CN113749779B - Main end control device of interventional operation robot with error touch prevention function - Google Patents
Main end control device of interventional operation robot with error touch prevention function Download PDFInfo
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- CN113749779B CN113749779B CN202111009815.2A CN202111009815A CN113749779B CN 113749779 B CN113749779 B CN 113749779B CN 202111009815 A CN202111009815 A CN 202111009815A CN 113749779 B CN113749779 B CN 113749779B
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- 230000002265 prevention Effects 0.000 title claims description 22
- 230000000875 corresponding effect Effects 0.000 claims abstract description 7
- 239000002184 metal Substances 0.000 claims description 39
- 238000001514 detection method Methods 0.000 claims description 25
- 238000006073 displacement reaction Methods 0.000 claims description 9
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 239000007769 metal material Substances 0.000 claims description 2
- 239000000463 material Substances 0.000 claims 1
- 230000009471 action Effects 0.000 abstract description 4
- 230000001276 controlling effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000002792 vascular Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000011897 real-time detection Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 239000012636 effector Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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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
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- Robotics (AREA)
- Surgery (AREA)
- Biomedical Technology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
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- Manipulator (AREA)
Abstract
The utility model provides an intervention surgical robot main end controlling means with prevent mistake and bump function for cooperate with from the end robot, from the end robot receive the operation information of intervention surgical robot main end controlling means with prevent mistake and bump function and carry out corresponding action, it includes control handle and switch, control handle includes frame and installs at least one main end operator in the frame, every main end operator is including installing the action bars in the frame, when the switch detects in real time that there is the operator to use, just can effectively operate the action bars. In conclusion, the invention effectively prevents false touch, reduces operation risk caused by false touch in interventional operation, improves operation safety, has strong practicability and has strong popularization significance.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a main end control device of an interventional operation robot with a false touch prevention function.
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. At present, two control modes of the interventional operation robot exist, 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 the operation has no error touch prevention function, so that hidden danger is brought to the operation safety.
Disclosure of Invention
Based on the above, it is necessary to provide a novel main end control device of an interventional operation robot with a false collision prevention function, aiming at the defects in the prior art.
The utility model provides an intervention surgical robot main end controlling means with prevent mistake and bump function for cooperate with from the end robot, from the end robot receive the operation information of main end controlling means and carry out corresponding action, it includes control handle and switch, control handle includes frame and installs at least one main end operator in the frame, every main end operator is including installing the action bars in the frame, when the switch detects in real time that there is the operator to use, just can effectively operate the action bars.
Further, the switch includes a detection portion provided on the operation lever.
Further, the interventional operation robot main end control device with the false collision prevention function further comprises a control panel, the control panel comprises a detection circuit, the operating rod is provided with a metal ring connected with the detection circuit, and the metal ring serves as a detection part of the switch.
Further, the switch is a capacitive touch switch.
Further, the interventional operation robot main end control device with the error touch prevention function further comprises an indicator lamp connected to the control panel, and when the control panel detects that an operator touches the metal ring in real time through the metal ring, the control panel controls the indicator lamp to light in real time to prompt.
Further, the metal ring is directly connected to the detection circuit through a wire.
Further, the frame is provided with a rod core, the operating rod is arranged on the rod core, and the operating rod can rotate along the axis of the rod core and axially slide and displace.
Further, during rotation or displacement, the metal ring remains in contact with the stem core to effect electrical continuity.
Further, the rod core is made of metal with a conductive function.
Further, the detection circuit further comprises a wire, and the metal ring is in circuit conduction with the detection circuit through the rod core and the wire.
Further, a wire groove is provided in a core portion extending from the operation lever, and one end of the wire is connected to the wire groove and the other end is connected to the detection circuit.
Further, the operating rod further comprises a positioning cap connected to one end of the metal ring and a positioning rod connected to the other end of the metal ring, and the metal ring, the positioning cap and the positioning rod are all arranged on the rod core in a penetrating mode and rotate along the axis of the rod core and axially slide and displace.
Further, the main end manipulator further comprises a linkage block and a torque motor, the linkage block is movably connected with the operating rod, and the torque motor drives the operating rod to return through the linkage block after the effective operation is completed once or the operating rod reaches the limit position.
Further, when the operation rod is not operated, the operation rod is axially slid, and the torque motor forcedly pushes the operation rod to return.
In summary, the main end control device of the interventional operation robot with the false touch prevention function is provided with the metal ring on the operation rod, the metal ring and the detection circuit form the detection switch, the control panel judges whether to be effective operation according to the real-time detection result of the detection switch, false touch is effectively prevented, operation risks caused by false touch in interventional operation are reduced, operation safety is improved, practicability is high, and popularization significance is high.
Drawings
FIG. 1 is a schematic structural diagram of a main end control device of an interventional operation robot with an anti-false collision function;
FIG. 2 is a schematic diagram of the control handle of the main end control device of the interventional operation robot with the function of preventing false collision;
FIG. 3 is a schematic view of the control handle of FIG. 2 at another angle;
FIG. 4 is a schematic diagram of the operation of the master end control device of the interventional operation robot with the function of preventing false collision when communicating with the slave end robot;
FIG. 5 is a schematic diagram of the main control device of the interventional operation robot with the function of preventing false collision in the operation;
FIG. 6 is a cross-sectional view of the main end control device of the interventional operation robot with the function of preventing false collision when the operating rod and the rod core are assembled in a matched manner;
fig. 7 is a schematic structural view of a rod core of the interventional operation robot main end control device with the error collision prevention function.
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 7, the present invention provides a master end control device of an interventional operation robot with a false collision prevention function, which is used for cooperating with a slave end robot 100, receiving operation information of the master end control device from the slave end robot 100, and executing corresponding actions. The main end control device of the interventional operation robot with the false touch prevention function comprises a shell main body 10, a control handle 20, a display screen 30 and a control panel 40, wherein the display screen 30 and the control panel 40 are respectively arranged at the outer side end and the inner side end of the shell main body 10, and the control handle 20 is arranged in the shell main body 10 and partially extends out of the shell main body 10.
The display screen 30 is connected with the control panel 40, the control panel 40 is provided with a receiving device 42 and a transmitting device 41, the control panel 40 is in signal transmission with an external slave end robot 100 through the transmitting device 41 and the receiving device 42, the control handle 20 is connected with the control panel 40, instruction information sent by the control handle 20 is transmitted to the slave end robot 100 through the transmitting device 41 of the control panel 40, the slave end robot 100 executes corresponding operation, information such as force feedback of the slave end robot 100 is transmitted to the receiving device 42 of the control panel 40, and the control panel 40 displays the information given by the slave end robot 100 to an operator through the display screen 30 and presents the information to the operator through the force feedback mode of the control handle 20, so that the operator can timely know the resistance when the slave end robot 100 delivers a guide wire.
The control handle 20 includes a frame 60 and two main end operators 70 mounted on the frame 60, wherein the two main end operators 70 are disposed on the frame 60 in a mirror symmetry manner, so that an operator can conveniently operate with one hand or both hands.
Each of the main end effectors 70 includes a lever 71, an angle detecting device 72, a force feedback device 78, and a displacement detecting device 73, which are mounted on the frame 60. The operation lever 71 is protruded from the case main body 10, the angle detecting means 72 and the displacement detecting means 73 detect the rotation angle and the displacement distance of the operation lever 71, respectively, and the angle detecting means 72 and the displacement detecting means 73 feed back the detected information to the slave robot 100 through the control panel 40. In this embodiment, the angle detecting device 72 and the displacement detecting device 73 are respectively a rotary encoder and a linear encoder, and the rotary encoder and the linear encoder are respectively provided with a code wheel.
The frame 60 is provided with a rod core 77, the rod core 77 is made of metal material with conductive function, and the operating rod 71 can rotate along the axis of the rod core 77 and axially slide and displace. The operation rod 71 comprises a metal ring 76, a positioning cap 74 connected to one end of the metal ring 76 and a positioning rod 75 connected to the other end of the metal ring 76, wherein the metal ring 76, the positioning cap 74 and the positioning rod 75 are all arranged on the rod core 77 in a penetrating manner and rotate and slide along the axis of the rod core 77, and the metal ring 76 is kept in contact with the rod core 77 in the rotating or shifting process so as to realize circuit conduction.
The outer circumferential surface of the end, far away from the operating rod 71, of the rod core 77 is provided with a limiting surface 772, the frame 60 is provided with a limiting seat 63, the end, far away from the operating rod 71, of the rod core 77 is inserted into the limiting seat 63, the limiting seat 63 limits the rod core 77 in the circumferential direction through the limiting surface 772, and meanwhile, the limiting seat 63 limits the rod core 77 in the displacement direction.
The frame 60 is further provided with a supporting portion 61 and a bearing 62 mounted on the supporting portion 61, the bearing 62 is a rolling bearing, the bearing 62 comprises an inner ring and an outer ring, the inner ring rotates freely along the axis, the rod core 77 and the positioning rod 75 both pass through the inner ring, and the positioning rod 75 and the inner ring rotate together along the axis.
The bearing 62 is provided with a limit groove 621 in the inner wall of the inner ring, the periphery of the positioning rod 75 is provided with a guide bar 751, the positioning rod 75 passes through the bearing 62, and the guide bar 751 of the positioning rod 75 is clamped in the limit groove 621, so that the positioning rod 75 can independently slide relative to the rod core 77, the bearing 62 and the code disc of the linear encoder, and the positioning rod 75 drives the inner ring of the bearing 62 and the code disc of the rotary encoder to synchronously rotate.
In operation, the operator performs the operation, i.e., rotation and sliding, of the master lever 71, obtains measurement data through the rotary encoder and the linear encoder, respectively, and feeds back the measurement data to the control panel 40, and the control panel 40 processes (e.g., amplifies) the measurement data and then sends the processed measurement data to the slave robot 100, so that the slave robot 100 performs a corresponding operation. Specifically, the operation lever 71 is turned on the lever core 77, and the rotary encoder measures the rotation angle. If the operation lever 71 is axially moved in the extending direction of the lever core 77, the operation lever 71 is horizontally displaced, and the linear encoder measures the horizontal movement distance.
The control panel 40 includes a detection circuit 43, and the detection circuit 43 is electrically connected to the metal ring 76 to form a touch switch, and the touch switch is a capacitive touch switch. Specifically, the end of the lever core 77 away from the operating lever 71 is provided with a wiring groove 771, and the invention further includes a wire (not shown), one end of which is connected to the wiring groove 771, and the other end of which is connected to the detection circuit 43.
When the operator touches the metal ring 76, the human body serves as one electrode plate, the metal ring serves as the other electrode plate, the total capacitance is further changed, the detection circuit 43 detects the change of the capacitance, and the control panel 40 judges that the operator is performing effective operation according to the change of the capacitance, and the operator keeps touching the metal ring 76 in the whole effective operation process. In addition, the invention also comprises a group of indicator lamps 50 connected to the control panel 40, the control panel 40 detects that an operator touches the metal ring 76 in real time, and the control panel 40 controls the indicator lamps 50 to carry out real-time lighting prompt. When the operation lever 71 is rotated or displaced, instruction information issued by the control handle 20 causes the slave end robot 100 to perform a corresponding operation; on the contrary, when the operator does not touch the metal ring 76, the control panel 40 judges that the operation is an invalid operation no matter whether the operation lever 71 is rotated or displaced, and the indicator lamp 50 is not operated.
It will be appreciated that in this embodiment, the metal ring 76 is in electrical communication with the detection circuit 43 via the stem 77 and the wires, and in other embodiments, the metal ring 76 may be directly connected to the detection circuit 43 via the wires. In addition, in the present embodiment, the metal ring 76 for the switch detecting portion is provided on the operation lever 71, and the touch switch is a capacitive touch switch, and in other embodiments, a non-capacitive touch switch (such as an infrared sensing switch) may be employed, and the switch detecting portion may be provided at a position other than the operation lever 71, as long as an operator is detected to be operating in real time.
The main end operator 70 further includes a force feedback device 78, in this embodiment, the force feedback device 78 includes a linkage block 781 and a torque motor 782, the linkage block 781 is movably connected with the operation rod 71, the operation rod 71 can rotate independently relative to the linkage block 781, the operation rod 71 drives the linkage block 781 to move along the guide rail 64 on the frame 60 while horizontally displacing, and the linkage block 781 cooperates with the torque motor 782, the torque motor 782 is connected with a gear 784, a rack 783 is disposed on the linkage block 781, and the torque motor 782 is meshed with the rack 783 through the gear 784. On the one hand, after each time of effective operation is completed or the operating lever 70 reaches the limit position, the torque motor 782 can drive the operating lever 71 to return through the linkage block 781, on the other hand, during the axial displacement and advancing process of the operating lever 71, the torque motor 782 provides a reverse thrust according to the resistance information delivered by the wire guide tube of the slave end robot 100 and transmitted by the control panel 40, and the feedback of the force pushing of the operating lever 71 is realized by feeding back the information to the operating lever 71 through the linkage block 781, so as to increase the presence. If the operation rod 70 is slid axially when the operation is in the inactive operation (i.e. the metal ring 76 is not touched), the torque motor 782 forcibly pushes the operation rod 70 to return, thereby forming a vibration effect to alert the operator.
In summary, the main end control device of the interventional operation robot with the anti-false collision function of the invention adopts the cooperation of the guide bar 751 of the position adjusting rod 75 and the limit groove 621 on the bearing 62, so that the position adjusting rod 75 can independently slide relative to the rod core 77 and the bearing 62, and the position adjusting rod 75 drives the inner ring of the bearing 62 to synchronously rotate.
In addition, the main end control device of the interventional operation robot with the false touch prevention function is provided with the metal ring 76 on the operation rod 71, the metal ring 76 and the detection circuit 43 form a detection switch, the control panel 40 judges whether the operation is effective or not according to the real-time detection result of the detection switch, false touch is effectively prevented, operation risks caused by false touch in interventional operation are reduced, operation safety is improved, practicability is high, and the interventional operation robot has a strong popularization significance.
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 (9)
1. The main end control device of the interventional operation robot with the false touch prevention function is used for being matched with a slave end robot, the slave end robot receives operation information of the main end control device and executes corresponding actions, and is characterized by comprising a control handle and a switch, wherein the control handle comprises a rack and at least one main end operator arranged on the rack, each main end operator comprises an operation rod arranged on the rack, and when the switch detects that an operator uses the operation rod in real time, the operation rod can be effectively operated;
the frame is provided with a rod core, the operating rod is arranged on the rod core, and the operating rod can rotate along the axis of the rod core and axially slide and displace; axially moving the operating rod along the extending direction of the rod core, wherein the operating rod is horizontally displaced;
the control panel comprises a detection circuit, the operating rod is provided with a metal ring connected with the detection circuit, and the metal ring serves as a detection part of the switch;
the metal ring is in circuit conduction with the detection circuit through the rod core and the lead.
2. The interventional operation robot main end control device with the false collision prevention function according to claim 1, wherein: the switch is a capacitive touch switch.
3. The interventional operation robot main end control device with the false collision prevention function according to claim 1, wherein: the main end control device of the interventional operation robot with the false touch prevention function further comprises an indicator lamp connected to a control panel, and when the control panel detects that an operator touches the metal ring in real time through the metal ring, the control panel controls the indicator lamp to light in real time to prompt.
4. The interventional operation robot main end control device with the false collision prevention function according to claim 1, wherein: during rotation or displacement, the metal ring is kept in contact with the rod core to realize circuit conduction.
5. The interventional operation robot main end control device with the false collision prevention function according to claim 1, wherein: the material of pole core is the metal material that has electrically conductive function.
6. The interventional operation robot main end control device with the false collision prevention function according to claim 1, wherein: the core part extending from the operating rod is provided with a wiring groove, one end of the wire is connected to the wiring groove, and the other end of the wire is connected with the detection circuit.
7. The interventional operation robot main end control device with the false collision prevention function according to claim 1, wherein: the operating rod further comprises a positioning cap connected to one end of the metal ring and a positioning rod connected to the other end of the metal ring, and the metal ring, the positioning cap and the positioning rod are all arranged on the rod core in a penetrating mode and rotate along the axis of the rod core and axially slide and displace.
8. The interventional operation robot main end control device with the false collision prevention function according to claim 1, wherein: the main end manipulator further comprises a linkage block and a torque motor, the linkage block is movably connected with the operating rod, and the torque motor drives the operating rod to return through the linkage block after the effective operation is completed once or the operating rod reaches the limit position.
9. The interventional operation robot main end control device with the false collision prevention function according to claim 8, wherein: when the operating rod is not operated, the operating rod is axially slid, and the torque motor forcedly pushes the operating rod to return.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111009815.2A CN113749779B (en) | 2021-08-31 | 2021-08-31 | Main end control device of interventional operation robot with error touch prevention function |
| PCT/CN2022/092808 WO2023029582A1 (en) | 2021-08-31 | 2022-05-13 | Interventional surgical robot master end control apparatus having accidential-touch prevention function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111009815.2A CN113749779B (en) | 2021-08-31 | 2021-08-31 | Main end control device of interventional operation robot with error touch prevention function |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113749779A CN113749779A (en) | 2021-12-07 |
| CN113749779B true CN113749779B (en) | 2023-08-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111009815.2A Active CN113749779B (en) | 2021-08-31 | 2021-08-31 | Main end control device of interventional operation robot with error touch prevention function |
Country Status (2)
| Country | Link |
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| CN (1) | CN113749779B (en) |
| WO (1) | WO2023029582A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113749779B (en) * | 2021-08-31 | 2023-08-04 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot with error touch prevention function |
| CN114521971B (en) * | 2022-04-24 | 2022-07-05 | 深圳市爱博医疗机器人有限公司 | Interventional robot system and readable storage medium |
| US11701191B1 (en) | 2022-04-24 | 2023-07-18 | Shenzhen Institute Of Advanced Biomedical Robot Co., Ltd. | Interventional robot system, and control method and readable-storage medium thereof |
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| CN113749779B (en) * | 2021-08-31 | 2023-08-04 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot with error touch prevention function |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2023029582A1 (en) | 2023-03-09 |
| CN113749779A (en) | 2021-12-07 |
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