CN110141365B - Blood vessel intervention operation auxiliary device remote control system for simulating doctor operation - Google Patents
Blood vessel intervention operation auxiliary device remote control system for simulating doctor operation Download PDFInfo
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- CN110141365B CN110141365B CN201910372778.8A CN201910372778A CN110141365B CN 110141365 B CN110141365 B CN 110141365B CN 201910372778 A CN201910372778 A CN 201910372778A CN 110141365 B CN110141365 B CN 110141365B
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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
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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
- 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
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- 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
- A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
Abstract
The invention discloses a remote control system of a vascular intervention operation auxiliary device for simulating doctor operation, which comprises a feed motion device and a twist motion device, wherein the feed motion device performs linear motion under the pulling action and is used for sending linear motion information to an end effector; the twisting motion device is fixed on the feeding motion device, and rotates under twisting motion to send out rotation motion information to the end effector. The remote control system adopts a remote control operation method, so that a doctor can be prevented from X-ray radiation, and the health of the doctor is guaranteed; and doctors can perform operations across regions. Because the remote control system controls the end effector to linearly push and twist and push the catheter/guide wire in a pulling and twisting operation mode, the habit of the remote control system is the same as that of the original manual operation mode of a doctor, and the remote control system is beneficial to improving the operation quality.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a remote control system of a vascular intervention surgical auxiliary device for simulating doctor surgical operation.
Background
Minimally invasive surgery refers to surgery performed in a human body through tiny wounds by using modern medical instruments and related equipment. Minimally invasive surgery occupies an important position in the field of modern surgical operations due to the advantages of less bleeding, high safety, quick postoperative recovery and the like, and cardiovascular interventional operations are officially an important class. Cardiovascular interventional surgery plays an increasingly important role as the incidence of cardiovascular disease is increasing.
In modern medical conditions, physicians often need to directly manipulate catheters and guidewires, which can lead to various problems: doctors are directly exposed to X-ray irradiation for a long time, which brings great risk to the health of the doctors; doctors need to visit the operation site, and a great deal of time is often delayed on the way when dealing with emergency situations; the problems of hand trembling and the like caused by long-time operation also bring uncertainty to the operation. Therefore, the use of surgical robots is becoming more widespread.
However, the conventional surgical auxiliary device (generally referred to as a surgical robot) still has many problems and disadvantages, mainly adopts a mode different from the original manual operation of the doctor or a tool different from the tool used by the manual operation of the doctor, which causes the doctor to need special training to perform the correct operation, but for high-priced doctors, the experience accumulated for a long time in the past becomes an obstacle to grasp a new operation method, and causes problems of misoperation, reduction of operation quality and the like.
At present, a remote control system of an auxiliary device for a vascular intervention operation mainly adopts a control rod mode, which is completely different from a straight line pushing and twisting mode of a catheter/a guide wire by a finger of a doctor in the vascular intervention operation.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a remote control system of a vascular intervention operation assisting device for simulating a doctor operation, which realizes remote control operation, protects a doctor from X-radiation, and can improve operation quality.
The remote control system for the vascular intervention operation auxiliary device for simulating the operation of a doctor according to the embodiment of the first aspect of the invention comprises:
the feeding motion device performs linear motion under pulling and is used for sending linear motion information to the end effector;
and the twisting motion device is fixed on the feeding motion device, rotates under twisting motion and sends out rotation motion information to the end effector.
According to the remote control system of the vascular intervention operation auxiliary device for simulating the doctor operation, which is disclosed by the embodiment of the first aspect of the invention, a remote control operation method is adopted, so that a doctor can perform an operation on a patient through a main operation table of the remote control system outside an operation room. Therefore, the doctor can be prevented from X-ray radiation, and the health of the doctor is guaranteed; meanwhile, due to the characteristic of remote control, doctors can perform operations across regions, so that the treatment level of remote regions and regions with laggard medical level can be improved, and a great deal of time on the way can be saved. Because the remote control system controls the end effector to linearly push and twist and push the catheter/guide wire in a pulling and twisting operation mode, the habit of the remote control system is the same as that of the original manual operation mode of a doctor, and the remote control system is beneficial to improving the operation quality.
According to one embodiment of the first aspect of the present invention, the feeding motion device receives the force sensing information from the end effector, and performs resistance feedback to reproduce the linear motion resistance of the catheter/guide wire in the blood vessel; the twisting motion module receives the torque sensing information sent by the end effector, carries out torque feedback and reproduces the rotation motion resistance of the catheter/guide wire in the blood vessel.
According to a further embodiment of the first aspect of the present invention, the feeding motion device includes a linear motion device and a sliding platform, the sliding platform is disposed on the linear motion device, and the twisting motion device is fixed on the sliding platform, wherein the linear motion device sends linear motion information to the end effector, and also receives force sensing information sent by the end effector and performs resistance feedback.
According to a still further embodiment of the first aspect of the present invention, the linear mover includes a transmission assembly, a first rotating electrical machine and a first rotation detection encoder, the transmission assembly is a synchronous belt transmission assembly or a ball screw transmission assembly, and the sliding platform is disposed on the synchronous belt transmission assembly or the ball screw transmission assembly; the first rotating motor is connected with a synchronous wheel in the synchronous belt transmission assembly or a lead screw in the ball screw transmission assembly, and receives force sensing information sent by the end effector and performs resistance feedback; the first rotation detection encoder is arranged on a synchronizing wheel in the synchronous belt transmission assembly or a lead screw in the ball screw transmission assembly and used for detecting rotation information of the synchronizing wheel or the lead screw, further calculating linear motion information of the sliding platform and sending the linear motion information to the end effector.
According to a still further embodiment of the first aspect of the present invention, the linear mover comprises a linear motor and a displacement sensor, the linear motor receives force sensing information from the end effector and performs resistance feedback; the linear motor comprises a stator and a rotor which moves linearly relative to the stator, the sliding platform is arranged on the rotor, and the displacement sensor is arranged on the rotor and used for detecting linear movement information of the rotor and sending the linear movement information to the end effector.
According to an embodiment of the first aspect of the present invention, the twisting motion device includes a second rotating electrical machine, a second rotation detection encoder, and an operating handle, the second rotating electrical machine and the second rotation detection encoder are respectively disposed at two ends of the operating handle, and the second rotation detection encoder is configured to detect rotation motion information of the operating handle and send the rotation motion information to the end effector; and the second rotating motor receives the torque sensing information sent by the end effector and carries out torque feedback.
According to a further embodiment of the first aspect of the present invention, the twisting motion device further includes a force sensor and a conducting ring assembly, the second rotating electrical machine is connected to one end of the operating handle through the force sensor and the conducting ring assembly, and the force sensor and the conducting ring assembly are configured to detect force information and torque information on the operating handle and send the force information and the torque information to the linear motion device and the second rotating electrical machine, respectively, so as to form feedback control.
According to a still further embodiment of the first aspect of the present invention, the twisting motion device further includes a first bracket, a second bracket and a coupling, the first bracket and the second bracket are disposed at an interval along a linear motion direction of the sliding translation, and one end of the first bracket and one end of the second bracket are fixed on the sliding platform, an output shaft of the second rotating motor is connected to one end of the operating handle through the force sensor and the conducting ring assembly, and the second rotating motor is fixed at the other end of the first bracket; the second rotary detection encoder is connected with the other end of the operating handle through the coupler, and the second rotary detection encoder is fixed to the other end of the second support.
According to an embodiment of the first aspect of the present invention, the operating mode switching interface further comprises an operating object selection area and an operating mode selection area, the operating object selection area comprises a catheter key and a guide wire key, and the operating mode selection area comprises a mode one key for entering the force-less feedback operating mode, a mode two key for entering the force feedback operating mode, and a mode three key for entering the resistance compensation force feedback operating mode.
The invention also provides a vascular intervention operation auxiliary device.
The vascular interventional procedure assistance device according to an embodiment of the second aspect of the present invention includes:
a remote control system of the vascular intervention operation auxiliary device for simulating the operation of the doctor according to any one embodiment of the first aspect of the invention, wherein the remote control system is used for sending instructions to the end effector to control the end effector; and the end effector responds to the instruction, executes corresponding operation, detects stress and motion conditions of the catheter/guide wire moving in the blood vessel, and transmits the stress and motion conditions back to the remote control system, and the remote control system reproduces the stress conditions. According to the force signal, the driving motor can directly prevent operation, and can be unlocked only by reverse movement.
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 above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic structural diagram of a remote control system of a vascular interventional operation auxiliary device for simulating a doctor operation according to an embodiment of the first aspect of the invention.
Fig. 2 is a schematic view of an operation mode conversion interface of a remote control system of a vascular intervention operation assisting device for simulating a doctor operation according to an embodiment of the first aspect of the invention.
Reference numerals:
First synchronizing wheel 11102 and second synchronizing wheel 11103
First rotating electric machine 112 first rotation detection encoder 113
Twisting movement device 2
Second rotating electric machine 21 second rotation detection encoder 22 operation handle 23
Coupling 27 for force sensor and conducting ring assembly 24, first bracket 25 and second bracket 26
Working mode conversion interface 3
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
A remote control system 1000 of a vascular interventional procedure assistance device that simulates a surgeon's procedure according to an embodiment of the first aspect of the present invention will be described with reference to fig. 1 to 2.
As shown in fig. 1 and fig. 2, a remote control system 1000 of a vascular intervention operation assisting device for simulating a doctor operation according to an embodiment of the first aspect of the present invention includes a feeding motion device 1 and a twisting motion device 2, wherein the feeding motion device 1 performs a linear motion under pulling for sending linear motion information to an end effector; the twisting movement device 2 is fixed on the feeding movement device 1, and the twisting movement device 2 rotates under twisting movement to send out rotation movement information to the end effector.
The remote control system 1000 for the auxiliary device for vascular interventional surgery simulating the operation of the doctor according to the embodiment of the first aspect of the present invention adopts a remote operation method, i.e. the doctor can perform the operation on the patient through the main operation table of the remote control system 1000 outside the operation room. Therefore, the doctor can be prevented from X-ray radiation, and the health of the doctor is guaranteed; meanwhile, due to the characteristic of remote control, doctors can perform operations across regions, so that the treatment level of remote regions and regions with laggard medical level can be improved, and a great deal of time on the way can be saved. Because the remote control system controls the end effector to linearly push and twist and push the catheter/guide wire in a pulling and twisting operation mode, the habit of the remote control system is the same as that of the original manual operation mode of a doctor, and the remote control system is beneficial to improving the operation quality.
According to one embodiment of the first aspect of the invention, the feed motion device 1 receives force sensing information sent by the end effector, and performs resistance feedback to reproduce the linear motion resistance of the catheter/guide wire in the blood vessel; the twisting motion device 2 receives the torque sensing information sent by the end effector, carries out torque feedback and reproduces the rotation motion resistance of the catheter/guide wire in the blood vessel. Therefore, feedback control can be performed through the resistance feedback of the feeding motion device 1 and the torque force feedback function of the twisting motion device 2, the situation of directly operating the catheter and the guide wire can be completely reproduced, a doctor can use the existing experience, thinking mode conversion is avoided, the main operating platform of the remote control system 1000 can be operated skillfully without long-time training, the requirement on the doctor is reduced, and the accuracy of operation and the operation quality are improved. According to a further embodiment of the first aspect of the present invention, the feeding motion device 1 includes a linear motion device 11 and a sliding platform 12, the sliding platform 12 is disposed on the linear motion device 11, and the twisting motion device 2 is fixed on the sliding platform 12, wherein the linear motion device 11 sends out linear motion information to the end effector, and also receives force sensing information sent out by the end effector and performs resistance feedback. Thereby, the linear motion resistance experienced by the catheter/guidewire in the vessel can be reproduced. Here, it should be noted that the twisting motion device 2 is fixed to the sliding platform 12, that is, both can move together.
According to a still further embodiment of the first aspect of the present invention, the linear mover 11 includes a transmission assembly, a first rotating electrical machine 112 and a first rotation detecting encoder 113, the transmission assembly is a synchronous belt transmission assembly 111 or a ball screw transmission assembly, the sliding platform 12 is disposed on the synchronous belt transmission assembly 111 or the ball screw transmission assembly; the first rotating motor 112 is connected with a synchronizing wheel in the synchronous belt transmission assembly 111 or a lead screw in the ball screw transmission assembly, and the first rotating motor 112 receives force sensing information sent by the end effector and performs resistance feedback; the first rotation detection encoder 113 is disposed on a synchronizing wheel in the synchronous belt drive assembly 111 or a lead screw in the ball screw drive assembly, and is configured to detect rotation information of the synchronizing wheel or rotation information of the lead screw, further calculate linear motion information of the sliding platform 12, and send the linear motion information to the end effector. Thus, the first rotating electric machine 112 receives force sensing information from the end effector and performs resistance feedback, thereby reproducing the linear motion resistance of the catheter/guide wire in the blood vessel.
According to a still further embodiment of the first aspect of the present invention, the linear mover 11 comprises a linear motor and a displacement sensor, the linear motor receives force sensing information from the end effector and performs resistance feedback; the linear motor comprises a stator and a rotor which moves linearly relative to the stator, the sliding platform 12 is arranged on the rotor, and the displacement sensor is arranged on the rotor and used for detecting linear motion information of the rotor and sending the linear motion information to the end effector. Therefore, the linear motor receives force sensing information sent by the end effector and carries out resistance feedback, and the linear motion resistance of the catheter/guide wire in the blood vessel can be reproduced.
According to an embodiment of the first aspect of the present invention, the twisting motion device 2 includes a second rotating electrical machine 21, a second rotation detection encoder 22 and an operating handle 23, the second rotating electrical machine 21 and the second rotation detection encoder 22 are respectively disposed at both ends of the operating handle 23, the second rotation detection encoder 22 is configured to detect the rotation motion information of the operating handle 23 and send the rotation motion information to the end effector; the second rotating electric machine 21 receives the torque sensing information from the end effector and performs torque feedback. Thus, the doctor operates the handle 23 to move the twisting motion device 2 or/and the feeding motion device 1, so that the twisting motion device 2 is in twisting motion, the second rotation detection encoder 22 detects the rotation motion information of the handle and sends the rotation motion information to the end effector, so that the end effector controls the rotation motion of the catheter/guide wire; or/and the feed motion device 1 sends linear motion information to the end effector under the pulling condition, so that the end effector controls the linear motion of the catheter/guide wire. The second rotating motor 21 receives the torque sensing information sent by the end effector and carries out torque feedback, so as to reproduce the rotation motion resistance of the catheter/guide wire in the blood vessel.
According to a further embodiment of the first aspect of the present invention, the twisting motion device 2 further comprises a force sensor and a conducting ring assembly 24, the second rotating electrical machine 21 is connected with one end of the operating handle 23 through the force sensor and the conducting ring assembly 24, the force sensor and the conducting ring assembly 24 are used for detecting force information and torque information on the operating handle 23 and respectively sending the force information and the torque information to the linear motion device 11 and the second rotating electrical machine 21 to form feedback control for eliminating the influence caused by resistance at each position of the remote control system 1000.
According to a still further embodiment of the first aspect of the present invention, the twisting motion device 2 further includes a first support 25, a second support 26 and a coupling 27, the first support 25 and the second support 26 are disposed at intervals along a linear motion direction of the sliding translation, and one end of each of the first support 25 and the second support 26 is fixed on the sliding platform 12, an output shaft of the second rotating motor 21 is connected to one end of the operating handle 23 through the force sensor and the conducting ring assembly 24, and the second rotating motor 21 is fixed at the other end of the first support 25; the second rotation detection encoder 22 is connected to the other end of the operating handle 23 via a coupling 27, and the second rotation detection encoder 22 is fixed to the other end of the second bracket 26. Therefore, the first support 25 and the second support 26 are fixedly arranged on the sliding platform 12, so that the components such as the operating handle 23, the second rotating motor 21, the second rotation detection encoder 22, the force sensor and conductive ring assembly 24 and the like can be supported, and the installation is convenient. Meanwhile, the second rotating motor 21 is connected with the operating handle 23 through the coupler 27, and the installation is convenient.
According to an embodiment of the first aspect of the present invention, the working mode conversion interface 3 is further included, the working mode conversion interface 3 includes an operation object selection area and an operation mode selection area, the operation object selection area includes a catheter key 31 and a catheter key 32 and corresponding indicator lights, and the operation mode selection area includes a mode one key 33 for entering the force-less feedback operation mode, a mode two key 34 for entering the force feedback operation mode, and a mode three key 35 for entering the resistance compensation force feedback operation mode and corresponding indicator lights. Through setting up working mode conversion interface 3, make things convenient for doctor's operation.
The remote control system 1000 for the vascular interventional procedure aid which simulates the operation of a surgeon according to one embodiment of the first aspect of the present invention will be described in detail below. The synchronous belt transmission assembly 111 is adopted in the feeding motion device 11 in the remote control system 1000 of the vascular intervention operation auxiliary device for simulating doctor operation, and compared with a ball screw transmission assembly, the ultrasound is lower; compared with a linear motor scheme, the cost is lower.
As shown in fig. 1 and 2, a remote control system 1000 of a vascular intervention operation assisting device for simulating a doctor operation includes a feeding motion device 1, a twisting motion device 2, an operation mode conversion interface 3, and a frame 4.
As shown in fig. 1, the feeding motion device 1 includes a first rotating motor 112, a timing belt 11101, a first synchronizing wheel 11102, a second synchronizing wheel 11103, a first rotation detecting encoder 113, and a sliding platform 12. The first synchronizing wheel 11102 and the second synchronizing wheel 11103 are arranged on the frame 4, the synchronous belt 11101 is sleeved outside the first synchronizing wheel 11102 and the second synchronizing wheel 11103, and the synchronous belt 11101 is sleeved on the first synchronizing wheel 11102 and the second synchronizing wheel 11103 to slide relatively, so that the synchronous belt 11101, the first synchronizing wheel 11102 and the second synchronizing wheel 11103 form a synchronous belt transmission assembly 111. The slide table 12 is fixed to an upper surface of the timing belt 11101 and is movable along with the timing belt 11101. The first rotating electric machine 112 and the first rotation detection encoder 113 are connected to both ends of the first synchronizing wheel 11102, respectively, and are fixed to the frame 4. The first rotary motor 112 is configured to receive a force sensing signal from the end effector for feedback control of the first synchronizing wheel 11102. The first rotation detection encoder 113 is configured to detect the motion information of the first synchronous wheel 11102, further calculate the linear motion information of the sliding platform 12, and send the linear motion information to the end effector.
The twisting motion device 2 includes a first bracket 25, a second bracket 26, a second rotating motor 21, a second rotation detection encoder 22, an operation handle 23, a force sensor and conducting ring assembly 24, and a coupling 27. The first bracket 25 and the second bracket 26 are arranged at intervals along the linear motion direction of the sliding translation, and one end of the first bracket is fixed on the sliding platform 12. The output shaft of the second rotating electric machine 21 is connected to one end of the operating handle 23 through the force sensor and conductive ring assembly 24, and the second rotating electric machine 21 is fixed to the other end of the first bracket 25. The second rotation detection encoder 22 is connected to the other end of the operating handle 23 via a coupling 27, and the second rotation detection encoder 22 is fixed to the other end of the second bracket 26. The second rotating motor 21 is used for receiving the torque sensing information sent by the end effector and performing feedback control on the operating handle 23. The second rotation detection encoder 22 is configured to detect rotational movement information of the operation handle 23 and transmit the rotational movement information to the end effector.
It should be noted that, both ends of the sliding platform 12 are respectively provided with a travel switch. When the travel switch touches the end point of the feeding motion device 1, the operation interface indicator lamp is turned on to remind whether the catheter/guide wire needs to be pulled to the return direction at the moment, and if the catheter/guide wire does not need to be pulled to the return direction, the operation handle 23 is directly pulled to return to the original point; if the catheter/guide wire needs to be pulled back, the operation interface indicator lamp is pressed, and the operation handle 23 is pulled to move backwards so as to drive the catheter/guide wire to move back.
As shown in fig. 2, the operation mode conversion interface 3 includes an operation object selection area and an operation mode selection area, the operation object selection area includes a guide key 31 and a guide key 32 and corresponding indicator lights, and the operation mode selection area includes a mode one key 33 for entering the force-less feedback operation mode, a mode two key 34 for entering the force feedback operation mode, and a mode three key 35 for entering the resistance compensation force feedback operation mode and corresponding indicator lights.
The operation of the remote control system 1000 for the auxiliary device for vascular intervention surgery simulating the operation of the doctor will be described in detail.
When the remote control system 1000 is operated, an operation target is selected in the operation target selection area, and one or both of the catheter key 31 and the guide wire key 32 are pressed, the corresponding indicator lamp is turned on, and a command for operating the catheter or the guide wire, or simultaneously operating the catheter and the guide wire is started to be transmitted to the end effector. And selecting the working mode in the operation mode selection area.
If the mode one key 33 is pressed, the corresponding indicator light is turned on, and the powerless feedback working mode is entered, and the working process is as follows: the linear motion and the rotary motion of the operating handle 23 are controlled by the hands of the doctor; the operating handle 23 drives the shaft of the second rotation detection encoder 22 to rotate through the coupling 27, and the second rotation detection encoder 22 detects the rotation movement information of the operating handle 23 and sends the information to the end effector. The operating handle 23 drives the sliding platform 12 to make linear motion through the first bracket 25 and the second bracket 26, and further drives the synchronous belt 11101 sleeved outside the first synchronous wheel 11102 and the second synchronous wheel 11103 to move, and finally drives the first synchronous wheel 11102, and the first rotary detection encoder 113 detects the rotary motion information of the first synchronous wheel 11102 and sends the information to the end effector; at this time, the first rotating electrical machine 112, the second rotating electrical machine 21, and the force sensor and conducting ring assembly 24 are not operated.
If the mode two key 34 is pressed, the corresponding indicator light is turned on, and the force feedback operation mode is entered, and the end effector transmits the detected force sensing information and the detected torque sensing information on the operation object to the first rotating electric machine 112 and the second rotating electric machine 21, respectively, in addition to the operation process of the force feedback free operation mode. The second rotating motor 21 transmits the torque sensing information to the operating handle 23 through the output shaft of the second rotating motor 21 to perform feedback control on the operating handle 23, the first rotating motor 112 transmits the force sensing information to the synchronous belt 11101 through the first synchronous wheel 11102, and further transmits the force sensing information to the operating handle 23 through the sliding platform 12, the first bracket 25 and the second bracket 26, and the torque and the force on the operating handle 23 finally act on the hand of a doctor, so that the hand of the doctor can feel a real force signal from the end effector, force touch feedback is completed, and the hand feeling of real operation is restored. At this point, only the force sensor and conductive ring assembly 24 is not operating.
If the mode three key 35 is pressed, the corresponding indicator light is turned on, and the resistance compensation feedback working mode is entered, except for the working process of the force feedback working mode, the force sensor and the conductive switching assembly detect the force information and the torque force information on the operating handle 23 and respectively send the force information and the torque force information to the first rotating electric machine 112 and the second rotating electric machine 21 to form feedback control, so that the influence caused by resistance at each part of the remote control system 1000 is eliminated.
The vessel intervention operation auxiliary device according to the embodiment of the second aspect of the present invention comprises a remote control system 1000 and an end effector, wherein the remote control system 1000 is the vessel intervention operation auxiliary device remote control system 1000 for simulating a doctor operation according to any one embodiment of the first aspect of the present invention, and the remote control system 1000 is configured to send an instruction to the end effector to control the end effector; the end effector responds to the instruction, corresponding operation is executed, stress and movement conditions of the catheter/guide wire moving in the blood vessel are detected, the stress and movement conditions are transmitted back to the remote control system 1000, and the remote control system 1000 reproduces the stress conditions. In response to the force signal, the drive motors, such as the first and second rotary motors 112 and 21, or the linear motor and the second rotary motor 21, may directly prevent operation, and only the first and second rotary motors 112 and 21, or the linear motor and the second rotary motor 21, may unlock by moving in reverse.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean 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, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. 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 invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (5)
1. A remote control system of a vascular intervention operation auxiliary device for simulating a doctor operation is characterized by comprising:
the feeding motion device performs linear motion under pulling and is used for sending linear motion information to the end effector; the feed motion device receives force sensing information sent by the end effector, resistance feedback is carried out, and linear motion resistance of the catheter/guide wire in the blood vessel is reproduced;
the twisting motion device is fixed on the feeding motion device, rotates under twisting motion and sends out rotation motion information to the end effector; the twisting motion device receives the torque sensing information sent by the end effector, carries out torque feedback and reproduces the rotational motion resistance of the catheter/guide wire in the blood vessel;
the feeding motion device comprises a linear motion device and a sliding platform, the sliding platform is arranged on the linear motion device, and the twisting motion device is fixed on the sliding platform, wherein the linear motion device sends linear motion information to the end effector and also receives force sensing information sent by the end effector and carries out resistance feedback; the linear motion device comprises a transmission assembly, a first rotating motor and a first rotation detection encoder, wherein the transmission assembly is a synchronous belt transmission assembly or a ball screw transmission assembly, and the sliding platform is arranged on the synchronous belt transmission assembly or the ball screw transmission assembly; the first rotating motor is connected with a synchronous wheel in the synchronous belt transmission assembly or a lead screw in the ball screw transmission assembly, and receives force sensing information sent by the end effector and performs resistance feedback; the first rotation detection encoder is arranged on a synchronous wheel in the synchronous belt transmission assembly or a lead screw in the ball screw transmission assembly and is used for detecting rotation information of the synchronous wheel or the lead screw, further calculating linear motion information of the sliding platform and sending the linear motion information to the end effector;
the twisting motion device comprises a second rotating motor, a second rotation detection encoder and an operating handle, wherein the second rotating motor and the second rotation detection encoder are respectively arranged at two ends of the operating handle, and the second rotation detection encoder is used for detecting the rotation motion information of the operating handle and sending the rotation motion information to the end effector; and the second rotating motor receives the torque sensing information sent by the end effector and carries out torque feedback.
2. The remote control system for the vascular intervention surgery auxiliary device simulating the doctor surgery operation is characterized in that the linear mover comprises a linear motor and a displacement sensor, and the linear motor receives force sensing information sent by the end effector and carries out resistance feedback; the linear motor comprises a stator and a rotor which moves linearly relative to the stator, the sliding platform is arranged on the rotor, and the displacement sensor is arranged on the rotor and used for detecting linear movement information of the rotor and sending the linear movement information to the end effector.
3. A remote control system for a vascular interventional operation aid which simulates a doctor's operation as set forth in claim 1, wherein the twirling motion device further comprises a force sensor and a conducting ring assembly, the second rotating motor is connected with one end of the operating handle through the force sensor and the conducting ring assembly, and the force sensor and the conducting ring assembly are used for detecting force information and torque information on the operating handle and respectively sending the force information and the torque information to the linear mover and the second rotating motor to form feedback control.
4. A remote control system of a vascular intervention operation auxiliary device for simulating doctor operation according to claim 3, wherein the twisting motion device further comprises a first bracket, a second bracket and a coupler, the first bracket and the second bracket are arranged at intervals along the linear motion direction of the sliding translation, one end of the first bracket and one end of the second bracket are fixed on the sliding platform, an output shaft of the second rotating motor is connected with one end of the operating handle through the force sensor and the conducting ring assembly, and the second rotating motor is fixed at the other end of the first bracket; the second rotary detection encoder is connected with the other end of the operating handle through the coupler, and the second rotary detection encoder is fixed to the other end of the second support.
5. The remote control system for a vascular interventional surgery assistance device simulating a doctor's surgical operation according to any one of claims 1 to 4, further comprising a work mode conversion interface including an operation object selection region and an operation mode selection region, the operation object selection region including a catheter key and a guidewire key, the operation mode selection region including a mode one key for entering the force-less feedback work mode, a mode two key for entering the force feedback work mode, and a mode three key for entering the resistance compensation force feedback work mode.
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