor control terminal structure and an interventional surgery robot. Background Art

[0004] Vascular interventional surgery is a surgical procedure in which, guided by medical imaging equipment, an interventional physician uses a needle, catheter, guidewire, balloon, stent, and other interventional devices to deliver the designated device along the body's vascular pathways to the corresponding lesion site for treatment. As a minimally invasive treatment method, vascular interventional surgery has been widely used in the interventional treatment of cardiovascular disease, cerebrovascular disease, peripheral vascular disease, and tumors.

[0005] In the current surgical model, interventional physicians wear lead aprons weighing 20 to 30 kilograms (15 to 20 pounds) and stand at the operating table for extended periods while manipulating catheters, guidewires, and other interventional instruments. These aprons cannot fully shield against X-ray radiation, exposing their arms and heads directly to it. Interventional physicians' constant exposure to X-ray radiation is highly susceptible to occupational diseases such as cataracts, spinal curvature, and brain tumors. Using robotic systems to control the delivery of interventional instruments like catheters and guidewires effectively improves their working conditions, reduces physical exertion, and mitigates occupational hazards, allowing them to fully focus on the surgical procedure itself and ultimately deliver better outcomes for patients.

[0006] After years of manual manipulation of guidewires and other interventional instruments, interventional surgeons have developed a knack for sensing the contact between the guidewire tip and the vascular stenosis through tactile feedback from the guidewire tip and their fingers. This tactile feel is particularly important when navigating narrow or even occluded lesions. Existing vascular interventional surgery robots utilize a joystick control terminal, which not only changes the surgeon's existing guidewire manipulation habits and requires a long learning curve, but also prevents precise manipulation. Furthermore, and more importantly, because the joystick lacks tactile feedback, interventional surgeons completely lose their tactile sense of the guidewire tip while operating the robot, relying solely on visual feedback provided by DSA images. This significantly impacts the efficiency and safety of the procedure.

[0007] In order to solve the above problems, the inventor, relying on many years of experience and practice in related industries, has proposed an interventional surgical robot doctor control end structure and an interventional surgical robot, which fully retains the existing operating habits of interventional doctors, ensures the realization of fine and dexterous operation of the guidewire (such as the advance and retreat, rotation, simultaneous advance and retreat and rotation of the guidewire, etc.), and can also provide tactile feedback during the operation. The doctor control end device improves the operator's ability to finely control instruments such as guidewires, surgical efficiency, and surgical safety, and reduces the risk of medical accidents. Summary of the Invention

[0008] The purpose of the present disclosure is to provide an interventional surgical robot doctor control end structure and an interventional surgical robot, which adopts non-contact force feedback to reduce the self-resistance of the mechanism and can more accurately feedback the guide wire pushing resistance; realize the delicate and dexterous operation of the guide wire, improve the surgical efficiency; and have tactile feedback to improve the safety of the operation.

[0009] The purpose of the present disclosure is achieved by providing a doctor control terminal structure of an interventional surgery robot, comprising:

[0010] The control unit is used to control the working state of the doctor control terminal structure of the interventional surgery robot;

[0011] An operating rod capable of being pushed and / or rotated and electrically connected to the guide wire through a control unit;

[0012] The support structure includes a sliding hinge seat structure, one end of the operating rod is hingedly connected to the sliding hinge seat structure, and the sliding hinge seat structure can move along the axial direction of the operating rod; the sliding hinge seat structure is provided with an operating rod action feedback unit electrically connected to the control unit, and the operating rod action feedback unit can convert the translational linear motion and / or rotational motion of the operating rod into an electrical signal and transmit it to the control unit;

[0013] The resistance feedback structure is used to generate electromagnetic force according to the guide wire pushing resistance feedback signal output by the control unit and convert the electromagnetic force into the operating rod resistance. It includes a non-contact magnetic structure electrically connected to the control unit. The non-contact magnetic structure can move synchronously with the sliding hinge seat structure and can generate electromagnetic force according to the received guide wire pushing resistance signal, and convert the electromagnetic force into the operating rod resistance to block the movement of the operating rod.

[0014] In a preferred embodiment of the present disclosure, the non-contact magnetic structure includes a feedback magnet and an electromagnet capable of changing the magnetic field by applying electricity. The feedback magnet and the electromagnet are axially opposed and coaxially arranged. The feedback magnet is disposed on the end surface of the sliding hinge seat structure away from the operating rod. The electromagnet is disposed on the electromagnet mounting seat. The electromagnet mounting seat is connected to a mobile drive structure. The mobile drive structure is electrically connected to a control unit. The mobile drive structure can drive the electromagnet mounting seat to cause the electromagnet to move axially along the operating rod.

[0015] Before the operating rod moves in translation, the electromagnet is in a power-off state, and the axial spacing between the electromagnet and the feedback magnet is adjusted to a first spacing, and there is no force between the electromagnet and the feedback magnet; when the operating rod moves in translation and there is no guide wire pushing resistance feedback signal, the electromagnet is in a power-off state, and the mobile drive structure drives the electromagnet to move to keep the first spacing with the feedback magnet constant; when the mobile drive structure receives the guide wire pushing resistance feedback signal, it is energized so that the end surface magnetic poles of the electromagnet and the feedback magnet are the same, and the mobile drive structure reduces the axial spacing between the feedback magnet and the electromagnet according to the size of the guide wire pushing resistance, and an electromagnetic force is generated between the feedback magnet and the electromagnet, and the feedback magnet converts the electromagnetic force it receives into operating rod resistance to block the movement of the operating rod; when the operating rod needs to be reset, it is energized so that the magnetic field of the electromagnet and the magnetic field on the surface of the feedback magnet are attracted by opposite poles, and the electromagnet attracts the feedback magnet, the sliding hinge seat structure and the operating rod, and the mobile drive structure drives the sliding hinge seat structure and the operating rod to move and reset through the electromagnet.

[0016] In a preferred embodiment of the present disclosure, the mobile drive structure includes a drive motor electrically connected to the control unit, the drive motor is connected to the transmission structure, the transmission structure is connected to the electromagnet mounting seat, and the drive motor drives the electromagnet mounting seat through the transmission structure to drive the electromagnet to move;

[0017] When the drive motor receives the guide wire pushing resistance feedback signal output by the control unit, it is energized so that the end magnetic poles of the electromagnet and the feedback magnet are aligned. The drive motor drives the electromagnet mounting seat to move according to the size of the guide wire pushing resistance, reducing the axial distance between the feedback magnet and the electromagnet to generate electromagnetic force.

[0018] In a preferred embodiment of the present disclosure, the transmission structure includes a screw and a screw nut sleeved on the screw, the screw nut is connected to the electromagnet mounting seat, the first end of the screw is hinged in the first screw support, and the second end of the screw is hinged in the second screw support; the drive motor is connected to the first end of the screw, and the drive motor drives the screw to rotate and drives the screw nut and the electromagnet mounting seat to move.

[0019] In a preferred embodiment of the present disclosure, a driven synchronous wheel is provided at the first end of the lead screw, an active synchronous wheel is provided at the output end of the drive motor, a synchronous belt is provided on the active synchronous wheel and the driven synchronous wheel, and the drive motor drives the lead screw to rotate through the active synchronous wheel, the synchronous belt and the driven synchronous wheel.

[0020] In a preferred embodiment of the present disclosure, a displacement sensor electrically connected to the control unit is connected to the electromagnet mounting seat, and the displacement sensor is used to monitor the axial spacing between the electromagnet and the feedback magnet in real time and output it to the control unit.

[0021] In a preferred embodiment of the present disclosure, a sensor reflector is connected to the sliding hinge seat structure, and the sensor reflector is parallel to the light source plane of the displacement sensor.

[0022] In a preferred embodiment of the present disclosure, a first magnetic encoder circuit board is provided at one axial end of the operating rod of the sliding articulated seat structure, and the first magnetic encoder circuit board converts the rotational motion of the operating rod into an electrical signal and transmits it to the control unit; a second magnetic encoder circuit board is provided at one radial side of the operating rod of the sliding articulated seat structure, and the second magnetic encoder circuit board converts the translational linear motion of the operating rod into an electrical signal and transmits it to the control unit.

[0023] In a preferred embodiment of the present disclosure, the sliding hinge seat structure includes a magnetic encoder fixing seat, a receiving groove which is vertically through-through and open at one end away from the operating rod is provided on the magnetic encoder fixing seat, a first through-hole is provided on one side wall of the receiving groove, and the first end of the operating rod is rotatably inserted into the first through-hole; a second through-hole and a hinged blind hole are coaxially provided on two side walls of the receiving groove adjacent to the first through-hole, a rotating shaft is rotatably inserted into the second through-hole, the first end of the rotating shaft passes through the receiving groove and is hinged in the hinged blind hole, and a motion conversion structure which can convert the translational motion of the operating rod into the rotation of the rotating shaft is connected to the position of the rotating shaft located in the receiving groove;

[0024] A first radial magnet is connected to an end surface of a first end of the operating rod, and a first magnetic encoder circuit board is connected to a side wall of the accommodating groove. When the operating rod rotates, the first radial magnet is driven to rotate, and the first magnetic encoder circuit board converts the rotational motion of the operating rod into an electrical signal that is transmitted to the control unit.

[0025] A second radial magnet is provided on the end face of the second end of the rotating shaft, and a second magnetic encoder circuit board is connected to the side wall of the accommodating groove through which the second end of the rotating shaft is arranged. When the operating rod moves in translation and in a linear motion, the second radial magnet is driven to rotate by the motion conversion structure, and the translation and linear motion of the operating rod is converted into an electrical signal by the second magnetic encoder circuit board and transmitted to the control unit.

[0026] In a preferred embodiment of the present disclosure, the motion conversion structure includes a gear sleeved on the rotating shaft, a rack parallel to the central axis of the operating rod is fixedly provided below the accommodating groove, and the gear is engaged with the rack; when the operating rod drives the magnetic encoder fixing seat to move, the gear moves and rotates along the rack to drive the rotating shaft to rotate.

[0027] In a preferred embodiment of the present disclosure, a first bearing is arranged in the first through hole, and the operating rod is rotated through the first bearing and then axially fixed by a radial opening nut; a second bearing is arranged in the second through hole and the hinged blind hole, and the rotating shaft is rotated and passed through the second bearing.

[0028] In a preferred embodiment of the present disclosure, a sleeve fixing seat is provided on the side of the magnetic encoder fixing seat away from the resistance feedback structure, a linear ball sleeve is provided in the sleeve fixing seat, and the operating rod can slide and rotate through the linear ball sleeve.

[0029] In a preferred embodiment of the present disclosure, the sliding hinge seat structure further includes a magnet fixing seat, which can be covered on the accommodating groove, and the end of the magnet fixing seat away from the operating rod is connected to the feedback magnet.

[0030] In a preferred embodiment of the present disclosure, the support structure also includes a base plate, a slide rail is provided on the base plate, a first slider and a second slider are slidably provided on the slide rail, the electromagnet mounting seat is connected to the first slider, and the sliding hinge seat structure is connected to the second slider.

[0031] In a preferred embodiment of the present disclosure, the non-contact magnetic structure includes a feedback magnet rod and a coil that can change the magnetic field when energized. The feedback magnet rod is coaxial with the coil, and the first end of the feedback magnet rod can be movably inserted into the inner cavity of the coil; the second end of the feedback magnet rod is connected to the end surface of the sliding hinge seat structure away from the operating rod, the coil is arranged on the coil mounting seat, and the coil mounting seat is connected to a mobile drive structure. The mobile drive structure is electrically connected to the control unit, and the mobile drive structure can drive the coil mounting seat to drive the coil to move along the axial direction of the operating rod.

[0032] The purpose of the present disclosure can also be achieved in this way: an interventional surgical robot includes the aforementioned interventional surgical robot doctor control end structure.

[0033] As described above, the interventional surgery robot doctor control terminal structure and the interventional surgery robot disclosed in the present invention have the following beneficial effects:

[0034] In the interventional surgical robot doctor control end structure disclosed in the present invention, the non-contact magnetic structure converts electromagnetic force into resistance that responds to the outside world. The use of non-contact force feedback reduces the mechanism's own resistance and can more accurately feedback the guidewire pushing resistance.

[0035] The sliding hinge seat structure articulates and supports the operating rod. The operating rod and the operating rod action feedback unit have very little resistance during linear motion before the feedback resistance, which allows for a better sense of the resistance fed back to the operating rod by the electromagnetic force. The operation of the operating rod not only preserves the doctor's existing operating habits, but is also easier to operate than a guide wire with an extremely small diameter. The operating rod can be pushed or rotated, and can also be pushed and rotated simultaneously. The operating rod action feedback unit can convert the translational linear motion and / or rotational motion of the operating rod into electrical signals and transmit them to the control unit. The operation of the operating rod can well simulate the doctor's operating habits, minimize the learning cost, and adapt to the operation of the robot more quickly.

[0036] The present invention can achieve delicate and dexterous operation of the guide wire, thereby improving the efficiency of the operation; and has tactile feedback, thereby improving the safety of the operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The following drawings are only intended to illustrate and explain the present disclosure, and are not intended to limit the scope of the present disclosure.

[0038] in:

[0039] Figure 1 is a three-dimensional diagram of the doctor control terminal structure of the interventional surgery robot disclosed in the present invention.

[0040] Figure 2: An exploded view of the structure of the doctor's control terminal of the interventional surgery robot disclosed in the present invention.

[0041] Figure 3: A top view of the doctor control end structure of the interventional surgery robot disclosed in the present invention.

[0042] Figure 4: A front view of the doctor control terminal structure of the interventional surgery robot disclosed in the present invention.

[0043] Figure 5: AA cross-sectional view in Figure 4.

[0044] Figure 6: BB cross-sectional view in Figure 4.

[0045] Figure 7: CC cross-sectional view in Figure 6.

[0046] FIG8 is a schematic diagram of the non-contact magnetic structure of the present disclosure including a feedback magnet bar and a coil.

[0047] Figure: 1, base plate; 2, first lead screw support; 3, second lead screw support; 4, drive motor; 5, driven synchronous pulley; 6, motor fixing seat; 7, active synchronous pulley; 8, slide rail; 9, electromagnet mounting seat; 10, first slider; 11, operating lever; 12, linear ball bearing sleeve; 13, sleeve fixing seat; 14, rack; 15, gear; 16, magnetic encoder fixing seat; 17, second bearing; 18, first magnetic encoder circuit board; 19, rotating shaft; 20, retaining spring; 21, First bushing; 22. Magnet fixing seat; 23. First radial magnet; 24. Radial hole nut; 25. Feedback magnet; 26. Displacement sensor; 27. Electromagnet; 28. Sensor adapter plate; 29. ​​Sensor reflector; 30. Synchronous belt; 31. Screw nut; 32. Screw; 33. Second bushing; 34. Second slider; 35. Second magnetic encoder circuit board; 36. Second radial magnet; 37. First bearing; 38. Feedback magnet rod; 39. Coil. DETAILED DESCRIPTION

[0048] In order to have a clearer understanding of the technical features, purposes and effects of the present disclosure, specific embodiments of the present disclosure are now described with reference to the accompanying drawings.

[0049] The specific embodiments of the present disclosure described herein are intended only to explain the present disclosure and are not to be construed as limiting the present disclosure in any way. Under the guidance of the present disclosure, a skilled person can conceive of any possible variations based on the present disclosure, all of which should be considered to fall within the scope of the present disclosure. It should be noted that when an element is referred to as being "disposed on" another element, it can be directly on the other element or there can be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there can be an intermediate element at the same time. The terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to mechanical or electrical connections, or to internal communication between two elements, and can be directly connected or indirectly connected through an intermediate medium. A person of ordinary skill in the art can understand the specific meanings of the above terms based on the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only implementation methods.

[0050] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art to which this application pertains. The terms used herein in the specification of this application are intended only to describe specific embodiments and are not intended to limit this application. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0051] As shown in Figures 1 to 8, the present disclosure provides a doctor control terminal structure of an interventional surgery robot, comprising:

[0052] The control unit is used to control the working state of the doctor control terminal structure of the interventional surgery robot;

[0053] The operating rod 11 can be pushed and / or rotated, and is electrically connected to the guidewire via a control unit. In an optional embodiment of the present disclosure, the operating rod 11 has a circular cross-section. The circular shape of the operating rod 11 preserves the physician's existing operating habits and is more convenient to operate than a guidewire with a very small diameter. It is understood that the operating rod's cross-section can also have other shapes, such as an elliptical cross-section, a polygonal cross-section, etc., to adapt to the operating habits of different operators (including physicians and other operators) and the operating requirements of different surgical types. The operating rod 11 can be pushed or rotated, or can be pushed and rotated simultaneously. The operating rod 11 can have multiple degrees of freedom of manipulation. In an optional embodiment, in addition to translational pushing and / or rotational manipulation, the operating rod 11 can also provide more degrees of freedom of manipulation. For example, the operating rod 11 can also be tilted, that is, the operating rod 11 can be tilted in multiple directions in three-dimensional space, rather than just translated or rotated along its axis. For another example, the operating rod 11 can also be twisted, that is, the operating rod 11 can be twisted at different angles around its axis. The design of the multi-degree-of-freedom joystick can adapt to different surgical scenarios, significantly improving the flexibility and precision of the surgery.

[0054] The support structure includes a sliding hinge seat structure, one end of the operating rod 11 is hingedly connected to the sliding hinge seat structure, and the sliding hinge seat structure can move along the axial direction of the operating rod 11; the sliding hinge seat structure is provided with an operating rod action feedback unit electrically connected to the control unit, and the operating rod action feedback unit can convert the translational linear motion and / or rotational motion and / or tilting motion and / or torsional motion of the operating rod 11 into an electrical signal and transmit it to the control unit;

[0055] The resistance feedback structure is used to generate electromagnetic force according to the guidewire pushing resistance feedback signal output by the control unit and convert the electromagnetic force into the operating rod resistance, including a non-contact magnetic structure electrically connected to the control unit, wherein the non-contact magnetic structure is a technical device that uses electromagnetic principles to generate feedback force. The device affects the magnetic component (such as feedback magnet) that interacts with it by changing the intensity or direction of the magnetic field without direct physical contact. In the embodiment of the present disclosure, the non-contact magnetic structure is used to simulate the resistance feedback during the guidewire pushing process, so that the operator can feel the tactile feedback similar to the manual operation of the guidewire through the operating rod. Specifically, the non-contact magnetic structure can move synchronously with the sliding hinge seat structure and can generate electromagnetic force according to the received guidewire pushing resistance signal, and convert the electromagnetic force into the operating rod resistance to block the movement of the operating rod. The movement of the operating rod is blocked and converted into an electrical signal by the operating rod action feedback unit and transmitted to the control unit to achieve the effect of the feedback force size.

[0056] The present invention can fully retain the existing operating habits of interventional doctors, and can realize precise and dexterous operation of the guidewire (such as the advance and retreat, rotation, tilt, twisting of the guidewire, simultaneous advance and retreat and rotation, simultaneous advance and retreat and tilt, simultaneous advance and retreat and twisting, etc.), and can also provide tactile feedback to the doctor during the operation, thereby improving the operator's ability to finely control instruments such as guidewires, surgical efficiency, and surgical safety, and reducing the risk of medical accidents.

[0057] In the interventional surgical robot doctor control end structure disclosed in the present invention, the non-contact magnetic structure converts electromagnetic force into resistance that responds to the outside world. The use of non-contact force feedback reduces the mechanism's own resistance and can more accurately feedback the guidewire pushing resistance.

[0058] The sliding hinge seat structure hinges and supports the operating rod. The operating rod and the operating rod action feedback part have very little resistance during linear motion before the feedback resistance, which can better feel the resistance fed back to the operating rod by the electromagnetic force; the operation of the operating rod not only retains the doctor's existing operating habits, but is also more convenient to operate than a guide wire with an extremely small diameter. The operating rod can push, rotate, tilt or twist, and can also push and rotate at the same time, or perform at least two of the rotation, tilt or twisting movements and pushing at the same time; the operating rod action feedback part can convert the translational linear motion and / or rotational motion and / or tilting motion and / or twisting motion of the operating rod into electrical signals and transmit them to the control part; the operation of the operating rod can well simulate the doctor's operating habits, minimize the learning cost, and adapt to the operation of the robot more quickly;

[0059] The present invention can achieve delicate and dexterous operation of the guide wire, thereby improving the efficiency of the operation; and has tactile feedback, thereby improving the safety of the operation.

[0060] Furthermore, as shown in Figures 1 and 2, the non-contact magnetic structure includes a feedback magnet 25 and an electromagnet 27 capable of changing the magnetic field by applying electricity. The feedback magnet 25 and the electromagnet 27 are axially opposite and coaxially arranged. The feedback magnet 25 is arranged on the end surface of the sliding hinge seat structure away from the operating rod 11. The electromagnet 27 is arranged on the electromagnet mounting seat 9. The electromagnet mounting seat 9 is connected to a mobile drive structure. The mobile drive structure is electrically connected to the control unit. The mobile drive structure can drive the electromagnet mounting seat 9 to drive the electromagnet 27 to move axially along the operating rod 11.

[0061] Before the operating rod 11 moves in translation, the electromagnet 27 is in a power-off state, and the axial spacing between the electromagnet 27 and the feedback magnet 25 is adjusted to a first spacing, so that there is no force between the electromagnet 27 and the feedback magnet 25 (there is no attraction or repulsion between the electromagnet 27 and the feedback magnet 25);

[0062] When the operating rod 11 moves in translation and there is no guidewire pushing resistance feedback signal, the electromagnet 27 is in a power-off state, and the mobile driving structure drives the electromagnet 27 to move so as to maintain a first constant spacing between the electromagnet 27 and the feedback magnet 25 (there is no force between the two, which reduces the self-resistance of the mechanism and can more accurately feedback the guidewire pushing resistance);

[0063] When the mobile drive structure receives the guidewire pushing resistance feedback signal, the electromagnet 27 is energized. The end faces of the electromagnet 27 and the feedback magnet 25 have the same magnetic poles. The mobile drive structure reduces the axial spacing between the feedback magnet 25 and the electromagnet 27 according to the magnitude of the guidewire pushing resistance. An electromagnetic force is generated between the feedback magnet 25 and the electromagnet 27 (the axial spacing is reduced, and the magnetic fields on the surface of the electromagnet 27 and the magnetic fields on the surface of the feedback magnet 25 have the same poles and repel each other, so the electromagnetic force is a repulsive force). The feedback magnet 25 converts the electromagnetic force it receives into operating rod resistance, thereby blocking the movement of the operating rod 11.

[0064] When the operating rod 11 needs to be reset, power is turned on to make the magnetic field of the electromagnet 27 and the magnetic field on the surface of the feedback magnet 25 attract each other with opposite poles (changing the current direction of the electromagnet 27), and the electromagnet 27 attracts the feedback magnet 25 (the electromagnet 27 is in close contact with the feedback magnet 25), the sliding hinge seat structure and the operating rod 11, and the mobile driving structure drives the sliding hinge seat structure and the operating rod 11 to move and reset through the electromagnet 27.

[0065] By changing the direction of the current, the direction of the magnetic pole of the electromagnet 27 is changed, so that it and the feedback magnet 25 can either repel each other to perform resistance feedback or attract each other to reset.

[0066] Further, as shown in Figures 1, 2, 3, and 4, the mobile drive structure includes a drive motor 4 electrically connected to the control unit. In a specific embodiment of the present disclosure, the drive motor 4 is fixedly connected to the motor fixing seat 6 by screws; the drive motor 4 is connected to the transmission structure, and the transmission structure is connected to the electromagnet mounting seat 9. The drive motor 4 drives the electromagnet mounting seat 9 through the transmission structure to drive the electromagnet 27 to move;

[0067] When the drive motor 4 receives the guidewire pushing resistance feedback signal output by the control unit, it drives the electromagnet mounting seat 9 to move according to the size of the guidewire pushing resistance, reducing the axial spacing between the feedback magnet 25 and the electromagnet 27 to generate electromagnetic force.

[0068] Further, as shown in Figures 1, 2, 3 and 4, the transmission structure includes a screw 32 and a screw nut 31 sleeved on the screw 32, the screw nut 31 is connected to the electromagnet mounting seat 9, the first end of the screw 32 is hinged in the first screw support 2 (fixed end support), and the second end of the screw 32 is hinged in the second screw support 3 (support end support); the drive motor 4 is connected to the first end of the screw 32, and the drive motor 4 drives the screw 32 to rotate, driving the screw nut 31 and the electromagnet mounting seat 9 to move.

[0069] By driving the electromagnet 27 on the lead screw nut 31 to move linearly by the driving motor 4, the distance between the electromagnet and the feedback magnet can be set in real time according to the resistance signal. According to the principle of like charges repel, the electromagnetic force is converted into resistance of external response.

[0070] In a specific embodiment of the present disclosure, the lead screw nut 31 and the electromagnet 27 are both fixed in the slotted hole of the electromagnet mounting seat 9 by screws.

[0071] The transmission structure can also adopt a chain transmission structure, a belt transmission structure, etc.

[0072] Further, as shown in Figures 1, 2 and 3, a driven synchronous wheel 5 is provided at the first end of the lead screw 32, an active synchronous wheel 7 is provided at the output end of the drive motor 4, a synchronous belt 30 is sleeved on the active synchronous wheel 7 and the driven synchronous wheel 5, and the drive motor 4 drives the lead screw 32 to rotate through the active synchronous wheel 7, the synchronous belt 30 and the driven synchronous wheel 5.

[0073] Furthermore, as shown in Figures 1, 2, 3, and 4, a displacement sensor 26, electrically connected to the control unit, is connected to the electromagnet mounting base 9. This displacement sensor 26 is used to monitor the axial spacing between the electromagnet 27 and the feedback magnet 25 in real time and output this information to the control unit. Before the operating rod 11 moves, the electromagnet's overall motion structure maintains a first spacing from the feedback magnet 25 via distance feedback from the displacement sensor 26. During movement, the actual distance between the electromagnet 27 and the feedback magnet 25 is corrected via signal feedback from the second magnetic encoder circuit board 35 and distance feedback from the displacement sensor 26.

[0074] As shown in FIG. 2 , in a specific embodiment of the present disclosure, the displacement sensor 26 is connected to the electromagnet mounting base 9 via a sensor adapter plate 28 .

[0075] Furthermore, as shown in Figures 1, 2, 3, 4, 5, and 6, a sensor reflector 29 is connected to the sliding hinge structure. Sensor reflector 29 is parallel to the light source plane of displacement sensor 26. Sensor reflector 29 is synchronized with feedback magnet 25, and the sensor reflector 29 and displacement sensor 26 are used in conjunction to monitor the axial separation.

[0076] Furthermore, as shown in Figures 5, 6, and 7, a first magnetic encoder circuit board 18 is provided on the axial end of the sliding hinge structure at the operating rod 11. The first magnetic encoder circuit board 18 converts the rotational motion of the operating rod 11 into an electrical signal, which is transmitted to the control unit. A second magnetic encoder circuit board 35 is provided on the radial side of the sliding hinge structure at the operating rod 11. The second magnetic encoder circuit board 35 converts the translational linear motion of the operating rod 11 into an electrical signal, which is transmitted to the control unit. The magnetic encoder can be replaced with any other type of encoder that has the same function.

[0077] In other embodiments, a torsion and / or tilt joint may be added to the end or middle portion of the operating rod 11 to control the torsion and / or tilt movement of the operating rod 11. For example, a sensor, such as an angle sensor, a torque sensor, and / or an acceleration sensor, may be installed at the torsion and / or tilt joint to detect the torsion angle and / or tilt angle of the operating rod. The control unit adjusts the torque and / or force output of the motor based on the feedback signal from the sensor to achieve precise torsion and / or tilt control.

[0078] Further, as shown in Figures 5, 6 and 7, the sliding hinge seat structure includes a magnetic encoder fixing seat 16, and a receiving groove (U-shaped groove) is provided on the magnetic encoder fixing seat 16, which is through-through and open at one end away from the operating rod. A first through hole is provided on one side wall of the receiving groove, and the first end of the operating rod 11 is rotatably penetrated into the first through hole; a second through hole and a hinged blind hole are coaxially provided on the two side walls of the receiving groove adjacent to the first through hole, and a rotating shaft 19 is rotatably penetrated in the second through hole. The first end of the rotating shaft 19 passes through the receiving groove and is hinged in the hinged blind hole. The position of the rotating shaft 19 located in the receiving groove is connected to a motion conversion structure that can convert the translational motion of the operating rod 11 into the rotation of the rotating shaft 19;

[0079] A first radial magnet 23 is connected to the end surface of the first end of the operating rod 11 (a circular hole is formed on the end surface of the first end of the operating rod 11, and the first radial magnet 23 is installed in the circular hole). The first magnetic encoder circuit board 18 is connected (via screws) to a side wall of the accommodating groove (located in front of the end of the operating rod 11). When the operating rod 11 rotates, the first radial magnet 23 is driven to rotate. The first magnetic encoder circuit board 18 converts the rotational motion of the operating rod 11 into an electrical signal that is transmitted to the control unit.

[0080] A second radial magnet 36 is provided on the end face of the second end of the rotating shaft 19 (a circular hole is opened on the end face of the second end of the rotating shaft 19, and the second radial magnet 36 is installed in the circular hole). The second magnetic encoder circuit board 35 is connected to the side wall of the second end of the rotating shaft through the accommodating groove (located in front of the end of the rotating shaft 19). When the operating rod 11 moves in a translational and linear motion, the second radial magnet 36 is driven to rotate through the motion conversion structure, and the translational and linear motion of the operating rod 11 is converted into an electrical signal through the second magnetic encoder circuit board 35 and transmitted to the control unit.

[0081] Furthermore, the motion conversion structure includes a gear 15 sleeved on the rotating shaft 19, and a rack 14 parallel to the central axis of the operating rod 11 is fixedly provided below the accommodating groove, and the gear 15 is engaged with the rack 14; when the operating rod 11 drives the magnetic encoder fixing seat 16 to move, the gear 15 moves along the rack 14 and rotates to drive the rotating shaft 19 to rotate.

[0082] In a specific embodiment of the present disclosure, as shown in Figure 5, the gear 15 is fixed in the U-shaped groove of the magnetic encoder fixing base 16 through two second bearings 17, the first sleeve 21, the second sleeve 33, the retaining spring 20, and the rotating shaft 19, so that the gear 15 and the rotating shaft 19 rotate simultaneously.

[0083] When the operating rod 11 moves linearly, it drives the gear 15 and the shaft 19 to rotate, and at the same time drives the second radial magnet 36 to rotate. The linear motion of the operating rod 11 is converted into an electrical signal for transmission through the second magnetic encoder circuit board 35 in front of the end of the shaft 19.

[0084] Further, as shown in Figure 7, a first bearing 37 is set in the first through hole, and the operating rod 11 is rotated through the first bearing 37 and then axially fixed by the radial opening nut 24; a second bearing 17 is set in the second through hole and the hinged blind hole, and the rotating shaft 19 is rotatably passed through the second bearing 17.

[0085] In a specific embodiment of the present disclosure, the end of the operating rod 11 is fixed to the magnetic encoder fixing base 16 through two first bearings 37 and a radially open nut 24, so that when the operating rod 11 moves axially, it drives the magnetic encoder fixing base 16 to move together without hindering the rotational movement of the operating rod 11.

[0086] Furthermore, a sleeve fixing seat 13 is provided on the side of the magnetic encoder fixing seat 16 away from the resistance feedback structure, and a linear ball sleeve 12 is provided in the sleeve fixing seat 13 (the linear ball sleeve 12 and the sleeve fixing seat 13 are fixed by screws). The operating rod 11 can slide and rotate through the linear ball sleeve 12, and can operate axially, rotate, and / or tilt and / or twist.

[0087] Furthermore, as shown in FIG6 , the sliding hinge seat structure further includes a magnet fixing seat 22 . The magnet fixing seat 22 can be covered on the accommodating groove. One end of the magnet fixing seat 22 away from the operating rod 11 is connected to the feedback magnet 25 .

[0088] Furthermore, as shown in Figures 1 and 2, the supporting structure also includes a base plate 1, a slide rail 8 is provided on the base plate 1, a first slider 10 and a second slider 34 are slidingly provided on the slide rail 8, the electromagnet mounting seat 9 is connected to the first slider 10 (the electromagnet mounting seat 9 is fixed to the first slider 10 by screws), and the sliding hinge seat structure is connected to the second slider 34.

[0089] The first screw support 2, the second screw support 3, the motor fixing seat 6, the slide rail 8, the shaft sleeve fixing seat 13, and the rack 14 are fixed to the surface of the base plate 1 by screws.

[0090] The interventional surgery robot doctor control terminal structure disclosed in the present invention also includes a shell, and each structure is installed in the shell through the base plate 1.

[0091] As shown in Figure 8, in another embodiment of the present disclosure, the non-contact magnetic structure includes a feedback magnet rod 38 and a coil 39 that can change the magnetic field when energized. The feedback magnet rod 38 is coaxial with the coil 39, and the first end of the feedback magnet rod 38 can be movably inserted into the inner cavity of the coil 39; the second end of the feedback magnet rod 38 is connected to the end surface of the sliding hinge seat structure away from the operating rod 11, and the coil 39 is arranged on the coil mounting seat. The coil mounting seat is connected to a mobile drive structure, which is electrically connected to the control unit. The mobile drive structure can drive the coil mounting seat to drive the coil to move along the axial direction of the operating rod.

[0092] The working principle of the non-contact magnetic feedback of this embodiment is similar to that of the aforementioned end-face facing electromagnet 27 and feedback magnet 25, and will not be described in detail here.

[0093] The use process of the interventional surgery robot doctor control terminal structure disclosed in this disclosure is as follows:

[0094] Before the operating rod 11 moves, the electromagnet 27 is powered off, and the distance (first spacing) between the electromagnet 27 and the feedback magnet 25 is adjusted according to the real-time distance from the sensor reflector 29 fed back by the displacement sensor 26 to ensure that there is no attraction or repulsion between the electromagnet 27 and the feedback magnet 25 when the electromagnet 27 is powered on.

[0095] When the operating rod 11 moves translationally, the control unit receives the electrical signal converted by the first magnetic encoder circuit board 18 and sends a control signal to the drive motor 4 based on the signal. After receiving the signal, the drive motor 4 drives the lead screw 32 to rotate so that the electromagnet 27 and the feedback magnet 25 always maintain the same distance (first spacing).

[0096] When the drive motor 4 receives the guidewire pushing resistance feedback signal, the electromagnet 27 is energized, and the end face magnetic poles of the electromagnet 27 and the feedback magnet 25 are the same. According to the size of the guidewire pushing resistance, the axial spacing between the feedback magnet 25 and the electromagnet 27 is reduced accordingly. Since the magnetic fields on the surface of the electromagnet 27 and the magnetic fields on the surface of the feedback magnet 25 have the same poles and repel each other, the feedback magnet 25 converts the electromagnetic force it receives into operating rod resistance to block the movement of the operating rod 11, so as to achieve the effect of the feedback force size.

[0097] By changing the direction of the current in the electromagnet 27, the magnetic field on the surface of the electromagnet 27 and the opposite poles of the magnet on the surface of the feedback magnet 25 are attracted to each other, and the driving motor 4 drives the screw 32 to rotate, so that the electromagnet 27 and the feedback magnet 25 are in close contact, so as to achieve the effect of resetting the operating rod 11.

[0098] The present disclosure also provides an interventional surgical robot, comprising the aforementioned interventional surgical robot doctor control end structure.

[0099] As described above, the interventional surgery robot doctor control terminal structure and the interventional surgery robot disclosed in the present invention have the following beneficial effects:

[0100] In the interventional surgical robot doctor control end structure disclosed in the present invention, the non-contact magnetic structure converts electromagnetic force into resistance that responds to the outside world. The use of non-contact force feedback reduces the mechanism's own resistance and can more accurately feedback the guidewire pushing resistance.

[0101] The sliding hinge seat structure hinges and supports the operating rod. The operating rod and the operating rod action feedback part have very little resistance during linear motion before the feedback resistance, which can better feel the resistance fed back to the operating rod by the electromagnetic force; the operation of the operating rod not only retains the doctor's existing operating habits, but is also easier to operate than a guide wire with an extremely small diameter. The operating rod can push or rotate or tilt or twist, and can also push and rotate at the same time, and can also push and rotate / or tilt / or twist at the same time; the operating rod action feedback part can convert the translational linear motion and / or rotation and / or tilt and / or twisting motion of the operating rod into electrical signals and transmit them to the control part; the operation of the operating rod can well simulate the doctor's operating habits, minimize the learning cost, and adapt to the operation of the robot more quickly;

[0102] The present invention can achieve delicate and dexterous operation of the guide wire, thereby improving the efficiency of the operation; and has tactile feedback, thereby improving the safety of the operation.

[0103] The above description is only an illustrative embodiment of the present disclosure and is not intended to limit the scope of the present disclosure. Any equivalent changes and modifications made by any person skilled in the art without departing from the concept and principle of the present disclosure shall fall within the scope of protection of the present disclosure.

Claims

1. A doctor control terminal structure of an interventional surgery robot, characterized in that: include, A control unit, used to control the working state of the doctor control terminal structure of the interventional surgery robot; An operating rod capable of being pushed and / or rotated and electrically connected to the guide wire through a control unit; The support structure includes a sliding hinge seat structure, one end of the operating rod is hinged in the sliding hinge seat structure, and the sliding hinge seat structure can move along the axial direction of the operating rod; the sliding hinge seat structure is provided with an operating rod action feedback unit electrically connected to the control unit, and the operating rod action feedback unit can convert the translational linear motion and / or rotational motion of the operating rod into an electrical signal and transmit it to the control unit; The resistance feedback structure is used to generate electromagnetic force according to the guidewire pushing resistance feedback signal output by the control unit and convert the electromagnetic force into the operating rod resistance, including a non-contact magnetic structure electrically connected to the control unit. The non-contact magnetic structure can move synchronously with the sliding hinge seat structure and can generate electromagnetic force according to the received guidewire pushing resistance signal, and the electromagnetic force is converted into the operating rod resistance to block the movement of the operating rod.

2. The interventional surgery robot doctor control terminal structure according to claim 1, characterized in that: The non-contact magnetic structure includes a feedback magnet and an electromagnet capable of changing the magnetic field by applying electricity, the feedback magnet and the electromagnet being axially opposite and coaxially arranged; the feedback magnet is arranged on the end surface of the sliding hinge seat structure away from the operating rod, the electromagnet is arranged on the electromagnet mounting seat, and the electromagnet mounting seat is connected to a mobile drive structure, the mobile drive structure is electrically connected to the control unit, and the mobile drive structure can drive the electromagnet mounting seat to drive the electromagnet to move axially along the operating rod; Before the operating rod moves in translation, the electromagnet is in a de-energized state, and the axial spacing between the electromagnet and the feedback magnet is adjusted to a first spacing, with no force acting between the electromagnet and the feedback magnet. When the operating rod moves in translation and there is no guidewire pushing resistance feedback signal, the electromagnet is in a de-energized state, and the mobile drive structure drives the electromagnet to move so as to maintain a constant first spacing with the feedback magnet in the axial direction. When the mobile drive structure receives the guidewire pushing resistance feedback signal, it is energized so that the end magnetic poles of the electromagnet and the feedback magnet facing each other are aligned. The mobile drive structure reduces the axial spacing between the feedback magnet and the electromagnet according to the magnitude of the guidewire pushing resistance, generating an electromagnetic force between the feedback magnet and the electromagnet. The feedback magnet converts the electromagnetic force received into operating rod resistance to block the movement of the operating rod. When the operating rod needs to be reset, it is energized so that the magnetic field of the electromagnet and the magnetic field on the surface of the feedback magnet have opposite poles and attract each other. The electromagnet attracts the feedback magnet, the sliding hinge seat structure, and the operating rod, and the mobile drive structure drives the sliding hinge seat structure and the operating rod to move and reset through the electromagnet.

3. The interventional surgery robot doctor control terminal structure according to claim 2, characterized in that: The mobile driving structure includes a driving motor electrically connected to the control unit, the driving motor is connected to a transmission structure, the transmission structure is connected to the electromagnet mounting seat, and the driving motor drives the electromagnet mounting seat through the transmission structure to drive the electromagnet to move; When the drive motor receives the guidewire pushing resistance feedback signal output by the control unit, it is energized so that the end surface magnetic poles of the electromagnet and the feedback magnet are aligned. The drive motor drives the electromagnet mounting seat to move according to the size of the guidewire pushing resistance, reducing the axial distance between the feedback magnet and the electromagnet to generate electromagnetic force.

4. The interventional surgery robot doctor control terminal structure according to claim 3, characterized in that: The transmission structure includes a screw and a screw nut sleeved on the screw, the screw nut is connected to the electromagnet mounting seat, the first end of the screw is hinged in the first screw support, and the second end of the screw is hinged in the second screw support; the drive motor is connected to the first end of the screw, and the drive motor drives the screw to rotate and drives the screw nut and the electromagnet mounting seat to move.

5. The interventional surgery robot doctor control terminal structure according to claim 4, characterized in that: A driven synchronous wheel is provided at the first end of the lead screw, an active synchronous wheel is provided at the output end of the drive motor, a synchronous belt is sleeved on the active synchronous wheel and the driven synchronous wheel, and the drive motor drives the lead screw to rotate through the active synchronous wheel, the synchronous belt and the driven synchronous wheel.

6. The interventional surgery robot doctor control terminal structure according to claim 2, characterized in that: The electromagnet mounting seat is connected to a displacement sensor electrically connected to the control unit. The displacement sensor is used to monitor the axial spacing between the electromagnet and the feedback magnet in real time and output it to the control unit.

7. The interventional surgery robot doctor control terminal structure according to claim 6, characterized in that: A sensor reflector is connected to the sliding hinge seat structure, and the sensor reflector is parallel to the light source plane of the displacement sensor.

8. The interventional surgery robot doctor control terminal structure according to claim 2, characterized in that: The sliding hinge seat structure is provided with a first magnetic encoder circuit board at one axial end of the operating rod, and the first magnetic encoder circuit board converts the rotational motion of the operating rod into an electrical signal and transmits it to the control unit; the sliding hinge seat structure is provided with a second magnetic encoder circuit board at one radial side of the operating rod, and the second magnetic encoder circuit board converts the translational linear motion of the operating rod into an electrical signal and transmits it to the control unit.

9. The interventional surgery robot doctor control terminal structure according to claim 8, characterized in that: The sliding hinge seat structure includes a magnetic encoder fixing seat, a receiving groove which runs through the upper and lower parts and is open at one end away from the operating rod, a first through hole is provided on one side wall of the receiving groove, and the first end of the operating rod is rotatably inserted into the first through hole; a second through hole and a hinged blind hole are coaxially provided on two side walls of the receiving groove adjacent to the first through hole, a rotating shaft is rotatably inserted into the second through hole, the first end of the rotating shaft passes through the receiving groove and is hinged in the hinged blind hole, and a position of the rotating shaft located in the receiving groove is connected to a motion conversion structure which can convert the translational motion of the operating rod into the rotation of the rotating shaft; A first radial magnet is connected to an end surface of a first end of the operating rod, and the first magnetic encoder circuit board is connected to a side wall of the accommodating groove. When the operating rod rotates, the first radial magnet is driven to rotate, and the first magnetic encoder circuit board converts the rotational motion of the operating rod into an electrical signal that is transmitted to the control unit. A second radial magnet is provided on the end surface of the second end of the rotating shaft, and the second magnetic encoder circuit board is connected to the side wall of the accommodating groove penetrating the second end of the rotating shaft. When the operating rod moves in translation and linear motion, the second radial magnet is driven to rotate by the motion conversion structure, and the translation and linear motion of the operating rod is converted into an electrical signal by the second magnetic encoder circuit board and transmitted to the control unit.

10. The interventional surgery robot doctor control terminal structure according to claim 9, characterized in that: The motion conversion structure includes a gear sleeved on the rotating shaft, a rack parallel to the central axis of the operating rod is fixedly provided below the accommodating groove, and the gear is engaged with the rack; when the operating rod drives the magnetic encoder fixing seat to move, the gear moves and rotates along the rack to drive the rotating shaft to rotate.

11. The interventional surgery robot doctor control terminal structure according to claim 9, characterized in that: A first bearing is arranged in the first through hole, and the operating rod is axially fixed by a radial opening nut after rotating through the first bearing; a second bearing is arranged in the second through hole and the hinged blind hole, and the rotating shaft is rotatably arranged in the second bearing.

12. The interventional surgery robot doctor control terminal structure according to claim 9, characterized in that: A shaft sleeve fixing seat is provided on a side of the magnetic encoder fixing seat away from the resistance feedback structure. A linear ball bushing is provided in the shaft sleeve fixing seat. The operating rod can slidably rotate through the linear ball bushing.

13. The interventional surgery robot doctor control terminal structure according to claim 9, characterized in that: The sliding hinge seat structure further includes a magnet fixing seat, which can be covered on the accommodating groove, and one end of the magnet fixing seat away from the operating rod is connected to the feedback magnet.

14. The interventional surgery robot doctor control terminal structure according to claim 2, characterized in that: The supporting structure also includes a base plate, a slide rail is provided on the base plate, a first slider and a second slider are slidably provided on the slide rail, the electromagnet mounting seat is connected to the first slider, and the sliding hinge seat structure is connected to the second slider.

15. The interventional surgery robot doctor control terminal structure according to claim 1, characterized in that: The non-contact magnetic structure includes a feedback magnet bar and a coil that can change the magnetic field when energized. The feedback magnet bar is coaxial with the coil, and the first end of the feedback magnet bar can be movably inserted into the inner cavity of the coil; the second end of the feedback magnet bar is connected to the end surface of the sliding hinge seat structure away from the operating rod. The coil is arranged on a coil mounting seat, and a mobile drive structure is connected to the coil mounting seat. The mobile drive structure is electrically connected to the control unit, and the mobile drive structure can drive the coil mounting seat to drive the coil to move along the axial direction of the operating rod.

16. An interventional surgical robot, characterized in that: It comprises the interventional surgery robot doctor control terminal structure as described in any one of claims 1 to 15.

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