CN220158378U - Main end control device of interventional operation robot - Google Patents

Abstract

The embodiment of the utility model belongs to the field of medical equipment, and relates to a master end control device of an interventional operation robot, which is used for being matched with a slave end robot and comprises a frame, a moving mechanism and a master end operating mechanism; the moving mechanism is arranged on the frame and comprises a guide piece and a sliding piece, the guide piece is arranged on the frame, and the sliding piece is arranged on the guide piece in a sliding manner; the main end operating mechanism is arranged on the sliding piece and comprises an operating handle, the operating handle can rotate around the axis of the operating handle, and the main end operating mechanism is driven to move along the guiding piece through the sliding piece. The technical scheme provided by the utility model can improve the hand feeling consistency and stability of the operation of an operator and prolong the service life of the main end control device.

Description

Main end control device of interventional operation robot

Technical Field

The utility model relates to the technical field of medical instruments, in particular to a main end control device of an interventional operation robot.

Background

Because X-ray radiation is often generated in vascular interventional operations, doctors can be exposed to the radiation for a long time during the operations, so that the patients have a larger probability of suffering from radiation related diseases and endangering the health. In order to isolate doctors from harmful environments, interventional surgical robots have been developed to enable teleoperated surgery.

The interventional operation robot generally adopts a main end control device to be matched with a slave end robot, an operation handle of a doctor operates the main end to rotate or move, the slave end robot is controlled to make corresponding actions, the existing main end control device uses a guide rod as a guide piece and a rotating shaft, when the operation handle moves to the end part along the guide rod, the end part of the guide rod deforms due to the self gravity of the operation handle, so that the hand feeling of operation delivery in the doctor operation is inconsistent, errors are easy to generate, and medical accidents are caused.

Disclosure of Invention

The technical problem to be solved by the embodiment of the utility model is that the end part of the guide rod of the main end control device is easy to deform due to the self gravity of the operating handle, so that the operation of doctors is unstable.

In order to solve the above technical problems, an embodiment of the present utility model provides a main end control device of an interventional operation robot, which adopts the following technical scheme:

a master end control device of an interventional operation robot is used for being matched with a slave end robot and comprises a frame, a moving mechanism and a master end operating mechanism;

the moving mechanism is arranged on the frame and comprises a guide piece and a sliding piece, wherein the guide piece is arranged on the frame, and the sliding piece is arranged on the guide piece in a sliding manner;

the main end operating mechanism is arranged on the sliding piece and comprises an operating handle, the operating handle can rotate around the axis of the operating handle, and the main end operating mechanism is driven by the sliding piece to move along the guide piece.

Further, the main end operating mechanism further comprises a connecting rod, at least one bearing and a bearing seat;

one end of the connecting rod is connected with the operating handle;

the bearing is arranged in the bearing seat, the connecting rod penetrates through the inner ring of the bearing, and the operating handle drives the inner ring of the bearing to rotate around the axis of the bearing in the bearing seat through the connecting rod;

the bearing seat is provided with an induction wiring port;

the operation handle, the connecting rod, the bearing and the bearing seat are sequentially connected to form a continuous conductive path, and the conductive path is connected with the induction wiring port.

Further, the main end operating mechanism further comprises an insulating connecting piece, the bearing seat is arranged on the insulating connecting piece, and the insulating connecting piece is arranged on the sliding piece.

Further, the main end operating mechanism further comprises an induction piece, and the induction piece is arranged on the operating handle and used for detecting the use of an operator.

Further, the main end operating mechanism further comprises a protective sleeve and an insulation sleeve;

the protective sleeve is sleeved on the operating handle;

the insulating sleeve member is sleeved on the connecting rod.

Further, the main end operating mechanism further comprises a rotation detecting assembly, and the rotation detecting assembly is used for detecting the rotation angle of the operating handle.

Further, the main end operating mechanism further comprises a force feedback assembly comprising a damper and a linkage;

the damper is arranged on the bearing seat;

the linkage piece is sleeved at one end, far away from the operating handle, of the connecting rod and is in transmission connection with the damper, and the linkage piece is used for conducting resistance to the connecting rod.

Further, the main end control device further comprises a displacement detection mechanism, the displacement detection mechanism is arranged on the frame, and the displacement detection mechanism is used for detecting the displacement distance of the sliding piece sliding along the guide piece.

Further, the main end control device also comprises a reset mechanism, wherein the reset mechanism is arranged on the frame and comprises a reset driving piece and a transmission assembly;

the reset driving piece is arranged on the frame;

the transmission assembly is connected with the driving end of the reset driving piece and the sliding piece;

the reset mechanism is used for driving the sliding piece to move to an original point position along the guide piece.

Further, the reset mechanism further comprises a reset detection assembly, wherein the reset detection assembly is used for monitoring the sliding piece to move to the original point position along the guide piece.

Compared with the prior art, the embodiment of the utility model has the following main beneficial effects:

according to the main end control device provided by the embodiment of the utility model, the main end control of the interventional robot is integrated on the moving mechanism, so that control errors caused by scattered structures are avoided; the moving mechanism is arranged on the frame, the frame is used for providing support for the active operating mechanism, and deformation of the guide piece is avoided, so that the hand feeling consistency of an operator during controlling movement is improved, and the control precision of the operator is improved; the rotating function and the moving function are controlled through the main end control mechanism and the moving mechanism respectively, so that the control precision of an operator is improved.

Drawings

In order to more clearly illustrate the solution of the present utility model, a brief description will be given below of the drawings required for the description of the embodiments, it being apparent that the drawings in the following description are some embodiments of the present utility model and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of a master control apparatus according to an embodiment of the present utility model;

FIG. 2 is a schematic diagram of the structure of a master end control apparatus (without a master end operating mechanism and an insulated connector) according to an embodiment of the present utility model;

FIG. 3 is a schematic view of the structure of the main end operating mechanism according to the embodiment of the present utility model;

FIG. 4 is a cross-sectional view of a primary end operating mechanism of an embodiment of the present utility model;

fig. 5 is a schematic structural diagram of the combined main end operating mechanism and sliding member according to the embodiment of the present utility model.

Reference numerals:

1. a frame; 11. a first limiting member; 12. a second limiting piece; 13. a third limiting member; 2. a moving mechanism; 21. a guide member; 22. a slider; 221. a bottom plate; 222. a slide block; 223. a baffle; 3. a main end operating mechanism; 31. an operation handle; 32. a connecting rod; 33. a bearing; 34. a bearing seat; 341. an induction wiring port; 35. a protective sleeve; 36. an insulation sleeve; 371. a damper; 372. a linkage member; 38. an insulating connector; 391. rotating the code wheel; 392. a rotary encoder; 41. a magnetic grating ruler; 42. a magnetic grid ruler sensor; 51. resetting the driving piece; 521. a second power gear; 522. a rack; 53. and resetting the detection component.

Detailed Description

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 utility model belongs; the terminology used in the description of the applications herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the utility model; the terms "comprising" and "having" and any variations thereof in the description of the utility model and the claims and the description of the drawings above are intended to cover a non-exclusive inclusion. The terms first, second and the like in the description and in the claims or in the above-described figures, are used for distinguishing between different objects and not necessarily for describing a sequential or chronological order.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the utility model. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.

Embodiments of the Main end control device of the interventional surgical robot of the present utility model

Referring to fig. 1 and 2, a master end control device of an interventional operation robot of the present utility model is configured to cooperate with a slave end robot, and includes: a frame 1, a moving mechanism 2 and a main end operating mechanism 3.

The moving mechanism 2 is arranged on the frame 1, the moving mechanism 2 comprises a guide piece 21 and a sliding piece 22, the guide piece 21 is arranged on the frame 1, and the sliding piece 22 is arranged on the guide piece 21 in a sliding way;

the main end operating mechanism 3 is mounted on the sliding member 22, and the main end operating mechanism 3 can be driven to slide along the guiding member 21 by the sliding member 22. As shown in fig. 3, the main end operating mechanism 3 includes an operating handle 31, and the operating handle 31 is rotatable around its own axis, thereby realizing a rotary operating function.

According to the embodiment of the utility model, the guide piece 21 is arranged on the frame 1 to provide support for the main end operating mechanism 3, so that an operator can keep levelness when controlling the main end operating mechanism 3 to move on the frame 1, the friction force of the horizontal movement of the main end operating mechanism 3 is reduced, the operation hand feeling of the operator when controlling the horizontal movement of the main end operating mechanism 3 is improved, and the operation accuracy is improved; in addition, the rotation function is controlled by the operation handle 31 of the main end operation mechanism 3, so that the rotation friction force can be reduced, the operation hand feeling of the operator for controlling rotation can be improved, and the operation stability can be further improved.

Referring to fig. 1 and 2 again, in this embodiment, the guide member 21 is a linear guide rail horizontally installed on the frame 1, the master end control device includes two master end operating mechanisms 3, the two master end operating mechanisms 3 are slidably installed on the linear guide rail through sliding members 22 respectively, and are distributed on the frame 1 in mirror image, so that an operator can operate with one hand or operate with both hands, each master end operating mechanism 3 is used for controlling one of the medical devices clamped on the slave end robot, such as a single catheter or a single guide wire, for example, in this embodiment, the master end operating mechanism 3 (referred to as a left master end operating mechanism) located on the left side of the frame 1 in the angle shown in fig. 1 is used for controlling the slave end robot to control the catheter, and the left master end operating mechanism moves along the linear guide rail to control the displacement of the advancing or retreating catheter; the main end operating mechanism 3 (called a right main end operating mechanism) positioned on the right side of the frame 1 is used for controlling the slave end robot to control the guide wire, and the right main end operating mechanism moves along the linear guide rail so as to control the displacement amount of the forward or backward movement of the guide wire.

In this embodiment, the frame 1 is provided with a first limiting member 11, a second limiting member 12 and a third limiting member 13. The first limiting piece 11 is matched with the second limiting piece 12 and used for limiting the left and right limiting positions of the left main end operating mechanism, wherein the origin position of the left main end operating mechanism is located at the middle point between the first limiting piece 11 and the second limiting piece 12; the second limiting piece 12 is matched with the third limiting piece and used for the left and right limiting positions of the right main end operating mechanism, wherein the origin position of the right main end operating mechanism is located at the middle point between the second limiting piece 12 and the third limiting piece 13.

Further, the second limiting member 12 is also used for preventing the left main end operating mechanism from colliding with the right main end operating mechanism.

Referring to fig. 3 to 5, each main end operating mechanism 3 further includes a connecting rod 32, a bearing 33 and a bearing seat 34.

Wherein one end of the link 32 is connected to the operating handle 31.

The number of the bearings 33 is at least one, for example, the number of the bearings 33 shown in fig. 4 is two, the two bearings 33 are arranged in the bearing seat 34, the connecting rod 32 penetrates through the inner rings of the bearings 33, one end of the connecting rod 32 far away from the operating handle 31 penetrates through the inner rings of the two bearings 33 in sequence and then penetrates out of the other end of the bearing seat 34, and the connecting rod 32 is in interference fit with the inner rings of the bearings 33, so that the operating handle 31 can drive the inner rings of the bearings 33 to rotate around the axle center of the bearings 33 in the bearing seat 34 through the connecting rod 32.

In this embodiment, the connecting rod 32 is a metal connecting rod or a plastic conductive connecting rod, the bearing 33 is a metal bearing or a plastic conductive bearing, the bearing seat 34 is a metal bearing seat, and the bearing seat 34 is provided with an induction wiring port 341. The operating handle 31, the connecting rod 32, the bearing 33 and the bearing seat 34 are sequentially connected to form a continuous conductive path, and the conductive path is connected with the sensing wiring port 341 and is connected with a capacitor of a PCB (not shown in the figure) through the sensing wiring port 341. In the embodiment, the connecting rod 32 is in interference fit with the inner ring of the bearing 33, so that the contact area of the connecting rod 32 and the bearing 33 is increased, the multi-contact conduction between the connecting rod 32 and the bearing 33 is realized, and the stability of a conductive path is improved.

In this embodiment, the main end operating mechanism 3 further includes an induction element (not shown in the figure), and the induction element is mounted on the operating handle 31 for detecting an operator, when the operator holds the operating handle 31, the human body serves as a polar plate, the bearing seat 34 serves as another polar plate, so that the conductive path is conducted, and a signal is output to the control panel (not shown in the figure) through the induction connection port 341, and the control panel determines whether the operator performs effective operation in real time according to the conduction of the conductive path, so as to realize high-precision detection of human body induction triggering in the process of rotating the operating handle 31 by the operator. In this embodiment, the sensing element may be a pressure sensor, a temperature sensor or a contact sensor.

In this embodiment, the main end operating mechanism 3 further includes a protective sheath 35 and an insulating sleeve 36. The protective sleeve 35 is sleeved on the operating handle 31, in particular to the hand-holding part of the operating handle 31, and the induction piece is coated in the protective sleeve 35; the insulating sleeve 36 is sleeved on the connecting rod 32, and the insulating protective sleeve 35 and the insulating sleeve 36 are arranged to prevent the capacitive sensing from contacting the whole machine, so that sensing cannot be triggered or sensing is triggered wrongly. In this embodiment, the protective sleeve 35 and the insulating sleeve 36 are made of rubber materials.

Further, the protective sleeve 35 is uniformly provided with anti-skid patterns to improve the friction force with an operator and the operation stability.

Referring to fig. 1, 3 and 4, the main end operating mechanism 3 further includes a force feedback assembly including a damper 371 and a linkage 372.

The damper 371 is installed on the bearing frame 34, the linkage 372 suit is kept away from operating handle 31 one end in the connecting rod 32, and is connected with the transmission of damper 371, the linkage 372 is used for with resistance conduction to the connecting rod 32, in this embodiment, the linkage 372 includes first drive gear and second drive gear, first drive gear suit is kept away from operating handle 31 one end in the connecting rod 32, the output shaft of damper 371 is sleeved to the second drive gear, first drive gear and second drive gear intermeshing, through increasing the force feedback subassembly, experience when increasing operator and rotating operating handle 31 control pipe or seal wire rotation is felt, press close to real operation scene.

In some embodiments, the main end operating mechanism 3 further includes an insulating connecting member 38, the bearing seat 34 is mounted on the insulating connecting member 38, the insulating connecting member 38 is mounted on the sliding member 22, and by mounting the metal bearing seat 34 on the insulating connecting member 38, the capacitive sensing of the conductive path is prevented from contacting the frame 1, so that the conductive path is prevented from being formed before the operator holds the operating handle 31, and thus the triggering sensing cannot be realized.

In some embodiments, the main end operating mechanism 3 further includes a rotation detecting member, where the rotation detecting member is used to detect a rotation angle of the operating handle 31, and in this embodiment, the rotation detecting member includes a rotary encoder 391 and a rotary encoder 392, where the rotary encoder 391 is sleeved on the link 32 and rotates synchronously with the link 32, the rotary encoder 392 is installed on the bearing seat 34 or the insulating connecting member 38, and the rotary encoder 392 is used to read the rotation angle of the rotary encoder 391, so that an operator can control a rotation variation of the catheter or the guide wire.

Referring to fig. 1 and 2, the sliding member 22 includes a bottom plate 221 and a sliding block 222, and the sliding block 222 is mounted on the bottom surface of the bottom plate 221 and movably mounted on the guiding member 21.

In some embodiments, the main end control device further includes a displacement detection mechanism, the displacement detection mechanism is mounted on the frame 1, the displacement detection mechanism is used for detecting a displacement distance of the sliding piece 22 sliding along the guiding piece 21, in this embodiment, the displacement detection mechanism includes a magnetic grating ruler 41 and a magnetic grating ruler sensor 42, the magnetic grating ruler sensor 42 is mounted on the frame 1 through a bracket, the magnetic grating ruler 41 is mounted on the bottom plate 221 and is disposed below a detection end of the magnetic grating ruler sensor 42, the detection end of the magnetic grating ruler sensor 42 and a zero point position of the magnetic grating ruler 41 are disposed at an origin position, when the operator controls the main end operating mechanism 3 to move along the guiding piece 21, the magnetic grating ruler 41 moves relative to the magnetic grating ruler sensor 42, and the magnetic grating ruler sensor 42 reads absolute position coordinates of the magnetic grating ruler 41 and feeds back to the operator so that the operator can control displacement variation of the catheter or the guiding wire. In other embodiments, the displacement detection mechanism may also be a displacement sensor.

Referring to fig. 1 and 2 again, the main end control device further includes a reset mechanism, which is mounted on the frame 1 and includes a reset driving member 51 and a transmission assembly.

The reset driving piece 51 is installed on the frame 1, the transmission assembly is respectively connected with the driving end of the reset driving piece 51 and the sliding piece 22, and the reset mechanism is used for driving the sliding piece 22 to move to the original point position along the guide piece 21.

In this embodiment, the reset driving member 51 is a reset motor, the reset motor is mounted on the frame 1 through a fixing seat, a first power gear is mounted on an output shaft of the reset motor, the transmission assembly includes a second power gear 521 and a rack 522, the second power gear 521 is rotatably connected to the fixing seat and is meshed with the first power gear, the rack 522 is fixed on the bottom plate 221 and is meshed with the second power gear 521, during operation, the reset motor is started to drive the first power gear to rotate, and the rack 522 is driven to move through the transmission of the second power gear 521 so as to control the sliding member 22 to move along the guide member 21, and the main end control mechanism 3 is moved to the original position.

Further, the reset mechanism further includes a reset detection component 53, the reset detection component 53 is used for monitoring the sliding member 22 to move to the origin position along the guiding member 21, in this embodiment, the reset detection component 53 includes a photoelectric sensor, the photoelectric sensor is installed on the frame 1 and is located at the origin position of the left active operating mechanism 3 and the origin position of the right active operating mechanism 3 respectively, a baffle 223 is disposed on the bottom plate 221 of the sliding member 22, and the baffle 223 is matched with the photoelectric sensor, so as to realize monitoring the sliding member 22 to move to the origin position along the guiding member 21.

It is apparent that the above-described embodiments are only some embodiments of the present utility model, but not all embodiments, and the preferred embodiments of the present utility model are shown in the drawings, which do not limit the scope of the patent claims. This utility model may be embodied in many different forms, but rather, embodiments are provided in order to provide a thorough and complete understanding of the present disclosure. Although the utility model has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing description, or equivalents may be substituted for elements thereof. All equivalent structures made by the content of the specification and the drawings of the utility model are directly or indirectly applied to other related technical fields, and are also within the scope of the utility model.

Claims (10)

1. The main end control device of the interventional operation robot is used for being matched with the auxiliary end robot and is characterized by comprising a frame, a moving mechanism and a main end operating mechanism;

the moving mechanism is arranged on the frame and comprises a guide piece and a sliding piece, wherein the guide piece is arranged on the frame, and the sliding piece is arranged on the guide piece in a sliding manner;

the main end operating mechanism is arranged on the sliding piece and comprises an operating handle, the operating handle can rotate around the axis of the operating handle, and the main end operating mechanism is driven by the sliding piece to move along the guide piece.

2. The interventional procedure robot main end control device according to claim 1, characterized in that the main end operating mechanism further comprises a connecting rod, at least one bearing, a bearing seat;

one end of the connecting rod is connected with the operating handle;

the bearing is arranged in the bearing seat, the connecting rod penetrates through the inner ring of the bearing, and the operating handle drives the inner ring of the bearing to rotate around the axis of the bearing in the bearing seat through the connecting rod;

the bearing seat is provided with an induction wiring port;

the operation handle, the connecting rod, the bearing and the bearing seat are sequentially connected to form a continuous conductive path, and the conductive path is connected with the induction wiring port.

3. The interventional procedure robot of claim 2, wherein the main end operating mechanism further comprises an insulating connector, the bearing housing being mounted on the insulating connector, the insulating connector being mounted on the slider.

4. The interventional procedure robot of claim 2, wherein the main end operating mechanism further comprises a sensing member mounted on the operating handle for detecting use by an operator.

5. The interventional procedure robot main end control device according to claim 2, wherein the main end operating mechanism further comprises a protective sheath and an insulation sleeve;

the protective sleeve is sleeved on the operating handle;

the insulating sleeve member is sleeved on the connecting rod.

6. The interventional procedure robot main end control device according to claim 1, wherein the main end operating mechanism further comprises a rotation detection assembly for detecting a rotation angle of the operating handle.

7. The interventional surgical robot main end control device of claim 2, wherein the main end operating mechanism further comprises a force feedback assembly comprising a damper and a linkage;

the damper is arranged on the bearing seat;

the linkage piece is sleeved at one end, far away from the operating handle, of the connecting rod and is in transmission connection with the damper, and the linkage piece is used for conducting resistance to the connecting rod.

8. The main end control device of an interventional procedure robot according to claim 1, further comprising a displacement detection mechanism mounted on the frame, the displacement detection mechanism being configured to detect a displacement distance of the slider sliding along the guide.

9. The interventional procedure robot main end control device according to claim 1, characterized in that the main end control device further comprises a reset mechanism, which is mounted on the frame, comprising a reset drive and a transmission assembly;

the reset driving piece is arranged on the frame;

the transmission assembly is connected with the driving end of the reset driving piece and the sliding piece;

the reset mechanism is used for driving the sliding piece to move to an original point position along the guide piece.

10. The interventional procedure robot main end control device according to claim 9, wherein the reset mechanism further comprises a reset detection assembly for monitoring the movement of the slider along the guide to an origin position.