WO2022088537A1 - 一种介入手术机器人导丝摩擦力反馈装置及方法 - Google Patents

一种介入手术机器人导丝摩擦力反馈装置及方法 Download PDF

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Publication number
WO2022088537A1
WO2022088537A1 PCT/CN2021/073716 CN2021073716W WO2022088537A1 WO 2022088537 A1 WO2022088537 A1 WO 2022088537A1 CN 2021073716 W CN2021073716 W CN 2021073716W WO 2022088537 A1 WO2022088537 A1 WO 2022088537A1
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Prior art keywords
guide wire
force
clamping
fixed
feedback device
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PCT/CN2021/073716
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English (en)
French (fr)
Inventor
黄韬
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北京唯迈医疗设备有限公司
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Priority to DE112021000009.8T priority Critical patent/DE112021000009T5/de
Priority to RU2021110305A priority patent/RU2759486C1/ru
Priority to US17/210,502 priority patent/US20220226619A1/en
Publication of WO2022088537A1 publication Critical patent/WO2022088537A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/302—Surgical robots specifically adapted for manipulations within body cavities, e.g. within abdominal or thoracic cavities
    • 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
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B90/00—Instruments, implements or accessories specially adapted for surgery or diagnosis and not covered by any of the groups A61B1/00 - A61B50/00, e.g. for luxation treatment or for protecting wound edges
    • A61B90/06—Measuring instruments not otherwise provided for
    • A61B2090/064—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension
    • A61B2090/065—Measuring instruments not otherwise provided for for measuring force, pressure or mechanical tension for measuring contact or contact pressure
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0252—Load cells
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B2562/00—Details of sensors; Constructional details of sensor housings or probes; Accessories for sensors
    • A61B2562/02—Details of sensors specially adapted for in-vivo measurements
    • A61B2562/0261—Strain gauges
    • 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
    • A61M2210/00—Anatomical parts of the body
    • A61M2210/12—Blood circulatory system

Definitions

  • the invention relates to the technical field of minimally invasive blood vessels, and more particularly to a device and method for feedback of frictional force of an interventional surgical robot guide wire.
  • Cardiovascular minimally invasive interventional therapy is the main treatment method for cardiovascular and cerebrovascular diseases. Compared with traditional surgery, it has obvious advantages such as smaller incision and shorter postoperative recovery time. Cardiovascular interventional surgery is a process in which a doctor manually inserts catheters, guide wires, stents, and other instruments into a patient's body to complete the treatment.
  • Interventional surgery has the following problems. During the operation, because the DSA will emit X-rays, the doctor's physical strength will decrease rapidly, and the attention and stability will also decrease, which will lead to a decrease in the operation accuracy, and it is prone to vascular intima caused by improper pushing force. Accidents such as injury, vascular perforation, rupture, etc., lead to danger to the patient's life. Second, accumulated damage from long-term ionizing radiation can dramatically increase doctors' chances of developing leukemia, cancer, and acute cataracts. The phenomenon that doctors continue to accumulate rays because of interventional surgery has become a problem that cannot be ignored that damages the professional life of doctors and restricts the development of interventional surgery.
  • the present invention aims to solve one of the above-mentioned technical problems in the prior art at least to a certain extent.
  • an object of the present invention is to provide a guide wire friction feedback device for an interventional surgery robot, which solves the problem that the structure in the prior art is relatively bloated and complex, and the force feedback detection device of the guide wire will cause the guide wire to be installed on the robot. And the problem of inconvenient replacement, an indirect measurement device is provided.
  • the invention provides a guide wire friction force feedback device for an interventional surgery robot, comprising: two sets of active end parts, driven end parts and clamping parts arranged symmetrically along the guide wire;
  • Each group of active end components includes: U-shaped groove connector, high-precision load cell, first slider, first miniature linear guide, right-angle connecting plate and main end connector; the top of the main end connector is parallel to the guide The wire direction slides along the length direction of the rectangular bottom plate at the main end of the propulsion mechanism, and the bottom of the right-angle connecting plate slides on the top of the main end connecting piece in the vertical direction of the guide wire.
  • a first miniature linear guide is fixed parallel to the direction of the guide wire, the first slider slides on the first miniature linear guide, and the U-shaped groove connector is fixed on the top of the first slider to offset the clamping force of the guide wire, with high precision
  • the load cell is arranged perpendicular to the guide wire, one end of which is fixed on the inner side of the vertical plate, and the other end is inserted into the notch of the U-shaped groove connector, and the width of the notch is greater than the width of the high-precision load cell, which is used to measure the guide wire
  • the frictional force received, the U-shaped groove connector is fixed with one end of the first clamping part away from the notch side;
  • Each set of driven end parts includes a second clamping part corresponding to the first clamping part, and a slave end connection part corresponding to the main end connecting part for clamping and pushing the guide wire.
  • the present invention provides a guide wire friction feedback device for an interventional surgery robot, which has a relatively simple and compact structure and good stability; when the clamping part is clamped by the guide wire When the direction of the force is applied, the force is transmitted to the right-angle connecting plate through the U-shaped groove connector, the first slider, and the first micro linear guide.
  • the high-precision load cell only measures the axial force of the guide wire, that is, the high
  • the push-pull force that is, the friction force received by the guide wire
  • the force measuring method solves the problem of inconvenient installation of the guide wire and the force measuring device.
  • each group of active end components also includes a second slider and a second miniature linear guide; the bottom of the right-angle connecting plate is fixed with a second slider along the vertical guide wire direction, and the top of the main end connector is provided with a second slider. Sliding second miniature linear guide.
  • each group of active end components also includes a spring and a Teflon patch, the two ends of the spring are respectively hooked and fixed between the outer side of the vertical plate and the Teflon patch, and the Teflon patch and the camshaft are always in contact with each other. catch.
  • each group of driven end components also includes: a third slider, a slave end connecting plate and a third miniature linear guide rail; the driven connecting plate and the right-angle connecting plate are arranged opposite to each other, and the slave end is fixed on the side close to the guide wire.
  • each group of first clamping components includes a first cylindrical electromagnet and an active movable block, one end of the first cylindrical electromagnet axis perpendicular to the guide wire direction is fixed on the U-shaped groove connector, and the other end is magnetically connected to the active movable block. yuan.
  • each group of second clamping components includes a second cylindrical electromagnet and a passive movable block; the second cylindrical electromagnet is vertically fixed on the top of the third slider, and the plane where its axis is located is parallel to the plane where the guide wire is located, and the second cylindrical electromagnet is vertically fixed on the top of the third slider.
  • the top is magnetically connected with a passive moving block that is twisted with the active moving block.
  • the present invention provides a method for feedback of frictional force received by a robot on a guide wire during interventional surgery.
  • the above-mentioned frictional force feedback device on a guidewire received by a robot during interventional surgery is used in conjunction with a reciprocating motion device of an interventional surgery robot.
  • the two groups of clamping parts clamp the guide wire alternately to move, and measure the friction force in the guide wire movement by detecting the force change signal sent by the high-precision load cell, thereby indirectly reflecting the force on the guide wire end.
  • the data is transmitted to the main control end of the robot propulsion mechanism to give timely feedback to the doctor. Therefore, the present invention adopts the indirect force measurement method, which solves the problem of inconvenient installation of the guide wire and the force measurement device.
  • FIG. 1 is a perspective view of a guide wire friction feedback device for an interventional surgery robot provided by the present invention
  • FIG. 2 is a perspective view of the active end component of a guide wire friction feedback device for an interventional surgery robot provided by the present invention
  • FIG. 3 accompanying drawing is the partial schematic diagram of accompanying drawing 2;
  • FIG. 4 is an exploded view of a guide wire friction feedback device for an interventional surgery robot provided by the present invention.
  • first and second are only used for descriptive purposes, and should not be construed as indicating or implying relative importance or implying the number of indicated technical features. Thus, a feature defined as “first” or “second” may expressly or implicitly include one or more of that feature.
  • “plurality” means two or more, unless otherwise expressly and specifically defined.
  • the terms “installed”, “connected”, “connected”, “fixed” and other terms should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • installed may be a fixed connection or a detachable connection , or integrated; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of the two elements or the interaction relationship between the two elements.
  • a first feature "on” or “under” a second feature may include the first and second features in direct contact, or may include the first and second features Not directly but through additional features between them.
  • the first feature being “above”, “over” and “above” the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature.
  • the first feature is “below”, “below” and “below” the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.
  • a guide wire friction feedback device for an interventional surgery robot provided by the present invention includes: two sets of active end parts, driven end parts and clamping parts arranged symmetrically along the guide wire 101;
  • Each set of active end components includes: a U-shaped groove connector 201, a high-precision load cell 202, a first slider 203, a first miniature linear guide 204, a right-angle connecting plate 205 and a main end connector 209; the main end connection
  • the top of the piece 209 slides along the length direction of the rectangular bottom plate D of the main end of the propulsion mechanism along the direction parallel to the guide wire 101, and the bottom of the right-angle connecting plate 205 slides on the top of the main end connecting piece 209 perpendicular to the direction of the guide wire 101.
  • the outer side of the plate is in contact with the camshaft 102, the top of the other end is fixed with a first micro linear guide 204 parallel to the direction of the guide wire 101, the first slider 203 slides on the first micro linear guide 204, and the U-shaped groove connector 201 is fixed On the top of the first slider 203 to offset the clamping force of the guide wire 101, the high-precision load cell 202 is arranged perpendicular to the guide wire 101, one end of which is fixed on the inner side of the vertical plate, and the other end is inserted into the U-shaped groove connector 201 Inside the slot, and the slot width is greater than the width value of the high-precision load cell 202, it is used to measure the friction force on the guide wire 101, and the U-shaped slot connector 201 is away from the slot side and is fixed with one end of the first clamping member;
  • Each set of driven end parts includes a second clamping part corresponding to the first clamping part, and a slave end connection part 104 corresponding to the main end connecting part 209 for clamping and pushing the guide wire 101 .
  • the invention discloses and provides a guide wire friction force feedback device of an interventional surgery robot, which has a relatively simple and compact structure and good stability; when the clamping part is subjected to a force in the clamping direction of the guide wire, the force is passed through a U-shaped groove connecting piece. , the first slider, the first miniature linear guide is transmitted to the right-angle connecting plate, the high-precision load cell only measures the axial force of the guide wire, that is, the push-pull force felt by the high-precision load cell (that is, the guide wire is subjected to The friction force) of the guide wire can be judged to determine the force change of the axial friction force of the guide wire, and the operation reminder can be given to the doctor in time to protect the safety of the patient. Ease of installation.
  • each group of active end components further includes a second slider 206 and a second miniature linear guide 207; a second slider 206 is fixed at the bottom of the right-angle connecting plate 205 along the direction perpendicular to the guide wire 101, and the main end is connected to the second slider 206.
  • the top of the component 209 is provided with a second miniature linear guide 207 sliding with the second slider 206 .
  • each group of active end components further includes a spring and a PTFE patch 208, and both ends of the spring are respectively hooked and fixed between the outer side of the vertical plate and the PTFE patch 208, and the PTFE patch 208 is connected to the PTFE patch 208.
  • the camshaft 102 is always in contact with each other.
  • each set of driven end components further includes: a third sliding block 107 , a slave end connecting plate 108 and a third miniature linear guide rail 109 ;
  • a slave end connector 104 is fixed on the side of the guide wire 101 ;
  • a third micro linear guide 109 is fixed on the top of the guide wire 101 parallel to the direction of the guide wire 101 , and a second clamping part is fixed on the top of the third slider 107 , and can slide on the third micro linear guide on the guide rail 109.
  • each set of first clamping components includes a first cylindrical electromagnet 103 and an active movable block 106.
  • One end of the first cylindrical electromagnet 103 in the direction perpendicular to the direction of the guide wire 101 is fixed to the U-shaped groove connector 201 The other end is magnetically connected to the active movable block 106 .
  • each set of second clamping components includes a second cylindrical electromagnet 1031 and a passive movable block 105 ; the second cylindrical electromagnet 1031 is vertically fixed on the top of the third sliding block 107 , and the plane of its axis is parallel to the On the plane where the guide wire 101 is located, the top of the guide wire 101 is magnetically connected with a passive moving block 105 that is twisted with the active moving block 106 .
  • the driving end part, the driven end part and the clamping part are divided into two groups, left and right. They have the same shape and size and the same function, but work at different positions and timings.
  • the device is used in a reciprocating propulsion mechanism.
  • the two connecting rods in the middle are respectively connected with two sets of main end connecting pieces, which can drive the two sets of driving end parts to slide along the length of the rectangular bottom plate, and then complete the clamping and pushing with the clamping parts of the driven end parts;
  • the tactile force feedback device (high-precision weighing sensor) will collect the signal, and when the guide wire is loosened, the sensor signal does not need to be collected.
  • the passive movable block 105 at the driven end of the propulsion mechanism is used to assist in tightening the guide wire.
  • the PTFE patch 208 is glued on the vertical surface of the right-angle connecting plate 205 , and under the action of the spring, the PTFE patch 208 is always in contact with the cam group 205 .
  • the present invention also provides a method for feedback of the frictional force received by the robot on the guide wire in the interventional operation.
  • the above-mentioned frictional force feedback device on the guidewire received by the robot in the interventional operation is used in conjunction with the reciprocating motion device of the interventional operation robot.
  • the two groups of clamping components clamp the guide wire alternately to move, and measure the friction force in the guide wire movement by detecting the force change signal sent by the high-precision load cell, thereby indirectly reflecting the force on the guide wire end. , and then transmit the data to the main control end of the robot propulsion mechanism to give timely feedback to the doctor.
  • the precision of the high-precision load cell is a load cell with an accuracy of less than or equal to 0.01N.

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Abstract

一种介入手术机器人导丝（1）摩擦力反馈装置及方法，摩擦力反馈装置包括：沿导丝（1）左右对称布置的两组主动端部件、从动端部件及夹持部件；当夹持部件受到导丝（1）夹紧方向的力时，其受力通过U型槽连接件（201），第一滑块（203），第一微型直线导轨（204）传递到直角连接板（205）上，高精度称重传感器（202）只测量导丝（1）沿轴向的力，即导丝（1）受到的摩擦力，从而判断出导丝（1）轴向摩擦力的受力变化情况，能及时给予医生操作提醒，保护病人安全。通过采用间接测力的方式，可以解决导丝（1）和测力装置不方便安装、现有介入手术机器人没有对导丝（1）轴向摩擦力受力检测的不足、受力检测装置难以安装及不能满足临床需要等问题。

Description

一种介入手术机器人导丝摩擦力反馈装置及方法 技术领域
本发明涉及微创血管技术领域，更具体的说是涉及一种介入手术机器人导丝摩擦力反馈装置及方法。
背景技术
心脑血管微创介入疗法是针对心脑血管疾病的主要治疗手段。和传统外科手术相比，有着切口小、术后恢复时间短等明显优势。心脑血管介入手术是由医生手动将导管、导丝以及支架等器械送入病患体内来完成治疗的过程。
介入手术存在以下问题，在手术过程中，由于DSA会发出X射线，医生体力下降较快，注意力及稳定性也会下降，将导致操作精度下降，易发生因推送力不当引起的血管内膜损伤、血管穿孔破裂等事故，导致病人生命危险。其次，长期电离辐射的积累伤害会大幅地增加医生患白血病、癌症以及急性白内障的几率。医生因为做介入手术而不断积累射线的现象，已经成为损害医生职业生命、制约介入手术发展不可忽视的问题。
通过借助机器人技术能够有效应对这一问题，还可以大幅提高手术操作的精度与稳定性，同时能够有效降低放射线对介入医生的伤害，降低术中事故的发生几率。因此，心脑血管介入手术辅助机器人越来越多的被人们所关注，逐渐成为当今各科技强国在医疗机器人领域的重点研发对象。但是，众所周知，机器人没有感觉，在手术中如何保证安全是人们一直关心的问题，如何能让机器人像医生一样有手感，在遇到危险时，能够及时感知，是一项需要重点考虑的问题。
国内对于介入手术机器人导丝力反馈检测存在如下几个方面的问题：(1)结构相对比较臃肿复杂，导丝的力反馈检测装置会导致导丝在机器人上的安装和更换不方便；(2)采用直接用传感器测导丝受力变化，对无菌环境无法有效保障；(3)尚无很好的间接测量导丝轴向摩擦力的受力方法；(4)导丝的夹紧力对导丝摩擦力的测量有很大的干扰，导致摩擦力难以测量。
因此，如何提供一种介入手术机器人导丝摩擦力反馈装置是本领域技术人员亟需解决的问题。
发明内容
本发明旨在至少在一定程度上解决现有技术中的上述技术问题之一。
为此，本发明的一个目的在于提出一种介入手术机器人导丝摩擦力反馈装置，解决了现有技术中结构相对比较臃肿复杂，导丝的力反馈检测装置会导致导丝在机器人上的安装和更换不方便问题，提供了一种间接测量装置。
本发明提供的一种介入手术机器人导丝摩擦力反馈装置，包括：沿导丝左右对称布置的两组主动端部件、从动端部件及夹持部件；
每一组主动端部件均包括：U型槽连接件、高精度称重传感器、第一滑块、第一微型直线导轨、直角连接板及主端连接件；主端连接件顶部沿平行于导丝方向滑动于推进机构主端的长方形底板的长度方向上，直角连接板底部垂直导丝方向滑动于主端连接件顶部，其一端上连接的竖直板外侧与凸轮轴抵接，其另一端顶部平行于导丝方向固定有第一微型直线导轨，第一滑块滑动于第一微型直线导轨上，U型槽连接件固定于第一滑块顶部，用于抵消导丝夹紧力，高精度称重传感器垂直于导丝布置，其一端固定于竖直板内侧上，另一端插入U型槽连接件的槽口内，且槽口宽度大于高精度称重传感器的宽度值，用于测量导丝所受的摩擦力，U型槽连接件远离槽口侧与第一夹持部件一端固定；
每一组从动端部件上均包括有对应第一夹持部件设置有第二夹持部件，对应主端连接件设置有从端连接件，用于导丝的夹持和推送。
经由上述的技术方案可知，与现有技术相比，本发明公开提供了一种介入手术机器人导丝摩擦力反馈装置，结构相对简单、紧凑，稳定性好；当夹持部件受到导丝夹紧方向的力时，其受力通过U型槽连接件，第一滑块，第一微型直线导轨传递到直角连接板上，高精度称重传感器只测量的导丝沿轴向的力，即高精度称重传感器感受的推拉力(也即导丝受到的摩擦力)，从而判断出导丝轴向摩擦力的受力变化情况，能及时给予医生操作提醒，保护 病人安全，本发明采用了间接测力的方式，解决了导丝和测力装置不方便安装的问题。
进一步地，每一组主动端部件还包括第二滑块及第二微型直线导轨；直角连接板底部沿垂直导丝方向固定有第二滑块，主端连接件顶部设置有与第二滑块滑动的第二微型直线导轨。
进一步地，每一组主动端部件还包括弹簧和聚四氟贴片，弹簧两端分别挂接固定在竖直板外侧和聚四氟贴片之间，聚四氟贴片与凸轮轴始终抵接。
进一步地，每一组从动端部件还包括：第三滑块、从端连接板及第三微型直线导轨；从动连接板与直角连接板相对布置，其上靠近导丝侧固定有从端连接件；其顶部平行导丝方向固定有第三微型直线导轨，第三滑块顶部固定有第二夹持部件、且可滑动于第三微型直线导轨上。
进一步地，每一组第一夹持部件均包括第一圆柱电磁铁及主动活动块，第一圆柱电磁铁轴线垂直导丝方向一端固定于U型槽连接件上，其另一端磁性连接主动活动块。
进一步地，每一组第二夹持部件均包括第二圆柱电磁铁及被动活动块；第二圆柱电磁铁竖直固定于第三滑块顶部，其轴线所在平面平行于导丝所在平面，其顶部磁性连接有与主动活动块搓丝的被动活动块。
本发明提供了一种介入手术中机器人对导丝受到的摩擦力反馈方法，采用上述的介入手术中机器人对导丝受到的摩擦力反馈装置配合介入手术机器人的往复运动装置使用，在导丝进行往复运动中，两组夹持部件交替夹紧导丝移动，通过检测高精度称重传感器发出的受力变化信号测量出导丝运动中的摩擦力，从而间接反映导丝端受力的情况，然后把数据传递到机器人推进机构主端控制端给于医生及时的反馈。由此，本发明采用了间接测力的方式，解决了导丝和测力装置不方便安装的问题。
附图说明
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例或现有技术描述中所需要使用的附图作简单地介绍，显而易见地，下面 描述中的附图仅仅是本发明的实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据提供的附图获得其他的附图。
图1附图为本发明提供的一种介入手术机器人导丝摩擦力反馈装置的立体图；
图2附图为本发明提供的一种介入手术机器人导丝摩擦力反馈装置主动端部件的立体图；
图3附图为附图2的局部示意图；
图4附图示出了本发明提供的一种介入手术机器人导丝摩擦力反馈装置的爆炸图；
图中：101-导丝，102-凸轮组，103-第一圆柱电磁铁，1031-第二圆柱电磁铁，104-从端连接件，105-被动活动块，106-主动活动块，107-第三滑块，108-从端连接板，109-第三微型直线导轨，201-U型槽连接件，202-高精度称重传感器，203-第一滑块，204-第一微型直线导轨，205-直角连接板，206-第二滑块，207-第二微型直线导轨，208-聚四氟贴片，209-左侧主端连接件，300-齿轮传动组，D-长方形底板。
具体实施方式
下面详细描述本发明的实施例，所述实施例的示例在附图中示出，其中自始至终相同或类似的标号表示相同或类似的元件或具有相同或类似功能的元件。下面通过参考附图描述的实施例是示例性的，旨在用于解释本发明，而不能理解为对本发明的限制。
在本发明的描述中，需要理解的是，术语“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本发明和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本发明的限制。
此外，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在 本发明的描述中，“多个”的含义是两个或两个以上，除非另有明确具体的限定。
在本发明中，除非另有明确的规定和限定，术语“安装”、“相连”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通或两个元件的相互作用关系。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本发明中的具体含义。
在本发明中，除非另有明确的规定和限定，第一特征在第二特征之“上”或之“下”可以包括第一和第二特征直接接触，也可以包括第一和第二特征不是直接接触而是通过它们之间的另外的特征接触。而且，第一特征在第二特征“之上”、“上方”和“上面”包括第一特征在第二特征正上方和斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”包括第一特征在第二特征正下方和斜下方，或仅仅表示第一特征水平高度小于第二特征。
参见附图1，本发明提供的一种介入手术机器人导丝摩擦力反馈装置，包括：沿导丝101左右对称布置的两组主动端部件、从动端部件及夹持部件；
每一组主动端部件均包括：U型槽连接件201、高精度称重传感器202、第一滑块203、第一微型直线导轨204、直角连接板205及主端连接件209；主端连接件209顶部沿平行于导丝101方向滑动于推进机构主端的长方形底板D的长度方向上，直角连接板205底部垂直导丝101方向滑动于主端连接件209顶部，其一端上连接的竖直板外侧与凸轮轴102抵接，其另一端顶部平行于导丝101方向固定有第一微型直线导轨204，第一滑块203滑动于第一微型直线导轨204上，U型槽连接件201固定于第一滑块203顶部，用于抵消导丝101夹紧力，高精度称重传感器202垂直于导丝101布置，其一端固定于竖直板内侧上，另一端插入U型槽连接件201的槽口内，且槽口宽度大于高精度称重传感器202的宽度值，用于测量导丝101所受的摩擦力，U型槽连接件201远离槽口侧与第一夹持部件一端固定；
每一组从动端部件上均包括有对应第一夹持部件设置有第二夹持部件，对应主端连接件209设置有从端连接件104，用于导丝101的夹持和推送。
本发明公开提供了一种介入手术机器人导丝摩擦力反馈装置，结构相对简单、紧凑，稳定性好；当夹持部件受到导丝夹紧方向的力时，其受力通过U型槽连接件，第一滑块，第一微型直线导轨传递到直角连接板上，高精度称重传感器只测量的导丝沿轴向的力，即高精度称重传感器感受的推拉力(也即导丝受到的摩擦力)，从而判断出导丝轴向摩擦力的受力变化情况，能及时给予医生操作提醒，保护病人安全，本发明采用了间接测力的方式，解决了导丝和测力装置不方便安装的问题。
参见附图2和3，每一组主动端部件还包括第二滑块206及第二微型直线导轨207；直角连接板205底部沿垂直导丝101方向固定有第二滑块206，主端连接件209顶部设置有与第二滑块206滑动的第二微型直线导轨207。
有利的是，每一组主动端部件还包括弹簧和聚四氟贴片208，弹簧两端分别挂接固定在竖直板外侧和聚四氟贴片208之间，聚四氟贴片208与凸轮轴102始终抵接。
参见附图4，每一组从动端部件还包括：第三滑块107、从端连接板108及第三微型直线导轨109；从动连接板108与直角连接板205相对布置，其上靠近导丝101侧固定有从端连接件104；其顶部平行导丝101方向固定有第三微型直线导轨109，第三滑块107顶部固定有第二夹持部件、且可滑动于第三微型直线导轨109上。
参见附图1和2，每一组第一夹持部件均包括第一圆柱电磁铁103及主动活动块106，第一圆柱电磁铁103轴线垂直导丝101方向一端固定于U型槽连接件201上，其另一端磁性连接主动活动块106。
参见附图4，每一组第二夹持部件均包括第二圆柱电磁铁1031及被动活动块105；第二圆柱电磁铁1031竖直固定于第三滑块107顶部，其轴线所在平面平行于导丝101所在平面，其顶部磁性连接有与主动活动块106搓丝的被动活动块105。
本发明中主动端部件、从动端部件及夹持部件有左侧和右侧两组，它们的形状大小一致，功能相同，只是在不同位置和时机起作用。本装置用于往复推进机构中，有两组夹持部件夹持导丝，且在凸轮组102与齿轮传动组300 配合的作用下(其中齿轮传动组结构参见专利文献201911259494.4中)，齿轮传动组中的两个连杆分别连接两组主端连接件，可带动两组主动端部件沿长方形底板长度方向滑动，进而和从动端部件夹持部件完成夹持和推进；凸轮轴上设置的四个凸轮，凸轮相差一定角度，保证在同一时间，有且仅有一组凸轮推动主动端部件使导丝夹持件来加紧导丝101。所以只有在导丝夹紧时，触觉力反馈装置(高精度称重传感器)才会进行信号采集，在松开导丝时，不需采集传感器的信号。推进机构从动端被动活动块105用于起到辅助加紧导丝的作用。聚四氟贴片208粘在直角连接板205的垂直面上，在弹簧的作用下，聚四氟贴片208始终和凸轮组205相贴合。当一组主动活动块106和被动活动块105夹紧导丝101，第一电磁铁受到导丝夹紧方向的力时，其受力通过U型槽连接件201，第一滑块203，第一微型直线导轨204传递到直角连接板205上，高精度称重传感器202只测量的导丝沿轴向的力，即导丝受到的摩擦力。
本发明还提供了一种介入手术中机器人对导丝受到的摩擦力反馈方法，采用上述的介入手术中机器人对导丝受到的摩擦力反馈装置配合介入手术机器人的往复运动装置使用，在导丝进行往复运动中，两组夹持部件交替夹紧导丝移动，通过检测高精度称重传感器发出的受力变化信号测量出导丝运动中的摩擦力，从而间接反映导丝端受力的情况，然后把数据传递到机器人推进机构主端控制端给于医生及时的反馈。
本发明中高精度称重传感器精度为小于等于0.01N的称重传感器。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任何的一个或多个实施例或示例中以合适的方式结合。此外，本领域的技术人员可以将本说明书中描述的不同实施例或示例进行接合和组合。
尽管上面已经示出和描述了本发明的实施例，可以理解的是，上述实施例是示例性的，不能理解为对本发明的限制，本领域的普通技术人员在本发明的范围内可以对上述实施例进行变化、修改、替换和变型。

Claims (7)

  1. 一种介入手术机器人导丝摩擦力反馈装置，其特征在于，包括：沿导丝(101)左右对称布置的两组主动端部件、从动端部件及夹持部件；
    每一组所述主动端部件均包括：U型槽连接件(201)、高精度称重传感器(202)、第一滑块(203)、第一微型直线导轨(204)、直角连接板(205)及主端连接件(209)；所述主端连接件(209)顶部沿平行于所述导丝(101)方向滑动于推进机构主端的长方形底板(D)的长度方向上，所述直角连接板(205)底部垂直所述导丝(101)方向滑动于所述主端连接件(209)顶部，其一端上连接的竖直板外侧与凸轮轴(102)抵接，其另一端顶部平行于所述导丝(101)方向固定有所述第一微型直线导轨(204)，所述第一滑块(203)滑动于所述第一微型直线导轨(204)上，所述U型槽连接件(201)固定于所述第一滑块(203)顶部，用于抵消所述导丝(101)夹紧力，所述高精度称重传感器(202)垂直于所述导丝(101)布置，其一端固定于竖直板内侧上，另一端插入所述U型槽连接件(201)的槽口内，且所述槽口宽度大于所述高精度称重传感器(202)的宽度值，用于测量所述导丝(101)所受的摩擦力，所述U型槽连接件(201)远离槽口侧与第一夹持部件一端固定；
    每一组所述从动端部件上均包括有对应所述第一夹持部件设置有第二夹持部件，对应所述主端连接件(209)设置有从端连接件(104)，用于所述导丝(101)的夹持和推送。
  2. 根据权利要求1所述的一种介入手术机器人导丝摩擦力反馈装置，其特征在于，每一组所述主动端部件还包括第二滑块(206)及第二微型直线导轨(207)；所述直角连接板(205)底部沿垂直导丝(101)方向固定有所述第二滑块(206)，所述主端连接件(209)顶部设置有与所述第二滑块(206)滑动的所述第二微型直线导轨(207)。
  3. 根据权利要求1所述的一种介入手术机器人导丝摩擦力反馈装置，其特征在于，每一组所述主动端部件还包括弹簧和聚四氟贴片(208)，所述弹簧两端分别挂接固定在竖直板外侧和聚四氟贴片(208)之间，所述聚四氟贴片(208)与所述凸轮轴(102)始终抵接。
  4. 根据权利要求1所述的一种介入手术机器人导丝摩擦力反馈装置，其特征在于，每一组所述从动端部件还包括：第三滑块(107)、从端连接板(108) 及第三微型直线导轨(109)；所述从动连接板(108)与所述直角连接板(205)相对布置，其上靠近所述导丝(101)侧固定有所述从端连接件(104)；其顶部平行所述导丝(101)方向固定有所述第三微型直线导轨(109)，所述第三滑块(107)顶部固定有所述第二夹持部件、且可滑动于所述第三微型直线导轨(109)上。
  5. 根据权利要求4所述的一种介入手术机器人导丝摩擦力反馈装置，其特征在于，每一组所述第一夹持部件均包括第一圆柱电磁铁(103)及主动活动块(106)，所述第一圆柱电磁铁(103)轴线垂直所述导丝(101)方向一端固定于所述U型槽连接件(201)上，其另一端磁性连接所述主动活动块(106)。
  6. 根据权利要求5所述的一种介入手术机器人导丝摩擦力反馈装置，其特征在于，每一组所述第二夹持部件均包括第二圆柱电磁铁(1031)及被动活动块(105)；所述第二圆柱电磁铁(1031)竖直固定于所述第三滑块(107)顶部，其轴线所在平面平行于所述导丝(101)所在平面，其顶部磁性连接有与所述主动活动块(106)搓丝的所述被动活动块(105)。
  7. 一种介入手术中机器人对导丝受到的摩擦力反馈方法，其特征在于，采用权利要求1-6任一项所述的介入手术中机器人对导丝受到的摩擦力反馈装置配合介入手术机器人的往复运动装置使用，在导丝进行往复运动中，两组夹持部件交替夹紧导丝移动，通过检测高精度称重传感器发出的受力变化信号测量出导丝运动中的摩擦力，从而间接反映导丝端受力的情况，然后把数据传递到机器人推进机构主端控制端给于医生及时的反馈。
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