CN116965939A - From end effector of vascular intervention surgical robot - Google Patents

Abstract

The invention discloses a slave end manipulator of a vascular interventional operation robot, which comprises a first driving mechanism, a second driving mechanism, a clamping mechanism and a circumferential force measuring mechanism, wherein the clamping mechanism is arranged on the first driving mechanism; the first roller and the second roller of the first driving mechanism are positioned at the upper side and the lower side of the tube wire, and the delivery and retraction functions of the tube wire are realized through the rotation of the two rollers; the second driving mechanism is fixedly arranged on the base plate and the shell and is used for driving the rollers to move along the axial direction of the first rollers so as to enable the tube filaments to realize a twisting action; the clamping mechanism is fixedly connected with the circumferential force measuring mechanism and is used for adjusting the interval between the rollers and the clamping force when clamping the pipe wire; the circumferential force measuring mechanism is mounted on the second driving mechanism and is used for measuring circumferential force of the pipe wire. The slave end manipulator has the characteristics of compact structure, small size, strong portability, suitability for commercial catheters with different diameter specifications, capability of avoiding tube wire slipping, adjustable clamping force and capability of providing circumferential force feedback information for a subsequent master end operator.

Description

From end effector of vascular intervention surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a slave end manipulator of a vascular intervention surgical robot.

Background

Cardiovascular and cerebrovascular diseases have become the first cause of death of four non-infectious diseases worldwide, and seriously threaten the physical health of human beings. Among a plurality of treatment modes, the vascular intervention operation is one of the main means for treating cardiovascular and cerebrovascular diseases at present by virtue of the advantages of small wound, small bleeding amount in the operation of a patient, rapid healing speed after the operation, low postoperative complication probability and the like.

In conventional vascular interventional procedures, a physician needs to assist the surgical procedure by means of angiography (DSA). Thus, medical staff will be exposed to the X-ray environment for a long period of time, which seriously threatens the physical health of the doctor. To reduce radiation, doctors need to wear lead clothing to perform operation. The thick lead coat not only increases the working strength of doctors, but also can cause injuries to the cervical vertebrae, the vertebrates and the like of the doctors. The application of the vascular intervention operation robot ensures that a doctor does not need to perform operation in a radiation environment, solves the problem of 'thread eating' of the doctor, and powerfully ensures the life health of the doctor while ensuring the accurate operation of the patient.

The current vascular intervention operation robot mostly adopts a master-slave design concept, and the working principle is as follows: the doctor operates the main end operator in a non-radiation environment by means of DSA images and force feedback information of the auxiliary end operator, and a displacement measuring unit in the main end operator records action sequence information of the doctor and transmits the action sequence information to the auxiliary end operator; after receiving the action sequence information of the main end, a slave end operator positioned at the patient side drives the tube wire to complete operation according to the action sequence information, records the contact force between the tube wire and the blood vessel wall in the operation process, and transmits the contact force to the main end operator to realize a force feedback function; during the operation, the DSA image technology continuously provides visual feedback information for a doctor at the main end.

From the foregoing, it is clear that the slave end-effector is an important component of a vascular interventional surgical robot. However, the following technical problems exist in the current slave end effectors for vascular interventional procedures:

(1) The traditional vascular intervention operation robot slave end manipulator usually adopts a lead screw or a sliding rail to realize delivery of a tube wire, and a long pushing track is required, so that the traditional vascular intervention operation robot slave end manipulator has the defects of larger size and poor portability.

(2) The traditional vascular intervention operation robot slave end manipulator is only suitable for commercial catheters with certain specific sizes, and the vascular intervention operation robots of part of commercial companies also need to use active catheters designed by the commercial companies; due to the lack of suitability of the multi-size catheter, the traditional vascular interventional operation robot has the defects of narrow application range and incapacity of being used for clinical complex operation from the end manipulator.

(3) The traditional vascular intervention operation robot has only axial force measurement from the end manipulator, ignores circumferential force and cannot provide complete force feedback information for doctors in operation.

Disclosure of Invention

The invention provides a slave end manipulator of a vascular interventional operation robot, which has the advantages of compact structure, small size, strong portability, suitability for commercial catheters with different diameter specifications, capability of avoiding tube wire slipping in the delivery process, adjustable clamping force, assistance for providing circumferential force feedback information for a main end operator, and guarantee of operation safety.

The invention adopts the following specific technical scheme:

a slave end effector of a vascular interventional surgical robot for delivering a tube filament, the slave end effector comprising a base plate, a housing, a first drive mechanism, a second drive mechanism, a clamping mechanism, and a circumferential force measurement mechanism;

the shell is detachably arranged on the base plate and is provided with a through hole for penetrating the pipe wire;

the first driving mechanism comprises a first roller, a second roller, a left driving mechanism for driving the first roller to rotate and a right driving mechanism for driving the second roller to rotate; the first roller and the second roller are positioned on the upper side and the lower side of the tube filament, the axial lead of the first roller is parallel to the axial lead of the second roller, and the delivery and retraction functions of the tube filament are realized through the rotation of the first roller and the second roller;

the second driving mechanism is fixedly arranged on the base plate and the shell and is used for driving the first roller and the second roller to move along the axial direction of the first roller so as to enable a pipe wire clamped between the first roller and the second roller to realize a twisting action;

the clamping mechanism is fixedly connected with the circumferential force measuring mechanism and is used for adjusting the position of the second roller in the vertical direction so as to adjust the distance between the second roller and the first roller and the clamping force when clamping the pipe wire;

the circumferential force measuring mechanism is mounted on the second driving mechanism and is used for measuring circumferential force of the pipe wire.

Further, the left driving mechanism comprises a first bracket, a first cradle head motor, a driving spur gear and a transmission spur gear; the first bracket is fixedly connected to the second driving mechanism; the first cradle head motor is fixedly arranged on the first bracket; the driving spur gear is fixedly arranged on an output shaft of the first cradle head motor; the driving spur gear is meshed with the transmission spur gear; the transmission spur gear is coaxially and fixedly connected with the first roller and rotatably supported on the first bracket; the first cradle head motor transmits power to the first roller through the driving spur gear and the transmission spur gear, so that the first roller can actively rotate.

Further, the right driving mechanism comprises a second bracket and a second cradle head motor; the second bracket is fixedly connected to the clamping mechanism; the second cradle head motor is fixedly arranged on the second bracket; the second roller is coaxially and fixedly connected to an output shaft of the second pan-tilt motor; the second roller is directly driven by the second pan-tilt motor to actively rotate.

Further, the second driving mechanism comprises a power mechanism and an executing mechanism;

the power mechanism is in transmission connection with the executing mechanism and is used for driving the executing mechanism to provide rotary twisting power for the pipe wire;

the actuating mechanism is used for driving the first roller and the second roller to move.

Further, the power mechanism comprises a driving motor, a driving bevel gear, a transmission bevel gear, a driving wheel, a driven wheel and a synchronous belt; the driving motor is fixedly arranged on the shell, and an output shaft of the driving motor is coaxially and fixedly connected with the driving bevel gear; the drive bevel gear is meshed with the transmission bevel gear; the transmission bevel gear is coaxially and fixedly connected with the driving wheel; the driving wheel and the driven wheel are rotatably supported on the base plate around a vertical axis; the synchronous belt is wound on the outer peripheral sides of the driving wheel and the driven wheel to form a synchronous belt transmission mechanism.

Further, the driving motor is a direct current motor.

Further, the actuating mechanism comprises a first tooth-shaped plate, a second tooth-shaped plate, a first sliding rail, a first sliding block and a second sliding block; the first sliding rail is fixedly arranged on the substrate, and the extending direction of the first sliding rail is overlapped with the axial direction of the first roller; the first sliding block and the second sliding block are arranged on the first sliding rail in a free sliding manner along the first sliding rail; the first toothed plate is fixedly arranged on the front side of the inner ring of the synchronous belt; the second toothed plate is fixedly arranged on the rear side of the inner ring of the synchronous belt;

the first bracket is fixedly connected with the first sliding block and the first toothed plate, so that the left driving mechanism can move along the first sliding rail under the drive of the first toothed plate;

the second bracket is arranged on the second sliding block and the second tooth-shaped plate through the clamping mechanism and the circumferential force measuring mechanism, so that the circumferential force measuring mechanism, the second roller and the clamping mechanism can all move along the first sliding rail under the drive of the second tooth-shaped plate.

Further, the clamping mechanism comprises a screw sleeve, a spring, a second sliding rail, a third sliding block, a stud, a fixing nut and a third bracket;

the third bracket is fixedly arranged on the circumferential force measuring mechanism;

the second sliding rail is arranged on the third bracket;

the third sliding block can be arranged on the second sliding rail in a sliding manner along the second sliding rail along the vertical direction;

the second bracket is fixedly arranged on the third sliding block;

the stud is fixed on the third bracket through the fixing nut and is arranged along the vertical direction;

the threaded sleeve is in threaded fit with the top end of the stud;

the spring is sleeved on the outer peripheral side of the stud, the top end of the spring is abutted with the threaded sleeve, and the bottom end of the spring is abutted with the second bracket.

Further, the circumferential force measuring mechanism comprises a weighing sensor, a third sliding rail, a fourth sliding block, a front nut, a rear nut and a fourth bracket;

the fourth bracket is fixedly arranged on the second sliding block;

the third sliding rail is fixedly arranged on the fourth bracket, and the extending direction of the third sliding rail coincides with the axial direction of the first roller;

the fourth sliding block is arranged on the third sliding rail in a sliding fit manner;

the third bracket is fixedly connected with the fourth sliding block and is provided with a through hole axially overlapped with the axial direction of the first roller;

the front end of the weighing sensor penetrates through the through hole of the third bracket, the front nut and the rear nut are connected to the two sides of the through hole in a threaded manner, and the rear end of the weighing sensor is fixedly connected with the fourth bracket;

the third support can be in between the front nut and the rear nut along the weighing sensor removes, and the circumference force of pipe silk passes through the second roller transmits to fixture makes fixture follows the third slide rail to circumference force measurement mechanism moves the same direction, and the micro-displacement that the removal produced can make the third support with the front nut or rear nut produces the collision, and the collision force is measured by weighing sensor, and this collision force is the circumference force that the pipe silk received.

Still further, the housing is made of a transparent material.

The beneficial effects are that:

1. the traditional slave end manipulator of the vascular interventional operation robot mostly adopts a sliding rail or a ball screw to realize the delivery of the tube wire, and the slave end manipulator needs to use a long rail or a long screw to meet the requirement of the delivery distance in the operation process, so that the size of the slave end manipulator is increased; the slave end manipulator of the vascular interventional operation robot adopts a roller type delivery mode formed by a pair of rollers, a long track or a lead screw is not required to meet the requirement of a delivery distance, the size of the slave end manipulator is greatly reduced, the external dimension is only 190mm multiplied by 115mm multiplied by 90mm, and the portability of the slave end manipulator is enhanced.

2. The slave end effectors of conventional vascular interventional surgical robots are generally applicable to only one specific diameter catheter, limiting the range of applications of the slave end effectors, making them inadequate for complex surgical procedures. The slave end manipulator can realize the adjustment of the distance between the two rollers through the clamping mechanism so as to meet the use requirements of catheters with different diameter specifications, therefore, the slave end manipulator can be suitable for catheters with different diameter specifications to meet the requirements of complex operations, and meanwhile, the clamping mechanism also realizes the adjustment of the clamping force, and can prevent the slipping phenomenon by increasing the clamping force between the rollers.

3. The slave end manipulator of the traditional vascular interventional operation robot lacks a circumferential force measurement function of the intraoperative tube wire, and cannot provide complete intraoperative force feedback information for the master end manipulator. The slave end manipulator provided by the invention is provided with the circumferential force measuring mechanism for measuring the circumferential force of the tube wire, so that the circumferential force between the tube wire and the blood vessel wall in operation can be measured, the circumferential force feedback is provided for the master end manipulator, and the safety of teleoperation is ensured.

Drawings

FIG. 1 is a schematic perspective view of a slave end-effector of the present invention;

FIG. 2 is a schematic view of the end effector of FIG. 1 with the housing removed;

FIG. 3 is an exploded view of one direction of the slave end-effector of FIG. 1;

FIG. 4 is an exploded view of the slave end-effector of FIG. 1 in another orientation;

FIG. 5 is a schematic view of the first drive mechanism of the slave end-effector of FIG. 1;

FIG. 6 is a schematic view of the clamping mechanism of the slave end-effector of FIG. 1;

FIG. 7 is a schematic view of the clamping mechanism of the slave end effector of FIG. 6;

FIG. 8 is a schematic structural view of a circumferential force measurement mechanism of the slave end effector of FIG. 1;

FIG. 9 is a schematic view of the slave end effector circumferential force measurement mechanism and portions of the clamping mechanism of FIG. 8;

FIG. 10 is an exploded schematic view of the slave end effector circumferential force measurement mechanism and a portion of the clamping mechanism of FIG. 9;

FIG. 11 is a schematic view of a second drive mechanism and a base plate of the slave end effector of FIG. 1;

FIG. 12 is a schematic view of the power mechanism and base plate of the slave end effector of FIG. 11;

FIG. 13 is a schematic view of the actuator, part of the power mechanism and the base plate of the slave end effector of FIG. 11;

FIG. 14 is a schematic view of the actuator, first drive mechanism and base plate of the slave end effector of FIG. 1;

FIG. 15 is a schematic view of the actuator, the first drive mechanism and the base plate of the slave end effector of FIG. 1 in another orientation;

wherein 1-base plate, 2-housing, 3-first drive, 4-second drive, 5-clamp, 6-circumferential force measurement, 21-via, 31-first roller, 32-second roller, 33-left drive, 34-right drive, 331-first carriage, 332-first pan motor, 333-drive spur gear, 334-drive spur gear, 341-second carriage, 342-second pan motor, 41-power, 42-actuator, 411-drive motor, 412-drive bevel gear, 413-drive bevel gear, 414-drive wheel, 415-driven wheel, 416-timing belt, 421-first toothed plate, 422-second toothed plate, 423-first slide, 424-first slide, 425-second slide, 51-turnbuckle, 52-spring, 53-second slide, 54-third slide, 55-stud, 56-fixing nut, 57-third carriage, 61-weighing sensor, 62-third slide, 63-fourth slide, 55-stud, 56-fixing nut, 61-third carriage, 62-fourth carriage, 65-rear nut, 66-front nut, and rear nut are provided in the form of the vehicle body

Detailed Description

The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.

As shown in the structures of fig. 1, 2, 3 and 4, the present embodiment provides a slave end manipulator of a vascular interventional surgical robot, the slave end manipulator is used for delivering a tube wire, and has a rectangular parallelepiped structure as a whole, and the slave end manipulator includes a substrate 1, a housing 2, a first driving mechanism 3, a second driving mechanism 4, a clamping mechanism 5 and a circumferential force measuring mechanism 6;

as shown in fig. 1, the housing 2 is detachably mounted on the base plate 1, and is provided with a via hole 21 for threading a pipe wire; the housing 2 may be made of a transparent material or a non-transparent material;

as shown in fig. 5, the first driving mechanism 3 includes a first roller 31, a second roller 32, a left driving mechanism 33 for driving the first roller 31 to rotate, and a right driving mechanism 34 for driving the second roller 32 to rotate; the first roller 31 and the second roller 32 are positioned on the upper side and the lower side of the tube filament, the axial lead of the first roller 31 is parallel to the axial lead of the second roller 32, and the delivery and retraction functions of the tube filament are realized through the rotation of the first roller 31 and the second roller 32;

the second driving mechanism 4 is fixedly arranged on the base plate 1 and the shell 2 and is used for driving the first roller 31 and the second roller 32 to move along the axial direction of the first roller 31 so as to realize the twisting action of the tube wire clamped between the first roller 31 and the second roller 32;

the clamping mechanism 5 is fixedly connected with the circumferential force measuring mechanism 6 and is used for adjusting the position of the second roller 32 in the vertical direction so as to adjust the interval between the second roller 32 and the first roller 31 and the clamping force when clamping the pipe wire;

the circumferential force measuring means 6 is mounted to the second drive means 4 for measuring the circumferential force of the tube wire.

The above-mentioned slave end manipulator is provided with the first roller 31 and the second roller 32 on both sides of the tube wire, when the first roller 31 and the second roller 32 rotate, the tube wire clamped between the first roller 31 and the second roller 32 will be delivered or retracted, the advancing direction of the tube wire is related to the rotating direction of the first roller 31 and the second roller 32, the slave end manipulator of the vascular interventional operation robot adopts a roller type delivery mode formed by a pair of rollers, the requirement of the delivery distance is satisfied without long track or lead screw, the size of the slave end manipulator is greatly reduced, the external dimension is only 190mm×115mm×90mm, and the portability of the slave end manipulator is enhanced.

Above-mentioned from end effector still is provided with fixture, can realize the regulation of interval between two rollers through fixture to satisfy the user demand of the pipe of different diameter specifications, greatly expanded from end effector's application scope, consequently, this from end effector is applicable to the pipe of different diameter specifications, satisfies complicated operation demand, simultaneously, and this fixture has still realized the regulation of clamping force, can also prevent the emergence of phenomenon of skidding through the clamping force between the increase roller.

The slave end manipulator is further provided with a circumferential force measuring mechanism for measuring circumferential force of the tube wire, so that circumferential force between the tube wire and the blood vessel wall in operation can be measured, and the slave end manipulator is provided with circumferential force feedback for assistance, and the safety of teleoperation is guaranteed.

In a specific embodiment, as shown in fig. 5, the left driving mechanism 33 includes a first bracket 331, a first pan/tilt motor 332, a driving spur gear 333, and a driving spur gear 334; the first bracket 331 is fixedly connected to the second driving mechanism; the first pan/tilt motor 332 is fixedly mounted on the first bracket 331; the driving spur gear 333 is fixedly installed on the output shaft of the first pan/tilt motor 332; the drive spur gear 333 meshes with the drive spur gear 334; the transmission straight gear 334 is coaxially and fixedly connected with the first roller 31 and rotatably supported on the first bracket 331; the first pan/tilt motor 332 serves as a power source of the left driving mechanism 33; the first pan/tilt motor 332 transmits power to the first roller 31 through the driving spur gear 333 and the driving spur gear 334, so as to realize active rotation of the first roller 31.

As shown in fig. 5, the right side driving mechanism 34 includes a second bracket 341 and a second pan/tilt motor 342; the second bracket 341 is fixedly connected to the clamping mechanism; the second pan/tilt motor 342 is fixedly mounted on the second bracket 341; the second roller 32 is coaxially and fixedly connected to the output shaft of the second pan/tilt motor 342; the second pan/tilt motor 342 is used as a power source of the right driving mechanism 34, and the second pan/tilt motor 342 directly drives the second roller 32 to actively rotate.

Further, the second driving mechanism includes a power mechanism 41 and an actuator 42; the power mechanism 41 is in transmission connection with the actuating mechanism 42 and is used for driving the actuating mechanism 42 to provide rotary twisting power for the pipe yarn; the actuator 42 is used to move the first roller 31 and the second roller 32. The power mechanism 41 provides a power source for driving the pipe wire to rotate; the actuator 42 is used for driving the left driving mechanism 33 and the circumferential force measuring mechanism to move in opposite directions or in opposite directions, and the power output end of the power mechanism 41 extends to the side of the actuator 42, so that the generated power is transmitted to the actuator 42.

As shown in fig. 11 and 12, the power mechanism 41 includes a drive motor 411, a drive bevel gear 412, a transmission bevel gear 413, a driving pulley 414, a driven pulley 415, and a timing belt 416; the driving motor 411 is fixedly arranged on the shell, and the output shaft of the driving motor 411 is coaxially and fixedly connected with a driving bevel gear 412; the driving motor 411 may be a direct current motor; the driving motor 411 serves as a power source of the power mechanism 41; the drive bevel gear 412 meshes with the drive bevel gear 413; the transmission bevel gear 413 and the driving wheel 414 are coaxially and fixedly connected; the driving pulley 414 and the driven pulley 415 are rotatably supported on the base plate about a vertical axis; the timing belt 416 is wound around the outer peripheral sides of the driving pulley 414 and the driven pulley 415, and constitutes a timing belt 416 transmission mechanism. The driving motor 411 realizes the rotation of the synchronous belt 416 through a driving bevel gear 412, a transmission bevel gear 413, a driving wheel 414 and a driven wheel 415.

As shown in fig. 11, 13, 14 and 15, the actuator 42 includes a first tooth plate 421, a second tooth plate 422, a first slide rail 423, a first slider 424, and a second slider 425; the first sliding rail 423 is fixedly installed on the substrate, and the extending direction of the first sliding rail 423 is overlapped with the axial direction of the first roller 31; the first slider 424 and the second slider 425 are mounted on the first sliding rail 423 along the first sliding rail 423 in a free sliding manner; the first toothed plate 421 is fixedly mounted on the front side of the inner ring of the timing belt 416; the second tooth plate 422 is fixedly mounted on the rear side of the inner ring of the timing belt 416; the first bracket 331 is fixedly connected with the first slider 424 and the first toothed plate 421, so that the left driving mechanism 33 can move along the first sliding rail 423 under the driving of the first toothed plate 421; the first toothed plate 421 and the first bracket 331 can be connected by bolts; the second bracket 341 is mounted on the second slider 425 and the second toothed plate 422 through a clamping mechanism and a circumferential force measuring mechanism, so that the circumferential force measuring mechanism, the second roller 32 and the clamping mechanism can all move along the first sliding rail 423 under the drive of the second toothed plate 422. The second tooth plate 422 and the circumferential force measuring mechanism may be connected by bolts. The timing belt 416 may simultaneously drive the left driving mechanism 33, the first roller 31, the second roller 32, the clamping mechanism, the circumferential force measuring mechanism, and the right driving mechanism 34 to move along the first sliding rail 423 toward each other or away from each other during rotation, where the movement direction depends on the movement direction of the timing belt 416, i.e., the rotation direction of the driving motor 411. When the first roller 31 and the second roller 32 move toward each other or move away from each other along the first rail 423, the tube filament clamped between the first roller 31 and the second roller 32 rotates under the action of the two rollers, thereby realizing the rotation function of the tube filament. The direction of rotation of the tube filament is related to the direction of rotation of the drive motor 411.

As shown in fig. 6, 7 and 8, the clamping mechanism includes a screw sleeve 51, a spring 52, a second slide rail 53, a third slider 54, a stud 55, a fixing nut 56 and a third bracket 57; the third bracket 57 is fixedly mounted to the circumferential force measuring mechanism; the second sliding rail 53 is arranged on the third bracket 57; the third slider 54 is slidably mounted on the second slide rail 53 along the second slide rail 53 in the vertical direction; the second bracket 341 is fixedly mounted on the third slider 54; the stud 55 is fixed on the third bracket 57 through a fixing nut 56, and is arranged in the vertical direction; the threaded sleeve 51 is in threaded fit with the top end of the stud 55; the spring 52 is fitted around the stud 55, and has a top end abutting against the threaded sleeve 51 and a bottom end abutting against the second bracket 341.

In the pre-operative preparation phase, the operator can move the right driving mechanism 34 along the second sliding rail 53 so as to adjust the interval between the first roller 31 and the second roller 32, after the tube filament is placed, the right driving mechanism 34 is loosened, and the right driving mechanism 34 moves along the second sliding rail 53 under the action of gravity until the tube filament is clamped. The screw sleeve 51 is rotated, the stud 55 moves along the thread of the fixed screw, the spring 52 is compressed, and the elastic force generated by the compression of the spring 52 is transferred to the second roller 32 through the second bracket 341 of the right driving mechanism 34, and then is applied to the clamped pipe wire, so that the pipe wire is fastened and clamped. For commercial catheters with different diameter specifications, an operator can move the right driving mechanism 34 along the second sliding rail 53 at different intervals, so as to adjust the interval between the second roller 32 and the first roller 31, thereby realizing clamping of the commercial catheters with different diameter specifications. The spring 52 can be compressed and loosened by rotating the threaded sleeve 51 in the forward and reverse directions, so that firm clamping of commercial catheters with different diameter specifications is realized, and slipping phenomenon in the delivery or retraction process is avoided.

As shown in fig. 9 and 10, the circumferential force measuring mechanism includes a load cell 61, a third slide rail 62, a fourth slider 63, a front nut 64, a rear nut 65, and a fourth bracket 66; the fourth bracket 66 is fixedly mounted to the second slider 425; the third sliding rail 62 is fixedly mounted on the fourth bracket 66, and the extending direction of the third sliding rail 62 coincides with the axial direction of the first roller 31; the fourth slider 63 is mounted to the third slide rail 62 in a sliding fit; the third bracket 57 is fixedly connected with the fourth slider 63 and is provided with a through hole axially coincident with the axial direction of the first roller 31; the front end of the weighing sensor 61 passes through the through hole of the third bracket 57, a front nut 64 and a rear nut 65 are connected on two sides of the through hole in a threaded manner, and the rear end is fixedly connected with a fourth bracket 66; as shown in fig. 10, a front nut 64 is mounted on the front side of the third bracket 57, and a rear nut 65 is mounted on the rear side of the third bracket 57, both of which are simultaneously engaged with the load cell 61 in a bolt-engaged relationship; the third bracket 57 can move along the weighing sensor 61 between the front nut 64 and the rear nut 65, the circumferential force of the tube wire is transmitted to the clamping mechanism through the second roller 32, the clamping mechanism moves along the third sliding rail 62 in the same direction as the movement of the circumferential force measuring mechanism, the third bracket 57 collides with the front nut 64 or the rear nut 65 due to the micro displacement generated by the movement, and the collision force is measured by the weighing sensor 61, namely the circumferential force applied to the tube wire.

The working principle of measuring circumferential force by adopting the circumferential force measuring mechanism is as follows: the second drive mechanism drives the rotation of the tube filament during surgery, which is subject to circumferential forces, typically due to friction between the tube filament and the instrument or viscous drag in the blood. The circumferential force is transmitted to the clamping mechanism through the second roller 32, so that the clamping mechanism moves along the third sliding rail 62 in the same direction as the movement of the circumferential force measuring mechanism, and the micro displacement generated by the movement can cause the front nut 64 or the rear nut 65 to collide with the third bracket 57 of the clamping mechanism, and the collision force can be recorded by the weighing sensor 61, and the magnitude of the collision force is the magnitude of the circumferential force applied to the tube filament.

When Guan Sishun rotates clockwise, the clamping mechanism moves along the third sliding rail 62 to the side far away from the pipe wire, and the front nut 64 collides with the third bracket 57 of the clamping mechanism; when the tube strand rotates counterclockwise, the clamping mechanism moves along the third slide rail 62 toward the tube strand side, and the rear nut 65 collides with the third bracket 57 of the clamping mechanism.

During the pre-operative preparation phase, the physician may move the right drive mechanism 34 from the end effector up the second slide 53, where the spacing between the first roller 31 and the second roller 32 increases; at this point, the physician can place the catheter to be used for the procedure on the first roller 31 and then release the right drive mechanism 34, and the right drive mechanism 34 will move down the second track 53 until the second roller 32 contacts the catheter. Since the spacing between the first roller 31 and the second roller 32 is adjustable, the slave end effector can be adapted to catheters of different diameter gauges to meet complex surgical requirements. In order to prevent slipping between the roller and the guide tube, the clamping mechanism also realizes the function of adjusting the clamping force by using the spring 52, the threaded sleeve 51 and the stud 55. When the second roller 32 contacts the catheter, the screw sleeve 51 is rotated to move downwards along the thread of the fixing screw, and the spring 52 concentric with the fixing screw is compressed, so that the elastic force generated by compression is transmitted to the second roller 32 through the right driving mechanism 34 due to the contact between the lower end of the spring 52 and the second bracket 341 of the right driving mechanism 34, thereby increasing the clamping force between the rollers and preventing the slipping phenomenon.

The clamping mechanism comprising the second roller 32 is fixed on the third slide 62 and is bolted by means of a front nut 64 and a rear nut 65 and a load cell 61. When the second driving mechanism drives the tube filament to rotate, the tube filament is subjected to a circumferential force, and the circumferential force acts against the second roller 32 in contact with the tube filament, so that the clamping mechanism comprising the second roller 32 generates a micro displacement compared with the fourth driving mechanism fixed on the first sliding rail 423, the micro displacement causes the third bracket 57 of the clamping mechanism to collide with the front nut 64 or the rear nut 65, the collision force is recorded by the weighing sensor 61, and the magnitude of the collision force is the magnitude of the circumferential force received during the rotation of the tube filament. The direction of micro displacement generated by the clamping mechanism is related to the rotation direction of the pipe wire, when Guan Sishun is rotated clockwise, the clamping mechanism generates micro displacement in the same direction as the circumferential force measuring mechanism, and the third bracket 57 of the clamping mechanism collides with the rear nut 65; when the tube strand rotates anticlockwise, the clamping mechanism generates a micro-displacement in the same direction as the circumferential force measuring mechanism, and the third support 57 of the clamping mechanism collides with the front nut 64.

It will be apparent to those skilled in the art that various modifications and variations can be made to the embodiments of the present invention without departing from the spirit and scope of the invention. Thus, it is intended that the present invention also include such modifications and alterations insofar as they come within the scope of the appended claims or the equivalents thereof.

Claims (10)

1. A slave end manipulator of a vascular interventional surgical robot for delivering a tube wire, which is characterized by comprising a substrate, a shell, a first driving mechanism, a second driving mechanism, a clamping mechanism and a circumferential force measuring mechanism;

the shell is detachably arranged on the base plate and is provided with a through hole for penetrating the pipe wire;

the first driving mechanism comprises a first roller, a second roller, a left driving mechanism for driving the first roller to rotate and a right driving mechanism for driving the second roller to rotate; the first roller and the second roller are positioned on the upper side and the lower side of the tube filament, the axial lead of the first roller is parallel to the axial lead of the second roller, and the delivery and retraction functions of the tube filament are realized through the rotation of the first roller and the second roller;

the second driving mechanism is fixedly arranged on the base plate and the shell and is used for driving the first roller and the second roller to move along the axial direction of the first roller so as to enable a pipe wire clamped between the first roller and the second roller to realize a twisting action;

the clamping mechanism is fixedly connected with the circumferential force measuring mechanism and is used for adjusting the position of the second roller in the vertical direction so as to adjust the distance between the second roller and the first roller and the clamping force when clamping the pipe wire;

the circumferential force measuring mechanism is mounted on the second driving mechanism and is used for measuring circumferential force of the pipe wire.

2. The slave end effector as set forth in claim 1 wherein said left side drive mechanism comprises a first bracket, a first pan-tilt motor, a drive spur gear, and a drive spur gear; the first bracket is fixedly connected to the second driving mechanism; the first cradle head motor is fixedly arranged on the first bracket; the driving spur gear is fixedly arranged on an output shaft of the first cradle head motor; the driving spur gear is meshed with the transmission spur gear; the transmission spur gear is coaxially and fixedly connected with the first roller and rotatably supported on the first bracket; the first cradle head motor transmits power to the first roller through the driving spur gear and the transmission spur gear, so that the first roller can actively rotate.

3. The slave end effector as set forth in claim 2 wherein said right side drive mechanism comprises a second carriage and a second pan/tilt motor; the second bracket is fixedly connected to the clamping mechanism; the second cradle head motor is fixedly arranged on the second bracket; the second roller is coaxially and fixedly connected to an output shaft of the second pan-tilt motor; the second roller is directly driven by the second pan-tilt motor to actively rotate.

4. The slave end effector as set forth in claim 3 wherein said second drive mechanism comprises a power mechanism and an actuator;

the power mechanism is in transmission connection with the executing mechanism and is used for driving the executing mechanism to provide rotary twisting power for the pipe wire;

the actuating mechanism is used for driving the first roller and the second roller to move.

5. The slave end effector as set forth in claim 4, wherein said power mechanism comprises a drive motor, a drive bevel gear, a drive pulley, a driven pulley, and a timing belt; the driving motor is fixedly arranged on the shell, and an output shaft of the driving motor is coaxially and fixedly connected with the driving bevel gear; the drive bevel gear is meshed with the transmission bevel gear; the transmission bevel gear is coaxially and fixedly connected with the driving wheel; the driving wheel and the driven wheel are rotatably supported on the base plate around a vertical axis; the synchronous belt is wound on the outer peripheral sides of the driving wheel and the driven wheel to form a synchronous belt transmission mechanism.

6. The slave end effector as set forth in claim 5, wherein said drive motor is a dc motor.

7. The slave end effector as set forth in claim 5 wherein said actuator comprises a first toothed plate, a second toothed plate, a first slide rail, a first slider, and a second slider; the first sliding rail is fixedly arranged on the substrate, and the extending direction of the first sliding rail is overlapped with the axial direction of the first roller; the first sliding block and the second sliding block are arranged on the first sliding rail in a free sliding manner along the first sliding rail; the first toothed plate is fixedly arranged on the front side of the inner ring of the synchronous belt; the second toothed plate is fixedly arranged on the rear side of the inner ring of the synchronous belt;

the first bracket is fixedly connected with the first sliding block and the first toothed plate, so that the left driving mechanism can move along the first sliding rail under the drive of the first toothed plate;

the second bracket is arranged on the second sliding block and the second tooth-shaped plate through the clamping mechanism and the circumferential force measuring mechanism, so that the circumferential force measuring mechanism, the second roller and the clamping mechanism can all move along the first sliding rail under the drive of the second tooth-shaped plate.

8. The slave end effector as set forth in claim 7 wherein said clamping mechanism comprises a sleeve, a spring, a second slide rail, a third slide block, a stud, a retaining nut, and a third bracket;

the third bracket is fixedly arranged on the circumferential force measuring mechanism;

the second sliding rail is arranged on the third bracket;

the third sliding block can be arranged on the second sliding rail in a sliding manner along the second sliding rail along the vertical direction;

the second bracket is fixedly arranged on the third sliding block;

the stud is fixed on the third bracket through the fixing nut and is arranged along the vertical direction;

the threaded sleeve is in threaded fit with the top end of the stud;

the spring is sleeved on the outer peripheral side of the stud, the top end of the spring is abutted with the threaded sleeve, and the bottom end of the spring is abutted with the second bracket.

9. The slave end effector as set forth in claim 8 wherein said circumferential force measurement mechanism comprises a load cell, a third slide rail, a fourth slide block, a front nut, a rear nut, and a fourth bracket;

the fourth bracket is fixedly arranged on the second sliding block;

the third sliding rail is fixedly arranged on the fourth bracket, and the extending direction of the third sliding rail coincides with the axial direction of the first roller;

the fourth sliding block is arranged on the third sliding rail in a sliding fit manner;

the third bracket is fixedly connected with the fourth sliding block and is provided with a through hole axially overlapped with the axial direction of the first roller;

the front end of the weighing sensor penetrates through the through hole of the third bracket, the front nut and the rear nut are connected to the two sides of the through hole in a threaded manner, and the rear end of the weighing sensor is fixedly connected with the fourth bracket;

the third support can be in between the front nut and the rear nut along the weighing sensor removes, and the circumference force of pipe silk passes through the second roller transmits to fixture makes fixture follows the third slide rail to circumference force measurement mechanism moves the same direction, and the micro-displacement that the removal produced can make the third support with the front nut or rear nut produces the collision, and the collision force is measured by weighing sensor, and this collision force is the circumference force that the pipe silk received.

10. The slave end effector as set forth in any one of claims 1-9, wherein said housing is made of a transparent material.