阅读说明：本技术 一种具有防误碰功能的介入手术机器人主端控制装置 (Intervention operation robot main end control device with anti-collision function ) 是由 不公告发明人 于 2021-08-31 设计创作，主要内容包括：一种具有防误碰功能的介入手术机器人主端控制装置,用于和从端机器人配合,从端机器人接收具有防误碰功能的介入手术机器人主端控制装置的操作信息并执行相应动作,其包括控制手柄及开关,所述控制手柄包括机架及装设于机架上的至少一主端操作器,每一所述主端操作器包括装设于机架上的操作杆,当开关实时检测到有操作者使用时,才可有效操作操作杆。综上所述,本发明有效防止误触碰,减小介入手术中因误触碰带来的手术风险,提高手术安全,实用性强,具有较强的推广意义。(The utility model provides an intervene surgical robot main-end controlling means with prevent mistake and bump function for with from end robot cooperation, from end robot reception have prevent mistake and bump the operation information of the surgical robot main-end controlling means of intervention of function and carry out corresponding action, it includes brake valve lever and switch, brake valve lever includes the frame and installs an at least main-end operation ware in the frame, each main-end operation ware is including installing the action bars in the frame, when switch real-time detection has the operator to use, just can effectively operate the action bars. In conclusion, the invention effectively prevents the mistaken touch, reduces the operation risk caused by the mistaken touch in the interventional operation, improves the operation safety, has strong practicability and has stronger popularization significance.)

1. The utility model provides an intervene operation robot master end controlling means with prevent mistake and bump function for with from end robot cooperation, from end robot receiving master end controlling means's operation information and carrying out corresponding action, its characterized in that, includes brake valve lever and switch, brake valve lever includes the frame and installs at least a master end manipulator in the frame, each master end manipulator is including installing the action bars in the frame, when the switch real-time detection has the operator to use, just can effectively operate the action bars.

2. The main-end control device of an interventional surgical robot with anti-collision function according to claim 1, wherein the switch comprises a detection part, and the detection part of the switch is disposed on the operation rod.

3. The main control device of an interventional surgical robot with anti-collision function according to claim 2, further comprising a control panel, wherein the control panel comprises a detection circuit, the operating rod is provided with a metal ring connected with the detection circuit, and the metal ring serves as a detection part of the switch.

4. The main-end control device of the interventional operation robot with the anti-collision function as claimed in claim 3, wherein: the switch is a capacitive touch switch.

5. The main-end control device of the interventional operation robot with the anti-collision function as claimed in claim 3, wherein: intervene operation robot main end controlling means with prevent mistake and bump the function still including connecting the pilot lamp on control panel, control panel passes through the becket real-time detection and has the operator to touch the becket when, and control panel real-time control pilot lamp carries out the suggestion of lighting a lamp.

6. The main-end control device of the interventional operation robot with the anti-collision function as claimed in claim 3, wherein: the metal ring is directly connected to the detection circuit through a lead.

7. The main-end control device of the interventional operation robot with the anti-collision function as claimed in claim 3, wherein: the rack is provided with a rod core, the operating rod is arranged on the rod core, and the operating rod can rotate along the axis of the rod core and can axially slide and displace.

8. The main-end control device of an interventional surgical robot with an anti-collision function according to claim 7, wherein: during rotation or displacement, the metal ring remains in contact with the rod core to complete the electrical circuit.

9. The main-end control device of an interventional surgical robot with an anti-collision function according to claim 8, wherein: the rod core is made of a metal material with a conductive function.

10. The main-end control device of an interventional surgical robot with an anti-collision function according to claim 9, characterized in that: the metal ring is communicated with the detection circuit through the rod core and the lead.

11. The main-end control device of an interventional surgical robot with an anti-collision function according to claim 10, wherein: the part of the rod core extending out of the operating rod is provided with a wiring groove, one end of the lead is connected to the wiring groove, and the other end of the lead is connected with the detection circuit.

12. The main-end control device of an interventional surgical robot with an anti-collision function according to claim 7, wherein: the operating rod further comprises a position adjusting cap connected to one end of the metal ring and a position adjusting rod connected to the other end of the metal ring, and the metal ring, the position adjusting cap and the position adjusting rod are all arranged in the rod core in a penetrating mode and rotate along the axis of the rod core and axially slide and displace.

13. The main-end control device of an interventional surgical robot with an anti-collision function according to claim 1, characterized in that: the main end manipulator further comprises a linkage block and a torque motor, the linkage block is movably connected with the operating rod, and the torque motor drives the operating rod to return through the linkage block after effective operation is completed once or the operating rod reaches a limit position.

14. The main-end control device of an interventional surgical robot with an anti-collision function according to claim 13, wherein: when the operating rod is operated inefficiently, the operating rod is axially slid, and the torque motor forcibly pushes the operating rod to return.

Technical Field

The invention relates to a device in the field of medical instrument robots, in particular to a main end control device of an interventional operation robot with a mistaken touch prevention function.

Background

For vascular interventional surgery, students need to receive X-ray radiation for a long time, and a master-slave vascular interventional surgery robot for remote operation is developed for engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, so that a doctor can control the robot outside a radiation environment. At present, there are two control modes of an interventional operation robot, one is a touch screen, and the other is an operation handle. The operation handle issues operation commands such as advancing and retreating, rotation and the like of the guide wire to the surgical robot on one hand, and on the other hand, the resistance met by the guide wire catheter needs to be fed back to the hand of the operator, so that the operator can feel on the spot as if the operator operates the catheter with the hand of the operator. However, the current operation is influenced by the design structure, and the function of preventing mistaken touch is not provided, so that hidden danger is brought to the operation safety.

Disclosure of Invention

Therefore, in order to overcome the defects in the prior art, a novel main-end control device of an interventional surgical robot with a mistaken touch prevention function is needed.

The utility model provides an intervene operation robot master end controlling means with prevent mistake and bump function for with from end robot cooperation, from end robot receiving master end controlling means's operational information and carrying out corresponding action, it includes brake valve lever and switch, brake valve lever includes the frame and installs an at least master end operation ware in the frame, each master end operation ware is including installing the action bars in the frame, when the switch real-time detection has the operator to use, just can effectively operate the action bars.

Further, the switch includes a detection portion, and the detection portion of the switch is provided on the operation lever.

Further, intervene surgical robot main end controlling means with prevent mistake and bump function still includes control panel, control panel includes a detection circuitry, the action bars is equipped with the becket with detection circuitry connection, the becket acts as the detection part of switch.

Further, the switch is a capacitive touch switch.

Further, intervene surgical robot main-end controlling means with prevent mistake and bump function still including connecting the pilot lamp on control panel, control panel passes through the becket real-time detection and has the operator to touch the becket when, and control panel real-time control pilot lamp carries out the suggestion of lighting a lamp.

Further, the metal ring is directly connected to the detection circuit through a lead.

Furthermore, the rack is provided with a rod core, the operating rod is arranged on the rod core, and the operating rod can rotate along the axis of the rod core and can axially slide and displace.

Further, during rotation or displacement, the metal ring remains in contact with the rod core to complete the electrical circuit.

Furthermore, the rod core is made of a metal material with a conductive function.

Furthermore, the metal ring is in circuit conduction with the detection circuit through the rod core and the lead.

Furthermore, a wire connecting groove is formed in the part, extending out of the operating rod, of the rod core, one end of the wire is connected to the wire connecting groove, and the other end of the wire is connected with the detection circuit.

Furthermore, the operating rod further comprises a position adjusting cap connected to one end of the metal ring and a position adjusting rod connected to the other end of the metal ring, and the metal ring, the position adjusting cap and the position adjusting rod are all arranged on the rod core in a penetrating mode and rotate along the axis of the rod core and axially slide and displace.

Furthermore, the main end manipulator further comprises a linkage block and a torque motor, the linkage block is movably connected with the operating rod, and the torque motor drives the operating rod to return through the linkage block after effective operation is completed once or the operating rod reaches a limit position.

Further, when the operating rod is operated in an invalid mode, the operating rod slides in the axial direction, and the torque motor pushes the operating rod to return.

In conclusion, the main end control device of the interventional operation robot with the anti-misoperation function is provided with the metal ring on the operating rod, the metal ring and the detection circuit form the detection switch, the control panel judges whether the operation is effective or not according to the real-time detection result of the detection switch, the mistaken touch is effectively prevented, the operation risk caused by the mistaken touch in the interventional operation is reduced, the operation safety is improved, the practicability is high, and the popularization significance is strong.

Drawings

FIG. 1 is a schematic structural diagram of a main-end control device of an interventional surgical robot with an anti-collision function according to the present invention;

FIG. 2 is a schematic structural diagram of a control handle of a main-end control device of an interventional surgical robot with an anti-collision function according to the present invention;

FIG. 3 is a schematic view of the control handle of FIG. 2 at another angle;

FIG. 4 is a schematic diagram of the operation of the main-end control device of the interventional operation robot with the anti-collision function of the present invention when communicating with the slave-end robot;

FIG. 5 is a schematic view of the main control device of the interventional surgical robot with anti-collision function according to the present invention;

FIG. 6 is a cross-sectional view of the main control device of the interventional surgical robot with anti-collision function according to the present invention, wherein the operation rod is installed in cooperation with the rod core;

fig. 7 is a schematic structural diagram of a rod core of a main end control device of an interventional surgical robot with an anti-collision function according to the invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

As shown in fig. 1 to 7, the present invention provides a master control device of an interventional surgical robot with an anti-collision function, which is used for cooperating with a slave robot 100, receiving operation information of the master control device from the slave robot 100, and executing corresponding actions. The main end control device of the interventional operation robot with the anti-collision function comprises a shell main body 10, a control handle 20, a display screen 30 and a control panel 40, wherein the display screen 30 and the control panel 40 are respectively arranged at the outer end and the inner end of the shell main body 10, and the control handle 20 is arranged in the shell main body 10 and partially extends out of the shell main body 10.

The display 30 is connected with the control panel 40, the control panel 40 is provided with a receiving device 42 and a transmitting device 41, the control panel 40 realizes signal transmission with the external slave robot 100 through the transmitting device 41 and the receiving device 42, the control handle 20 is connected with the control panel 40, the instruction information sent by the control handle 20 is transmitted to the slave robot 100 through the transmitting device 41 of the control panel 40, the slave robot 100 executes corresponding operation, information such as force feedback of the slave robot 100 is transmitted to the receiving device 42 of the control panel 40, the control panel 40 displays the information sent by the slave robot 100 through the display 30 and presents the information to an operator through the force feedback mode of the control handle 20, and the operator can know resistance when the guide wire catheter is delivered from the slave robot 100 in time.

The control handle 20 comprises a frame 60 and two main-end operators 70 installed on the frame 60, wherein the two main-end operators 70 are arranged on the frame 60 in a mirror symmetry manner, so that an operator can conveniently operate with one hand or two hands.

Each of the main end operators 70 includes an operating rod 71 mounted on the frame 60, an angle detecting device 72, a force feedback device 78, and a displacement detecting device 73. The operation lever 71 extends from the housing main body 10, the angle detection device 72 and the displacement detection device 73 detect the rotation angle and the displacement distance of the operation lever 71, respectively, and the angle detection device 72 and the displacement detection device 73 feed back the detected information to the slave robot 100 through the control panel 40. In this embodiment, the angle detection device 72 and the displacement detection device 73 are respectively a rotary encoder and a linear encoder, and the rotary encoder and the linear encoder are both provided with code discs.

The frame 60 is provided with a rod core 77, the material of the rod core 77 is a metal material with a conductive function, and the operating rod 71 can rotate along the axis of the rod core 77 and can axially slide and displace. The operating rod 71 comprises a metal ring 76, a position adjusting cap 74 connected to one end of the metal ring 76, and a position adjusting rod 75 connected to the other end of the metal ring 76, wherein the metal ring 76, the position adjusting cap 74, and the position adjusting rod 75 are all arranged in the rod core 77 in a penetrating manner and rotate and slide along the axis of the rod core 77, and in the rotating or displacing process, the metal ring 76 keeps in contact with the rod core 77 to realize circuit conduction.

The outer circumferential surface that the pole core 77 kept away from one end of the operating rod 71 is provided with a limiting surface 772, the rack 60 is provided with a limiting seat 63, one end of the pole core 77 kept away from the operating rod 71 is inserted into the limiting seat 63, the limiting seat 63 limits the pole core 77 in the circumferential direction through the limiting surface 772, and meanwhile, the limiting seat 63 limits the pole core 77 in the displacement direction.

The frame 60 is further provided with a support portion 61 and a bearing 62 mounted on the support portion 61, the bearing 62 is a rolling bearing, the bearing 62 includes an inner ring and an outer ring, the inner ring freely rotates along the axis of the inner ring, the rod core 77 and the positioning rod 75 both penetrate through the inner ring, and the positioning rod 75 and the inner ring rotate along the axis of the inner ring.

The inner wall of the inner ring of the bearing 62 is provided with a limiting groove 621, the periphery of the positioning rod 75 is provided with a guide strip 751, the positioning rod 75 penetrates through the bearing 62, and the guide strip 751 of the positioning rod 75 is clamped in the limiting groove 621, so that the positioning rod 75 can independently slide relative to the rod core 77, the bearing 62 and the code wheel of the linear encoder, and the positioning rod 75 drives the inner ring of the bearing 62 and the code wheel of the rotary encoder to synchronously rotate.

During operation, the operator operates the main-end operation lever 71, i.e., rotates and slides, and obtains measurement data through the rotary encoder and the linear encoder and feeds the measurement data back to the control panel 40, and the control panel 40 processes (for example, amplifies) the information and sends the processed information to the slave-end robot 100, so that the slave-end robot 100 performs corresponding operations. Specifically, the operation lever 71 is turned on the lever core 77, and the rotary encoder measures the rotation angle. If the operation rod 71 is axially moved in the extending direction of the rod core 77, the operation rod 71 is horizontally displaced, and the linear encoder measures the horizontal movement distance.

The control panel 40 includes a detection circuit 43, and the detection circuit 43 is electrically connected to the metal ring 76 to form a touch switch, which is a capacitive touch switch. Specifically, a wire connecting groove 771 is formed at an end of the rod core 77 away from the operating rod 71, and the present invention further includes a wire (not shown), one end of the wire is connected to the wire connecting groove 771, and the other end of the wire is connected to the detection circuit 43.

When an operator touches the metal ring 76, a human body acts as one polar plate, the metal ring acts as the other polar plate, so that the total capacitance changes, the detection circuit 43 detects that the capacitance changes, the control panel 40 judges that the operator is performing effective operation according to the capacitance change, and the operator keeps touching the metal ring 76 in the whole effective operation process. In addition, the present invention further comprises a set of indicator lights 50 connected to the control panel 40, the control panel 40 detects in real time that the operator touches the metal ring 76, and the control panel 40 controls the indicator lights 50 to provide a real-time light-on prompt. When the operation lever 71 is rotated or displaced, the command information sent from the control handle 20 causes the slave robot 100 to perform corresponding operations; on the contrary, when the operator does not touch the metal ring 76, the control panel 40 determines that the operation is the ineffective operation regardless of whether the operation lever 71 is rotated or displaced, and the indicator lamp 50 does not operate.

It is understood that in this embodiment, the metal ring 76 is electrically connected to the detection circuit 43 through the rod core 77 and the wires, and in other embodiments, the metal ring 76 may be directly connected to the detection circuit 43 through the wires. In addition, in the present embodiment, the metal ring 76 for the switch detection portion is disposed on the operation rod 71, and the touch switch is a capacitive touch switch, but in other embodiments, a non-capacitive touch switch (such as an infrared sensing switch) may be used, and the switch detection portion may be disposed at other positions than the operation rod 71, as long as it can detect that the operator is performing real-time operation.

The main end manipulator 70 further includes a force feedback device 78, in this embodiment, the force feedback device 78 includes a linkage block 781 and a torque motor 782, the linkage block 781 is movably connected with the operation rod 71, the operation rod 71 can independently rotate relative to the linkage block 781, the operation rod 71 drives the linkage block 781 to move along the guide rail 64 on the rack 60 while horizontally displacing, the linkage block 781 is matched with the torque motor 782, the torque motor 782 is connected with a gear 784, the linkage block 781 is provided with a rack 783, and the torque motor 782 is engaged with the rack 783 through the gear 784. On one hand, after each effective operation is completed or the operating rod 70 reaches the extreme position, the torque motor 782 can drive the operating rod 71 to return through the linkage block 781, and on the other hand, in the process of axial displacement and advance of the operating rod 71, the torque motor 782 provides a reverse thrust according to resistance information transmitted from the guide wire catheter of the end robot 100 and transmitted by the control panel 40, and the force pushing feedback of the operating rod 71 is realized by feeding back the resistance information to the operating rod 71 through the linkage block 781, so that the presence is increased. If the operating lever 70 is axially slid while the operating lever is in the ineffective operation (i.e., the metal ring 76 is not touched), the torque motor 782 forcibly pushes the operating lever 70 to return, thereby creating a vibration effect to alert the operator.

In summary, the main end control device of the interventional surgical robot with the anti-collision function of the present invention employs the matching of the guide bar 751 of the positioning rod 75 and the limit groove 621 of the bearing 62, so that the positioning rod 75 can independently slide relative to the rod core 77 and the bearing 62, and the positioning rod 75 drives the inner ring of the bearing 62 to synchronously rotate.

In addition, the main end control device of the interventional operation robot with the anti-misoperation function is provided with the metal ring 76 on the operating rod 71, the metal ring 76 and the detection circuit 43 form a detection switch, and the control panel 40 judges whether the operation is effective or not according to the real-time detection result of the detection switch, so that the anti-misoperation is effectively prevented, the operation risk caused by the anti-misoperation in the interventional operation is reduced, the operation safety is improved, the practicability is high, and the popularization significance is strong.

The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.