CN115517775A

CN115517775A - Main end operating device of interventional operation robot

Info

Publication number: CN115517775A
Application number: CN202210111656.5A
Authority: CN
Inventors: 不公告发明人
Original assignee: Shenzhen Aibo Medical Robot Co Ltd
Current assignee: Shenzhen Aibo Medical Robot Co Ltd
Priority date: 2022-01-29
Filing date: 2022-01-29
Publication date: 2022-12-27
Also published as: WO2023142291A1

Abstract

The utility model provides an intervene operation robot head end operating means for the control operation is from end robot execution corresponding action, includes the frame, installs manipulator and controller in the frame, the manipulator includes linkage assembly and return assembly, the return assembly utilize the clutch with linkage assembly joint or separation. Therefore, the electromagnetic induction effect possibly generated when an operator operates the main end operating device to drive the return assembly to move and the interference current generated by the electromagnetic induction effect are eliminated, the electronic components of the main end operating device are effectively protected, the reaction force of the interference current on the operation is avoided, and the operation precision of the main end operating device is effectively improved.

Description

Main end operating device of interventional operation robot

Technical Field

The invention relates to a device in the field of medical instrument robots, in particular to a main end operating device of an interventional operation robot.

Background

For vascular interventional surgery, students need to receive X-ray radiation for a long time, and a master-slave vascular interventional surgery robot for remote operation is developed for engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, so that a doctor can control the robot outside a radiation environment. At present, two control modes of an interventional operation robot are provided, one is a touch screen, and the other is an operating handle. The joystick simulates the delivery and rotation of the catheter or guidewire by the physician's hands, such as when the physician typically delivers (advances or retracts) the catheter or guidewire a distance by pinching the catheter or guidewire by the physician's thumb and middle finger, typically in the left and right hand, and then moves the hands back to the initial position after releasing the thumb and middle finger, i.e.: if the pushing operation is carried out, the catheter or the guide wire is moved backwards, and if the retracting operation is carried out, the hand is moved forwards, so that the delivery of the catheter or the guide wire is completed through two hands for the fixed standing position of a doctor, generally, the rotation of the catheter or the guide wire is not completed through the displacement of the hand, and the hand is not required to be moved back after the rotation of the catheter or the guide wire. The operating handle at the main end is generally convenient for the simultaneous operation of the left hand and the right hand.

The operation of the main end operation device needs to be accurately transmitted to the slave end robot, and the resistance encountered by the slave end robot in the process of delivering or rotating the catheter or the guide wire also needs to be accurately fed back to the main end, so that the doctor can operate on the main end just like operating room on-site operation, and the on-site feeling is very strong. In order to realize that the operation information of the master end is accurately and timely transmitted to the slave end robot and the resistance met by the slave end robot is accurately and timely fed back to the master end, a plurality of precise components and sensors are used at the master end to detect and transmit the information, the reset after the operation rod moves is generally realized by a high-precision motor, namely, a doctor realizes the delivery or rotation of the slave end robot to a catheter or a guide wire by pinching the movement or rotation of the operation rod by a thumb and a forefinger when the master end operation device operates, the operation rod needs to be released to realize the reset of the operation rod after moving for a certain distance, so the operation rod is generally connected with the motor by a corresponding mechanism, the operation rod is driven to reset by the operation of the motor, but the operation rod can also drive the motor to rotate in the moving process, the electromagnetic effect motor is changed into a 'generator' to generate electricity, great influence is caused on the precise electronic components of the master end operation device, and meanwhile, the motor can generate reverse resistance to greatly influence on the operation precision of the master end operation device.

Disclosure of Invention

In view of the above, it is necessary to provide a novel main-end operating device of an interventional surgical robot for overcoming the defects in the prior art.

A master-end operating device of an interventional operation robot is used for controlling a slave-end robot to execute corresponding actions and comprises a frame, an operator and a controller, wherein the operator and the controller are installed on the frame, the operator comprises a linkage component and a return component, and the return component can be separated from or connected with the linkage component.

Further, the operation ware still includes can follow the gliding action bars of axial between initial position and non-initial position, the action bars with the linkage subassembly is connected the action bars the non-initial position pine when the action bars, the controller control the return subassembly with the linkage subassembly joint, return subassembly operation drives the action bars returns to initial position.

Further, when the operating rod is operated to slide from the initial position to the non-initial position, the controller controls the return assembly to be separated from the linkage assembly.

Furthermore, the return assembly comprises a motor and a clutch connected to the motor, and the clutch enables the power of the motor to be transmitted or not transmitted to the linkage assembly.

Further, the linkage assembly comprises a first gear, a second gear is arranged at the output end of the clutch, and the second gear is meshed with the first gear.

Further, the linkage assembly further comprises a guide rail, and the guide rail is installed on the rack in a specified mode.

Further, the linkage assembly further comprises a sliding block slidably mounted on the guide rail.

Further, the sliding block includes horizontal segment and vertical section, the horizontal segment be equipped with first gear engagement's rack, vertical section with the one end fixed connection of action bars.

Further, the clutch is an electromagnetic clutch.

Furthermore, the operating rod further comprises a positioning cap, the positioning cap is small in the middle and large in two ends, and notches extending along the axis direction are formed in the peripheral surface of the positioning cap.

Further, the linkage assembly comprises a damper, and the linkage assembly and the operator move under the action of the damper.

The invention has the beneficial effects that: through the motion separation of the return assembly and the linkage assembly, the electromagnetic interference generated when an operator operates the main end operating device is eliminated, the reaction force to the operation is avoided, and the operation precision of the main end operating device is effectively improved.

Drawings

FIG. 1 is a schematic structural diagram of a main-end operating device of an interventional surgical robot according to the present invention;

FIG. 2 is a schematic view of the main-end manipulator of the interventional surgical robot of FIG. 1 shown in a configuration with a motor mounting bracket removed from the main-end manipulator;

fig. 3 is a working principle diagram of the interventional operation robot when the master end operation device is matched with the slave end robot.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 to 3, the present invention provides a master-end operating device 100 of an interventional surgical robot, which is used for an operator to remotely control a slave-end robot 200 to perform actions of operating a catheter or a guide wire, so as to simulate a doctor to manually operate the catheter or the guide wire in an operating room, and comprises a frame 10, a pair of manipulators 20 and a controller 30. The corresponding motion of the pair of manipulators 20 is transmitted to the slave-end robot 200 through the controller 30 to control the slave-end robot 200 to execute the corresponding motion, and the resistance encountered by the slave-end robot 200 when executing the corresponding motion is also fed back to the corresponding manipulators 20 through the controller 30 to make the operator feel presence, and is realized by arranging the damper 40.

A pair of said operators 20 are arranged in mirror image on said frame 10 to facilitate two-handed operation by the operator. The rack 10 includes a base frame 11, a pair of support frames 12 and a middle frame 13, wherein the pair of support frames 12 and the middle frame 13 are both fixedly mounted on the base frame 11, and the pair of support frames 12 are symmetrically arranged with respect to the middle frame 13. Each manipulator 20 comprises an operating rod 21, a linkage assembly 22, a return assembly 23 and a damper 40, wherein the damper 40 is fixedly installed on the base frame 11. Preferably, the damper 40 is an electromagnetic damper, so that internal friction of the damper is reduced, and the service life of the product is prolonged.

The operating rod 21 comprises a rod core 24, a positioning rod 25 and a positioning cap 26, and one end of the rod core 24 is fixedly mounted on the middle frame 13. The positioning rod 25 is provided with a pipe hole extending along the axial direction inside, and the positioning rod 25 is mounted on the support frame 12 after being sleeved at the other end of the rod core 21 through the pipe hole and can rotate along the axis of the rod core 26 and axially slide between an initial position and a non-initial position. The positioning cap 26 is fixedly sleeved on the positioning rod 25, preferably, the positioning cap is formed by plastic with good anti-slip performance for being held by fingers of an operator, the positioning cap 26 is in a dumbbell shape with a small middle and two large ends, and the outer peripheral surface of the positioning cap is provided with thin nicks extending along the axial direction and is similar to fingerprints.

The linkage assembly 22 includes a guide rail 221, a linkage block 222 and a first gear 223, the guide rail 221 is fixedly mounted on the base frame 11 of the frame 10, the linkage block 222 is shaped like a profile (or a profile), and includes a horizontal section and a vertical section, the vertical section of the linkage block 222 is fixedly connected to one end of the positioning rod 25, a rack that is engaged with the first gear 233 is disposed on the horizontal section of the linkage block 222 and slidably mounted on the guide rail 221, and the first gear 223 is mounted on an output shaft of the damper 40.

The return assembly 23 comprises a motor 231 and a clutch 232, the motor 231 is fixed on the base frame 11 through a mounting frame, the clutch 232 is also fixedly mounted on the base frame 11, an output end of the motor 231 is coaxially and fixedly connected with an input end of the clutch 232, and an output end of the clutch 232 is provided with a second gear 233 engaged with the first gear 223; when the clutch 232 is powered off, the input end and the output end of the clutch 232 are separated; when the clutch 232 is energized, the input and output of the clutch 232 are engaged. Preferably, the clutch 232 is an electromagnetic clutch, and has the advantages of fast response, good durability and easy assembly.

The positioning cap 26, the clutch 232, the motor 231 and the damper 40 are electrically connected to the controller 30, and specifically, when the positioning cap 26 is released from the non-initial position after the positioning rod 25 is slid along the rod core 24 from the initial position to the non-initial position by an operator gripping the positioning cap 26, the controller 30 controls the clutch 232 and the motor 231 to be energized, and otherwise, the clutch 232 and the motor 231 are both in the de-energized state.

Specifically, when an operator holds the positioning cap 26 and operates the positioning rod 25 to slide along the rod core 24 from the initial position to the non-initial position, the positioning rod 25 drives the linkage block 222 to slide on the guide rail 221, and simultaneously drives the first gear 223 to rotate through the rack on the linkage block 222, at this time, because the clutch 232 is in a power-off state, the input end and the output end of the clutch 232 are separated, the first gear 223 drives the second gear 233 to rotate, but the motor 231 is not driven to rotate, electromagnetic induction power generation cannot occur, and interference current cannot be generated, so that not only the precise electronic components of the controller 30 cannot be damaged, but also the operation precision is improved; in the process that the positioning rod 25 slides from the initial position to the non-initial position, the controller 30 obtains the displacement of the positioning rod 25 in real time, controls the slave robot 200 to operate the catheter or the guide wire to execute corresponding movement in real time, and feeds back resistance encountered by the catheter or the guide wire in the movement process to the controller 30 in real time, the controller 30 controls the damper 40 to adjust corresponding damping force, and the adjusted damping force is transmitted to the positioning rod 25 in real time through the linkage component 22, so that an operator has a strong sense of immediacy. When the operator releases the positioning cap 26 at the non-initial position, the controller 30 controls the motor 231 to be powered on and the clutch 232 to be powered on, the input end and the output end of the clutch 232 are connected, the motor 231 is powered on and rotates, the clutch 232 drives the second gear 233 to rotate, the first gear 223 is driven to rotate, the linkage block 222 is driven to slide on the guide rail 221 through the rack of the linkage block 222, the positioning rod 25 returns to the initial position, and after the positioning rod 25 returns to the initial position, the controller 30 controls the motor 231 and the clutch 232 to be powered off.

The invention has the beneficial effects that: through the separation of the input of clutch 232, output realizes return subassembly 23 with linkage assembly 22's motion separation, when promptly needing, return subassembly 23 utilize clutch 232 with linkage assembly 22 engages, when not needing return subassembly 23 utilize clutch 232 with linkage assembly 22 realizes motion separation to eliminate the operator and operate main end operating device 100 and drive the electromagnetic induction effect that probably produces when motor 231 moves and the interference current who produces from this, not only protected effectively main end operating device 100's accurate electronic components, avoided the reaction force of interference current to the operation moreover, improved effectively main end operating device 100's operation precision.

The above embodiment only represents one implementation manner of the invention, and the description is specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.

Claims

1. The utility model provides an intervene operation robot master end operating means for control is from end robot execution corresponding action, includes the frame, installs manipulator and controller in the frame, its characterized in that: the manipulator comprises a linkage assembly and a return assembly, wherein the return assembly is separable from or jointed with the linkage assembly.

2. The main end effector of an interventional surgical robot of claim 1, wherein: the manipulator still includes can follow the gliding action bars of axial between initial position and non-initial position, the action bars with the linkage subassembly is connected the action bars the non-initial position pine during the action bars, the controller control the return subassembly with the linkage subassembly joint, return subassembly operation drives the action bars returns initial position.

3. The main end effector of an interventional surgical robot of claim 2, wherein: when the operating rod is operated to slide from the initial position to the non-initial position, the controller controls the return assembly to be separated from the linkage assembly.

4. The main end effector of an interventional surgical robot of claim 3, wherein: the return assembly comprises a motor and a clutch connected to the motor, and the clutch enables power of the motor to be transmitted or not transmitted to the linkage assembly.

5. A master end effector of an interventional surgical robot as set forth in claim 4, wherein: the linkage assembly comprises a first gear, a second gear is arranged at the output end of the clutch, and the second gear is meshed with the first gear.

6. A master end effector of an interventional surgical robot as set forth in claim 5, wherein: the linkage assembly further comprises a guide rail, and the guide rail is arranged on the rack in a specified mode.

7. A master end effector of an interventional surgical robot as set forth in claim 6, wherein: the linkage assembly further includes a sliding block slidably mounted on the guide rail.

8. The interventional surgical robot master end effector as set forth in claim 7, wherein: the sliding block comprises a horizontal section and a vertical section, the horizontal section is provided with a rack meshed with the first gear, and the vertical section is fixedly connected with one end of the operating rod.

9. The interventional surgical robot master end manipulator device of any one of claims 4-8, wherein: the clutch is an electromagnetic clutch.

10. The interventional surgical robot master end effector of claim 9, wherein: the operating rod further comprises a positioning cap, the positioning cap is small in the middle and large in two ends, and notches extending along the axis direction are formed in the peripheral face of the positioning cap.

11. The main end effector of an interventional surgical robot of claim 1, wherein: the linkage assembly comprises a damper, and the linkage assembly and the operator move under the action of the damper.