CN114795477A

CN114795477A - Medical robot operating device

Info

Publication number: CN114795477A
Application number: CN202210178418.6A
Authority: CN
Inventors: 钟骁
Original assignee: Individual
Current assignee: Individual
Priority date: 2022-02-24
Filing date: 2022-02-24
Publication date: 2022-07-29

Abstract

The invention provides a medical robot operating device, and relates to the technical field of medical robots. The invention comprises a rotating component, a transmission component, a driven component, a sensor and a shell; the rotating component is arranged outside the shell; the driven part is arranged in the shell, and the rotating part drives the driven part to rotate through the transmission part; the sensor is arranged in the shell and used for monitoring the real-time motion state of the passive component and transmitting the real-time motion state to an external controller, and the controller controls the execution end of the medical robot to execute the operation of delivering the interventional instrument. The intervention instrument is controlled to advance or retreat through the rotating part, so that the operation is convenient and fast, and the progressive distance can be controlled accurately; in addition, the rapid forward and backward shaking of the interventional instrument can be realized by rapidly switching the sliding direction of the rotating component, so that the commonly used 'pricking' action in the interventional operation is realized, and the interventional instrument is particularly favorable for passing through the vascular part with calcified lesion or complex lesion.

Description

Medical robot operating device

Technical Field

The invention relates to the technical field of medical robots, in particular to a medical robot operating device.

Background

Cardiovascular and cerebrovascular intervention treatment is a main means for treating cardiovascular and cerebrovascular diseases. At present, a blood vessel interventional medical robot is a successful application of robot technology in the aspect of blood vessel interventional therapy. Specifically, a doctor controls an interventional medical robot in a surgery room to complete delivery and rotate a catheter and a guide wire through a control device outside the surgery room of the catheter room; delivering a balloon, a stent and the like, and assisting in finishing the contrast and PCI operations.

In the prior art, a push rod device is usually adopted to control an interventional medical robot to complete delivery of the interventional device, and considering that a vascular interventional operation process is complex, the diameter of the interventional device is small, and the operation difficulty is high, the actual operation of a doctor on interventional devices such as a catheter guide wire cannot be truly restored at the main end by the conventional push rod control technology, and the existing experience cannot be well utilized due to non-inter-finger control, so that a more convenient and easier alternative mode for delivering the interventional device is needed to be provided.

Disclosure of Invention

Technical problem to be solved

Aiming at the defects of the prior art, the invention provides a medical robot operating device, which solves the technical problem that the existing device has poor operability in delivering an interventional instrument.

(II) technical scheme

In order to achieve the purpose, the invention is realized by the following technical scheme:

a medical robot operating device comprises a rotating component, a transmission component, a driven component, a sensor and a shell;

the rotating part is mounted outside the shell;

the driven part is arranged in the shell, and the rotating part drives the driven part to rotate through the transmission part;

the sensor is arranged in the shell and used for monitoring the real-time motion state of the passive component and transmitting the real-time motion state to an external controller, and the controller controls the execution end of the medical robot to execute the operation of delivering the interventional instrument.

Preferably, the passive component comprises a damping device which generates a damping force for providing force feedback to the rotating component during the rotational movement.

Preferably, the damping device comprises a magnetic damper comprising a reluctance rotor and a reluctance stator; the reluctance stator forms a magnetic field after being electrified, and the reluctance rotor generates magnetic damping force for providing force feedback to the rotating component in the process of rotating in the magnetic field.

Preferably, the external controller is further configured to receive a resistance value applied to the interventional instrument through a force sensor on the medical robot performing end, and adjust the strength of the magnetic field according to the resistance value.

Preferably, the magnitude of the electric signal input to the reluctance stator is adjusted according to the magnitude of the resistance value, so as to adjust the magnitude of the magnetic field.

Preferably, the reluctance rotor and the reluctance stator both adopt a tooth slot structure, and the reluctance rotor generates a discrete magnetic damping force for providing force feedback to the rotating component in the process of rotating in the magnetic field.

Preferably, the reluctance rotor is in a regular polygon or circle shape on the whole horizontal section, and rotor teeth are arranged in a circumferential array along the central axis of the reluctance rotor;

the reluctance stator and the reluctance rotor are coaxially arranged, the shape of the reluctance stator on the horizontal section is matched with that of the reluctance rotor, and the stator teeth are distributed in a circumferential array along the central axis of the reluctance stator.

Preferably, the rotating component comprises a roller and a roller hub which are used together; the transmission part comprises a driving wheel shaft, a driving wheel and a driven wheel; the roller is fixedly connected with the roller hub, and the roller hub is vertically fixed at the position of the shell close to the top through the transmission part;

the end, located outside the shell, of the driving wheel shaft is fixedly connected with the roller wheel hub, the end, located inside the shell, of the driving wheel shaft is fixedly connected with the driving wheel, the driving wheel is used for driving the driven wheel to rotate, and the driven wheel is coaxially and fixedly connected with the driven part.

Preferably, the number of pairs of magnetic poles on the reluctance rotor in relation to the circumferential array of the central axis thereof, multiplied by the transmission ratio between the driven wheel and the driving wheel, is twenty.

Preferably, the medical robot operating device further comprises a connecting shaft and a swinging component;

the connecting shaft penetrates through and is fixed at the bottom of the shell and movably connected with the swinging component, a sensor reading head is arranged in the swinging component and used for recognizing a position change signal generated when the shell swings and transmitting the position change signal to an external controller, and the external controller controls the execution end of the medical robot to execute the operation of rotating the interventional instrument.

(III) advantageous effects

The invention provides a medical robot operating device. Compared with the prior art, the method has the following beneficial effects:

the invention comprises a rotating component, a transmission component, a driven component, a sensor and a shell; the rotating part is mounted outside the shell; the driven part is arranged in the shell, and the rotating part drives the driven part to rotate through the transmission part; the sensor is arranged in the shell and used for monitoring the real-time motion state of the passive component and transmitting the real-time motion state to an external controller, and the controller controls the operation of delivering an interventional instrument at the execution end of the medical robot. The intervention instrument can be controlled to move forwards or backwards through the rotating component which can be directly contacted by the fingers of the doctor, the operation is very real and convenient, and the accurate control of the progressive distance is easier to realize; in addition, the rapid forward and backward shaking of the interventional instrument can be realized by rapidly switching the sliding direction of the rotating component, so that the commonly used 'thorn' action in the interventional operation is realized, and the interventional instrument is particularly favorable for the intervention of human body parts which can pass through only by moving the interventional instrument back and forth according to a certain frequency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a perspective view of a medical robot operating device according to embodiments 1 to 9 of the present invention;

fig. 2 is a schematic use view of a medical robot operating device according to embodiments 1 to 9 of the present invention;

fig. 3 is a cross-sectional view of a medical robot operating device according to embodiments 3, 6 and 9 of the present invention;

fig. 4 is a schematic diagram of a magnetic damper provided in embodiments 5, 7, 8 and 9 of the present invention.

The magnetic damping device comprises a rotating component 1, a roller 11, a roller hub 12, a transmission component 2, a driving wheel shaft 21, a driving wheel 22, a driven wheel 23, a sensor 3, a magnetic damper 4, a magnetic resistance rotor 41, a magnetic resistance stator 42, a magnetic damping mechanism mounting frame 400, a connecting shaft 5 and a swinging component 6.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention are clearly and completely described, and it is obvious that the described embodiments are a part of the embodiments of the present invention, but not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The embodiment of the application provides a medical robot operating means, has solved the poor technical problem of current device delivery intervention apparatus maneuverability, realizes only controlling intervention apparatus through rotary part and advances or retreat to and the direction of rotation of fast switch-over rotary part realizes the quick front and back shake of intervention apparatus, thereby realize being convenient for carry out the action of "thorn" commonly used in the operation controlling the end.

In order to solve the technical problems, the general idea of the embodiment of the application is as follows:

the medical robot operating device provided by the embodiment of the invention can be used for a plurality of medical purposes such as operation, diagnosis and treatment, and the like, and the medical robot operating device is understood to be in the scope to be protected by the application as long as the related requirements for delivering the interventional instrument exist in a specific application scene. In particular, the embodiment of the present invention can be used for, but is not limited to, cardiovascular interventional surgery, and in the specified application scenario, the embodiment of the present invention is used for controlling a medical robot to deliver and/or rotate a guide wire or a catheter; a delivery balloon and a stent.

Specifically, in the embodiment of the invention, the rotating component is arranged outside the shell; the driven part is arranged in the shell, and the rotating part drives the driven part to rotate through the transmission part; the sensor is arranged in the shell and used for monitoring the real-time motion state of the passive component and transmitting the real-time motion state to an external controller, and the controller controls the execution end of the medical robot to execute the operation of delivering the interventional instrument.

The intervention instrument can be controlled to move forwards or backwards through the rotating component which can be directly contacted by the fingers of the doctor, the operation is very real and convenient, and the accurate control of the progressive distance is easier to realize; in addition, the rapid forward and backward shaking of the interventional device can be realized by rapidly switching the sliding direction of the rotating component, so that the commonly used 'pricking' action in the interventional operation is realized, and the interventional device is particularly favorable for the intervention of human body parts which need to move back and forth according to a certain frequency to pass through, such as calcified lesion parts or vascular parts with complex lesion parts.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

Example 1:

as shown in fig. 1, an embodiment of the present invention provides a medical robot operating device, which includes a rotating member 1, a transmission member 2, a passive member, a sensor 3, and a housing.

The rotating member 1 is mounted outside the housing;

the driven part is arranged in the shell, and the rotating part 1 drives the driven part to rotate through the transmission part 2;

the sensor 3 is installed in the housing, and is used for monitoring the real-time motion state of the passive component, as shown in fig. 2, and transmitting the real-time motion state to an external controller, and the controller controls the medical robot executing end to execute the operation of delivering the interventional instrument.

It should be noted that: first, the sensor 3 may be a magnetic encoder (absolute or incremental), a photoelectric encoder (absolute or incremental). In an exemplary embodiment of the invention, a magnetic encoder is adopted, a magnet of the magnetic encoder is fixedly connected with the passive component, the passive component rotates to drive the magnet to rotate, and the displacement of the rotation of the magnet is converted into a digital signal or an analog signal and transmitted to an external controller.

Secondly, in the application scenario of the above-specified cardiovascular and cerebrovascular interventional procedure, the interventional device comprises at least a guide wire, a catheter, a delivery balloon and a stent.

Finally, the embodiment of the invention also does not absolutely limit the connection and matching relationship between the interventional instrument and the medical robot execution end. For example, the interventional device can be rotationally driven to advance or retreat by a friction wheel installed inside the medical robot executing end, and the interventional device can be rotationally driven by the revolution of the friction wheel.

In the embodiment of the invention: the intervention instrument can be controlled to move forwards or backwards through the rotating component which can be directly contacted by the fingers of the doctor, the operation is very real and convenient, and the accurate control of the progressive distance is easier to realize; in addition, the rapid forward and backward shaking of the interventional device can be realized by rapidly switching the sliding direction of the rotating component, so that the commonly used 'pricking' action in the interventional operation is realized, and the interventional device is particularly favorable for the intervention of human body parts which need to move back and forth according to a certain frequency to pass through, such as calcified lesion parts or vascular parts with complex lesion parts.

Specifically, the method comprises the following steps: different from the mode that a push rod device is adopted to control an interventional medical robot to deliver interventional instruments in the prior art, in the embodiment of the invention, the rotating component 1 is adopted to control the interventional instruments to advance, if the rotating component is slid clockwise to correspondingly control the interventional instruments to advance, and the rotating component is slid anticlockwise to correspondingly operate the interventional instruments to retreat, so that the operation is very real and convenient, and the accurate control of the advancing distance is easier to realize.

In addition, the interventional device in the prior art cannot realize shaking advance, and cannot meet the requirement that a doctor often performs a 'pricking' action in the cardio-cerebrovascular interventional operation (for example, the interventional device is passed through a calcified lesion or a vascular part with a complex lesion). In contrast, in the embodiment of the present invention, the operation can be easily performed by quickly switching the sliding direction of the rotating member 1.

Example 2:

in the technology of example 1, further: the passive component comprises a damping device which during the rotary motion generates a damping force for providing force feedback to the rotary component 1.

Currently, when an interventional medical robot in the market delivers a guide wire, a catheter, a balloon or a stent, the maximum threshold value of resistance is displayed by images or the real-time resistance value is displayed by images, and force information cannot be fed back to a control end. The doctor can not feel the resistance directly, so that the operation coverage rate of the product is greatly reduced.

In order to address this technical drawback, the passive component in the embodiment of the present invention may be configured as a damping device, and the damping device generates a damping force for providing force feedback to the rotating component 1 during the rotating motion, so that a doctor can intuitively feel the resistance condition of the interventional device in the body, thereby facilitating the next decision.

It should be understood by those skilled in the art that the damping device can be any one or a reasonable combination of products such as oil damper, solid viscous damper, air damper, friction damper, magnetic damper, etc. on the market, and the basic technical concept of providing force feedback as described above should be understood to be included in the protection scope of the present application.

Example 3:

as shown in fig. 3, in the technique of embodiment 2, further: the damping device comprises a magnetic damper 4, the magnetic damper 4 comprising a reluctance rotor 41 and a reluctance stator 42; the reluctance stator 42 is energized to form a magnetic field, and the reluctance rotor 41 generates a magnetic damping force for providing force feedback to the rotating component 1 during a rotation motion process in the magnetic field.

That is, the present embodiment takes the damping device as the magnetic damper 4 as an example.

When the interventional robot works, a doctor holds the control shell (handle) tightly and slides the roller 11 clockwise or anticlockwise to drive the driving wheel 22 to rotate. The driving wheel 22 drives the driven wheel 23 to rotate, the driven wheel 23 is fixedly connected with the reluctance rotor 41, so that the reluctance rotor 41 is driven to rotate (magnetic damping force is generated in the process), the sensor 3 sends information of the speed and the position of the rotation of the reluctance rotor 41 to an external controller, and the controller controls the interventional robot execution end to deliver interventional instruments and controls the progressive speed and the progressive position.

Example 4:

in the technology of the embodiment 3, further: the external controller is also used for receiving a resistance value applied to the interventional instrument through a force sensor on the execution end of the medical robot and adjusting the strength of the magnetic field according to the resistance value.

Embodiment 3 is only to provide force feedback, and obviously cannot truly simulate the change of the resistance value received by the interventional instrument in the blood vessel, and in this embodiment, the external controller is further configured to receive the resistance value received by the interventional instrument through the force sensor on the execution end of the medical robot, and adjust the intensity of the magnetic field according to the magnitude of the resistance value.

Specifically, the reluctance rotor 41 generates reluctance torque that hinders rotational motion when cutting the magnetic induction lines, and when the magnetic field intensity changes, the torque value changes correspondingly, so that the magnetic damping force is increased when the resistance value received becomes large, and the magnetic damping force is reduced when the resistance value received becomes small, thereby truly reducing the stress condition of the interventional instrument.

The manner of adjusting the strength of the magnetic field may be set as follows: according to the magnitude of the resistance, the magnitude of the electric signal input to the reluctance stator 42, which may be a current or voltage signal, is adjusted, thereby adjusting the magnitude of the magnetic field.

Example 5:

as shown in fig. 4, in the technique of embodiment 3, further: the reluctance rotor 41 and the reluctance stator 42 both adopt a tooth groove structure, and the reluctance rotor 41 generates a discrete magnetic damping force for providing force feedback to the rotating component 1 in the process of rotating motion in the magnetic field.

Prior art interventional medical robots deliver an interventional device such as a guide wire, catheter, balloon or stent that prompts the physician, via a "tic" or other sound, that the robot has executed a travel command and traveled the interventional device a set fixed distance each time the interventional device travels a fixed distance (e.g., every 1 mm).

However, in a complex operating room environment, the prompt tone of other interventional instruments is easily confused by the 'tic' or other voice prompt modes, so that the doctor can misjudge the information; and the prompt sound generated along with the movement is frequently used in the operation, so that the doctor is easy to generate a fussy mood in the high-intensity operation process.

In contrast, the embodiment of the invention also provides a more reasonable way for prompting the interventional medical robot to execute the advancing command. Specifically, the reluctance rotor 41 and the reluctance stator 42 both adopt a tooth space structure, and during the rotation motion of the reluctance rotor 41 in the magnetic field, a discrete magnetic damping force for providing force feedback to the rotating component 1 is generated through a tooth space effect, that is, during the sliding of the rotating component 1, a finger can feel a discrete tactile sensation, which is convenient for prompting a doctor that a unit travel instruction has been completed, so that the doctor can clearly intervene in the actual distance traveled by an instrument.

The cogging specifically means: when the reluctance rotor 41 and the reluctance stator 42 both adopt a tooth space structure, teeth are used for guiding magnetic lines of force, reducing reluctance, slots in the reluctance stator 42 are used for embedding windings and are linked with the magnetic lines of force in the teeth, different magnetic conductivities of the teeth and the slots enable the reluctance rotor 41 to have magnetic lines of force with different quantities at different positions, and at the position where magnetic poles of the reluctance rotor 41 are aligned with the teeth of the reluctance stator 42, ferromagnetism attracts to block the reluctance rotor 41 from rotating.

Example 6:

in the technique of any one of embodiments 1 to 5, further: the embodiment of the present invention does not absolutely limit the transmission relationship and/or the transmission ratio between the rotating component 1 and the transmission component 2.

It will be appreciated by those skilled in the art that the rotary part 1 and the transmission part 2 may be constructed in any of the prior art devices as long as they meet the above functional requirements of the devices.

For example, a worm gear transmission form is adopted: the doctor rotates the idler wheel (the rotating part 1) by fingers, the idler wheel drives the worm to rotate, the worm drives the worm wheel to rotate (the transmission part 2 comprises the worm and the worm wheel), and the worm wheel drives the damper to rotate; or in the form of a direct drive: the roller (the rotating part 1) is directly linked with the damper (the transmission part 2 is equivalent to a linking structure); or a steel wire rope, a belt pulley, a straight gear transmission and the like can also be adopted.

As shown in fig. 3, the embodiment of the present invention is only exemplary in the case of a bevel gear transmission, and the contents of the transmission ratio will be further described later.

Specifically, the rotating member 1 includes a roller 11 and a roller hub 12 used in cooperation; the transmission part 2 comprises a driving wheel shaft 21, a driving wheel 22 and a driven wheel 23; the roller 11 is fixedly connected with the roller hub 12, and the roller hub 12 is vertically fixed at the position of the shell close to the top through the transmission part 2;

one end of the driving wheel shaft 21, which is located outside the shell, is fixedly connected with the roller wheel hub 12, one end of the driving wheel shaft, which is located inside the shell, is fixedly connected with the driving wheel 22, the driving wheel 22 is used for driving the driven wheel 23 to rotate, and the driven wheel 23 is coaxially and fixedly connected with the driven part.

At this time, the magnetic damper 4 is fixed inside the housing by a magnetic damping mechanism mount 400; the upper end of the reluctance rotor 41 is fixedly connected with the driven wheel 23, and the lower end of the reluctance rotor is fixedly connected with a magnet of the magnetic encoder.

Example 7:

in the technique of embodiment 6, further, the shape of the reluctance rotor 41 in the horizontal section is a regular polygon or a circle as a whole, preferably a circle; the rotor teeth are arranged in a circumferential array along the central axis of the reluctance rotor 41.

The reluctance stator 42 is arranged coaxially with the reluctance rotor 41, and the shape of the reluctance stator in the horizontal section is adapted to the reluctance rotor 41; the stator teeth are arranged in a circumferential array along the central axis of the reluctance stator 42.

Taking fig. 4 as an example, the reluctance rotor 41 is circular in shape on the whole in the horizontal cross section, the reluctance stator 42 is a winding, and the input current direction is not changed, so the current space vector direction of the reluctance stator 4 is not changed all the time, and the direction of the generated magnetic field is not changed all the time, wherein the stator teeth are a pair of S poles and N poles arranged oppositely.

At this time, the angle at which the roller 11 discretely advances can be determined by the following formula.

Where θ represents the angle of discrete advancement of the roller 11; p represents the number of magnetic pole pairs on the reluctance rotor 41 relative to the circumferential array of the central axis of the reluctance rotor; i denotes the transmission ratio between the driven wheels 23 and the driving wheels 22.

Example 8:

in the embodiment 7, further, the product of the number of pairs of magnetic poles on the reluctance rotor 41 with respect to the circumferential array of the central axis thereof and the transmission ratio between the driven pulley 23 and the driving pulley 22 is twenty.

It has been found that it is an excellent choice to generate a discrete tactile sensation per 18 ° of sliding movement of the roller 11, so that the product of p × i needs to be set to 20, for example, a combination of p 10 and i 2, p 5 and i 4, p 4 and i 5, or p 2 and i 10.

As shown in fig. 4, the embodiment of the present invention only takes the case where p is 10 and i is 2 as an example, since the poles on the reluctance rotor 41 are 10 pairs of poles, the torque curve received by the reluctance rotor 41 during each 36 ° rotation is a sine wave curve and is transmitted to the roller 11 through the driven wheel 23, the driving wheel 22, the driving wheel shaft 21 and the roller hub 12, the roller 11 feeds back the torque to the doctor's finger, and finally, each 18 ° sliding of the roller 11 is realized, and the doctor's finger feels a discrete tactile sensation, which indicates that the unit travel instruction has been completed, so that the doctor can clearly intervene in the actual distance traveled by the instrument.

Example 9:

in the technology of any one of embodiments 1 to 8, further, when the embodiment of the present invention needs to control the interventional device, such as a guide wire or a catheter, to rotate by the interventional medical robot, as shown in fig. 3, the medical robot operating device further includes a connecting shaft 5 and a swinging member 6.

The connecting shaft 5 penetrates through and is fixed at the bottom of the shell and movably connected with the swinging component 6, a sensor reading head is arranged in the swinging component 6 and used for recognizing a position change signal generated when the shell swings and transmitting the position change signal to an external controller, and the external controller controls the execution end of the medical robot to execute the operation of rotating the interventional instrument. As in embodiment 1, the embodiment of the present invention does not absolutely limit the connection and engagement relationship between the interventional instrument and the medical robot executing end, and for example, the interventional instrument may be driven to rotate by the revolution of a friction wheel installed inside the medical robot executing end.

When the medical robot works, the shell (handle) swings (the shell can be held by the right hand of a doctor and pulled to the inner side of the right hand), the connecting shaft 5 is driven to swing, the sensor reading head in the swing mechanism 6 identifies the shell, a position change signal during swinging is sent to an external controller, and the controller controls the execution end of the medical robot to rotate the interventional instrument clockwise or anticlockwise and controls the rotation speed of the interventional instrument in a blood vessel; and the greater the angle of cocking, the higher the speed at which the interventional instrument is rotated.

As can be seen from the above description, in the embodiment of the present invention, the intervention device is controlled to move in a rotating manner, and the manipulation manner of the intervention device in the rotating manner is controlled by pulling the wrist. Therefore, the two-degree-of-freedom action of delivering and rotating the interventional instrument can be completed by one hand of a doctor and meets the requirement of ergonomics, and the inconvenience that the medical robot on the market needs to cooperate with two hands when controlling the advance and the rotation of a single guide wire or a single catheter is solved.

In summary, compared with the prior art, the method has the following beneficial effects:

1. in the embodiment of the invention, the rotating component which can be directly contacted by the fingers of the doctor is used for controlling the interventional instrument to move forward or backward, so that the operation is very real and convenient, and the progressive distance can be controlled accurately; in addition, the rapid forward and backward shaking of the interventional instrument can be realized by rapidly switching the sliding direction of the rotating component, so that the commonly used 'thorn' action in the interventional operation is realized, and the interventional instrument is particularly favorable for the intervention of human body parts which can pass through only by moving the interventional instrument back and forth according to a certain frequency.

2. In the embodiment of the invention, the passive component can be set as a damping device, and the damping device generates a damping force for providing force feedback to the rotating component in the rotating process, so that a doctor can intuitively feel the resistance condition of the interventional instrument in the body, and the next decision can be conveniently made.

3. In an embodiment of the present invention, the external controller is further configured to receive a resistance value applied to the interventional instrument through a force sensor on the medical robot performing end, and adjust the strength of the magnetic field according to the resistance value. The reluctance rotor produces the reluctance torque that hinders rotary motion when cutting magnetic induction line, and when magnetic field intensity changed, the torque value took place corresponding change, and then realized when resistance value that receives grow, increase magnetic damping power, when resistance value that receives becomes little, reduced magnetic damping power, really reduced the atress condition of intervention apparatus.

4. In the embodiment of the invention, the reluctance rotor and the reluctance stator both adopt a tooth space structure, and the reluctance rotor generates a discrete magnetic damping force for providing force feedback to the rotating component through a tooth space effect in the process of rotating in the magnetic field, namely, a finger can feel discrete touch in the process of sliding the rotating component, so that a doctor is prompted to finish a unit travel instruction, and the doctor is enabled to definitely intervene in the actual travel distance of an instrument.

5. In the embodiment of the invention, the two-degree-of-freedom action of delivery and rotation of the interventional instrument can be finished by one hand of a doctor and meets the requirement of human engineering, and the inconvenience that the medical robot in the current market needs to cooperate with two hands to operate when controlling the progressive and rotation of a single guide wire or catheter is solved.

It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.

The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims

1. The medical robot operating device is characterized by comprising a rotating component (1), a transmission component (2), a passive component, a sensor (3) and a shell;

the rotating member (1) is mounted outside the housing;

the driven part is arranged in the shell, and the rotating part (1) drives the driven part to rotate through the transmission part (2);

the sensor (3) is arranged in the shell and used for monitoring the real-time motion state of the passive component and transmitting the real-time motion state to an external controller, and the controller controls the execution end of the medical robot to execute the operation of delivering the interventional instrument.

2. The medical robot manipulator according to claim 1, characterized in that the passive part comprises a damping device which during rotational movement generates a damping force for providing force feedback to the rotating part (1).

3. The medical robot manipulator according to claim 2, characterized in that the damping means comprises a magnetic damper (4), the magnetic damper (4) comprising a reluctance rotor (41) and a reluctance stator (42); the reluctance stator (42) forms a magnetic field after being electrified, and the reluctance rotor (41) generates magnetic damping force for providing force feedback to the rotating component (1) in the process of rotating in the magnetic field.

4. The medical robotic manipulation device of claim 3,

the external controller is also used for receiving a resistance value applied to the interventional instrument through a force sensor on the execution end of the medical robot and adjusting the strength of the magnetic field according to the resistance value.

5. The medical robotic manipulation device of claim 4, wherein the magnitude of the magnetic field is adjusted by adjusting the magnitude of an electrical signal input to the reluctance stator (42) based on the magnitude of the resistance value.

6. The medical robotic manipulation device of claim 3,

the reluctance rotor (41) and the reluctance stator (42) both adopt a tooth groove structure, and the reluctance rotor (41) generates a discrete magnetic damping force for providing force feedback to the rotating component (1) in the process of rotating motion in the magnetic field.

7. The medical robot manipulation device of claim 6,

the reluctance rotor (41) is in a regular polygon or circle shape on the whole horizontal section, and rotor teeth are arranged in a circumferential array along the central axis of the reluctance rotor (41);

the reluctance stator (42) and the reluctance rotor (41) are coaxially arranged, the shape of the reluctance stator on the horizontal section is matched with that of the reluctance rotor (41), and the stator teeth are arranged in a circumferential array along the central axis of the reluctance stator (42).

8. The medical robot manipulator according to claims 1 to 7, characterized in that the rotating part (1) comprises a roller (11) and a roller hub (12) for use therewith; the transmission part (2) comprises a driving wheel shaft (21), a driving wheel (22) and a driven wheel (23); the roller (11) is fixedly connected with the roller hub (12), and the roller hub (12) is vertically fixed at the position of the shell close to the top through the transmission part (2);

one end, located outside the shell, of the driving wheel shaft (21) is fixedly connected with the roller wheel hub (12), one end, located inside the shell, of the driving wheel shaft is fixedly connected with the driving wheel (22), the driving wheel (22) is used for driving a driven wheel (23) to rotate, and the driven wheel (23) is coaxially and fixedly connected with the driven part.

9. Medical robotic manipulation device according to claim 8, wherein the product of the number of pairs of magnetic poles on the reluctance rotor (41) with respect to its own central axis circumferential array and the transmission ratio between the driven wheel (23) and the driving wheel (22) is twenty.

10. The medical robot operating device according to any one of claims 1 to 7, further comprising a connecting shaft (5) and a swinging member (6);

the connecting shaft (5) penetrates through and is fixed at the bottom of the shell and movably connected with the swinging component (6), a sensor reading head is arranged in the swinging component (6) and used for recognizing a position change signal generated when the shell swings and transmitting the position change signal to an external controller, and the external controller controls the execution end of the medical robot to execute the operation of rotating the interventional instrument.

11. The medical robot manipulator according to claim 8, further comprising a connecting shaft (5) and a swinging member (6);