CN112587241A - Main end guide wire/catheter operating device of vascular intervention surgical robot - Google Patents
Main end guide wire/catheter operating device of vascular intervention surgical robot Download PDFInfo
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- CN112587241A CN112587241A CN202011464297.9A CN202011464297A CN112587241A CN 112587241 A CN112587241 A CN 112587241A CN 202011464297 A CN202011464297 A CN 202011464297A CN 112587241 A CN112587241 A CN 112587241A
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- 230000002792 vascular Effects 0.000 title claims abstract description 15
- 230000005540 biological transmission Effects 0.000 claims abstract description 55
- 238000006073 displacement reaction Methods 0.000 claims abstract description 21
- 230000003287 optical effect Effects 0.000 claims description 23
- 230000006835 compression Effects 0.000 claims description 11
- 238000007906 compression Methods 0.000 claims description 11
- 230000005484 gravity Effects 0.000 claims description 5
- 230000006870 function Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 230000008447 perception Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 238000005259 measurement Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 239000012530 fluid Substances 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 210000004204 blood vessel Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000000691 measurement method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000035807 sensation Effects 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 238000006467 substitution reaction Methods 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
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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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
Abstract
The invention discloses a main-end guide wire/catheter operating device of a vascular intervention surgical robot, which can separately feed back axial force and circumferential force and can simulate actual surgical operation habits of doctors. The device comprises a box body, a brushless direct current motor, a transmission assembly, an electromagnetic connector and an axial force feedback assembly; the brushless direct current motor is connected with a driving part of the electromagnetic connector through a transmission assembly, a driven part of the brushless direct current motor is connected with a fixed section of the sleeve telescopic assembly, and a telescopic section of the sleeve telescopic assembly extends out of the box body to be connected with a guide wire/guide pipe; when circumferential sensing is required to be provided, the driving part and the driven part of the electromagnetic connector are attracted, so that the brushless direct current motor provides circumferential resistance to the sleeve telescopic component through the transmission component, and a circumferential force feedback function is further realized; when axial sensing is needed, positive pressure in the axial force feedback assembly generates displacement, the rubber block assembly and the telescopic section in the sleeve telescopic assembly are driven to generate axial friction force, axial resistance is provided, and the axial force feedback function is achieved.
Description
Technical Field
The invention relates to the field of medical surgical robot design, in particular to a main end guide wire/catheter operating device of a vascular intervention surgical robot.
Background
The master-slave type vascular interventional surgical robot system integrates image processing, automatic control, information communication, machining, manufacturing and other related technologies, can remotely assist doctors in performing surgical operation, and reduces X-ray radiation suffered by the doctors, so that the surgical operation can be performed more safely and effectively. In the system, a master end is operated by a doctor, a measuring component of the master end can measure displacement data of a guide wire/catheter operated by the doctor and send the displacement data to a slave end as an instruction, and the slave end carries out corresponding operation; the auxiliary end is integrated with a pushing clamping device of a guide wire and a guide pipe, and when a displacement command is received from the main end, the guide wire/the guide pipe is synchronously pushed to move in the blood vessel.
In conventional, non-robot-assisted, vascular interventional procedures, physicians rely heavily on the tactile sensation of force received by both hands as the guide wire/catheter is maneuvered within the vessel. Therefore, the main end of research and development is integrated with a powerful feedback device which is very critical and important and is also the basis for better simulating the operation habit of a doctor.
The mainstream technology in the prior art mainly uses intelligent materials such as magnetorheological fluid and the like to provide force feedback, a magnetic field generator with a larger volume is required for the application of the technology, and the generated magnetic field generates corresponding resistance by changing the forms of the intelligent materials such as the magnetorheological fluid and the like. However, the system structure is large in size, and the generated force touch sense is not obvious. At present, a commercial main end device for realizing a force feedback function by a direct current motor is developed, but axial force and circumferential force are not separately fed back, only resultant force is fed back, and the commercial main end device does not accord with the operation habit of a doctor, so that the doctor needs to spend more time on learning the operation method of the commercial main end.
Disclosure of Invention
In view of the above, the invention provides a main-end guide wire/catheter operation device of a vascular intervention surgical robot, which separately feeds back an axial force and a circumferential force and can simulate the actual surgical operation habit of a doctor.
In order to solve the above-mentioned technical problems, the present invention has been accomplished as described above.
A main end guide wire/catheter operating device of a vascular intervention surgical robot comprises a box body, a brushless direct current motor, a transmission assembly, an electromagnetic connector and an axial force feedback assembly, wherein the brushless direct current motor, the transmission assembly, the electromagnetic connector and the axial force feedback assembly are fixed in the box body; the sleeve telescopic assembly comprises a fixed section and a telescopic section, the telescopic section can axially move in the fixed section, and the fixed section and the telescopic section move together in the circumferential direction;
the brushless direct current motor is connected with a driving part of the electromagnetic connector through a transmission assembly, a driven part of the electromagnetic connector is connected with a fixed section of the sleeve telescopic assembly, and a telescopic section of the sleeve telescopic assembly extends out of the box body and is connected with a guide wire/guide pipe; when circumferential sensing is required to be provided, the driving part and the driven part of the electromagnetic connector are controlled to be attracted, so that the brushless direct current motor provides circumferential resistance to the sleeve telescopic component through the transmission component, and a circumferential force feedback function is further realized;
the axial force feedback assembly comprises a positive pressure generating assembly, a transmission shaft, a rubber block assembly, an optical sensor and an optical sensor clamping assembly; the telescopic section in the sleeve telescopic assembly is placed in a groove provided by the optical sensor clamping assembly; the positive pressure generating assembly is connected with the rubber block assembly through the force transmission shaft and drives the rubber block assembly to move along the gravity direction; when axial sensing is required to be provided, the positive pressure generating assembly is controlled to generate displacement, and the rubber block assembly and the telescopic section in the sleeve telescopic assembly are driven to generate axial friction force so as to provide axial resistance and realize the function of axial force feedback;
and an optical sensor is fixed in the optical sensor clamping assembly and used for detecting the circumferential and axial displacement of the sleeve telescopic assembly.
Preferably, the brushless direct current motor and the sleeve telescopic rod assembly are arranged up and down; the transmission assembly comprises a torque transmission gear pair and a torque transmission shaft; the output shaft of the brushless direct current motor is connected with a first gear in a torque transmission gear pair, a second gear is connected with a torque transmission shaft, and the torque transmission shaft is fixedly connected with a driving part of the electromagnetic connector.
Preferably, the brushless dc motor is mounted in the case through a brushless dc motor bracket.
Preferably, the positive pressure generating assembly includes an assembly case fixed to the inside of the case); a permanent magnet support and a direct current electromagnet which are vertically arranged are arranged in the component box body, and a compression spring for providing restoring force is arranged between the permanent magnet support and the direct current electromagnet;
permanent magnet is installed on the permanent magnet support top surface, and the one end of power transmission shaft is connected to the bottom surface, and the other end of power transmission shaft stretches out the bottom surface of subassembly box downwards, links firmly the rubber block subassembly.
Preferably, the compression spring is plural and arranged around the force transmission shaft.
Preferably, the rubber block assembly comprises a rubber bracket, a rubber block and a rubber fixing baffle; the rubber support is provided with a strip-shaped groove with a downward opening, and the strip-shaped groove is filled with a rubber block; rubber fixed baffles are arranged at two ends of the strip-shaped groove to provide axial displacement restraint.
Preferably, the cross section of bar groove is trapezoidal, and bar groove tank bottom corresponds trapezoidal long limit, and bar groove opening corresponds trapezoidal minor face.
Preferably, the base is provided with an arc-shaped groove for placing the sleeve telescopic assembly, a window is formed in the bottom edge of the arc-shaped groove, and the optical sensor detects through the window.
Has the advantages that:
(1) the main end guide wire/catheter operating device provided by the invention can realize the feedback and recurrence of axial force and circumferential force, and the feedback of the axial force and the circumferential force is not interfered with each other.
(2) The main end structure is designed according to the clinical operation habit that a doctor directly pinches the guide wire catheter for the operation with fingers to rotate and push the guide wire catheter, and is simple in structure, small in size and convenient to operate and carry.
(3) The invention adopts a non-contact measurement method, and the displacement data of the sleeve is measured by using the optical sensor, so that the axial and rotary displacement changes of the guide wire/catheter can be indirectly and simultaneously accurately measured, and the measurement error caused by the deformation of the guide wire/catheter can be avoided.
(4) A strip-shaped groove with a trapezoidal cross section is formed in the rubber support, the rubber blocks are filled in the strip-shaped groove, and the narrow opening can display that the rubber blocks move downwards or fall out of the strip-shaped groove. Rubber fixed baffles are arranged at two ends of the strip-shaped groove, so that the rubber blocks are prevented from moving along the axial direction. The rubber support is simple and flexible in structure and supports replacement of the rubber blocks.
(5) The electromagnetic connector adopts an electromagnetic locking scheme, the axial force feedback assembly also adopts electromagnetic force to provide positive pressure, and components and parts adopted by the electromagnetic scheme are small in size, simple to realize and easy to control.
The invention has great value and application prospect for improving the operation efficiency of doctors in the operation of a master-slave interventional operation robot system.
Drawings
Fig. 1 is a block diagram (without a box) of a main end guide wire/catheter operating device of a vascular interventional surgical robot.
Fig. 2 is a block diagram (with a box) of the main end guide wire/catheter operation device of the vascular interventional surgical robot.
FIG. 3 is a block diagram of the axial force feedback assembly (without the assembly housing).
FIG. 4 is a block diagram of the axial force feedback assembly (with the assembly housing).
The device comprises a box body 1, a brushless direct current motor 2, a transmission assembly (torque transmission gear pair) 3, a first gear 3-1, a second gear 3-2, a torque transmission shaft 4, an electromagnetic connector 5, a sleeve telescopic assembly 6, a fixed section 6-1, a telescopic section 6-2, an axial force feedback assembly 7, an assembly box body 7-1, a permanent magnet 7-2, a permanent magnet support 7-3, a compression spring 7-4, a direct current electromagnet 7-5, a force transmission shaft 7-6, a rubber support 7-7, a rubber block 7-8, a rubber fixing baffle 7-9, an optical sensor clamping assembly 7-10 and a brushless direct current motor support 8.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a main end guide wire/catheter operating device of a vascular intervention surgical robot, which integrates the functions of displacement measurement, axial force feedback, circumferential force feedback and the like, and realizes the miniaturization and the multifunctionality of the main end operating device of the vascular intervention surgical robot. The method comprises the steps of measuring the real-time displacement data (axial and circumferential motion displacement) of the main end operation by using an optical sensor, realizing the real-time circumferential force feedback of the main end operation by using a brushless direct current motor, and realizing the real-time axial force feedback of the main end operation by using a newly designed axial force feedback device.
As shown in fig. 1 and 2, the device comprises a box 1, a brushless direct current motor 2 fixed inside the box, a transmission assembly 3, an electromagnetic connector 5 and an axial force feedback assembly 7. In this embodiment, the transmission assembly 3 is a torque transmission gear pair, and is composed of a first gear 3-1, a second gear 3-2 and a torque transmission shaft 4. The sleeve telescopic assembly 6 comprises a fixed section 6-1 and a telescopic section 6-2, the telescopic section 6-2 can axially move in the fixed section 6-1, and the fixed section 6-1 and the telescopic section 6-2 can circumferentially move together.
The case 1 may be fixed on the table through a base. The box and the base can be made of high-density stainless steel materials so as to improve the stability of the whole device.
The brushless DC motor 2 is fixed in the box body through a brushless DC motor bracket 8. An output shaft of the brushless direct current motor 2 is connected with a first gear 3-1, a second gear 3-2 is connected with a torque transmission shaft 4, and the other end of the torque transmission shaft 4 is fixedly connected with a driving part of an electromagnetic connector 5. And the driven piece of the electromagnetic connector 5 is connected with the fixed section 6-1 of the sleeve telescopic assembly 6, and the telescopic section 6-2 of the sleeve telescopic assembly 6 extends out of the box body and is connected with the guide wire/guide pipe. The second gear 3-2, the torque transmission shaft 4, the electromagnetic connector 5 and the sleeve telescopic assembly 6 are coaxially arranged. The brushless direct current motor support 8 and the box body 1, the box body and the base, and the brushless direct current motor can be connected through threads. The electromagnetic connectors may be supported and positioned by corresponding structures in the housing.
The electromagnetic connector 5 is an electromagnetic control device including a driving member and a driven member. When the power transmission device is not electrified, the driving part and the driven part can rotate freely respectively, and after the power transmission device is electrified, the driving part and the driven part are locked and can rotate along with power (the power transmitted by the torque transmission shaft). The driving part and the driven part are not fixed, the roles can be interchanged, which part is connected with power, and which part is the driving part. When the driving part and the driven part of the electromagnetic connector 5 are attracted, the brushless direct current motor 2 provides circumferential resistance for the sleeve telescopic assembly 6 through the transmission assembly 3, and then the circumferential force feedback function is realized.
As shown in fig. 3 and 4, the axial force feedback assembly 7 comprises a positive pressure generating assembly, a transmission shaft 7-6, a rubber block assembly, an optical sensor clamping assembly 7-10. The telescoping section 6-2 in the telescopic assembly is placed in a recess provided in the optical sensor holding assembly 7-10. The positive pressure generating assembly is connected with the rubber block assembly through a force transmission shaft 7-6 and drives the rubber block assembly to move along the gravity direction, so that the rubber block assembly and the telescopic section 6-2 in the sleeve telescopic assembly generate axial friction force to provide axial resistance and realize the function of axial force feedback.
In a preferred embodiment, the positive pressure generating assembly includes an assembly case 7-1, and the assembly case 7-1 is fixed inside the case 1. The permanent magnet support 7-3 and the direct current electromagnet 7-5 are vertically arranged in the component box 7-1, and the permanent magnet support 7-3 and the direct current electromagnet 7-5 are supported through a compression spring 7-4. The compression springs are plural and arranged around the force transmission shaft 7-6, thereby improving a uniform supporting force.
The top surface of the permanent magnet bracket 7-3 is provided with a permanent magnet 7-2, the bottom surface is connected with one end of a force transmission shaft 7-6, and the other end of the force transmission shaft 7-6 extends downwards out of the bottom surface of the component box body 7-1 and is fixedly connected with a rubber block component.
In the preferred embodiment, the rubber block assembly includes a rubber mount 7-7, a rubber block 7-8 and a rubber retainer 7-9. The rubber support 7-7 is provided with a strip-shaped groove with a downward opening, and the rubber block 7-8 is filled in the strip-shaped groove. A large friction force is easily generated between the rubber material and the sleeve telescopic component. The cross section in bar groove is trapezoidal, and bar groove tank bottom corresponds trapezoidal long limit, and bar groove opening corresponds trapezoidal minor face to only realize the fixed of block rubber through simple structure. Rubber fixing baffles 7-9 are arranged at two ends of the strip-shaped groove, so that the rubber blocks are prevented from falling off from the two ends. Of course, in practice, other fixing means may be used.
The optical sensor holder assembly 7-10 holds an optical sensor therein for detecting movement and rotation of the telescopic assembly 6. Preferably, the optical sensor clamping assembly 7-10 is provided with an arc-shaped groove for placing the telescopic section of the sleeve telescopic assembly, a window is arranged at the bottom edge of the arc-shaped groove, and the optical sensor realizes detection through the window. The sensors are not shown in the figure.
The main end guide wire/catheter operation device of the vascular interventional surgical robot is applied to the control of a master-slave vascular interventional surgical robot. Under the application environment, the force signal generated by the slave end robot is transmitted to the master end, and the master end reproduces the operation force generated by the slave end through the operation device and provides the operation force perception for the operator. The optical sensor measures displacement data (axial displacement and rotary displacement) generated by operating surgical instruments (guide wires or catheters) by surgeons in real time, and is a non-mechanical contact type displacement measurement mode.
When in use, the free end of the sleeve telescopic component is connected with a guide wire/catheter. When the robot is in an initial state (namely, no force feedback signal exists), the brushless direct current motor does not work, the electromagnetic connector does not work, the torque transmission gear pair does not rotate, the axial force feedback assembly does not work, and only the optical sensor measures displacement data generated when a doctor operates a surgical instrument and transmits the displacement data to the slave end of the robot.
When the main end guide wire/catheter operating device receives an axial force signal fed back from the end, the brushless direct current motor does not work, the electromagnetic connector does not work, the torque transmission gear pair does not rotate, the axial force feedback assembly works, the direct current electromagnet is electrified, the permanent magnet is attracted (the stronger the operating force signal is, the larger the magnetic field intensity of the electromagnet is), so that the compression spring is extruded, the permanent magnet moves downwards, the rubber support is driven to move along the gravity direction, the rubber block arranged on the rubber support acts with the sleeve to generate friction force, the rubber block is driven to apply positive pressure to the sleeve telescopic assembly, the rubber block and the sleeve assembly generate friction force, when a doctor pulls the guide wire/catheter axially, the axial resistance caused by the friction force can be sensed, and therefore axial force perception is provided for the doctor. When the slave end operating force signal disappears, the electromagnet is immediately powered off, the compression spring rebounds, and the friction force between the rubber and the sleeve disappears.
When the main end guide wire/catheter operating device receives a circumferential force signal fed back from the slave end, a driving part and a driven part of the electromagnetic connector are combined, the sleeve telescopic rod component is tightened, the brushless direct current motor works, a wheel shaft of the brushless direct current motor drives the first gear to rotate, the first gear drives the second gear to rotate through meshing, the sleeve is driven to rotate through the electromagnetic connector, and a force opposite to the rotating direction of the sleeve is generated to provide circumferential force perception for a doctor.
When the main end guide wire/catheter operating device receives the axial force and the circumferential force signals fed back from the auxiliary end at the same time, the electromagnetic connector tightens the sleeve telescopic rod component, the brushless direct current motor works, and the axial force feedback component works. The brushless direct current motor drives a motor wheel shaft to drive a first gear to rotate, the first gear drives a second gear to rotate through meshing, the sleeve is driven to rotate through the electromagnetic connector, and a force opposite to the rotation direction of the sleeve is generated to provide circumferential force sensing for a doctor; the axial force feedback assembly works to generate friction force with the sleeve assembly, and can provide operation axial force and circumferential force perception for a doctor at the same time.
When the main end operation device receives an operation force signal from the slave end, the electromagnet in the axial force feedback assembly is electrified, the electromagnet generates electromagnetic force (the stronger the operation force signal is, the larger the magnetic field intensity of the electromagnet is), and then attracts the permanent magnet, the compression spring between the electromagnet and the permanent magnet is compressed, the rubber support moves along the gravity direction, and the rubber arranged on the rubber support acts on the sleeve to generate friction force, so that the axial force sensing is provided for a doctor. When the slave end operating force signal disappears, the electromagnet is immediately powered off, the compression spring rebounds, and the friction force between the rubber and the sleeve disappears.
The above embodiments only describe the design principle of the present invention, and the shapes and names of the components in the description may be different without limitation. Therefore, a person skilled in the art of the present invention can modify or substitute the technical solutions described in the foregoing embodiments; such modifications and substitutions do not depart from the spirit and scope of the present invention.
Claims (8)
1. A main end guide wire/catheter operation device of a vascular intervention surgical robot is characterized by comprising a box body (1), a brushless direct current motor (2), a transmission assembly (3), an electromagnetic connector (5) and an axial force feedback assembly (7), wherein the brushless direct current motor, the transmission assembly, the electromagnetic connector and the axial force feedback assembly are fixed in the box body; the sleeve telescopic assembly (6) comprises a fixed section (6-1) and a telescopic section (6-2), the telescopic section (6-2) can axially move in the fixed section (6-1), and the fixed section (6-1) and the telescopic section (6-2) move together in the circumferential direction;
the brushless direct current motor (2) is connected with a driving part of the electromagnetic connector (5) through the transmission component (3), a driven part of the electromagnetic connector (5) is connected with a fixed section (6-1) of the sleeve telescopic component (6), and the telescopic section (6-2) of the sleeve telescopic component (6) extends out of the box body and is connected with a guide wire/guide pipe; when circumferential sensing is required to be provided, the driving part and the driven part of the electromagnetic connector (5) are controlled to be sucked, so that the brushless direct current motor (2) provides circumferential resistance to the sleeve telescopic component (6) through the transmission component (3), and a circumferential force feedback function is further realized;
the axial force feedback assembly (7) comprises a positive pressure generating assembly, a transmission shaft (7-6), a rubber block assembly, an optical sensor and an optical sensor clamping assembly (7-10); the telescopic section (6-2) in the sleeve telescopic assembly is placed in a groove provided by the optical sensor clamping assembly (7-10); the positive pressure generating assembly is connected with the rubber block assembly through a force transmission shaft (7-6) and drives the rubber block assembly to move along the gravity direction; when axial sensing is required to be provided, the positive pressure generating assembly is controlled to generate displacement, and the rubber block assembly and a telescopic section (6-2) in the sleeve telescopic assembly are driven to generate axial friction force so as to provide axial resistance and realize the function of axial force feedback;
the optical sensor clamping assembly (7-10) is internally fixed with an optical sensor and used for detecting the circumferential and axial displacement of the sleeve telescopic assembly (6).
2. Operating device according to claim 1, characterized in that the brushless dc motor (2) is arranged above and below the telescopic rod assembly (6); the transmission assembly (3) comprises a moment transmission gear pair and a moment transmission shaft (4); the output shaft of the brushless direct current motor (2) is connected with a first gear (3-1) in a torque transmission gear pair, a second gear (3-2) is connected with a torque transmission shaft (4), and the torque transmission shaft (4) is fixedly connected with a driving part of the electromagnetic connector (5).
3. Operating device according to claim 1, characterized in that the brushless dc motor (2) is mounted in the housing (1) by means of a brushless dc motor holder (8).
4. Operating device according to claim 1, characterised in that the positive pressure generating assembly comprises an assembly housing (7-1), the assembly housing (7-1) being fixed inside the housing (1); a permanent magnet support (7-3) and a direct current electromagnet (7-5) which are vertically arranged are arranged in the component box body (7-1), and a compression spring (7-4) for providing restoring force is arranged between the permanent magnet support (7-3) and the direct current electromagnet (7-5);
the top surface of the permanent magnet bracket (7-3) is provided with a permanent magnet (7-2), the bottom surface is connected with one end of the force transmission shaft (7-6), and the other end of the force transmission shaft (7-6) extends downwards out of the bottom surface of the assembly box body (7-1) and is fixedly connected with the rubber block assembly.
5. Operating device according to claim 4, characterised in that the compression spring is in plurality and arranged around the force transmission shaft (7-6).
6. Operating device according to claim 1, characterised in that the rubber block assembly comprises a rubber holder (7-7), a rubber block (7-8) and a rubber retainer plate (7-9); the rubber support (7-7) is provided with a strip-shaped groove with a downward opening, and the strip-shaped groove is filled with the rubber block (7-8); rubber fixed baffles (7-9) are arranged at two ends of the strip-shaped groove to provide axial displacement restraint.
7. The manipulator according to claim 6, wherein the cross-section of the strip-shaped groove is trapezoidal, the groove bottom of the strip-shaped groove corresponds to the long side of the trapezoid, and the opening of the strip-shaped groove corresponds to the short side of the trapezoid.
8. Operating device according to claim 6, characterised in that the seats (7-10) have an arc-shaped recess for the placement of the telescopic assembly (6), the arc-shaped recess having a window at its lower edge through which the optical sensor detects.
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| CN202011464297.9A CN112587241B (en) | 2020-12-14 | 2020-12-14 | Main end guide wire/catheter operating device of vascular intervention surgical robot |
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| CN202011464297.9A CN112587241B (en) | 2020-12-14 | 2020-12-14 | Main end guide wire/catheter operating device of vascular intervention surgical robot |
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| CN112587241B CN112587241B (en) | 2021-11-26 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113245660A (en) * | 2021-05-24 | 2021-08-13 | 枣庄科技职业学院 | Electrical PCB clamping equipment |
| CN115192208A (en) * | 2022-09-14 | 2022-10-18 | 深圳市爱博医疗机器人有限公司 | Force feedback mechanism, main end control device and interventional operation robot |
| CN116350356A (en) * | 2023-06-01 | 2023-06-30 | 北京唯迈医疗设备有限公司 | Bionic force feedback main end operating device of interventional robot |
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| CN116350356A (en) * | 2023-06-01 | 2023-06-30 | 北京唯迈医疗设备有限公司 | Bionic force feedback main end operating device of interventional robot |
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