CN117814924B - Interventional operation robot doctor control end structure and interventional operation robot - Google Patents
Interventional operation robot doctor control end structure and interventional operation robot Download PDFInfo
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- CN117814924B CN117814924B CN202410251480.2A CN202410251480A CN117814924B CN 117814924 B CN117814924 B CN 117814924B CN 202410251480 A CN202410251480 A CN 202410251480A CN 117814924 B CN117814924 B CN 117814924B
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- 230000009471 action Effects 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 51
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000006073 displacement reaction Methods 0.000 claims description 15
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 238000013152 interventional procedure Methods 0.000 claims description 9
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 238000013519 translation Methods 0.000 claims description 4
- 230000000903 blocking effect Effects 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 abstract description 6
- 230000000694 effects Effects 0.000 description 5
- 230000004044 response Effects 0.000 description 4
- 230000002792 vascular Effects 0.000 description 4
- 230000003902 lesion Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000012544 monitoring process Methods 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 208000003174 Brain Neoplasms Diseases 0.000 description 1
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000002177 Cataract Diseases 0.000 description 1
- 208000028571 Occupational disease Diseases 0.000 description 1
- 208000031481 Pathologic Constriction Diseases 0.000 description 1
- 208000018262 Peripheral vascular disease Diseases 0.000 description 1
- 208000000875 Spinal Curvatures Diseases 0.000 description 1
- 206010057469 Vascular stenosis Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000002059 diagnostic imaging Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 208000037804 stenosis Diseases 0.000 description 1
- 230000036262 stenosis Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
- 201000011531 vascular cancer Diseases 0.000 description 1
- 206010055031 vascular neoplasm Diseases 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Animal Behavior & Ethology (AREA)
- Surgery (AREA)
- Hematology (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention relates to an interventional operation robot doctor control end structure and an interventional operation robot, comprising a control part, a control part and a control part, wherein the control part is used for controlling the working state of the interventional operation robot doctor control end structure; the operating rod is used for translational pushing and/or rotational operation by a doctor; the support structure comprises a sliding hinging seat structure, one end of the operating rod is hinged in the sliding hinging seat structure, and the sliding hinging seat structure can axially move along with the operating rod; the sliding hinging seat structure is provided with an operating rod action feedback part electrically connected with the control part; the resistance feedback structure is used for generating electromagnetic force according to the guide wire pushing resistance feedback signal output by the control part and converting the electromagnetic force into the resistance of the operating rod, and comprises a non-contact magnetic structure. The invention adopts non-contact force feedback, reduces self resistance of the mechanism and can feed back the pushing resistance of the guide wire more accurately; the fine and smart operation of the guide wire is realized, and the operation efficiency is improved; has touch force feedback, and improves the safety of the operation.
Description
Technical Field
The invention relates to the field of interventional operations, in particular to a doctor control end structure of an interventional operation robot and the interventional operation robot.
Background
The vascular intervention operation is an operation mode that under the guidance of medical imaging equipment, interventional instruments such as a puncture needle, a catheter, a guide wire, a balloon, a bracket and the like are operated by an interventional doctor, and a specified instrument is delivered to a corresponding lesion part along a vascular access of a human body after percutaneous puncture, so that treatment is performed. As a minimally invasive treatment means, vascular interventional procedures have been widely used in interventional therapy of cardiovascular diseases, cerebrovascular diseases, peripheral vascular diseases and tumors.
In the existing operation mode, an interventional doctor wears a lead coat with weight of twenty-thirty jin and stands at an operation table for a long time to operate interventional instruments such as a catheter and a guide wire, the lead coat cannot completely shield the radiation of X rays, and arms and heads are directly exposed to the X rays. The interventional doctor works in the X-ray radiation environment for a long time and a month, and the occupational diseases such as cataract, spinal curvature, brain tumor and the like are extremely easy to occur. The interventional doctor uses the robot system to control the delivery of the interventional instruments such as the catheter, the guide wire and the like, so that the working condition of the doctor can be effectively improved, the physical consumption is reduced, the occupational hazard is reduced, the doctor is fully focused on the surgical treatment, and a better surgical treatment effect is brought to the patient.
The interventional doctor is operated by long-term bare-handed operation of interventional instruments such as a guide wire, and the contact condition of the head end of the guide wire and a vascular stenosis lesion site is sensed through the touch force feedback of the tail end of the guide wire and fingers, namely the hand feeling of the operation guide wire is particularly important when the lesion is even occluded through stenosis. The doctor control end of the existing vascular interventional operation robot changes the original guide wire operation habit of a doctor in a form of operating a rocker, long learning time is needed, and the operation of the rocker cannot be realized; in addition, more importantly, as the feedback of touch force sense can not be realized by operating the rocker, the interventional doctor can completely lose the touch force sense of the tail end of the guide wire when operating the robot to perform the operation, and can only rely on the visual feedback provided by the DSA image, thereby greatly influencing the efficiency and the safety of the operation.
In order to solve the problems, the inventor provides a doctor control end structure of an interventional operation robot and the interventional operation robot by virtue of experience and practice of related industries for many years, fully maintains the existing operation habit of the interventional operation robot, ensures fine and smart operation (such as advancing and retreating, rotating, simultaneous advancing and retreating, rotating and the like) of a guide wire, can provide a doctor control end device for tactile feedback in operation, improves the fine control capability and operation efficiency of the surgical operation on instruments such as the guide wire by an operator, improves the operation safety and reduces the risk of medical accidents.
Disclosure of Invention
The invention aims to provide an interventional operation robot doctor control end structure and an interventional operation robot, which adopt non-contact force feedback, reduce self resistance of a mechanism and can feed back guide wire pushing resistance more accurately; the fine and smart operation of the guide wire is realized, and the operation efficiency is improved; has touch force feedback, and improves the safety of the operation.
The object of the invention is achieved in that a doctor control end structure of an interventional operation robot comprises,
The control part is used for controlling the working state of the control end structure of the interventional operation robot doctor;
The operating rod can be operated by translation pushing and/or rotation and is electrically connected with the guide wire through the control part;
The support structure comprises a sliding hinging seat structure, one end of the operating rod is hinged in the sliding hinging seat structure, and the sliding hinging seat structure can axially move along with the operating rod; the sliding hinging seat structure is provided with an operating rod action feedback part electrically connected with the control part, and the operating rod action feedback part can convert translational linear motion and/or rotational motion of the operating rod into electric signals and transmit the electric signals to the control part;
the resistance feedback structure is used for generating electromagnetic force according to a guide wire pushing resistance feedback signal output by the control part and converting the electromagnetic force into operating rod resistance, and comprises a non-contact magnetic structure electrically connected with the control part, wherein the non-contact magnetic structure can synchronously move with the sliding hinging seat structure and can generate electromagnetic force according to a received guide wire pushing resistance signal, and the electromagnetic force is converted into operating rod resistance to block the movement of the operating rod.
In a preferred embodiment of the present invention, the non-contact magnetic structure includes a feedback magnet and an electromagnet capable of changing a magnetic field by energizing, the feedback magnet and the electromagnet being axially opposite and coaxially disposed; the feedback magnet is arranged on the end face, far away from the operating rod, of the sliding hinging seat structure, the electromagnet is arranged on the electromagnet mounting seat, the electromagnet mounting seat is connected with a moving driving structure, the moving driving structure is electrically connected with the control part, and the moving driving structure can drive the electromagnet mounting seat to drive the electromagnet to move along the axial direction of the operating rod;
Before the translational movement of the operating rod, the electromagnet is in a power-off state, the axial interval between the electromagnet and the feedback magnet is adjusted to be a first interval, and no acting force exists between the electromagnet and the feedback magnet; when the operating rod moves in a translational mode and no guide wire pushes resistance feedback signals, the electromagnet is in a power-off state, and the moving driving structure drives the electromagnet to move so as to keep a first distance constant with the axial interval of the feedback magnet; when the movable driving structure receives a guide wire pushing resistance feedback signal, the end face magnetic poles of the electromagnet opposite to the feedback magnet are the same by electrifying, the axial interval between the feedback magnet and the electromagnet is reduced by the movable driving structure according to the size of the guide wire pushing resistance, electromagnetic force is generated between the feedback magnet and the electromagnet, and the feedback magnet converts the electromagnetic force into the movement of an operating rod resistance blocking operating rod; when the operating rod needs to be reset, the electromagnet is electrified to attract the magnetic field of the electromagnet to the opposite pole of the magnetic field of the surface of the feedback magnet, the electromagnet attracts the feedback magnet, the sliding hinging seat structure and the operating rod, and the moving driving structure drives the sliding hinging seat structure and the operating rod to move and reset through the electromagnet.
In a preferred embodiment of the present invention, the moving driving structure includes a driving motor electrically connected to the control part, the driving motor is connected to a transmission structure, the transmission structure is connected to the electromagnet mounting seat, and the driving motor drives the electromagnet mounting seat to drive the electromagnet to move through the transmission structure;
When the driving motor receives a guide wire pushing resistance feedback signal output by the control part, the driving motor is electrified to enable the end face magnetic poles of the electromagnet opposite to the feedback magnet to be the same, and the driving motor drives the electromagnet mounting seat to move according to the size of the guide wire pushing resistance, so that the axial interval between the feedback magnet and the electromagnet is reduced to generate electromagnetic force.
In a preferred embodiment of the present invention, the transmission structure includes a screw and a screw nut sleeved on the screw, the screw nut is connected with the electromagnet mounting seat, a first end of the screw is hinged in a first screw support, and a second end of the screw is hinged in a second screw support; the driving motor is connected with the first end of the screw rod, and the driving motor drives the screw rod to rotate so as to drive the screw rod nut to move with the electromagnet mounting seat.
In a preferred embodiment of the present invention, a driven synchronizing wheel is disposed at a first end of the screw, a driving synchronizing wheel is disposed at an output end of the driving motor, a synchronous belt is sleeved on the driving synchronizing wheel and the driven synchronizing wheel, and the driving motor drives the screw to rotate through the driving synchronizing wheel, the synchronous belt and the driven synchronizing wheel.
In a preferred embodiment of the present invention, a displacement sensor electrically connected to the control unit is connected to the electromagnet mounting base, and the displacement sensor is used for monitoring and outputting the axial interval size between the electromagnet and the feedback magnet to the control unit in real time.
In a preferred embodiment of the present invention, the sliding hinge base is structurally connected with a sensor reflector, and the sensor reflector is parallel to the light source plane of the displacement sensor.
In a preferred embodiment of the present invention, a first magnetic encoder circuit board is disposed at one axial end of the operating rod in the sliding hinge seat structure, and the first magnetic encoder circuit board converts the rotation motion of the operating rod into an electrical signal and transmits the electrical signal to the control part; the sliding hinge seat structure is located at one radial side of the operating rod and is provided with a second magnetic encoder circuit board, and the second magnetic encoder circuit board converts translational linear motion of the operating rod into electric signals and transmits the electric signals to the control part.
In a preferred embodiment of the present invention, the sliding hinge seat structure includes a magnetic encoder fixing seat, a holding groove which is vertically penetrated and is far away from an opening of one end of the operating rod is arranged on the magnetic encoder fixing seat, a first through hole which is penetrated is arranged on one side wall of the holding groove, and the first end of the operating rod is rotatably penetrated in the first through hole; a second through hole and a hinge blind hole are coaxially arranged on two side walls of the accommodating groove adjacent to the first through hole, a rotating shaft is rotatably arranged in the second through hole, a first end of the rotating shaft penetrates through the accommodating groove and then is hinged in the hinge blind hole, and a position, in the accommodating groove, on the rotating shaft is connected with a motion conversion structure capable of converting translational motion of the operating rod into rotation of the rotating shaft;
The end face of the first end of the operating rod is connected with a first radial magnet, the first magnetic encoder circuit board is connected to one side wall of the accommodating groove, and when the operating rod rotates, the first radial magnet is driven to rotate, and the rotating motion of the operating rod is converted into an electric signal through the first magnetic encoder circuit board and is transmitted to the control part;
The end face of the second end of the rotating shaft is provided with a second radial magnet, the second magnetic encoder circuit board is connected to the side wall of the second end of the rotating shaft, which is penetrated by the accommodating groove, and when the operating rod moves in a translational linear mode, the second radial magnet is driven to rotate through the motion conversion structure, and the translational linear motion of the operating rod is converted into an electric signal to be transmitted to the control part through the second magnetic encoder circuit board.
In a preferred embodiment of the present invention, the motion conversion structure includes a gear sleeved on the rotating shaft, a rack parallel to the central axis of the operating rod is fixedly arranged below the accommodating groove, and the gear is meshed with the rack; when the operating rod drives the magnetic encoder fixing seat to move, the gear moves along the rack and rotates to drive the rotating shaft to rotate.
In a preferred embodiment of the present invention, a first bearing is disposed in the first through hole, and the operating rod is axially fixed by a radial hole nut after passing through the first bearing in a rotating manner; the second through hole and the hinge blind hole are internally provided with a second bearing, and the rotating shaft is rotatably arranged in the second bearing in a penetrating way.
In a preferred embodiment of the present invention, a sleeve fixing seat is disposed on a side of the magnetic encoder fixing seat away from the resistance feedback structure, a linear ball sleeve is disposed in the sleeve fixing seat, and the operating rod slidably rotates through the linear ball sleeve.
In a preferred embodiment of the present invention, the sliding hinge seat structure further includes a magnet fixing seat, the magnet fixing seat can be covered above the accommodating groove, and one end of the magnet fixing seat, which is far away from the operating rod, is connected with the feedback magnet.
In a preferred embodiment of the present invention, the supporting structure further includes a bottom plate, a sliding rail is disposed on the bottom plate, a first sliding block and a second sliding block are slidably disposed on the sliding rail, the electromagnet mounting seat is connected to the first sliding block, and the sliding hinge seat structure is connected to the second sliding block.
In a preferred embodiment of the present invention, the non-contact magnetic structure includes a feedback magnet rod and a coil capable of changing a magnetic field by energizing, wherein the feedback magnet rod is coaxial with the coil, and a first end of the feedback magnet rod is movably inserted into an inner cavity of the coil; the second end of the feedback magnet rod is connected to the end face, far away from the operating rod, of the sliding hinging seat structure, the coil is arranged on the coil mounting seat, a movable driving structure is connected to the coil mounting seat, the movable driving structure is electrically connected with the control part, and the movable driving structure can drive the coil mounting seat to drive the coil to axially move along the operating rod.
The object of the invention is also achieved by an interventional surgical robot comprising a doctor control end structure of an interventional surgical robot as described above.
From the above, the doctor control end structure of the interventional operation robot and the interventional operation robot have the following beneficial effects:
In the doctor control end structure of the interventional operation robot, the non-contact magnetic structure converts electromagnetic force into external response resistance, and non-contact force feedback is adopted, so that self resistance of the mechanism is reduced, and the pushing resistance of the guide wire can be fed back more accurately;
The sliding hinging seat structure is hinged with the supporting operating rod, the resistance is small when the operating rod and the operating rod action feedback part linearly move before the resistance is fed back, and the resistance fed back to the operating rod by electromagnetic force can be better felt; the operation of the operation rod not only maintains the existing operation habit of doctors, but also is more convenient to operate than a guide wire with a very small diameter, and the operation rod can be pushed or rotated and can be pushed and rotated simultaneously; the operating rod action feedback part can convert translational linear motion and/or rotational motion of the operating rod into electric signals and transmit the electric signals to the control part; the operation of the operation lever can well simulate the operation habit of doctors, so that the learning cost is reduced to the greatest extent, and the operation of the robot is adapted more quickly;
The invention can realize fine and smart operation of the guide wire and improve the operation efficiency; has touch force feedback, and improves the safety of the operation.
Drawings
The following drawings are only for purposes of illustration and explanation of the present invention and are not intended to limit the scope of the invention. Wherein:
Fig. 1: is a perspective view of the control end structure of the interventional operation robot doctor.
Fig. 2: an exploded view of the control end structure of the interventional surgical robot of the present invention.
Fig. 3: is a top view of the control end structure of the interventional operation robot doctor.
Fig. 4: the front view of the structure of the control end of the interventional operation robot doctor is provided.
Fig. 5: is a cross-sectional view A-A in fig. 4.
Fig. 6: is a sectional view B-B in FIG. 4.
Fig. 7: is a cross-sectional view C-C in FIG. 6.
Fig. 8: a schematic of a non-contact magnetic structure of the present invention includes a feedback magnet rod and coil.
In the figure:
1. A bottom plate; 2. a first screw support; 3. the second screw support; 4. a driving motor; 5. a driven synchronizing wheel; 6. a motor fixing seat; 7. a driving synchronizing wheel; 8. a slide rail; 9. an electromagnet mounting seat; 10. a first slider; 11. an operation lever; 12. a linear ball sleeve; 13. the shaft sleeve fixing seat; 14. a rack; 15. a gear; 16. a magnetic encoder holder; 17. a second bearing; 18. a first magnetic encoder circuit board; 19. a rotating shaft; 20. clamping springs; 21. a first sleeve; 22. a magnet fixing seat; 23. a first radial magnet; 24. a radial hole nut; 25. a feedback magnet; 26. a displacement sensor; 27. an electromagnet; 28. a sensor patch panel; 29. sensor reflector; 30. a synchronous belt; 31. a lead screw nut; 32. a screw rod; 33. a second sleeve; 34. a second slider; 35. a second magnetic encoder circuit board; 36. a second radial magnet; 37. a first bearing; 38. a feedback magnet rod; 39. a coil.
Detailed Description
For a clearer understanding of technical features, objects, and effects of the present invention, a specific embodiment of the present invention will be described with reference to the accompanying drawings.
The specific embodiments of the invention described herein are for purposes of illustration only and are not to be construed as limiting the invention in any way. Given the teachings of the present invention, one of ordinary skill in the related art will contemplate any possible modification based on the present invention, and such should be considered to be within the scope of the present invention. It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "mounted," "connected," "coupled," and "connected" are to be construed broadly, and may be, for example, mechanically or electrically connected, may be in communication with each other in two elements, may be directly connected, or may be indirectly connected through an intermediary, and the specific meaning of the terms may be understood by those of ordinary skill in the art in view of the specific circumstances. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like are used herein for illustrative purposes only and are not meant to be the only embodiment.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. The term "and/or" as used herein includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 8, the present invention provides a doctor control end structure of an interventional operation robot, comprising,
The control part is used for controlling the operating state of the end structure controlled by the interventional operation robot doctor;
An operating lever 11, which can be operated in translation, push and/or rotation, is electrically connected to the guide wire (prior art) through a control portion; in the present embodiment, the cross section of the operation rod 11 is circular, and the operation of the circular operation rod 11 not only maintains the existing operation habit of doctors, but also is more convenient to operate than a guide wire with a very small diameter. The operation lever 11 can be pushed or rotated, and can be pushed and rotated simultaneously.
The support structure comprises a sliding hinging seat structure, one end of the operating rod 11 is hinged in the sliding hinging seat structure, and the sliding hinging seat structure can axially move along with the operating rod 11; the sliding hinging seat structure is provided with an operating rod action feedback part electrically connected with the control part, and the operating rod action feedback part can convert translational linear motion and/or rotational motion of the operating rod 11 into an electric signal and transmit the electric signal to the control part;
The resistance feedback structure is used for generating electromagnetic force according to a guide wire pushing resistance feedback signal output by the control part and converting the electromagnetic force into operating rod resistance, and comprises a non-contact magnetic structure electrically connected with the control part, wherein the non-contact magnetic structure can synchronously move with the sliding hinging seat structure and can generate electromagnetic force according to a received guide wire pushing resistance signal, the electromagnetic force is converted into operating rod resistance to block the movement of the operating rod, the movement of the operating rod is blocked, and the operating rod movement feedback part is converted into an electric signal to be transmitted to the control part so as to achieve the effect of feedback force.
The invention can completely keep the existing operation habit of the interventional doctor, can realize fine and smart operation (such as advancing and retreating, rotating, simultaneous advancing and retreating, rotating and the like) on the guide wire, can provide tactile feedback to the doctor in operation, improves the fine operation capability and operation efficiency and operation safety of the operator on instruments such as the guide wire and the like, and reduces the risk of medical accidents.
In the doctor control end structure of the interventional operation robot, the non-contact magnetic structure converts electromagnetic force into external response resistance, and non-contact force feedback is adopted, so that self resistance of the mechanism is reduced, and the pushing resistance of the guide wire can be fed back more accurately;
The sliding hinging seat structure is hinged with the supporting operating rod, the resistance is small when the operating rod and the operating rod action feedback part linearly move before the resistance is fed back, and the resistance fed back to the operating rod by electromagnetic force can be better felt; the operation of the operation rod not only maintains the existing operation habit of doctors, but also is more convenient to operate than a guide wire with a very small diameter, and the operation rod can be pushed or rotated and can be pushed and rotated simultaneously; the operating rod action feedback part can convert translational linear motion and/or rotational motion of the operating rod into electric signals and transmit the electric signals to the control part; the operation of the operation lever can well simulate the operation habit of doctors, so that the learning cost is reduced to the greatest extent, and the operation of the robot is adapted more quickly;
The invention can realize fine and smart operation of the guide wire and improve the operation efficiency; has touch force feedback, and improves the safety of the operation.
Further, as shown in fig. 1 and 2, the non-contact magnetic structure includes a feedback magnet 25 and an electromagnet 27 capable of changing a magnetic field by energization, and the feedback magnet 25 and the electromagnet 27 are axially opposite and coaxially arranged; the feedback magnet 25 is arranged on the end face of the sliding hinging seat structure, which is far away from the operating rod 11, the electromagnet 27 is arranged on the electromagnet mounting seat 9, the electromagnet mounting seat 9 is connected with a moving driving structure, the moving driving structure is electrically connected with the control part, and the moving driving structure can drive the electromagnet mounting seat 9 to drive the electromagnet 27 to move along the axial direction of the operating rod 11;
Before the translational movement of the operating rod 11, the electromagnet 27 is in a power-off state, the axial interval between the electromagnet 27 and the feedback magnet 25 is adjusted to be a first interval, and no acting force exists between the electromagnet 27 and the feedback magnet 25 (no attractive force and repulsive force exist between the electromagnet 27 and the feedback magnet 25);
when the operating rod 11 moves in a translational mode and no guide wire pushing resistance feedback signal exists, the electromagnet 27 is in a power-off state, the moving driving structure drives the electromagnet 27 to move so that the first distance between the moving driving structure and the feedback magnet 25 is kept constant (no acting force exists between the moving driving structure and the feedback magnet, the self resistance of the mechanism is reduced, and the more accurate feedback guide wire pushing resistance can be achieved);
When the movable driving structure receives a guide wire pushing resistance feedback signal, the electromagnet 27 is electrified, the end face magnetic poles of the electromagnet 27 opposite to the feedback magnet 25 are the same, the movable driving structure reduces the axial interval between the feedback magnet 25 and the electromagnet 27 according to the size of the guide wire pushing resistance, electromagnetic force is generated between the feedback magnet 25 and the electromagnet 27 (the axial interval is reduced, and the electromagnetic force is repulsive force because the magnetic field on the surface of the electromagnet 27 and the magnetic field on the surface of the feedback magnet 25 are in homopolar repulsion), and the feedback magnet 25 converts the electromagnetic force into the resistance of the operating rod to block the movement of the operating rod 11;
When the operating rod 11 needs to be reset, the electromagnet 27 attracts the feedback magnet 25 (the electromagnet 27 is clung to the feedback magnet 25), the sliding hinging seat structure and the operating rod 11 are attracted by the electromagnet 27, and the moving driving structure drives the sliding hinging seat structure and the operating rod 11 to move and reset through the electromagnet 27.
By changing the direction of the current, the direction of the magnetic pole of the electromagnet 27 is changed, so that the electromagnet and the feedback magnet 25 can repel each other to perform resistance feedback, and can attract each other to reset.
Further, as shown in fig. 1,2, 3 and 4, the moving driving structure includes a driving motor 4 electrically connected to the control part, and in a specific embodiment of the present invention, the driving motor 4 is fixedly connected to the motor fixing seat 6 through a screw; the driving motor 4 is connected with a transmission structure, the transmission structure is connected with the electromagnet mounting seat 9, and the driving motor 4 drives the electromagnet mounting seat 9 to drive the electromagnet 27 to move through the transmission structure;
When the driving motor 4 receives the feedback signal of the guide wire pushing resistance output by the control part, the electromagnet mounting seat 9 is driven to move according to the magnitude of the guide wire pushing resistance, and the axial interval between the feedback magnet 25 and the electromagnet 27 is reduced to generate electromagnetic force.
Further, as shown in fig. 1,2,3 and 4, the transmission structure comprises a screw rod 32 and a screw rod nut 31 sleeved on the screw rod 32, the screw rod nut 31 is connected with the electromagnet mounting seat 9, a first end of the screw rod 32 is hinged in the first screw rod support 2 (fixed end support), and a second end of the screw rod 32 is hinged in the second screw rod support 3 (support end support); the driving motor 4 is connected with the first end of the screw rod 32, and the driving motor 4 drives the screw rod 32 to rotate so as to drive the screw rod nut 31 and the electromagnet mounting seat 9 to move.
The electromagnet 27 on the screw nut 31 is driven to linearly move by the driving motor 4, different distances between the electromagnet and the feedback magnet can be set in real time according to the resistance signal, and the electromagnetic force is converted into resistance of external response according to the principle of like poles repel.
In one embodiment of the present invention, the screw nut 31 and the electromagnet 27 are both fixed in the slot of the electromagnet mounting seat 9 by screws.
The transmission structure can also adopt a chain transmission structure, a belt transmission structure and the like.
Further, as shown in fig. 1,2 and 3, the first end of the screw rod 32 is provided with the driven synchronizing wheel 5, the output end of the driving motor 4 is provided with the driving synchronizing wheel 7, the driving synchronizing wheel 7 and the driven synchronizing wheel 5 are sleeved with the synchronizing belt 30, and the driving motor 4 drives the screw rod 32 to rotate through the driving synchronizing wheel 7, the synchronizing belt 30 and the driven synchronizing wheel 5.
Further, as shown in fig. 1,2,3, and 4, a displacement sensor 26 electrically connected to the control unit is connected to the electromagnet mount 9, and the displacement sensor 26 is configured to monitor and output the axial gap size between the electromagnet 27 and the feedback magnet 25 to the control unit in real time. Before the operation rod 11 moves, the whole moving structure of the electromagnet is fed back through the distance of the displacement sensor 26, so that the distance between the whole moving structure and the feedback magnet 25 is kept at a first distance; during the movement, the signal feedback through the second magnetic encoder circuit board 35 and the distance feedback through the displacement sensor 26 mutually correct the actual distance between the electromagnet 27 and the feedback magnet 25.
In one embodiment of the invention, as shown in fig. 2, a displacement sensor 26 is coupled to the electromagnet mount 9 via a sensor adapter plate 28.
Further, as shown in fig. 1, 2, 3,4, 5 and 6, the sliding hinge seat is structurally connected with a sensor reflecting plate 29, and the sensor reflecting plate 29 is parallel to the light source plane of the displacement sensor 26. The sensor reflector 29 and the feedback magnet 25 have synchronism, and the sensor reflector 29 and the displacement sensor 26 are matched to realize the monitoring of axial interval.
Further, as shown in fig. 5, 6 and 7, the sliding hinge seat structure is provided with a first magnetic encoder circuit board 18 at one axial end of the operating rod 11, and the first magnetic encoder circuit board 18 converts the rotation movement of the operating rod 11 into an electrical signal and transmits the electrical signal to the control part; the sliding hinge seat structure is located at one radial side of the operating rod 11 and is provided with a second magnetic encoder circuit board 35, and the second magnetic encoder circuit board 35 converts translational linear motion of the operating rod 11 into electric signals and transmits the electric signals to the control part. The magnetic encoder may be replaced by any other type of encoder having the same function.
Further, as shown in fig. 5, 6 and 7, the sliding hinge seat structure includes a magnetic encoder fixing seat 16, a containing groove (U-shaped groove) which is vertically penetrated and is open at one end far away from the operating rod is arranged on the magnetic encoder fixing seat 16, a first through hole which is penetrated is arranged on one side wall of the containing groove, and the first end of the operating rod 11 is rotatably penetrated in the first through hole; the two side walls of the accommodating groove adjacent to the first through hole are coaxially provided with a second through hole and a hinge blind hole, the second through hole is internally provided with a rotating shaft 19 in a rotating way, the first end of the rotating shaft 19 penetrates through the accommodating groove and then is hinged in the hinge blind hole, and the position, in the accommodating groove, of the rotating shaft 19 is connected with a motion conversion structure capable of converting the translational motion of the operating rod 11 into the rotation of the rotating shaft 19;
the end face of the first end of the operating rod 11 is connected with a first radial magnet 23 (a round hole is formed in the end face of the first end of the operating rod 11, the first radial magnet 23 is installed in the round hole), a first magnetic encoder circuit board 18 is connected to one side wall of the accommodating groove (positioned in front of the end of the operating rod 11) through a screw, when the operating rod 11 rotates, the first radial magnet 23 is driven to rotate, and the rotating motion of the operating rod 11 is converted into an electric signal through the first magnetic encoder circuit board 18 and transmitted to the control part;
The end face of the second end of the rotating shaft 19 is provided with a second radial magnet 36 (a round hole is formed in the end face of the second end of the rotating shaft 19, the second radial magnet 36 is installed in the round hole), the second magnetic encoder circuit board 35 is connected to the side wall of the second end of the rotating shaft (located in front of the end of the rotating shaft 19) penetrating through the accommodating groove, when the operating rod 11 moves in a translational linear mode, the second radial magnet 36 is driven to rotate through the motion conversion structure, and the translational linear motion of the operating rod 11 is converted into an electric signal through the second magnetic encoder circuit board 35 to be transmitted to the control part.
Further, the motion conversion structure comprises a gear 15 sleeved on the rotating shaft 19, a rack 14 parallel to the central axis of the operating rod 11 is fixedly arranged below the accommodating groove, and the gear 15 is meshed with the rack 14; when the operating rod 11 drives the magnetic encoder fixing seat 16 to move, the gear 15 moves along the rack 14 and rotates to drive the rotating shaft 19 to rotate.
In a specific embodiment of the present invention, as shown in fig. 5, the gear 15 is fixed in the U-shaped groove of the magnetic encoder fixing seat 16 through two second bearings 17, a first shaft sleeve 21, a second shaft sleeve 33, a clamp spring 20 and a rotating shaft 19, so that the gear 15 and the rotating shaft 19 rotate simultaneously.
When the operating rod 11 moves linearly, the gear 15 and the rotating shaft 19 are driven to rotate, and the second radial magnet 36 is driven to rotate, so that the linear motion of the operating rod 11 is converted into an electric signal to be transmitted through the second magnetic encoder circuit board 35 in front of the end part of the rotating shaft 19.
Further, as shown in fig. 7, a first bearing 37 is disposed in the first through hole, and the operating rod 11 is axially fixed by a radial hole nut 24 after rotating through the first bearing 37; the second through hole and the hinge blind hole are internally provided with a second bearing 17, and the rotating shaft 19 is rotatably arranged in the second bearing 17.
In one embodiment of the present invention, the end of the operating rod 11 is fixed to the magnetic encoder fixing base 16 by two first bearings 37 and radial nuts 24, so that when the operating rod 11 moves axially, the magnetic encoder fixing base 16 is driven to move together, and the rotating movement of the operating rod 11 is not hindered.
Further, the magnetic encoder fixing base 16 is provided with a sleeve fixing base 13 at a side far away from the resistance feedback structure, the sleeve fixing base 13 is internally provided with a linear ball sleeve 12 (the linear ball sleeve 12 and the sleeve fixing base 13 are fixed by screws), and the operating rod 11 can slidably rotate to pass through the linear ball sleeve 12 and can axially translate and rotate.
Further, as shown in fig. 6, the sliding hinge seat structure further includes a magnet fixing seat 22, the magnet fixing seat 22 can be covered above the accommodating groove, and one end of the magnet fixing seat 22 far away from the operating rod 11 is connected with a feedback magnet 25.
Further, as shown in fig. 1 and 2, the bracing structure further includes a bottom plate 1, a sliding rail 8 is disposed on the bottom plate 1, a first sliding block 10 and a second sliding block 34 are slidably disposed on the sliding rail 8, an electromagnet mounting seat 9 is connected to the first sliding block 10 (the electromagnet mounting seat 9 is fixed with the first sliding block 10 through a screw), and a sliding hinge seat structure is connected to the second sliding block 34.
The first screw support 2, the second screw support 3, the motor fixing seat 6, the sliding rail 8, the shaft sleeve fixing seat 13 and the rack 14 are fixed on the surface of the bottom plate 1 through screws.
The doctor control end structure of the interventional operation robot also comprises a shell, and each structure is arranged in the shell through a bottom plate 1.
In another embodiment of the present invention, as shown in fig. 8, the non-contact magnetic structure comprises a feedback magnet rod 38 and a coil 39 capable of changing the magnetic field by energizing, wherein the feedback magnet rod 38 is coaxial with the coil 39, and a first end of the feedback magnet rod 38 is movably inserted into the inner cavity of the coil 39; the second end of the feedback magnet rod 38 is connected to the end face of the sliding hinge seat structure far away from the operating rod 11, the coil 39 is arranged on the coil mounting seat, the coil mounting seat is connected with a moving driving structure, the moving driving structure is electrically connected with the control part, and the moving driving structure can drive the coil mounting seat to drive the coil to move along the axial direction of the operating rod.
The non-contact magnetic force feedback of the present embodiment is similar to the working principle of the end face opposing electromagnet 27 and the feedback magnet 25 described above, and will not be described here again.
The doctor control end structure of the interventional operation robot is used as follows:
Before the operation rod 11 moves, the electromagnet 27 is powered off, and the distance (first distance) between the electromagnet 27 and the feedback magnet 25 is adjusted through the real-time distance between the electromagnet 27 and the sensor reflector 29 fed back by the displacement sensor 26, so that no attraction force and no repulsion force are generated between the electromagnet 27 and the feedback magnet 25 when the electromagnet 27 is powered on.
When the operation lever 11 moves in translation, the control unit receives the electric signal converted by the first magnetic encoder circuit board 18 and sends a control signal to the driving motor 4 according to the electric signal, and after the driving motor 4 receives the signal, the driving screw 32 is driven to rotate, so that the electromagnet 27 and the feedback magnet 25 keep the same distance (first distance) all the time.
When the driving motor 4 receives the feedback signal of the guide wire pushing resistance, the electromagnet 27 is electrified, the end face magnetic poles of the electromagnet 27 opposite to the feedback magnet 25 are the same, the axial interval between the feedback magnet 25 and the electromagnet 27 is correspondingly reduced according to the size of the guide wire pushing resistance, and the feedback magnet 25 converts the electromagnetic force into the movement of the operating rod resistance blocking operating rod 11 due to the homopolar repulsion of the magnetic field on the surface of the electromagnet 27 and the magnetic field on the surface of the feedback magnet 25, so that the effect of the feedback force is achieved.
Changing the current direction of the electromagnet 27, the magnetic field on the surface of the electromagnet 27 attracts the opposite poles of the magnet on the surface of the feedback magnet 25, so that the driving motor 4 drives the screw rod 32 to rotate, and the electromagnet 27 can be tightly attached to the feedback magnet 25, thereby achieving the effect of resetting the operating rod 11.
The invention also provides an interventional operation robot, which comprises the doctor control end structure of the interventional operation robot.
From the above, the doctor control end structure of the interventional operation robot and the interventional operation robot have the following beneficial effects:
In the doctor control end structure of the interventional operation robot, the non-contact magnetic structure converts electromagnetic force into external response resistance, and non-contact force feedback is adopted, so that self resistance of the mechanism is reduced, and the pushing resistance of the guide wire can be fed back more accurately;
The sliding hinging seat structure is hinged with the supporting operating rod, the resistance is small when the operating rod and the operating rod action feedback part linearly move before the resistance is fed back, and the resistance fed back to the operating rod by electromagnetic force can be better felt; the operation of the operation rod not only maintains the existing operation habit of doctors, but also is more convenient to operate than a guide wire with a very small diameter, and the operation rod can be pushed or rotated and can be pushed and rotated simultaneously; the operating rod action feedback part can convert translational linear motion and/or rotational motion of the operating rod into electric signals and transmit the electric signals to the control part; the operation of the operation lever can well simulate the operation habit of doctors, so that the learning cost is reduced to the greatest extent, and the operation of the robot is adapted more quickly;
The invention can realize fine and smart operation of the guide wire and improve the operation efficiency; has touch force feedback, and improves the safety of the operation.
The foregoing is illustrative of the present invention and is not to be construed as limiting the scope of the invention. Any equivalent changes and modifications can be made by those skilled in the art without departing from the spirit and principles of this invention, and are intended to be within the scope of this invention.
Claims (14)
1. A doctor control end structure of an interventional operation robot is characterized by comprising,
The control part is used for controlling the working state of the control end structure of the interventional operation robot doctor;
The operating rod can be operated by translation pushing and/or rotation and is electrically connected with the guide wire through the control part;
the support structure comprises a sliding hinging seat structure, one end of the operating rod is hinged in the sliding hinging seat structure, and the sliding hinging seat structure can axially move along with the operating rod; the sliding hinging seat structure is provided with an operating rod action feedback part electrically connected with the control part, and the operating rod action feedback part can convert translational linear motion and/or rotational motion of the operating rod into electric signals and transmit the electric signals to the control part;
The resistance feedback structure is used for generating electromagnetic force according to a guide wire pushing resistance feedback signal output by the control part and converting the electromagnetic force into operating rod resistance, and comprises a non-contact magnetic structure electrically connected with the control part, wherein the non-contact magnetic structure can synchronously move with the sliding hinging seat structure and can generate electromagnetic force according to a received guide wire pushing resistance signal, and the electromagnetic force is converted into operating rod resistance to block the movement of the operating rod;
the non-contact magnetic structure comprises a feedback magnet and an electromagnet capable of changing a magnetic field by electrifying, wherein the feedback magnet and the electromagnet are axially opposite and coaxially arranged; the feedback magnet is arranged on the end face, far away from the operating rod, of the sliding hinging seat structure, the electromagnet is arranged on the electromagnet mounting seat, the electromagnet mounting seat is connected with a moving driving structure, the moving driving structure is electrically connected with the control part, and the moving driving structure can drive the electromagnet mounting seat to drive the electromagnet to move along the axial direction of the operating rod;
Before the translational movement of the operating rod, the electromagnet is in a power-off state, the axial interval between the electromagnet and the feedback magnet is adjusted to be a first interval, and no acting force exists between the electromagnet and the feedback magnet; when the operating rod moves in a translational mode and no guide wire pushes resistance feedback signals, the electromagnet is in a power-off state, and the moving driving structure drives the electromagnet to move so as to keep a first distance constant with the axial interval of the feedback magnet; when the movable driving structure receives a guide wire pushing resistance feedback signal, the end face magnetic poles of the electromagnet opposite to the feedback magnet are the same by electrifying, the axial interval between the feedback magnet and the electromagnet is reduced by the movable driving structure according to the size of the guide wire pushing resistance, electromagnetic force is generated between the feedback magnet and the electromagnet, and the feedback magnet converts the electromagnetic force into the movement of an operating rod resistance blocking operating rod; when the operating rod needs to be reset, the electromagnet is electrified to enable the magnetic field of the electromagnet to attract the magnetic field opposite pole of the surface of the feedback magnet, the sliding hinging seat structure and the operating rod are attracted by the electromagnet, and the moving driving structure drives the sliding hinging seat structure and the operating rod to move and reset through the electromagnet;
The movable driving structure comprises a driving motor electrically connected with the control part, the driving motor is connected with a transmission structure, the transmission structure is connected with the electromagnet mounting seat, and the driving motor drives the electromagnet mounting seat to drive the electromagnet to move through the transmission structure;
When the driving motor receives a guide wire pushing resistance feedback signal output by the control part, the driving motor is electrified to enable the end face magnetic poles of the electromagnet opposite to the feedback magnet to be the same, and the driving motor drives the electromagnet mounting seat to move according to the size of the guide wire pushing resistance, so that the axial interval between the feedback magnet and the electromagnet is reduced to generate electromagnetic force.
2. The interventional operation robot doctor control end structure according to claim 1, wherein the transmission structure comprises a screw and a screw nut sleeved on the screw, the screw nut is connected with the electromagnet mounting seat, a first end of the screw is hinged in a first screw support, and a second end of the screw is hinged in a second screw support; the driving motor is connected with the first end of the screw rod, and the driving motor drives the screw rod to rotate so as to drive the screw rod nut to move with the electromagnet mounting seat.
3. The interventional operation robot doctor control end structure according to claim 2, wherein a driven synchronizing wheel is arranged at the first end of the screw rod, a driving synchronizing wheel is arranged at the output end of the driving motor, a synchronous belt is sleeved on the driving synchronizing wheel and the driven synchronizing wheel, and the driving motor drives the screw rod to rotate through the driving synchronizing wheel, the synchronous belt and the driven synchronizing wheel.
4. The interventional procedure robot doctor control end structure of claim 1, wherein the electromagnet mount is connected with a displacement sensor electrically connected to the control section, the displacement sensor being adapted to monitor and output to the control section the axial spacing dimension between the electromagnet and the feedback magnet in real time.
5. The interventional operation robot doctor control end structure of claim 4, wherein a sensor reflector is connected to the sliding hinge base structure, and the sensor reflector is parallel to a light source plane of the displacement sensor.
6. The interventional surgical robot doctor control end structure of claim 1, wherein,
The sliding hinging seat structure is positioned at one axial end of the operating rod and is provided with a first magnetic encoder circuit board, and the first magnetic encoder circuit board converts the rotary motion of the operating rod into an electric signal and transmits the electric signal to the control part; the sliding hinge seat structure is located at one radial side of the operating rod and is provided with a second magnetic encoder circuit board, and the second magnetic encoder circuit board converts translational linear motion of the operating rod into electric signals and transmits the electric signals to the control part.
7. The interventional procedure robot doctor control end structure of claim 6, wherein,
The sliding hinging seat structure comprises a magnetic encoder fixing seat, wherein a containing groove which is vertically penetrated and is far away from an opening of one end of an operating rod is arranged on the magnetic encoder fixing seat, a first through hole which is penetrated is arranged on one side wall of the containing groove, and the first end of the operating rod is rotatably penetrated in the first through hole; a second through hole and a hinge blind hole are coaxially arranged on two side walls of the accommodating groove adjacent to the first through hole, a rotating shaft is rotatably arranged in the second through hole, a first end of the rotating shaft penetrates through the accommodating groove and then is hinged in the hinge blind hole, and a position, in the accommodating groove, on the rotating shaft is connected with a motion conversion structure capable of converting translational motion of the operating rod into rotation of the rotating shaft;
The end face of the first end of the operating rod is connected with a first radial magnet, the first magnetic encoder circuit board is connected to one side wall of the accommodating groove, and when the operating rod rotates, the first radial magnet is driven to rotate, and the rotating motion of the operating rod is converted into an electric signal through the first magnetic encoder circuit board and is transmitted to the control part;
The end face of the second end of the rotating shaft is provided with a second radial magnet, the second magnetic encoder circuit board is connected to the side wall of the second end of the rotating shaft, which is penetrated by the accommodating groove, and when the operating rod moves in a translational linear mode, the second radial magnet is driven to rotate through the motion conversion structure, and the translational linear motion of the operating rod is converted into an electric signal to be transmitted to the control part through the second magnetic encoder circuit board.
8. The interventional operation robot doctor control end structure according to claim 7, wherein the motion conversion structure comprises a gear sleeved on the rotating shaft, a rack parallel to a central axis of the operating rod is fixedly arranged below the accommodating groove, and the gear is meshed with the rack; when the operating rod drives the magnetic encoder fixing seat to move, the gear moves along the rack and rotates to drive the rotating shaft to rotate.
9. The interventional operation robot doctor control end structure according to claim 7, wherein a first bearing is arranged in the first through hole, and the operating rod is axially fixed through a radial hole nut after passing through the first bearing in a rotating manner; the second through hole and the hinge blind hole are internally provided with a second bearing, and the rotating shaft is rotatably arranged in the second bearing in a penetrating way.
10. The interventional procedure robot doctor control end structure of claim 7, wherein a sleeve mount is provided on a side of the magnetic encoder mount remote from the resistance feedback structure, a linear ball sleeve is provided in the sleeve mount, and the lever slidably rotates through the linear ball sleeve.
11. The interventional procedure robot doctor control end structure of claim 7, wherein the sliding hinge seat structure further comprises a magnet fixing seat, the magnet fixing seat can be covered above the accommodating groove, and one end of the magnet fixing seat, which is far away from the operating rod, is connected with the feedback magnet.
12. The interventional procedure robot doctor control end structure of claim 1, wherein the bracing structure further comprises a bottom plate, a sliding rail is arranged on the bottom plate, a first sliding block and a second sliding block are arranged on the sliding rail in a sliding manner, the electromagnet mounting seat is connected to the first sliding block, and the sliding hinge seat structure is connected to the second sliding block.
13. The interventional procedure robot doctor control end structure of claim 1, wherein the non-contact magnetic structure comprises a feedback magnet rod and a coil capable of being energized to change a magnetic field, the feedback magnet rod being coaxial with the coil and a first end of the feedback magnet rod being movably inserted into an interior cavity of the coil; the second end of the feedback magnet rod is connected to the end face, far away from the operating rod, of the sliding hinging seat structure, the coil is arranged on the coil mounting seat, a movable driving structure is connected to the coil mounting seat, the movable driving structure is electrically connected with the control part, and the movable driving structure can drive the coil mounting seat to drive the coil to axially move along the operating rod.
14. An interventional procedure robot comprising an interventional procedure robot doctor control end structure according to any of claims 1 to 13.
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