WO2023029583A1

WO2023029583A1 - Interventional surgical robot master end control device

Info

Publication number: WO2023029583A1
Application number: PCT/CN2022/092809
Authority: WO
Inventors: 姚刚; 李正龙; 曹晟
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2021-08-31
Filing date: 2022-05-13
Publication date: 2023-03-09
Also published as: CN113729965A; CN113729965B

Abstract

An interventional surgical robot master end control device, which is used to cooperate with a slave end robot (200). The slave end robot (200) receives operation information of the master end control device and executes a corresponding action. The interventional surgical robot master end control device comprises a rack (10), and a master end operator (100) mounted on the rack (10). The master end operator (100) comprises an operating rod (20) that is axially displaced, and a force feedback device (50). The force feedback device (50) comprises a linkage block (70) and a damper (60), wherein the linkage block (70) is movably connected to the operating rod (20), and the linkage block (70) cooperates with the damper (60). In the axial displacement advancing process of the operating rod (20), the damper (60) adjusts a damping force according to delivery resistance information of the slave end robot (200), and feeds back the damping force to the operating rod (20) by means of the linkage block (70), thereby achieving force feedback of the interventional surgical robot master end control device, increasing the sense of presence, and improving surgical safety.

Description

A master control device for an interventional surgery robot

This application claims the priority of the Chinese patent application with the application number 202111010067.X and the title of the invention "a master-side control device for interventional surgery robot" filed with the China Patent Office on August 31, 2021, the entire contents of which 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 a master control device for 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 for interventional surgery robots, one is the touch screen, and the other is the operating 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 are certain errors in the accuracy and force feedback, which brings troubles to the operator.

technical problem

The current operation is affected by the design structure, and there are certain errors in the accuracy and force feedback of the main-end control device of the interventional surgery robot, which brings troubles to the operator.

technical solution

Based on this, it is necessary to provide a new type of master-side control device for an interventional surgery robot to address the deficiencies in the prior art.

In the first aspect, the embodiment of the present application provides a master control device for an interventional surgery robot, which is used to cooperate with the slave robot. The slave robot receives the operation information of the master control device and performs corresponding actions. The main-end manipulator on the frame, the main-end manipulator includes an axially displaced operating rod and a force feedback device, the force feedback device includes a linkage block and a damper, the linkage block is connected to the operating rod, and The linkage block cooperates with the damper. During the axial displacement and forward process of the operating rod, the damper adjusts the damping force according to the delivery resistance information of the slave robot and feeds back to the operating rod through the linkage block.

Beneficial effect

In summary, the main control device of the interventional surgery robot in this application is provided with a damper that provides a damping force that limits the displacement direction of the operating rod, and the damping force of the damper depends on the size of the guide wire delivered by the slave robot. The resistance of the catheter is adjusted accordingly to realize the force feedback of the operating handle at the main end, increase the sense of presence, improve the safety of the operation, have strong practicability, and have strong promotional significance. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.

Description of drawings

In order to illustrate the technical solutions of the embodiments of the present application more clearly, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are some embodiments of the present application. Ordinary technicians can also obtain other drawings based on these drawings on the premise of not paying creative work.

FIG. 1 is a schematic structural diagram of the main control device of the interventional surgery robot of the present application;

Fig. 2 is a structural schematic diagram of another angle of the main-end control device of the interventional surgery robot shown in Fig. 1;

Fig. 3 is a schematic diagram of the working principles of the master control device of the interventional surgery robot and the slave robot of the present application.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present application with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of them. Based on the embodiments in this application, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of this application.

It should be noted that the descriptions in this application involving "first", "second" and so on are for descriptive purposes only, and should not be understood as indicating or implying their relative importance or implicitly indicating the number of indicated technical features . Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features. In addition, the technical solutions of the various embodiments can be combined with each other, but it must be based on the realization of those skilled in the art. When the combination of technical solutions is contradictory or cannot be realized, it should be considered that the combination of technical solutions does not exist , nor within the scope of protection required by the present application.

The flow charts shown in the drawings are just illustrations, and do not necessarily include all contents and operations/steps, nor must they be performed in the order described. For example, some operations/steps can be decomposed, combined or partly combined, so the actual order of execution may be changed according to the actual situation.

Some implementations of the present application will be described in detail below in conjunction with the accompanying drawings. In the case of no conflict, the following embodiments and features in the embodiments can be combined with each other.

As shown in Figures 1 to 3, the present application provides a master control device for an interventional surgery robot, which is used to cooperate with the slave robot 200. The slave robot 200 receives the operation information of the master control device and performs corresponding actions. The end robot 200 feeds back the delivery resistance of the guide wire catheter to the main end control device of the interventional surgery robot. The main-end manipulator 100 is arranged mirror-symmetrically on the frame 10, which is convenient for the operator to operate with both hands.

Each of the master-end manipulators 100 includes an operating rod 20 installed on the frame 10 , an angle detection device 30 , a force feedback device 50 , and a displacement detection device 40 . The angle detection device 30 and the displacement detection device 40 respectively detect the rotation angle and displacement distance of the operating rod 20 , and the angle detection device 30 and the displacement detection device 40 feed back the detected information to the slave robot 200 . The force feedback device 50 includes a linkage block 70 and a damper 60, the linkage block 70 is rotationally connected with the operating rod 20, and during the axial displacement and forward process of the operating rod 20, according to the delivery detected by the slave robot 200 Resistance information, the damper 60 adjusts the damping force and feeds back to the operating rod 20 through the linkage block 70 . In this embodiment, the damper 60 adopts an electromagnetic damper to reduce internal friction of the damper and increase the service life of the product, and the linkage block 70 is arranged in an L shape.

The angle detecting device 30 is a rotary encoder, and the rotary encoder is provided with a code disc 31 and a reading head 32 . Described displacement detecting device 40 is horizontal encoder, and described horizontal encoder is provided with code disc 41 and reading head 42, and the code disc 41 of described horizontal encoder is installed on the linkage block 70, and the reading head 42 of horizontal encoder Installed on the frame 10. In other embodiments, the displacement detecting device 40 may also use a grating sensor, a magnetic grating sensor or other devices with the function of measuring the moving distance.

The frame 10 is provided with a rod core 11 , and the operating rod 20 can rotate and slide along the axis of the rod core 11 . The operating rod 20 includes a position adjustment cap 21 and a position adjustment rod 22 connected to one end of the position adjustment cap 21. Axis rotation and sliding displacement. One end of the positioning rod 22 by the linkage block 70 is provided with a circularly distributed turning groove 222, and the linkage block 70 is provided with a connecting head 71, and the connecting head 71 is sleeved in the turning groove 222, so that the operating rod 20 can rotate relative to the linkage block 70 , and under the limit of the rotation groove 222 , the operating rod 20 and the linkage block 70 are displaced synchronously.

The positioning rod 22 passes through the code wheel 31 . The frame 10 is provided with a support portion 13 and a bearing 12 mounted on the support portion 13, the bearing 12 is a rolling bearing, the bearing 12 includes an inner ring and an outer ring, and the inner ring is free to rotate along its axis , both the rod core 11 and the adjusting rod 22 pass through the inner ring, and the adjusting rod 22 and the inner ring rotate along the axis together. The code disc 31 is installed at the end of the inner ring of the bearing 12 and rotates synchronously with the inner ring of the bearing 12 , and the reading head 32 of the rotary encoder is installed on the frame 10 .

The inner wall of the inner ring of the bearing 12 is provided with a limiting groove 121, and the outer circumference of the adjusting rod 22 is provided with a guide bar 221. The adjusting rod 22 passes through the bearing 12 and the code disc 31, and the adjusting rod The guide bar 221 of 22 is clamped in the limit groove 121, so that the adjustment rod 22 can slide independently relative to the rod core 11, the bearing 12 and the code disc 31, and the adjustment rod 22 drives the inner ring of the bearing 12 and is installed inside The code wheel 31 on the circle rotates synchronously.

The damper 60 is connected with a gear 61 , the linkage block 70 is provided with a rack 71 , and the damper 60 is meshed with the rack 71 through the gear 61 . The main-end manipulator 100 also includes a return motor 80 , a gear 81 is connected to the return motor 80 , and the gear 81 connected to the return motor 80 and the gear 61 connected to the damper 60 are meshed with each other.

The frame 10 is also provided with a limiting seat 14 , the rod core 11 is erected on the limiting seat 14 and the support portion 14 , and the limiting seat 14 limits the position of the rod core 11 in the circumference and displacement direction. The bottom of the linkage block 70 is provided with a slide block, and the frame 10 is provided with a guide rail 90, and the slide block is slid on the guide rail 90 along the axial displacement direction of the operating rod 20, and the guide rail 90 is opposite to the slide block. to guide.

During work, the main end joystick 20 feeds back the measurement data of the rotary encoder and the horizontal encoder to the control main board 110. The control main board 110 is provided with a sending device 110 and a receiving device 120 for communicating with the slave robot 200. The information is sent to the slave robot 200, so that the slave robot 200 performs corresponding operations.

Specifically, the operating rod 20 is rotated, the operating rod 20 is rotated on the rod core 11, and the rotary encoder measures the rotation angle. If the operating rod 20 is moved axially along the extension of the rod core 11, the operating rod 20 drives the linkage block 70 to move along the guide rail 90 while horizontally displacing, and the horizontal encoder measures the horizontal moving distance. The slave robot 200 records the delivery resistance of the catheter or guide wire during the interventional operation, and feeds back the resistance information to the control board 110, and the control board 110 sends a control signal to adjust the damping force of the damper 60 and change the operator's Sliding the smoothness of the operating rod 20 in the displacement direction, so that the delivery resistance information of the slave end is fed back to the operator through the damper 60 and the operating rod 20 . After completing one operation, the return motor 80 drives the linkage block 70 and the operating rod 20 to reset through the damper 60, and waits for the next operation. Through the cooperation of the return motor 80 and the displacement detection device 40, the linkage block 70 and the operation can be guaranteed. The rod 20 can move to the same designated position each time it returns. During the reset process, the damper 60 has no effect.

To sum up, the master end control device of the interventional surgery robot in this application is provided with a damper 60, which provides a damping force that limits the displacement direction of the operating rod 20, and the damping force of the damper 60 depends on the size of the slave end. The resistance of the robot 200 delivering the guide wire catheter is adjusted accordingly to realize the force feedback of the operating handle at the main end, increase the sense of presence, improve the safety of the operation, have strong practicability, and have strong promotional significance.

It should also be understood that the term "and/or" used in the description of the present application and the appended claims refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

The above is only a specific embodiment of the application, but the scope of protection of the application is not limited thereto. Any person familiar with the technical field can easily think of various equivalents within the scope of the technology disclosed in the application. Modifications or replacements, these modifications or replacements shall be covered within the scope of protection of this application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

A master control device for an interventional surgery robot, used to cooperate with a slave robot, and the slave robot receives the operation information of the master control device and performs corresponding actions, including:

frame and the main end manipulator installed on the frame, the main end manipulator includes an axially displaced operating rod and a force feedback device, the force feedback device includes a linkage block and a damper, the linkage block and the The operating rod is connected, and the linkage block cooperates with the damper. During the axial displacement and forward process of the operating rod, the damper adjusts the damping force according to the delivery resistance information of the slave robot and passes the The linkage block feeds back to the operating rod.
The control device for the main end of the interventional surgery robot according to claim 1, wherein a gear is connected to the damper, a rack is provided on the linkage block, and the damper is engaged with the rack through the gear.
The main-end control device of the interventional surgery robot according to claim 2, wherein the main-end manipulator further includes a return motor, and a gear is connected to the return motor, and the gear connected to the return motor is connected to the The gears on the dampers mesh with each other.
The master-end control device of the interventional surgery robot according to claim 3, wherein, after the slave-end robot performs an operation, the return motor drives the linkage block and the operating rod to reset through the damper , and during the reset process, the damper does not work.
The control device for the main end of the interventional surgery robot according to claim 1, wherein a slider is provided at the bottom of the linkage block, a guide rail is provided on the frame, and the slider moves along the axial displacement direction of the operating rod. slide on the guide rail.
The control device for the main end of the interventional surgical robot according to claim 5, wherein the frame is provided with a support part and a limit seat at intervals, and a rod core erected on the support part and the limit seat, the The operating rod is passed through the rod core and rotates and slides around the axis of the rod core.
The main end control device of an interventional surgery robot according to claim 6, wherein a bearing is installed on the support part, the bearing includes an inner ring and an outer ring, and the rod core and the operating rod both pass through the bearing The inner ring of the operating rod and the inner ring of the bearing rotate around the axis of the rod core together.
The control device for the main end of the interventional surgical robot according to claim 7, wherein the inner wall of the inner ring of the bearing is provided with a limit groove, the outer periphery of the operating rod is provided with a guide bar, and the operating rod is connected from the inner wall of the bearing. The inner ring passes through, and the guide bar is clamped in the limiting groove, so that the operating rod is independently slidable and displaced relative to the bearing along the axis of the rod core, and the operating rod drives the movement of the bearing. The inner ring rotates synchronously.
The control device for the main end of the interventional surgical robot according to claim 8, wherein the main end manipulator further includes an angle detection device, the angle detection device is a rotary encoder, and the rotary encoder is installed on the code disc on the inner ring of the bearing.
The control device for the main end of the interventional surgery robot according to claim 7, wherein: the limit seat limits the position of the rod core in the circumference and the displacement direction.
The control device for the main end of the interventional surgery robot according to claim 6, wherein the end of the operating rod close to the linkage block is provided with a circularly distributed turning groove, the linkage block is provided with a connecting head, and the connecting head cover It is arranged in the turning groove, so that the operating rod can independently rotate around the axis of the rod core relative to the linkage block, and the operating rod and the linkage block can slide and displace synchronously.
The control device for the main end of an interventional surgical robot according to claim 11, wherein the operating rod comprises a position adjustment cap and a position adjustment rod connected to one end of the position adjustment cap, and the position adjustment cap and the position adjustment rod They are all passed through the rod core and rotate and slide along the axis of the rod core.
The main-end control device of the interventional surgical robot according to claim 1, wherein the main-end manipulator further includes a displacement detection device, the displacement detection device is a horizontal encoder, and the horizontal encoder is provided with a code disc, so The code disc of the horizontal encoder is installed on the linkage block.
The control device for the main end of the interventional surgical robot according to claim 10, wherein the number of the main end manipulators is two groups, and two support parts are symmetrically arranged on the frame, and are located between the two support parts. The limit seat, the two rod cores erected on the two support parts and the limit seat, the operating rods of the two main end manipulators are respectively pierced through the two rod cores and wound around the respective corresponding The shaft center rotation and sliding displacement of the rod core.
The control device for the main end of the interventional surgical robot according to any one of claims 1-14, wherein the damper is an electromagnetic damper.