CN115607289A - Force detection mechanism for delivering elongated medical devices and force detection method thereof - Google Patents

Force detection mechanism for delivering elongated medical devices and force detection method thereof Download PDF

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Publication number
CN115607289A
CN115607289A CN202211250666.3A CN202211250666A CN115607289A CN 115607289 A CN115607289 A CN 115607289A CN 202211250666 A CN202211250666 A CN 202211250666A CN 115607289 A CN115607289 A CN 115607289A
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driving
medical device
torque sensor
wheel
elongated medical
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CN202211250666.3A
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Chinese (zh)
Inventor
张桂林
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Shenzhen Aibo Medical Robot Co Ltd
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Shenzhen Aibo Medical Robot Co Ltd
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Priority to CN202211250666.3A priority Critical patent/CN115607289A/en
Publication of CN115607289A publication Critical patent/CN115607289A/en
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Anesthesiology (AREA)
  • Hematology (AREA)
  • Manipulator (AREA)

Abstract

The application relates to the technical field of interventional robots and provides a force detection mechanism for delivering slender medical instruments and a force detection method thereof, and the force detection mechanism comprises a delivery assembly, a driving assembly and a torque sensor, wherein the driving assembly drives the delivery assembly to deliver the slender medical instruments, the torque sensor detects the stress condition of the slender medical instruments due to the torque change of the delivery assembly, the detection mechanism is simple in structure and stable in performance, the torque influencing the torque sensor cannot be formed by the acceleration and deceleration force generated when a driving device advances and retreats, so that the delivery force for detecting the slender medical instruments by the torque sensor is more accurate, and when a machine vibrates, the torque formed by vibration is very small, and the detection precision influencing the torque sensor is small.

Description

Force detection mechanism for delivering elongated medical devices and method for detecting force thereof
Technical Field
The present application relates to the field of interventional surgical robotics, and more particularly, to a force detection mechanism for delivering an elongated medical device and a force detection method thereof.
Background
In the prior art, an interventional surgical robot detects stress of a slender medical device such as a guide wire and a catheter during delivery through a pressure sensor, and then controls a driving device to deliver the guide wire or the catheter. Specifically, in the prior art, a pressure sensor is arranged below the whole driving device so as to detect the resistance of the guide wire or the catheter during the advancing and retreating processes. This kind of mode is easily influenced by drive arrangement self vibration and acceleration and deceleration, also can receive the interference force when whole drive arrangement inclines even, has influenced pressure sensor's detection accuracy.
Disclosure of Invention
The main purpose of this application is to provide a send long and thin type medical instrument's power detection mechanism, can solve the technical problem that utilizes pressure sensor to detect when seal wire or pipe atress condition among the prior art, the detection precision is easily influenced.
The application provides a send elongate medical instrument's power detection mechanism is applied to intervention operation robot from the end, including sending subassembly, drive assembly and torque sensor, torque sensor's one end with drive assembly's power take off end is connected, torque sensor's the other end with the power input end that sends the subassembly is connected, the drive assembly drive when sending the subassembly and delivering elongate medical instrument, torque sensor detects the torsion change that sends the subassembly is in order to detect elongate medical instrument's atress condition.
Further, the driving assembly comprises a driving motor, the torque sensor is a dynamic torque sensor, a power output end of the driving motor is connected with one end of the dynamic torque sensor, and the other end of the dynamic torque sensor is connected with the delivery assembly.
Further, the delivery assembly comprises a power device and a driving device, wherein the power input end of the power device is connected with one end of the torque sensor, and the power output end of the power device is connected with the power input end of the driving device.
Further, power device includes the hold-in range structure, the hold-in range structure includes the mounting panel, locates first drive wheel, secondary drive wheel and belt on the mounting panel, the belt around connect in first drive wheel with on the secondary drive wheel, the power input end of first drive wheel with torque sensor's one end is connected.
Further, the synchronizing band structure still includes the third drive wheel, the third drive wheel with the belt butt is through removing the adjustment of third drive wheel the rate of tension of belt.
Furthermore, the driving device comprises a rack, and a driving wheel set and a driven wheel set which are arranged on the rack, wherein the driving wheel set and the driven wheel set are correspondingly arranged on two sides of the slender medical device, and the power input end of the driving wheel set is connected with the power output end of the power device.
Further, the driving wheel set comprises a first driving wheel and a second driving wheel, the power output end of the first driving wheel is connected with the power input end of the first driving wheel, the power output end of the second driving wheel is connected with the power input end of the second driving wheel, the driving assembly drives the first driving wheel to rotate so as to drive the first driving wheel to rotate, and the belt drives the second driving wheel so as to drive the second driving wheel to rotate.
Furthermore, the driving device further comprises a detection wheel arranged on the rack, the detection wheel is arranged next to the driving wheel group, the detection wheel is connected with an encoder, and when the slender medical device drives the detection wheel to rotate, the encoder detects the delivery or retreating length of the slender medical device.
Further, one of the power input end of the driving device and the power output end of the power device is configured as a butt joint groove, the other one of the power input end of the driving device and the power output end of the power device is correspondingly configured as a butt joint, and when the power output end of the power device is connected with the power input end of the driving device, the butt joint is inserted into the butt joint groove.
The application further provides a method for detecting an acting force of an elongated medical device, which is applied to the force detection mechanism for delivering the elongated medical device in any one of the above-mentioned methods, and the method comprises the following steps:
starting the driving assembly, and recording a first torque value of the delivery assembly in real time by the torque sensor when the delivery assembly is in an unloaded state;
activating the driving assembly when the delivery assembly is provided with the elongated medical device, and recording a second torsion value of the delivery assembly in real time by the torque sensor under the condition that the delivery assembly is provided with the elongated medical device;
and calculating the magnitude of the resistance force borne by the slender medical device in the delivery process based on the first torsion value and the second torsion value.
Compared with the prior art, the force detection mechanism for delivering the elongated medical device and the force detection method thereof are provided, the force detection mechanism comprises a delivery assembly, a driving assembly and a torque sensor, when the driving assembly drives the delivery assembly to deliver the elongated medical device, the torque sensor detects the torsion change of the delivery assembly to detect the stress condition of the elongated medical device, and the detection mechanism is simple in structure and stable in performance. The acceleration and deceleration force generated when the driving device moves forwards and backwards does not form torque which affects the torque sensor, so that the torque sensor can detect the delivery force of the slender medical device more accurately, and when the machine vibrates, the torsion formed by vibration is very small, and the influence on the detection precision of the torque sensor is small.
Drawings
FIG. 1 is a schematic view of the overall structure of a force detection mechanism of the present application;
FIG. 2 is a schematic view of the drive assembly, torque sensor and power plant (excluding the mounting plate) of the present application;
FIG. 3 is an enlarged view of FIG. 2 at A;
FIG. 4 is a schematic view of the overall structure of another aspect of the force sensing mechanism of the present application;
fig. 5 is a schematic structural diagram of the driving device.
The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.
The names of the components marked in the figures are as follows: 1. a delivery component; 10. a power plant; 11. a synchronous belt structure; 111. a first drive pulley; 112. a second transmission wheel; 113. a third transmission wheel; 114. a belt; 115. mounting a plate; 1151. a chute; 1152. connecting holes; 116. carrying a plate; 117. a movable frame; 1171. a kidney-shaped hole; 1172. a screw; 118. a butt joint; 12. a drive device; 120. a butt joint groove; 121. a frame; 122. a driving wheel set; 1221. a first driving wheel; 1222. a second drive wheel; 1223. detecting a wheel; 1224. an encoder; 123. a driven wheel set; 2. a drive assembly; 3. a torque sensor.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The technical solutions in the embodiments of the present application will be described clearly and completely with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only some embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
Referring to fig. 1, a force detection mechanism for delivering an elongated medical device, which is applied to a slave end of an interventional surgical robot, includes a delivery assembly 1, a driving assembly 2 and a torque sensor 3, one end of the torque sensor 3 is connected to a power output end of the driving assembly 2, the other end of the torque sensor 3 is connected to a power input end of the delivery assembly 1, and when the driving assembly 2 drives the delivery assembly 1 to deliver the elongated medical device, the torque sensor 3 detects a change in torque of the delivery assembly 1 to detect a force condition of the elongated medical device. Specifically, during the delivery process, when the elongated medical device is subjected to resistance, the power required by the driving assembly 2 to be output to the delivery assembly 1 is also increased, and the torque of the delivery assembly 1 is also increased, so that the torque sensor 3 converts the physical information of the change of the torque of the delivery assembly 1 into an electric signal to be output, so as to detect the stress condition of the elongated medical device and provide reference for an operator or other control equipment.
In a preferred embodiment, referring to fig. 1, the driving assembly 2 comprises a driving motor, the torque sensor 3 is a dynamic torque sensor, a power output end of the driving motor is connected with one end of the dynamic torque sensor, and the other end of the dynamic torque sensor is connected with the delivery assembly 1. Specifically, the power output end of the driving motor is connected with one end of the dynamic torque sensor through a coupler, and the other end of the dynamic torque sensor is also connected with the delivery assembly 1 through another coupler. In the operation process, the force detection mechanism needs to clamp the slender medical device for starting or the load of the force detection machine can be changed in the process of delivering the slender medical device, and the coupler is used as an element with the functions of buffering and vibration reduction, so that the damage to the driving motor and the delivery assembly 1 can be reduced. In the prior art, a pressure sensor is arranged on the driving device, and the force direction of the pressure sensor is consistent with the delivery direction of the driving device to the catheter. Because the driving device is accelerated and decelerated in the movement process, the force detected by the pressure sensor comprises the acceleration force and the deceleration force (F = ma) of the driving device, so that the force detected by the pressure sensor is inaccurate; the machine generates vibration in the motion process, and the vibration force is transmitted to the pressure sensor, so that the detection precision of the pressure sensor is also influenced. Therefore, in the present embodiment, the dynamic torque sensor is adopted as the detection element, and since the rotation axis of the output shaft of the driving motor is perpendicular to the delivery direction of the elongated medical device, the acceleration force and the deceleration force of the driving device during the movement process will not affect the torque change of the dynamic torque sensor, so that the torque sensor can detect the delivery force of the elongated medical device more accurately.
In one possible embodiment (not shown in the drawings), the torque sensor 3 is a static torque sensor. Specifically, the upper connecting part of the static torque sensor is connected with the lower surface of the delivery assembly 1, the lower connecting part of the static torque sensor is connected with the shell of the driving motor, and the static torque sensor detects the torsion change of the delivery assembly 1 so as to detect the stress condition of the slender medical device. The working principle of the embodiment is as follows: in the delivery process, when the elongated medical device is subjected to resistance, the force required by the delivery assembly 1 to be delivered to the elongated medical device is increased, the power required to be output by the driving motor is correspondingly increased, the torsional force of the shell of the driving motor is increased, and further the static torque sensor converts the physical information of the torsional force change of the delivery assembly 1 into an electric signal to be output, so that the stress condition of the elongated medical device is detected, and a reference is provided for an operator or other control equipment.
In one possible embodiment, referring to fig. 1 to 3, the delivery assembly 1 comprises a power device 10 and a driving device 12, wherein a power input end of the power device 10 is connected with one end of the torque sensor 3, and a power output end of the power device 10 is connected with a power input end of the driving device 12. Specifically, power device 10 includes hold-in range structure 11, hold-in range structure 11 includes mounting panel 115, locates first drive wheel 111, secondary drive wheel 112 and belt 114 on the mounting panel 115, the belt 114 wire-wrap in first drive wheel 111 with on the secondary drive wheel 112, the power input end of first drive wheel 111 with torque sensor 3's one end is connected. In the delivery process of the slender medical device, the force detection mechanism is required to maintain high stability so as to enhance the reliability in the operation process, and the condition that the delivery force detected by the torque sensor 3 is not accurate due to the vibration of the force detection mechanism is avoided. The synchronous belt structure 11 in the embodiment has stable transmission, buffering and vibration damping capabilities and low noise, and ensures the accuracy of the delivery force detected by the torque sensor 3. Specifically, outer circumferential surfaces of the first and second transmission wheels 111 and 112 may be provided with external teeth, and an inner circumferential surface of the belt 114 may be provided with internal teeth that mesh with the external teeth. The synchronous belt structure 11 integrates the advantages of belt transmission, chain transmission and gear transmission, and has the advantages of accurate transmission ratio, no slip, stable transmission, vibration absorption and low noise. During the delivery process of the elongated medical device, the power is transmitted by the engagement of the internal teeth on the belt 114 and the external teeth of the transmission wheel, so that the accuracy of the delivery force detected by the torque sensor 3 and the stability during the delivery process of the elongated medical device are improved.
Further, referring to fig. 3, the timing belt structure 11 further includes a third transmission wheel 113, the third transmission wheel 113 is abutted against the belt 114, and the tightness of the belt 114 is adjusted by moving the third transmission wheel 113. Specifically, the outer circumferential surface of the third transmission wheel 113 is also provided with external teeth meshing with the belt 114. The tightness of the belt 114 is adjusted by the third drive wheel 113 to further improve the stability of the delivered force. For example, the third pulley 113 may be provided as a tension pulley, an outer peripheral surface of which abuts against an inner side surface of the belt 114, and when the tension of the belt 114 needs to be increased, the tension pulley moves in a direction away from the first pulley 111 and the second pulley 112; for example, the third transmission wheel 113 is a pinch roller, an outer peripheral surface of the pinch roller abuts against an outer side surface of the belt 114, and when it is necessary to increase the tension of the belt 114, the tension roller moves in a direction to approach the first transmission wheel 111 and the second transmission wheel 112.
Further, referring to fig. 1 and 3, the timing belt structure 11 further includes a bearing plate 116 and a moving frame 117, the first driving wheel 111 and the second driving wheel 112 are disposed between the bearing plate 116 and the mounting plate 115, the power input end of the first driving wheel 111 is connected to one end of the torque sensor 3, the third driving wheel 113 is disposed on the moving frame 117, the moving frame 117 is movably connected to the mounting plate 115, and the third driving wheel 113 is driven by the moving frame 117 to move so as to adjust the tension of the belt 114. Referring to fig. 3 and 4, specifically, a sliding groove 1151 for allowing the moving frame 117 to slide is formed at the bottom of the mounting plate 115, a connecting hole 1152 is formed in the sliding groove 1151, a waist-shaped hole 1171 is formed in a position of the moving frame 117 corresponding to the connecting hole 1152, and the moving frame 117 is fixed after passing through the waist-shaped hole 1171 and the connecting hole 1152 by a screw 1172. When the tightness of the belt 114 needs to be adjusted, the movable frame 117 is moved to a proper position where the relative positions of the waist-shaped hole 1171 and the connecting hole 1152 are changed, and the movable frame 117 is fixed after the screw 1172 passes through the waist-shaped hole 1171 and the connecting hole 1152. The tension of the belt 114 is adjusted in the above manner, so that the adjustment efficiency is improved and the stability of the fixed movable frame 117 is improved.
In one possible embodiment, referring to fig. 1, 4 and 5, the driving device 12 includes a frame 121, and a driving wheel set 122 and a driven wheel set 123 provided on the frame 121, the driving wheel set 122 and the driven wheel set 123 are correspondingly provided on both sides of the elongated medical device, and a power input end of the driving wheel set 122 is connected to a power output end of the power device 10. Further, the driving pulley set 122 includes a first driving pulley 1221 and a second driving pulley 1222, a power output end of the first driving pulley 111 is connected to a power input end of the first driving pulley 1221, a power output end of the second driving pulley 112 is connected to a power input end of the second driving pulley 1222, the driving assembly 2 drives the first driving pulley 111 to rotate so as to drive the first driving pulley 1221 to rotate, and the belt 114 drives the second driving pulley 112 to drive the second driving pulley 1222 to rotate. Since the first driving wheel 111, the second driving wheel 112 and the third driving wheel 113 are all wound around the same belt 114, the first driving wheel 1221 and the second driving wheel 1222 can be ensured to keep consistent delivery speed of the elongated medical device during delivery, and stability of delivery is provided.
Further, referring to fig. 4 and 5, the driving device 12 further includes a detection wheel 1223 disposed on the frame 121, the detection wheel 1223 is disposed adjacent to the driving wheel set 122, the detection wheel 1223 is connected to an encoder 1224, and when the elongated medical device drives the detection wheel 1223 to rotate, the encoder 1224 detects the delivery or retraction length of the elongated medical device. Specifically, the first driving wheel 1221 and the second driving wheel 1222 deliver the elongated medical device according to the delivery length L emitted from the main end, and the elongated medical device drives the detection wheel 1223 to rotate during the delivery process. The detection wheel 1223 detects the actual delivery length L of the elongated medical device via the encoder 1224, and the actual delivery length L is subtracted from the delivery length L from the primary end to obtain a compensation value, and the system compensates the delivery according to the compensation value.
In one possible embodiment, referring to fig. 3 and 5, one of the power input end of the driving device 12 and the power output end of the power device 10 is configured as a docking bay 120, and the other of the power input end of the driving device 12 and the power output end of the power device 10 is correspondingly configured as a docking head 118, wherein the docking head 118 is inserted into the docking bay 120 when the power output end of the power device 10 is connected to the power input end of the driving device 12. When the driving device 12 is detachably fastened to the power device 10, the power output end of the power device 10 and the power input end of the driving device 12 are guided by the matching of the curved surface of the docking slot 120 and the curved surface of the docking head 118. In the docking process, when the power output end of the power device 10 is misaligned with the power input end of the driving device 12, the outer contour of the docking head 118 is a curved surface, the outer contour of the entrance of the docking groove 120 is a curved surface, and the curved surfaces are abutted with each other, so that automatic guiding is realized. Therefore, in the butt joint process, even if certain errors exist, self-adaptive adjustment can be carried out, and the first butt joint piece and the second butt joint piece can be conveniently plugged. In this embodiment, the curved surfaces of the docking head 118 and the docking slot 120 are both convex curved surfaces. In addition, when the butt joint 118 is inserted into the butt joint groove 120, the outer contour of the entrance of the butt joint groove 120 is a curved surface, so that a fully-fitted contact surface between the butt joint 118 and the butt joint groove is changed into a non-fully-fitted contact surface, and the friction force is reduced.
The application further provides a method for detecting an acting force of an elongated medical device, which is applied to the force detection mechanism for delivering the elongated medical device in any one of the above-mentioned methods, and the method comprises the following steps:
s1, starting the driving component 2, and recording a first torque value of the delivery component 1 in real time by the torque sensor 3 when the delivery component 1 is in an unloaded state;
s2, when the delivery assembly 1 is provided with a long and thin medical device, the driving assembly 2 is started, and a second torsion value of the delivery assembly 1 is recorded in real time by the torque sensor 3 under the condition that the delivery assembly 1 is provided with the long and thin medical device;
and S3, calculating the resistance of the slender medical device in the delivery process based on the first torsion value and the second torsion value.
Specifically, in step S1, after the driving device 12 is installed, the system auto idle device records the reading of the torque sensor 3 at that time, and the program records the value, i.e., N Air conditioner . The reason for performing step S1 is that the idle rotation is required every time the driving device 12 is installed, because the idle rotation torque of each driving device 12 is not the same.
In the step S2, after the operator mounts the guide wire or the catheter on the delivery assembly 1, the driving assembly 2 is started, and during the process of delivering the elongated medical device by the delivery assembly 1, the torque sensor 3 records the second torque value N of the delivery assembly 1 in real time Side survey 。
In the step S3, the specific calculation steps are as follows: system automatic handle N Measuring Minus N Air conditioner A torque N resulting from the force of the delivery assembly 1 on the elongated medical device is available Carrier System handle N Carrier (C) The radius R of the driving wheel in the driving wheel set 122 is divided to obtain the acting force F of the real-time feedback mechanism on the slender medical device. Because the acting force F of the feedback mechanism on the slender medical device is equal to the resistance force of the slender medical device in the delivery process, the resistance force of the slender medical device in the delivery process can be obtained.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrases "comprising a," "8230," "8230," or "comprising" does not exclude the presence of another identical element in a process, apparatus, article, or method comprising the element.
The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (10)

1. A force detection mechanism for delivering an elongated medical device is applied to a slave end of an interventional operation robot, and is characterized by comprising a delivery assembly, a driving assembly and a torque sensor, wherein one end of the torque sensor is connected with a power output end of the driving assembly, the other end of the torque sensor is connected with a power input end of the delivery assembly, and when the driving assembly drives the delivery assembly to deliver the elongated medical device, the torque sensor detects the torsion change of the delivery assembly so as to detect the stress condition of the elongated medical device.
2. The force sensing mechanism for delivering an elongated medical device according to claim 1, wherein said drive assembly comprises a drive motor, said torque sensor is a dynamic torque sensor, a power output of said drive motor is connected to one end of said dynamic torque sensor, and another end of said dynamic torque sensor is connected to said delivery assembly.
3. The force sensing mechanism for delivering an elongated medical device according to claim 1, said delivery assembly comprising a power device and a drive device, a power input of said power device being connected to one end of said torque sensor, a power output of said power device being connected to a power input of said drive device.
4. The force detection mechanism according to claim 3, wherein the power device comprises a synchronous belt structure, the synchronous belt structure comprises a mounting plate, a first transmission wheel, a second transmission wheel and a belt, the first transmission wheel, the second transmission wheel and the belt are arranged on the mounting plate, the belt is wound on the first transmission wheel and the second transmission wheel, and a power input end of the first transmission wheel is connected with one end of the torque sensor.
5. The force detection mechanism for delivering an elongated medical device according to claim 4, said timing belt structure further comprising a third drive wheel in abutment with said belt, the tightness of said belt being adjusted by moving said third drive wheel.
6. The force detection mechanism for delivering an elongated medical device according to claim 4, wherein the driving device comprises a frame, a driving wheel set and a driven wheel set disposed on the frame, the driving wheel set and the driven wheel set are correspondingly disposed on two sides of the elongated medical device, and a power input end of the driving wheel set is connected to a power output end of the power device.
7. The force detection mechanism according to claim 6, wherein the driving wheel set comprises a first driving wheel and a second driving wheel, a power output end of the first driving wheel is connected to a power input end of the first driving wheel, a power output end of the second driving wheel is connected to a power input end of the second driving wheel, the driving assembly drives the first driving wheel to rotate so as to drive the first driving wheel to rotate, and the belt drives the second driving wheel to rotate so as to drive the second driving wheel to rotate.
8. The force sensing mechanism for delivering an elongated medical device according to claim 6, wherein the driving device further comprises a sensing wheel disposed on the frame, the sensing wheel being disposed adjacent to the set of driving wheels, the sensing wheel having an encoder coupled thereto, the encoder sensing the length of the elongated medical device as it rotates.
9. The force sensing mechanism for delivering an elongated medical device according to claim 3 wherein one of the power input of the driving means and the power output of the power means is configured as a docking bay and the other of the power input of the driving means and the power output of the power means is correspondingly configured as a docking head that is plugged into the docking bay when the power output of the power means is connected to the power input of the driving means.
10. A method for detecting an acting force of an elongated medical device, applied to the force detection mechanism for delivering an elongated medical device according to any one of claims 1-9, characterized in that:
starting the driving assembly, and recording a first torque value of the delivery assembly in real time by the torque sensor when the delivery assembly is in an unloaded state;
activating the driving assembly when the delivery assembly is provided with the elongated medical device, and recording a second torsion value of the delivery assembly in real time by the torque sensor under the condition that the delivery assembly is provided with the elongated medical device;
and calculating the magnitude of the resistance force borne by the slender medical device in the delivery process based on the first torsion value and the second torsion value.
CN202211250666.3A 2022-10-12 2022-10-12 Force detection mechanism for delivering elongated medical devices and force detection method thereof Pending CN115607289A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211250666.3A CN115607289A (en) 2022-10-12 2022-10-12 Force detection mechanism for delivering elongated medical devices and force detection method thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211250666.3A CN115607289A (en) 2022-10-12 2022-10-12 Force detection mechanism for delivering elongated medical devices and force detection method thereof

Publications (1)

Publication Number Publication Date
CN115607289A true CN115607289A (en) 2023-01-17

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Application Number Title Priority Date Filing Date
CN202211250666.3A Pending CN115607289A (en) 2022-10-12 2022-10-12 Force detection mechanism for delivering elongated medical devices and force detection method thereof

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