CN114224502B - Vascular intervention operation robot main end device with tactile feedback - Google Patents
Vascular intervention operation robot main end device with tactile feedback Download PDFInfo
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- CN114224502B CN114224502B CN202210031378.2A CN202210031378A CN114224502B CN 114224502 B CN114224502 B CN 114224502B CN 202210031378 A CN202210031378 A CN 202210031378A CN 114224502 B CN114224502 B CN 114224502B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- 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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- 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
- 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
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Abstract
The invention discloses a vascular interventional operation robot main end device with tactile feedback, which relates to the technical field of medical appliances and comprises a tactile force output mechanism, an action acquisition mechanism and an operation catheter; the tactile force output mechanism comprises a sleeve structure and a piston structure, one end of the operation guide pipe is connected with the piston structure, the other end of the operation guide pipe corresponds to the position of the action acquisition mechanism, the piston structure is arranged in the sleeve structure and is in sliding connection with the sleeve structure, the sleeve structure comprises an electromagnetic coil, and magnetorheological fluid is filled between the piston structure and the sleeve structure; the action collection mechanism comprises an axial information collection structure and a circumferential information collection structure, the axial information collection structure is used for collecting axial position information of the operation catheter, and the circumferential information collection structure is used for collecting circumferential position information of the operation catheter. The invention can provide an artificial operation environment for operators in operation, reflect intervention resistance in operation and ensure safe and smooth completion of operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a vascular interventional operation robot main end device with tactile feedback.
Background
In recent years, due to environmental deterioration and bad living habits of people, the prevalence and mortality of cardiovascular diseases are increasing year by year, and vascular embolism is the most threatening of human life safety, and vascular embolism is a common symptom of cardiovascular diseases. The most effective method for treating vascular embolism at present is vascular intervention operation, navigation is carried out by utilizing a catheter guide wire through human intervention, and a bracket is placed at a focus of intervention to dredge the blood vessel and eliminate the focus of disease. To avoid the problem of prolonged exposure of traditional surgeons to radiation, master-slave vascular interventional surgical robotic systems have been developed by medical companies and universities for surgeons to perform surgery remotely by manipulating robots. Because the master-slave robot is used for interventional operation, a doctor lacks direct perception of the catheter interventional environment at the far end, so that more details of the in-situ real environment are needed to be provided for the doctor at the main end in order to ensure safe operation. Most of force feedback schemes adopted by robots designed by medical enterprises and university scientific research institutions at home and abroad are motor-driven force feedback and electrorheological fluid-driven force feedback, and certain defects exist. And the main end manipulator of the robot mostly adopts mechanical structures such as an operating lever, an operating button and the like, and cannot be suitable for the operation mode of the traditional interventional operation.
Disclosure of Invention
The invention aims to provide a vascular interventional operation robot main end device with tactile feedback, which provides tactile force feedback by using a magnetorheological fluid technology and provides an in-situ immersive operation resistance environment for doctors; the operation catheter and the operation acquisition mechanism are adopted for operation acquisition, so that the operation experience of doctors in the traditional interventional operation is reserved to the greatest extent.
In order to achieve the above object, the present invention provides the following solutions:
the invention provides a vascular interventional operation robot main end device with tactile feedback, which comprises a tactile force output mechanism, an action acquisition mechanism, an operation catheter and a controller, wherein the operation catheter is connected with the operation catheter;
the tactile force output mechanism comprises a sleeve structure and a piston structure, one end of the operation guide pipe is connected with the piston structure, the other end of the operation guide pipe corresponds to the position of the action acquisition mechanism, the piston structure is arranged in the sleeve structure and is in sliding connection with the sleeve structure, the sleeve structure comprises an electromagnetic coil, and magnetorheological fluid is filled between the piston structure and the sleeve structure;
the action acquisition mechanism comprises an axial information acquisition structure and a circumferential information acquisition structure, the axial information acquisition structure is used for acquiring axial position information of the operation catheter, and the circumferential information acquisition structure is used for acquiring circumferential position information of the operation catheter;
the electromagnetic coil, the axial information acquisition structure and the circumferential information acquisition structure are respectively and electrically connected with the controller.
Preferably, the sleeve structure comprises a spiral structure, a shell, a first end cover and a second end cover, the spiral structure comprises a spiral body and a first blocking body, the first blocking body is arranged in a groove of the spiral body, the first blocking body is used for changing a path of a magnetic induction line, the spiral structure is arranged on the inner side of the shell, the electromagnetic coil is arranged between the spiral structure and the shell, the first end cover is arranged at one end of the spiral structure and one end of the shell, the second end cover is arranged at the other end of the spiral structure and the other end of the shell, and the operation guide pipe penetrates through the second end cover.
Preferably, the spiral body is made of ferromagnetic material; the first blocking body is made of a non-ferromagnetic material.
Preferably, the piston structure comprises a piston body structure, a first sealing structure and a second sealing structure, the piston body structure comprises a piston body and a second blocking body, a plurality of annular grooves are formed in the outer wall of the piston body along the axial direction of the piston body, the second blocking body is arranged in the annular grooves, the second blocking body is used for changing the path of a magnetic induction line, the first sealing structure is arranged at one end of the piston body, the second sealing structure is arranged at the other end of the piston body, one end of an operation catheter is connected with the piston body, the other end of the operation catheter penetrates through the second sealing structure, and magnetorheological fluid is filled in a cavity between the outer wall of the piston body structure, the inner wall of the sleeve structure and the second sealing structure.
Preferably, the piston body is made of ferromagnetic material; the second blocking body is made of a non-ferromagnetic material.
Preferably, a gap exists between the axial information acquisition structure and the operation catheter, the axial information acquisition structure comprises a laser emitter and a photoelectric sensor, the laser emitter is used for emitting laser, the laser emitted by the laser emitter is transmitted to the surface of the operation catheter, and the photoelectric sensor detects the image change of the operation catheter along the axial direction of the operation catheter, so that the axial position information of the operation catheter is obtained.
Preferably, the circumferential information acquisition structure comprises an encoder located outside the operating catheter, the encoder being for acquiring circumferential position information of the operating catheter.
Preferably, the vascular interventional operation robot main end device with the tactile feedback further comprises a first bracket and a second bracket, the tactile force output mechanism is located on the first bracket, and the action acquisition mechanism is located on the second bracket.
Compared with the prior art, the invention has the following technical effects:
the invention uses the characteristic that the viscosity of the magnetorheological fluid is increased under a magnetic field, outputs the resistance through the tactile force output mechanism and the piston structure of the tactile force output mechanism, provides force feedback, provides a simulated operation environment for an operator in operation, can reflect the intervention resistance in operation and ensures the safe and smooth completion of the operation. The invention adopts the operation catheter and the action acquisition mechanism to acquire actions, so that the operation experience of doctors in the traditional interventional operation is reserved to the greatest extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a vascular interventional procedure robot main end device with haptic feedback according to the present invention;
FIG. 2 is a schematic diagram of a haptic force output mechanism of the present invention;
FIG. 3 is a schematic view of a spiral body according to the present invention;
FIG. 4 is a schematic view of a piston body according to the present invention;
FIG. 5 is a schematic diagram of a piston structure shear magnetorheological fluid;
FIG. 6 is a schematic diagram of a haptic force output mechanism of the present invention;
FIG. 7 is a schematic diagram of verification of magnetic field direction using Ansys simulation;
FIG. 8 is a schematic diagram of an axial information acquisition structure according to the present invention;
FIG. 9 is a schematic diagram of a controller control relationship according to the present invention;
FIG. 10 is a schematic diagram of a vascular interventional procedure robot master device with haptic feedback in accordance with the present invention;
FIG. 11 is an interventional procedure of a guidewire in a human blood vessel;
wherein: 100-vascular interventional surgery robot main end device with tactile feedback, 1-tactile force output mechanism, 2-action acquisition mechanism, 3-operation catheter, 4-magnetorheological fluid, 5-shell, 6-first end cover, 7-second end cover, 8-electromagnetic coil, 9-spiral body, 10-first blocking body, 11-piston body, 12-second blocking body, 13-first sealing structure, 14-second sealing structure, 15-laser emitter, 16-photoelectric sensor, 17-first lens, 18-second lens, 19-third lens, 20-encoder, 21-operation cylinder, 22-first support, 23-second support, 24-focus, 25-guide wire, 26-region I, 27-region II.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by a person skilled in the art based on the embodiments of the invention without any inventive effort, are intended to fall within the scope of the invention.
The invention aims to provide a vascular interventional operation robot main end device with tactile feedback, which provides tactile force feedback by using a magnetorheological fluid technology and provides an in-situ immersive operation resistance environment for doctors; the operation catheter and the operation acquisition mechanism are adopted for operation acquisition, so that the operation experience of doctors in the traditional interventional operation is reserved to the greatest extent.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1-6 and fig. 8-10: the embodiment provides a vascular interventional operation robot main end device 100 with tactile feedback, which comprises a tactile force output mechanism 1, an action acquisition mechanism 2, an operation catheter 3 and a controller;
the tactile force output mechanism 1 comprises a sleeve structure and a piston structure, one end of the operation guide tube 3 is connected with the piston structure, the other end of the operation guide tube 3 corresponds to the position of the action acquisition mechanism 2, the piston structure is arranged in the sleeve structure, the piston structure is in sliding connection with the sleeve structure, the sleeve structure comprises an electromagnetic coil 8, and magnetorheological fluid 4 is filled between the piston structure and the sleeve structure; the tactile force output mechanism 1 can quickly establish a magnetic field by inputting corresponding current to the electromagnetic coil 8 according to a resistance signal acquired from a slave end through the established force-magnetic field model, and the output resistance is perceived by a human hand;
the action acquisition mechanism 2 comprises an axial information acquisition structure and a circumferential information acquisition structure, wherein the axial information acquisition structure is used for acquiring the axial position information of the operation catheter 3, and the circumferential information acquisition structure is used for acquiring the circumferential position information of the operation catheter 3. The tactile force output mechanism 1 of the embodiment can provide a doctor with an in-situ immersive operation environment, adopts the magnetorheological fluid 4 technology, outputs the shearing force generated by the magnetorheological fluid 4 through a piston structure and transmits the shearing force to the operation catheter 3, so that an operator can sense in-situ real resistance change when operating the operation catheter 3, the intervention operation is required to have two degrees of freedom of axial delivery and radial rotation for coping with the operation challenges brought by the complex vascular environment, and the axial information acquisition structure and the circumferential information acquisition structure of the embodiment are responsible for detecting and recording the displacement of the operator in the axial direction and the circumferential direction and transmitting the information to the slave end controller as a control signal of the slave end actuator;
the electromagnetic coil 8, the axial information acquisition structure and the circumferential information acquisition structure are respectively and electrically connected with a controller, the controller adopts STM32, the controller controls signal acquisition and signal control, the controller acquires output signals of the axial information acquisition structure and the circumferential information acquisition structure and controls input current of the electromagnetic coil 8 of the tactile force output mechanism 1.
In this embodiment, the operation pipe 3 is a steel pipe.
In this embodiment, the sleeve structure includes a spiral structure, the shell 5, the first end cover 6 and the second end cover 7, the spiral structure includes spiral body 9 and first body 10 that blocks, spiral body 9 includes the barrel-shaped body and sets up the spirochaeta in the barrel-shaped body outside, first body 10 that blocks sets up in the heliciform recess of spiral body 9, first body 10 that blocks is used for changing the route of magnetic induction line, the spiral structure sets up the inboard at shell 5, solenoid 8 is located between spiral structure and shell 5, shell 5 adopts the metal material to make, shell 5 can eliminate the wearing and tearing to solenoid 8 and be favorable to the heat dissipation simultaneously, specifically, solenoid 8 winds in the outside of spiral structure, through supplying electricity to solenoid 8 and then providing variable magnetic field, thereby control magnetic field intensity through the electric current size that changes the income, first end cover 6 is located the one end of spiral structure and shell 5, second end cover 7 is located the other end of spiral structure and shell 5, operating catheter 3 runs through second end cover 7 and sets up. The effective range of the feedback force is the length of the screw body 9, the first end cap 6 and the second end cap 7 being intended to ensure that the piston structure is located in the force feedback area.
In this embodiment, the piston structure includes piston body 11 structure, first seal structure 13 and second seal structure 14, piston body 11 structure includes piston body 11 and second block body 12, a plurality of ring channels have been seted up along the axial of piston body 11 on the outer wall of piston body 11, second block body 12 sets up in the ring channel, second block body 12 is used for changing the route of magnetic induction line, first seal structure 13 sets up the one end at piston body 11, second seal structure 14 sets up the other end at piston body 11, the one end and the piston body 11 of operating pipe 3 pass through threaded connection, the other end of operating pipe 3 runs through second seal structure 14 setting, magnetorheological fluid 4 fills in the cavity between the outer wall of piston body 11 structure, the inner wall of spiral body 9, first seal structure 13 and second seal structure 14 are used for sealing magnetorheological fluid 4 between the outer wall of piston body 11 structure and the inner wall of spiral body 9, first seal structure 13 and second seal structure 14 adopt the U type piston sealing washer. Because the magnetorheological fluid 4 is a liquid substance, certain loss exists in the operation process, the magnetorheological fluid can be conveniently added and supplemented at any time through a reserved filling port, and the filling port can be arranged on the first sealing structure 13 or the second sealing structure 14. The maximum stroke of single delivery of the operation catheter 3 of the present embodiment is 90mm, and the structure is more compact and delicate while satisfying the operation requirements.
The magnetorheological fluid 4 exhibits bingham fluid characteristics when an external magnetic field is applied, which can be described by a bingham plastic model. As shown in fig. 5, the process of shearing magnetorheological fluid 4 with a piston structure and the velocity profile are shown. In fig. 5, r is the width of the magnetorheological fluid 4 in the magnetic field direction in the region ii 27, and u (r) is the movement speed (the speed direction is perpendicular to the magnetic field direction) of the magnetorheological fluid 4 in the region ii 27. In the region i 26, the portion of the magnetorheological fluid 4 does not undergo shear flow, so that only the dynamic yield stress related to the magnetic field and the viscous drag related to the viscosity of the magnetorheological fluid 4 exist in the magnetorheological fluid 4 in the region i 26, and the relationship is as follows:
where τ is the shear stress, τ d (H) For dynamic yield stress, η is the coefficient of viscosity,
is the velocity gradient in the direction of movement of the piston structure.
In zone ii 27, the piston structure is relatively moving, and thus the magnetorheological fluid 4 in zone ii 27 is sheared, and the shear force will exceed the yield stress, and the magnetorheological fluid 4 begins to flow. The feedback force that is now fed back to the operator's fingertip can be expressed as:
F τ ＝F d (H)+F η +F f
F d (H) F is a shear force controllable by adjusting the magnetic field strength η For viscous drag, F f The mechanical friction force brought by the first sealing structure 13 and the second sealing structure 14 is d, the diameter of the structure of the piston body 11 is d, and the length of the piston structure is L.
Because of the chain-linking nature of the magnetorheological fluid 4, it is desirable to have a horizontally oriented feedback force so that the magnetic induction lines pass vertically through the magnetorheological fluid 4 between the outer wall of the piston body 11 structure and the inner wall of the screw body 9. The screw body of the outer wall of the screw body 9 of the embodiment is designed into a screw structure, and the number of turns of the whole screw body is 5, so that the even distribution of the gravity of the sleeve structure is ensured. In this embodiment, the matching of the materials of the sleeve structure and the piston structure is changed, so as to change the path of the magnetic induction line.
In this embodiment, the screw body 9 and the piston body 11 are made of ferromagnetic material; the first blocking body 10 and the second blocking body 12 are made of non-ferromagnetic materials. The ferromagnetic substance includes: iron, cobalt, nickel and alloys thereof. Non-ferromagnetic substances include: silica gel, rubber, silver, copper, diamond, etc. The permeability μ≡1 of non-ferromagnetic substances is typically several hundred or even tens of thousands, much greater than that of non-ferromagnetic substances. In this embodiment, Q235 steel is selected as the material of the screw body 9, the housing 5 and the piston body 11, and the first blocking body 10 and the second blocking body 12 are silica gel.
As shown in fig. 6, when the electromagnetic coil 8 is energized, the magnetic induction line enters the spiral structure of the housing 5 from one end of the tactile-force output mechanism 1 when no piston structure is added, and when the magnetic flux passes through the first turn of the spiral body 9 of the spiral, the magnetic flux cannot propagate because the groove between the first blocking body 10 made of silica gel and the next turn of the spiral is filled with the first blocking body 10, and therefore the magnetic flux can continue to be transmitted forward along the first turn of the spiral into the second turn of the spiral. And so on, the magnetic flux direction will propagate along the magnetically permeable spiral body 9. When the piston structure and the magnetorheological fluid 4 are added into the tactile force output mechanism 1, and the magnetic induction lines pass through the magnetorheological fluid 4 and the piston structure, magnetic flux can pass through the magnetorheological fluid 4 from the spiral body 9 of the shell 5 to enter the piston structure due to the magnetic permeability of the magnetorheological fluid 4 and the piston structure. Since the piston structure is designed with a plurality of annular grooves, a second blocking body 12 made of silica gel is arranged in the annular groove. The magnetic flux will enter and exit from the piston body 11 part, and a plurality of annular grooves are designed for the multiple passes of the magnetic flux, the schematic diagram is shown in fig. 6, and fig. 6 is a schematic diagram of the magnetic flux flow direction of the upper half part at the piston structure. Due to the presence of the helical path of the screw, the magnetic flux can pass through the magnetorheological fluid 4 a plurality of times, while also ensuring that the tactile-force output mechanism 1 is sufficiently compact in size. As can be seen from fig. 6, the magnetorheological fluid 4 on the surface of the piston structure can be continuously traversed four times by the magnetic flux, which results in a greater range of force feedback resistances being provided. The magnetic field direction was verified using Ansys simulation, the results are shown in FIG. 7.
As can be seen from fig. 7, the magnetic flux can pass through the magnetorheological fluid 4 region approximately vertically and uniformly, forming a closed loop of the housing 5, magnetorheological fluid 4, piston structure, housing 5. Meanwhile, magnetic flux can vertically pass through the working area of the magnetorheological fluid 4 for many times, so that the utilization rate of a magnetic field is greatly improved, and the performance of the magnetorheological fluid 4 is greatly improved.
The action acquisition mechanism 2 is mainly responsible for acquiring operation information of an operator, and comprises two degrees of freedom operation modes: axial and circumferential. As shown in fig. 11, the human vascular environment is minute and complex, and can be largely divided into two types of straight vessels and bifurcated vessels according to the intervention situation. In surgical intervention, a doctor can realize free delivery of the guide wire 25 in a flat blood vessel by only operating the guide wire 25 in the axial direction without circumferential rotation adjustment; when accessing a bifurcated vessel, an optimal access branch needs to be selected according to the access target location, which requires performing a circumferential rotation operation, adjusting the posture of the tip of the catheter guidewire 25 into the optimal branch. In the whole vascular intervention and rotation operation, the condition that the catheter guide wire 25 is contacted with the vascular wall inevitably occurs, the force sensor at the slave end can capture the sudden rise change of the tip intervention resistance in real time, and when the resistance suddenly exceeds a safety threshold, the dangerous condition that the catheter guide wire 25 punctures the vascular wall occurs. Therefore, for the safety of surgery, when the force sensor detects the sudden change of the resistance, the main end tactile-force output mechanism 1 can quickly establish a magnetic field to generate the resistance, and prompt an early-warning operator to make a strategy including withdrawing the catheter guide wire 25 for a short distance, adjusting the posture and the like.
In this embodiment, the action acquisition mechanism 2 is mainly responsible for acquiring operation information of an operator, wherein the acquisition of axial movement information adopts an image sensor technology of a laser mouse, as shown in fig. 8, a gap of 4mm exists between the axial information acquisition structure and the operation catheter 3, the axial information acquisition structure belongs to non-contact measurement, mechanical friction caused by measurement is effectively avoided, thereby avoiding feedback effect caused by excessive mechanical friction, the axial information acquisition structure comprises a laser emitter 15 and a photoelectric sensor 16, the laser emitter 15 is a Vertical Cavity Surface Emitting Laser (VCSEL), the laser emitter 15 is used for emitting laser, the laser emitted by the laser emitter 15 is transmitted to a first lens 17, refracted to a second lens 18 through the first lens 17 and refracted to the surface of the operation catheter 3, light rays on the surface of the operation catheter 3 pass through a third lens 19 and are transmitted to the photoelectric sensor 16, when the operation catheter 3 is delivered, the optical sensor 16 can detect image changes of two adjacent detection surfaces of the operation catheter 3, and thus the movement (forward or backward trend) of the operation catheter 3 can be judged.
In this embodiment, the circumferential information collecting structure includes an encoder 20, the encoder 20 is a hollow incremental encoder 20, the encoder 20 is located at the outer side of the operation catheter 3, the operation catheter 3 is contactless with the encoder 20, an operation cylinder 21 is disposed at the outer side of the operation catheter 3, the operation catheter 3 can be rotated by rotating the operation cylinder 21, and the operation catheter 3, the operation cylinder 21 and the encoder 20 are coaxially disposed, and the encoder 20 is used for collecting circumferential position information of the operation catheter 3. When the operator needs to perform the operation of rotating the operation catheter 3, only the operation cylinder 21 needs to be rotated, and the operation mode accords with the operation habit of the doctor in the traditional operation.
In this embodiment, the vascular interventional operation robot main end device 100 with haptic feedback further includes a first bracket 22 and a second bracket 23, the haptic force output mechanism 1 is located on the first bracket 22, and the motion acquisition mechanism 2 is located on the second bracket 23.
The characteristic that the viscosity of the magnetorheological fluid 4 is increased under a magnetic field is applied, the resistance is output by the piston structure of the tactile force output mechanism 1 through the tactile force output mechanism 1, force feedback is provided, an artificial operation environment is provided for an operator in operation, intervention resistance in operation can be reflected, and safe and smooth completion of operation is ensured. In the embodiment, the operation catheter 3 and the operation acquisition mechanism 2 are adopted for operation acquisition, so that the operation experience of doctors in the traditional interventional operation is reserved to the greatest extent.
The principles and embodiments of the present invention have been described in this specification with reference to specific examples, the description of which is only for the purpose of aiding in understanding the method of the present invention and its core ideas; also, it is within the scope of the present invention to be modified by those of ordinary skill in the art in light of the present teachings. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (6)
1. The utility model provides a vascular intervention surgical robot main end device of area sense of touch feedback which characterized in that: comprises a tactile force output mechanism, an action acquisition mechanism, an operation catheter and a controller;
the tactile force output mechanism comprises a sleeve structure and a piston structure, one end of the operation guide pipe is connected with the piston structure, the other end of the operation guide pipe corresponds to the position of the action acquisition mechanism, the piston structure is arranged in the sleeve structure and is in sliding connection with the sleeve structure, the sleeve structure comprises an electromagnetic coil, and magnetorheological fluid is filled between the piston structure and the sleeve structure;
the action acquisition mechanism comprises an axial information acquisition structure and a circumferential information acquisition structure, the axial information acquisition structure is used for acquiring axial position information of the operation catheter, and the circumferential information acquisition structure is used for acquiring circumferential position information of the operation catheter;
the electromagnetic coil, the axial information acquisition structure and the circumferential information acquisition structure are respectively and electrically connected with the controller;
the sleeve structure comprises a spiral structure, a shell, a first end cover and a second end cover, wherein the spiral structure comprises a spiral body and a first blocking body, the first blocking body is arranged in a groove of the spiral body and used for changing a path of a magnetic induction line, the spiral structure is arranged on the inner side of the shell, the electromagnetic coil is arranged between the spiral structure and the shell, the first end cover is arranged at one end of the spiral structure and one end of the shell, the second end cover is arranged at the other end of the spiral structure and the other end of the shell, and the operation guide pipe penetrates through the second end cover;
the piston structure comprises a piston body structure, a first sealing structure and a second sealing structure, the piston body structure comprises a piston body and a second blocking body, a plurality of annular grooves are formed in the outer wall of the piston body along the axial direction of the piston body, the second blocking body is arranged in the annular grooves, the second blocking body is used for changing the path of a magnetic induction line, the first sealing structure is arranged at one end of the piston body, the second sealing structure is arranged at the other end of the piston body, one end of an operation guide pipe is connected with the piston body, the other end of the operation guide pipe penetrates through the second sealing structure, and magnetorheological fluid is filled in a cavity between the outer wall of the piston body structure, the inner wall of the sleeve structure and the second sealing structure.
2. The vascular interventional procedure robot main end device with haptic feedback according to claim 1, wherein: the spiral body is made of ferromagnetic materials; the first blocking body is made of a non-ferromagnetic material.
3. The vascular interventional procedure robot main end device with haptic feedback according to claim 1, wherein: the piston body is made of ferromagnetic materials; the second blocking body is made of a non-ferromagnetic material.
4. The vascular interventional procedure robot main end device with haptic feedback according to claim 1, wherein: the axial information acquisition structure with there is the clearance between the operation pipe, the axial information acquisition structure includes laser emitter and photoelectric sensor, laser emitter is used for transmitting laser, laser emitter transmitted laser extremely the surface of operation pipe, photoelectric sensor detects the operation pipe is followed the axial image change of operation pipe, and then obtains the axial position information of operation pipe.
5. The vascular interventional procedure robot main end device with haptic feedback according to claim 1, wherein: the circumferential information acquisition structure comprises an encoder, wherein the encoder is positioned on the outer side of the operation catheter and is used for acquiring circumferential position information of the operation catheter.
6. The vascular interventional procedure robot main end device with haptic feedback according to claim 1, wherein: the vascular interventional operation robot main end device with the tactile feedback further comprises a first support and a second support, the tactile force output mechanism is located on the first support, and the action collection mechanism is located on the second support.
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