CN108433813B - Filiform object detection device and master-slave intervention operation remote operation system with same - Google Patents
Filiform object detection device and master-slave intervention operation remote operation system with same Download PDFInfo
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- CN108433813B CN108433813B CN201810350589.6A CN201810350589A CN108433813B CN 108433813 B CN108433813 B CN 108433813B CN 201810350589 A CN201810350589 A CN 201810350589A CN 108433813 B CN108433813 B CN 108433813B
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- 238000001514 detection method Methods 0.000 title claims abstract description 65
- 238000013016 damping Methods 0.000 claims abstract description 265
- 230000033001 locomotion Effects 0.000 claims abstract description 41
- 239000000126 substance Substances 0.000 claims abstract description 7
- 230000006835 compression Effects 0.000 claims description 24
- 238000007906 compression Methods 0.000 claims description 24
- 230000002093 peripheral effect Effects 0.000 claims description 22
- 230000000670 limiting effect Effects 0.000 claims description 16
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000036316 preload Effects 0.000 claims 1
- 210000004204 blood vessel Anatomy 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 7
- 230000008569 process Effects 0.000 abstract description 7
- 230000002829 reductive effect Effects 0.000 abstract description 5
- 230000001105 regulatory effect Effects 0.000 description 22
- 230000000694 effects Effects 0.000 description 11
- 238000005056 compaction Methods 0.000 description 8
- 230000009471 action Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000001276 controlling effect Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 3
- 238000013152 interventional procedure Methods 0.000 description 3
- 230000001681 protective effect Effects 0.000 description 3
- 230000001174 ascending effect Effects 0.000 description 2
- 230000006378 damage Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 208000019155 Radiation injury Diseases 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001125 extrusion Methods 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
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Classifications
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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
- A61B34/35—Surgical robots for telesurgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
- A61B90/06—Measuring instruments not otherwise provided for
Abstract
The invention discloses a filiform object detection device and a master-slave intervention operation remote operation system with the same, wherein the filiform object detection device comprises: the device comprises a base, a sensor assembly, a damping piece and a damping adjusting piece, wherein a through hole for a thread to pass through is formed in the base, the sensor assembly is arranged on the base and used for detecting the movement condition of the thread in the through hole, the damping piece is arranged on the base and used for generating damping force for preventing the thread from moving in the through hole, the damping force is adjustable, and the damping adjusting piece is arranged on the base and connected with the damping piece and used for adjusting the damping force. The damping adjusting piece is used for adjusting the motion damping of the filiform substances, and the moving resistance of the catheter in the blood vessel is simulated, so that convenience is brought to a doctor for performing an operation, the doctor has good hand feeling for operating the filiform substances, deviation or error operation in the interventional process of the catheter can be prevented, the operation process is smoother, the pain of a patient can be reduced, and the operation time is shortened.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a filar detection device and a master-slave intervention operation remote operation system with the same.
Background
In the related art, in order to reduce radiation injury of rays to a doctor when the doctor performs a catheter intervention operation on a patient, a catheter (guide wire) is guided into a blood vessel by using a robot instead of a manual operation, and the doctor performs an operation by controlling the robot in a console operation. However, doctors who are accustomed to traditional manual introduction may not be accustomed to operating through a computer on the console. Therefore, in order to facilitate the operation of some doctors, a device is provided for the doctors to simulate the running resistance of the catheter (guide wire) in the blood vessel, and detect the displacement, speed, rotation direction, angular speed and other information of the catheter (guide wire), and the detected information is provided for the control computer, and the control computer controls the robot to perform corresponding operation. The doctor can control the robot to perform the operation by using the catheter (guide wire) to simulate the operation on the console.
Disclosure of Invention
The present invention aims to solve at least to some extent one of the above technical problems.
Therefore, the invention provides the filiform object detection device, which can adjust the damping action of the filiform object detection device on the filiform object and provides convenience for the doctor to operate.
The invention also provides a master-slave intervention operation remote operation system with the filar detection device.
An embodiment of a filament detection device according to the first aspect of the present invention comprises: the device comprises a base, a sensor assembly, a damping piece and a damping adjusting piece, wherein a perforation for a filiform object to pass through is formed in the base, the sensor assembly is installed on the base and detects the movement condition of the filiform object in the perforation, the damping piece is arranged on the base and is used for generating damping force which is used for preventing the filiform object from moving in the perforation, the size of the damping force is adjustable, and the damping adjusting piece is arranged on the base and is connected with the damping piece and is used for adjusting the size of the damping force.
According to the filiform object detection device provided by the embodiment of the invention, the damping adjusting piece is arranged on the filiform object detection device, so that the movement damping of the filiform object is adjusted by the damping adjusting piece, and the movement resistance of the catheter in the blood vessel is simulated. The operation environment of the wire is more similar to that of the catheter in the blood vessel when the doctor operates the wire, so that convenience is brought to the doctor for operation, the doctor has good hand feeling for operating the wire, deviation or misoperation in the interventional process of the catheter can be prevented, the operation process is smoother, pain of a patient can be reduced, and the operation time is shortened.
In addition, the driving device according to the embodiment of the invention may further have the following additional technical features:
according to an embodiment of the present invention, the damping member includes: the elastic adjusting rings are arranged in the through holes and are arranged along the length direction of the through holes, the filars penetrate through the elastic adjusting rings, and the damping adjusting parts are used for adjusting the damping force of the elastic adjusting rings to the filars by adjusting the radial deformation of the elastic adjusting rings.
According to an embodiment of the invention, the damping member further comprises: and each gasket is arranged between the elastic adjusting rings.
According to one embodiment of the invention, the base is provided with a damping sleeve, a part of the perforation is formed on the damping sleeve, and a plurality of elastic adjusting rings are arranged in the damping sleeve.
According to an embodiment of the present invention, the damping adjustment member includes: stopper, damping compress tightly post and damping pretension structure, the stopper is located in the perforation, the damping compress tightly the post with the stopper is in on the length direction of perforation respectively be located the both sides of a plurality of elasticity regulation circles, the damping compress tightly the post through self in the ascending motion of perforated length direction adjusts the radial deformation of elasticity regulation circle, damping pretension structure with the damping compress tightly the post and link to each other in order to control the damping compresses tightly the post and is in the ascending motion of perforated length direction.
Further, the damping compaction column and the damping pre-tightening structure are both provided with through holes for the filars to pass through.
According to one embodiment of the present invention, the damping pre-tightening structure includes: the pre-tightening adjusting block is in threaded fit with the base and is opposite to the damping compression column, and when the pre-tightening adjusting block is screwed, the self rotary motion is converted into linear motion of the damping compression column in the length direction of the perforation.
Further, the damping pre-tightening structure further includes: damping adjustment sleeve and elastic component resets, damping adjustment sleeve cover is located the pretension regulating block, damping adjustment sleeve follows the axial of pretension regulating block is movable between locking position and unlocking position, damping adjustment sleeve is located when locking position with the pretension regulating block combines in order to rotate in step, damping adjustment sleeve is located when unlocking position with the separation of pretension regulating block is in order to rotate independently, elastic component resets locate damping adjustment sleeve with between the pretension regulating block and will damping adjustment sleeve is often pushed to unlocking position.
According to a further embodiment of the present invention, the pretension adjustment block includes: the damping pre-tightening device comprises a regulating block main body and a damping pre-tightening column, wherein the regulating block main body is in threaded fit with a base, the damping pre-tightening column is connected with the regulating block main body in a sleeved mode, the damping pre-tightening column is stopped by the damping pre-tightening column when the damping pre-tightening column is located at the unlocking position, and the regulating block main body converts self rotary motion into linear motion of the damping compression column in the perforated length direction through the damping pre-tightening column when the regulating block main body is screwed.
Further, a circumferential limit groove is formed in one of the inner circumferential surface of the damping adjusting sleeve and the outer circumferential surface of the adjusting block main body, and a circumferential limit block is arranged on the other one of the inner circumferential surface of the damping adjusting sleeve and the outer circumferential surface of the adjusting block main body, the circumferential limit block is matched with the circumferential limit groove when the damping adjusting sleeve is located at the locking position, and the circumferential limit block is separated from the circumferential limit groove when the damping adjusting sleeve is located at the unlocking position.
According to one embodiment of the invention, a pre-tightening spring is arranged between the damping pre-tightening column and the damping compacting column.
According to one embodiment of the invention, a tightening washer is arranged between the damping pre-tightening column and the pre-tightening spring.
According to one embodiment of the present invention, a filar detection device, the sensor assembly includes: the wire guide groove and the detection groove are formed in the mounting seat, the wire guide groove and the detection groove are communicated with each other, the wire penetrates through the wire guide groove, and the sensor is accommodated in the detection groove and used for detecting the movement condition of the wire in the wire guide groove.
According to one embodiment of the invention, the sensor assembly further comprises: the positioning block is fixedly connected to the base and is movably accommodated in the thread guide groove, a positioning channel penetrating along the axial direction of the thread and a detection channel extending along the radial direction of the thread are defined on the positioning block, the thread penetrates through the positioning channel, and the detection channel is communicated with the positioning channel and the detection groove.
Further, a mounting hole is formed in the base at a position corresponding to the positioning block, and the positioning block is fixed on the base through a connecting piece matched between the mounting hole and the positioning block.
According to one embodiment of the invention, the cross section of the wire guide groove and the cross section of the positioning block are both formed in a T shape.
According to one embodiment of the present invention, the base includes: the damping device comprises a main body part and a vertical part, wherein the through hole is formed in the main body part, the damping piece and the damping adjusting piece are arranged at one end of the main body part, the vertical part is connected with the middle part of the main body part in the length direction and is perpendicular to the main body part, and the sensor assembly is arranged in the vertical part.
A master-slave interventional procedure teleoperational system according to an embodiment of the second aspect of the invention comprises a filar detection device according to the above-described embodiments.
Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:
FIG. 1 is a schematic structural view of a filament detecting device according to an embodiment of the present invention;
FIG. 2 is an exploded view of a filament detection device according to an embodiment of the present invention;
FIG. 3 is a partial exploded view of a filament detection device according to an embodiment of the present invention;
FIG. 4 is a cross-sectional view of a filament detection device according to an embodiment of the present invention;
FIG. 5 is a bottom view of a filament detection device according to an embodiment of the present invention;
FIG. 6 is a side cross-sectional view of a filament detection device according to an embodiment of the present invention;
FIG. 7 is an exploded view of the structure of FIG. 4;
fig. 8 is an enlarged view at a in fig. 4.
Reference numerals:
100: a filar detection device;
10: a base; 11: a main body portion; 111: a mounting hole; 112: a connecting piece; 12: a vertical portion; 13: damping sleeve;
20: a damping member; 21: an elastic adjusting ring; 22: a gasket;
30: damping adjusting piece; 31: a limiting block; 32: damping compaction columns; 33: a damping pre-tightening structure;
331: a pre-tightening adjusting block; 3311: an adjustment block body; 3312: damping pre-tightening column; 332: damping adjusting sleeve;
333: a return elastic member; 334: a pre-tightening spring; 335: abutting the gasket;
40: a sensor assembly; 41: a mounting base; 411: a thread guide groove; 412: a sensor mounting cavity;
42: a sensor; 43: a positioning block; 431: positioning the channel; 432: a detection channel;
50: a filar; 60: and a protective sleeve.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
In the description of the present invention, it should be understood that the terms "center," "upper," "lower," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," and the like indicate or are based on the orientation or positional relationship shown in the drawings, merely to facilitate description of the invention and simplify the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the invention. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and include, for example, either fixedly attached, detachably attached, or integrally attached; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
A master-slave type interventional operation teleoperation system according to an embodiment of the present invention is described in detail with reference to the accompanying drawings.
According to one embodiment of the present invention, a master-slave interventional procedure teleoperation system includes: a filament delivery device, a control computer and a filament detection device 100.
Specifically, the wire delivery device is arranged beside the patient, the surgical catheter is connected to the wire delivery device, the wire detection device 100 is arranged at a position far away from the patient, the wire delivery device and the wire detection device 100 are connected through a control computer, and the control computer transmits signals for the wire delivery device and the wire detection device 100.
Wherein, the doctor is adjacent to the filar detection device 100, the filar detection device 100 is provided with a filar 50 simulating an interventional catheter, the doctor operates the filar 50, and the filar detection device 100 detects movement and rotation of the filar 50, specifically including movement distance, movement speed and rotation angle of the filar 50. The control computer transmits information of the movement of the filar 50 to the filar delivery device, which inserts the catheter into the patient according to the movement of the filar 50 on the filar detection device 100, for example, controlling the insertion of the catheter into the patient's blood vessel according to the movement speed, movement distance and rotation angle of the filar 50.
First, a filament detecting device 100 according to an embodiment of the present invention is described with reference to the drawings.
As shown in fig. 1 and 2, a filament detecting device 100 according to an embodiment of the present invention includes: base 10, sensor assembly 40, damper 20 and damper adjuster 30.
Wherein, the base 10 is provided with a perforation through which the filament 50 passes, the perforation can penetrate through the base 10 along the horizontal direction, the filament 50 penetrates through the perforation and slides or rotates in the perforation, the inner diameter of the perforation is slightly larger than the outer diameter of the filament 50, the filament 50 is prevented from shaking in the perforation while passing through the perforation, and the stability of the filament 50 is improved.
The sensor assembly 40 is mounted on the base 10, and the sensor assembly 40 can detect movement of the filars 50 within the perforation, such as movement distance, movement speed, and rotation angle of the filars 50.
The damping member 20 and the damping adjustment member 30 are both disposed on the base 10, and the damping member 20 is connected to the damping adjustment member 30, the damping member 20 cooperates with the filament 50 and generates a damping effect that impedes movement of the filament 50 within the through hole, and the magnitude of the damping effect of the damping member 20 on the filament 50 can be adjusted by the damping adjustment member 30.
Thus, according to the wire detecting device 100 of the embodiment of the present invention, by providing the damping adjustment member 30 on the wire detecting device 100, the movement damping of the wire 50 is adjusted by the damping adjustment member 30, and thus the movement resistance of the catheter in the blood vessel is simulated. The operation environment of the wire 50 is more similar to that of the catheter in the blood vessel when the doctor operates the wire 50, so that the operation is convenient for the doctor, the doctor has good hand feeling when operating the wire 50, the deviation or error operation in the interventional process of the catheter can be prevented, the operation process is smoother, the pain of the patient can be reduced, and the operation time is shortened.
According to the master-slave type intervention operation remote operation system provided by the embodiment of the invention, the filiform object detection device 100 in the embodiment can be adopted to improve the working efficiency of doctors and reduce the pain of patients.
As shown in fig. 7, in the present embodiment, the damping member 20 includes a plurality of elastic adjustment rings 21, the plurality of elastic adjustment rings 21 are disposed in the through hole and are arranged along the length direction of the through hole, the filament 50 passes through the plurality of elastic adjustment rings 21, and the damping member 30 adjusts the damping force of the elastic adjustment rings 21 to the filament 50 by adjusting the radial deformation of the elastic adjustment rings 21.
That is, the plurality of elastic adjustment rings 21 are all sleeved on the filament 50 and accommodated in the perforation, the outer peripheral edge of the elastic adjustment ring 21 is abutted against the inner peripheral wall of the perforation, the inner peripheral edge of the elastic adjustment ring 21 is abutted against the outer peripheral wall of the filament 50, and the damping force of the elastic adjustment ring 21 on the filament 50 is adjusted by controlling the tightening force of the elastic adjustment ring 21 on the filament 50. For example, when the elastic adjustment ring 21 is subjected to the axial pressure, since the outer peripheral edge of the elastic adjustment ring 21 is stopped against the inner peripheral wall of the perforation and cannot be further expanded outwardly, the inner peripheral edge of the elastic adjustment ring 21 is stopped against the inner peripheral wall of the filament 50, so that the radial pressure of the elastic adjustment ring 21 against the filament 50 is increased, and thus the damping force of the elastic adjustment ring 21 against the filament 50 can be increased.
The damping effect of the damping piece 20 on the filiform substances 50 is adjusted by the elastic adjusting rings 21, the structure is simple, the manufacturing is easy, the production cost is low, the elastic adjusting rings 21 are convenient to control, the damping can be adjusted conveniently, furthermore, the stability of the damping piece 20 on the filiform substances 50 can be improved by the elastic adjusting rings 21, and the filiform substances detecting device 100 can not normally operate due to the damage of the individual elastic adjusting rings 21 is prevented.
As shown in fig. 7, the damping member 20 further includes a plurality of washers 22, each washer 22 being disposed between the associated elastic adjustment rings 21, according to one embodiment of the present invention. For example, a gasket 22 is arranged between any two adjacent elastic adjusting rings 21, the gasket 22 is sleeved on the filiform substances 50, the independence of work between the adjacent elastic adjusting rings 21 is guaranteed, the damping stability is improved, the elastic adjusting rings 21 can be rubber parts, the adjacent elastic adjusting rings 21 can be prevented from being bonded together by arranging the gasket 22, and the elastic adjusting rings 21 are promoted to be compressed or stretched normally and stably.
As shown in fig. 7, according to one embodiment of the present invention, the base 10 is provided with a damping sleeve 13, the axial extension of the filaments 50 of the damping sleeve 13 is sleeved on the filaments 50, and a portion of the perforation is formed in the damping sleeve 13, that is, the inner cavity of the damping sleeve 13 is a portion of the perforation. The plurality of elastic adjustment rings 21 and the plurality of washers 22 are all provided in the damping sleeve 13, and the outer peripheral edge of the elastic adjustment rings 21 is stopped against the inner peripheral wall of the damping sleeve 13.
The damping sleeve 13 may be a metal piece with higher rigidity, and by arranging the damping sleeve 13, the limiting effect of the perforated inner peripheral wall on the outer peripheral edge of the elastic adjusting ring 21 can be increased, so that the inner diameter of the perforated inner peripheral wall is prevented from being increased due to the fact that the elastic adjusting ring 21 extrudes the perforated inner peripheral wall, the damping effect of the elastic adjusting ring 21 on the filar 50 can be prevented from being influenced by perforation deformation, and the damping stability is further improved. Furthermore, the damping sleeve 13 is easy to replace and has low production cost, and once the diameter of the perforation at the position is enlarged, the problem can be directly solved by replacing the damping sleeve 13, thereby eliminating the economic loss caused by replacing the whole base 10.
As shown in fig. 8, according to an embodiment of the present invention, the damping adjustment member 30 includes: stopper 31, damping compress tightly post 32 and damping pretension structure 33, stopper 31 locate in the perforation, and damping compress tightly post 32 and stopper 31 are located the both sides of a plurality of elasticity adjustment circle 21 respectively in the length direction of perforation, and damping compress tightly post 32 adjusts the radial deformation of elasticity adjustment circle 21 through the motion of oneself in the length direction of perforation, and damping pretension structure 33 links to each other with damping compress tightly post 32 in order to control damping compress tightly the motion of post 32 in the length direction of perforation.
Wherein, the damping compaction column 32 and the damping pre-tightening structure 33 are both provided with a via hole for the filar 50 to pass through, that is, the damping compaction column 32 and the damping pre-tightening structure 33 can be formed into a tubular or ring-shaped structure sleeved on the filar 50, the limiting block 31, the damping compaction column 32 and the damping pre-tightening structure 33 are all sleeved on the filar 50, the limiting block 31 is arranged on the inner peripheral wall of the perforation, and in the length direction of the perforation, the limiting block 31 and the damping compaction column 32 are respectively arranged at two sides of the elastic adjusting ring 21, the damping compaction column 32 is in stop contact with the elastic adjusting ring 21, and the elastic adjusting ring 21 is in stop contact with the limiting block 31. The damping pre-tightening structure 33 is connected with the damping compression column 32 and controls the damping compression column 32 to move, and in the moving process of the damping compression column 32, under the cooperation of the limiting action of the limiting block 31 and the extrusion action of the damping compression column 32, the pressure received by the elastic adjusting ring 21 in the length direction of the perforation is controlled, and the friction action between the inner peripheral wall of the elastic adjusting ring 21 and the filars 50 is adjusted accordingly.
On the one hand, the damping adjusting member 30 with the above structure has a simple structure and is easy to manufacture, and can provide convenience for adjusting the damping effect of the damping member 20 and the support of the wire 50. And through setting up the via hole in damping compress tightly post 32 and damping pretension structure 33, can provide convenience for the assembly and the regulation of damping compress tightly post 32 and damping pretension structure 33, prevent that damping compress tightly post 32 and damping pretension structure 33 skew from influencing the normal regulation of damping.
According to one embodiment of the present invention, the damping pre-tightening structure 33 includes: the pre-tightening adjusting block 331, the pre-tightening adjusting block 331 is in threaded fit with the base 10 and is opposite to the damping compression column 32. As shown in fig. 3, an external thread is formed on the outer peripheral wall of the front end of the base 10, a pre-tightening adjusting block 331 is sleeved on the front end of the base 10, an internal thread engaged with the external thread in a matching manner is formed on the inner peripheral wall of the pre-tightening adjusting block 331 corresponding to the external thread, and the pre-tightening adjusting block 331 is screwed on the base 10. When the pre-tightening adjusting block 331 is screwed, the self rotation motion is converted into the linear motion of the damping compression column 32 along the length direction of the perforation, that is, the pre-tightening adjusting block 331 rotates on the external thread of the base 10 and simultaneously generates displacement along the front-back direction of the base 10, the pre-tightening adjusting block 331 can be matched with the damping compression column 32, and the damping compression column 32 moves along the length direction of the perforation along with the movement of the pre-tightening adjusting block 331.
Thereby, the pressing action of the pressing column on the damping member 20 is regulated by the pre-tightening regulating block 331, so that the damping action between the damping member 20 and the filament 50 can be regulated, and the damping of the filament 50 in the perforation can be regulated. Moreover, by providing the pre-tightening adjustment block 331, it is possible to provide convenience for medical staff to control the damping compaction column 32.
Further, the damping pre-tightening structure 33 further includes: damping adjustment sleeve 332 and reset elastic component 333, damping adjustment sleeve 332 cover is located pretension regulating block 331, damping adjustment sleeve 332 is along the axial of pretension regulating block 331 between locked position and unlocked position, damping adjustment sleeve 332 combines with pretension regulating block 331 in order to rotate in step when being located the locked position, damping adjustment sleeve 332 separates with pretension regulating block 331 in order to rotate independently when being located the unlocked position, for example, be equipped with circumference spacing groove on one of damping adjustment sleeve 332's inner peripheral surface and regulating block main body 3311's outer peripheral surface and be equipped with circumference stopper 31 on the other, circumference stopper 31 can cooperate joint with circumference spacing groove.
When the damping adjusting sleeve 332 is positioned at the locking position, the circumferential limiting block 31 is matched with the circumferential limiting groove, and at the moment, the damping adjusting sleeve 332 and the pre-tightening adjusting block 331 synchronously rotate; the circumferential limiting block 31 is separated from the circumferential limiting groove when the damping adjusting sleeve 332 is located at the unlocking position, and at this time, the damping adjusting sleeve 332 is separated from the pre-tightening adjusting block 331 and rotates independently, that is, the damping adjusting sleeve 332 cannot drive the damping adjusting block to rotate together.
The return elastic member 333 is disposed between the damping adjustment sleeve 332 and the pre-tightening adjustment block 331 and normally pushes the damping adjustment sleeve 332 to the unlocking position, that is, when no external force is applied to the damping adjustment sleeve 332 by medical staff, the return spring pushes the damping adjustment sleeve 332 to be separated from the pre-tightening adjustment block 331, and the damping adjustment sleeve 332 does not drive the damping adjustment block to rotate together. When medical staff applies an external force to the damping adjustment sleeve 332 in the direction of the pre-tightening adjustment block 331, the damping adjustment sleeve 332 moves towards the damping adjustment block and enters a locking position, the damping adjustment sleeve 332 rotates synchronously with the pre-tightening adjustment block 331, and the medical staff can adjust the damping effect of the filar 50 by adjusting the damping adjustment sleeve 332.
Through setting up damping adjustment sleeve 332, can provide convenience for rotatory pretension regulating block 331 of user, through setting up reset elastic component 333 between damping adjustment sleeve 332 and pretension regulating block 331 moreover, can guarantee that damping adjustment sleeve 332 is not receiving the effect of axial external force, even if produce the rotation, also can not be with on the rotatory effect transfer column pretension regulating block 331. Therefore, the damping of the filiform 50 is prevented from being changed due to touching or misoperation of medical staff, and the damping stability of the filiform 50 is improved.
As shown in fig. 8, the pretension adjustment block 331 includes: an adjustment block body 3311 and a damping pre-tension post 3312.
The adjusting block body 3311 is sleeved at the front end of the base 10, the internal thread is arranged on the adjusting block body 3311, the damping adjusting sleeve 332 is sleeved on the adjusting block body 3311, and when the adjusting block body 3311 is screwed, the rotating motion of the adjusting block body 3311 is converted into the linear motion of the damping compressing column 32 in the length direction of the through hole through the damping pre-tightening column 3312. The damping pre-tightening post 3312 penetrates through the damping adjusting sleeve 332, one end of the damping pre-tightening post 3312 is connected with the adjusting block main body 3311, a stop of the damping pre-tightening post 3312 is arranged at the other end of the damping pre-tightening post 3312, and a part of the damping adjusting sleeve 332 is positioned between the damping pre-tightening stop and the adjusting block main body 3311. When the damping adjustment sleeve 332 is located at the unlocking position, the front end of the damping adjustment sleeve 332 abuts against the rear side of the stop of the damping pre-tightening post 3312, so that the damping adjustment sleeve 332 is prevented from being separated under the elastic force of the reset elastic member 333.
Wherein, the damping pre-tightening post 3312 is inserted into the adjusting block main body 3311, and the rear end of the damping pre-tightening post 3312 is stopped against the front end of the damping compression post 32. By arranging the damping pre-tightening post 3312, the displacement of the damping adjusting sleeve 332 can be limited, convenience can be provided for driving the damping compression post 32 by the damping pre-tightening structure 33, and the stability of the damping pre-tightening structure 33 and the damping compression post 32 in cooperation can be improved.
As shown in fig. 7, a pre-tightening spring 334 is arranged between the damping pre-tightening post 3312 and the adjusting block main body 3311, the pre-tightening spring 334 is compressed between the damping pre-tightening post 3312 and the damping compressing post 32, and the axial load of the damping pre-tightening post 3312 to the damping compressing post 32 is transmitted by the pre-tightening spring 334, so that the stability of the stress of the damping compressing post 32 can be improved, the excessive stress amplitude of the damping compressing post 32 is prevented, and the damping effect of the damping piece 20 to the filar 50 is influenced, so that convenience can be provided for medical staff to adjust the damping.
As shown in fig. 7, according to an embodiment of the present invention, a tightening washer 335 is disposed between the damping pre-tightening post 3312 and the pre-tightening spring 334, and the damping pre-tightening post 3312 rotates during operation, so that adverse effects on the damping member 20 caused by rotation of the damping pre-tightening post 3312 can be reduced while the transmission of the axial compression effect is ensured by providing the tightening washer 335 and the pre-tightening spring 334, which is beneficial to prolonging the service life of the damping member 20.
As shown in fig. 2, the sensor assembly 40 includes: the wire guide slot 411 is defined on the mount 41, and the wire 50 penetrates the wire guide slot 411 and moves in the wire guide slot 411, and can slide relative to the wire guide slot 411 in the axial direction or rotate relative to the wire guide slot 411 in the circumferential direction, and the sensor 42 is accommodated in the detection slot and is used for detecting the movement condition of the wire 50 in the wire guide slot 411, specifically, the sliding distance, the sliding speed and the rotation angle of the wire 50 in the wire guide slot 411.
Through setting up silk thread guide slot 411 and detection groove on mount pad 41, not only can provide the convenience for the installation of sensor 42, silk thread 50 passes silk thread guide slot 411 moreover, can provide the convenience for sensor 42 detects silk thread 50, not only can promote the stability that sensor 42 detected, can promote the accuracy that sensor 42 detected moreover.
As shown in fig. 2, the sensor assembly 40 further includes: the positioning block 43, the positioning block 43 is fixedly connected to the base 10 and is movably accommodated in the wire guide slot 411, and the positioning block 43 is defined with a positioning channel 431 penetrating along the axial direction of the wire 50 and a detection channel 432 extending along the radial direction of the wire 50, the wire 50 penetrates the positioning channel 431, and the detection channel 432 is communicated with the positioning channel 431 and the detection slot.
By providing the positioning block 43 having the positioning channel 431 and the detecting channel 432, on the one hand, the positioning block 43 is fixedly connected with the base 10, so that the stability of the thread 50 in the through hole can be fixed by using the positioning block 43, and the thread 50 is prevented from swinging due to the shaking of the mounting seat 41; on the other hand, by utilizing the cooperation of the positioning channel 431 and the detection channel 432, the sensor 42 can always detect the movement condition of the filar 50 in the positioning channel 431, so that the stability and accuracy of the detection of the sensor 42 can be further improved.
Further, as shown in fig. 6, the base 10 is provided with a mounting hole 111 at a position corresponding to the positioning block 43, for example, the mounting hole 111 may be provided at the top of the base 10, the connecting member 112 is connected to the positioning block 43 through the mounting hole 111, and the positioning block is fixed to the base 10 by the connecting member 112 fitted between the mounting hole 111 and the positioning block 43. The base 10 and the positioning block 43 are connected through the connecting piece 112, so that the structure is simple, the assembly is convenient, the assembly stability of the fixed block can be improved, and convenience can be provided for the assembly and replacement of the positioning block 43.
As shown in fig. 7, according to an embodiment of the present invention, the cross section of the wire guide slot 411 and the cross section of the positioning block 43 are both formed in a T shape, and by providing the T-shaped wire guide slot 411 and the positioning block 43, not only the positioning block 43 can be prevented from shaking or swinging in the wire guide slot 411, but also the positioning block 43 can be prevented from rotating in the wire guide slot 411, thereby not only facilitating the detection of the wire 50 by the sensor 42, but also preventing the damage of the wire 50 due to the shaking of the positioning block 43.
As shown in fig. 1, according to one embodiment of the present invention, a base 10 includes: a main body portion 11 and a vertical portion 12. The main body 11 extends in the front-rear direction, the through hole penetrates the main body 11 along the length direction of the main body 11, the damping member 20 and the damping adjusting member 30 can be arranged at the front end of the main body 11, the rear end of the main body 11 is provided with a protective sleeve 60, and the protective sleeve 60 is covered at the rear end of the main body 11. The vertical portion 12 is connected to a middle portion of the main body 11 in the longitudinal direction, that is, the vertical portion 12 is disposed at a middle portion of the main body 11 in the longitudinal direction and is disposed perpendicular to the main body 11, a sensor 42 mounting cavity 412 communicating with the through hole is defined in the vertical portion 12, and the sensor assembly 40 is disposed in the sensor 42 mounting cavity 412.
The base 10 of the above-described structure can provide convenience not only for the threading of the filaments 50 but also for the detection of the filaments 50 by the sensor assembly 40 within the vertical portion 12. The utilization rate of the base 10 is improved to the greatest extent, and the size of the base 10 is reduced.
Other configurations and operations of a master-slave interventional procedure teleoperational system according to embodiments of the present invention are known to those of ordinary skill in the art and will not be described in detail herein.
In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.
Claims (17)
1. A filament detection apparatus, comprising:
a base provided with a perforation for the filars to pass through;
a sensor assembly mounted to the base and detecting movement of the filament within the aperture;
the damping piece is arranged on the base and used for generating damping force for preventing the filiform substances from moving in the through holes, and the damping force is adjustable;
the damping adjusting piece is arranged on the base and connected with the damping piece and used for adjusting the damping force; the damping member includes:
the elastic adjusting rings are arranged in the through holes and are arranged along the length direction of the through holes, the filars penetrate through the elastic adjusting rings, and the damping adjusting parts are used for adjusting the damping force of the elastic adjusting rings to the filars by adjusting the radial deformation of the elastic adjusting rings.
2. The filament detection device of claim 1, wherein the damping member further comprises:
and each gasket is arranged between the elastic adjusting rings.
3. The filament detection device of claim 1, wherein the base is provided with a damping sleeve, a portion of the perforations being formed in the damping sleeve, and a plurality of the elastic adjustment loops being disposed within the damping sleeve.
4. The filament detection apparatus of claim 1, wherein the damping adjustment member comprises:
the limiting block is arranged in the perforation;
the damping compression column and the limiting block are respectively positioned at two sides of the plurality of elastic adjusting rings in the length direction of the perforation, and the damping compression column adjusts the radial deformation of the elastic adjusting rings through the movement of the damping compression column in the length direction of the perforation;
and the damping pre-tightening structure is connected with the damping compression column to control the damping compression column to move in the length direction of the perforation.
5. The filament detection apparatus of claim 4, wherein the damping compression column and the damping pretensioning structure are each provided with a via hole through which the filament passes.
6. The filament detection apparatus of claim 4, wherein the damping preload structure comprises:
the pre-tightening adjusting block is in threaded fit with the base and is opposite to the damping compression column, and when the pre-tightening adjusting block is screwed, the self rotary motion is converted into linear motion of the damping compression column in the length direction of the perforation.
7. The filament detection apparatus of claim 6, wherein the damping pre-tension structure further comprises:
the damping adjusting sleeve is sleeved on the pre-tightening adjusting block, the damping adjusting sleeve can move between a locking position and an unlocking position along the axial direction of the pre-tightening adjusting block, the damping adjusting sleeve is combined with the pre-tightening adjusting block to synchronously rotate when being positioned at the locking position, and the damping adjusting sleeve is separated from the pre-tightening adjusting block to independently rotate when being positioned at the unlocking position;
and the reset elastic piece is arranged between the damping adjusting sleeve and the pre-tightening adjusting block and is used for pushing the damping adjusting sleeve to the unlocking position.
8. The filament detection apparatus of claim 7, wherein the pretension adjustment block comprises:
the adjusting block main body is in threaded fit with the base, and the damping adjusting sleeve is sleeved on the adjusting block main body;
the damping pre-tightening column is connected with the adjusting block main body, the damping adjusting sleeve is stopped by the damping pre-tightening column when located at the unlocking position, and the adjusting block main body converts the rotation motion of the damping pre-tightening column into the linear motion of the damping compacting column in the length direction of the perforation when screwed.
9. The wire detection device according to claim 8, wherein one of an inner peripheral surface of the damping adjustment sleeve and an outer peripheral surface of the adjustment block body is provided with a circumferential limit groove and the other is provided with a circumferential limit block, the circumferential limit block is fitted in the circumferential limit groove when the damping adjustment sleeve is in the locked position, and the circumferential limit block is disengaged from the circumferential limit groove when the damping adjustment sleeve is in the unlocked position.
10. The filament detection device of claim 8, wherein a pretension spring is disposed between the damped pretension post and the damped compression post.
11. The wire detection device of claim 10, wherein a cinch washer is disposed between the damped pretension post and the pretension spring.
12. The filament detection device of claim 1, wherein the sensor assembly comprises:
the mounting seat is mounted on the base, a wire guide groove and a detection groove which are mutually communicated are defined on the mounting seat, and the wire penetrates through the wire guide groove;
and the sensor is accommodated in the detection groove and is used for detecting the movement condition of the filars in the thread guide groove.
13. The filament detection device of claim 12, wherein the sensor assembly further comprises:
the positioning block is fixedly connected to the base and is movably accommodated in the thread guide groove, a positioning channel penetrating along the axial direction of the thread and a detection channel extending along the radial direction of the thread are defined on the positioning block, the thread penetrates through the positioning channel, and the detection channel is communicated with the positioning channel and the detection groove.
14. The filament detecting device of claim 13, wherein the base is provided with a mounting hole at a position corresponding to the positioning block, and the positioning block is fixed to the base by a connecting member fitted between the mounting hole and the positioning block.
15. The filament detection device of claim 13, wherein the wire guide slot and the positioning block are each formed in a T-shape in cross section.
16. The filament detection apparatus of any one of claims 1-15, wherein the base comprises:
the main body part is provided with the through hole, and the damping piece and the damping adjusting piece are arranged at one end of the main body part;
and the vertical part is connected to the middle part of the main body part in the length direction and is arranged vertically to the main body part, and the sensor assembly is arranged in the vertical part.
17. A master-slave interventional surgical teleoperational system comprising a filar detection device according to any one of claims 1-16.
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| CN201810350589.6A CN108433813B (en) | 2018-04-18 | 2018-04-18 | Filiform object detection device and master-slave intervention operation remote operation system with same |
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| CN201810350589.6A CN108433813B (en) | 2018-04-18 | 2018-04-18 | Filiform object detection device and master-slave intervention operation remote operation system with same |
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| CN108433813A (en) | 2018-08-24 |
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