WO2022258019A1

WO2022258019A1 - Master operating handle of interventional surgical robot

Info

Publication number: WO2022258019A1
Application number: PCT/CN2022/097918
Authority: WO
Inventors: 李正龙; 姚刚
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2021-06-10
Filing date: 2022-06-09
Publication date: 2022-12-15
Also published as: CN113729961A; CN113729961B

Abstract

A master operating handle of an interventional surgical robot for matching with a slave robot (100). The slave robot (100) receives operation information of the master operating handle and executes corresponding actions. The master operating handle of the interventional surgical robot comprises a rack, an operating rod (20) provided on the rack, an angle detection device (50), and a displacement detection device (60). The angle detection device (50) and the displacement detection device (60) respectively detect the rotation angle and the movement distance of the operating rod (20), and transmits rotational motion information and axial motion information to the slave robot (100). The master operating handle is further provided with a torque feedback device (40). The slave robot (100) records the resistance when a catheter or a guide wire intervenes, and feeds back the resistance information to the torque feedback device (40), so as to implement force push feedback of the master operating handle, and increase the presence sense.

Description

A master operating handle of an interventional surgery robot

This application requires a Chinese patent application with an application date of June 10, 2021, an application number of 202110654379.8, and an application name of "A Main-end Operating Handle of an Interventional Surgery Robot", and an application date of August 31, 2021, with an application number of It is the priority of the Chinese patent application 202111009835.X, whose application name is "a main-end operating handle of an interventional surgery robot", and the entire contents of these two Chinese patent applications are incorporated by reference in this application.

technical field

The present application relates to a device in the field of medical instrument robot, in particular to an operating handle at the main end of an interventional surgery robot.

Background technique

For vascular interventional surgery, doctors need to receive X-ray radiation for a long time. For engineering, a master-slave vascular interventional surgery robot with remote operation has been developed. The master-slave vascular interventional surgery robot can work in the environment of strong radiation, so that the doctor can control it outside the radiation environment. At present, there are two control methods, one is the touch screen, and the other is the operation handle. On the one hand, the operating handle issues operating commands to the surgical robot, such as the advance and retreat of the guide wire, rotation, etc. The operator operates the catheter with his own hands. However, the current operation is affected by the design structure, and there is a certain error in the accuracy, which brings troubles to the operator.

Contents of the invention

Based on this, it is necessary to provide a new type of operating handle for the main end of the interventional surgery robot to address the deficiencies in the prior art.

A master operating handle of an interventional surgery robot, which is used to cooperate with a slave robot. The slave robot receives the operation information of the master operating handle and performs corresponding actions, including a frame, an operating rod installed on the frame, and an angle A detection device, and a displacement detection device, the angle detection device and the displacement detection device respectively detect the rotation angle and the movement distance of the operating rod.

Further, it also includes a sliding sleeve installed on the operating rod and can move with the operating rod and a torque feedback device installed in cooperation with the sliding sleeve. The slave robot records the resistance during blood vessel intervention and feeds back the resistance information to the torque feedback device. The feedback device, the torque feedback device provides a reverse force to the operating rod according to the magnitude of the resistance.

Further, the frame is provided with a rod core, and the operating rod includes a handle body, and the handle body can rotate and slide along the axis of the rod core.

Further, the handle body includes an adjustment cap and an adjustment rod connected to one end of the adjustment cap, the angle detection device is provided with a code disc, and the code disc is installed on the adjustment rod and rotates synchronously with the operating rod . During operation, the handle body can slide axially relative to the rotary encoder, and the handle body can drive the rotary encoder to rotate together.

Further, the frame is provided with a limit block, and the limit block limits the code disc of the angle detection device in the displacement direction.

Further, the sliding sleeve includes a first outer sleeve, a second outer sleeve, and a connecting frame connecting the first outer sleeve and the second outer sleeve. The first outer sleeve and the second outer sleeve are respectively sleeved on the adjustment rod and the rod core, and the operation When the rod moves horizontally, it drives the sliding sleeve to move synchronously.

Further, irregular holes are provided on the inner side of the second jacket, and a limit surface is provided on the outer peripheral surface of the rod core. When the second jacket and the rod core are installed together, the irregular holes and the limit surface are mutually limited , so that the sliding sleeve can only move along the rod core and cannot rotate on the rod core.

Further, the torque feedback device includes a drive rack, a torque motor, a gear set connected to the drive rack and fixed to the torque motor, and the drive rack is installed on the sliding sleeve.

Further, the drive rack is provided with locking teeth distributed side by side, and the locking teeth on the driving rack engage with the gear set.

Further, the displacement detection device is provided with a code disc, and the code disc of the displacement detection device is installed on the driving rack.

In summary, the main operating handle of the interventional surgery robot in this application is provided with a rotary encoder, a horizontal encoder and a torque feedback device, wherein the rotary encoder calculates the rotation angle of the operating rod and transmits the rotational motion information to the slave robot. , the horizontal encoder calculates the movement distance of the operating rod, and communicates the axial movement information to the slave robot. Use the rotary encoder and the horizontal encoder to realize the precise transmission of operation instructions. The torque motor provides a reverse thrust. The slave robot records the resistance during intervention and feeds back the resistance information to the torque motor to realize the master operation. The push feedback of the handle force increases the sense of presence, improves the safety of the operation, has strong practicability, and has strong promotional significance.

Description of drawings

FIG. 1 is a schematic structural view of the operating handle at the main end of the interventional surgery robot of the present application.

FIG. 2 is a working principle diagram of the interventional surgery robot of the present application when the master operating handle cooperates with the slave robot.

Detailed ways

In order to make the purpose, technical solution and advantages of the application clearer, the application will be further described in detail below in conjunction with the drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the application, not to limit the application.

As shown in Figures 1 to 2, the present application provides a master operating handle of an interventional surgery robot, which is used to cooperate with the slave robot 100. The slave robot 100 receives the operation information of the master operating handle and performs corresponding actions. The main end operating handle of the interventional surgery robot includes a frame, an operating rod 20 mounted on the frame, an angle detection device 50, a sliding sleeve 30 mounted on the operating rod 20 and movable with the operating rod 20, and a sliding sleeve The torque feedback device 40 and the displacement detection device 60 are installed in cooperation with the 30 .

In this embodiment, the angle detection device 50 is a rotary encoder, the code disc 51 of the rotary encoder is installed on the operating rod 20 and rotates synchronously with the operating rod 20, and the frame is provided with a limit position Block, the limit block in the direction of displacement to limit the code disc 51 of the rotary encoder, the displacement detection device 60 is a horizontal encoder, the code disc 51 of the horizontal encoder is installed on the torque feedback device 40, so The rotary encoder and the horizontal encoder feed back the detected information to the slave robot 100. In other embodiments, the displacement detection device 60 may also use a grating sensor, a magnetic grating sensor or other devices capable of measuring moving distances.

The frame is provided with a rod core 10, and the operating rod 20 includes a handle body. The handle body can rotate along the axis of the rod core 10 and slide along the relative displacement of the rod core 10. Specifically, the handle body It includes an adjusting cap 21 and an adjusting rod 22 connected to one end of the adjusting cap 21. The rotary encoder is installed on the adjusting rod 22 so that the adjusting rod 22 can be rotated relative to the encoder along with the adjusting cap 21. The code disc 51 is displaced and slid along the axial direction of the rod core 10. At the same time, the code disc 51 of the rotary encoder is driven by the adjusting cap 21 to rotate along the axis of the rod core 10 through the adjusting rod 22. The handle body is provided with a fixing hole. The rod core 10 passes through the handle body from the fixing hole.

The sliding sleeve 30 includes a first outer casing 31, a second outer casing 32, and a connecting frame 33 connecting the first outer casing 31 and the second outer casing 32, and the first outer casing 31 and the second outer casing 32 are sleeved on the adjustment rod 22 respectively. And on the rod core 10, when the operating rod 20 moves, it drives the sliding sleeve 30 to move synchronously. In addition, the inner side of the second outer casing 32 is provided with irregular holes, and the outer peripheral surface of the rod core 10 is provided with a limiting surface 11. When the second outer casing and the rod core 10 are installed together, the irregular holes and the limiting surface 11 are mutually limited, so that the sliding sleeve 30 can only move along the rod core 10 and cannot rotate on the rod core 10 .

The torque feedback device 40 includes a drive rack 42, a torque motor 41, a gear set 43 connected to the drive rack 42 and fixed to the torque motor 41, the drive rack 42 is installed on the connecting frame 33 of the sliding sleeve 30, The driving rack 42 is provided with locking teeth distributed side by side, the code disc 61 of the horizontal encoder is installed on the driving rack 42, and the locking teeth on the driving rack 42 are engaged with the output gear of the gear set 43, so The torque motor 41 drives the drive rack 42 and the sliding sleeve 30 connected to the drive rack 42 to move through the gear set 43 .

When working, the operating rod at the master end feeds back the measurement data of the rotary encoder and the horizontal encoder to the slave robot 100 . Specifically, when the handle body of the operating rod 20 is rotated, the handle body rotates on the rod core 10, and the rod core 10 rotates the encoder to measure the rotation angle. If the handle main body is moved along the extension axis of the rod core 10, the handle main body drives the drive rack 42 to move while horizontally displacing, and the horizontal encoder measures the horizontal moving distance. During the horizontal movement of the driving rack 42, the rotating shaft of the torque motor 41 is driven to rotate through the gear set 43. The slave robot 100 records the resistance when the catheter or guide wire is inserted, and feeds back the resistance information to the torque motor 41. The torque motor 41 provides a reverse force, and the torque motor 41 adjusts the magnitude of the reverse force of the torque motor 41 according to the resistance. After the operation is completed, the torque motor 41 drives the driving rack 42 to reversely move, and the driving rack 42 and the operating rod 20 return to their positions.

In summary, the main end operation handle of the interventional surgery robot in this application is provided with a rotary encoder, a horizontal encoder and a torque feedback device 40, wherein the rotary encoder calculates the rotation angle of the operating rod 20, and transmits the rotation motion information to the slave The end robot 100, the horizontal encoder calculates the moving distance of the operating rod 20, and transmits the axial movement information to the slave end robot 100, and uses the rotary encoder and the horizontal encoder to realize the precise transmission of operation instructions. The torque motor 41 Provide a reverse thrust, the slave robot 100 records the resistance during intervention, and feeds the resistance information back to the torque motor 41 to realize the force push feedback of the master operating handle, increase the sense of presence, improve the safety of the operation, and have strong practicability. It has strong promotional significance.

The above-mentioned embodiment only expresses one implementation mode of the application, and the description thereof is more specific and detailed, but it should not be understood as limiting the scope of the patent application. It should be pointed out that those skilled in the art can make several modifications and improvements without departing from the concept of the application, and these all belong to the protection scope of the application. Therefore, the protection scope of the patent application should be based on the appended claims.

Claims

A master operating handle of an interventional surgery robot, which is used to cooperate with a slave robot. The slave robot receives the operation information of the master operating handle and performs corresponding actions, including a frame, an operating rod installed on the frame, and an angle A detection device, and a displacement detection device, the angle detection device and the displacement detection device respectively detect the rotation angle and the movement distance of the operating rod.
The operating handle at the main end of the interventional surgery robot according to claim 1, further comprising a sliding sleeve mounted on the operating rod and movable with the operating rod and a torque feedback device cooperating with the sliding sleeve, the slave robot The resistance during blood vessel intervention is recorded, and the resistance information is fed back to the torque feedback device. The torque feedback device provides a reverse force to the operating rod according to the resistance.
The operating handle of the main end of the interventional surgery robot according to claim 2, wherein: the frame is provided with a rod core, the operating rod includes a handle body, and the handle body can rotate and slide along the axis of the rod core.
The operating handle of the main end of the interventional surgery robot according to claim 3, wherein: the handle body includes a position adjustment cap and a position adjustment rod connected to one end of the position adjustment cap, the angle detection device is provided with a code disc, and the code The disc is mounted on the position adjusting rod and rotates synchronously with the operating rod.
The operating handle of the main end of the interventional surgery robot according to claim 4, wherein: the frame is provided with a limit block, and the limit block limits the code disc of the angle detection device in the displacement direction.
The operating handle of the main end of the interventional surgery robot according to claim 4, wherein: the sliding sleeve comprises a first outer cover, a second outer cover, and a connecting frame connecting the first outer cover and the second outer cover, and the first outer cover, the second outer cover The jacket is respectively sleeved on the positioning rod and the rod core, and when the operating rod moves horizontally, it drives the sliding sleeve to move synchronously.
The operating handle of the main end of the interventional surgery robot according to claim 6, wherein: the inner side of the second outer casing is provided with irregular holes, and the outer peripheral surface of the rod core is provided with a limit surface, when the second outer casing and the rod core When cooperating with the installation, the irregular hole and the limit surface limit each other, so that the sliding sleeve can only move along the rod core and cannot rotate on the rod core.
The operating handle at the main end of the interventional surgery robot according to claim 2, wherein: the torque feedback device includes a drive rack, a torque motor, a gear set connected to the drive rack and fixed to the torque motor, and the drive rack is installed on the slide.
The operating handle at the main end of the interventional surgery robot according to claim 8, wherein: the driving rack is provided with locking teeth distributed side by side, and the locking teeth on the driving rack are engaged with the gear set.
The operating handle of the main end of the interventional surgery robot according to claim 9, wherein: the displacement detection device is provided with a code disc, and the code disc of the displacement detection device is installed on the driving rack.
A main-end operating handle of an interventional surgery robot is used to cooperate with a slave-end robot. The slave-end robot receives the operation information of the main-end operating handle and performs corresponding actions. The main-end operating handle of the interventional surgery robot includes:

frame;

An operating lever mounted on the frame;

an angle detection device, the angle detection device detects the rotation angle of the operating rod, and feeds back the detected rotation angle information to the slave robot;

A displacement detection device, the displacement detection device detects the moving distance of the operating rod, and feeds back the detected moving distance information to the slave robot.
The operating handle at the main end of the interventional surgery robot according to claim 11, further comprising a sliding sleeve mounted on the operating rod and capable of moving with the operating rod, and a torque feedback device cooperating with the sliding sleeve, the torque feedback device Receiving the recorded resistance during blood vessel intervention fed back from the slave robot, the torque feedback device provides a reverse force to the operating rod according to the magnitude of the resistance.
The operating handle of the main end of the interventional surgical robot according to claim 12, wherein: the frame is provided with a rod core, the operating rod includes a handle body, and the handle body can rotate along the axis of the rod core and The relative displacement and sliding of the rod core.
The operating handle of the main end of the interventional surgical robot according to claim 13, wherein: the handle body includes a position adjustment cap and a position adjustment rod connected to one end of the position adjustment cap, the angle detection device is provided with a code disc, and the angle The code disc of the detection device is installed on the adjusting rod and rotates synchronously with the operating rod.
The operating handle of the main end of the interventional surgery robot according to claim 14, wherein: the angle detection device is a rotary encoder, the code disc of the rotary encoder is installed on the adjustment rod, and the adjustment rod It can be displaced and slid along the axial direction of the rod core with the position adjustment cap relative to the code disc of the rotary encoder, and the position adjustment cap drives the code disc of the rotary encoder along the The shaft center of the rod core rotates;

The frame is provided with a limit block, and the limit block limits the code disc of the rotary encoder along the displacement direction of the handle body.
The operating handle at the main end of the interventional surgery robot according to claim 12, wherein: the displacement detection device is a horizontal encoder, a grating sensor or a magnetic grating sensor.
The operating handle of the main end of the interventional surgery robot according to claim 14, wherein: the sliding sleeve includes a first outer cover, a second outer cover, and a connecting frame connecting the first outer cover and the second outer cover, and the first outer cover, the second outer cover The sleeves are sheathed on the positioning rod and the rod core respectively, and when the operating rod moves horizontally, it drives the sliding sleeve to move synchronously.
The operating handle of the main end of the interventional surgery robot according to claim 16, wherein: the inner side of the second outer casing is provided with irregular holes, and the outer peripheral surface of the rod core is provided with a limiting surface, when the second outer casing and When the rod core is fitted together, the irregular hole and the limiting surface are mutually limited so as to limit the rotation of the sliding sleeve on the rod core.
The operating handle at the main end of the interventional surgical robot according to claim 16, wherein: the torque feedback device includes a drive rack, a torque motor, a gear set connected to the drive rack and fixed to the torque motor, and the drive rack Installed on the sliding sleeve, the driving rack is provided with locking teeth distributed side by side, and the locking teeth on the driving rack engage with the gear set.
The operating handle of the main end of the interventional surgery robot according to claim 19, wherein: the horizontal encoder is provided with a code disc, and the code disc of the horizontal encoder is mounted on the driving rack.