CN113729961A - Main end operating handle of interventional operation robot - Google Patents

Main end operating handle of interventional operation robot Download PDF

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Publication number
CN113729961A
CN113729961A CN202111009835.XA CN202111009835A CN113729961A CN 113729961 A CN113729961 A CN 113729961A CN 202111009835 A CN202111009835 A CN 202111009835A CN 113729961 A CN113729961 A CN 113729961A
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China
Prior art keywords
main
robot
operating handle
rod
detection device
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CN202111009835.XA
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Chinese (zh)
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CN113729961B (en
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不公告发明人
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Shenzhen Aibo Medical Robot Co Ltd
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Shenzhen Aibo Medical Robot Co Ltd
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Priority to PCT/CN2022/097918 priority Critical patent/WO2022258019A1/en
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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
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • 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
    • 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
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • Animal Behavior & Ethology (AREA)
  • Robotics (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Manipulator (AREA)

Abstract

The utility model provides an intervene operation robot main end operating handle for with from end robot cooperation, from end robot receipt main end operating handle's operating information, and carry out corresponding action, its characterized in that includes the frame, installs action bars, angle detection device and the displacement detection device in the frame, angle detection device and displacement detection device detect the turned angle and the displacement of action bars respectively. The main-end operating handle of the interventional operation robot is provided with a rotary encoder, a horizontal encoder and a moment feedback device, wherein the rotary encoder calculates the rotation angle of an operating rod and transmits the rotary motion information to a slave-end robot, and the horizontal encoder calculates the moving distance of the operating rod and transmits the axial motion information to the slave-end robot. And a rotary encoder and a horizontal encoder are utilized to realize accurate communication of the operation instructions.

Description

Main end operating handle of interventional operation robot
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a main-end operating handle of an interventional operation robot.
Background
For vascular interventional surgery, students need to receive X-ray radiation for a long time, and a master-slave vascular interventional surgery robot for remote operation is developed for engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, so that a doctor can control the robot outside a radiation environment. At present, two control modes are available, one is a touch screen, and the other is an operating handle. The operation handle issues operation commands such as advancing and retreating, rotation and the like of the guide wire to the surgical robot on one hand, and on the other hand, the resistance met by the guide wire catheter needs to be fed back to the hand of the operator, so that the operator can feel on the spot as if the operator operates the catheter with the hand of the operator. However, the current operation is influenced by the design structure, and certain errors exist in precision, so that trouble is brought to an operator.
Disclosure of Invention
In view of the above, it is necessary to provide a novel main-end operating handle of an interventional surgical robot to overcome the disadvantages in the prior art.
The utility model provides an intervene operation robot main end operating handle for with from end robot cooperation, from end robot receipt main end operating handle's operating information, and carry out corresponding action, its characterized in that includes the frame, installs action bars, angle detection device and the displacement detection device in the frame, angle detection device and displacement detection device detect the turned angle and the displacement of action bars respectively.
The slave robot records the resistance during vascular intervention and feeds back resistance information to the moment feedback device, and the moment feedback device provides a reverse force for the operating rod according to the resistance.
Further, the frame is equipped with a pole core, the action bars includes the handle body, the handle body can rotate and slide along the axle center of pole core.
Furthermore, the handle body comprises a position adjusting cap and a position adjusting rod connected to one end of the position adjusting cap, the angle detection device is provided with a coded disc, and the coded disc is arranged on the position adjusting rod and rotates synchronously along with the operating rod. In the operation process, the handle body can slide in an axial displacement mode relative to the rotary encoder, and the handle body can drive the rotary encoder to rotate together.
Furthermore, a limiting block is arranged on the rack, and the limiting block limits a coded disc of the angle detection device in the displacement direction.
Furthermore, the sliding sleeve comprises a first outer sleeve, a second outer sleeve and a connecting frame for connecting the first outer sleeve and the second outer sleeve, the first outer sleeve and the second outer sleeve are respectively sleeved on the positioning rod and the rod core, and the operating rod drives the sliding sleeve to move synchronously when moving horizontally.
Furthermore, the inner side of the second outer sleeve is provided with an irregular hole, the outer circumferential surface of the rod core is provided with a limiting surface, and when the second outer sleeve and the rod core are installed in a matched mode, the irregular hole and the limiting surface are limited mutually, so that the sliding sleeve can only move along the rod core and cannot rotate on the rod core.
Furthermore, the torque feedback device comprises a driving rack, a torque motor, a gear set connected with the driving rack and fixed on the torque motor, and the driving rack is arranged on the sliding sleeve.
Furthermore, the driving rack is provided with clamping teeth distributed side by side, and the clamping teeth on the driving rack are meshed with the gear set.
Furthermore, the displacement detection device is provided with a coded disc, and the coded disc of the displacement detection device is arranged on the driving rack.
In summary, the main-end operating handle of the interventional surgical robot is provided with the rotary encoder, the horizontal encoder and the moment feedback device, wherein the rotary encoder calculates the rotation angle of the operating rod and transmits the rotation motion information to the slave-end robot, and the horizontal encoder calculates the movement distance of the operating rod and transmits the axial motion information to the slave-end robot. Utilize rotary encoder and horizontal encoder to realize the accurate transmission of operating command, torque motor provides a reverse thrust, from the resistance when end robot record intervenes to give torque motor with resistance information feedback, realize main end operating handle power propelling movement feedback, increase the sense of presence, improve operation safety, the practicality is strong, has stronger popularization meaning.
Drawings
Fig. 1 is a schematic structural view of a main-end operating handle of an interventional surgical robot.
Fig. 2 is a working principle diagram of the interventional operation robot when the master end operating handle is matched with the slave end robot.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to 2, the present invention provides a master-end operating handle of an interventional surgical robot, which is used to cooperate with a slave-end robot 100, receive operation information of the master-end operating handle from the slave-end robot 100, and perform corresponding actions, and which includes a frame, an operating rod 20 mounted on the frame, an angle detecting device 50, a sliding sleeve 30 mounted on the operating rod 20 and movable with the operating rod 20, a torque feedback device 40 mounted in cooperation with the sliding sleeve 30, and a displacement detecting device 60.
In this embodiment, the angle detecting device 50 is a rotary encoder, a code disc 51 of the rotary encoder is installed on the operating rod 20 and rotates synchronously with the operating rod 20, a limit block is arranged on the rack, the limit block limits the code disc 51 of the rotary encoder in the displacement direction, the displacement detecting device 60 is a horizontal encoder, the code disc 51 of the horizontal encoder is installed on the torque feedback device 40, and the rotary encoder and the horizontal encoder feed detected information back to the slave robot 100. In other embodiments, the displacement detecting device 60 may also be a grating sensor, a magnetic grating sensor or other devices with moving distance measurement.
The rack is provided with a rod core 10, the operating rod 20 comprises a handle body, the handle body can rotate along the axis of the rod core 10 and can slide along the rod core 10 in a relative displacement manner, specifically, the handle body comprises a position adjusting cap 21 and a position adjusting rod 22 connected to one end of the position adjusting cap 21, the rotary encoder is arranged on the position adjusting rod 22, the position adjusting rod 22 can slide along the axial direction of the rod core 10 along with the position adjusting cap 21 relative to a code disc 51 of the rotary encoder in a relative displacement manner, meanwhile, the position adjusting cap 21 drives the code disc 51 of the rotary encoder to rotate along with the axis of the rod core 10 through the position adjusting rod 22, the handle body is provided with a fixing hole, and the rod core 10 penetrates through the handle body from the fixing hole.
The sliding sleeve 30 comprises a first outer sleeve 31, a second outer sleeve 32 and a connecting frame 33 connecting the first outer sleeve 31 and the second outer sleeve 32, the first outer sleeve 31 and the second outer sleeve 32 are respectively sleeved on the positioning rod 22 and the rod core 10, and the operating rod 20 drives the sliding sleeve 30 to move synchronously when moving. And, the inner side of the second outer sleeve 32 is provided with an irregular hole, the outer circumferential surface of the rod core 10 is provided with a limiting surface 11, when the second outer sleeve is installed in cooperation with the rod core 10, the irregular hole and the limiting surface 11 limit each other, so that the sliding sleeve 30 can only move along the rod core 10 and cannot rotate on the rod core 10.
The torque feedback device 40 comprises a driving rack 42, a torque motor 41, a gear set 43 connected with the driving rack 42 and fixed on the torque motor 41, the driving rack 42 is mounted on the connecting frame 33 of the sliding sleeve 30, the driving rack 42 is provided with snap teeth distributed side by side, a code wheel 61 of the horizontal encoder is mounted on the driving rack 42, the snap teeth on the driving rack 42 are meshed with an output gear of the gear set 43, and the torque motor 41 drives the driving rack 42 and the sliding sleeve 30 connected with the driving rack 42 to move through the gear set 43.
When the robot works, the main-end operating rod feeds back measurement data of the rotary encoder and the horizontal encoder to the slave-end robot 100. Specifically, the handle body of the operating lever 20 is rotated, the handle body is rotated on the core 10, and the core 10 rotary encoder measures the rotation angle. If the handle body is moved along the extending axial direction of the rod core 10, the handle body drives the driving rack 42 to move while being horizontally displaced, and the horizontal encoder measures the horizontal moving distance. In the horizontal moving process of the driving rack 42, the rotating shaft of the torque motor 41 is driven to rotate through the gear set 43, the slave robot 100 records the resistance during catheter or guide wire insertion, and feeds back the resistance information to the torque motor 41, the torque motor 41 provides a reverse force, and the torque motor 41 adjusts the reverse force of the torque motor 41 according to the resistance. After the operation is completed, the torque motor 41 drives the driving rack 42 to move reversely, and the driving rack 42 and the operating rod 20 return.
In summary, the main-end operating handle of the interventional surgical robot is provided with the rotary encoder, the horizontal encoder and the torque feedback device 40, wherein the rotary encoder calculates the rotation angle of the operating rod 20 and transmits the rotary motion information to the slave-end robot 100, the horizontal encoder calculates the moving distance of the operating rod 20 and transmits the axial motion information to the slave-end robot 100, the rotary encoder and the horizontal encoder are used for realizing accurate transmission of the operating instructions, the torque motor 41 provides a reverse thrust, the slave-end robot 100 records the resistance during intervention and feeds the resistance information back to the torque motor 41, so that the main-end operating handle force pushing feedback is realized, the presence feeling is increased, the surgical safety is improved, the practicability is strong, and the method has strong popularization significance.
The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims (10)

1. The utility model provides an intervene operation robot main end operating handle for with from end robot cooperation, from end robot receipt main end operating handle's operating information, and carry out corresponding action, its characterized in that includes the frame, installs action bars, angle detection device and the displacement detection device in the frame, angle detection device and displacement detection device detect the turned angle and the displacement of action bars respectively.
2. The main-end operating handle of an interventional surgical robot of claim 1, wherein: the slave robot records the resistance of the blood vessel during intervention and feeds back the resistance information to the moment feedback device, and the moment feedback device provides a reverse force for the operating rod according to the resistance.
3. The main-end operating handle of an interventional surgical robot of claim 2, wherein: the rack is provided with a rod core, the operating rod comprises a handle body, and the handle body can rotate and slide along the axis of the rod core.
4. The main-end operating handle of an interventional surgical robot of claim 3, wherein: the handle body comprises a position adjusting cap and a position adjusting rod connected to one end of the position adjusting cap, the angle detection device is provided with a coded disc, and the coded disc is arranged on the position adjusting rod and rotates synchronously along with the operating rod.
5. The main-end operating handle of an interventional surgical robot of claim 4, wherein: the rack is provided with a limiting block, and the limiting block limits a coded disc of the angle detection device in the displacement direction.
6. The main-end operating handle of an interventional surgical robot of claim 4, wherein: the sliding sleeve comprises a first outer sleeve, a second outer sleeve and a connecting frame for connecting the first outer sleeve and the second outer sleeve, the first outer sleeve and the second outer sleeve are respectively sleeved on the positioning rod and the rod core, and the operating rod drives the sliding sleeve to move synchronously when moving horizontally.
7. The main-end operating handle of an interventional surgical robot of claim 6, wherein: the inner side of the second outer sleeve is provided with an irregular hole, the outer circumferential surface of the rod core is provided with a limiting surface, and when the second outer sleeve is installed in a matched mode with the rod core, the irregular hole and the limiting surface are mutually limited, so that the sliding sleeve can only move along the rod core and cannot rotate on the rod core.
8. The main-end operating handle of an interventional surgical robot of claim 2, wherein: the torque feedback device comprises a driving rack, a torque motor, a gear set connected with the driving rack and fixed on the torque motor, and the driving rack is arranged on the sliding sleeve.
9. The main-end operating handle of an interventional surgical robot of claim 8, wherein: the driving rack is provided with clamping teeth which are distributed side by side, and the clamping teeth on the driving rack are meshed with the gear set.
10. The main-end operating handle of an interventional surgical robot of claim 9, wherein: the displacement detection device is provided with a coded disc, and the coded disc of the displacement detection device is arranged on the driving rack.
CN202111009835.XA 2021-06-10 2021-08-31 Main end operating handle of interventional operation robot Active CN113729961B (en)

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PCT/CN2022/097918 WO2022258019A1 (en) 2021-06-10 2022-06-09 Master operating handle of interventional surgical robot

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CN202110654379 2021-06-10
CN2021106543798 2021-06-10

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CN114343851A (en) * 2022-01-27 2022-04-15 上海微创医疗机器人（集团）股份有限公司 Manipulation device, method, storage medium, medical device, and surgical robot
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
WO2022258019A1 (en) * 2021-06-10 2022-12-15 深圳市爱博医疗机器人有限公司 Master operating handle of interventional surgical robot
WO2023029583A1 (en) * 2021-08-31 2023-03-09 深圳市爱博医疗机器人有限公司 Interventional surgical robot master end control device
WO2023125623A1 (en) * 2021-12-31 2023-07-06 沛嘉医疗科技(苏州)有限公司 Master-side control mechanism and surgical robot
CN117323020A (en) * 2023-10-11 2024-01-02 上海神玑医疗科技有限公司 Operation robot master control end operation handle unit and master control end operation platform

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CN116058974B (en) * 2023-02-23 2023-07-14 之江实验室 Surgical robot and surgical system
CN116421319A (en) * 2023-03-06 2023-07-14 极限人工智能有限公司 Man-machine interaction device and method of vascular intervention surgical robot

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WO2022258019A1 (en) * 2021-06-10 2022-12-15 深圳市爱博医疗机器人有限公司 Master operating handle of interventional surgical robot
WO2023029583A1 (en) * 2021-08-31 2023-03-09 深圳市爱博医疗机器人有限公司 Interventional surgical robot master end control device
WO2023125623A1 (en) * 2021-12-31 2023-07-06 沛嘉医疗科技(苏州)有限公司 Master-side control mechanism and surgical robot
CN114343851A (en) * 2022-01-27 2022-04-15 上海微创医疗机器人（集团）股份有限公司 Manipulation device, method, storage medium, medical device, and surgical robot
CN114343851B (en) * 2022-01-27 2024-01-23 上海微创医疗机器人（集团）股份有限公司 Medical device, manipulation method, and readable storage medium
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
CN117323020A (en) * 2023-10-11 2024-01-02 上海神玑医疗科技有限公司 Operation robot master control end operation handle unit and master control end operation platform

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