CN115590629A

CN115590629A - Force feedback mechanism

Info

Publication number: CN115590629A
Application number: CN202211302488.4A
Authority: CN
Inventors: 李正龙
Original assignee: Shenzhen Aibo Medical Robot Co Ltd
Current assignee: Shenzhen Aibo Medical Robot Co Ltd
Priority date: 2022-10-24
Filing date: 2022-10-24
Publication date: 2023-01-13

Abstract

The invention relates to the technical field of medical instrument robots, in particular to a force feedback mechanism, which comprises a main body, an operation part and a force feedback part, wherein the operation part and the force feedback part are respectively arranged on the main body; the operation part and the force feedback part are abutted with each other, the force feedback part outputs thrust to the operation part according to resistance fed back from an end medical instrument, and the force feedback part detects the thrust received by the operation part to realize force feedback; according to the force feedback mechanism provided by the invention, when a user controls the medical instrument at the slave end to deliver through the operation part at the master end, the force feedback part receives the resistance feedback of the medical instrument at the slave end in the delivery process and feeds the resistance feedback to the operation part in real time, and the user feels the resistance received by the medical instrument at the slave end in the delivery process through the operation part, so that the force feedback is realized, the in-situ operation feeling of the user is increased, and the operation safety is improved.

Description

Force feedback mechanism

Technical Field

The invention relates to the technical field of medical instrument robots, in particular to a force feedback mechanism.

Background

When the existing interventional robot carries out the vascular interventional operation, since a doctor controls the slave end driver to deliver slender medical devices such as guide wires, catheters and the like through the master end operator at a distance, the resistance of the guide wires and the catheters delivered in the blood vessels cannot be really felt, and the accurate judgment of the doctor in the operation process is not facilitated.

Disclosure of Invention

The invention mainly aims to provide a force feedback mechanism, and aims to solve the problem that the existing interventional robot cannot feed back the resistance when a guide wire or a catheter is delivered in a blood vessel.

In order to achieve the purpose, the technical scheme of the invention is as follows: a force feedback mechanism for a master end of an interventional surgical robot, comprising:

the force feedback device comprises a main body, an operation part and a force feedback part, wherein the operation part and the force feedback part are respectively arranged on the main body;

the operation part and the force feedback part are abutted against each other, the force feedback part outputs thrust to the operation part according to resistance fed back from an end medical instrument, and the force feedback part detects the thrust received by the operation part to realize force feedback.

With the above technical solution, in the force feedback mechanism, the force feedback part includes: the power assembly is arranged on the main body, and the pressure detection assembly is connected with the output end of the power assembly;

the power assembly receives a force feedback signal of the slave end medical instrument and drives the pressure detection assembly to output thrust to the operation part; the pressure detection assembly detects the thrust force applied to the operation part in real time and feeds the thrust force back to the power assembly; the thrust force is dynamically consistent with the pressure fed back by the force feedback signal.

With the above technical solution, in the force feedback mechanism, the power assembly includes: the pressure detection device comprises a motor support arranged on the main body, a screw motor arranged on one side of the motor support, a ball nut sleeved on a screw of the screw motor, and a compression piece arranged between the pressure detection assembly and the ball nut.

By adopting the technical scheme, in the force feedback mechanism, the compression piece is one or more of a compression spring, a plate spring, an air cylinder and a hydraulic cylinder.

By adopting the technical scheme, in the force feedback mechanism, the pressure detection assembly comprises the middle pressing block and the pressure sensor, the middle pressing block is arranged between the compression piece and the operation part, and the pressure sensor is used for detecting the thrust applied by the middle pressing block on the operation part.

With the adoption of the technical scheme, in the force feedback mechanism, the force feedback part further comprises a guide assembly used for guiding the power assembly and the pressure detection assembly to move.

Adopt above-mentioned technical scheme, force feedback mechanism in, the guide assembly includes: the guide groove is arranged on the motor support and used for guiding the ball nut to do linear motion; the guide shaft is arranged on the motor support and used for guiding the pressure detection assembly to do linear motion.

With the above technical solution, in the force feedback mechanism, the operation portion includes: the movable assembly is connected with the output end of the operating rod and is abutted against the force feedback part;

when the operating rod is pushed, the output end of the operating rod drives the movable assembly to abut against the force feedback part, the power assembly starts to receive a force feedback signal of the slave end medical instrument and drives the force feedback part to output the pushing force to the movable assembly, and the movable assembly feeds the pushing force back to the operating rod.

With the above technical solution, the force feedback mechanism, in the force feedback mechanism, further includes: a trigger part arranged at the side end of the operation part and used for detecting the moving distance of the operation part;

when the operation part moves to the triggering interval of the triggering part, the power assembly starts to receive a force feedback signal of the slave end medical instrument.

With the adoption of the technical scheme, in the force feedback mechanism, the force feedback mechanism further comprises a driving part, and the driving part is used for driving the operation part to reset.

The invention provides a force feedback mechanism, wherein a force feedback part can receive resistance force of a medical instrument fed back from an end during delivery and feed back the resistance force to an operation part which is mutually abutted with the force feedback part in a thrust manner. When a user controls the medical instrument of the slave end to deliver through the operation part of the master end, the force feedback part receives resistance feedback of the medical instrument of the slave end in the delivery process and feeds the resistance feedback to the operation part in real time, and the user feels the resistance received by the medical instrument of the slave end in the delivery process through the operation part, so that the force feedback is realized, the on-site operation feeling of the user is increased, and the operation safety is improved.

Drawings

FIG. 1 is a schematic view of the overall structure of the present invention;

FIG. 2 is a schematic view of a force feedback portion of the present invention;

FIG. 3 is a schematic structural view of a power assembly, a pressure detection assembly and a guide assembly according to the present invention;

fig. 4 is a schematic structural diagram of the driving portion of the present invention.

Wherein, the first and the second end of the pipe are connected with each other,

1. a main body;

2. an operation section; 20. an operating lever; 21. a movable component;

3. a force feedback section;

30. a power assembly; 301. a motor support; 302. a screw motor; 303. a ball nut; 304. a compression member;

31. a pressure detection assembly; 311. intermediate briquetting; 312. a pressure sensor;

32. a guide assembly; 320. a guide shaft; 321. a guide groove;

33. a drive section; 330. a drive motor; 331. a first gear; 332. a second gear; 333. a rack;

4. a trigger part.

The implementation, functional features and advantages of the present invention will be further described with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; they may be mechanically coupled, directly coupled, indirectly coupled through intervening media, and may be interconnected or interconnected between two elements. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless expressly stated or limited otherwise, the recitation of a first feature "on" or "under" a second feature may include the recitation of the first and second features being in direct contact, and may also include the recitation that the first and second features are not in direct contact, but are in contact via another feature between them. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

As shown in fig. 1, an embodiment of the present application provides a force feedback mechanism for a main end of an interventional surgical robot, comprising:

a main body 1, an operation part 2 and a force feedback part 3 which are respectively arranged on the main body 1;

the operation unit 2 and the force feedback unit 3 are in contact with each other, the force feedback unit 3 outputs a thrust force to the operation unit 2 in accordance with a resistance force fed back from an end medical instrument, and the force feedback unit 3 detects the thrust force received by the operation unit 2 to realize a force feedback.

In this embodiment, an operation part 2 is provided, and a user can control the delivery of a medical device at the slave end through the operation part 2 at the master end, wherein the medical device mainly includes a guide wire and/or a catheter. Specifically, the medical instrument is controlled to move linearly in the axial direction thereof by pushing the operation portion 2. The force feedback part 3 is provided, the resistance force of the medical instrument during delivery can be received by the force feedback part 3, and the received resistance force is fed back to the operation part 2 at the main end, so that the force feedback is realized. Specifically, the force feedback section 3 receives resistance received by the medical device fed back from the tip at the time of delivery, and feeds back the resistance to the operation section 2 abutting against the force feedback section 3 in a thrust manner. When the user controls the medical instrument at the slave end to deliver the medical instrument through the operation part 2 at the master end, the force feedback part 3 receives resistance feedback of the medical instrument at the slave end in the delivery process and feeds the resistance feedback to the operation part 2 in real time, and the user feels the resistance received by the medical instrument at the slave end in the delivery process through the operation part 2, so that the force feedback is realized.

As shown in fig. 3, the force feedback unit 3 further includes: a power assembly 30 arranged on the main body 1, a pressure detection assembly 31 connected with the output end of the power assembly 30;

the power assembly 30 receives a force feedback signal of the slave end medical instrument and drives the pressure detection assembly 31 to output thrust to the operation part 2; the pressure detection component 31 detects the thrust force applied to the operation part 2 in real time and feeds the thrust force back to the power component 30; the thrust force is dynamically consistent with the pressure fed back by the force feedback signal.

In this embodiment, the power assembly 30 is configured to receive a force feedback signal of the medical instrument in real time, where the force feedback signal needs to feedback a resistance force of the medical instrument during the delivery process, where the resistance force of the medical instrument may be detected by a corresponding force detection mechanism at the slave end, or may be directly detected by the medical instrument having a force detection function. The power assembly 30 drives the pressure detection assembly 31 to output thrust to the operation portion 2 based on the force feedback signal, so that the operation portion 2 can receive the stress of the medical instrument. The pressure detection component 31 is arranged, the thrust exerted by the power component 30 born by the operation part 2 can be detected in real time, so that the power component 30 is controlled according to the detected thrust, the dynamic balance between the thrust output by the power component 30 and the resistance of the medical instrument is achieved, and the resistance feedback of the medical instrument in the delivery process can be realized by the operation part 2 at the main end.

As shown in fig. 3, further, the power assembly 30 includes: the pressure detection device comprises a motor support 301 arranged on the main body 1, a screw motor 302 arranged on one side of the motor support 301, a ball nut 303 sleeved on a screw of the screw motor 302, and a compression piece 304 arranged between the pressure detection component 31 and the ball nut 303.

In this embodiment, the screw motor 302 drives the screw to rotate, so that the ball nut 303 sleeved on the screw moves on the screw, and when the ball nut 303 moves towards the pressure detection assembly 31, the compression member 304 arranged between the pressure detection assembly 31 and the ball nut 303 is squeezed, so that the compression member 304 outputs thrust to the pressure detection assembly 31, thereby realizing force feedback.

Preferably, the compression member 304 is one or more of a compression spring, a leaf spring, a cylinder and a hydraulic cylinder.

In one embodiment, the compression member 304 is a compression spring.

As shown in fig. 3, further, the pressure detecting assembly 31 includes an intermediate pressing block 311 and a pressure sensor 312, the intermediate pressing block 311 is disposed between the compressing member 304 and the operating portion 2, and the pressure sensor 312 is configured to detect a pushing force applied by the intermediate pressing block 311 to the operating portion 2.

In this embodiment, the intermediate pressing block 311 is provided to receive the thrust fed back by the compression member 304 and transmit the thrust fed back by the compression member 304 to the operation unit 2. The pressure sensor 312 may be provided at an appropriate position to detect the thrust force received by the operation portion 2. The pressure sensor 312 preferred in the present embodiment is provided between the intermediate pressure block 311 and the operation portion 2. Specifically, the screw motor 302 drives the screw to rotate, so that the ball nut 303 sleeved on the screw moves on the screw, the compression member 304 is extruded by the ball nut 303, and thrust is applied to the intermediate pressing block 311. The thrust force fed back by the compression element 304 received by the intermediate pressure piece 311 is set to F, and since the operation unit 2 and the intermediate pressure piece 311 are in contact with each other, the thrust force F received by the intermediate pressure piece 311 is transmitted to the operation unit 2, that is, the intermediate pressure piece 311 outputs the same thrust force F to the operation unit 2, and the force feedback function is performed. The pressure sensor 312 detects the magnitude of the thrust F borne by the operating portion 2 in real time, and the lead screw motor 302 adjusts the acting force applied to the compression member 304 in real time based on the pressure fed back by the pressure sensor 312, so that the thrust F borne by the operating portion 2 and the force signal fed back by the slave end medical instrument keep dynamic balance, that is, the thrust F borne by the operating portion 2 and the force feedback signal of the slave end medical instrument are synchronized, thereby realizing closed-loop control of the master end force feedback and improving the precision of the force feedback.

As shown in fig. 3, the force feedback unit 3 further includes a guide assembly 32 for guiding the movement of the power assembly 30 and the pressure detection assembly 31.

In this embodiment, the guiding component 32 is disposed to guide the moving track of the power component 30 and the pressure detecting component 31, and the power component 30 and the pressure detecting component 31 can be limited to prevent the power component 30 and the pressure detecting component 31 from being affected by the misalignment, for example, the guiding component 32 can be disposed as the guiding shaft 320 and/or the guiding rail, so that the moving track of the power component 30 and the pressure detecting component 31 can be guided, and the power component 30 and the pressure detecting component 31 can be moved more accurately.

As shown in fig. 3, further, the guide assembly 32 includes: the guide shaft 320 is arranged on the motor support 301 and used for guiding the ball nut 303 to do linear motion; the guide groove 321 is disposed on the motor support 301, and the guide groove 321 is used for guiding the pressure detection assembly 31 to make a linear motion.

In this embodiment, a guide groove 321 is provided, and the ball nut 303 is installed in the guide groove 321, and can guide and/or limit the ball nut 303, so that the ball nut 303 makes a linear motion along the axial direction of the screw rod; the guide shaft 320 is arranged, the guide shaft 320 penetrates through the middle pressing block 311, and the middle pressing block 311 can be guided to do linear motion, so that the pressure detection assembly 31 is more accurate when moving, and the position deviation is prevented from occurring when the pressure detection assembly 31 is abutted to the operation part 2.

It should be noted that the positions of the guide shaft 320 and the guide slot 321 are not limited to the motor holder 301, and may be fixed to other suitable positions.

As shown in fig. 1 to 3, the operation unit 2 further includes: an operating rod 20 and a movable assembly 21 connected to an output end of the operating rod 20, wherein the movable assembly 21 and the force feedback part 3 are abutted against each other;

when the operating rod 20 is pushed, the output end of the operating rod 20 drives the movable component 21 to abut against the force feedback part 3, the power component 30 starts to receive a force feedback signal of the slave end medical instrument and drives the force feedback part 3 to output the thrust to the movable component 21, and the movable component 21 feeds the thrust back to the operating rod 20. Specifically, the user at the main end pushes the operating rod 20, so that the operating rod 20 drives the movable assembly 21 to move along the axial direction, and abuts against the middle pressing block 311. The power assembly 30 outputs thrust to the movable assembly 21 through the moving ball nut 303 based on the received force feedback signal of the slave end medical instrument, and the pressure detection assembly 31 detects the magnitude of the thrust borne by the movable assembly 21 in real time. The thrust output by the power assembly 30 is adjusted to dynamically balance with the resistance fed back by the slave medical instrument. Because the thrust output by the power assembly 30 is equal to the thrust borne by the movable assembly 21, the thrust borne by the movable assembly 21 is the resistance fed back by the medical instrument at the slave end, so that an operator can feel the resistance borne by the medical instrument at the slave end in the delivery process, and the presence is improved.

As shown in fig. 1-3, further, the force feedback mechanism further comprises: a trigger part 4 provided at a side end of the operation part 2 for detecting a moving distance of the operation part 2;

when the operation part 2 moves to the triggering section of the triggering part 4, the triggering part triggers the corresponding electronic signal, the operation of the operation part 2 is effective operation, the operation part 2 can control the medical instrument at the slave end to move forward and/or backward, and the power assembly 30 starts to receive the force feedback signal of the medical instrument at the slave end. Through setting up the trigger interval, effectively prevent that 2 mistake of operating portion from touching, reduced in the operation because of the mistake touches the operation risk of touching and bringing, improved operation safety.

In an embodiment, during the moving process of the operation part 2, the trigger part 4 acquires the moving data of the operation part 2 in real time, when the operation part 2 moves to the trigger section of the trigger part 4, the operation part 2 controls the medical device at the slave end to advance and/or retreat, and the power assembly 30 starts to receive the force feedback signal of the medical device at the slave end. The operator can move the operation part 2 to the limit position, wherein the limit position can include the limit position close to the force feedback part 3 or the limit position far away from the force feedback part 3, and the trigger section of the trigger part 4 can be passed when the operation part is close to the force feedback part 3 to the limit position and the operation part 2 is far away from the force feedback part 3 to the limit position, and the operation part 2 controls the medical device at the slave end to advance and/or retreat, so that the power assembly 30 starts to receive the force feedback signal of the medical device at the slave end.

In this embodiment, the user at the master end pushes the operating rod 20 to make the operating rod 20 drive the movable assembly 21 to move along the axis direction, when the movable assembly 21 moves to the triggering interval of the triggering portion 4, the power assembly 30 starts to receive the force feedback signal of the medical instrument at the slave end, and outputs the thrust force to the movable assembly 21, and the pressure detection assembly 31 detects the magnitude of the thrust force in real time to make the magnitude of the thrust force and the force signal fed back by the medical instrument at the slave end reach dynamic balance.

As shown in fig. 2, the force feedback mechanism further includes a driving portion 33, and the driving portion 33 is configured to drive the operation portion 2 to reset.

As shown in fig. 1, 2 and 4, the driving unit 33 further includes a driving motor 330, a first gear 331 connected to an output shaft of the driving motor 330, a second gear 332 engaged with the first gear 331, and a rack 333 connecting the second gear 332 and the operating unit 2.

In this embodiment, the driving motor 330 drives the first gear 331 to rotate through the output shaft, the first gear 331 can drive the second gear 332 engaged with the first gear 331 to rotate, the second gear 332 drives the rack 333 to move, the rack 333 is fixedly installed on the movable component 21, and the rack 333 drives the operating portion 2 to move. The operation unit 2 can be reset or corrected by providing the driving unit 33.

The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields will be covered by the scope of the present invention.

Claims

1. A force feedback mechanism for a master end of an interventional surgical robot, comprising:

the device comprises a main body, an operation part and a force feedback part, wherein the operation part and the force feedback part are respectively arranged on the main body;

2. The force feedback mechanism of claim 1, wherein the force feedback portion comprises: the power assembly is arranged on the main body, and the pressure detection assembly is connected with the output end of the power assembly;

3. The force feedback mechanism of claim 2, wherein the power assembly comprises: the pressure detection device comprises a motor support arranged on the main body, a screw motor arranged on one side of the motor support, a ball nut sleeved on a screw of the screw motor, and a compression piece arranged between the pressure detection assembly and the ball nut.

4. The force feedback mechanism of claim 3, wherein the compression member is one or more of a compression spring, a leaf spring, a pneumatic cylinder, and a hydraulic cylinder.

5. The force feedback mechanism of claim 3, wherein the pressure sensing assembly includes an intermediate pressure block disposed between the compression member and the operating portion and a pressure sensor for sensing a pushing force applied by the intermediate pressure block to the operating portion.

6. The force feedback mechanism of claim 3, wherein said force feedback portion further comprises a guide assembly for guiding movement of said power assembly and said pressure sensing assembly.

7. The force feedback mechanism of claim 6, wherein the guide assembly comprises: the guide groove is arranged on the motor support and used for guiding the ball nut to do linear motion; the guide shaft is arranged on the motor support and used for guiding the pressure detection assembly to do linear motion.

8. The force feedback mechanism of claim 2, wherein the operating portion comprises: the movable assembly is connected with the output end of the operating rod and is abutted against the force feedback part;

9. The force feedback mechanism of claim 2, further comprising: a trigger part arranged at the side end of the operation part and used for detecting the moving distance of the operation part;

10. The force feedback mechanism of claim 1, further comprising a drive portion configured to drive the operating portion to reset.