CN116019560A - Operating handle mechanism for endovascular interventional surgical robot - Google Patents

Abstract

The invention provides an operation handle mechanism for an intravascular interventional surgical robot, which comprises a base, a clamping mechanism, a rotating mechanism and a driving and reversing mechanism, wherein the clamping mechanism is arranged on the base, has a clamping state and a non-clamping state and can guide the surgical robot to perform matched clamping and non-clamping action switching; the rotating mechanism is arranged on the clamping mechanism, and the rotating signals acquired when the rotating mechanism is operated can guide the surgical robot to perform matched rotating actions; the driving and reversing mechanism moves forward and backward along with the clamping mechanism, can transmit the obtained driving and reversing signals to guide the surgical robot to perform matched actions, receives resistance signals in the forward or backward movement of the surgical robot and acts on the driving and reversing mechanism with matched damping.

Description

Operating handle mechanism for endovascular interventional surgical robot

Technical Field

The invention relates to the technical field of endovascular intervention surgical robots, in particular to an operating handle mechanism for an endovascular intervention surgical robot.

Background

With the rising of vascular interventional therapy in China in recent years, a plurality of emerging subjects including cardiovascular interventional therapy, cerebrovascular interventional therapy, vascular surgery, interventional radiology and the like are formed. Due to the continual progress in vascular interventional therapy technology and the continual emergence and application of various endoluminal devices, many lesions that could not otherwise be treated by vascular interventional therapy have benefited from this minimally invasive therapy, and the safety, effectiveness and long-term efficacy of vascular interventional therapy have continually improved. However, current vascular interventions have their limitations.

During vascular interventions, doctors need to complete surgery with the aid of X-ray based Digital Silhouette Angiography (DSA) guidance, and although they are equipped with lead-containing protective clothing, they still cannot protect their upper limbs and head from X-rays; due to the complexity of vascular interventional therapy, the operation of long-time exposure to the X-ray environment is often needed, and the accumulated radiation quantity of doctors is large; moreover, the heavy lead-containing protective clothing is worn for a long time, so that the pressure load of the spine is increased, and a plurality of reports show that the incidence rate of thyroid cancer, radioactive lens injury, lumbar vertebra disease and the like of vascular intervention doctors is obviously higher than that of doctors in other subjects. Medical staff working on the endovascular treatment operation nationwide, about 70 ten thousand people, perform the endovascular treatment more than ten million times per year nationwide, and the occupational injury related to X-rays has become an unavoidable problem, which seriously threatens the health condition of doctors and the long-term development of vascular interventional therapeutics.

Most of the existing operating handle mechanisms for vascular endoluminal interventional surgical robots are usually rocker mechanisms, which have the disadvantages that: 1. the habit of a user needs to be changed when the guide wire is fed and retracted, the habit is realized by the back-and-forth swing of the rocker, and the guide wire is in a speed mode without the hand feeling of the guide wire; 2. the habit of a user needs to be changed when the guide wire guide tube is rotated, and the rotating operation mechanism is arranged on the rocker and is in a speed mode, so that the hand feeling of the guide wire guide tube is not changed; 3. the habit of the user is required to be changed when the guide wire guide tube is clamped, the guide wire guide tube is realized through a key, and the guide wire guide tube is also arranged on a rocker, so that the hand feeling of the guide wire guide tube is not rotated.

Patent document CN107049499B discloses a teleoperated vascular interventional operation robot system and method, comprising a hoisting part, a proximal operation part and a distal operation part, wherein: the near-end operation part is arranged on the hoisting part; the distal end operation part is used for driving the proximal end operation part; the proximal operation portion is movable or rotatable in a three-dimensional space. As further disclosed in patent document CN107184274B, a vascular interventional operation robot operating handle with hand feeling and a control method thereof are disclosed, comprising an operating device, a force loading mechanism and a moment loading mechanism which are arranged on a frame; the operating device sends out an operating command for rotating and/or pushing and pulling the catheter guide wire; the force loading mechanism feeds back push-pull resistance applied when the catheter guide wire is pushed and pulled to the operating device; the moment loading mechanism feeds back the resistance moment received by the rotating catheter guide wire to the operating device; the push-pull resistance is generated by elastic force formed between the force loading mechanism and one end of the handle of the operating device; the resistive torque is generated by a frictional force formed between the torque loading mechanism and the operating device. As another example, patent document CN109199588A discloses an electromagnetic damping precession force feedback operating handle for vascular intervention, which is characterized by comprising an operating rod (8), a frame (22), and any one or more mechanisms of a push-pull force feedback mechanism, a rotation moment feedback mechanism, a rotation movement measuring mechanism and a non-contact reset mechanism which are arranged on the operating rod (8); the operating handle (8) is supported on the frame (22) through a left linear bearing (9) and a right linear bearing (17), and the operating rod (8) is made of ferromagnetic materials. The prior art needs to change the habit of doctors, can not simulate the sense of reality of operation, and has poor practicability.

Disclosure of Invention

In view of the drawbacks of the prior art, an object of the present invention is to provide an operating handle mechanism for a vascular endoluminal interventional surgical robot.

According to the present invention, there is provided an operation handle mechanism for a vascular endoluminal interventional surgical robot, comprising:

the base is used for bearing;

the clamping mechanism is arranged on the base, has a clamping state and a non-clamping state, and can guide the surgical robot to perform matched action switching between clamping and non-clamping through signal transmission;

the rotating mechanism is arranged on the clamping mechanism, and the rotating signals acquired when the rotating mechanism is operated can transmit and guide the surgical robot to perform matched rotating actions;

the driving and reversing mechanism moves forward and backward along with the clamping mechanism, can transmit the obtained driving and reversing signals to guide the surgical robot to perform matched actions, receives resistance signals during the forward or backward movement of the surgical robot, and acts on the driving and reversing mechanism with matched damping action so as to enable the driving and reversing of the clamping mechanism to generate matched resistance.

Preferably, the base includes a base housing, on which an operation key is provided, the operation key having an open state and a closed state, wherein:

when in an open state, the surgical robot performs a clamping action;

in the closed state, the manual robot receives and executes the signal transmitted by the clamping mechanism.

Preferably, the clamping mechanism comprises a forward and backward direction guide rail, a forward and backward direction guide rail sliding table, a first clamping plate, a second clamping plate, a clamping direction guide rail sliding table, a clamping mechanism supporting seat and a signal acquisition structure;

the clamping mechanism comprises a base, a clamping mechanism supporting seat, a base, a driving and reversing direction guide rail sliding table, a clamping mechanism supporting seat and a clamping mechanism supporting seat, wherein the driving and reversing direction guide rail is arranged on the base;

the clamping direction guide rail sliding table is slidably arranged on the clamping direction guide rail, wherein the second clamping plate is fixedly arranged at one end of the clamping direction guide rail sliding table, the first clamping plate is slidably arranged at the other end of the clamping direction guide rail sliding table, and the advancing and retreating direction is perpendicular to the clamping direction;

when the first clamping plate and/or the second clamping plate are/is forced to move in the advancing and retreating direction, the advancing and retreating direction guide rail sliding table can be driven to slide on the advancing and retreating direction guide rail, when the first clamping plate is forced to move close to or far away from the second clamping plate in the clamping direction, the signal acquisition structure can acquire clamping state signals or non-clamping state signals and transmit the signals to the surgical robot.

Preferably, the signal acquisition structure comprises a clamping sensor and a clamping sensor trigger piece;

the clamping sensor is arranged on the clamping mechanism supporting seat, the clamping sensor trigger piece is arranged on the first clamping plate, and when the first clamping plate can move close to or far away from the second clamping plate, the clamping sensor trigger piece moves close to or far away from the clamping sensor, so that the sensing signal can be triggered.

Preferably, a return spring is arranged between the first clamping plate and the second clamping plate, and the return spring is always in a stretched state.

Preferably, the clamping mechanism further comprises a first baffle and a second baffle, the first baffle is arranged at one end of the clamping mechanism supporting seat and used for limiting the movement stroke of the first clamping plate, and the second baffle is arranged at the other end of the clamping mechanism supporting seat and used for limiting the movement stroke of the second clamping plate.

Preferably, the rotating mechanism comprises a first rotating sensor, a rotating sensor supporting seat, a main knob and an auxiliary knob;

the rotary type rotary clamping device is characterized in that a first operation space is formed in the first clamping plate, a second operation space is formed in the second clamping plate, the auxiliary knob is rotatably arranged in the first operation space, the main knob is rotatably arranged in the second operation space, the first rotary sensor is arranged outside the second clamping plate through a rotary sensor supporting seat, and the first rotary sensor can be driven to rotate when the main knob rotates, wherein the main knob and the auxiliary knob are respectively arranged on one side opposite to the second clamping plate and the first clamping plate.

Preferably, the rotation mechanism comprises an auxiliary knob central shaft, a first bearing and a second bearing, and the first rotation sensor comprises a first sensor wheel body and a first sensor wheel shaft;

the auxiliary knob is sleeved on the auxiliary knob central shaft, and both ends of the auxiliary knob central shaft are mounted on the first clamping plate through first bearings;

one end of the main knob is arranged on the second clamping plate through the second bearing, the other end of the main knob penetrates through the side wall of the second clamping plate and is fixedly connected with the first sensor wheel shaft, and the first sensor wheel body is sleeved outside the first sensor wheel shaft.

Preferably, the advancing and retreating mechanism comprises a first bracket, a second rotary sensor, a rotary sensor supporting seat, a damping motor supporting seat, 4 synchronous wheels, a synchronous belt and a second bracket;

the first bracket and the second bracket are respectively arranged on the base and are positioned on two sides of the first clamping plate and the second clamping plate;

the four synchronous wheels are respectively arranged on the upper part of the first bracket, the lower part of the first bracket, the upper part of the second bracket and the lower part of the second bracket, the synchronous belts are sequentially sleeved on the four synchronous wheels to form a closed annular structure, the second rotary sensor is arranged on the first bracket through a rotary sensor supporting seat and connected with one synchronous wheel, the damping motor is arranged on the second bracket through a damping motor supporting seat and connected with the other synchronous wheel, the opposite sides of the first clamping plate and the second clamping plate are respectively provided with a first tooth-shaped structure, the two sides of the synchronous wheels are respectively provided with a second tooth-shaped structure, and the first tooth-shaped structure is matched with the second tooth-shaped structure;

when the first clamping plate and the second clamping plate are in a clamping state, the first tooth-shaped structure is in contact engagement with the second tooth-shaped structure, and when the first clamping plate and the second clamping plate are driven to move towards the advancing and retreating direction at the same time, the synchronous belt can be driven to rotate around 4 synchronous wheels, so that the second rotary sensor and the damping motor can be driven to move;

the second rotary sensor and the damping motor are respectively connected with the surgical robot through signals.

Preferably, the advancing and retreating mechanism comprises 6 bearing pressing plates, 2 first synchronous wheel supporting shafts, 8 third bearings and 2 second synchronous wheel supporting shafts;

two ends of a first synchronous wheel supporting shaft are respectively arranged at the upper part of the first bracket through two third bearings, the two third bearings are respectively positioned through a sensor supporting seat and a bearing pressing plate which are arranged on the first bracket, and the first synchronous wheel is sleeved on the first synchronous wheel supporting shaft;

two ends of a first synchronous wheel supporting shaft and a second synchronous wheel supporting shaft are respectively arranged at the lower part of the first bracket through two third bearings, the two third bearings are respectively positioned through 2 bearing pressing plates arranged on the first bracket, and the second synchronous wheel is sleeved on the first synchronous wheel supporting shaft and the second synchronous wheel supporting shaft;

two ends of the second first synchronous wheel supporting shaft are respectively arranged at the upper part of the second bracket through two third bearings, the two third bearings are respectively positioned through a damping motor supporting seat and a bearing pressing plate which are arranged on the second bracket, and the third synchronous wheel is sleeved on the second first synchronous wheel supporting shaft;

two ends of a second synchronous wheel supporting shaft are respectively arranged at the lower part of the second bracket through two third bearings, the two third bearings are respectively positioned through two bearing pressing plates arranged on the second bracket, and a fourth synchronous wheel is sleeved on the second synchronous wheel supporting shaft.

Compared with the prior art, the invention has the following beneficial effects:

1. according to the invention, the habit of operating the wire guide pipe is not changed, the actions of clamping, twisting and advancing and retreating the wire guide pipe by hands are completely simulated, the infinite advancing and retreating of the wire guide pipe is realized in operation through the characteristic of cyclic reciprocation of the synchronous wheel synchronous belt mechanism, the advancing and retreating distance of the synchronous belt can be simulated in equal proportion or proportion, and the misoperation caused by the original habit can be effectively avoided.

2. According to the invention, the damping motor is arranged to feed back the force feedback of the execution hand end to the handle in real time, so that the hand feeling of operation can be still felt during remote or remote operation, and the experience is good.

3. The invention is provided with the operation keys with priority, which corresponds to the clinical requirement of always clamping the guide wire catheter, so that the fatigue caused by finger compression can be reduced by increasing the operation keys, and simultaneously, the clamping mechanism realizes clamping and loosening movements when the operation keys are not used, namely, the finger clamping and loosening of the main knob and the auxiliary knob corresponds to the execution of hand clamping and loosening in real time, and the invention has good experience and strong practicability.

Drawings

Other features, objects and advantages of the present invention will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

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

FIG. 2 is a schematic diagram of the arrangement of the clamping mechanism, the rotating mechanism, and the advancing and retreating mechanism;

FIG. 3 is a schematic structural view of a cover plate;

FIG. 4 is a schematic view of the structure of the base housing and the operation keys;

FIG. 5 is a schematic view of a clamping mechanism;

FIG. 6 is a schematic perspective view of a rotation mechanism;

FIG. 7 is a schematic cross-sectional view of a rotation mechanism;

fig. 8 is a schematic view of the structure in which the advancing and retreating mechanism is arranged on the base;

fig. 9 is a schematic perspective view of the advancing and retreating mechanism;

FIG. 10 is a schematic top view of an embodiment of an advancing and retreating mechanism;

FIG. 11 is a schematic view in section A-A of FIG. 10

FIG. 12 is a schematic view in section taken from C-C of FIG. 10;

fig. 13 is a schematic structural view of an arrangement of two clamping plates and a timing belt.

The figure shows:

base housing 1 damping motor 24

Cover plate 2 damping motor supporting seat 25

Operating key 3 synchronizing wheel 26

Synchronous belt 27 of forward and backward direction guide rail 4

Bearing pressing plate 28 of advance and retreat direction guide rail sliding table 5

First synchronizing wheel support shaft 29 of clamp sensor 6

Third bearing 30 holding sensor trigger piece 7

The first clamping plate 8 and the second synchronous wheel supporting shaft 31

Reset spring 9 second bearing 32

Second clamping plate 10 first sensor wheel 33

First sensor axle 34 of clamping direction guide 11

Second baffle 35 of clamping direction guide rail sliding table 12

Second bracket 36 of clamping mechanism supporting seat 13

First baffle 14 second sensor wheel 37

First rotary sensor 15 second sensor hub 38

First tooth structure 39 of rotary sensor support base 16

Second tooth formation 40 of main knob 17

Auxiliary knob 18

Auxiliary knob central shaft 19 base 100

First bearing 20 clamping mechanism 200

First bracket 21 rotation mechanism 300

Second rotation sensor 22 advancing and retreating mechanism 400

Rotation sensor support base 23

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present invention.

Example 1:

the invention provides an operation handle mechanism for a vascular cavity interventional operation robot, which is shown in fig. 1 and 2, and comprises a base 100, a clamping mechanism 200, a rotating mechanism 300 and a driving and reversing mechanism 400, wherein the base 100 is used for bearing and is used as a supporting structure; the clamping mechanism 200 is mounted on the base 100, has a clamping state and a non-clamping state, can conduct signal transmission to guide the surgical robot to conduct matched clamping and non-clamping action switching, and has a structure suitable for human hand simulation field operation, and the structure can enable a doctor to remotely or remotely realize surgical operation of the surgical robot without changing habit of operating the guide wire catheter; the rotating mechanism 300 is arranged on the clamping mechanism 200, and when the rotating mechanism 300 is operated, a rotating signal acquired by the rotating mechanism 300 can be transmitted to the surgical robot and guide the surgical robot to perform a matched rotating action so as to realize that the action of the surgical robot is completed to rotate the guide wire guide tube; when the clamping mechanism 200 moves in the advancing and retreating direction, the advancing and retreating mechanism 400 can follow the advancing and retreating action of the clamping mechanism 200 under the driving of the clamping mechanism 200, the advancing and retreating mechanism 400 can acquire advancing and retreating signals and transmit the acquired advancing and retreating signals to the surgical robot to guide the surgical robot to perform matched actions, meanwhile, the advancing and retreating mechanism 400 receives resistance signals in the advancing or retreating process of the surgical robot and acts on the advancing and retreating mechanism 400 with matched damping action so that matched resistance is generated for advancing and retreating of the clamping mechanism 200, the resistance can be fed back to the handle, and a doctor operating remotely can feel the hand feeling of field operation.

Specifically, the base 100 includes a base housing 1, as shown in fig. 4, an operation key 3 and an indicator lamp matched with the operation key 3 are provided on the base housing 1, the operation key 3 has an on state and an off state, and when in the on state, the indicator lamp is turned on, and the surgical robot receives an execution signal transmitted by the operation key 3 and executes a clamping action.

It should be noted that, in the present invention, the operation key 3 has a first priority of execution, and when the operation key 3 is in an open state, the execution command of the operation key 3 is executed first; when the operation key 3 is in the closed state, the manual robot receives and executes the signal transmitted by the gripping mechanism 200, and the gripping mechanism 200 has the second priority.

Example 2:

this embodiment is a preferable example of embodiment 1.

In this embodiment, the base 100 has a cover plate 2, as shown in fig. 3, the cover plate 2 is detachably mounted on the base housing 1, the cover plate 2 plays a role in protection, when the operating handle mechanism is not used, the cover plate 2 can be covered for storage, dust is prevented from entering, when the operating handle mechanism is specifically set, the cover plate 2 can be set to be in a detachable structure, and the end part of the cover plate 2 can also be set to be in a structure rotatably hinged with the base housing 1, so that the operation is simple.

As shown in fig. 5, the clamping mechanism 200 includes a forward and backward direction rail 4, a forward and backward direction rail sliding table 5, a first clamping plate 8, a second clamping plate 10, a clamping direction rail 11, a clamping direction rail sliding table 12, a clamping mechanism supporting seat 13, and a signal collecting structure, the forward and backward direction rail 4 is mounted on the base 100, specifically, the forward and backward direction rail 4 is fixed on the base housing 1, the forward and backward direction rail sliding table 5 is matched with the forward and backward direction rail 4, the forward and backward direction rail sliding table 5 is slidably mounted on the forward and backward direction rail 4, the lower portion of the clamping mechanism supporting seat 13 is fixedly mounted on the forward and backward direction rail sliding table 5 through bolts, and the clamping direction rail 11 is mounted on the upper portion of the clamping mechanism supporting seat 13.

Further, the clamping direction guide rail sliding table 12 is slidably mounted on the clamping direction guide rail 11, wherein the second clamping plate 10 is fixedly mounted at one end of the clamping direction guide rail sliding table 12, the first clamping plate 8 is slidably mounted at the other end of the clamping direction guide rail sliding table 12, and the advancing and retreating direction is perpendicular to the clamping direction.

In actual operation, when the clamping mechanism 200 is in the clamping state, the forward and backward direction guide rail sliding table 5 can be driven to slide on the forward and backward direction guide rail 4 when the first clamping plate 8 and/or the second clamping plate 10 are applied in the forward and backward direction, when the first clamping plate 8 is applied in the clamping direction, the first clamping plate 8 can move close to or away from the second clamping plate 10, the signal acquisition structure can acquire a clamping state signal or a non-clamping state signal and transmit the signal to the surgical robot, when the signal acquired by the signal acquisition structure is the clamping state signal, the clamping state signal is transmitted to the surgical robot, the operation of clamping the guide wire catheter is performed after the surgical robot receives the clamping state signal, and the operation of loosening the guide wire catheter is performed after the surgical robot receives the non-clamping state signal.

In this embodiment, the signal acquisition structure includes a clamp sensor 6 and a clamp sensor trigger piece 7, the clamp sensor 6 is mounted on a clamp mechanism supporting seat 13, the clamp sensor 6 is preferably a photoelectric sensor, the clamp sensor 6 has a photoelectric sensing groove, the clamp sensor trigger piece 7 is mounted on the first clamp plate 8, when the first clamp plate 8 can move close to or far from the second clamp plate 10, the clamp sensor trigger piece 7 moves close to or far from the clamp sensor 6, when the clamp sensor trigger piece 7 moves into the photoelectric sensing groove, the photoelectric sensor obtains a signal that the first clamp plate 8 moves to a clamping state and transmits the signal to the surgical robot, and the surgical robot performs a clamping action on the guide wire catheter; when the clamp sensor trigger piece 7 moves from the photoelectric sensing groove to the outside, the photoelectric sensor 6 detects a signal that the first clamp plate 8 is in the unclamped state and transmits the signal to the surgical robot, and the surgical robot performs the unclamping action of the guide wire catheter.

In this embodiment, a return spring 9 is disposed between the first clamping plate 8 and the second clamping plate 10, where the return spring 9 is always in a stretched state, that is, under the action of the return spring 9, the first clamping plate 8 and the second clamping plate 10 have elastic forces that approach each other, so that an operator can use smaller force to clamp the first clamping plate 8 and the second clamping plate 10.

As shown in fig. 5, the clamping mechanism 200 further includes a first baffle 14 and a second baffle 35, the first baffle 14 is mounted at one end of the clamping mechanism support seat 13 for limiting the movement stroke of the first clamping plate 8, and the second baffle 35 is mounted at the other end of the clamping mechanism support seat 13 for limiting the movement stroke of the second clamping plate 10, so that the first clamping plate 8 and the second clamping plate 10 can only move in the area between the first baffle 14 and the second baffle 35 under the limitation of the two baffles.

As shown in fig. 6, the rotation mechanism 300 includes a first rotation sensor 15, a rotation sensor support seat 16, a main knob 17, and an auxiliary knob 18, a first operation space is provided on the first clamping plate 8, a second operation space is provided on the second clamping plate 10, the auxiliary knob 18 is rotatably installed in the first operation space, the main knob 17 is rotatably installed in the second operation space, the first operation space and the second operation space are both sized to allow a hand to penetrate into the interior to operate the main knob 17 and the auxiliary knob 18, the first rotation sensor 15 is installed outside the second clamping plate 10 through the rotation sensor support seat 16, and when the main knob 17 is rotated, the first rotation sensor 15 can rotate, the first rotation sensor 15 detects the rotation angle of the main knob 17 and transmits the obtained detection signal to the surgical robot, so that the surgical robot also performs a corresponding rotation action. The main knob 17 and the auxiliary knob 18 are respectively mounted on opposite sides of the second clamping plate 10 and the first clamping plate 8 to facilitate the operations of the index finger and the thumb of the hand.

Specifically, as shown in fig. 7, the rotation mechanism 300 includes an auxiliary knob central shaft 19, a first bearing 20 and a second bearing 32, the first rotation sensor 15 includes a first sensor wheel body 33 and a first sensor wheel shaft 34, the auxiliary knob 18 is sleeved on the auxiliary knob central shaft 19, both ends of the auxiliary knob central shaft 19 are mounted on the first clamping plate 8 through the first bearing 20, one end of the main knob 17 is mounted on the second clamping plate 10 through the second bearing 32, the other end of the main knob 17 passes through the side wall of the second clamping plate 10 and is fixedly connected with the first sensor wheel shaft 34, and the first sensor wheel body 33 is sleeved outside the first sensor wheel shaft 34.

As shown in fig. 8 and 9, the advancing and retreating mechanism 400 includes a first bracket 21, a second rotation sensor 22, a rotation sensor support seat 23, a damper motor 24, a damper motor support seat 25, 4 synchronizing wheels 26, a synchronous belt 27, and a second bracket 36, and the first bracket 21 and the second bracket 36 are respectively mounted on the base 100 and are located on both sides of the first clamping plate 8 and the second clamping plate 10.

Further, as shown in fig. 9 and 10, the 4 synchronizing wheels 26 are respectively mounted on the upper part of the first bracket 21, the lower part of the first bracket 21, the upper part of the second bracket 36 and the lower part of the second bracket 36, the synchronous belt 27 is sequentially sleeved on the 4 synchronizing wheels 26 and forms a closed annular structure, the second rotary sensor 22 is mounted on the first bracket 21 through the rotary sensor support seat 23 and is connected with one synchronizing wheel 26, specifically, the second rotary sensor 22 comprises a second sensor wheel body 37 and a second sensor wheel shaft 38, the second sensor wheel shaft 38 is connected with the first synchronizing wheel support shaft 29, and the second sensor wheel body 37 is sleeved outside the second sensor wheel shaft 38. The damping motor 24 is installed on the second bracket 36 through the damping motor supporting seat 25 and is connected with the other synchronous wheel 26, the opposite sides of the first clamping plate 8 and the second clamping plate 10 are respectively provided with a first tooth-shaped structure 39, the two sides of the synchronous wheel 26 are respectively provided with a second tooth-shaped structure 40, as shown in fig. 13, the first tooth-shaped structures 39 are matched with the second tooth-shaped structures 40, when the first clamping plate 8 and the second clamping plate 10 are in a clamping state, the first tooth-shaped structures 39 are in contact engagement with the second tooth-shaped structures 40 to drive the first clamping plate 8 and the second clamping plate 10 to move towards the advancing and retreating directions simultaneously, and the synchronous belt 27 can be driven to rotate around the 4 synchronous wheels 26 so as to drive the second rotary sensor 22 and the damping motor 24 to move.

Further, the second rotation sensor 22 and the damper motor 24 are respectively connected with the surgical robot signal. The synchronous belt 27 realizes the cyclic reciprocating motion through the synchronous wheels 26 at the two ends, the rotation data of the first synchronous wheel supporting shaft 29 can be obtained through the second rotation sensor 22 and then transmitted to the operation robot, the operation robot further executes the forward or backward motion corresponding to the rotation data, the force feedback signal of the execution hand end can be transmitted to the damping motor 24 in real time, the damping force generated by the damping motor 24 directly acts on the synchronous wheels 26, and therefore, when an operator moves the synchronous belt 27 forwards or backwards, the feedback force of the execution hand end can be felt in real time, and the hand feeling is more real.

In the present embodiment, as shown in fig. 9, 10, 11, and 12, the advancing and retreating mechanism 400 includes 6 bearing pressing plates 28, 2 first synchronizing wheel support shafts 29, 8 third bearings 30, and 2 second synchronizing wheel support shafts 31.

Both ends of the first synchronizing wheel supporting shaft 29 are mounted on the upper portion of the first bracket 21 through two third bearings 30, and the two third bearings 30 are respectively positioned through a sensor supporting seat 23 and a bearing pressing plate 28 mounted on the first bracket 21, and the first synchronizing wheel 26 is sleeved on the first synchronizing wheel supporting shaft 29.

Both ends of the first second synchronizing wheel supporting shaft 31 are mounted on the lower portion of the first bracket 21 through two third bearings 30, the two third bearings 30 are respectively positioned through 2 bearing pressing plates 28 mounted on the first bracket 21, and the second synchronizing wheel 26 is sleeved on the first second synchronizing wheel supporting shaft 31.

Both ends of the second first synchronizing wheel supporting shaft 29 are mounted on the upper portion of the second bracket 36 through two third bearings 30, the two third bearings 30 are respectively positioned through a damping motor supporting seat 25 and a bearing pressing plate 28 mounted on the second bracket 36, and the third synchronizing wheel 26 is sleeved on the second first synchronizing wheel supporting shaft 29.

Both ends of the second synchronizing wheel supporting shaft 31 are mounted at the lower part of the second bracket 36 through two third bearings 30, the two third bearings 30 are respectively positioned through 2 bearing pressing plates 28 mounted on the second bracket 36, and the fourth synchronizing wheel 26 is sleeved on the second synchronizing wheel supporting shaft 31.

The working principle of the invention is as follows:

the thumb and the index finger are respectively pressed on the main knob 17 and the auxiliary knob 18, and as the tooth-shaped structures matched with the synchronous belt 27 are arranged on the second clamping plate 10, the main knob 17 and the auxiliary knob 18 are pressed with force, the tooth-shaped structures on the second clamping plate 10 are mutually nested with the teeth on the synchronous belt 27, meanwhile, the clamping sensor triggering baffle 7 triggers the clamping sensor 6, the clamping sensor 6 transmits signals to the executing hand end of the surgical robot, and the surgical robot starts to execute the hand clamping guide wire catheter.

The thumb and the index finger rub the main knob 17 and the auxiliary knob 18 up and down, and the rotation of the main knob 17 drives the rotation of the first sensor wheel shaft 34 on the first rotary sensor 15, so that the first rotary sensor 15 transmits the rotating data to the surgical robot and the surgical robot controls the hand-end action; the thumb and forefinger press the main knob 17 and the auxiliary knob 18 together with the first clamping plate 8 and the second clamping plate 10, so that the first tooth-shaped structure 39 on the second clamping plate 10 and the second tooth-shaped structure 40 on the synchronous belt 27 are mutually nested, and thus the synchronous belt 27 can be driven to move forwards or backwards by hands, the synchronous wheel 26 drives the two synchronous wheel supporting shafts to rotate, and thus the central shaft second sensor wheel body 37 on the second rotary sensor 22 is driven to rotate, the second rotary sensor 22 transmits data to the executing hand, meanwhile, the force feedback signal of the executing hand is transmitted to the damping motor 24 in real time, and the damping force generated by the damping motor 24 directly acts on the synchronous wheel 26, so that the feedback force of the executing hand can be felt in real time when an operator moves the synchronous belt 27 forwards or backwards.

When the clamping mechanism 200 and the operation key 3 are used, the clamping mechanism 200 performs clamping and loosening movements, namely, the clamping and loosening of fingers by the main knob 17 and the auxiliary knob 18 correspond to the clamping and loosening of the hand end in real time, and the requirement of clamping the guide wire guide tube all the time clinically exists, so that the fatigue brought by the pressing of fingers can be reduced by increasing the operation key 3.

In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.

The foregoing describes specific embodiments of the present invention. It is to be understood that the invention is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the invention. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.

Claims (10)

1. An operating handle mechanism for a vascular endoluminal interventional surgical robot, comprising:

a base (100) for carrying;

the clamping mechanism (200) is arranged on the base (100), has a clamping state and a non-clamping state, and can guide the surgical robot to perform matched action switching between clamping and non-clamping through signal transmission;

the rotating mechanism (300) is arranged on the clamping mechanism (200), and the rotating signals acquired when the rotating mechanism (300) is operated can transmit and guide the surgical robot to perform matched rotating actions;

and an advancing and retreating mechanism (400) which follows the advancing and retreating movement of the clamping mechanism (200) and can transmit the obtained advancing and retreating signals to guide the surgical robot to perform matched movement, and receives the resistance signals during the advancing or retreating of the surgical robot and acts on the advancing and retreating mechanism (400) with matched damping so as to generate matched resistance for the advancing and retreating of the clamping mechanism (200).

2. Operating handle mechanism for a vascular endoluminal interventional surgical robot according to claim 1, characterized in that the base (100) comprises a base housing (1), an operating key (3) is provided on the base housing (1), the operating key (3) having an open state and a closed state, wherein:

when in an open state, the surgical robot performs a clamping action;

in the closed state, the manual robot receives and executes the signal transmitted by the clamping mechanism (200).

3. The operating handle mechanism for an endovascular interventional procedure robot according to claim 1, wherein the clamping mechanism (200) comprises an advancing and retreating direction guide rail (4), an advancing and retreating direction guide rail sliding table (5), a first clamping plate (8), a second clamping plate (10), a clamping direction guide rail (11), a clamping direction guide rail sliding table (12), a clamping mechanism support seat (13), and a signal acquisition structure;

the clamping mechanism comprises a base (100), a driving and reversing direction guide rail (4), a driving and reversing direction guide rail sliding table (5), a clamping mechanism supporting seat (13), a clamping mechanism supporting seat (11) and a clamping mechanism supporting seat (13), wherein the driving and reversing direction guide rail (5) is arranged on the base (100), the driving and reversing direction guide rail sliding table (5) is slidably arranged on the driving and reversing direction guide rail (4), and the lower part of the clamping mechanism supporting seat (13) is arranged on the driving and reversing direction guide rail sliding table (5);

the clamping direction guide rail sliding table (12) is slidably arranged on the clamping direction guide rail (11), wherein the second clamping plate (10) is fixedly arranged at one end of the clamping direction guide rail sliding table (12), the first clamping plate (8) is slidably arranged at the other end of the clamping direction guide rail sliding table (12), and the advancing and retreating direction is perpendicular to the clamping direction;

when force is applied to the first clamping plate (8) and/or the second clamping plate (10) in the advancing and retreating direction, the advancing and retreating direction guide rail sliding table (5) can be driven to slide on the advancing and retreating direction guide rail (4), when force is applied to the first clamping plate (8) in the clamping direction, the first clamping plate (8) can move close to or away from the second clamping plate (10), and the signal acquisition structure can acquire clamping state signals or non-clamping state signals and transmit the signals to the surgical robot.

4. Operating handle mechanism for a vascular endoluminal interventional surgical robot according to claim 3, characterized in that the signal acquisition structure comprises a grip sensor (6) and a grip sensor trigger piece (7);

the clamping sensor (6) is arranged on the clamping mechanism supporting seat (13), the clamping sensor trigger piece (7) is arranged on the first clamping plate (8), and when the first clamping plate (8) can move close to or far away from the second clamping plate (10), the clamping sensor trigger piece (7) moves close to or far away from the clamping sensor (6) so as to trigger an induction signal.

5. Operating handle mechanism for an endovascular interventional procedure robot according to claim 3, characterized in that a return spring (9) is arranged between the first clamping plate (8) and the second clamping plate (10), the return spring (9) being always in tension.

6. An operating handle mechanism for an endovascular interventional procedure robot according to claim 3, wherein the clamping mechanism (200) further comprises a first baffle (14) and a second baffle (35), the first baffle (14) is mounted at one end of the clamping mechanism support (13) for limiting the movement stroke of the first clamping plate (8), and the second baffle (35) is mounted at the other end of the clamping mechanism support (13) for limiting the movement stroke of the second clamping plate (10).

7. Operating handle mechanism for a vascular endoluminal interventional surgical robot according to claim 3, characterized in that the rotation mechanism (300) comprises a first rotation sensor (15), a rotation sensor support (16), a main knob (17) and an auxiliary knob (18);

the novel rotary clamping device is characterized in that a first operation space is formed in the first clamping plate (8), a second operation space is formed in the second clamping plate (10), the auxiliary knob (18) is rotatably arranged in the first operation space, the main knob (17) is rotatably arranged in the second operation space, the first rotary sensor (15) is arranged outside the second clamping plate (10) through the rotary sensor supporting seat (16), and the first rotary sensor (15) can be driven to rotate when the main knob (17) rotates, wherein the main knob (17) and the auxiliary knob (18) are respectively arranged on one side, opposite to the second clamping plate (10) and the first clamping plate (8).

8. The operating handle mechanism for an endovascular interventional procedure robot according to claim 7, wherein the rotation mechanism (300) comprises an auxiliary knob central shaft (19), a first bearing (20) and a second bearing (32), the first rotation sensor (15) comprising a first sensor wheel body (33) and a first sensor wheel axle (34);

the auxiliary knob (18) is sleeved on the auxiliary knob central shaft (19), and two ends of the auxiliary knob central shaft (19) are mounted on the first clamping plate (8) through first bearings (20);

one end of the main knob (17) is arranged on the second clamping plate (10) through the second bearing (32), the other end of the main knob (17) penetrates through the side wall of the second clamping plate (10) to be fixedly connected with the first sensor wheel shaft (34), and the first sensor wheel body (33) is sleeved outside the first sensor wheel shaft (34).

9. The operating handle mechanism for a vascular endoluminal interventional surgical robot according to claim 3, wherein the advancing and retreating mechanism (400) comprises a first bracket (21), a second rotation sensor (22), a rotation sensor support (23), a damping motor (24), a damping motor support (25), 4 synchronizing wheels (26), a timing belt (27) and a second bracket (36);

the first bracket (21) and the second bracket (36) are respectively arranged on the base (100) and are positioned on two sides of the first clamping plate (8) and the second clamping plate (10);

the device comprises 4 synchronous wheels (26), a damping motor (24), a first clamping plate (8) and a second clamping plate (10), wherein the 4 synchronous wheels (26) are respectively arranged on the upper part of a first bracket (21), the lower part of the first bracket (21), the upper part of a second bracket (36) and the lower part of the second bracket (36), a synchronous belt (27) is sequentially sleeved on the 4 synchronous wheels (26) and forms a closed annular structure, a second rotary sensor (22) is arranged on the first bracket (21) through a rotary sensor supporting seat (23) and is connected with one synchronous wheel (26), the damping motor (24) is arranged on a second bracket (36) through a damping motor supporting seat (25) and is connected with the other synchronous wheel (26), a first tooth-shaped structure (39) is arranged on one side, opposite to the first clamping plate (8) and the second clamping plate (10), and second tooth-shaped structures (40) are arranged on two sides of the synchronous wheels (26), and the first tooth-shaped structures (39) are matched with the second tooth-shaped structures (40).

When the first clamping plate (8) and the second clamping plate (10) are in a clamping state, the first tooth-shaped structure (39) is in contact engagement with the second tooth-shaped structure (40), and when the first clamping plate (8) and the second clamping plate (10) are driven to move towards the advancing and retreating directions at the same time, the synchronous belt (27) can be driven to rotate around the 4 synchronous wheels (26), and then the second rotary sensor (22) and the damping motor (24) can be driven to move;

the second rotary sensor (22) and the damping motor (24) are respectively connected with the surgical robot through signals.

10. The operating handle mechanism for a vascular endoluminal interventional surgical robot according to claim 9, wherein the advancing and retreating mechanism (400) comprises 6 bearing press plates (28), 2 first synchro-wheel support shafts (29), 8 third bearings (30) and 2 second synchro-wheel support shafts (31);

both ends of a first synchronous wheel supporting shaft (29) are arranged at the upper part of the first bracket (21) through two third bearings (30), the two third bearings (30) are respectively positioned through a sensor supporting seat (23) and a bearing pressing plate (28) which are arranged on the first bracket (21), and a first synchronous wheel (26) is sleeved on the first synchronous wheel supporting shaft (29);

two ends of a first synchronous wheel supporting shaft (31) are arranged at the lower part of a first bracket (21) through two third bearings (30), the two third bearings (30) are respectively positioned through 2 bearing pressing plates (28) arranged on the first bracket (21), and a second synchronous wheel (26) is sleeved on the first synchronous wheel supporting shaft (31);

both ends of the second first synchronous wheel supporting shaft (29) are arranged at the upper part of the second bracket (36) through two third bearings (30), the two third bearings (30) are respectively positioned through a damping motor supporting seat (25) and a bearing pressing plate (28) which are arranged on the second bracket (36), and the third synchronous wheel (26) is sleeved on the second first synchronous wheel supporting shaft (29);

both ends of a second synchronous wheel supporting shaft (31) are arranged at the lower part of a second bracket (36) through two third bearings (30), the two third bearings (30) are respectively positioned through 2 bearing pressing plates (28) arranged on the second bracket (36), and a fourth synchronous wheel (26) is sleeved on the second synchronous wheel supporting shaft (31).

Images