CN114159156B - Main end touch interaction device of vascular intervention operation robot - Google Patents
Main end touch interaction device of vascular intervention operation robot Download PDFInfo
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- CN114159156B CN114159156B CN202111519337.XA CN202111519337A CN114159156B CN 114159156 B CN114159156 B CN 114159156B CN 202111519337 A CN202111519337 A CN 202111519337A CN 114159156 B CN114159156 B CN 114159156B
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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 interventional operation 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, and the main-end touch interaction device is characterized in that the guide wire transfer device is arranged as a magnetorheological fluid damper guide wire transfer device; the guide wire rotating device is arranged as a magnetorheological fluid damper guide wire rotating device; the magnetorheological fluid damper guide wire transferring device is in transmission connection with the magnetorheological fluid damper guide wire rotating device. The invention has the beneficial effects that the force information and the torque information in the vascular intervention operation process are reflected in a more visual way, thereby reminding a surgeon to adjust the direction of an operation tool in time when the head end of the catheter collides with the vascular wall, reducing the radiation exposure of the surgeon and enhancing the safety of the vascular intervention operation.
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 by the American Heart Association (AHA), cardiovascular and cerebrovascular diseases have become one of three causes of death in humans (heart disease, stroke, and vascular disease). With the rapid development of medicine, doctors often use vascular interventional operations with small incisions, rapid recovery and few complications to diagnose and treat cardiovascular diseases such as thrombus, atherosclerosis and the like. During vascular interventions, a flexible catheter and guidewire are typically inserted along the vessel wall from a small incision in the inguinal femoral artery or the wrist radial artery into the diseased target area. This procedure typically uses a Digital Subtraction Angiography (DSA) system to visually assist the interventional physician in navigating and ultimately placing the catheter within the vessel. However, fatigue and physiological tremors of the surgeon during the operation may affect the success rate of the operation, and long-term repeated exposure to X-rays may cause occupational hazards to the surgeon, such as cancer, cataract, etc.
In conventional endovascular interventions, a experienced surgeon obtains tactile cues of catheter tissue by sensing small axial forces and moments of the fingertip as the surgical tool (catheter and guidewire) is maneuvered into different arteries of the patient. With the help of real-time image data, the risk of vessel perforation at the bend can be reduced by insertion, retraction and rotation in different directions at the proximal end of the tool. However, in robotic assisted vascular intervention, the surgeon cannot directly manipulate the tool, nor can tactile information be obtained. It is difficult to determine whether a collision of a blood vessel occurs in a bent area of the blood vessel by means of visual assistance alone. Sensors mounted on the robot or surgical device are used to capture tool-tissue interaction forces and the surgeon must monitor the force trend and magnitude in real time to determine if a collision has occurred. Maintaining concentration at all times can make the operator more fatigued. In addition, the existing commercial force feedback equipment is fixed and driven by a motor, and the force feedback equipment has 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 interventional operation robot is particularly important to reflect force information and torque information in the vascular interventional operation process in a more visual mode, so that a surgeon is reminded of timely adjusting the direction of an operation tool when the head end of a catheter collides with the vascular wall, radiation exposure of the surgeon is reduced, and safety of the vascular interventional operation is enhanced.
Disclosure of Invention
It is an object of the present invention to address at least the above problems and/or disadvantages and to provide at least the advantages described below.
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 tactile interactive device, comprising:
the device comprises a platform, a guide wire transferring device and a guide wire rotating device, wherein the guide wire transferring device is arranged on the platform and is characterized by being a magnetorheological fluid damper guide wire transferring device;
the guide wire rotating device is arranged as a magnetorheological fluid damper guide wire rotating device;
the magnetorheological fluid damper guide wire transferring device is in transmission connection with the magnetorheological fluid damper guide wire rotating device.
Preferably, the magnetorheological fluid damper guide wire rotating device comprises:
the magnetic field generator is provided with a magnetic field generator bracket, and the bottom end of the magnetic field generator bracket is fixedly connected with the top end of the platform; two iron cores are symmetrically and fixedly connected in the magnetic field generator bracket, exciting coils are wound on the peripheral walls of the two iron cores, and conical protrusions are respectively and symmetrically formed and protruded integrally;
the first magnetorheological fluid damper comprises a container, wherein 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 protrusions, and the top end of the container is detachably connected with an end cover;
the first operating rod is arranged in a penetrating manner at the middle position of the first magnetorheological fluid damper 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 operation rod.
Preferably, the magnetorheological fluid damper guide wire rotating device comprises:
the second installation seat is in a hollow cylinder shape with one end closed, and the second installation 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;
the second operating rod is arranged in a penetrating manner at the middle position of the second magnetorheological fluid damper, and one end of the second operating rod is fixedly connected with the transmission shaft of the second encoder through a coupler.
Preferably, the transmission connection mode of the magnetorheological fluid damper guide wire transfer device and the magnetorheological fluid damper guide wire rotating device is as follows: the transmission shaft of the first encoder is fixedly connected with one end of the first operation rod through a connecting hole of the gear; the upper end of the platform is fixedly connected with a sliding rail through a sliding 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 in sliding connection with the sliding rail, and the gear is meshed with the rack; the magnetorheological fluid damper guide wire transferring 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 the following manner: two support columns are symmetrically and fixedly connected to the upper end of the platform; the bottoms of the front side and 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, the first operating lever 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.
Preferably, the second magnetorheological fluid damper includes:
the magnetic-resistant 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 barrier layer shell, and two mounting grooves are symmetrically formed in the peripheral wall of the inner container;
and two internal exciting coils respectively arranged in the two mounting grooves.
Preferably, the middle position of the first operating rod is integrally formed and protruded with a hard cylinder, 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 vascular interventional operation process, thereby reminding a surgeon to adjust the direction of an operation tool in time when the head end of the catheter collides with the wall of the blood vessel and reducing the radiation exposure of the surgeon. The invention adopts an ergonomic design, and can fully exert the natural operation skills of surgeons. In addition, in the case where the catheter tip collides with the vessel wall, force information and torque information detected by the slave-end effector robot are combined with the present invention, and the collision information is tactilely fed back to the surgeon through the present invention. The method not only can enable a surgeon to realize the feeling of the operation in the field, but also can enable the surgeon to more easily distinguish whether the proximal force exceeds the safety threshold of the blood vessel or not, 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 prior force feedback equipment. The magnetorheological fluid is adopted, the most unique and attractive part is the rheological effect, namely the rheological property of the magnetorheological fluid can be changed along with the change of the intensity of an external magnetic field, and the magnetorheological fluid actuator has the characteristics of stepless and controllable output, adjustability 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.
Drawings
Fig. 1 is a schematic structural view of the present invention.
FIG. 2 is a schematic diagram of a magnetorheological fluid damper guidewire transfer apparatus according to the present invention.
Fig. 3 is a schematic structural view of a guide wire rotating device of a magnetorheological fluid damper of the present invention.
Fig. 4 is a schematic structural view of a first magnetorheological fluid damper of the present invention.
Fig. 5 is an enlarged view of a portion of the present invention.
Fig. 6 is a cross-sectional view of the core of the present invention.
Detailed Description
The present invention is described in further detail below with reference to the drawings to enable those skilled in the art to practice the invention by referring to the description. 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 should be noted that, in the description of the present invention, the orientation or positional relationship indicated by the term is based on the orientation or positional relationship shown in the drawings, which are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, 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 explicitly specified and limited otherwise, the terms "mounted," "configured to," "engaged with," "connected to," and the like are to be construed broadly, and for example, "connected" may be a fixed connection, may be a detachable connection, or may be integrally connected, may be mechanically connected, may be electrically connected, may be directly connected, may be indirectly connected through an intermediate medium, may be communication between two members, and may be understood in a specific manner by those skilled in the art. Furthermore, in the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be a direct contact of the first and second features, or an indirect contact of the first and second features through an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
Fig. 1 shows an implementation of the invention comprising:
the device comprises a platform 1, a guide wire transfer device 2 and a guide wire rotating device 3 which are arranged on the platform 1, and is characterized in that the guide wire transfer device 2 is arranged as a magnetorheological fluid damper guide wire transfer device 2; the magnetorheological fluid damper guide wire transfer device 2 has the functions that a guide wire transfer signal is transferred to the slave end of the vascular intervention operation robot, the guide wire transfer is completed by the clamping mechanism for clamping the guide wire, when the guide wire touches the vascular wall in the vascular intervention operation robot transferring process, the force feedback signal is given to the magnetorheological fluid damper guide wire transfer device 2 from the slave end of the vascular intervention operation robot, so that the damping of the magnetorheological fluid damper guide wire transfer device 2 is increased to give the actual tactile feedback to an operator, and the operator is reminded that the guide wire is touched to the vascular wall in the transfer process.
The guide wire rotating device 3 is arranged 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 the vascular wall in the blood vessel and cannot continue to be in progressive, a guide wire rotating signal is transmitted to the slave end of the vascular intervention operation robot through the magnetorheological fluid damper guide wire rotating device 3, the guide wire is controlled to rotate a certain angle in the blood vessel by the clamping mechanism for clamping the guide wire, the guide wire can continue to be in progressive, the torque feedback signal is fed to the magnetorheological fluid damper guide wire rotating device 3 through the slave end of the vascular intervention operation robot when the guide wire is in contact with the vascular wall in the rotating process, so that the damping of the magnetorheological fluid damper guide wire rotating device 3 is increased to give the actual tactile feedback to an operator, and the operator is reminded of adjusting the torsion angle of the guide wire.
The magnetorheological fluid damper guide wire transferring device 2 is in transmission connection with the magnetorheological fluid damper guide wire rotating device 3.
Working principle: the magnetorheological fluid damper guide wire transfer device 2 transfers a guide wire transfer signal to the slave end of the vascular intervention operation robot, the guide wire transfer is completed by the clamping mechanism for clamping the guide wire, when the guide wire touches the vascular wall in the vascular intervention operation robot transfer process, the slave end of the vascular intervention operation robot gives a force feedback signal to the magnetorheological fluid damper guide wire transfer device 2, so that the damping of the magnetorheological fluid damper guide wire transfer device 2 is increased to give real tactile feedback to an operator, and the operator is reminded of touching the vascular wall in the guide wire transfer process. When the guide wire is touched to the vascular wall in the transferring process, the position of the guide wire touching the vascular wall in the intravascular moving process is positioned through the transmission connection relation between the magnetorheological fluid damper guide wire transferring device and the magnetorheological fluid damper guide wire rotating device, a guide wire rotating signal is transmitted to the slave end of the vascular intervention operation robot through the magnetorheological fluid damper guide wire rotating device 3 at the position, the guide wire is controlled to rotate in the vascular by a certain angle through the clamping mechanism for clamping the guide wire, the guide wire can continue to advance, and when the guide wire touches the vascular wall in the rotating process, a torque feedback signal is given to the magnetorheological fluid damper guide wire rotating device 3 through the slave end of the vascular intervention operation robot, so that the damping of the magnetorheological fluid damper guide wire rotating device 3 is increased to give the real tactile feedback to an operator, and the operator is reminded of adjusting the torsion angle of the guide wire. In the technical scheme, force information and torque information in the vascular intervention operation process are reflected in a more visual 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 vascular wall, radiation exposure of the surgeon is reduced, and the safety of the vascular intervention operation is enhanced.
In the above aspect, the magnetorheological fluid damper guide wire transfer device 2 includes:
the magnetic field generator 22 is provided with a magnetic field generator bracket 221, and the bottom end of the magnetic field generator bracket 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, exciting coils 223 are wound on the peripheral walls of the two iron cores 224, and conical protrusions 222 are respectively and symmetrically formed in an integrated manner on the two iron cores 224; the magnetic field generator 22 is used for receiving current signals fed back by the slave end of the vascular interventional operation robot when the guide wire touches the vascular wall in the vascular progressive process, and generating magnetic fields with different intensities according to the intensity of the current signals.
The first magnetorheological fluid damper 21 comprises a container 211, wherein a cavity 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 limit groove 216, the bottom ends of the two limit grooves 216 respectively abut 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 operation lever 23 penetrating through a middle position of the first magnetorheological fluid damper 21, the first operation lever 23 being rotatably connected to the container 211; the first operating rod 23 is used for contacting with magnetorheological fluid, and when the guide wire progressively touches the vascular wall in the blood vessel, the magnetorheological fluid generates damping and is fed back to an operating doctor through the first operating rod 23 for real tactile feedback.
The casing of the first encoder 24 is fixedly connected to the upper end of the platform 1 through the first mounting seat 11, and a 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 for transmitting the motion information of the first operation rod 23 to the slave end of the vascular interventional operation robot, and then the clamping mechanism for clamping the guide wire is used for completing the transfer of the guide wire in the blood vessel.
Working principle: the operating doctor rotates the first operating rod 23, the first operating rod 23 transmits the action information to the slave end of the vascular interventional operation robot through the first encoder 24, and then the clamping mechanism for clamping the guide wire finishes 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 exciting coil 223 from the end, so that the iron core 224 generates magnetic force, and damping is generated from the form of magnetorheological fluid in the cavity 215 to limit the continuous rotation of the first operating rod 23, thereby feeding back to an operating doctor to realize a real tactile feedback to remind the operating doctor that the guide wire touches the blood vessel wall in the transferring process of the blood vessel.
In the above-described aspect, the magnetorheological fluid damper guidewire rotating device 3 includes:
the second mounting seat 31 is in a hollow cylinder shape with one end closed, and the second mounting seat 31 is in sliding connection with the platform 1;
a second encoder 36 fixedly connected to one side in the second mounting seat 31 through a plurality of jackscrews; the second encoder 36 is used to transmit motion information to the slave end of the vascular interventional surgical robot, and the clamping mechanism for clamping the guide wire is used to complete the rotation of the guide wire in the blood vessel.
A second magnetorheological fluid damper 32 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 from the end of the vascular interventional operation robot to the second magnetorheological fluid damper 32 when the guide wire rotationally contacts the vascular wall in the vascular wall.
And a second operation rod 33 penetrating through the second magnetorheological fluid damper 32, wherein one end of the second operation rod 33 is fixedly connected with the transmission shaft of the second encoder 36 through a coupling 37. The second operation rod 33 is used for transmitting motion information to the slave end of the vascular interventional operation robot through the second encoder 36, and then the clamping mechanism for clamping the guide wire is used for completing rotation of the guide wire in the blood vessel, and when the second magnetorheological fluid damper 32 generates damping, the second operation rod 33 is used for giving real tactile feedback to an operator to remind the operator to adjust the torsion angle of the guide wire.
Working principle: when touching the vessel wall in the guide wire transferring process, a doctor operates the second operating rod 33 to transmit motion information to the slave end of the vessel interventional operation robot through the second encoder 36, and then the clamping mechanism for clamping the guide wire finishes 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 intravascular rotation process, the vascular 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 the second operating rod 33 gives real tactile feedback to the operating doctor 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: the 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 sliding rail 13 through a sliding rail bracket 12; the closed end of the second mounting seat 31 is fixedly connected with a rack 34, the bottom end of the rack 34 is fixedly connected with a slide block 35, the slide block 35 is in sliding connection with the slide rail 34, and the gear 25 is meshed with the rack 34; the magnetorheological fluid damper guide wire transferring device 2 is in transmission connection with the magnetorheological fluid damper guide wire rotating device 3 through the gear 25 and the rack 34.
Working principle: when the first operating rod 23 rotates, the magnetorheological fluid damper guide wire rotating device 3 is driven to move in position through the transmission of the gear 34 and the rack 25. When the guide wire is transferred in the blood vessel and touches the wall of the blood vessel, the distance that the gear 25 drives the rack 34 to move records the total rotation length of the first operating rod 23. 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 then the guide wire is rotated by the magnetorheological fluid damper guide wire rotating device 3 until the guide wire can continue to advance.
In the above-mentioned solution, 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 bottoms of the front side and the rear side of the container 211 are respectively provided with a connecting plate 213 in an integrally formed protruding mode, and the two connecting plates 213 are respectively fixedly connected with the top ends of the two support columns 14. This has the advantage of ensuring connection stability. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In the above-mentioned aspect, the first operating lever 23 is rotatably connected to the container 211 in such a manner that: 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 respectively and fixedly connected with the container 211, inner rings of the two bearings 214 are respectively clamped with the first operating rod 23, and the first operating rod 23 is rotatably connected with the container 211 through the two bearings 214. This way, it is advantageous to ensure the connection stability while ensuring the axial rotation. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
In the above aspect, the second magnetorheological fluid damper 32 includes:
a magnetic-resistant layer casing 321 fixedly connected to the other side in the second mounting seat 31 through a plurality of jackscrews;
an inner container 322 for containing magnetorheological fluid, which is fixedly connected in the magnetic barrier layer casing 321, wherein two mounting grooves 323 are symmetrically arranged on the peripheral wall of the inner container 322;
two internal exciting coils 324 provided in the two mounting grooves 323, respectively. The two internal exciting coils 324 are used for receiving current signals fed back from the slave end of the vascular intervention operation robot when the guide wire touches the vascular wall during intravascular rotation, and generating corresponding magnetic field intensity for the intensity of the current signals.
Working principle: when the rotation of the guide wire in the blood vessel touches the wall of the blood vessel, the current signals of the two internal exciting coils 324 are fed back from the end of the blood vessel interventional operation robot, so that the two internal exciting coils 324 generate magnetic fields, the form of magnetorheological fluid in the internal container 322 is changed to generate damping, and the actual tactile feedback is given to an operator through the second operating rod 33, so that the operator is reminded of adjusting the torsion angle of the guide wire.
In the above-mentioned solution, the middle position of the first operating lever 23 is integrally formed with a hard cylinder 26, and the hard cylinder 26 is located in the cavity 215. The contact area between the first operating rod 23 and the magnetorheological fluid is increased by the hard cylinder 26, so that the friction between the first operating rod 23 and the magnetorheological fluid is increased. This has the advantage of enhancing the haptic feedback. And this is merely illustrative of a preferred embodiment and is not limited thereto. In practicing the present invention, appropriate substitutions and/or modifications may be made according to the needs of the user.
Although embodiments of the present invention have been disclosed above, it is not limited to the details and embodiments shown and described, it is well suited to various fields of use for which the invention would be readily apparent to those skilled in the art, and accordingly, the invention is not limited to the specific details and illustrations shown and described herein, without departing from the general concepts defined in the claims and their equivalents.
Claims (5)
1. The main end touch interaction device of the vascular interventional operation robot comprises a platform, and a guide wire transferring device and a guide wire rotating device which are arranged on the platform, and is characterized in that the guide wire transferring device is arranged as a magnetorheological fluid damper guide wire transferring device;
the guide wire rotating device is arranged as a magnetorheological fluid damper guide wire rotating device;
the magnetorheological fluid damper guide wire transferring device is in transmission connection with the magnetorheological fluid damper guide wire rotating device;
the magnetorheological fluid damper guide wire transfer device comprises:
the magnetic field generator is provided with a magnetic field generator bracket, and the bottom end of the magnetic field generator bracket is fixedly connected with the top end of the platform; two iron cores are symmetrically and fixedly connected in the magnetic field generator bracket, exciting coils are wound on the peripheral walls of the two iron cores, and conical protrusions are respectively and symmetrically formed and protruded integrally;
the first magnetorheological fluid damper comprises a container, wherein 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 protrusions, and the top end of the container is detachably connected with an end cover;
the first operating rod is arranged in a penetrating manner at the middle position of the first magnetorheological fluid damper 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 operation rod;
the magnetorheological fluid damper guide wire rotating device comprises:
the second installation seat is in a hollow cylinder shape with one end closed, and the second installation 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;
the second operating rod is arranged in a penetrating manner at the middle position of the second magnetorheological fluid damper, and one end of the second operating rod is fixedly connected with the transmission shaft of the second encoder through a coupler;
the magnetorheological fluid damper guide wire transferring device is in transmission connection with the magnetorheological fluid damper guide wire rotating device in the following manner: the transmission shaft of the first encoder is fixedly connected with one end of the first operation rod through a connecting hole of the gear; the upper end of the platform is fixedly connected with a sliding rail through a sliding 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 in sliding connection with the sliding rail, and the gear is meshed with the rack; the magnetorheological fluid damper guide wire transferring device is in transmission connection with the magnetorheological fluid damper guide wire rotating device through the gear and the rack.
2. The vascular interventional procedure robot main-end tactile interactive device according to claim 1, wherein the bottom of the container is fixedly connected with the platform in the manner that: two support columns are symmetrically and fixedly connected to the upper end of the platform; the bottoms of the front side and 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.
3. The vascular interventional procedure robot main-end tactile interactive device according to claim 1, wherein the first lever is rotatably connected to the container in such a way 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.
4. The vascular interventional procedure robot main end tactile interactive device according to claim 1, wherein the second magnetorheological fluid damper comprises:
the magnetic-resistant 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 barrier layer shell, and two mounting grooves are symmetrically formed in the peripheral wall of the inner container;
and two internal exciting coils respectively arranged in the two mounting grooves.
5. The vascular interventional surgical robot main end tactile interactive device according to claim 1, wherein a hard cylinder is integrally formed in a protruding manner in the middle of the first operation rod, and the hard cylinder is located in the cavity.
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| CN202111519337.XA CN114159156B (en) | 2021-12-13 | 2021-12-13 | Main end touch interaction device of vascular intervention operation robot |
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| CN202111519337.XA CN114159156B (en) | 2021-12-13 | 2021-12-13 | Main end touch interaction device of vascular intervention operation robot |
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| CN114159156A CN114159156A (en) | 2022-03-11 |
| CN114159156B true CN114159156B (en) | 2023-09-29 |
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| CN116115351B (en) * | 2022-09-26 | 2023-09-26 | 上海睿触科技有限公司 | Master-slave force feedback system of vascular intervention robot |
| 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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