CN115137491A

CN115137491A - Intervene operation robot main end remote control system and intervene operation robot system

Info

Publication number: CN115137491A
Application number: CN202211068352.1A
Authority: CN
Inventors: 黄韬; 解菁
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2022-09-02
Filing date: 2022-09-02
Publication date: 2022-10-04

Abstract

The application relates to a remote control system for a main end of an interventional surgical robot and the interventional surgical robot system. The hand control device comprises a steering wheel, a first rotating shaft and a first encoder, wherein the steering wheel is connected with the first rotating shaft, the first rotating shaft is connected with the first encoder, and the rotating angle of the steering wheel is converted into a first control signal; the foot control device comprises a pedal structure, a second rotating shaft and a second encoder, wherein the pedal structure is connected with the second rotating shaft, the second rotating shaft is connected with the second encoder, and the pressing angle of the pedal structure is converted into a second control signal; the controller receives the first control signal or the second control signal, converts the first control signal or the second control signal into the motion parameters of the interventional device, and generates the operation instruction by using the motion parameters of the interventional device. The precision and the stability of the operation are improved. The remote control of the doctor on the operation process of the robot is realized, and the injury of the radioactive rays to the interventional doctor is effectively reduced.

Description

Intervene operation robot main end remote control system and intervene operation robot system

Technical Field

The present application relates to the field of surgical robot control devices, and more particularly, to a remote control system for a master end of an interventional surgical robot and an interventional surgical robot system.

Background

Nearly 3000 million people die of cardiovascular and cerebrovascular diseases every year around 30% of all diseases, wherein the number of people suffering from cardiovascular and cerebrovascular diseases in China is nearly 3 hundred million. Cardiovascular and cerebrovascular diseases become one of three main causes of human disease death, and seriously affect national health and normal life of people.

The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually feeds a catheter, a guide wire, a bracket and other instruments into a patient to complete treatment.

First, during the operation, DSA (digital subtraction angiography) devices emit X-rays, so that the physical strength of doctors is reduced rapidly, the attention and stability are reduced, the operation precision is reduced, and accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to occur, so that the life risk of patients is caused. Second, the cumulative damage of long-term ionizing radiation can greatly increase the probability of medical personnel suffering from leukemia, cancer and acute cataract. The phenomenon that medical staff accumulate rays continuously because of doing interventional operations has become the problem that impairs the professional lives of doctors and restricts the development of interventional operations to a considerable extent.

Disclosure of Invention

The present application is provided to solve the above technical problems in the prior art. A remote control system of a main end of an interventional operation robot and the interventional operation robot system are needed, the precision and the stability of operation can be greatly improved, and the remote control of an interventional operation auxiliary robot is realized; the injury of the radioactive rays to medical staff in the interventional operation process can be effectively reduced through the remote control operation process, and the occurrence probability of accidents in the operation is reduced.

According to the first aspect of this application, provide an intervene surgical robot main end remote control system, include as the user control mechanism of main end, user control mechanism includes hand controlling device, and hand controlling device includes steering wheel, first pivot, first encoder, steering wheel and first pivot fixed connection, first pivot is connected with first encoder, makes the rotation angle of steering wheel converts first control signal into. Still include foot control device, including footboard structure, second pivot, second encoder, footboard structure and second pivot fixed connection, the second pivot is connected with the second encoder, makes the angle of pressing down of footboard structure converts into second control signal. And a controller communicatively connected with both the first and second encoders and configured to: and receiving the first control signal or the second control signal, converting the first control signal or the second control signal into a motion parameter of the interventional instrument, and generating an operation instruction by using the motion parameter of the interventional instrument.

In some embodiments of this application, set up axial first slot in the first pivot, first encoder is the cylinder structure the one end of cylinder sets up the first arch the same with the direction of first slot, the shape phase-match of first arch and first slot, first arch and the cooperation of first slot are inserted and are connected, make the rotation angle of first encoder detection first pivot.

In some embodiments of the application, the hand operating device further comprises a connecting plate and a first base, the connecting plate comprises a base and a first supporting part which are connected, the first supporting part is provided with a first through hole, the first rotating shaft penetrates through the first through hole and is fixedly connected with the first through hole, so that the first rotating shaft is obliquely arranged with the ground, and the base of the connecting plate is in surface contact with the first base and is fixedly connected with the first base, so that the first base is fixedly connected with the connecting plate.

In some embodiments of the present application, a coaxial first sleeve is disposed outside the first rotating shaft, one end of the first sleeve abuts against the steering wheel, and the other end of the first sleeve abuts against the base of the connecting plate, and a radial dimension of the first supporting portion of the connecting plate is greater than a radial dimension of the first sleeve, so that the first supporting portion provides a supporting force for the first sleeve.

In some embodiments of the present application, the hand control device further comprises a T-shaped plate, one end of the connecting plate extends upwards to form a second supporting portion, the bottom of the T-shaped plate is fixedly connected with the top of the second supporting portion, the top of the T-shaped plate is opposite to the first through hole of the base, and the first encoder falls on the plane of the top of the T-shaped plate, so that the T-shaped plate supports the first encoder.

In some embodiments of the present application, the pedal structure includes a pedal and a connecting rod, the pedal with the connecting rod fixed connection, the top of the connecting rod sets up a shaft hole, the second rotating shaft passes the shaft hole with the connecting rod fixed connection, making the connecting rod drive the second rotating shaft to rotate.

In some embodiments of the present application, the foot control device further comprises a second base, a first bracket and a second bracket, wherein the first bracket and the second bracket are respectively L-shaped plates, and two ends of the second rotating shaft are respectively and transversely arranged through the first bracket and the second bracket; the second base sets up one side of footboard structure, first support and second support respectively with second base fixed connection makes the top of footboard structure remains stable, the connecting rod of footboard structure can conflict the second base in the in-process of pushing down, makes the second base restriction footboard structure's rotation angle.

In some embodiments of the present application, an axial second slot is disposed in a portion of the second rotating shaft penetrating through the first bracket, a second protrusion having the same direction as the second slot is disposed at one end of the second encoder, the shape of the second protrusion matches that of the second slot, and the second protrusion is in insertion connection with the second slot; the foot control device further includes a third bracket that abuts the other end of the second encoder.

In some embodiments of the present application, the foot control device further comprises a tension spring, one end of the tension spring is connected with the connecting rod of the pedal structure, and the other end of the tension spring is fixedly connected with the second base.

In some embodiments of the present application, the rotation angle of the first rotating shaft of the hand manipulation device is-90 to 90 °.

In some embodiments of the present application, the controller is further configured to: reading an initial value of the rotation angle through a first control signal of the hand control device received during starting; reading the operation numerical value of the rotation angle through a first control signal of the hand control device received in the operation process; calculating the difference value between the operation numerical value and the initial numerical value, judging whether the difference value is zero, and if the difference value is zero, not rotating the interventional instrument; if the difference is not zero, judging whether the difference is larger than zero: under the condition that the difference value is larger than zero, rotating the interventional instrument clockwise, and obtaining a value of the rotation speed according to the mapping relation between the difference value and the rotation speed; and in the case that the difference is less than zero, rotating the interventional instrument in a counterclockwise direction, and obtaining the value of the rotation speed according to the mapping relation between the difference and the rotation speed.

In some embodiments of the present application, the controller is further configured to: reading the running numerical value of the rotation angle through the received control signal of the foot control device; and obtaining the value of the moving speed according to the mapping relation between the operation numerical value and the moving speed.

In some embodiments of the present application, the system further includes a push rod, a first photoelectric switch and a second photoelectric switch are respectively disposed at two opposite positions at an end of the push rod, and a rocker structure is disposed on the push rod between the first photoelectric switch and the second photoelectric switch; the inner side of the first sleeve is provided with a first conversion structure and a second conversion structure, and the push rod is configured to: the position is changed under the action of external force pushing, so that the first photoelectric switch is connected with the first conversion structure in a matched mode, or the second photoelectric switch is connected with the second conversion structure in a matched mode.

In some embodiments of the present application, a vibration device is disposed on the steering wheel, the vibration device being communicatively coupled to the controller, the vibration device being configured to: after the robot transmits a danger signal to the controller, the vibration device receives the danger signal transmitted by the controller and vibrates the steering wheel after receiving the danger signal.

According to a second aspect of the present application, there is provided an interventional surgical robot system, comprising a robot for operating an interventional instrument as a slave and a master remote control system of the interventional surgical robot, the master remote control system of the interventional surgical robot and the robot are located in separate medical areas, and the master remote control system of the interventional surgical robot sends an operation instruction to the robot. The DSA equipment and the robot are positioned in the same medical treatment area, the display and the interventional surgical robot main-end remote control system are positioned in the same medical treatment area, and the DSA equipment and the display are in communication connection.

Compared with the prior art, the beneficial effects of the embodiment of the application lie in that: hand controlling means and foot controlling means, can be respectively convert doctor's operation into the control signal to the robot, then signal conversion through the controller, can carry out long-range operation control to the robot, can realize that the long-range operation process to the robot of doctor controls and accomplishes the operation process, can avoid medical personnel to be in the X ray environment, reduce medical personnel's long-term ionizing radiation's accumulation, effectively reduce the injury of radiation to interveneeing doctor, reduce the emergence probability of accident in the art. The hand control device and the foot control device respectively complete the operation conversion of doctors through the connecting structures of the rotating shaft and the encoder, and the precision and the stability of the operation can be improved. The hand and foot manipulators are configured to conform to the user's operating habits while facilitating precise and accurate control of the surgical instruments by the surgeon via the robot.

Drawings

Features, advantages, and technical and industrial significance of exemplary embodiments of the present application will be described below with reference to the accompanying drawings, in which like reference numerals denote like elements, and wherein:

FIG. 1 (a) is a schematic view of a hand-manipulating device according to an embodiment of the present application, shown disassembled;

FIG. 1 (b) is a schematic, exploded view of the foot control device of the present application;

FIG. 2 is a schematic view of a communication structure of a user actuation mechanism of the present application;

FIG. 3 is a schematic view of a first shaft and a connecting plate according to an embodiment of the present disclosure;

FIG. 4 is a schematic view of the overall structure of the hand control device according to the embodiment of the present application;

FIG. 5 is a schematic structural diagram of a T-shaped board connected with a first encoder according to an embodiment of the present application;

FIG. 6 is a schematic view of the overall construction of the foot control device of the embodiment of the present application;

FIG. 7 is a schematic diagram of a signal conversion process of a controller according to an embodiment of the present application;

FIG. 8 is a schematic structural diagram of a putter in accordance with an embodiment of the present application;

FIG. 9 is a schematic view of a back side angle of a hand manipulation device of an embodiment of the present application; and

fig. 10 is a schematic structural diagram of an overall interventional surgical robotic system according to an embodiment of the application.

The members denoted by reference numerals in the drawings:

101-a robot; 102-a conduit bed; 103-DSA equipment; 104-a controller; 105-a display; 106-a hand manipulation device; 107-foot control; 108-a vibrating device; 109-a steering wheel; 110-a first sleeve; 111-a first rotating shaft; 111 a-a first slot; 112-a bearing; 113-a gasket; 114-a first encoder; 114 a-a first projection; 115-a pushrod; 116-a first base; 117-a first bracket; 118-a second scaffold; 119-a second encoder; 119 a-a second projection; 120-a pedal structure; 121-tension spring; 122-a second base; 123-a first support part; 124-a base; 125-a second support; 126-T type board; 127-a fixing plate; 140-a first opto-electronic switch; 141-rocker structure; 142-a second opto-electronic switch; 143-a third scaffold; 144-second axis of rotation.

Detailed Description

In order to make the technical solutions of the present application better understood, the present application is described in detail below with reference to the accompanying drawings and the detailed description. The embodiments of the present application will be described in further detail below with reference to the drawings and specific embodiments, but the present application is not limited thereto.

As used in this application, the terms "first," "second," and the like do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element preceding the word covers the element listed after the word, and does not exclude the possibility that other elements are also covered. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.

In the present application, when a specific device is described as being located between a first device and a second device, there may or may not be intervening devices between the specific device and the first device or the second device. When a particular device is described as being coupled to another device, it can be directly coupled to the other device without intervening devices or can be directly coupled to the other device with intervening devices.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs unless specifically defined otherwise. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the relevant art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

Techniques, methods, and apparatus known to one of ordinary skill in the relevant art may not be discussed in detail but are intended to be part of the specification where appropriate.

In an embodiment of the present application, a master-end remote control system of an interventional surgical robot is applied, comprising a user manipulation mechanism as a master end, the user manipulation mechanism comprising a hand manipulation device. Fig. 1 (a) is a disassembled structure diagram of the hand manipulation device according to the embodiment of the present application. As shown in fig. 1 (a), the hand control device includes a steering wheel 109, a first rotating shaft 111, and a first encoder 114, wherein the steering wheel 109 is fixedly connected to the first rotating shaft 111, and the first rotating shaft 111 is connected to the first encoder 114, so that a rotation angle of the steering wheel 109 is converted into a first control signal. The steering wheel 109 of the hand manipulation device drives the first rotating shaft 111 to rotate, the first rotating shaft 111 drives the first encoder 114 to rotate, and the first encoder 114 can detect the rotating angle of the first rotating shaft 111, so that the operation of a doctor is converted into a control signal. The hand manipulation device may be configured to convert the rotation angle of the steering wheel 109 into a corresponding control of the rotation speed of the interventional instrument, and may also control the rotation direction of the interventional instrument according to the difference in the rotation angle. The doctor can hand rotation steering wheel 109, can realize the control to the angle and the direction of intervention apparatus simultaneously, and the change of angle can be continuous, for example 10 degrees, then 12 degrees, can 15 degrees next, in case the angle changes, can reverse rotation change direction at once, also be favorable to following vascular changeable trend, along with doctor's rotation can continuous change angle, realize that rotatory angle control is more meticulous and accurate, make things convenient for remote control robot more. Moreover, the device can be more accordant with the operation habit of a doctor, so that the doctor can better master the inch of the operation in the operation process, and the operation process is smoother. Further, the interventional device may be a guide wire or a catheter or the like.

The user operated mechanism may further include a foot control, and FIG. 1 (b) is a disassembled schematic view of the foot control of the embodiments of the present application. As shown in fig. 1 (b), the foot operation device of the user operation mechanism includes a pedal structure 120, a second shaft 144, and a second encoder 119, wherein the pedal structure 120 is fixedly connected to the second shaft 144, and the second shaft 144 is connected to the second encoder 119, so that the pressing angle of the pedal structure 120 is converted into a second control signal. The pedal structure 120 of the foot operation device simulates a brake pedal or an accelerator pedal of an automobile and is more suitable for the operation habit of a doctor. When the doctor steps on the pedal structure 120 of the foot operation device at an angle, the pedal structure 120 is pressed downwards to generate a pressing angle on the pedal structure 120, the pressing of the pedal structure 120 drives the rotation of the second rotating shaft 144, and the second encoder 119 detects the rotation of the second rotating shaft 144, so that the doctor's operation is converted into a control signal. The foot control device may be used to control the displacement speed of the interventional instrument, which may be translated into the displacement speed of the interventional instrument based on the depression angle of the pedal structure 120. The speed of change removal that can be timely through footboard structure 120, the doctor can increase the degree of pressing down through continuing to push down, at this moment can correspond the speed of removal bigger, also can reduce the degree of pressing down through lifting up footboard structure 120, at this moment can correspond the speed of removal littleer, be favorable to adapting to thickness change and the changeable blood vessel of tendency, because probably slow down at the in-process that turns to, hand controlling means and foot controlling means can cooperate like this, be favorable to realizing continuous accurate control.

Fig. 2 is a schematic view of a communication structure of a master remote control system of an interventional surgical robot according to the present application. The user manipulation mechanism further comprises a controller 104, the controller 104 communicatively coupled to each of the first encoder 114 and the second encoder 119 and configured to: and receiving the first control signal or the second control signal, converting the first control signal or the second control signal into a motion parameter of the interventional instrument, and generating an operation instruction by using the motion parameter of the interventional instrument. The first encoder 114 and the second encoder 119 communicate the detected control signal of the doctor to the controller 104, and further, the communication means may be a cable transmission or a wireless transmission. The encoder and the controller 104 can be directly connected by a cable or the encoder can transmit signals to the controller 104 by wireless transmission through a signal transmitting device. The controller 104 converts the control signal into a corresponding motion parameter of the interventional instrument, such as a rotation speed and a rotation direction, and then generates an operation command using the motion parameter of the interventional instrument. Therefore, the robot can perform corresponding operation after receiving the operation instruction.

The application discloses intervene operation robot main end remote control system utilizes steering wheel and footboard structure respectively to make doctor output operation, then converts doctor's operation into control signal through transform structure, then converts the operating signal of robot into through the controller. Thereby realizing the remote control robot. The minimally invasive vascular interventional operation system is convenient for doctors to finish minimally invasive vascular interventional operation in other areas outside the operation room, can reduce radiation to the doctors, effectively reduces the harm of radiation to medical staff in the interventional operation process, and reduces the occurrence probability of accidents in the operation. Through intervene surgical robot main end remote control system, can solve the not meticulous problem of control to intervene the apparatus, can press the meticulous operation of angle through the rotation angle of steering wheel, can realize the meticulous control to the rotation angle and the displacement etc. of intervene the apparatus, cooperation operation can accomplish rotatory propulsive process control simultaneously through hand and foot in the time, is favorable to the accurate operation process of accomplishing the intervention apparatus, and the precision of operation is higher. The remote control system of the main end of the interventional operation robot meets the habit of doctors, is convenient for controlling the operation process, and is smoother in the operation process.

On the basis of fig. 1 (a), in some embodiments of the present application, an axial first slot 111a is disposed on the first rotating shaft 111, the first encoder 114 is a cylinder structure, a first protrusion 114a having the same direction as the first slot 111a is disposed at one end of the cylinder, the first protrusion 114a matches with the first slot 111a in shape, and the first protrusion 114a is inserted into the first slot 111a in a matching manner, so that the first encoder 114 detects a rotation angle of the first rotating shaft. As shown in fig. 1 (a), the first protrusion 114a and the first slot 111a are matched in shape, for example, the shape of the outer contour of the first protrusion 114a and the shape of the inner contour of the first slot 111a may be the same, so that after the first protrusion 114a is inserted into the first slot 111a, the first shaft 111 can rotate with the first encoder 114, and the first encoder 114 can detect the rotation angle of the first shaft 111 conveniently. Through the cooperation of the first slot 111a arranged axially and the first protrusion 114a in the same direction, the first encoder 114 is prevented from influencing the rotation of the first rotating shaft 111. Because first pivot 111 is the rotation after being driven by steering wheel 109, first pivot 111 needs the stable and accurate rotation angle of transmission steering wheel 109, and the stability and the precision of first pivot 111 are more important, are favorable to accurate output control signal, are convenient for control intervention instrument accurately. In addition, first encoder 114 sets up to the cylinder structure, and first arch 114a sets up the one end at the cylinder, and after first arch 114a inserted first slot 111a, cylinder and first pivot 111 keep same axial setting, also are favorable to the stability of first pivot 111 rotation, avoid rotatory focus unstable, and the weight of cylinder circumference is all the same moreover, is favorable to improving output control signal's stability, improves the accuracy of control. And, first arch 114a sets up the outside at the one end of cylinder, and not the inside of setting at the cylinder, the inside of encoder is responsible for detecting the structure that rotation angle converts the signal into, sets up like this and can avoid influencing the inside structure of first encoder 114, is favorable to improving the conversion stability and the accuracy of first encoder 114.

Fig. 3 is a schematic view illustrating a connection between a first rotating shaft and a connecting plate according to an embodiment of the present application. Fig. 4 is a schematic view of the overall structure of the hand manipulation device according to the embodiment of the present application. As shown in fig. 3 and 4, the hand manipulator further includes a connecting plate and a first base 116, the connecting plate includes a base 124 and a first supporting portion 123 connected to each other, the first supporting portion 123 is provided with a first through hole, the first rotating shaft 111 passes through the first through hole and is fixedly connected to the first through hole, so that the first rotating shaft 111 is inclined to the ground, and the base 124 of the connecting plate is in surface contact with the first base 116 and is fixedly connected to the first base 116, so that the first base 116 fixes the connecting plate. The first supporting portion 123 of the connecting plate may be a tilting plate, a first through hole is formed in the first supporting portion 123, and the first rotating shaft 111 passes through the first through hole and is fixedly connected to the tilting plate. The first rotating shaft 111 may further include a spacer 113, and the first rotating shaft 111 and the first supporting portion 123 may be connected more firmly by the first spacer 113 being fitted to the first rotating shaft 111. The base 124 of the connection plate may be an L-shaped plate, the top may be integrally provided with the first support 123, and the bottom of the base 124 may be in surface contact with the first base 116 and may be fixedly connected to the first base 116 by bolts for maintaining the stability of the first rotation shaft 111. As shown in fig. 4, the first base 116 helps the hand-manipulating device to be firmly placed on a table or the like, so that the hand-manipulating device itself does not move when the doctor operates the steering wheel 109. As shown in fig. 3, the connecting plate is used to connect the first rotating shaft 111 and the first base 116, so that the first rotating shaft 111 can be inclined, the first rotating shaft 111 can be fixed by the first base 116, the stability of the whole hand control device can be maintained, and the steering wheel 109 can be better operated by the doctor.

On the basis of fig. 3, in some embodiments of the present application, a coaxial first sleeve 110 may be disposed outside the first rotating shaft 111, one end of the first sleeve 110 abuts against the steering wheel 109, and the other end of the first sleeve abuts against the first supporting portion 123 of the connecting plate, and a radial dimension of the first supporting portion 123 of the connecting plate is greater than a radial dimension of the first sleeve 110, so that the first supporting portion 123 provides a supporting force for the first sleeve 110. The first sleeve 110 disposed outside the first rotation shaft 111 may protect the first rotation shaft 111. The first supporting portion 123 of the connecting plate is connected with the first rotating shaft 111, and the radial dimension of the connecting plate is larger than that of the first sleeve 110, so that the first supporting portion 123 can support the first sleeve 110, and provide supporting force for the steering wheel 109 through the first sleeve 110, and the whole hand control device cannot move when a doctor operates the steering wheel. Further, as shown in fig. 1 (a), a bearing 112 may be disposed between the first rotating shaft 111 and the first sleeve 110.

On the basis of fig. 3 and fig. 1 (a), fig. 5 is a schematic structural diagram of the T-shaped board of the embodiment of the present application connected to a first encoder. The hand operating device further comprises a T-shaped plate 126, one end of the connecting plate extends upwards to form a second supporting portion 125, the bottom of the T-shaped plate 126 is fixedly connected with the top of the second supporting portion 125, the top of the T-shaped plate 126 is arranged opposite to the first through hole of the first supporting portion 123, and the first encoder 114 falls on the plane of the top of the T-shaped plate 126, so that the first encoder 114 is supported by the T-shaped plate 126. The second support portion 125 may be a vertical plate, and the second support portion 125 is welded or integrally connected with the base portion 124 of the connection plate. The top of the T-shaped plate 126 is directly opposite to the first through hole, the first encoder 114 is a cylinder, the first encoder 114 and the first rotating shaft 111 are arranged along the same axial direction, and the bottom surface of the first encoder 114 can fall on the plane of the top of the T-shaped plate 126, which helps to support the first encoder 114 and maintain the stability of the first encoder 114.

Fig. 6 is a schematic view of the overall structure of the foot control device according to the embodiment of the present application, based on fig. 1 (b). The pedal structure comprises a pedal 120a and a connecting rod 120b, the pedal 120a is fixedly connected with the connecting rod 120b, a shaft hole is formed in the top of the connecting rod 120b, and the second rotating shaft 144 penetrates through the shaft hole to be fixedly connected with the connecting rod 120b, so that the connecting rod 120b drives the second rotating shaft 144 to rotate. The doctor can operate by stepping on the pedal 120a, in the pressing process, the pedal 120a can drive the connecting rod 120b to press down, then the connecting rod 120b drives the second rotating shaft 144 to rotate, then the second encoder 119 can detect the rotating angle of the second rotating shaft 144, and the pressing operation of the doctor is converted into a control signal of the second encoder 119.

On the basis of fig. 1 (b) and fig. 6, in some embodiments of the present application, the foot manipulating device further comprises a second base 122, a first bracket 117 and a second bracket 118, wherein the first bracket 117 and the second bracket 118 are respectively L-shaped plates, and two ends of the second rotating shaft 144 are respectively transversely arranged through the first bracket 117 and the second bracket 118; the second base 122 is disposed at one side of the pedal structure 120, the first bracket 117 and the second bracket 118 are respectively and fixedly connected to the second base 122, so that the top of the pedal structure 120 is kept stable, and the connecting rod 120b of the pedal structure 120 can abut against the second base 122 in the process of being pressed down, so that the second base 122 limits the rotation angle of the pedal structure 120. The first bracket 117 and the second bracket 118 may be L-shaped plates, respectively, and through holes are formed in the L-shaped plates for the second rotating shaft 144 to pass through. The first bracket 117 and the second bracket 118 are respectively connected to both ends of the second rotating shaft 144, and the second rotating shaft 144 can rotate relative to the first bracket 117 and the second bracket 118. Further, the second base 122 may be a vertically disposed trough plate, the top of the trough plate may be provided with an opening, and the top of the connecting rod 120b may pass through the opening and then be fixedly connected to the top of the trough plate through the first bracket 117 and the second bracket 118. Thus, the pedal structure 120 is stabilized, and the doctor does not move or shake the whole device when operating the pedal structure 120. Further, two foot control devices may be provided, a first foot control device and a second foot control device, the first foot control device and the second foot control device may have the same structure, and the shape of the pedal 120a may be different. The two foot effectors may be used to control the forward or reverse movement of the interventional instrument, respectively, and may be switched from a depressed degree of one to a forward speed and a depressed degree of the other to a reverse speed. The doctor can distinguish and operate conveniently. When the pedal structure 120 collides with the second base 122 during the pressing process, the pedal structure 120 stops pressing, so as to limit the pressing degree of the pedal structure 120, for example, the maximum rotation angle converted into the second rotation axis is 50 degrees, thereby limiting the forward or backward speed of the interventional device, facilitating the operation of the doctor, and avoiding the danger caused by improper operation.

On the basis of fig. 1 (b), in some embodiments of the present application, an axial second slot (not shown in the figure) is disposed in a portion of the second rotating shaft 144 penetrating through the first bracket 117, the second encoder 119 is a cylinder structure, one end of the cylinder is provided with a second protrusion 119a having the same direction as the second slot, the second protrusion 119a matches with the second slot in shape, and the second protrusion 119a is inserted into the second slot in a matching manner. The shapes of the second projection 119a and the second slot may be the same as the shapes of the first projection 114a and the first slot 111a of fig. 1 (a), respectively. The second protrusion 119a and the second slot are axially arranged, and the second protrusion 119a and the second slot are axially arranged, so that the deviation problem cannot occur in the rotating process of the second rotating shaft 144, the stable rotation of the second rotating shaft 144 is kept, and the correct detection of the pressing degree of the doctor through the second rotating shaft 144 by the second encoder 119 is facilitated.

In addition to fig. 1 (b), the foot manipulating device further includes a third support 143, and the third support 143 abuts against the other end of the second encoder 119. The third bracket 143 may be an L-shaped plate, the second encoder 119 may be a cylinder, and one end of the cylinder may be a plane, which may be in contact with the plate surface of the L-shaped plate, so as to be advantageous to support the second encoder 119. In the case where two foot manipulators are provided, two third supports 143 may be provided, as shown in fig. 6, between the two foot manipulators, and in particular, between the two second encoders 119.

On the basis of fig. 1 (b) and fig. 6, in some embodiments of the present application, the foot manipulating device further includes a tension spring 121, one end of the tension spring 121 is connected to the connecting rod 120b of the pedal structure 120, and the other end is fixedly connected to the second base 122. Further, a fixing plate 127 is disposed on the connecting rod 120b, one end of the tension spring 121 is connected to the fixing plate 127 on the connecting rod 120b, and the other end is connected to the second base 122. When the pedal structure 120 is pressed down, the tension spring 121 is extended, and when the pedal structure 120 is not stepped down, the tension spring 121 enables the pedal structure 120 to reset under the action of elastic force, which is beneficial to the operation of a doctor next time. The pedal structure 120 is located at the same initial position each time the procedure is initiated. Therefore, in the operation, the doctor only needs to control the pressing degree to achieve the effect of controlling the movement speed of the interventional instrument.

In some embodiments of the present application, the rotation angle of the first rotating shaft of the hand manipulation device is-90 to 90 °. It can be defined that the clockwise rotation of the doctor is in the range of 0 to 90 degrees in the forward direction, and the counterclockwise rotation of the doctor is in the range of-90 to 0 degrees in the reverse direction.

Fig. 7 is a schematic diagram of a signal conversion process of the controller according to an embodiment of the present application. The controller is further configured to: first, at step 128, an initial value of the angle of rotation is read by a first control signal of the hand-operated device received at the time of activation. The controller may read a specific value of the rotation angle by a control signal of the encoder. For an initial value, for example, when the steering wheel is in the on-center position when the doctor is not operating, the initial value is zero; or, if the rotation angle is initially stopped at a position of 20 degrees, the initial value is 20 degrees.

Next, in step 129, the operating value of the angle of rotation is read by the first control signal of the hand control device received during operation. If the steering wheel is rotated from the initial position, if the initial position is 0 degrees and the rotation is 40 degrees, the operation value is 40 degrees; if the initial value is 20 degrees, then the running value is 60 degrees.

Next, in step 130, the difference between the running value and the initial value is determined. The doctor operates the difference between the operation value and the initial value, namely the real operation angle after operation. Thus, each output corresponds to each operation of the doctor.

Next, a decision step 131 is performed to decide whether the difference is zero. If the difference is zero, the result 132 is output without rotating the interventional instrument. If the difference is zero, it may indicate that the surgeon is not performing the operation, and the corresponding interventional instrument is not rotated. After the result 132 is obtained, the process proceeds to step 133 to determine whether the operation is completed. At this point, the surgeon may no longer operate, the angle of operation is zero, the end procedure 134 is entered if the procedure is over, and if the procedure has no result, the process continues with step 129.

If the difference is not zero, decision step 135 is performed to determine if the difference is greater than zero. In the case where the difference is greater than zero, the output is 136, rotating the interventional instrument in a clockwise direction. If the initial angle is 0 degrees, the running value is 20 degrees, 20 degrees-0 degrees =20 degrees, is greater than zero, and is a clockwise rotation. Or if the initial value is 5 degrees, the operation value is 10 degrees, 10 degrees-5 degrees =5 degrees, which indicates that the doctor rotates 5 degrees; or, the initial value is-10 degrees, the operation value is 10 degrees, and 10 degrees- (-10 degrees) =20 degrees, which indicates that the doctor has rotated 20 degrees.

Then, on the basis of the clockwise rotation, step 137 is performed to obtain the value of the rotation speed according to the mapping relationship between the difference and the rotation speed. The rotational speed of the interventional instrument can be obtained by a certain functional correspondence. The function may be a direct proportional function, i.e. the greater the rotation angle of the physician, the faster the rotation speed of the corresponding guide wire or catheter.

In the case where the difference is less than zero, the output is 138, rotating the interventional instrument in a counter-clockwise direction. For example, the initial value is 0 degrees, the running value is-10 degrees, (-10) degrees-0 degrees = -10 degrees. The explanation corresponds to the intervention instrument such as a guide wire or a catheter which rotates reversely.

On the basis of the counterclockwise rotation, step 139 is performed to obtain the value of the rotation speed according to the mapping relationship between the difference and the rotation speed. And obtaining the value of the rotation speed according to the mapping relation between the difference value and the rotation speed. The rotational speed of the interventional instrument can be obtained by a certain functional correspondence. The function may be a direct proportional function, i.e. the greater the rotation angle of the physician, the faster the rotation speed of the corresponding guide wire or catheter.

After

steps

137 and 139, step 129 is performed, in which the reading of the running value is continued, so that the adjustment of the rotational speed of the interventional instrument can be performed continuously. Is favorable for adapting to blood vessels with complicated tendency and blood vessels with variable thickness.

In some embodiments of the present application, the controller includes a control circuit board and a processor. The control circuit board is used for receiving and sending control signals. The processor is used for the conversion process of the signal. The processor can be implemented as an embedded system by executing corresponding functions as a processing unit (and also a communication module and the like) of the SOC by using various RISC (reduced instruction set computer) processors IP purchased from ARM corporation and the like, for example. In particular, there are many modules on commercially available modules (IPs), such as, but not limited to, memory, various communication modules, and the like. In some embodiments, the chip manufacturer may also develop customized versions of these modules autonomously over the off-the-shelf IP. In addition, other devices such as an antenna may be externally connected to the IP. A user can implement various communication modules and the like by constructing an ASIC (application specific integrated circuit) based on purchased IP or an autonomously developed module in order to reduce power consumption and cost. For example, a user may also use an FPGA (field programmable gate array) to implement various communication modules and the like, which may be used to verify the stability of the hardware design. For various communication modules, etc.

In some embodiments of the present application, the controller is further configured to: reading the running numerical value of the rotation angle through the received control signal of the foot control device; and obtaining the value of the moving speed according to the mapping relation between the operation numerical value and the moving speed. Because the pedal structure is in the initial position before the operation under the action of the tension spring, the controller can directly read the operation numerical value. The degree of depression read by the controller is measured by the rotation angle of the second rotating shaft, and may be 10 degrees, 20 degrees, etc. The mapping between the running value and the speed of movement may be a direct proportional function, i.e., the greater the degree of depression, the greater the speed of movement of the guidewire or catheter. In the case of two foot effectors, the greater the speed of forward or reverse. If the physician feels that the movement speed is too fast to directly decrease the degree of depression, the value read each time may be varied. For example, the degree of rolling is controlled to 20 degrees for the first time, 15 degrees for the second time, 40 degrees for the third time, and so on.

Fig. 8 is a schematic structural diagram of a push rod according to an embodiment of the present application. The system further comprises a push rod 115, wherein a first photoelectric switch 140 and a second photoelectric switch 142 are respectively arranged at two opposite positions at the end part of the push rod 115, and a rocker structure 141 is arranged between the first photoelectric switch 140 and the second photoelectric switch 142 on the push rod 115; the first and second transition structures are disposed inside the first sleeve, and the pushrod 115 is configured to: the position is changed under the action of external force, so that the first photoelectric switch 140 is connected with the first conversion structure in a matching way, or the second photoelectric switch 142 is connected with the second conversion structure in a matching way. The pushrod 115 is arranged similar to a turn signal of an automobile. As shown in fig. 1 (a), the first and second transition structures may be disposed inside the first sleeve 110. The output signal is the operation to switch to the robotic control guide wire when the first opto-electronic switch 140 is mated with the first switch structure and the output signal is the operation to switch to the robotic control catheter when the second opto-electronic switch 142 is mated with the second switch structure. The rocker structure 141 serves as a reset. Allowing the robotic-operated interventional instrument to be switched.

On the basis of fig. 2, fig. 9 is a back angle schematic diagram of the hand manipulation device according to the embodiment of the present application. A vibration device 108 is disposed on the steering wheel 109, the vibration device 108 is communicatively connected to the controller 104, and the vibration device 108 is configured to: after the robot transmits a danger signal to the controller 104, the vibration device 108 receives the danger signal transmitted from the controller 104, and vibrates the steering wheel 109 after receiving the danger signal. As shown in fig. 9, in the operation process of the doctor, for example, when an operation error occurs, the controller receives a danger signal, and then forwards the danger signal to the vibration device 108, and the vibration device 108 vibrates to give tactile feedback to the doctor in a vibration manner, so that the doctor can perform a correction operation immediately, and the like, and the smooth and stable operation process is facilitated. Further, the vibration device 108 may be a vibration motor. The number of the vibration motors may be 1 group, 2 groups, 3 groups, or the like.

Fig. 10 is a schematic structural diagram of an overall interventional surgical robotic system according to an embodiment of the application. An interventional surgical robot system is provided, comprising a robot 101 as a slave for operating an interventional instrument and a master remote control system of an interventional surgical robot according to any one of the embodiments of the present application, the master remote control system of the interventional surgical robot and the robot 101 being located in separate medical areas, the master remote control system of the interventional surgical robot sending operating instructions to the robot 101. As shown in fig. 10, the robot 101 is used for manipulating interventional instruments, the user manipulation mechanism and the robot 101 may be located in separate medical areas, such as an operating room where the robot 101 is in the operating room, the hand manipulator 106, the foot manipulator 107 and the controller 104 of the user manipulation mechanism may all be in the operating room beside the operating room, and so on. Therefore, a doctor does not need to operate in an operating room, the harm of radiation to medical personnel in the interventional operation process is effectively reduced, and the occurrence probability of accidents in the operation is reduced. The signal may be transmitted between the robot 101 and the controller 104 through a cable connection or through a wireless connection.

On the basis of fig. 10, further, the interventional surgical robot system further includes a DSA (digital subtraction angiography) device 103 and a display 105, the DSA device 103 and the robot 101 are located in the same medical treatment area, the display 105 and the interventional surgical robot master remote control system are located in the same medical treatment area, and the DSA device and the display 105 are communicatively connected. The DSA device 103 can transmit the blood vessel image and the guide wire image of the patient to the display 105 in the medical area where the user control mechanism is located in real time, and a doctor can observe the blood vessel and the guide wire through the display 105, so that the doctor can directly obtain the position of the guide wire in real time in another separated medical area as a real-time map is seen, the doctor can conveniently control the guide wire to perform operations in real time, such as steering, advancing, retreating and the like, and the radiation to the doctor in the use of the DSA device is reduced. Further, DSA device 103 and display 105 may be connected by a cable communication connection or a wireless communication connection. Further, a catheter bed 102 may be disposed within the medical area where the robot 101 and DSA equipment 103 are located. The catheter bed 102 may be used in conjunction with DSA equipment 103 for vessel imaging and the like.

Moreover, although exemplary embodiments have been described herein, the scope thereof includes any and all embodiments based on the present application with equivalent elements, modifications, omissions, combinations (e.g., of various embodiments across), adaptations or alterations. The elements of the claims are to be interpreted broadly based on the language employed in the claims and not limited to examples described in the present specification or during the prosecution of the application, which examples are to be construed as non-exclusive. It is intended, therefore, that the specification and examples be considered as exemplary only, with a true scope and spirit being indicated by the following claims and their full scope of equivalents.

The above description is intended to be illustrative, and not restrictive. For example, the above-described examples (or one or more versions thereof) may be used in combination with each other. For example, other embodiments may be used by those of ordinary skill in the art upon reading the above description. In addition, in the above detailed description, various features may be grouped together to streamline the application. This should not be interpreted as an intention that features of an application that are not claimed are essential to any claim. Rather, subject matter of the present application can lie in less than all features of a particular application's embodiments. Thus, the following claims are hereby incorporated into the detailed description as examples or embodiments, with each claim standing on its own as a separate embodiment, and it is contemplated that the embodiments can be combined with each other in various combinations or permutations. The scope of the application should be determined with reference to the appended claims, along with the full scope of equivalents to which such claims are entitled.

The above embodiments are only exemplary embodiments of the present application, and are not intended to limit the present application, and the protection scope of the present application is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present application and such modifications and equivalents should also be considered to be within the scope of the present application.

Claims

1. A master-end remote control system for an interventional surgical robot, comprising a user manipulation mechanism as a master end, the user manipulation mechanism comprising:

the hand control device comprises a steering wheel, a first rotating shaft and a first encoder, wherein the steering wheel is fixedly connected with the first rotating shaft, and the first rotating shaft is connected with the first encoder so that the rotating angle of the steering wheel is converted into a first control signal;

the foot control device comprises a pedal structure, a second rotating shaft and a second encoder, wherein the pedal structure is fixedly connected with the second rotating shaft, and the second rotating shaft is connected with the second encoder so that the pressing angle of the pedal structure is converted into a second control signal; and

a controller communicatively connected with both the first and second encoders and configured to: and receiving the first control signal or the second control signal, converting the first control signal or the second control signal into the motion parameters of the interventional device, and generating an operation instruction by using the motion parameters of the interventional device.

2. The remote control system for the main end of the interventional surgical robot as claimed in claim 1, wherein the first rotating shaft is provided with an axial first slot, the first encoder is of a cylindrical structure, one end of the cylinder is provided with a first protrusion in the same direction as the first slot, the shape of the first protrusion is matched with that of the first slot, and the first protrusion is matched and inserted with the first slot to enable the first encoder to detect the rotation angle of the first rotating shaft.

3. The remote control system for the main end of an interventional surgical robot as set forth in claim 1, wherein the hand manipulating device further comprises a connecting plate and a first base, the connecting plate comprises a base and a first supporting portion connected with each other, the first supporting portion is provided with a first through hole, the first rotating shaft passes through the first through hole and is fixedly connected with the first through hole, the first rotating shaft is obliquely arranged with respect to the ground, and the base of the connecting plate is in surface contact with the first base and is fixedly connected with the first base, so that the first base is fixed to the connecting plate.

4. The remote control system for the main end of the interventional operation robot as set forth in claim 3, wherein a first sleeve is coaxially disposed outside the first rotating shaft, one end of the first sleeve abuts against the steering wheel, and the other end of the first sleeve abuts against the first support of the connecting plate, and a radial dimension of the first support of the connecting plate is larger than a radial dimension of the first sleeve, so that the first sleeve is supported by the first support.

5. The remote control system for the main end of an interventional surgical robot as recited in claim 3, wherein the hand manipulator further comprises a T-shaped plate, one end of the connecting plate extends upward to form a second supporting portion, the bottom of the T-shaped plate is fixedly connected with the top of the second supporting portion, the top of the T-shaped plate is arranged opposite to the first through hole of the first supporting portion, the first encoder is located on the plane of the top of the T-shaped plate, and the T-shaped plate supports the first encoder.

6. The remote control system for the main end of the interventional surgical robot as set forth in claim 1, wherein the pedal structure includes a pedal and a connecting rod, the pedal is fixedly connected with the connecting rod, a shaft hole is formed at the top of the connecting rod, and the second rotating shaft passes through the shaft hole and is fixedly connected with the connecting rod, so that the connecting rod drives the second rotating shaft to rotate.

7. The remote control system for the main end of the interventional surgical robot as set forth in claim 6, wherein the foot manipulating device further comprises a second base, a first bracket and a second bracket, the first bracket and the second bracket are respectively L-shaped plates, and two ends of the second rotating shaft are respectively transversely arranged through the first bracket and the second bracket;

the second base sets up one side of footboard structure, first support and second support respectively with second base fixed connection makes the top of footboard structure remains stable, the connecting rod of footboard structure can conflict at the in-process that pushes down the second base makes the rotation angle of second base restriction footboard structure.

8. The remote control system for the main end of the interventional operation robot of claim 7, wherein the part of the second rotating shaft penetrating through the first bracket is provided with an axial second slot, one end of the second encoder is provided with a second bulge with the same direction as the second slot, the shape of the second bulge is matched with that of the second slot, and the second bulge is in insertion connection with the second slot;

the foot control device further includes a third bracket that abuts the other end of the second encoder.

9. The remote control system of the main end of the interventional surgical robot as recited in claim 7, wherein the foot manipulating device further comprises a tension spring, one end of the tension spring is connected with the connecting rod of the pedal structure, and the other end of the tension spring is fixedly connected with the second base.

10. The remote control system for the main end of the interventional operation robot as claimed in claim 1, wherein the rotation angle of the first rotating shaft of the hand manipulation device is-90 to 90 °.

11. The interventional surgical robot master remote control system of claim 1, wherein the controller is further configured to:

reading an initial value of the rotation angle through a first control signal of the hand control device received during starting;

reading the operation numerical value of the rotation angle through a first control signal of the hand control device received in the operation process;

calculating the difference value between the operation numerical value and the initial numerical value, judging whether the difference value is zero, and if the difference value is zero, not rotating the interventional device; if the difference is not zero, judging whether the difference is larger than zero:

under the condition that the difference value is larger than zero, rotating the interventional instrument clockwise, and obtaining a value of the rotation speed according to the mapping relation between the difference value and the rotation speed;

and in the case that the difference value is less than zero, rotating the interventional instrument in the anticlockwise direction, and obtaining the value of the rotation speed according to the mapping relation between the difference value and the rotation speed.

12. The interventional surgical robot master remote control system of claim 9, wherein the controller is further configured to:

reading the running numerical value of the rotation angle through the received control signal of the foot control device;

and obtaining the value of the moving speed according to the mapping relation between the operation numerical value and the moving speed.

13. The remote control system for the main end of the interventional surgical robot as set forth in claim 4, further comprising a push rod, a first photoelectric switch and a second photoelectric switch set at two opposite positions on the end of the push rod, respectively, and a rocker structure set on the push rod between the first photoelectric switch and the second photoelectric switch;

the inner side of the first sleeve is provided with a first conversion structure and a second conversion structure, and the push rod is configured to: the position is changed under the action of external force pushing, so that the first photoelectric switch is connected with the first conversion structure in a matched mode, or the second photoelectric switch is connected with the second conversion structure in a matched mode.

14. The interventional surgical robot master remote control system of claim 1, wherein a vibration device is disposed on the steering wheel, the vibration device being communicatively coupled to the controller, the vibration device being configured to: after the robot transmits a danger signal to the controller, the vibration device receives the danger signal transmitted by the controller and vibrates the steering wheel after receiving the danger signal.

15. An interventional surgical robotic system, comprising:

a robot as a slave for manipulating an interventional instrument and an interventional surgical robot master telesystem as claimed in any one of claims 1-14, the interventional surgical robot master telesystem and the robot being located in separate medical areas, the interventional surgical robot master telesystem sending manipulation instructions to the robot;

the DSA equipment and the robot are positioned in the same medical treatment area, the display and the main end remote control system of the interventional surgical robot are positioned in the same medical treatment area, and the DSA equipment and the display are in communication connection.