CN114159156A - Main end touch interaction device of vascular intervention surgical robot - Google Patents
Main end touch interaction device of vascular intervention surgical robot Download PDFInfo
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- CN114159156A CN114159156A CN202111519337.XA CN202111519337A CN114159156A CN 114159156 A CN114159156 A CN 114159156A CN 202111519337 A CN202111519337 A CN 202111519337A CN 114159156 A CN114159156 A CN 114159156A
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- guide wire
- magnetorheological fluid
- fixedly connected
- fluid damper
- container
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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
- A61B34/70—Manipulators specially adapted for use in surgery
- A61B34/76—Manipulators having means for providing feel, e.g. force or tactile feedback
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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
Abstract
The invention discloses a main end touch interaction device of a vascular intervention surgical robot, which comprises a platform, a guide wire transfer device and a guide wire rotating device, wherein the guide wire transfer device and the guide wire rotating device are arranged on the platform; the guide wire rotating device is set as a magnetorheological fluid damper guide wire rotating device; the magnetorheological fluid damper guide wire transfer device is in transmission connection with the magnetorheological fluid damper guide wire rotating device. The invention has the advantages that the force information and the torque information in the process of the vascular intervention operation are reflected in a more intuitive mode, so that a surgeon is reminded to adjust the direction of an operation tool in time when the head end of the catheter collides with the vascular wall, the radiation exposure of the surgeon is reduced, and the safety of the vascular intervention operation is enhanced.
Description
Technical Field
The invention relates to the technical field of vascular intervention surgical robots, in particular to a main-end touch interaction device of a vascular intervention surgical robot.
Background
According to one report of the American Heart Association (AHA), cardiovascular and cerebrovascular diseases have become one of the three leading causes of death (heart disease, stroke, and vascular disease) in humans. With the rapid development of medicine, doctors often adopt vascular interventional operations with small incision, fast recovery and few complications to diagnose and treat cardiovascular diseases such as thrombus, atherosclerosis and the like. During vascular interventional therapy, a flexible catheter and guidewire are inserted into the target lesion along the vessel wall, usually from a small incision in the femoral groin or radial wrist artery. This procedure typically uses a Digital Subtraction Angiography (DSA) system to visually assist the interventionalist in navigating and finally placing the catheter within the vessel. However, fatigue and physiological tremor of the surgeon during the surgical procedure can affect the success of the procedure, and prolonged repeated exposure to X-rays can cause occupational hazards to the surgeon, such as cancer, cataracts, and the like.
In conventional endovascular interventional procedures, experienced surgeons obtain tactile cues for the catheter tissue by sensing small axial forces and moments on the fingertips while manipulating the surgical tools (catheter and guidewire) into the different arteries of the patient. With the help of real-time image data, the risk of perforation of the vessel at the bend can be reduced by insertion, retraction and rotation in different directions at the proximal end of the tool. However, in robotically assisted vascular intervention, the surgeon is unable to directly manipulate the tool and obtain tactile information. It is difficult to determine whether a collision of blood vessels occurs in a curved region of a blood vessel by means of visual assistance alone. Sensors mounted on the robot or surgical device are used to capture the tool-tissue interaction force and the surgeon must monitor the force trends and values in real time to determine if a collision has occurred. Maintaining constant concentration makes the operator more fatigued. In addition, the existing commercialized force feedback devices are all fixed and driven by a motor, and the force feedback devices have the problems of insufficient safety and stability, incapability of natural interaction of operators and the like.
Therefore, the main end touch interaction device of the vascular intervention operation robot is more important for reflecting force information and torque information in a vascular intervention operation process in a more intuitive mode, reminding a surgeon of timely adjusting the direction of an operation tool when the head end of a catheter collides with a vascular wall, reducing radiation exposure of the surgeon and enhancing safety of the vascular intervention operation.
Disclosure of Invention
An object of the present invention is to solve at least the above problems and/or disadvantages and to provide at least the advantages described hereinafter.
To achieve these objects and other advantages and in accordance with the purpose of the invention, there is provided a vascular interventional surgical robot main end haptic interaction device, comprising:
the magnetorheological fluid damper comprises a platform, a guide wire transfer device and a guide wire rotating device, wherein the guide wire transfer device and the guide wire rotating device are arranged on the platform;
the guide wire rotating device is set as a magnetorheological fluid damper guide wire rotating device;
the magnetorheological fluid damper guide wire transfer device is in transmission connection with the magnetorheological fluid damper guide wire rotating device.
Preferably, wherein the magnetorheological fluid damper guidewire rotation apparatus comprises:
the magnetic field generator is provided with a magnetic field generator support, and the bottom end of the magnetic field generator support is fixedly connected with the top end of the platform; two iron cores are symmetrically and fixedly connected in the magnetic field generator support, the peripheral walls of the two iron cores are wound with excitation coils, and the two iron cores are respectively symmetrically and integrally formed and convexly provided with conical bulges;
the first magnetorheological fluid damper comprises a container, a cavity for containing magnetorheological fluid is arranged in the container, the bottom of the container is fixedly connected with the platform, the left side and the right side of the container are respectively provided with a limiting groove, the bottom ends of the two limiting grooves are respectively abutted against the top ends of the two conical bulges, and the top end of the container is detachably connected with an end cover;
a first operating rod which is arranged at the middle position of the first magnetorheological fluid damper in a penetrating way and is rotatably connected with the container;
the shell of the first encoder is fixedly connected to the upper end of the platform through a first mounting seat, and a transmission shaft of the first encoder is fixedly connected with one end of the first operating rod.
Preferably, wherein the magnetorheological fluid damper guidewire rotation apparatus comprises:
the second mounting seat is in a hollow cylinder shape with one closed end, and the second mounting seat is connected with the platform in a sliding manner;
the second encoder is fixedly connected to one side in the second mounting seat through a plurality of jackscrews;
the second magnetorheological fluid damper is fixedly connected to the other side in the second mounting seat through a plurality of jackscrews;
and the second operating rod is arranged in the middle of the second magnetorheological fluid damper in a penetrating manner, and one end of the second operating rod is fixedly connected with a transmission shaft of the second encoder through a coupler.
Preferably, the magnetorheological fluid damper guide wire transfer device and the magnetorheological fluid damper guide wire rotating device are in transmission connection in a manner that: a transmission shaft of the first encoder is fixedly connected with one end of the first operating rod through a connecting hole of a gear; the upper end of the platform is fixedly connected with a slide rail through a slide rail bracket; the closed end of the second mounting seat is fixedly connected with a rack, the bottom end of the rack is fixedly connected with a sliding block, the sliding block is connected with the sliding rail in a sliding mode, and the gear is meshed with the rack; the magnetorheological fluid damper guide wire transfer device is in transmission connection with the magnetorheological fluid damper guide wire rotating device through the gear and the rack.
Preferably, the bottom of the container is fixedly connected with the platform in a manner that: the upper end of the platform is symmetrically and fixedly connected with two support columns; the bottom of the front side and the bottom of the rear side of the container are respectively provided with a connecting plate in an integrally formed protruding mode, and the two connecting plates are respectively fixedly connected with the top ends of the two supporting columns.
Preferably, wherein the first operating lever is rotatably connected to the container in a manner that: two bearings are arranged on the front side and the rear side of the container in a penetrating mode, outer rings of the two bearings are fixedly connected with the container respectively, inner rings of the two bearings are clamped with the first operating rod respectively, and the first operating rod is rotatably connected with the container through the two bearings.
Preferably wherein said second magnetorheological fluid damper comprises:
the magnetism-resisting layer shell is fixedly connected to the other side in the second mounting seat through a plurality of jackscrews;
the inner container is used for containing magnetorheological fluid and is fixedly connected in the magnetic resisting layer shell, and two mounting grooves are symmetrically formed in the peripheral wall of the inner container;
and the two internal magnet exciting coils are respectively arranged in the two mounting grooves.
Preferably, a hard cylinder is integrally and convexly arranged at the middle position of the first operating rod, and the hard cylinder is located in the cavity.
The invention at least comprises the following beneficial effects:
firstly, the invention can more intuitively reflect the stress information and the torque information of the blood vessel in the process of the blood vessel interventional operation, thereby reminding a surgeon to adjust the direction of an operation tool in time when the head end of the catheter collides with the blood vessel wall, and reducing the radiation exposure of the surgeon. The invention adopts the human engineering design, and can fully exert the natural operation skill of surgeons. In addition, in the event of a collision of the catheter tip with the vessel wall, force information and torque information from the end effector robot detection are combined with the present invention, and the collision information is fed back to the surgeon in a tactile manner through the present invention. The method not only can enable a surgeon to realize the on-site operation feeling, but also can enable the surgeon to more easily distinguish whether the proximal force exceeds the safety threshold of the blood vessel, thereby enhancing the safety of the operation.
Secondly, the invention adopts novel materials, and the development of a novel driving mechanism is an effective way for overcoming the defects of the existing force feedback equipment. The magnetorheological fluid is adopted, the most unique and attractive part is the rheological effect, namely the rheological property can be changed along with the change of the external magnetic field intensity, and the magnetorheological fluid actuator has the characteristics of stepless controllable and adjustable output and good stability of a force feedback system.
Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention.
Description of the drawings:
FIG. 1 is a schematic structural diagram of the present invention.
FIG. 2 is a schematic view of the structure of the magnetorheological fluid damper guide wire transfer device of the present invention.
FIG. 3 is a schematic view of the structure of the magnetorheological fluid damper guidewire rotating apparatus of the present invention.
FIG. 4 is a schematic view of a first magnetorheological fluid damper of the present invention.
Fig. 5 is a partial enlarged view of the present invention.
Fig. 6 is a cross-sectional view of a core of the present invention.
The specific implementation mode is as follows:
the present invention is further described in detail below with reference to the attached drawings so that those skilled in the art can implement the invention by referring to the description text.
It will be understood that terms such as "having," "including," and "comprising," as used herein, do not preclude the presence or addition of one or more other elements or groups thereof.
It is to be understood that in the description of the present invention, the terms indicating orientation or positional relationship are based on the orientation or positional relationship shown in the drawings, and are used only for convenience in describing the present invention and for simplification of the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the present invention, unless otherwise specifically stated or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are used broadly, and for example, "connected" may be a fixed connection, a detachable connection, or an integral connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection via an intermediate medium, or a communication between two elements, and those skilled in the art will understand the specific meaning of the terms in the present invention specifically.
Further, in the present invention, unless otherwise explicitly specified or limited, a first feature "on" or "under" a second feature may be directly contacted with the first and second features, or indirectly contacted with the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Fig. 1 shows an implementation form of the present invention, which includes:
the magnetorheological fluid damper guide wire transferring device comprises a platform 1, a guide wire transferring device 2 and a guide wire rotating device 3, wherein the guide wire transferring device 2 and the guide wire rotating device are arranged on the platform 1; the magnetorheological fluid damper guide wire transfer device 2 has the advantages that the guide wire transfer signal is transmitted to the slave end of a blood vessel interventional operation robot, the guide wire is transferred by a clamping mechanism for clamping the guide wire, when the guide wire touches the blood vessel wall in the transfer process of the blood vessel, the force feedback signal of the magnetorheological fluid damper guide wire transfer device 2 is given from the slave end of the blood vessel interventional operation robot, the damping of the magnetorheological fluid damper guide wire transfer device 2 is increased, the real tactile feedback of an operating doctor is given, and the blood vessel wall is touched in the process of reminding the operating doctor to transfer the guide wire.
The guide wire rotating device 3 is set as a magnetorheological fluid damper guide wire rotating device 3; the magnetorheological fluid damper guide wire rotating device 3 has the effects that when the guide wire is in progressive contact with a blood vessel wall in the blood vessel and cannot continue to progress, a guide wire rotating signal is transmitted to the slave end of the blood vessel interventional operation robot through the magnetorheological fluid damper guide wire rotating device 3, the guide wire is controlled to rotate in the blood vessel by a clamping mechanism for clamping the guide wire for a certain angle, the guide wire can continue to progress, when the guide wire is in contact with the blood vessel wall in the rotating process, a torque feedback signal is sent to the magnetorheological fluid damper guide wire rotating device 3 from the slave end of the blood vessel interventional operation robot, the damping of the magnetorheological fluid damper guide wire rotating device 3 is increased, the real tactile feedback is sent to an operating doctor, and the operating doctor is reminded to adjust the torsion angle of the guide wire.
The magnetorheological fluid damper guide wire transfer device 2 is in transmission connection with the magnetorheological fluid damper guide wire rotating device 3.
The working principle is as follows: the magnetorheological fluid damper guide wire transfer device 2 transfers a guide wire transfer signal to the slave end of the blood vessel interventional operation robot, the guide wire transfer is completed by a clamping mechanism for clamping the guide wire, when the guide wire touches the blood vessel wall in the transfer process in the blood vessel, a force feedback signal is given to the magnetorheological fluid damper guide wire transfer device 2 from the slave end of the blood vessel interventional operation robot, so that the damping of the magnetorheological fluid damper guide wire transfer device 2 is increased to give the real tactile feedback of an operating doctor, and the operating doctor is reminded of touching the blood vessel wall in the process of transferring the guide wire. When the guide wire touches the vessel wall in the transferring process, the position of the guide wire touching the vessel wall in the transferring process in the vessel is positioned through the transmission connection relationship between the magnetorheological fluid damper guide wire transferring device and the magnetorheological fluid damper guide wire rotating device, at the position, a guide wire rotating signal is transmitted to the secondary end of the blood vessel interventional operation robot through the magnetorheological fluid damper guide wire rotating device 3, the clamping mechanism for clamping the guide wire controls the guide wire to rotate for a certain angle in the blood vessel, so that the guide wire can continue to advance, when the guide wire touches the blood vessel wall in the rotating process, a torque feedback signal is sent to the magnetorheological fluid damper guide wire rotating device 3 from the secondary end through the blood vessel interventional operation robot, the damping of the magnetorheological fluid damper guide wire rotating device 3 is increased to provide real tactile feedback for an operating doctor, and the operating doctor is reminded to adjust the torsion angle of the guide wire. In the technical scheme, the force information and the torque information in the process of the blood vessel intervention operation are reflected in a more intuitive mode, so that a surgeon is reminded of timely adjusting the direction of an operation tool when the head end of the catheter collides with the blood vessel wall, the radiation exposure of the surgeon is reduced, and the safety of the blood vessel intervention operation is enhanced.
In the above solution, the magnetorheological fluid damper guide wire rotating apparatus 2 includes:
the magnetic field generator 22 is provided with a magnetic field generator support 221, and the bottom end of the magnetic field generator support 221 is fixedly connected with the top end of the platform 1; two iron cores 224 are symmetrically and fixedly connected in the magnetic field generator bracket 221, the peripheral walls of the two iron cores 224 are wound with excitation coils 223, and the two iron cores 224 are symmetrically and integrally formed and convexly provided with conical protrusions 222; the magnetic field generator 22 is used for receiving a current signal fed back from the end of the vascular intervention surgical robot when the guide wire touches the vascular wall in the vascular advancing process, and generating magnetic fields with different strengths according to the strength of the current signal.
The first magnetorheological fluid damper 21 comprises a container 211, wherein a chamber 215 for containing magnetorheological fluid is arranged in the container 211, the bottom of the container 211 is fixedly connected with the platform 1, the left side and the right side of the container 211 are respectively provided with a limiting groove 216, the bottom ends of the two limiting grooves 216 are respectively abutted against the top ends of the two conical protrusions 222, and the top end of the container 211 is detachably connected with an end cover 212; the first magnetorheological fluid damper 21 is used for generating corresponding damping according to the magnetic field intensity of the magnetic field generator 22 through the magnetorheological fluid contained in the container 211.
A first operating rod 23 which penetrates the first magnetorheological fluid damper 21 at the middle position, and the first operating rod 23 is rotatably connected with the container 211; the first operating rod 23 is in contact with magnetorheological fluid, and when the guide wire is in progressive contact with a blood vessel wall in the blood vessel, the magnetorheological fluid generates damping and feeds back the damping to an operating doctor through the first operating rod 23 to obtain real tactile feedback.
The shell of the first encoder 24 is fixedly connected to the upper end of the platform 1 through the first mounting seat 11, and the transmission shaft of the first encoder 24 is fixedly connected to one end of the first operating rod 23. The first encoder 24 is used to transmit the motion information of the first operating lever 23 to the slave end of the vascular interventional surgical robot, and the transfer of the guide wire in the blood vessel is completed by the clamping mechanism for clamping the guide wire.
The working principle is as follows: the operator rotates the first operating rod 23, the first operating rod 23 transmits the action information to the slave end of the vascular interventional surgical robot through the first encoder 24, and the clamping mechanism for clamping the guide wire completes the transfer of the guide wire in the blood vessel. When the guide wire is transferred in the blood vessel and touches the blood vessel wall, the blood vessel interventional operation robot gives a current signal to the magnet exciting coil 223 from the end, so that the iron core 224 generates magnetic force, the form of the magnetorheological fluid in the chamber 215 is changed from the beginning to generate damping to limit the first operating rod 23 to continue rotating, and a real tactile feedback is fed back to an operating doctor to remind the operating doctor that the guide wire touches the blood vessel wall in the process of transferring in the blood vessel.
In the above solution, the magnetorheological fluid damper guide wire rotating device 3 includes:
the second mounting seat 31 is in a hollow cylinder shape with one closed end, and the second mounting seat 31 is connected with the platform 1 in a sliding manner;
a second encoder 36 fixedly connected to one side of the second mounting seat 31 via a plurality of screws; the second encoder 36 is used for transmitting the motion information to the slave end of the vascular interventional surgical robot, and the clamping mechanism for clamping the guide wire completes the rotation of the guide wire in the blood vessel.
The second magnetorheological fluid damper 32 is fixedly connected to the other side in the second mounting seat 31 through a plurality of jackscrews; the second magnetorheological fluid damper 32 is used for damping the current signal which is given to the second magnetorheological fluid damper 32 from the end of the vascular interventional surgical robot when the guide wire rotates in the vascular wall to contact the vascular wall.
And a second operating rod 33 which is arranged at the middle position of the second magnetorheological fluid damper 32 in a penetrating way, and one end of the second operating rod 33 is fixedly connected with a transmission shaft of the second encoder 36 through a coupler 37. The second operating rod 33 is used for transmitting action information to the slave end of the vascular interventional surgical robot through the second encoder 36, the clamping mechanism for clamping the guide wire completes rotation of the guide wire in the blood vessel, and when the second magnetorheological fluid damper 32 generates damping, real tactile feedback is given to an operating doctor through the second operating rod 33 to remind the operating doctor to adjust the twisting angle of the guide wire.
The working principle is as follows: when the guide wire touches the vessel wall in the transferring process, a doctor operates the second operating rod 33 to transmit the action information to the slave end of the vessel intervention surgical robot through the second encoder 36, and then the clamping mechanism for clamping the guide wire completes the rotation of the guide wire in the vessel by a certain angle, so that the guide wire can continue to advance. When the guide wire touches the wall of the blood vessel in the rotating process in the blood vessel, the blood vessel interventional operation robot gives a current signal to the second magnetorheological fluid damper 32 from the end, so that the second magnetorheological fluid damper 32 generates damping, and gives real tactile feedback to an operating doctor through the second operating rod 33 to remind the operating doctor to adjust the torsion angle of the guide wire.
In the above scheme, the transmission connection mode of the magnetorheological fluid damper guide wire transfer device 2 and the magnetorheological fluid damper guide wire rotating device 3 is as follows: a transmission shaft of the first encoder 24 is fixedly connected with one end of the first operating rod 23 through a connecting hole of a gear 25; the upper end of the platform 1 is fixedly connected with a slide rail 13 through a slide rail bracket 12; a rack 34 is fixedly connected to the closed end of the second mounting seat 31, a sliding block 35 is fixedly connected to the bottom end of the rack 34, the sliding block 35 is slidably connected with the sliding rail 34, and the gear 25 is engaged with the rack 34; the magnetorheological fluid damper guide wire transfer device 2 is in transmission connection with the magnetorheological fluid damper guide wire rotating device 3 through the gear 25 and the rack 34.
The working principle is as follows: when the first operating lever 23 is rotated, the magnetorheological fluid damper wire rotating device 3 is moved in position by the transmission belt of the gear 34 and the rack 25. When the guide wire is moved in the blood vessel and touches the blood vessel wall, the total rotating length of the first operating rod 23 is recorded by the moving distance of the gear 25 driving the rack 34. And the first operating rod 23 is temporarily positioned by utilizing the meshing relationship of the gear 34 and the rack 25, the position of the guide wire in the blood vessel is positioned, and the guide wire is rotated by the guide wire rotating device 3 of the magnetorheological fluid damper until the guide wire can be continuously advanced.
In the above scheme, the bottom of the container 211 is fixedly connected to the platform 1 in the following manner: two support columns 14 are symmetrically and fixedly connected to the upper end of the platform 1; the front and rear side bottoms of the container 211 are respectively provided with a protruding connecting plate 213 in an integrated manner, and the two connecting plates 213 are respectively fixedly connected with the top ends of the two supporting columns 14. This has the advantage of ensuring the stability of the connection. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
In the above solution, the first operating lever 23 and the container 211 are rotatably connected in the following manner: two bearings 214 are arranged on the front side and the rear side of the container 211 in a penetrating manner, outer rings of the two bearings 214 are fixedly connected with the container 211 respectively, inner rings of the two bearings 214 are clamped with the first operating rod 23 respectively, and the first operating rod 23 is rotatably connected with the container 211 through the two bearings 214. The adoption of the mode has the advantages of ensuring the axial rotation and simultaneously ensuring the connection stability. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
As in the previous embodiment, the second magnetorheological fluid damper 32 includes:
a magnetism-blocking layer housing 321 fixedly connected to the other side in the second mounting seat 31 through a plurality of jackscrews;
the inner container 322 is used for containing magnetorheological fluid and is fixedly connected in the magnetism-resisting layer shell 321, and two mounting grooves 323 are symmetrically arranged on the peripheral wall of the inner container 322;
two inner exciting coils 324 respectively disposed in the two mounting grooves 323. The two internal excitation coils 324 are used for receiving current signals fed back from the slave end of the vascular interventional surgical robot when the guide wire touches the vascular wall during rotation in the blood vessel, and generating corresponding magnetic field intensity for the intensity of the current signals.
The working principle is as follows: when the guide wire contacts with the vessel wall in the rotation of the vessel, the vessel intervention operation robot feeds back current signals to the two internal magnet exciting coils 324 from the end, so that the two internal magnet exciting coils 324 generate magnetic fields, the form of the magnetorheological fluid in the internal container 322 is changed, damping is generated, and real tactile feedback is given to an operating doctor through the second operating rod 33, so that the operating doctor is reminded to adjust the torsion angle of the guide wire.
In the above solution, the middle position of the first operating rod 23 is integrally provided with a hard cylinder 26 in a protruding manner, and the hard cylinder 26 is located in the cavity 215. The contact area of the first operating rod 23 and the magnetorheological fluid is increased by the hard cylinder 26, so that the friction force between the first operating rod 23 and the magnetorheological fluid is increased. This has the advantage of enhancing the tactile feedback. Also, this manner is merely an illustration of a preferred example, but not limited thereto. When the invention is implemented, appropriate replacement and/or modification can be carried out according to the requirements of users.
While embodiments of the invention have been described above, it is not limited to the applications set forth in the description and the embodiments, which are fully applicable in various fields of endeavor to which the invention pertains, and further modifications may readily be made by those skilled in the art, it being understood that the invention is not limited to the details shown and described herein without departing from the general concept defined by the appended claims and their equivalents.
Claims (8)
1. A main end touch interaction device of a vascular intervention surgical robot comprises a platform, a guide wire transfer device and a guide wire rotating device, wherein the guide wire transfer device and the guide wire rotating device are arranged on the platform;
the guide wire rotating device is set as a magnetorheological fluid damper guide wire rotating device;
the magnetorheological fluid damper guide wire transfer device is in transmission connection with the magnetorheological fluid damper guide wire rotating device.
2. The main-end haptic interaction device of claim 1, wherein said magnetorheological damper guidewire rotation device comprises:
the magnetic field generator is provided with a magnetic field generator support, and the bottom end of the magnetic field generator support is fixedly connected with the top end of the platform; two iron cores are symmetrically and fixedly connected in the magnetic field generator support, the peripheral walls of the two iron cores are wound with excitation coils, and the two iron cores are respectively symmetrically and integrally formed and convexly provided with conical bulges;
the first magnetorheological fluid damper comprises a container, a cavity for containing magnetorheological fluid is arranged in the container, the bottom of the container is fixedly connected with the platform, the left side and the right side of the container are respectively provided with a limiting groove, the bottom ends of the two limiting grooves are respectively abutted against the top ends of the two conical bulges, and the top end of the container is detachably connected with an end cover;
a first operating rod which is arranged at the middle position of the first magnetorheological fluid damper in a penetrating way and is rotatably connected with the container;
the shell of the first encoder is fixedly connected to the upper end of the platform through a first mounting seat, and a transmission shaft of the first encoder is fixedly connected with one end of the first operating rod.
3. The main-end haptic interaction device of claim 1, wherein the magnetorheological damper guidewire rotating device comprises:
the second mounting seat is in a hollow cylinder shape with one closed end, and the second mounting seat is connected with the platform in a sliding manner;
the second encoder is fixedly connected to one side in the second mounting seat through a plurality of jackscrews;
the second magnetorheological fluid damper is fixedly connected to the other side in the second mounting seat through a plurality of jackscrews;
and the second operating rod is arranged in the middle of the second magnetorheological fluid damper in a penetrating manner, and one end of the second operating rod is fixedly connected with a transmission shaft of the second encoder through a coupler.
4. The main-end tactile interaction device of the vascular intervention surgical robot as claimed in claim 2 or 3, wherein the magnetorheological fluid damper guide wire transfer device is in transmission connection with the magnetorheological fluid damper guide wire rotating device in a manner that: a transmission shaft of the first encoder is fixedly connected with one end of the first operating rod through a connecting hole of a gear; the upper end of the platform is fixedly connected with a slide rail through a slide rail bracket; the closed end of the second mounting seat is fixedly connected with a rack, the bottom end of the rack is fixedly connected with a sliding block, the sliding block is connected with the sliding rail in a sliding mode, and the gear is meshed with the rack; the magnetorheological fluid damper guide wire transfer device is in transmission connection with the magnetorheological fluid damper guide wire rotating device through the gear and the rack.
5. The main-end tactile interaction device of a vascular interventional surgical robot as set forth in claim 2, wherein the bottom of the container is fixedly connected with the platform in a manner that: the upper end of the platform is symmetrically and fixedly connected with two support columns; the bottom of the front side and the bottom of the rear side of the container are respectively provided with a connecting plate in an integrally formed protruding mode, and the two connecting plates are respectively fixedly connected with the top ends of the two supporting columns.
6. A main-end tactile interaction device for a vascular interventional surgical robot as claimed in claim 2, wherein the first operating rod is rotatably connected with the container in a manner that: two bearings are arranged on the front side and the rear side of the container in a penetrating mode, outer rings of the two bearings are fixedly connected with the container respectively, inner rings of the two bearings are clamped with the first operating rod respectively, and the first operating rod is rotatably connected with the container through the two bearings.
7. The main haptic interaction device of claim 3, wherein the second magnetorheological fluid damper comprises:
the magnetism-resisting layer shell is fixedly connected to the other side in the second mounting seat through a plurality of jackscrews;
the inner container is used for containing magnetorheological fluid and is fixedly connected in the magnetic resisting layer shell, and two mounting grooves are symmetrically formed in the peripheral wall of the inner container;
and the two internal magnet exciting coils are respectively arranged in the two mounting grooves.
8. A main end tactile interaction device of a vascular intervention surgical robot as claimed in claim 2, wherein a hard cylinder is integrally and convexly arranged at the middle position of the first operating rod, and the hard cylinder is located in the cavity.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111519337.XA CN114159156B (en) | 2021-12-13 | 2021-12-13 | Main end touch interaction device of vascular intervention operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111519337.XA CN114159156B (en) | 2021-12-13 | 2021-12-13 | Main end touch interaction device of vascular intervention operation robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114159156A true CN114159156A (en) | 2022-03-11 |
| CN114159156B CN114159156B (en) | 2023-09-29 |
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| CN116509557A (en) * | 2023-06-28 | 2023-08-01 | 苏州恒瑞宏远医疗科技有限公司 | Main operation hand of puncture robot, puncture biopsy robot and operation method of puncture biopsy robot |
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