CN117323020B - Operation robot master control end operation handle unit and master control end operation platform - Google Patents
Operation robot master control end operation handle unit and master control end operation platform Download PDFInfo
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- CN117323020B CN117323020B CN202311314225.XA CN202311314225A CN117323020B CN 117323020 B CN117323020 B CN 117323020B CN 202311314225 A CN202311314225 A CN 202311314225A CN 117323020 B CN117323020 B CN 117323020B
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- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 230000033001 locomotion Effects 0.000 claims abstract description 17
- 238000001514 detection method Methods 0.000 claims abstract description 15
- 230000007246 mechanism Effects 0.000 claims abstract description 14
- 238000013016 damping Methods 0.000 claims description 19
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000012544 monitoring process Methods 0.000 claims description 5
- 230000006698 induction Effects 0.000 claims description 4
- 230000009471 action Effects 0.000 description 10
- 230000001276 controlling effect Effects 0.000 description 6
- 230000000875 corresponding effect Effects 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000005056 compaction Methods 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000002792 vascular Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The invention provides a main control end operation handle unit and a main control end operation platform of a surgical robot, which belong to the technical field of interventional surgical robots, wherein the operation handle unit is arranged on the main control end operation platform and comprises a frame fixed on the main control end operation platform, the frame is slidably provided with an operation handle through a sliding mechanism, the sliding mechanism is in transmission connection with a motion feedback module, and the motion feedback module is used for controlling a flexible medical instrument to advance or retreat by transmitting sliding operation of the operation handle to a driven end device; the operating handle is rotatably provided with an operating rod, the operating rod is provided with an angle detection module, and the angle detection module is used for detecting the rotating angle of the operating rod and transmitting the rotating operation of the operating rod to the driven end device so as to control the rotation of the flexible medical instrument; the operation handle is mainly used for solving the technical problems that the operation is inconvenient and the operation efficiency is reduced because the operation handle at the main control end of the interventional robot is in a shaking type operation mode.
Description
Technical Field
The invention belongs to the technical field of interventional surgical robots, and particularly relates to a surgical robot main control end operation handle unit and a main control end operation platform.
Background
The interventional operation robot comprises a main control end and a driven end device, wherein the main control end forms corresponding control instructions based on operation actions of an operator and sends the corresponding control instructions to the driven end device, and the driven end device automatically delivers flexible medical instruments (such as a guide wire, a catheter and a sheath tube) into a blood vessel according to the control instructions to complete vascular interventional operation. The control structure of the current main control end comprises a touch screen, an operating handle and the like. The operating handle can issue operating commands to the surgical robot, such as advancing and retreating, rotating, etc. of the guide wire.
The existing interventional operation robot is like CorPath GRX interventional operation robots, the operating handle at the main control end is of a rocker type structure, flexible medical instruments in the driven end device are controlled to move through the rocker type operating handle, but the hand action habit of directly operating the guide wire guide tube when a doctor (i.e. an operator) intervenes in an operation is changed through the operating mode of using the rocker, so that the operation of the doctor is not facilitated, and the operation efficiency of the operation is reduced.
Disclosure of Invention
The invention aims to provide an operation handle unit at a main control end of an operation robot, which solves the technical problems that an operation handle at the main control end of an intervention robot in the prior art is in a shaking type operation mode, and is not in line with the hand action habit of directly operating a guide wire catheter when an operator intervenes in an operation, so that the operation is inconvenient and the operation efficiency is reduced; the invention also provides a master control end to solve the same technical problems.
In order to achieve the above purpose, the surgical robot main control end operation handle unit of the present invention provides the following technical scheme:
The operation robot main control end operation handle unit is arranged on a main control end operation platform and is used for controlling flexible medical equipment on a driven end device to act according to an operation forming instruction of an operator; the operation handle is rotatably provided with an operation rod, the operation rod is provided with an angle detection module, and the angle detection module is used for detecting the rotation angle of the operation rod and transmitting the rotation operation of the operation rod to the driven end device so as to control the rotation of the flexible medical instrument.
As a further optimized technical scheme, the sliding mechanism comprises a guide groove and a guide plate, wherein the guide groove is formed in the top of the frame, the guide plate is arranged in the guide groove and is in sliding fit with the guide groove, the operating handle penetrates through the guide plate and is fixedly connected with the guide plate, and a limiting mechanism is arranged between the guide plate and the guide groove and used for limiting the sliding stroke of the guide plate.
As a further optimized technical scheme, the operating handle is fixedly connected with a rack parallel to the sliding direction of the operating handle, and the motion feedback module is provided with a transmission gear which is meshed with the rack for transmission.
As a further optimized technical scheme, the motion feedback module comprises a servo motor and an absolute value encoder which are in transmission connection, wherein the transmission gear is fixedly connected with an output shaft of the servo motor, a driving gear is coaxially arranged on the transmission gear, and a driven gear which is in meshed transmission with the driving gear is arranged on the absolute value encoder.
As a further optimized technical scheme, the operating rod is in running fit with the operating handle through the damping sleeve, and a compaction adjusting structure is arranged on the outer side of the damping sleeve and used for adjusting the compaction degree of the damping sleeve and the operating rod.
As a further optimized technical scheme, the top end of the operating handle is provided with a ring groove with an axis parallel to the sliding direction of the operating handle and used for accommodating an operating tool of an operator, the operating rod is arranged in the ring groove, and the extending direction of the operating rod is parallel to the axis of the ring groove.
As a further optimized technical scheme, a sensor is arranged on the side wall, facing the operating rod, of the annular groove and used for monitoring whether an operator starts to operate or not and transmitting a detection result signal to the driven end device, so that whether the driven end device clamps the flexible medical instrument or not is controlled.
As a further optimized technical scheme, the sensors are a plurality of photoelectric sensors, and each pair of photoelectric sensors is oppositely arranged on two sides of the operating rod.
As a further optimized technical scheme, the operation rod is provided with at least one perceived limiting piece, and at least one limiting piece is arranged at the critical position of the sensor monitoring operation rod and used for enabling an operator to perceive whether the operation rod passes through the limiting piece or not to enter an operation state.
The operating robot main control end operating handle unit has the beneficial effects that: according to the invention, the structure of the operating handle in the prior art is changed, so that the rotation of the flexible medical instrument of the driven end device is controlled by rotating the operating rod, and the forward or backward movement of the flexible medical instrument is controlled by sliding the operating handle, so that the hand action habit of directly operating the guide wire catheter when an operator intervenes in an operation is more met, the operation is simple, the operation of the operator is convenient, and the surgical efficiency is improved.
In order to achieve the above purpose, the main control terminal operation platform of the present invention provides the following technical solutions:
The main control end operation platform comprises an operation platform body, wherein at least one operation handle unit of the main control end of the surgical robot according to any one of the technical schemes is arranged on the operation platform body.
The beneficial effects of the control end operation platform are similar to those of the operation handle unit at the main control end of the surgical robot, and are not described in detail herein.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application. Wherein:
FIG. 1 is a schematic diagram of the overall structure of a console of a master control terminal according to an embodiment of the present invention;
FIG. 2 is a schematic rear view illustrating an overall structure of a console platform according to an embodiment of the present invention;
fig. 3 is a schematic view of the overall structure of a main control end operation handle unit of a surgical robot according to an embodiment of the present invention;
Fig. 4 is a schematic view illustrating an internal structure of a surgical robot master control end operation handle unit according to an embodiment of the present invention;
FIG. 5 is a schematic view showing the internal structure of an operation portion of an operation handle according to an embodiment of the present invention;
FIG. 6 is a schematic diagram illustrating an internal structure of a console of a master control terminal according to an embodiment of the present invention;
FIG. 7 is a schematic top view illustrating an internal structure of a console of a master console according to an embodiment of the present invention;
FIG. 8 is an enlarged schematic view of the portion A in FIG. 7;
In the figure: 1. an operation platform body; 2. a frame; 3. an operation handle; 301. an operation unit; 302. a connection part; 4. a feedback module; 5. an operation lever; 6. an angle detection module; 601. a magnetic block; 602. an induction module; 7. a guide groove; 8. a guide plate; 9. a limiting mechanism; 901. a bar-shaped groove; 10. a rack; 11. a transmission gear; 12. a servo motor; 13. an absolute value encoder; 14. a drive gear; 15. a driven gear; 16. a damping sleeve; 17. a compaction adjusting structure; 18. a ring groove; 19. a sensor; 20. a limiting piece; 21. a support frame; 22. a slide block; 23. and a guide rail.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which are derived by a person skilled in the art based on the embodiments of the invention, fall within the scope of protection of the invention.
In the description of the present invention, the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", etc. refer to the orientation or positional relationship based on that shown in the drawings, merely for convenience of description of the present invention and do not require that the present invention must be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "coupled" and "connected" as used herein are to be construed broadly and may be, for example, fixedly coupled or detachably coupled; either directly or indirectly through intermediate components, the specific meaning of the terms being understood by those of ordinary skill in the art as the case may be.
The invention will be described in detail below with reference to the drawings in connection with embodiments. It should be noted that, without conflict, the embodiments of the present invention and features of the embodiments may be combined with each other.
Embodiment 1 of the master control side operation platform:
As shown in fig. 1, 2 and 6, the interventional operation robot of the present invention mainly includes a master end and a slave end (not shown in the drawings), and the connection mode between the master end and the slave end may be cable connection or wireless connection using a communication technology, so long as the existing connection mode can enable the master end and the slave end to realize signal transmission. All operations of the main control end are based on an operation platform, the operation platform is provided with an operation platform body 1, and an associated information processing module and an information transmission module which are arranged in the operation platform body 1 can form corresponding control instructions by operation instructions of operators on the operation platform and send the corresponding control instructions to the driven end device, so that the driven end device automatically controls the flexible medical instrument to perform corresponding actions according to the control instructions, and finally vascular intervention operation is completed. An operation handle unit is also installed on the operation platform body 1, and is mainly used for an operator to perform related action operation, and a command is formed according to the operation of the operator to control the flexible medical instrument on the driven end device to perform the action. In this embodiment, in order to control different kinds of flexible medical instruments (e.g. catheter and guide wire, respectively), two operation handle units are installed in the operation platform body 1, so that one of the two operation handle units can be used for controlling the catheter and the other can be used for controlling the guide wire. Of course, in other embodiments, the adjustment may be performed according to actual needs, for example, only one operation handle unit may be installed or more than two operation handle units may be installed.
As shown in fig. 3, 4 and 5, the main improvement point of the invention is the part of the operation handle unit, and the structure of the operation handle unit is improved to enable the operation to be more in line with the hand habit of an operator during operation, thereby facilitating the operation. Specifically, the operation robot main control end operation handle unit (hereinafter referred to as operation handle unit) installed on the main control end operation platform comprises a frame 2 fixed on the main control end operation platform, an operation handle 3 is slidably installed on the frame 2, so that the operation handle 3 can slide, and meanwhile, an operation rod 5 is rotatably installed on the operation handle 3, so that the operation rod 5 can be rotated, and the operation handle unit can be operated according with the hand action habit of directly operating a guide wire catheter when an operator intervenes in an operation.
Specifically, the frame 2 is slidably mounted with an operation handle 3 by a sliding mechanism, the operation handle 3 has an operation portion 301 for direct contact operation by an operator, the operation handle 3 further has a connection portion 302 for mounting the operation portion 301 on a main control end operation platform, and the operation portion 301 is detachably and fixedly connected with the connection portion 302. The connection portion 302 is formed of two half-shell structures, thereby facilitating routing of wires within the connection portion 302. The sliding mechanism is in transmission connection with a motion feedback module 4, and the motion feedback module 4 is used for controlling the flexible medical instrument to advance or retreat by transmitting the sliding operation of the operating handle 3 to the driven end device; the operating handle 3 is rotatably provided with an operating rod 5, the operating rod 5 is provided with an angle detection module 6, and the angle detection module 6 is used for detecting the rotating angle of the operating rod 5 and transmitting the rotating operation of the operating rod 5 to the driven end device so as to control the rotation of the flexible medical instrument.
In the present invention, the angle detection module 6 is an angle displacement sensor, and the angle displacement sensor has two parts, namely a magnetic block 601 and a sensing module 602. The magnetic block 601 is fixedly connected to the tail end of the operating rod 5, the sensing module 602 of the angular displacement sensor is fixed to the position, opposite to the magnetic block 601, of the handle 3, and specifically as shown in fig. 5, the operating rod 5 rotates and then synchronously drives the magnetic block 601 to rotate, and the sensing module 602 obtains the rotation angle of the magnetic block 601 and then issues related instructions. In other embodiments, the angle detection module 6 may also be an angle encoder.
In order to make the handle 3 rotate and feel better, avoid simultaneously that action of the operating lever 5 is too sensitive when rotating the operating lever 5, easily cause maloperation, the operating lever 5 passes through damping sleeve 16 and the operation handle 3 normal running fit, and damping sleeve 16 adopts the rubber material to make, and is more wear-resisting and damping effect is good. In order to conveniently adjust the compression degree of the damping sleeve 16 and the operating rod 5, so as to conveniently adjust the driving force for rotating the operating rod 5, a compression adjusting structure 17 is arranged on the outer side of the damping sleeve 16, in the embodiment, a set screw is recommended to be used by the adjusting structure 17, passes through the side wall of the handle 3 to compress the damping sleeve 16, when the damping sleeve 16 needs to compress the operating rod 5, the set screw is screwed in the direction close to the damping sleeve 16 to tightly jack the damping sleeve 16, otherwise, the set screw is screwed out in the direction far away from the damping sleeve 16 to loosen the jacking of the damping sleeve 16, so that the damping sleeve 16 loosens the compression of the operating rod 5.
In this embodiment, as shown in fig. 4, the sliding mechanism includes a guide groove 7 and a guide plate 8, the guide groove 7 is disposed at the top of the frame 2, the guide plate 8 is rectangular plate-shaped and disposed in the guide groove 7 and slidably cooperates with the guide groove 7, and the connecting portion 302 of the operating handle 3 passes through the guide plate 8 and is fixedly connected with the guide plate 8, so that when the operating handle 3 slides, the guide plate 8 is pushed to slide in the guide groove 7. The rectangular plate-shaped guide plate 8 has another function, namely, when the operation handle unit is installed on the operation platform body 1, the operation platform body 1 is provided with a channel for the operation handle 3 to slide, and the guide plate 8 is in sliding fit with the channel through the guide plate 8, so that the operation handle 3 can be prevented from leaking magnetic flux to the outside by the guide plate 8 in the sliding process, and the safety performance of the main control end operation platform is improved.
In order to limit the sliding travel of the guide plate 8, a limit mechanism 9 is arranged between the guide plate 8 and the guide groove 7, the limit mechanism 9 comprises strip grooves 901 which are arranged on two sides of the guide groove 7 in parallel and extend along the sliding direction, and an embedded block (not shown in the figure) which is arranged on one side of the guide plate 8, which faces the strip grooves 901, and extends into the strip grooves 901, and the width of the embedded block is matched with the width of the strip grooves 901, so that the guide plate 8 slides in the guide groove 7 more stably, and the sliding length of the embedded block in the strip grooves 901 is the sliding travel of the guide plate 8.
In order to further ensure the sliding stability of the operating handle, a sliding support structure is arranged at the bottom of the inner side of the frame 2, the sliding support structure comprises a guide rail 23 and a sliding block 22, the sliding block 22 is fixedly connected with a connecting part 302 of the operating handle 3 and is in sliding fit with the guide rail 23, so that when the operating handle 3 slides, the guide plate 8 slides in the guide groove 7, and meanwhile, the sliding block 22 slides on the guide rail 23, thereby ensuring the sliding balance and stability of the operating handle 3.
The operating handle 3 is directly and fixedly connected with a rack 10 parallel to the sliding direction of the operating handle 3 through a sliding block 22, a transmission gear 11 is arranged on the motion feedback module 4, and the transmission gear 11 is meshed with the rack 10 for transmission, so that the transmission of the operating handle 3 and the motion feedback module 4 is realized. The sliding of the operating handle 3 in this way transmits the action command to the motion feedback module 4 through the transmission of the rack and pinion 11.
In this embodiment, as shown in fig. 7 and 8, the motion feedback module 4 includes a servo motor 12 and an absolute encoder 13 in transmission connection, a transmission gear 11 is fixedly connected with an output shaft of the servo motor 12, a driving gear 14 is coaxially and fixedly connected with the transmission gear 11, and a driven gear 15 meshed with the driving gear 14 for transmission is arranged on the absolute encoder 13. When the operator operates the flexible medical instrument to advance or retract, the rack gear transmits the movement of the operation handle 3 to the servo motor 12 through the transmission gear 11, the servo motor 12 transmits the movement to the absolute value encoder 13 through the meshing of the driving gear 14 and the driven gear 14, and the absolute value encoder 13 finally forms an action forming instruction to control the driven end device. Meanwhile, the servo motor has another function as a resistance feedback device, when an operator pushes the operation handle 3, after the flexible medical instrument at the tail end detects that the guide wire or the catheter is subjected to the internal resistance of a patient, a signal is fed back to the servo motor 12, and the servo motor 12 is reversely applied with reverse torque after receiving the signal, so that the servo motor 12 drives the operation handle 3 to have a trend of reversely moving, thereby giving the hand resistance to the operator, and facilitating the operator to carry out related adjustment. In addition, the servo motor 12 also has the function of driving the operation handle 3 to return, when an operator pushes the operation handle 3 to travel to the end of the travel of the operation handle 3, the connection between the main control end and the driven end device can be operated to be disconnected, after the operation handle 3 is returned, the main control end and the driven end device are connected again, and then the flexible medical instrument can be pushed forward continuously, and by arranging the servo motor 12, the automatic return of the operation handle 3 can be realized by controlling the reverse rotation of the servo motor 12, so that the operation efficiency is improved.
In this embodiment, in order to facilitate the manipulation of the operating handle 3 and the sliding and rotation of the operating handle 3, the top end (i.e., the operating portion 301) of the operating handle 3 is provided with a ring groove 18 having an axis parallel to the sliding direction of the operating handle 3 for accommodating an operating tool of an operator, where it should be noted that the operating tool of the operator may be a hand of the operator or may be an alternative operating tool used after the hand of the operator is injured. The operating lever 5 is disposed in the ring groove 18, and the extending direction of the operating lever 5 is parallel to the axis of the ring groove 18. In the present embodiment, the extending direction of the operation lever 5 coincides with the axis of the ring groove 18. The space distance between the operating rod 5 and any position on the inner wall of the annular groove 18 is the same, so that an operator can conveniently and directly operate the operating rod without adjusting the position after placing the hand into the annular groove 18 during operation.
In the prior art, a special button is arranged on a main control end to control whether a driven end device clamps a flexible medical instrument, so that the button needs to be additionally pressed when the main control end is operated, and once an emergency is met, the connection between the main control end and the driven end device is not beneficial to the rapid cutting-off of an operator, or the button needs to be pressed firstly when the main control end is operated normally, so that the driven end device clamps the flexible medical instrument and then performs related operation, and the operation steps are complicated. In order to solve this technical problem, a sensor 19 is provided on the side wall of the ring groove 18 facing the operation lever 5 for detecting whether the operator starts to operate or not, and a detection result signal is transmitted to the driven-end device, thereby controlling whether the driven-end device clamps the flexible medical instrument or not. Thus, the operation steps of repeatedly operating the buttons are eliminated, the sensor 19 is used for judging whether the operator starts to operate or not, and signals are directly transmitted to the driven device, so that the operation is further facilitated. In the present invention, the sensor 19 is a plurality of pairs of photoelectric sensors, each pair of photoelectric sensors being disposed oppositely on both sides of the lever 5. Any pair of photosensors detects that the operator has extended into the circumferential groove 18, and then controls the driven end device to clamp the flexible medical instrument, thereby making the multiple pair design more sensitive to the act of detecting whether the operator is ready to operate. Specifically, when the hand of the operator stretches into the annular groove 18 and is detected by the photoelectric sensor, the photoelectric sensor sends a signal to the driven section device to enable the driven section device to clamp the flexible medical instrument, and when the hand of the operator withdraws from the annular groove 18, the photoelectric sensor sends a signal to the driven section device to enable the driven section device to loosen the flexible medical instrument.
In order to facilitate the operator to sense whether the operator gets into the monitoring range of the photoelectric sensor, a sensing limiting piece 20 is arranged on the operating rod 5, in this embodiment, the limiting piece 20 is of a flange structure, in other embodiments, an annular groove is also formed, the limiting piece 20 is arranged at the critical position of the sensor 19 to monitor the operating rod 5, and thus, the user senses whether the operating state is entered by touching the limiting piece 20.
In the present invention, a limiting member 20 may be further disposed at the outer side of the limiting member 20, the two limiting members 20 divide the operation lever 5 into two different areas, the outer side is an operation preparation area, the inner side is an operation area, that is, the hand of the operator is in the preparation area, the photoelectric sensor cannot detect the existence of the operator, at this time, the driven end is still in a state of not clamping the flexible medical apparatus, and after the hand of the operator moves inwards to the operation area, the photoelectric sensor transmits a signal to the driven end device to clamp the flexible medical apparatus. In other embodiments, only one stop 20 may be provided, where the stop 20 is arranged at a critical position of the sensor 19 for detecting the lever 5, i.e. where the lever 5 has only an operating zone.
The working principle of the invention is as follows: firstly, ensuring that a tight and flexible medical instrument in a driven end device enters a blood vessel of a patient, then putting the hand of an operator into an operation area of an operation rod 5, at the moment, sensing that the operator opens the operation by a photoelectric sensor, transmitting a signal to the driven end device to enable the driven end device to clamp the flexible medical instrument, then enabling the operator to operate and rotate the flexible medical instrument by rotating the operation rod 5, and pushing or withdrawing the clamped flexible medical instrument by pushing and pulling an operation handle 3, and finally completing interventional operation.
Embodiment 1 of surgical robot master control side operation handle unit:
the embodiment of the operation handle unit at the main control end of the surgical robot is the same as the structure of the operation handle unit in the embodiment of the operation platform at the main control end, and will not be described herein.
It is to be understood that the above description is intended to be illustrative, and that the embodiments of the present application are not limited thereto.
The foregoing description of the preferred embodiments of the invention is not intended to limit the invention to the particular embodiments disclosed, but on the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention as defined by the appended claims.
Claims (7)
1. The surgical robot main control end operating handle unit is arranged on a main control end operating platform and is used for controlling flexible medical equipment on a driven end device to act according to an instruction formed by operation of an operator, and is characterized by comprising a frame (2), wherein the frame (2) is fixed on the main control end operating platform, the frame (2) is slidably provided with an operating handle (3) through a sliding mechanism, the sliding mechanism is in transmission connection with a motion feedback module (4), and the motion feedback module (4) is used for controlling the flexible medical equipment to advance or retreat by transmitting sliding operation of the operating handle (3) to the driven end device; an operating lever (5) is rotatably arranged on the operating handle (3), an angle detection module (6) is arranged on the operating lever (5), and the angle detection module (6) is used for detecting the rotation angle of the operating lever (5) and transmitting the rotation operation of the operating lever (5) to a driven end device so as to control the rotation of the flexible medical instrument;
The sliding mechanism comprises a guide groove (7) and a guide plate (8), the guide groove (7) is arranged at the top of the frame (2), the guide plate (8) is arranged in the guide groove (7) and is in sliding fit with the guide groove (7), the operating handle (3) penetrates through the guide plate (8) and is fixedly connected with the guide plate (8), and a limiting mechanism (9) is arranged between the guide plate (8) and the guide groove (7) and used for limiting the sliding stroke of the guide plate (8);
The operation handle (3) is fixedly connected with a rack (10) parallel to the sliding direction of the operation handle (3), the motion feedback module (4) is provided with a transmission gear (11), and the transmission gear (11) is meshed with the rack (10) for transmission;
The motion feedback module (4) comprises a servo motor (12) and an absolute value encoder (13) which are in transmission connection, the transmission gear (11) is fixedly connected with an output shaft of the servo motor (12), the transmission gear (11) is coaxially provided with a driving gear (14), and the absolute value encoder (13) is provided with a driven gear (15) which is meshed with the driving gear (14) for transmission;
The angle detection module (6) is an angle displacement sensor, the angle displacement sensor is provided with two parts, namely a magnetic block (601) and an induction module (602), the magnetic block (601) is fixedly connected to the tail end of an operating rod (5), the induction module (602) is fixed to the position, opposite to the magnetic block (601), of a handle (3), the operating rod (5) rotates and then synchronously drives the magnetic block (601) to rotate, and the induction module (602) acquires the rotation angle of the magnetic block (601) and then issues related instructions.
2. The surgical robot main control end operating handle unit according to claim 1, wherein the operating rod (5) is in running fit with the operating handle (3) through a damping sleeve (16), and a compression adjusting structure (17) is arranged on the outer side of the damping sleeve (16) and used for adjusting the compression degree of the damping sleeve (16) and the operating rod (5).
3. Surgical robot master control end operating handle unit according to claim 1, characterized in that the operating handle (3) top end is provided with a ring groove (18) with an axis parallel to the sliding direction of the operating handle (3) for accommodating an operator's operating tool, the operating lever (5) is arranged in the ring groove (18), and the extending direction of the operating lever (5) is parallel to the axis of the ring groove (18).
4. A surgical robot master control end operating handle unit according to claim 3, characterized in that the side wall of the ring groove (18) facing the operating lever (5) is provided with a sensor (19) for monitoring whether the operator starts to operate and transmitting a detection result signal to the slave end device, thereby controlling whether the slave end device clamps the flexible medical instrument.
5. Surgical robot master control end operating handle unit according to claim 4, characterized in that the sensors (19) are a plurality of pairs of photoelectric sensors, each pair of said photoelectric sensors being oppositely arranged on both sides of the operating lever (5).
6. Surgical robot master control end operating handle unit according to claim 4, characterized in that the operating lever (5) is provided with at least one perceptible limiting member (20), at least one of the limiting members (20) being arranged at a critical position of the sensor (19) monitoring the operating lever (5) for enabling an operator to perceive whether to enter an operating state beyond the limiting member (20).
7. A master control end operation platform, comprising an operation platform body (1), wherein at least one operation handle unit of the surgical robot master control end according to any one of claims 1-6 is arranged on the operation platform body (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311314225.XA CN117323020B (en) | 2023-10-11 | 2023-10-11 | Operation robot master control end operation handle unit and master control end operation platform |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311314225.XA CN117323020B (en) | 2023-10-11 | 2023-10-11 | Operation robot master control end operation handle unit and master control end operation platform |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN117323020A CN117323020A (en) | 2024-01-02 |
| CN117323020B true CN117323020B (en) | 2024-07-16 |
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| CN112120791A (en) * | 2020-09-30 | 2020-12-25 | 中国科学院深圳先进技术研究院 | Main end control device of vascular intervention surgical robot |
| CN113729961A (en) * | 2021-06-10 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Main end operating handle of interventional operation robot |
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| CN105662586B (en) * | 2016-03-03 | 2017-12-12 | 北京理工大学 | A kind of intervention operation robot and its control method of catheter guide wire collaboration push |
| CN107374739B (en) * | 2017-07-06 | 2023-05-02 | 北京理工大学 | Slave end device of interventional operation robot and control method thereof |
| CN209136865U (en) * | 2017-08-31 | 2019-07-23 | 首都医科大学附属北京天坛医院 | A kind of robot is from end device, operating system |
| DE112021000010T5 (en) * | 2020-10-29 | 2022-07-14 | Beijing Wemed Medical Equipment Co., Ltd. | Control device and control method for the tension of the guide wire of a robot for interventional surgery |
| CN113729960B (en) * | 2021-06-10 | 2024-03-29 | 深圳爱博合创医疗机器人有限公司 | Main end control module of interventional operation robot |
| WO2023279267A1 (en) * | 2021-07-06 | 2023-01-12 | 深圳市鑫君特智能医疗器械有限公司 | Automatic vertebroplasty apparatus and orthopedic surgical robot system |
| CN113729965B (en) * | 2021-08-31 | 2023-06-16 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot |
| CN217853307U (en) * | 2022-07-01 | 2022-11-22 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot master end controlling means with force feedback |
| CN116212199A (en) * | 2022-12-28 | 2023-06-06 | 河北工业大学 | Force feedback main end device for vascular intervention operation |
| CN219207309U (en) * | 2023-02-14 | 2023-06-20 | 深圳市爱博医疗机器人有限公司 | Main end operating handle module of interventional operation robot |
| CN219557547U (en) * | 2023-03-09 | 2023-08-22 | 深圳市爱博医疗机器人有限公司 | Handle rotation feedback device and main end device |
| CN116807622B (en) * | 2023-08-29 | 2023-11-24 | 北京唯迈医疗设备有限公司 | Push rod type force feedback main end control device of interventional robot |
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| CN112120791A (en) * | 2020-09-30 | 2020-12-25 | 中国科学院深圳先进技术研究院 | Main end control device of vascular intervention surgical robot |
| CN113729961A (en) * | 2021-06-10 | 2021-12-03 | 深圳市爱博医疗机器人有限公司 | Main end operating handle of interventional operation robot |
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