CN112932675B - Pipeline control device with multidimensional force sense feedback - Google Patents
Pipeline control device with multidimensional force sense feedback Download PDFInfo
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
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- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/02—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00 comprising essentially only toothed or friction gearings
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00743—Type of operation; Specification of treatment sites
- A61B2017/00778—Operations on blood vessels
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Abstract
The invention provides a pipeline control device with multi-dimensional force sense feedback, which comprises: the shell is provided with a passage port for inserting a pipeline; the translational control device comprises a first transmission part and a first friction wheel, wherein the first friction wheel is arranged in the shell and clamped on the pipeline, and is used for driving the first transmission part to rotate so as to drive the first friction wheel to synchronously rotate and enable the pipeline to perform translational motion; the rotation control device comprises a second transmission part, the second transmission part is connected with the other end of the shell and drives the second transmission part to rotate so as to drive the shell to synchronously rotate and drive the pipeline to synchronously rotate along with the shell; the pipeline tensioning device is used for controlling the clamping degree of the second friction wheel and the pipeline; and the pressure detection device is used for detecting stress information of the pipeline and converting the stress information into an electric signal to be transmitted to an external terminal. The invention can accurately control the pipeline in the translational motion and the rotational motion, and simultaneously realize the multi-dimensional force feedback to help operators feel the stress condition of the pipeline in different dimensions.
Description
Technical Field
The invention relates to the field of electromechanical control, in particular to a pipeline control device with multi-dimensional force sense feedback.
Background
In recent years, cardiovascular diseases have seriously threatened the health of people, so that the method has great significance for accurate diagnosis and effective treatment of the cardiovascular diseases. The current treatment modes of cardiovascular diseases mainly comprise drug treatment, vascular intervention operation and the like. Among them, the drug therapy can relieve or even eliminate the symptoms of patients to some extent by some specific drugs developed for cardiovascular diseases, but in most cases, the method has a limited effect. The vascular interventional operation mode is that under the guidance of medical imaging equipment, a special pipeline is controlled to move in the blood vessel of a patient and finally reaches a focus, and equipment such as a balloon and a stent at the tail end of the pipeline is used for diagnosing and treating diseases.
The vascular interventional operation mode has very significant advantages in diagnosis and treatment of cardiovascular diseases, but the current vascular interventional operation needs manual operation by doctors to be completed, which brings some problems, mainly including: 1) A large amount of X-ray radiation can be generated in the process of the vascular interventional operation, and the health of a doctor can be injured if the patient is in a radiation environment for a long time; 2) The vascular intervention operation has high difficulty and long time consumption, has high requirements on the technique and experience of doctors, and simultaneously, the doctors are easy to feel tired in the operation process; 3) The contact force between the pipeline and the blood vessel in the blood vessel interventional operation is very small, so that doctors are difficult to accurately sense the stress condition of the pipeline, and the blood vessel is easy to rupture due to excessive force and other reasons.
Through search, chinese invention patents with publication numbers of CN103083784A, CN103599585A, CN104287841A, CN108158656A and CN111544741A both propose a pipeline control and force sense feedback system applied to a vascular interventional operation aiming at the problems. These systems enable control of the pipeline and feedback on the stress conditions of the pipeline. However, most of these systems have complicated mechanical structures, and only can operate the pipeline to perform translational motion or only can feed back the stress of the pipeline in the direction of rotational motion, which has certain limitations.
Therefore, it is necessary to develop a pipeline control device having a simple structure, a high degree of freedom in pipeline control, and multi-dimensional force feedback.
Disclosure of Invention
In view of the defects in the prior art, the invention aims to provide a pipeline operating device with multidimensional force sense feedback.
The invention provides a pipeline control device with multi-dimensional force sense feedback, which comprises:
the pipeline connector comprises a shell, an end cover is arranged at one end of the shell and fixedly connected with the shell, and a channel port for inserting a pipeline is formed in the centers of the end cover and the other end of the shell, so that one end of the pipeline penetrates into the channel port of the shell and penetrates out of the channel port of the end cover;
the translational control device comprises a first transmission part and a first friction wheel, wherein the first transmission part is connected with the end cover, the first friction wheel is arranged in the shell and clamped on the pipeline, and the first transmission part is driven to rotate by external power to drive the first friction wheel to synchronously rotate so as to enable the pipeline to perform translational motion;
the rotation control device comprises a second transmission part, the second transmission part is connected with the other end of the shell, and the second transmission part is driven to rotate by external power to drive the shell and the end cover to synchronously rotate, so that the pipeline is driven to synchronously rotate along with the shell and the end cover;
the pipeline tensioning device is arranged in the shell and comprises a second friction wheel used for clamping the pipeline, the second friction wheel and the first friction wheel are positioned on the same horizontal plane, the second friction wheel and the first friction wheel are respectively positioned on two sides of the pipeline, and the clamping degree of the pipeline is controlled by changing the distance between the second friction wheel and the first friction wheel;
and the pressure detection device is used for detecting the stress information of the pipeline and converting the stress information into an electric signal to be transmitted to an external terminal.
Preferably, the first transmission member includes:
the first connecting shaft is connected with the end cover through a first bearing;
the first bevel gear is coaxially connected with the first connecting shaft, and external power is transmitted to the first connecting shaft through the first bevel gear to drive the first connecting shaft to rotate;
the transmission worm is coaxially connected with the first connecting shaft, and the received power is transmitted to the transmission worm through the first connecting shaft;
the worm gear device is connected with the transmission worm, and a worm gear mechanism for transmitting power is formed by the worm gear device and the transmission worm;
and the driving friction wheel module is connected with the first friction wheel and controls the pipeline to perform translational motion through power transmitted by the worm gear mechanism.
Preferably, the worm gear device includes:
the worm wheel is connected with the transmission worm;
the first cylindrical gear is coaxially connected with the worm gear through a second connecting shaft;
the active friction wheel module includes:
and the second cylindrical gear is meshed with the first cylindrical gear, is coaxially connected with the first friction wheel through a third connecting shaft, and drives the first friction wheel to rotate through the second cylindrical gear.
Preferably, the second transmission member includes:
one end of the fourth connecting shaft is connected with the other end of the shell;
and the second bevel gear is connected with the other end of the fourth connecting shaft through a second bearing, the second bevel gear, the second bearing and the fourth connecting shaft are coaxially connected with the shell, and the second bevel gear receives external power and transmits the external power to the shell through the second bearing and the fourth connecting shaft so as to drive the pipeline to perform rotary motion.
Preferably, the pipeline tensioner comprises: a rotating shaft;
the base is connected with the bottom of the rotating shaft, and a support arm is arranged on the base;
the upper end of the fifth connecting shaft is fixed with the support arm, and the lower end of the fifth connecting shaft is fixed with the base;
the tail end of the control handle is located outside the shell, and the control handle is operated to drive the rotating shaft to rotate, so that the base, the fifth connecting shaft and the second friction wheel are driven to rotate, and the clamping degree between the second friction wheel and the pipeline is changed.
Preferably, the pressure detecting means includes:
the first film pressure sensor is used for sensing the contact force between the pipeline and the first friction wheel in the translational motion direction and converting the sensed contact force into an electric signal;
the second film pressure sensor is used for sensing the contact force of the pipeline and the second friction wheel in the rotating motion direction and converting the sensed contact force into an electric signal;
and the electric slip ring is used for receiving the electric signals output by the first film pressure sensor and the second film pressure sensor and feeding the electric signals back to an external terminal.
Preferably, a fixed pressing plate is arranged on the transmission worm, the fixed pressing plate is located on the inner side of the end cover, and a gap for accommodating the first film pressure sensor is arranged between the fixed pressing plate and the end cover.
Preferably, the number of the second film pressure sensors is two;
the lower part of the base is provided with a first clamping groove for inserting a second film pressure sensor;
a second clamping groove for inserting another second film pressure sensor is formed in the upper portion of the support arm, and the two second film pressure sensors are respectively located on two sides of the second friction wheel;
elastic parts used for pre-tightening the second film pressure sensor are arranged in the first clamping groove and the second clamping groove, and two ends of each elastic part are connected with the second friction wheel and the second film pressure sensor respectively.
Preferably, the electrical slip ring is sleeved on the fourth connecting shaft, and the electrical slip ring is connected with the first film pressure sensor and the second film pressure sensor through leads and transmits corresponding electrical signals to the terminal, so that multi-dimensional force feedback is realized.
Compared with the prior art, the invention has at least one of the following beneficial effects:
according to the device, the translational control device and the rotation control device are arranged to respectively control the translational motion and the rotational motion of the pipeline, so that the motion control of the pipeline in two dimensions of translation and rotation is realized, and the control in two directions is not influenced mutually, so that the degree of freedom and the precision of the pipeline control are improved, and an operator can control the actual motion of the pipeline more accurately and conveniently; meanwhile, the pressure detection device is utilized to realize multi-dimensional force sense feedback of the pipeline, so that the operator can accurately control the translation and rotation motion of the pipeline while sensing the real stress of the pipeline, and the problems that the operator is difficult to accurately sense the stress condition of the pipeline in real operation, the blood vessel is easy to rupture due to excessive force and other reasons are avoided.
According to the device, the translation control device further realizes the matched transmission through the gear set and the worm and gear mechanism, so that the transmission structure is simplified, and the accurate control of the pipeline on the translation and rotation motion can be realized.
According to the device, the plurality of film pressure sensors are arranged at different positions, so that the stress condition of the pipeline on multiple dimensions is sensed, operators can obtain more real and comprehensive force telepresence, and the accuracy and the safety of the operation process are improved; and the electric slip ring transmits the electric signal converted according to the force sense signal, thereby effectively avoiding the problem of wire winding caused by the rotation motion of the pipeline.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a schematic structural diagram of a multi-dimensional force feedback pipeline control device according to a preferred embodiment of the present invention;
FIG. 2 is a top view of a multi-dimensional force sense feedback pipeline-manipulating device in accordance with a preferred embodiment of the present invention;
FIG. 3 is a schematic structural view of a pipeline tensioner in accordance with a preferred embodiment of the present invention;
the scores in the figure are expressed as: the device comprises a first bevel gear 1, a second bearing 2, an electric slip ring 3, a shell 4, a pipeline tensioning device 5, a driving friction wheel module 6, a transmission worm 7, a worm gear device 8, a fixed pressing plate 9, a first film pressure sensor 10, an end cover 11, a first bearing 12, a first bevel gear 13, a pipeline 14, a base 15, a control handle 16, a rotating shaft 17, a support arm 18, a second film pressure sensor 19, a connecting shaft 20, a second friction wheel 21 and a second film pressure sensor 22.
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.
Referring to fig. 1-2, there are shown a schematic structural view and a top view of a multi-dimensional force feedback pipeline control device according to a preferred embodiment of the present invention, which includes a housing, a mechanical module and an electrical module.
The shell is used for fixing and supporting the internal components. The casing is a columnar component with an opening end, and an accommodating space is formed inside the casing.
The open end of the shell is provided with an end cover which is fixedly connected with the shell to seal the inner accommodating space of the shell. And the centers of the end cover and the other end of the shell are provided with passage ports for inserting pipelines, so that one end of the pipeline penetrates through the passage ports of the shell and penetrates out of the passage ports of the end cover, and the pipeline penetrates through the shell along the axial direction.
The mechanical module comprises a translation control device, a rotation control device and a pipeline tensioning device.
The translational control device is used for receiving external torque and realizing the control of the translational motion of the pipeline. The translational control device comprises a first transmission part and a first friction wheel, the first transmission part is connected with the end cover, the first friction wheel is arranged inside the shell and clamped on the pipeline, the first transmission part is driven to rotate through external power, the first friction wheel is driven to rotate synchronously, and the pipeline is enabled to move in a translational mode.
The rotation control device is used for receiving external torque and realizing the control of the rotation motion of the pipeline. The rotation control device comprises a second transmission part, the second transmission part is connected with the other end of the shell, the second transmission part is driven to rotate through external power, the shell and the end cover are driven to rotate synchronously, and therefore the pipeline is driven to rotate synchronously along with the shell.
A line tensioner is arranged inside the housing, the line tensioner comprising a second friction wheel for clamping the line. The second friction wheel and the first friction wheel are positioned on the same horizontal plane and are respectively positioned on two sides of the pipeline, and the distance between the first friction wheel and the second friction wheel is changed, so that the clamping degree of the pipeline is controlled.
The electric module comprises a pressure detection device for detecting the stress information of the pipeline and converting the stress information into an electric signal to be transmitted to an external terminal. When the pipeline carries out translational motion and rotary motion, the pressure detection device can detect the contact force between the pipeline and the first friction wheel and the second friction wheel, and transmits an electric signal to the receiving device through a lead, thereby realizing multi-dimensional force sense feedback.
The device realizes the action control of the pipeline on two dimensions of translation and rotation through the mechanical module, and realizes the multi-dimensional force sense feedback of the pipeline by utilizing the pressure detection device, so that an operator can accurately control the translation and rotation motion of the pipeline while perceiving the real stress of the pipeline.
In other partially preferred embodiments, referring to fig. 1, the first transmission member includes a first connecting shaft, a first bearing, a first bevel gear, a worm gear mechanism, and a driving friction wheel module.
The first connecting shaft is connected with the end cover through a first bearing;
the first bevel gear is coaxially connected with the first connecting shaft, and external power is transmitted to the first connecting shaft through the first bevel gear to drive the first connecting shaft to rotate.
The worm and gear mechanism consists of a transmission worm and a worm gear device, wherein the transmission worm is coaxially fixed with the first connecting shaft, and the received power is transmitted to the transmission worm through the first connecting shaft; the worm gear device is connected with the transmission worm. And power is transmitted to the driving friction wheel module through a worm gear mechanism. Preferably, the worm gear device comprises a worm gear and a first cylindrical gear, wherein the worm gear is connected with the transmission worm, and the first cylindrical gear is coaxially connected with the worm gear through a second connecting shaft.
The driving friction wheel module is connected with the worm gear device through a gear, and the driving friction wheel module is connected with the first friction wheel and performs translational motion through a power control pipeline transmitted by the worm gear mechanism. As a preferred mode, the driving friction wheel module comprises: the second cylindrical gear is in meshing transmission with the first cylindrical gear, the second cylindrical gear is coaxially connected with the first friction wheel through the third connecting shaft, and the first friction wheel is driven to rotate through the second cylindrical gear.
The translation control device controls the rotation of the first bevel gear according to power input from the outside, so that the power can be transmitted to the gear set transmission mechanism in the shell through the worm gear mechanism, and the translation motion of a pipeline clamped by the friction wheel is controlled by the first friction wheel coaxial with the gear.
In other partially preferred embodiments, the second transmission member comprises a fourth connecting shaft and a second bevel gear, wherein,
one end of the fourth connecting shaft is connected with the other end of the housing. And the second bevel gear is connected with the other end of the fourth connecting shaft through a second bearing and is arranged outside the shell. And the second bevel gear, the second bearing and the fourth connecting shaft are coaxially connected with the shell, and the second bevel gear receives external power and transmits the external power to the shell through the second bearing and the fourth connecting shaft, so that the pipeline is driven to rotate. The rotation control device also controls the rotation of the second bevel gear according to externally input power so that the power can be transmitted to the housing through the fourth connecting shaft, thereby controlling the pipeline to perform rotary motion along with the rotation of the housing.
In some other preferred embodiments, the pipeline tensioner further comprises a rotating shaft, a base, a fifth connecting shaft and a control handle.
The rotation axis is arranged vertically. The base is arranged horizontally. One end of the base is connected with the bottom of the rotating shaft, and the base is provided with a support arm. The fifth connecting shaft is vertically arranged, the upper end of the fifth connecting shaft is fixed with the support arm, and the lower end of the fifth connecting shaft is fixed with the base. The second friction wheel is coaxially connected to the fifth connecting shaft and is driven to move by the fifth connecting shaft.
Control handle is connected with the rotation axis, and control handle's end is located the outside of casing, utilizes the rotation axis that is connected with control handle and friction pulley, and the control handle who is located the casing outside through the operation drives the rotation axis and rotates to drive base, fifth connecting axle and second friction pulley and rotate, thereby change the tight degree of clamp between second friction pulley and the pipeline, realize the control to the tight degree of clamp of second friction pulley and pipeline.
In some other preferred embodiments, the pressure sensing device includes a membrane pressure sensor and an electrical slip ring. The film pressure sensor is divided into a translation force sense detection module and a rotation force sense detection module, wherein the translation force sense detection module is used for sensing the contact force between a pipeline and the first friction wheel in the translation motion direction and converting the contact force into an electric signal, such as the first film pressure sensor in fig. 1. The rotation force sense detection module is used for sensing the contact force between the pipeline and the friction wheel in the rotation motion direction and converting the contact force into an electric signal, such as two second film pressure sensors in fig. 3. The film pressure sensors are arranged at different positions, so that the stress conditions of the pipeline on multiple dimensions can be sensed, operators can obtain more real and comprehensive force sense, and the accuracy and the safety of the operation process are improved.
The electric slip ring is used for receiving the electric signals output by the first film pressure sensor and the second film pressure sensor and feeding the electric signals back to an external terminal.
In other preferred embodiments, a fixed pressing plate is arranged on the transmission worm, the fixed pressing plate is located on the inner side of the end cover, a gap for accommodating the first film pressure sensor is arranged between the fixed pressing plate and the end cover, and the fixed pressing plate is used for fixing the first film pressure sensor. When the pipeline is subjected to external force in the translation direction, the external force can be transmitted to the worm gear and worm mechanism through the first friction wheel, so that the external force acts on the first film pressure sensor through the fixed pressing plate fixed on the transmission worm.
In some other preferred embodiments, the number of the second film pressure sensors is two; the lower part of the base is provided with a first clamping groove for inserting a second film pressure sensor; the upper portion of support arm is equipped with the second draw-in groove that is used for another second film pressure sensor of pegging graft, and two second film pressure sensors are located the both sides of second friction pulley respectively. As a preferred mode, elastic parts used for pre-tightening the second film pressure sensors are arranged in the first clamping groove and the second clamping groove, and two ends of each elastic part are respectively connected with the second friction wheel and the second film pressure sensors in the clamping grooves. The elastic member may be a spring. When the pipeline receives external force in the rotation direction, the external force can be transmitted to the elastic part connected with the second friction wheel through the second friction wheel, so that the external force acts on the two second film pressure sensors positioned in the first clamping groove and the second clamping groove.
In other preferred embodiments, the electrical slip ring is sleeved on the fourth connecting shaft, is connected with the first film pressure sensor and the second film pressure sensor through conducting wires, and transmits corresponding electrical signals to the terminal, so that multi-dimensional force sense feedback is realized.
The transmission mode and the force sense detection feedback mode of the mechanical module in the above embodiments can be selected and implemented according to the prior art, as long as the above functions and purposes are achieved. By selecting proper sensors and optimizing the shape and the size of the whole mechanical structure, the pipeline control device with multi-dimensional force sense feedback can feed back force senses with different dimensions and adapt to pipelines with different sizes.
The preferred embodiment further adopts the gear set and the worm and gear mechanism to simplify the design of the transmission structure, so that the pipeline can be controlled in two translational directions and two rotational directions, and the control in the two directions is not influenced mutually, thereby improving the degree of freedom and the precision of the control; meanwhile, the device is provided with film pressure sensors at different positions to realize multidimensional detection on the stress condition of the pipeline, and an electric signal obtained by converting a force sense signal is transmitted through an electric slip ring, so that the problem of wire winding caused by the rotary motion of the pipeline is effectively avoided; the whole structure is relatively simple, the processing and the assembly are convenient, the production cost and the maintenance cost are low, and the high control precision and the multidimensional force sense feedback can be realized.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention.
Claims (5)
1. A multi-dimensional force sense feedback pipeline operating device, comprising:
the pipeline connector comprises a shell, an end cover is arranged at one end of the shell and fixedly connected with the shell, and a channel port for inserting a pipeline is formed in the centers of the end cover and the other end of the shell, so that one end of the pipeline penetrates into the channel port of the shell and penetrates out of the channel port of the end cover;
the translational control device comprises a first transmission part and a first friction wheel, wherein the first transmission part is connected with the end cover, the first friction wheel is arranged in the shell and clamped on the pipeline, and the first transmission part is driven to rotate by external power to drive the first friction wheel to synchronously rotate so as to enable the pipeline to perform translational motion;
the rotation control device comprises a second transmission part, the second transmission part is connected with the other end of the shell, and the second transmission part is driven to rotate by external power to drive the shell and the end cover to synchronously rotate, so that the pipeline is driven to synchronously rotate along with the shell and the end cover;
the pipeline tensioning device is arranged in the shell and comprises a second friction wheel used for clamping the pipeline, the second friction wheel and the first friction wheel are positioned on the same horizontal plane, the second friction wheel and the first friction wheel are respectively positioned on two sides of the pipeline, and the clamping degree of the pipeline is controlled by changing the distance between the second friction wheel and the first friction wheel;
the pipeline tensioner comprises: a rotating shaft;
the base is connected with the bottom of the rotating shaft, and a support arm is arranged on the base;
the upper end of the fifth connecting shaft is fixed with the support arm, and the lower end of the fifth connecting shaft is fixed with the base;
the tail end of the control handle is positioned outside the shell, and the control handle is operated to drive the rotating shaft to rotate, so that the base, the fifth connecting shaft and the second friction wheel are driven to rotate, and the clamping degree between the second friction wheel and the pipeline is changed;
the pressure detection device is used for detecting the stress information of the pipeline and converting the stress information into an electric signal to be transmitted to an external terminal;
the first transmission member includes:
the first connecting shaft is connected with the end cover through a first bearing;
the transmission worm is coaxially connected with the first connecting shaft;
the pressure detection device includes:
the first film pressure sensor is used for sensing the contact force of the pipeline and the first friction wheel in the translational motion direction and converting the sensed contact force into an electric signal;
the second film pressure sensor is used for sensing the contact force of the pipeline and the second friction wheel in the rotating motion direction and converting the sensed contact force into an electric signal;
the electric slip ring is used for receiving the electric signals output by the first film pressure sensor and the second film pressure sensor and feeding the electric signals back to an external terminal;
a fixed pressing plate is arranged on the transmission worm and is positioned on the inner side of the end cover, and a gap for accommodating the first film pressure sensor is formed between the fixed pressing plate and the end cover;
the number of the second film pressure sensors is two;
the lower part of the base is provided with a first clamping groove for inserting a second film pressure sensor;
a second clamping groove for inserting another second film pressure sensor is formed in the upper portion of the support arm, and the two second film pressure sensors are located on two sides of the second friction wheel respectively;
elastic parts used for pre-tightening the second film pressure sensor are arranged in the first clamping groove and the second clamping groove, and two ends of each elastic part are connected with the second friction wheel and the second film pressure sensor respectively.
2. The multi-dimensional force sensory feedback pipeline actuation device according to claim 1, wherein the first transmission member comprises:
the first bevel gear is coaxially connected with the first connecting shaft, and external power is transmitted to the first connecting shaft through the first bevel gear to drive the first connecting shaft to rotate;
the received power is transmitted to the transmission worm through the first connecting shaft;
the worm gear device is connected with the transmission worm, and a worm gear mechanism for transmitting power is formed by the worm gear device and the transmission worm;
and the driving friction wheel module is connected with the first friction wheel and controls the pipeline to perform translational motion through power transmitted by the worm gear mechanism.
3. A pipeline control device with multi-dimensional force sense feedback according to claim 2,
the worm gear device includes:
the worm wheel is connected with the transmission worm;
the first cylindrical gear is coaxially connected with the worm gear through a second connecting shaft;
the active friction wheel module includes:
and the second cylindrical gear is meshed with the first cylindrical gear, is coaxially connected with the first friction wheel through a third connecting shaft, and drives the first friction wheel to rotate through the second cylindrical gear.
4. The multi-dimensional force feedback pipeline operating device according to claim 3, wherein the second transmission member comprises:
one end of the fourth connecting shaft is connected with the other end of the shell;
the second bevel gear is connected with the other end of the fourth connecting shaft through a second bearing, the second bevel gear, the second bearing and the fourth connecting shaft are coaxially connected with the shell, and the second bevel gear receives external power and transmits the external power to the shell through the second bearing and the fourth connecting shaft, so that the pipeline is driven to rotate.
5. The pipeline operating device for multidimensional force sense feedback as recited in claim 4, wherein the electrical slip ring is sleeved on the fourth connecting shaft, and the electrical slip ring is connected with the first film pressure sensor and the second film pressure sensor through wires and transmits corresponding electrical signals to the terminal, so as to implement multidimensional force sense feedback.
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