WO2024055361A1

WO2024055361A1 - Remote control system of pan-vascular interventional surgery auxiliary device for simulating operation and feeling of doctor

Info

Publication number: WO2024055361A1
Application number: PCT/CN2022/122170
Authority: WO
Inventors: 王喆隆; 刘寒玉; 郑钢铁; 张萍; 周博达
Original assignee: 清华大学; 北京清华长庚医院
Priority date: 2022-09-15
Filing date: 2022-09-28
Publication date: 2024-03-21
Also published as: CN115429442A

Abstract

Provided is a remote control system (1000) of a pan-vascular interventional surgery auxiliary device for simulating the operation and feeling of a doctor. In the system (1000), a feed module (3) comprises a linear-motion adjustable resistance generator (302). The linear-motion adjustable resistance generator (302) is connected to one end of a handle (2). The linear-motion adjustable resistance generator (302) is configured for collecting linear motion information of the handle (2) under push and pull and sending the linear motion information to an end effector, and is also configured for receiving a linear resistance signal sent by the end effector and performing linear resistance feedback on the handle (2). A twisting motion module (4) is connected to the other end of the handle (2). The twisting motion module (4) is configured for collecting rotational motion information of the handle (2) under twisting and sending the rotational motion information to the end effector, and is also configured for receiving a rotation resistance signal sent by the end effector and performing rotation resistance feedback on the handle (2).

Description

A remote control system for pan-vascular interventional surgery auxiliary devices that simulates doctors' operations and feelings

Cross-references to related applications

This application is filed based on the Chinese patent application with application number: 202211124600. .

Technical field

The invention belongs to the field of surgical robots, and particularly relates to a remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's surgical operation methods and feelings.

Background technique

Minimally invasive surgery occupies an important position in the field of modern surgery because of its advantages such as less bleeding, high safety, and fast postoperative recovery. Pan-vascular interventional surgery is an important category among them. As the incidence of various vascular diseases is increasing day by day, pan-vascular interventional surgery plays an increasingly important role. Here, pan-blood vessels include not only cardiovascular, cerebrovascular, peripheral blood vessels, internal blood vessels, etc., because their internal lumen are similar to blood vessels, but also include organ blood vessels, bile ducts, and pulmonary bronchi.

Under current medical conditions, doctors often need to directly operate catheters and guidewires, which can lead to various problems. Doctors are directly exposed to X-rays for a long time, which brings great risks to the doctor's health; doctors need to attend the operation in person. On-site, when dealing with emergencies, a lot of time is often lost on the road; problems such as hand tremors caused by long-term operations can also bring uncertainty to the operation. As a result, the use of surgical robots is becoming more widespread.

However, existing surgical auxiliary devices (commonly referred to as surgical robots) still have many problems and shortcomings. The main feature is that they adopt a different mode from the doctor's manual operation, or use different tools from the doctor's manual operation, such as the use of manipulation. The rod replaces the doctor's hand-held operation form of surgical instruments, and there is no force sensor. This requires doctors to undergo special training to perform correct operations. However, for senior doctors, this means that long-term accumulated experience in the past will become the key to mastering new operating methods. Obstacles lead to problems such as incorrect operation and reduced surgical quality.

In terms of auxiliary devices (robots) for vascular interventional surgeries, the main purpose is to replace doctors with auxiliary devices in operating guidewires/catheters under The method of using fingers to push and twist the catheter/guidewire in a straight line during vascular interventional surgery is completely different. Although some technologies consider the design of remote controls that can simulate doctor's operations, the problem is that the doctor's hand feel is relatively poor, and the output control displacement is inconsistent with the doctor's expected value, and cannot provide force feedback.

At present, the emerging vascular interventional surgery and auxiliary device remote control system technology that simulates the surgical operation of doctors uses the guidewire holder used by doctors to generate rotation and push signals, and uses motors to achieve force feedback. However, the problem is that it cannot be continuous. When a forward signal is sent, the stroke is limited by the length of the slide rail. After reaching the maximum displacement of the slide rail, it needs to be withdrawn, which greatly affects the work efficiency.

Contents of the invention

The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one purpose of the present invention is to propose a remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feelings, which can better simulate a doctor's surgical operations and feelings, has high operating efficiency, protects the doctor's own health, and can improve The treatment level is high in remote areas and areas with backward medical standards, saving a lot of time on the road, with simple structure and simple operation.

According to the first embodiment of the present invention, a remote control system for a pan-vascular interventional surgery auxiliary device that simulates doctors' operations and feelings includes:

frame;

handle;

The feed module includes a linear motion constraint and a linear motion adjustable resistance generator. The handle is supported on the frame through the linear motion restraint. The linear motion adjustable resistance generator is connected to the linear motion restraint. One end of the handle is connected, and the linear motion adjustable resistance generator is used to collect the linear motion information of the handle under push and pull, and send the linear motion information to the end effector, and is used to receive the end effector Sends a linear resistance signal and provides linear resistance feedback to the handle;

A twisting motion module, which is connected to the other end of the handle. The twisting motion module is used to collect the rotational motion information of the handle under twisting and send the rotational motion information to the handle. The end effector is configured to receive a rotation resistance signal sent by the end effector and provide rotation resistance feedback to the handle.

According to the remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feelings according to the first embodiment of the present invention, the remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feelings is remotely operated to remotely control the end effector to perform micro-operation on the patient. In invasive surgery, the doctor can perform surgery on the patient outside the operating room through the main console of the remote control system of the pan-vascular interventional surgery auxiliary device that simulates the doctor's operation and experience. The workflow is that the doctor holds the handle, pushes, pulls, and twists the handle. The linear motion adjustable resistance generator collects the linear motion information of the handle and sends the linear motion information to the end effector. The twisting motion module collects the linear motion information of the handle. twist motion information and send the twist motion information to the end effector; the end effector performs surgery on the patient based on the linear motion information and twist motion information, and uses the linear motion resistance signal and rotation motion resistance signal obtained during the operation They are fed back to the linear motion adjustable resistance generator and twisting motion module in real time respectively; after receiving the linear resistance signal, the linear motion adjustable resistance generator feeds back the linear resistance to the handle, that is, the feedback linear resistance acts on the handle. After receiving the rotation resistance signal, the twist motion module feeds back the rotation resistance to the handle, that is, the feedback rotation resistance acts on the handle, and then the linear resistance and rotation resistance fed back to the handle finally act on the doctor's hand, allowing the doctor's hand to Feel the real force signal from the end effector, complete force tactile feedback, and restore the feel of real operation. Therefore, the remote control system of the pan-vascular interventional surgery auxiliary device that simulates the doctor's operation and feeling according to the first embodiment of the present invention has a force feedback function and can completely reproduce the original situation of directly operating the holder of the catheter and the guidewire, which is in line with the doctor's original intention. It has operating habits and ergonomics, and maintains the original surgical feel, so that doctors can apply their existing experience and avoid thinking mode changes. In this way, they can skillfully operate the main operating table without long-term training, which reduces the requirements for doctors. The arrangement of the feeding module in the embodiment of the first aspect of the present invention can continuously generate a structure for advancing or retreating instructions for the guidewire/catheter, which improves operating efficiency and improves the doctor's operating experience. The remote control system of the pan-vascular interventional surgery auxiliary device that simulates the doctor's operation and feeling according to the first embodiment of the present invention has the characteristics of remote operation, that is, the doctor operates the handle outside the operating room, which protects the doctor from X-ray radiation in the operating room and protects the doctor's own safety. Healthy; at the same time, due to its remote control characteristics, doctors can also perform remote operations across regions, which will help improve the treatment level in remote areas and areas with backward medical standards, and save a lot of time on the road. The remote control system of a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings according to the first embodiment of the present invention has a simple structure and is easy to operate.

In some embodiments, the linear motion centerline of the linear motion adjustable resistance generator is parallel to or coincident with the centerline of the handle.

In some embodiments, the linear motion adjustable resistance generator is a linear motor, a voice coil motor, a linear motion mode hydraulically adjustable damping cylinder, etc., and also includes any device that can generate an adjustable force under the control of an electrical signal. .

In some embodiments, the linear motion constraint is a linear slide rail assembly in the form of a linear bearing or a chute.

In some embodiments, the twisting motion module includes a rotating motion adjustable resistance generator, the rotating motion adjustable resistance generator is used to collect the rotating motion information of the handle under twisting and transfer the rotating motion information sent to the end effector, and used to receive the rotation resistance signal sent by the end effector and provide rotation resistance feedback to the handle.

In some embodiments, the rotation centerline of the rotationally adjustable resistance generator is parallel to or coincident with the centerline of the handle.

In some embodiments, the rotary motion adjustable resistance generator is a rotary motor, a rotary voice coil motor, a hydraulically adjustable damping cylinder in a rotary motion mode, etc., and also includes any device that can generate an adjustable torque under the control of an electrical signal. device.

In some embodiments, the rotating motor is a first rotating motor with a first rotation detection encoder; the feeding module further includes a slider, and the frame is provided with a slider parallel to the center line of the handle. The guide rail, the slide block is arranged on the guide rail; the stator part of the first rotating motor is fixed on the slide block, and the mover part of the first rotating motor is coaxial with the other end of the handle fixed;

Or the rotating electrical machine is a second rotating electrical machine with a second rotation detection encoder; the stator part of the second rotating electrical machine is fixed on the frame, and the mover part of the second rotating electrical machine is connected to the One end of the handle has a linear sliding fit in the axial direction and a fixed fit in the circumferential direction;

Or the rotating electrical machine is a third rotating electrical machine with a third rotation detection encoder; the twisting motion module also includes a first synchronous pulley, a second synchronous pulley and a synchronous belt; the third rotating electrical machine The stator part is fixed on the frame, the mover part of the third rotating electrical machine is coaxially fixed with the first synchronous pulley, and the first synchronous pulley is connected to the second synchronous pulley through the synchronous belt. The pulleys are connected, and the second synchronous pulley and one end of the handle are linearly slidingly matched in the axial direction and fixedly matched in the circumferential direction.

In some embodiments, the diameter and shape of the handle are close to or consistent with the outer diameter and shape of the guidewire clamping operator.

In some embodiments, a wrist support part is further included, and the wrist support part is disposed on the frame.

A second aspect of the present invention also provides an interventional auxiliary device.

The interventional surgery auxiliary device according to the second embodiment of the present invention includes:

According to any embodiment of the first aspect of the present invention, the remote control system and end effector of a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feeling, wherein,

The linear motion adjustable resistance generator is used to collect the linear motion information of the handle under push and pull, and send the linear motion information to the end effector, and the twisting motion module is used to collect the linear motion information of the handle under push and pull. Twist the rotational motion information under twisting and send the rotational motion information to the end effector; the end effector operates according to the received linear motion information and the rotational motion information, and controls the end effector. The force and movement of the actuator itself are detected to obtain the linear resistance signal and the rotation resistance signal, and the linear resistance signal and the rotation resistance signal are fed back to the linear motion adjustable resistance generator and the In the twisting motion module, the linear motion adjustable resistance generator performs linear resistance feedback on the handle, and the twisting motion module performs rotational resistance feedback on the handle.

Since the interventional surgery auxiliary device of the second embodiment of the present invention adopts the pan-vascular interventional surgery auxiliary device remote control system of the first embodiment of the present invention that simulates the operation and feeling of a doctor, the interventional surgery auxiliary device of the second embodiment of the present invention The auxiliary device has the same advantages as the pan-vascular interventional auxiliary device remote control system that simulates the doctor's operation and experience in the first embodiment of the present invention, and will not be described again here.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Description of drawings

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

Figure 1 is a schematic structural diagram of a remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings according to one embodiment of the present invention;

Figure 2 is a schematic structural diagram of a remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings according to another embodiment of the present invention;

Figure 3 is a schematic structural diagram of a remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings according to yet another embodiment of the present invention;

Figure 4 is a block diagram of a system for identifying linear motion tendencies of the present invention.

Reference signs:

Pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates doctors' operations and feelings;

Frame 1; base plate 101; vertical plate 102; guide rail 103; handle 2; coupling 201; transmission shaft 202; feed module 3; linear motion constraint 301; linear bearing 3011; linear motion adjustable resistance generator 302; Voice coil motor 3021; slider 303; twisting motion module 4; rotating motion adjustable resistance generator 401; first rotating motor 401a; second rotating motor 401b; shaft sleeve 4011; third rotating motor 401c; first timing belt Pulley 402; second synchronous pulley 403; synchronous belt 404; wrist support part 5; controller module 6; displacement sensor 7; motion module 8.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements with the same or similar functions. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and cannot be understood as limiting the present invention.

The following describes a pan-vascular interventional surgery auxiliary device remote control system 1000 and an interventional surgery auxiliary device that simulate a doctor's operation and experience according to an embodiment of the present invention with reference to FIGS. 1 to 4 .

As shown in FIGS. 1 to 3 , a pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates a doctor's operations and feelings according to the first embodiment of the present invention is used as a proximal main operating platform for minimally invasive vascular interventional surgery. The remote control system 1000 for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feeling according to the first embodiment of the present invention includes a frame 1 , a handle 2 , a feed module 3 and a twist motion module 4 .

Among them, the frame 1 may include a bottom plate 101 and a vertical plate 102 fixed on the bottom plate 101 to provide installation support for the handle 2, the feed module 3, the twist motion module 4, etc.

The two ends of the handle 2 are respectively supported on the two vertical plates 102 of the frame 1, that is, one end of the handle 2 is supported by one vertical plate 102, and the other end of the handle 2 is supported by another vertical plate 102. This is beneficial to the handle. 2 is supported horizontally and suspended above the vertical plate 102, so that it is convenient for the doctor to hold the handle 2 and push, pull and twist the handle 2 to remotely control the end effector for surgical operations.

The feed module 3 includes a linear motion restrictor 301 and a linear motion adjustable resistance generator 302. The handle 2 is supported on the frame 1 through linear motion restrainers 301. Specifically, the two ends of the handle 2 are supported on the two vertical plates 102 through two linear motion restrainers 301. The linear motion restrainers 301 restrain the handle 2 along the The central axis of the handle 2 moves linearly, and the resistance between the interface between the linear motion restrainer 301 and the handle 2 is greatly reduced. Therefore, the linear motion constraint 301 can choose a linear bearing 3011 (see Figures 1 to 3) and a linear slide rail assembly (not shown in the figure) in the form of a slide lubricated by steel balls. In order to ensure that the doctor's surgical operation handle 2, it can completely reproduce the situation of directly operating the catheter and guidewire holder, providing reliable guarantee.

The linear motion adjustable resistance generator 302 is connected to one end of the handle 2. The linear motion adjustable resistance generator 302 is used to collect the linear motion information of the handle 2 under push and pull, and send the linear motion information to the end effector, and for The linear resistance signal sent by the end effector is received and the linear resistance feedback is provided to the handle 2. The linear resistance finally acts on the doctor's hand, so that the doctor's hand can feel the linear resistance of the end effector during the operation. At the same time, in view of the problem that the existing remote control system for vascular interventional surgery and auxiliary devices that simulates a doctor's surgical operation cannot continuously send forward signals, and the stroke is limited by the length of the slide rail. After reaching the maximum displacement of the slide rail, it needs to be withdrawn, which affects the operation efficiency. Since the linear motion adjustable resistance generator 302 of the embodiment of the present invention is directly connected to one end of the handle 2, it can continuously generate a structure for advancing or retreating instructions for the guidewire/catheter, thereby improving operating efficiency.

The twist motion module 4 is connected to the other end of the handle 2. The twist motion module 4 is used to collect the rotation motion information of the handle 2 under twisting and send the rotation motion information to the end effector, and to receive the information sent by the end effector. The rotation resistance signal is provided, and the rotation resistance (i.e., torque) feedback is provided to the handle 2. This rotational resistance ultimately acts on the doctor's hands, allowing the doctor's hands to feel the rotational resistance of the end effector during the operation.

According to the remote control system 1000 for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feelings according to the first embodiment of the present invention, the end effector is remotely controlled for the patient by remotely operating the pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates a doctor's operation and feelings. To perform minimally invasive surgery, that is, the doctor can perform surgery on the patient outside the operating room through the main console of the pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates the doctor's operations and feelings. The working process is that the doctor holds the handle 2 and pushes, pulls and twists the handle 2. The linear motion adjustable resistance generator 302 collects the linear motion information of the handle 2 and sends the linear motion information to the end effector. The twisting motion Module 4 collects the twisting motion information of the handle 2 and sends the twisting motion information to the end effector; the end effector performs surgery on the patient based on the linear motion information and twisting motion information, and uses the linear motion resistance obtained during the operation. The signal and the rotational motion resistance signal are sent back to the linear motion adjustable resistance generator 302 and the twisting motion module 4 respectively in real time; the linear motion adjustable resistance generator 302 receives the linear motion resistance signal and feeds back the linear resistance to the handle 2, That is, the feedback linear resistance acts on the handle 2, and the twist motion module 4 feedbacks the rotation resistance to the handle 2 after receiving the rotation resistance signal. That is, the feedback rotation resistance acts on the handle 2, and then feeds back the linear resistance of the handle 2. and rotational resistance finally act on the doctor's hand, allowing the doctor's hand to feel the real force signal from the end effector, completing force tactile feedback and restoring the feel of real operation. Therefore, the remote control system 1000 of the pan-vascular interventional surgery auxiliary device that simulates the operation and feeling of a doctor according to the first embodiment of the present invention has a force feedback function and can completely reproduce the original situation of directly operating the holder of the catheter and the guidewire, which is in line with the doctor's needs. The original operating habits and ergonomics maintain the original surgical feel, allowing doctors to apply their existing experience and avoid changing their thinking patterns. This way, they can skillfully operate the main operating console without long-term training, which reduces the requirements for doctors. The arrangement of the feeding module 3 in the embodiment of the first aspect of the present invention can continuously generate a structure for advancing or retreating instructions for the guidewire/catheter, which improves the operating efficiency and improves the doctor's operating experience. The remote control system 1000 for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings according to the first embodiment of the present invention has remote operation features, that is, the doctor operates the handle 2 outside the operating room, which protects the doctor from X-ray radiation in the operating room and protects the doctor. own health; at the same time, due to its remote control characteristics, doctors can also perform remote operations across regions, which will help improve the treatment level in remote areas and areas with backward medical standards, and save a lot of time on the road. The remote control system 1000 for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings according to the first embodiment of the present invention has a simple structure and is easy to operate.

In some embodiments, the linear motion centerline of the linear motion adjustable resistance generator 302 is parallel to or coincident with the centerline of the handle 2 (see FIGS. 1 to 3 ). Therefore, the linear motion adjustable resistance generator 302 can measure the linear motion information of the handle 2 and perform linear motion resistance feedback.

In some embodiments, the linear motion adjustable resistance generator 302 is a linear motor (not shown in the figure) or a voice coil motor 3021 (see FIGS. 1 to 3 ) or a linear motion mode hydraulically adjustable damping cylinder (FIG. not shown).

Specifically, the fixed end of the voice coil motor 3021 is fixed on the frame 1 , and the movable output end of the voice coil motor 3021 is fixed on one end of the handle 2 . The voice coil motor 3021 can collect the linear motion information of the handle 2, and at the same time, it can also perform linear resistance feedback control on the handle 2.

The installation method of the hydraulically adjustable damping cylinder in linear motion mode is similar to that of the voice coil motor 3021. The fixed end of the hydraulically adjustable damping cylinder in linear motion mode is fixed on the frame 1, and the movable output end of the hydraulically adjustable damping cylinder in linear motion mode is fixed on one end of the handle 2. The hydraulically adjustable damping cylinder in the linear motion mode can collect the linear motion information of the handle 2 and can also perform linear resistance feedback control on the handle 2. The damping force (ie, linear resistance) can be achieved by adjusting the size of the liquid flow hole.

It should be noted that the linear motion adjustable resistance generator 302 is not limited to the voice coil motor 3021 and the hydraulic adjustable damping cylinder in the linear motion mode. Any other adjustable output linear force can be used as a resistance generator, such as a linear motor. .

In some embodiments, the linear motion constraint 301 is a linear bearing 3011 (see FIGS. 1 to 3 ) or a linear slide rail assembly in the form of a chute (not shown in the figures). That is to say, the linear motion restrictor 301 can choose a linear bearing 3011 (as shown in FIGS. 1 to 3 ), or a linear slide rail assembly in the form of an auxiliary slide groove.

In some embodiments, the twist motion module 4 includes a rotation motion adjustable resistance generator 401, which is used to collect the rotation motion information of the handle 2 under twisting and send the rotation motion information to the terminal. actuator, and is used to receive the rotation resistance signal sent by the end effector and provide rotation resistance feedback to the handle 2. Therefore, when the doctor twists the handle 2, he can feel the rotational motion resistance of the end effector during the operation.

In some embodiments, the rotation centerline of the rotational motion adjustable resistance generator 401 is parallel to the centerline of the handle 2 (see Figure 3) or coincides with it (see Figures 1 and 2). Therefore, the rotational motion adjustable resistance generator 401 can measure the rotational motion information of the handle 2 and perform rotational motion resistance feedback.

In some embodiments, the rotary motion adjustable resistance generator 401 is a rotary motor, a rotary voice coil motor, a hydraulically adjustable damping cylinder in a rotary motion mode, etc., and also includes any device that can generate an adjustable torque under the control of an electrical signal. .

In some embodiments, as shown in Figure 1, the rotary motion adjustable resistance generator 401 is a rotary motor, which is a first rotary motor 401a with a first rotation detection encoder; the feed module 3 also includes a slider Block 303, the frame 1 is provided with a guide rail 103 parallel to the center line of the handle 2, and the slider 303 is arranged on the guide rail 103; the stator part of the first rotating motor 401a is fixed on the slider 303, and the first rotating motor 401a The mover part is coaxially fixed with the other end of the handle 2. The movable parts of the first rotating motor 401a, the slider 303, the handle 2 and the linear motion adjustable resistance generator 302 constitute a linear movable member, and the linear movable member can perform linear motion. The mover part of the first rotary motor 401a is fixed to one end of the handle 2, so that the first rotary motor 401a can measure the rotation motion information of the handle 2 and provide rotation resistance feedback to the handle 2.

The workflow of the pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates the doctor's operation and feeling in the embodiment of Figure 1 is: the doctor operates the pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates the doctor's operation and feeling in this embodiment, and then end effector for control. The doctor's hand controls the linear motion and rotation of the handle 2; the handle 2 drives the mover part (i.e., the rotor shaft) of the first rotary motor 401a with the first rotation detection encoder to rotate, and the first rotation detection encoder detects the handle 2 and sends it to the end effector; the handle 2 drives the movable output end of the linear motion adjustable resistance generator 302 (voice coil motor 3021 in Figure 1) to make linear motion, and the voice coil motor 3021 detects the handle 2 The linear displacement information is sent to the end effector. In this way, the collection of operation control information of the doctor's hand on the operating handle 2 is achieved.

At the same time, the end effector performs force feedback control on the pan-vascular interventional surgery auxiliary device remote control system 1000 of this embodiment, which simulates the doctor's operation and feeling: the end sensor will detect the force information on the operating object through the force sensor on the end effector, And correspondingly send the linear motion resistance signal and the rotation motion resistance signal to the linear motion adjustable resistance generator 302 (voice coil motor 3021 in Figure 1) and the first rotating motor 401a with the first rotation detection encoder, The voice coil motor 3021 transmits the linear motion resistance to the handle 2 through the movable output end of the voice coil motor 3021, and the first rotary motor 401a with the first rotation detection encoder transmits the rotation motion resistance (ie, torque) to the handle 2, and The linear resistance and rotational resistance fed back by the handle 2 finally act on the doctor's hand, allowing the doctor's hand to feel the real force signal from the end effector, completing force tactile feedback and restoring the feel of real operation.

Or as shown in Figure 2, the rotary motion adjustable resistance generator 401 rotates a motor, which is a second rotating motor 401b with a second rotation detection encoder; the stator part of the second rotating motor 401b is fixed on the frame 1 On the top, the mover part of the second rotating motor 401b is linearly slidingly matched with the other end of the handle 2 in the axial direction and fixedly matched in the circumferential direction. Specifically, the other end of the handle 2 is connected to a special transmission shaft through the coupling 201. 202 are connected, the transmission shaft 202 and the shaft sleeve 4011 with a cylindrical flange are connected through rollers, and the following connection methods can be used: Method 1, the transmission shaft 202 is a spline shaft, and the shaft sleeve 4011 is a spline sleeve with balls ; Method two, the transmission shaft 202 is a shaft with tooth alveolar, the shaft sleeve 4011 is a toothed shaft sleeve, and the contact is a flat pair. Without affecting the forward and backward axial movement of the handle 2, it is ensured that the mover part of the second rotating motor 401b and the rotation of the handle 2 are in a synchronous locking state.

The workflow of the remote control system 1000 for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings in the embodiment of Figure 2 is basically the same as the workflow of the remote control system 1000 for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings in the embodiment of Figure 1. I won’t go into details here.

Or as shown in Figure 3, the rotary motion adjustable resistance generator 401 is a rotary motor, which is a third rotary motor 401c with a third rotation detection encoder; the twist motion module 4 also includes a first synchronous pulley 402. The second synchronous pulley 403 and the synchronous belt 404; the stator part of the third rotating electrical machine 401c is fixed on the frame 1, and the mover part of the third rotating electrical machine 401c is coaxially fixed with the first synchronous pulley 402. The synchronous pulley 402 is connected to the second synchronous pulley 403 through the synchronous belt 404. The second synchronous pulley 403 is linearly slidingly matched with one end of the handle 2 in the axial direction and fixedly matched in the circumferential direction. Specifically, the other end of the handle 2 A spline is fixed coaxially, and the second synchronous pulley 403 is suitably set on the spline.

The workflow of the remote control system 1000 for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings in the embodiment of Figure 3 is basically the same as the workflow of the remote control system 1000 for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operations and feelings in the embodiment of Figure 1. I won’t go into details here.

In terms of feeling the doctor's intention of pushing the linear motion of the guidewire/catheter, one implementation method is shown in Figure 4. For example, in the embodiments of FIGS. 1, 2 and 3, the linear motion adjustable resistance generator 302 is a voice coil motor 3021 and the rotational motion adjustable resistance generator 401 is a rotary motor 401a. The controller module 6 of the pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates the doctor's operation and feeling uses the movement direction and movement acceleration of the movement module 8 measured by the displacement sensor 7 to calculate the doctor's intention to push the linear motion of the guidewire/catheter, that is, Slow, accelerate, retreat, etc., issue control instructions to the end effector. The motion module 8 moves within the voice coil motor 3021 and is a part of the active output end of the voice coil motor 3021. The displacement sensor 7 may be in a photoelectric form, but is not limited thereto. In some embodiments, the diameter and shape of the handle 2 are close to or consistent with the outer diameter and shape of the catheter/guidewire clamping operator. For example, the handle 2 is processed with knurling or multiple bosses evenly distributed parallel to the axis. . so. In this way, the doctor holds the handle 2 just like holding the existing catheter/guidewire holder, which can more realistically simulate the feeling of the original surgical operation.

In some embodiments, a wrist support part 5 is also included. The wrist support part 5 is arranged on the frame 1. The wrist support part 5 is at a similar height to the operating handle. It serves as a hand support for the doctor during operation, which facilitates the doctor's operation and avoids the need for the doctor's handle. 2. Vibration is helpful to improve the quality of surgery. The wrist support part 5 is provided with soft pads to improve the comfort of hand support.

A second aspect of the present invention also provides an auxiliary device for interventional surgery.

The interventional surgery auxiliary device according to the second embodiment of the present invention includes the pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates the doctor's operation and feeling according to any embodiment of the first aspect of the present invention, and an end effector. Among them, the linear motion adjustable resistance generator 302 is used to collect the linear motion information of the handle 2 under push and pull, and sends the linear motion information to the end effector, and the twisting motion module 4 is used to collect the rotation of the handle 2 under twisting. Motion information and rotational motion information are sent to the end effector; the end effector operates according to the received linear motion information and rotational motion information, and detects the force and motion of the end effector itself to obtain the linear resistance signal and rotation Resistance signal, the linear resistance signal and the rotation resistance signal are fed back to the linear motion adjustable resistance generator 302 and the twist motion module 4. The linear motion adjustable resistance generator 302 performs linear resistance feedback to the handle 2, and the twist motion module 4 Provide rotation resistance feedback to handle 2.

Since the interventional surgery auxiliary device of the second embodiment of the present invention adopts the pan-vascular interventional surgery auxiliary device remote control system 1000 that simulates the operation and feeling of a doctor according to the first embodiment of the present invention, the interventional surgery auxiliary device of the second embodiment of the present invention The surgical auxiliary device has the same advantages as the pan-vascular interventional surgical auxiliary device remote control system 1000 that simulates the operation and experience of a doctor according to the first embodiment of the present invention, and will not be described again here.

In the description of this specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like is intended to be incorporated into the description of the implementation. An example or example describes a specific feature, structure, or characteristic that is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and purposes of the invention. The scope of the invention is defined by the claims and their equivalents.

Claims

A remote control system for pan-vascular interventional surgery auxiliary devices that simulates doctors' operations and feelings, and is characterized by including:

frame;

handle;

The feed module includes a linear motion constraint and a linear motion adjustable resistance generator. The handle is supported on the frame through the linear motion restraint. The linear motion adjustable resistance generator is connected to the linear motion restraint. One end of the handle is connected, and the linear motion adjustable resistance generator is used to collect the linear motion information of the handle under push and pull, and send the linear motion information to the end effector, and is used to receive the end effector Sends a linear resistance signal and provides linear resistance feedback to the handle;

A twisting motion module, which is connected to the other end of the handle. The twisting motion module is used to collect the rotational motion information of the handle under twisting and send the rotational motion information to the handle. The end effector is configured to receive a rotation resistance signal sent by the end effector and provide rotation resistance feedback to the handle.
The remote control system for pan-vascular interventional surgery auxiliary device that simulates doctor's operation and feeling according to claim 1, characterized in that the linear motion center line of the linear motion adjustable resistance generator is parallel to or coincident with the center line of the handle. .
The remote control system for pan-vascular interventional surgery auxiliary device that simulates doctor's operation and feeling according to any one of claims 1-2, characterized in that the linear motion adjustable resistance generator is a linear motor, a voice coil motor or a linear motor. Hydraulically adjustable damping cylinder in sport mode.
The remote control system for pan-vascular interventional surgery auxiliary device that simulates doctor's operation and feeling according to any one of claims 1 to 3, characterized in that the linear motion restrainer is a linear slider in the form of a linear bearing or a chute. Rail components.
The pan-vascular interventional surgery auxiliary device remote control system for simulating doctor's operation and feeling according to any one of claims 1 to 4, characterized in that the twisting motion module includes a rotating motion adjustable resistance generator, and the rotating motion module The motion-adjustable resistance generator is used to collect the rotation motion information of the handle under twisting and send the rotation motion information to the end effector, and to receive the rotation resistance signal sent by the end effector, and Provides rotation resistance feedback to the handle.
The remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feeling according to any one of claims 1 to 5, characterized in that the rotation center line of the rotary motion-adjustable resistance generator is in line with the center line of the handle. Center lines are parallel or coincident.
The remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feeling according to claim 6, wherein the rotary motion adjustable resistance generator is a rotary motor, a rotary voice coil motor or a hydraulically adjustable rotary motion mode. Adjust the damping cylinder.
The remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feeling according to claim 7, wherein the rotating motor is a first rotating motor with a first rotation detection encoder; and the feeding module It also includes a slider, the frame is provided with a guide rail parallel to the center line of the handle, the slider is arranged on the guide rail; the stator part of the first rotating motor is fixed on the slider , the mover part of the first rotating motor is coaxially fixed with the other end of the handle;

Or the rotating electrical machine is a second rotating electrical machine with a second rotation detection encoder; the stator part of the second rotating electrical machine is fixed on the frame, and the mover part of the second rotating electrical machine is connected to the One end of the handle has a linear sliding fit in the axial direction and a fixed fit in the circumferential direction;

Or the rotating electrical machine is a third rotating electrical machine with a third rotation detection encoder; the twisting motion module also includes a first synchronous pulley, a second synchronous pulley and a synchronous belt; the third rotating electrical machine The stator part is fixed on the frame, the mover part of the third rotating electrical machine is coaxially fixed with the first synchronous pulley, and the first synchronous pulley is connected to the second synchronous pulley through the synchronous belt. The pulleys are connected, and the second synchronous pulley and one end of the handle are linearly slidingly matched in the axial direction and fixedly matched in the circumferential direction.
The remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feeling according to any one of claims 1 to 8, characterized in that the diameter and shape of the handle are consistent with the outer surface of the catheter/guidewire clamping operator. The diameter and shape are close or consistent.
The remote control system for a pan-vascular interventional surgery auxiliary device that simulates a doctor's operation and feeling according to any one of claims 1 to 9, characterized in that it also includes a wrist support part, and the wrist support part is arranged on the frame. .
An auxiliary device for interventional surgery, which is characterized by including:

The remote control system and end effector of the pan-vascular interventional surgery auxiliary device that simulates the operation and feeling of a doctor according to any one of claims 1 to 10, wherein,

The linear motion adjustable resistance generator is used to collect the linear motion information of the handle under push and pull, and send the linear motion information to the end effector, and the twisting motion module is used to collect the linear motion information of the handle under push and pull. Twist the rotational motion information under twisting and send the rotational motion information to the end effector; the end effector operates according to the received linear motion information and the rotational motion information, and controls the end effector. The force and movement of the actuator itself are detected to obtain the linear resistance signal and the rotation resistance signal, and the linear resistance signal and the rotation resistance signal are fed back to the linear motion adjustable resistance generator and the In the twist motion module, the linear motion adjustable resistance generator performs linear resistance feedback on the handle, and the twist motion module performs rotation resistance feedback on the handle.