CN114224502A - Vascular intervention surgical robot main end device with touch feedback - Google Patents
Vascular intervention surgical robot main end device with touch feedback Download PDFInfo
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- CN114224502A CN114224502A CN202210031378.2A CN202210031378A CN114224502A CN 114224502 A CN114224502 A CN 114224502A CN 202210031378 A CN202210031378 A CN 202210031378A CN 114224502 A CN114224502 A CN 114224502A
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- 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
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The invention discloses a main end device with tactile feedback for a vascular interventional surgical robot, which relates to the technical field of medical instruments and comprises a tactile force output mechanism, an action acquisition mechanism and an operation catheter; the tactile force output mechanism comprises a sleeve structure and a piston structure, one end of an operation guide pipe is connected with the piston structure, the other end of the operation guide pipe corresponds to the action acquisition mechanism in position, the piston structure is arranged in the sleeve structure, the piston structure is in sliding connection with the sleeve structure, the sleeve structure comprises an electromagnetic coil, and magnetorheological fluid is filled between the piston structure and the sleeve structure; the action acquisition mechanism comprises an axial information acquisition structure and a circumferential information acquisition structure, the axial information acquisition structure is used for acquiring axial position information of the operation catheter, and the circumferential information acquisition structure is used for acquiring circumferential position information of the operation catheter. The invention can provide a simulated operation environment for an operator in an operation, can reflect the intervention resistance in the operation and ensure the safe and smooth completion of the operation.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a main end device of a vascular interventional surgical robot with tactile feedback.
Background
In recent years, the prevalence and mortality of cardiovascular diseases have increased year by year due to environmental deterioration and poor living habits of people, and have become the biggest threat to life safety of human beings, and vascular embolism is a common symptom of cardiovascular diseases. At present, the most effective method for treating vascular embolism is a vascular intervention operation, manual intervention is carried out, a catheter guide wire is used for navigation, and a stent is placed at a focus of intervention to dredge blood vessels and eliminate the focus. To avoid the problem of long-term exposure of traditional surgeons to radiation, a master-slave vascular interventional surgical robot system has been developed by medical companies and colleges for the surgeons to perform surgery at a remote location by manipulating the robot. Because the master-slave robot is used for interventional operation, doctors lack direct perception of catheter interventional environment at the far end, and therefore more real environment details on the spot need to be provided for the doctors at the main end to ensure safe operation of the operation. The force feedback schemes adopted by the robots designed by medical enterprises and college research institutions at home and abroad are mostly that a motor provides force feedback and electrorheological fluid provides force feedback, and have certain defects. And the main end manipulator of the robot mostly adopts mechanical structures such as an operating rod, an operating button and the like, and can not be suitable for the operation mode of the traditional interventional operation.
Disclosure of Invention
The invention aims to provide a main end device of a vascular interventional surgical robot with tactile feedback, which provides tactile force feedback by applying a magnetorheological fluid technology and provides an on-site immersive surgical resistance environment for doctors; the operation catheter and the action acquisition mechanism are adopted for action acquisition, so that the operation experience of a doctor in the traditional interventional operation is kept to the maximum extent.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a main end device with tactile feedback for a vascular interventional surgical robot, which comprises a tactile force output mechanism, an action acquisition mechanism, an operation catheter and a controller, wherein the tactile force output mechanism is connected with the action acquisition mechanism;
the tactile force output mechanism comprises a sleeve structure and a piston structure, one end of the operation guide pipe is connected with the piston structure, the other end of the operation guide pipe corresponds to the action acquisition mechanism in position, the piston structure is arranged in the sleeve structure, the piston structure is connected with the sleeve structure in a sliding manner, the sleeve structure comprises an electromagnetic coil, and magnetorheological fluid is filled between the piston structure and the sleeve structure;
the action acquisition mechanism comprises an axial information acquisition structure and a circumferential information acquisition structure, the axial information acquisition structure is used for acquiring axial position information of the operation catheter, and the circumferential information acquisition structure is used for acquiring circumferential position information of the operation catheter;
the electromagnetic coil, the axial information acquisition structure and the circumferential information acquisition structure are respectively electrically connected with the controller.
Preferably, the sleeve structure includes a spiral structure, a housing, a first end cap and a second end cap, the spiral structure includes a spiral body and a first blocking body, the first blocking body is disposed in a groove of the spiral body, the first blocking body is used for changing a path of a magnetic induction line, the spiral structure is disposed inside the housing, the electromagnetic coil is located between the spiral structure and the housing, the first end cap is located at one end of the spiral structure and the housing, the second end cap is located at the other end of the spiral structure and the housing, and the operation conduit is disposed through the second end cap.
Preferably, the spiral body is made of ferromagnetic material; the first barrier body is made of a non-ferromagnetic material.
Preferably, the piston structure comprises a piston body structure, a first sealing structure and a second sealing structure, the piston body structure comprises a piston body and a second barrier body, a plurality of annular grooves are arranged on the outer wall of the piston body along the axial direction of the piston body, the second blocking body is disposed in the annular groove, the second blocking body is used for changing the path of the magnetic induction line, the first sealing structure is arranged at one end of the piston body, the second sealing structure is arranged at the other end of the piston body, one end of the operation guide pipe is connected with the piston body, the other end of the operation guide pipe penetrates through the second sealing structure, and magnetorheological fluid is filled in a cavity between the outer wall of the piston body structure, the inner wall of the sleeve structure and the first sealing structure and the second sealing structure.
Preferably, the piston body is made of ferromagnetic material; the second barrier body is made of a non-ferromagnetic material.
Preferably, a gap exists between the axial information acquisition structure and the operation catheter, the axial information acquisition structure comprises a laser emitter and a photoelectric sensor, the laser emitter is used for emitting laser, the laser emitted by the laser emitter is transmitted to the surface of the operation catheter, and the photoelectric sensor detects the image change of the operation catheter along the axial direction of the operation catheter, so as to obtain the axial position information of the operation catheter.
Preferably, the circumferential information collection structure comprises an encoder located outside the operating catheter, the encoder being configured to collect circumferential position information of the operating catheter.
Preferably, the main end device of the vascular interventional surgical robot with the tactile feedback further comprises a first support and a second support, the tactile force output mechanism is located on the first support, and the action acquisition mechanism is located on the second support.
Compared with the prior art, the invention has the following technical effects:
the invention applies the characteristic that the viscosity of the magnetorheological fluid is increased under a magnetic field, outputs the resistance by the piston structure of the tactile force output mechanism through the tactile force output mechanism, provides force feedback, provides a simulated operation environment for an operator in an operation, can reflect the intervention resistance in the operation and ensures the safe and smooth completion of the operation. The invention adopts the operation catheter and the action acquisition mechanism to acquire the action, and the operation experience of a doctor in the traditional interventional operation is reserved to the greatest extent.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic diagram of a main end device of a vascular interventional surgical robot with tactile feedback according to the present invention;
FIG. 2 is a schematic view of a haptic force output mechanism of the present invention;
FIG. 3 is a schematic view of the spiral body of the present invention;
FIG. 4 is a schematic view of a piston body of the present invention;
FIG. 5 is a schematic view of piston structure shear magnetorheological fluid;
FIG. 6 is a schematic diagram of the haptic force output mechanism of the present invention;
FIG. 7 is a schematic diagram of magnetic field direction verification using Ansys simulation;
FIG. 8 is a schematic view of an axial information collection configuration of the present invention;
FIG. 9 is a schematic diagram of the controller control relationship of the present invention;
FIG. 10 is a schematic diagram of the main end device of the vascular interventional surgical robot with tactile feedback of the present invention;
FIG. 11 is a process of intervention of a guidewire in a blood vessel of a human;
wherein: 100-a main end device of a vascular interventional surgical robot with tactile feedback, 1-a tactile force output mechanism, 2-an action acquisition mechanism, 3-an operation conduit, 4-magnetorheological fluid, 5-a shell, 6-a first end cover, 7-a second end cover, 8-an electromagnetic coil, 9-a spiral body, 10-a first barrier body, 11-a piston body, 12-a second barrier body, 13-a first sealing structure, 14-a second sealing structure, 15-a laser emitter, 16-a photoelectric sensor, 17-a first lens, 18-a second lens, 19-a third lens, 20-an encoder, 21-an operation cylinder, 22-a first bracket, 23-a second bracket, 24-a focus, 25-a guide wire, 26-a region I, 27-region II.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be obtained by a person skilled in the art without inventive effort based on the embodiments of the present invention, are within the scope of the present invention.
The invention aims to provide a main end device of a vascular interventional surgical robot with tactile feedback, which provides tactile force feedback by applying a magnetorheological fluid technology and provides an on-site immersive surgical resistance environment for doctors; the operation catheter and the action acquisition mechanism are adopted for action acquisition, so that the operation experience of a doctor in the traditional interventional operation is kept to the maximum extent.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-6 and 8-10: the embodiment provides a main end device 100 of a vascular intervention surgical robot with tactile feedback, which comprises a tactile force output mechanism 1, an action acquisition mechanism 2, an operation catheter 3 and a controller;
the tactile force output mechanism 1 comprises a sleeve structure and a piston structure, one end of an operation guide pipe 3 is connected with the piston structure, the other end of the operation guide pipe 3 corresponds to the action acquisition mechanism 2 in position, the piston structure is arranged in the sleeve structure, the piston structure is in sliding connection with the sleeve structure, the sleeve structure comprises an electromagnetic coil 8, and magnetorheological fluid 4 is filled between the piston structure and the sleeve structure; the tactile force output mechanism 1 can introduce corresponding current to the electromagnetic coil 8 to quickly establish a magnetic field according to resistance signals collected from the end through the established force-magnetic field model, and the output resistance is sensed by hands;
the action acquisition mechanism 2 comprises an axial information acquisition structure and a circumferential information acquisition structure, the axial information acquisition structure is used for acquiring axial position information of the operation catheter 3, and the circumferential information acquisition structure is used for acquiring circumferential position information of the operation catheter 3. The haptic force output mechanism 1 of the present embodiment can provide an in-situ immersive operation environment for a doctor, and the magnetorheological fluid 4 technology is adopted, so that the shearing force generated by the magnetorheological fluid 4 is output through the piston structure and transmitted to the operation guide tube 3, so that an operator can sense the in-situ real resistance change when operating the operation guide tube 3, and the intervention operation is required to have two degrees of freedom of axial delivery and radial rotation in order to meet the operation challenge brought by the complex blood vessel environment;
In this embodiment, the operating duct 3 is a steel duct.
In this embodiment, the sleeve structure includes a spiral structure, a housing 5, a first end cap 6 and a second end cap 7, the spiral structure includes a spiral body 9 and a first blocking body 10, the spiral body 9 includes a cylindrical body and a spiral body disposed outside the cylindrical body, the first blocking body 10 is disposed in a spiral groove of the spiral body 9, the first blocking body 10 is used for changing a path of a magnetic induction line, the spiral structure is disposed inside the housing 5, the electromagnetic coil 8 is disposed between the spiral structure and the housing 5, the housing 5 is made of a metal material, the housing 5 can eliminate abrasion to the electromagnetic coil 8 and is beneficial to heat dissipation, specifically, the electromagnetic coil 8 is wound outside the spiral structure, a variable magnetic field is provided by electrifying the electromagnetic coil 8, the intensity of the magnetic field is controlled by changing the size of the electrified current, the first end cap 6 is disposed at one end of the spiral structure and the housing 5, a second end cap 7 is located at the other end of the helix and the housing 5, and the operating conduit 3 is arranged through the second end cap 7. The effective range of the feedback force is the length of the screw body 9, and the first end cap 6 and the second end cap 7 are to ensure that the piston structure is located in the force feedback area.
In this embodiment, the piston structure includes a piston body 11 structure, a first sealing structure 13 and a second sealing structure 14, the piston body 11 structure includes a piston body 11 and a second blocking body 12, a plurality of annular grooves are opened on the outer wall of the piston body 11 along the axial direction of the piston body 11, the second blocking body 12 is disposed in the annular grooves, the second blocking body 12 is used for changing the path of the magnetic induction line, the first sealing structure 13 is disposed at one end of the piston body 11, the second sealing structure 14 is disposed at the other end of the piston body 11, one end of the operation conduit 3 is connected with the piston body 11 through a thread, the other end of the operation conduit 3 penetrates through the second sealing structure 14, the magnetorheological fluid 4 is filled in the outer wall of the piston body 11 structure, the inner wall of the spiral body 9, and a cavity between the first sealing structure 13 and the second sealing structure 14, the first sealing structure 13 and the second sealing structure 14 are used for sealing the magnetorheological fluid 4 in the outer wall of the piston body 11 structure and the cavity between the spiral body 11 structure and the spiral structure Between the inner walls of the body 9, the first sealing structure 13 and the second sealing structure 14 adopt U-shaped piston sealing rings. Because the magnetorheological fluid 4 is a liquid substance, certain loss exists in the operation process, and the magnetorheological fluid can be filled at any time through a reserved filling port for convenient addition and supplement, and the filling port can be arranged on the first sealing structure 13 or the second sealing structure 14. The maximum stroke of single delivery of the operation catheter 3 of the embodiment is 90mm, and the structure is more compact and delicate while the requirement of operation is met.
Upon application of an external magnetic field, the magnetorheological fluid 4 exhibits bingham fluid characteristics, which can be described using a bingham plastic model. As shown in fig. 5, the process and velocity profile of the piston structure shearing the magnetorheological fluid 4 is shown. In fig. 5, r is the width of the magnetorheological fluid 4 in the region ii 27 in the magnetic field direction, and u (r) is the moving speed of the magnetorheological fluid 4 in the region ii 27 (the speed direction is perpendicular to the magnetic field direction). In the region i 26, the portion of the magnetorheological fluid 4 does not undergo shear flow, so only the dynamic yield stress related to the magnetic field and the viscous resistance related to the viscosity of the magnetorheological fluid 4 exist in the magnetorheological fluid 4 in the region i 26, and the relationship is as shown:
where τ is the shear stress, τd(H) Is the dynamic yield stress, eta is the viscosity coefficient,
is the velocity gradient in the direction of motion of the piston structure.
In the area ii 27, the piston structure moves relatively, so that the magnetorheological fluid 4 in the area ii 27 is sheared, the shearing force exceeds the yield stress, and the magnetorheological fluid 4 starts to flow. The feedback force fed back to the operator's fingertip at this time can be expressed as:
Fτ＝Fd(H)+Fη+Ff
Fd(H) shear force controllable by adjusting the strength of the magnetic field, FηFor viscous drag, FfThe mechanical friction force caused by the first sealing structure 13 and the second sealing structure 14, d is the diameter of the piston body 11 structure, and L is the length of the piston structure.
Due to the chaining property of the magnetorheological fluid 4, in order to obtain the feedback force in the horizontal direction, the magnetic induction line needs to vertically penetrate through the magnetorheological fluid 4 between the outer wall of the piston body 11 structure and the inner wall of the spiral body 9. The spirochaeta of the outer wall of the spiral body 9 of the embodiment is designed into a spiral structure, the number of turns of the whole spirochaeta is 5, and the even distribution of the gravity of the sleeve structure is ensured. In this embodiment, the matching of the materials of the sleeve structure and the piston structure is changed respectively, so as to change the path of the magnetic induction line.
In the embodiment, the spiral body 9 and the piston body 11 are made of ferromagnetic materials; the first barrier body 10 and the second barrier body 12 are made of a non-ferromagnetic material. The ferromagnetic substance includes: iron, cobalt, nickel and alloys thereof. The non-ferromagnetic substance includes: silica gel, rubber, silver, copper, diamond, etc. The magnetic permeability mu of the non-ferromagnetic substance is approximately equal to 1, and the magnetic permeability of the ferromagnetic substance is generally hundreds or even tens of thousands, which is far greater than that of the non-ferromagnetic substance. In this embodiment, Q235 steel is selected as the material of the spiral body 9, the housing 5 and the piston body 11, and the first barrier body 10 and the second barrier body 12 are made of silicone.
As shown in fig. 6, when the electromagnetic coil 8 is energized, the magnetic induction line enters the spiral structure of the housing 5 from one end of the tactile force output mechanism 1 without adding a piston structure, and when the magnetic flux passes through the first turn of the spiral body 9 of the spiral, the magnetic flux cannot propagate because the groove between the spiral body and the next turn is filled with the first blocking body 10 made of silicone rubber, and therefore, the magnetic flux continues to be transmitted forward along the first turn of the spiral into the second turn of the spiral. By analogy, the magnetic flux direction propagates along the magnetically conductive spiral body 9. After the piston structure and the magnetorheological fluid 4 are added into the tactile force output mechanism 1, when the magnetic induction line passes through the magnetorheological fluid 4 and the piston structure, due to the magnetic conductivity of the magnetorheological fluid 4 and the piston structure, magnetic flux can penetrate through the magnetorheological fluid 4 from the spiral body 9 of the shell 5 to enter the piston structure. Since the piston structure is designed to have a plurality of annular grooves, the second blocking body 12 made of silica gel is arranged in the annular grooves. The magnetic flux will enter and exit from the piston body 11 part, and the plurality of annular grooves are designed for the multiple passing of the magnetic flux, the schematic diagram is shown in fig. 6, and fig. 6 is a schematic diagram of the flow direction of the magnetic flux at the piston structure of the upper half part. Due to the spiral path of the spiral body, the magnetic flux can pass through the magnetorheological fluid 4 for multiple times, and meanwhile, the size of the tactile force output mechanism 1 can be ensured to be sufficiently exquisite. As can be seen from fig. 6, the magnetorheological fluid 4 at the surface of the piston structure can be continuously passed through by the magnetic flux four times, which provides a larger range of force feedback resistance. Magnetic field direction was verified using Ansys simulations, with results as in fig. 7.
As can be seen from fig. 7, the magnetic flux can nearly vertically and uniformly pass through the magnetorheological fluid 4 region, forming a closed loop of the housing 5, the magnetorheological fluid 4, the piston structure and the housing 5. Meanwhile, magnetic flux can vertically penetrate through the working area of the magnetorheological fluid 4 for many times, the utilization rate of the magnetic field is greatly improved, and the performance of the magnetorheological fluid 4 is greatly improved.
The action acquisition mechanism 2 is mainly responsible for acquiring operation information of an operator, and comprises two degrees of freedom operation modes: axial and circumferential. As shown in fig. 11, the blood vessel environment of the human body is tiny and complex, and can be roughly divided into two types, i.e., a straight blood vessel and a branched blood vessel, according to the intervention situation. In the operation intervention, a doctor only needs to operate the catheter guide wire 25 in the axial direction in a straight blood vessel, so that the guide wire 25 can be freely delivered without circumferential rotation adjustment; when the catheter is introduced to a bifurcation blood vessel, the optimal introduction branch needs to be selected according to the introduction target position, and a circumferential rotation operation needs to be performed to adjust the posture of the tip of the catheter guide wire 25 to enable the tip to enter the optimal branch. In the whole blood vessel intervention and rotation operation, the situation that the catheter guide wire 25 is contacted with the blood vessel wall inevitably occurs, the force sensor at the slave end can capture the sudden rise change of the tip intervention resistance in real time, and when the resistance sudden change exceeds a safety threshold, the dangerous situation that the catheter guide wire 25 pierces the blood vessel wall can occur. Therefore, for the safety of the operation, when the force sensor detects that the resistance suddenly changes, the main-end tactile force output mechanism 1 can quickly establish a magnetic field to generate resistance, and prompt the early warning operator to make a policy which includes withdrawing the catheter guide wire 25 in a short distance, adjusting the posture and the like.
In this embodiment, the motion collection mechanism 2 is mainly responsible for obtaining the operation information of the operator, wherein the collection of the axial motion information adopts the image sensor technology of a laser mouse, as shown in fig. 8, a gap of 4mm exists between the axial information collection structure and the operation conduit 3, the axial information collection structure belongs to non-contact measurement, and effectively avoids mechanical friction caused by measurement, thereby avoiding the effect of force feedback influenced by excessive mechanical friction, the axial information collection structure comprises a laser emitter 15 and a photoelectric sensor 16, the laser emitter 15 is a Vertical Cavity Surface Emitting Laser (VCSEL), the laser emitter 15 is used for emitting laser, the laser emitted by the laser emitter 15 is transmitted to a first lens 17, refracted to a second lens 18 by the first lens 17, and refracted to the surface of the operation conduit 3 by the second lens 18, the light head on the surface of the operating catheter 3 passes through the third lens 19 and is transmitted to the photoelectric sensor 16, the photoelectric sensor 16 receives the surface image of the operating catheter 3, and when the operating catheter 3 is in delivery, the optical sensor can detect the image change of two adjacent detection surfaces of the operating catheter 3, so that the movement trend (forward or backward) of the operating catheter 3 can be judged.
In this embodiment, circumference information acquisition structure includes encoder 20, and encoder 20 is cavity increment type encoder 20, and encoder 20 is located the outside of operation pipe 3, and operation pipe 3 and encoder 20 contactless, the outside of operation pipe 3 are provided with operation section of thick bamboo 21, can rotate operation pipe 3 through rotating operation section of thick bamboo 21, and operation pipe 3, operation section of thick bamboo 21 and the coaxial setting of encoder 20, encoder 20 is used for gathering operation pipe 3's circumference position information. When the operator needs to operate the rotary operation catheter 3, only the operation barrel 21 needs to be rotated, and the operation mode accords with the operation habit of a doctor in the traditional operation.
In this embodiment, the main end device 100 of the vascular interventional surgical robot with haptic feedback further includes a first support 22 and a second support 23, the haptic force output mechanism 1 is located on the first support 22, and the motion capture mechanism 2 is located on the second support 23.
The embodiment applies the characteristic that the viscosity of the magnetorheological fluid 4 is increased under a magnetic field, and the tactile force output mechanism 1 outputs the resistance through the piston structure of the tactile force output mechanism 1 to provide force feedback, so that a simulated operation environment is provided for an operator in an operation, the intervention resistance in the operation can be reflected, and the safe and smooth completion of the operation is ensured. In the embodiment, the operation catheter 3 and the action acquisition mechanism 2 are adopted for action acquisition, so that the operation experience of a doctor in the traditional interventional operation is kept to the greatest extent.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. The utility model provides a take vascular intervention surgical robot master device of tactile feedback which characterized in that: comprises a tactile force output mechanism, an action acquisition mechanism, an operation catheter and a controller;
the tactile force output mechanism comprises a sleeve structure and a piston structure, one end of the operation guide pipe is connected with the piston structure, the other end of the operation guide pipe corresponds to the action acquisition mechanism in position, the piston structure is arranged in the sleeve structure, the piston structure is connected with the sleeve structure in a sliding manner, the sleeve structure comprises an electromagnetic coil, and magnetorheological fluid is filled between the piston structure and the sleeve structure;
the action acquisition mechanism comprises an axial information acquisition structure and a circumferential information acquisition structure, the axial information acquisition structure is used for acquiring axial position information of the operation catheter, and the circumferential information acquisition structure is used for acquiring circumferential position information of the operation catheter;
the electromagnetic coil, the axial information acquisition structure and the circumferential information acquisition structure are respectively electrically connected with the controller.
2. A vascular interventional surgical robotic master device with haptic feedback as defined in claim 1, wherein: the sleeve structure comprises a spiral structure, a shell, a first end cover and a second end cover, the spiral structure comprises a spiral body and a first blocking body, the first blocking body is arranged in a groove of the spiral body, the first blocking body is used for changing a path of a magnetic induction line, the spiral structure is arranged on the inner side of the shell, an electromagnetic coil is located between the spiral structure and the shell, the first end cover is located at one end of the spiral structure and the shell, the second end cover is located at the other end of the spiral structure and the shell, and the operation conduit penetrates through the second end cover.
3. The vascular interventional surgical robotic master device with haptic feedback of claim 2, wherein: the spiral body is made of ferromagnetic materials; the first barrier body is made of a non-ferromagnetic material.
4. A vascular interventional surgical robotic master device with haptic feedback as defined in claim 1, wherein: the piston structure comprises a piston body structure, a first sealing structure and a second sealing structure, wherein the piston body structure comprises a piston body and a second blocking body, a plurality of annular grooves are formed in the outer wall of the piston body in the axial direction of the piston body, the second blocking body is arranged in the annular grooves, the second blocking body is used for changing the path of a magnetic induction line, the first sealing structure is arranged at one end of the piston body, the second sealing structure is arranged at the other end of the piston body, one end of an operation guide pipe is connected with the piston body, the other end of the operation guide pipe penetrates through the second sealing structure, and magnetorheological fluid is filled in a cavity between the outer wall of the piston body structure, the inner wall of the sleeve structure, the first sealing structure and the second sealing structure.
5. A vascular interventional surgical robotic master device with haptic feedback as defined in claim 4, wherein: the piston body is made of ferromagnetic materials; the second barrier body is made of a non-ferromagnetic material.
6. A vascular interventional surgical robotic master device with haptic feedback as defined in claim 1, wherein: the axial information acquisition structure comprises a laser emitter and a photoelectric sensor, the laser emitter is used for emitting laser, the laser emitted by the laser emitter is transmitted to the surface of the operation catheter, and the photoelectric sensor detects the image change of the operation catheter along the axial direction of the operation catheter, so that the axial position information of the operation catheter is obtained.
7. A vascular interventional surgical robotic master device with haptic feedback as defined in claim 1, wherein: the circumferential information acquisition structure comprises an encoder, the encoder is located on the outer side of the operation catheter, and the encoder is used for acquiring circumferential position information of the operation catheter.
8. A vascular interventional surgical robotic master device with haptic feedback as defined in claim 1, wherein: the main end device of the vascular intervention surgical robot with the tactile feedback further comprises a first support and a second support, the tactile force output mechanism is located on the first support, and the action acquisition mechanism is located on the second support.
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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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| CN116350356B (en) * | 2023-06-01 | 2023-09-01 | 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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