CN113729961B - Main end operating handle of interventional operation robot - Google Patents
Main end operating handle of interventional operation robot Download PDFInfo
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- CN113729961B CN113729961B CN202111009835.XA CN202111009835A CN113729961B CN 113729961 B CN113729961 B CN 113729961B CN 202111009835 A CN202111009835 A CN 202111009835A CN 113729961 B CN113729961 B CN 113729961B
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- rod
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- detection device
- outer sleeve
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- 238000001514 detection method Methods 0.000 claims abstract description 21
- 238000006073 displacement reaction Methods 0.000 claims abstract description 21
- 230000033001 locomotion Effects 0.000 claims abstract description 11
- 230000000875 corresponding effect Effects 0.000 claims abstract description 4
- 230000001788 irregular Effects 0.000 claims description 6
- 210000004204 blood vessel Anatomy 0.000 claims description 2
- 238000013152 interventional procedure Methods 0.000 claims 4
- 230000005540 biological transmission Effects 0.000 abstract description 2
- 230000002792 vascular Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000001404 mediated effect Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- 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
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
-
- 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
- A61B34/74—Manipulators with manual electric input means
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- 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
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- 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
- A61B34/74—Manipulators with manual electric input means
- A61B2034/742—Joysticks
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Public Health (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Veterinary Medicine (AREA)
- Animal Behavior & Ethology (AREA)
- Robotics (AREA)
- Medical Informatics (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Molecular Biology (AREA)
- Biophysics (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Manipulator (AREA)
Abstract
The utility model provides an intervention operation robot main end operating handle for cooperate with from the end robot, from the end robot receive the operating information of main end operating handle to carry out corresponding action, its characterized in that includes the frame, installs action bars, angle detection device and displacement detection device in the frame, angle detection device and displacement detection device detect the rotation angle and the displacement of action bars respectively. The main end operating handle of the interventional operation robot is provided with the rotary encoder, the horizontal encoder and the torque feedback device, wherein the rotary encoder calculates the rotation angle of the operating rod and transmits the rotation motion information to the slave end robot, and the horizontal encoder calculates the moving distance of the operating rod and transmits the axial motion information to the slave end robot. The rotary encoder and the horizontal encoder are utilized to realize accurate transmission of operation instructions.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a main end operating handle of an interventional operation robot.
Background
For the long-term X-ray radiation receiving of traditional Chinese medicine in vascular intervention operation, a master-slave vascular intervention operation robot with remote operation is developed in engineering. The master-slave vascular interventional operation robot can work in a strong radiation environment, so that a doctor can control the master-slave vascular interventional operation robot outside a ray environment. Currently, there are two control modes, one is a touch screen, and the other is an operation handle. The operation handle issues operation commands to the operation robot, such as advancing and retreating, rotating and the like of the guide wire, on the one hand, and on the other hand, the resistance encountered by the guide wire catheter needs to be fed back to the hand of the operator, so that the operator can generate a feeling of presence as if the operator were operating the catheter with his own hand. However, the current operation is affected by the design structure, and certain errors exist in precision, which brings trouble to operators.
Disclosure of Invention
Based on the above, it is necessary to provide a novel main end operating handle of an interventional operation robot for overcoming the defects in the prior art.
The utility model provides an intervention operation robot main end operating handle for cooperate with from the end robot, from the end robot receive the operating information of main end operating handle to carry out corresponding action, its characterized in that includes the frame, installs action bars, angle detection device and displacement detection device in the frame, angle detection device and displacement detection device detect the rotation angle and the displacement of action bars respectively.
Further, the device also comprises a sliding sleeve which is arranged on the operating rod and can move along with the operating rod, and a moment feedback device which is matched with the sliding sleeve, wherein the slave end robot records the resistance when the blood vessel is in-between and feeds the resistance information back to the moment feedback device, and the moment feedback device provides a reverse force for the operating rod according to the resistance.
Further, the frame is provided with a rod core, the operating rod comprises a handle body, and the handle body can rotate and slide along the axis of the rod core.
Further, the handle body comprises a positioning cap and a positioning rod connected to one end of the positioning cap, the angle detection device is provided with a code disc, and the code disc is arranged on the positioning rod and synchronously rotates along with the operation rod. In the operation process, the handle body can axially displace and slide relative to the rotary encoder, and the handle body can drive the rotary encoder to rotate together.
Further, a limiting block is arranged on the frame and is used for limiting the code wheel of the angle detection device in the displacement direction.
Further, the sliding sleeve comprises a first outer sleeve, a second outer sleeve and a connecting frame for connecting the first outer sleeve and the second outer sleeve, the first outer sleeve and the second outer sleeve are respectively sleeved on the position adjusting rod and the rod core, and the operating rod drives the sliding sleeve to synchronously move when horizontally moving.
Further, the inner side of the second outer sleeve is provided with an irregular hole, the outer circumferential surface of the rod core is provided with a limiting surface, and when the second outer sleeve is matched with the rod core, the irregular hole and the limiting surface are mutually limited, so that the sliding sleeve can only move along the rod core and cannot rotate on the rod core.
Further, the torque feedback device comprises a driving rack, a torque motor, a gear set connected with the driving rack and fixed on the torque motor, and the driving rack is arranged on the sliding sleeve.
Further, the driving rack is provided with latches which are distributed side by side, and the latches on the driving rack are meshed with the gear set.
Further, the displacement detection device is provided with a code disc, and the code disc of the displacement detection device is arranged on the driving rack.
In summary, the main end operating handle of the interventional operation robot is provided with the rotary encoder, the horizontal encoder and the torque feedback device, wherein the rotary encoder calculates the rotation angle of the operating rod and transmits the rotation motion information to the slave end robot, and the horizontal encoder calculates the moving distance of the operating rod and transmits the axial motion information to the slave end robot. Utilize rotary encoder and horizontal encoder to realize the accurate conveying of operation instruction, torque motor provides a reverse thrust, resistance when the slave end robot record is mediated to with resistance information feedback to torque motor, realize that the main end is operated handle power propelling movement feedback, increase the sense of presence, improve operation safety, the practicality is strong, has stronger popularization meaning.
Drawings
Fig. 1 is a schematic structural view of a main end operating handle of an interventional operation robot according to the present invention.
Fig. 2 is a working principle diagram of the interventional operation robot when the master end operating handle is matched with the slave end robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 2, the present invention provides a master end operating handle of an interventional surgical robot for cooperating with a slave end robot 100, receiving operation information of the master end operating handle from the slave end robot 100 and performing corresponding actions, the master end operating handle of the interventional surgical robot including a frame, an operating rod 20 mounted on the frame, an angle detecting means 50, a sliding sleeve 30 mounted on the operating rod 20 and movable with the operating rod 20, a moment feedback means 40 cooperatively mounted with the sliding sleeve 30, and a displacement detecting means 60.
In this embodiment, the angle detecting device 50 is a rotary encoder, the code wheel 51 of the rotary encoder is mounted on the operating lever 20 and rotates synchronously with the operating lever 20, a limiting block is disposed on the frame, the limiting block limits the code wheel 51 of the rotary encoder in the displacement direction, the displacement detecting device 60 is a horizontal encoder, the code wheel 51 of the horizontal encoder is mounted on the torque feedback device 40, and the rotary encoder and the horizontal encoder feed detected information back to the slave robot 100. In other embodiments, the displacement detection device 60 may also employ a grating sensor, a magnetic grating sensor, or other device having a measurement of the distance of movement.
The frame is equipped with a pole core 10, the action bars 20 includes the handle body, the handle body can be along pole core 10 axle center pivoted simultaneously and can follow pole core 10 relative displacement slip, specifically, the handle body includes positioning cap 21 and connects in the positioning pole 22 of positioning cap 21 one end, rotary encoder installs on positioning pole 22, lets positioning pole 22 can be along pole core 10 axial displacement slip along with the code wheel 51 of relative rotary encoder of positioning cap 21, lets simultaneously positioning cap 21 drive rotary encoder's code wheel 51 through positioning pole 22 and rotate along pole core 10 axle center together, the handle body is equipped with the fixed orifices, pole core 10 passes from the fixed orifices the handle body.
The sliding sleeve 30 comprises a first outer sleeve 31, a second outer sleeve 32 and a connecting frame 33 for connecting the first outer sleeve 31 and the second outer sleeve 32, the first outer sleeve 31 and the second outer sleeve 32 are respectively sleeved on the positioning rod 22 and the rod core 10, and the operating rod 20 drives the sliding sleeve 30 to synchronously move when moving. And, the second jacket 32 has an irregular hole on the inner side, the outer circumferential surface of the core 10 has a limiting surface 11, and when the second jacket is mounted in cooperation with the core 10, the irregular hole and the limiting surface 11 are limited to each other, so that the sliding sleeve 30 can only move along the core 10 and cannot rotate on the core 10.
The torque feedback device 40 comprises a driving rack 42, a torque motor 41, a gear set 43 connected with the driving rack 42 and fixed on the torque motor 41, the driving rack 42 is arranged on the connecting frame 33 of the sliding sleeve 30, the driving rack 42 is provided with teeth distributed side by side, the code wheel 61 of the horizontal encoder is arranged on the driving rack 42, the teeth on the driving rack 42 are meshed with the output gear of the gear set 43, and the torque motor 41 drives the driving rack 42 and the sliding sleeve 30 connected to the driving rack 42 to move through the gear set 43.
In operation, the master lever feeds back measurement data of the rotary encoder and the horizontal encoder to the slave robot 100. Specifically, the handle body of the operation lever 20 is rotated, the handle body is rotated on the lever core 10, and the lever core 10 rotary encoder measures the rotation angle. If the handle body is moved along the extending axial direction of the rod core 10, the handle body drives the driving rack 42 to move while being horizontally displaced, and the horizontal encoder measures the horizontal movement distance. In the horizontal movement process of the driving rack 42, the gear set 43 drives the rotating shaft of the torque motor 41 to rotate, the slave end robot 100 records the resistance when the catheter or the guide wire is inserted, and feeds back the resistance information to the torque motor 41, the torque motor 41 provides a reverse force, and the torque motor 41 adjusts the reverse force of the torque motor 41 according to the resistance. After the operation is completed, the torque motor 41 drives the driving rack 42 to reversely move, and the driving rack 42 and the operating rod 20 return.
In summary, the main end operating handle of the interventional operation robot of the present invention is provided with the rotary encoder, the horizontal encoder and the torque feedback device 40, wherein the rotary encoder calculates the rotation angle of the operating rod 20 and transmits the rotation motion information to the slave end robot 100, the horizontal encoder calculates the moving distance of the operating rod 20 and transmits the axial motion information to the slave end robot 100, the precise transmission of the operation command is realized by using the rotary encoder and the horizontal encoder, the torque motor 41 provides a reverse thrust, the slave end robot 100 records the resistance during the intervention and feeds back the resistance information to the torque motor 41, the force pushing feedback of the main end operating handle is realized, the feeling of reality is increased, the operation safety is improved, the practicability is strong, and the popularization significance is strong.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that variations and modifications can be made by those skilled in the art without departing from the inventive concept, which fall within the scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (5)
1. The main end operating handle of the interventional operation robot is used for being matched with a slave end robot, the slave end robot receives the operating information of the main end operating handle and executes corresponding actions, and the interventional operation robot is characterized by comprising a frame, an operating rod arranged on the frame, a sliding sleeve arranged on the operating rod and capable of moving along with the operating rod, a moment feedback device matched with the sliding sleeve, an angle detection device and a displacement detection device, wherein the angle detection device and the displacement detection device respectively detect the rotation angle and the movement distance of the operating rod;
the operating rod comprises a handle body which can rotate and slide along the axis of the rod core; the handle body is provided with a fixing hole, and the rod core penetrates through the handle body from the fixing hole;
the handle body comprises a positioning cap and a positioning rod connected to one end of the positioning cap; the frame is provided with a limiting block, the limiting block limits the code wheel of the rotary encoder in the displacement direction, and the code wheel of the angle detection device is arranged on the position adjusting rod, so that the position adjusting rod can slide along the axial displacement of the rod core along with the position adjusting cap relative to the code wheel of the rotary encoder;
the sliding sleeve comprises a first outer sleeve, a second outer sleeve and a connecting frame for connecting the first outer sleeve and the second outer sleeve, wherein the first outer sleeve and the second outer sleeve are respectively sleeved on the position adjusting rod and the rod core, and the operating rod drives the sliding sleeve to synchronously move when horizontally moving;
the inner side of the second outer sleeve is provided with an irregular hole, the outer circumferential surface of the rod core is provided with a limiting surface, and when the second outer sleeve is matched with the rod core, the irregular hole and the limiting surface are mutually limited, so that the sliding sleeve can only move along the rod core and cannot rotate on the rod core;
the torque feedback device comprises a driving rack, a torque motor, a gear set connected with the driving rack and fixed on the torque motor, wherein the driving rack is arranged on the sliding sleeve, the driving rack is provided with teeth distributed side by side, and the teeth on the driving rack are meshed with the gear set.
2. The interventional procedure robot main end operating handle of claim 1, wherein: the slave end robot records the resistance when the blood vessel is in-between and feeds back the resistance information to the moment feedback device, and the moment feedback device provides a reverse force for the operating rod according to the resistance.
3. The interventional procedure robot main end operating handle of claim 2, wherein: the angle detection device is provided with a code disc, and the code disc is arranged on the position adjusting rod and synchronously rotates along with the operating rod.
4. The interventional procedure robot main end operating handle of claim 1, wherein: the moment feedback device is used for providing reverse force for the operating rod; after the operation is finished, the sliding sleeve and the operating rod are driven to return.
5. The interventional procedure robot main end operating handle of claim 1, wherein: the displacement detection device is provided with a code disc, and the code disc of the displacement detection device is arranged on the driving rack.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2022/097918 WO2022258019A1 (en) | 2021-06-10 | 2022-06-09 | Master operating handle of interventional surgical robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110654379 | 2021-06-10 | ||
| CN2021106543798 | 2021-06-10 |
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| Publication Number | Publication Date |
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| CN113729961A CN113729961A (en) | 2021-12-03 |
| CN113729961B true CN113729961B (en) | 2024-03-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111009835.XA Active CN113729961B (en) | 2021-06-10 | 2021-08-31 | Main end operating handle of interventional operation robot |
Country Status (2)
| Country | Link |
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| CN (1) | CN113729961B (en) |
| WO (1) | WO2022258019A1 (en) |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113729961B (en) * | 2021-06-10 | 2024-03-29 | 深圳爱博合创医疗机器人有限公司 | Main end operating handle of interventional operation robot |
| CN113729965B (en) * | 2021-08-31 | 2023-06-16 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot |
| CN116407295A (en) * | 2021-12-31 | 2023-07-11 | 沛嘉医疗科技(苏州)有限公司 | Main end operating mechanism and surgical robot |
| CN114343851B (en) * | 2022-01-27 | 2024-01-23 | 上海微创医疗机器人（集团）股份有限公司 | Medical device, manipulation method, and readable storage medium |
| CN115192208B (en) * | 2022-09-14 | 2022-12-27 | 深圳市爱博医疗机器人有限公司 | Force feedback mechanism, main end control device and interventional operation robot |
| CN116058974B (en) * | 2023-02-23 | 2023-07-14 | 之江实验室 | Surgical robot and surgical system |
| CN116421319A (en) * | 2023-03-06 | 2023-07-14 | 极限人工智能有限公司 | Man-machine interaction device and method of vascular intervention surgical robot |
| CN117323020A (en) * | 2023-10-11 | 2024-01-02 | 上海神玑医疗科技有限公司 | Operation robot master control end operation handle unit and master control end operation platform |
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| CN113729965B (en) * | 2021-08-31 | 2023-06-16 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot |
| CN215874929U (en) * | 2021-08-31 | 2022-02-22 | 深圳市爱博医疗机器人有限公司 | Control main terminal of interventional operation robot |
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2021
- 2021-08-31 CN CN202111009835.XA patent/CN113729961B/en active Active
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- 2022-06-09 WO PCT/CN2022/097918 patent/WO2022258019A1/en unknown
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2022258019A1 (en) | 2022-12-15 |
| CN113729961A (en) | 2021-12-03 |
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Country or region after: China Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Applicant before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |
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