CN115429442A - Remote control system of auxiliary device for intervascular intervention operation for simulating operation and feeling of doctor - Google Patents
Remote control system of auxiliary device for intervascular intervention operation for simulating operation and feeling of doctor Download PDFInfo
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- CN115429442A CN115429442A CN202211124600.XA CN202211124600A CN115429442A CN 115429442 A CN115429442 A CN 115429442A CN 202211124600 A CN202211124600 A CN 202211124600A CN 115429442 A CN115429442 A CN 115429442A
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
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- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/35—Surgical robots for telesurgery
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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
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The invention discloses a remote control system of a pan-vascular interventional operation auxiliary device for simulating the operation and feeling of a doctor. In the system, the feeding module comprises a linear motion restraint device and a linear motion adjustable resistance generator, the linear motion adjustable resistance generator is connected with one end of a handle, and the linear motion adjustable resistance generator is used for collecting linear motion information of the handle under push-pull, sending the linear motion information to an end effector, receiving a linear resistance signal sent by the end effector and feeding back linear resistance to the handle; the twisting motion module is connected with the other end of the handle, and is used for collecting the rotation motion information of the handle under twisting and sending the rotation motion information to the end effector, receiving the rotation resistance signal sent by the end effector and feeding back the rotation resistance of the handle. The system can better simulate the operation and the feeling of a doctor, has high operation efficiency, can ensure the health of the doctor, and the like.
Description
Technical Field
The invention belongs to the field of surgical robots, and particularly relates to a remote control system of a pan-vascular interventional operation auxiliary device for simulating operation modes and experiences of doctors.
Background
Minimally invasive surgery plays an important role in the field of modern surgical operations due to the advantages of less bleeding, high safety, quick postoperative recovery and the like, and the intervention operation of the blood vessel is an important class. Under the condition that the incidence rate of various vascular diseases is gradually increased, the operation of the intervention of the pan-vascular tube plays an increasingly important role. Here, the blood vessel system includes not only the cardiovascular system, the cerebrovascular system, the peripheral blood vessel, the internal blood vessel, etc., but also the organ blood vessel, the biliary tract, the pulmonary bronchus, etc., because the internal lumen form is similar to that of the blood vessel.
Under the existing medical conditions, doctors often need to directly operate a catheter and a guide wire, which can cause various problems that the doctors are directly exposed to X-ray irradiation for a long time and bring great risks to the health of the doctors; doctors need to visit the operation site, and a great deal of time is often delayed on the way when dealing with emergency situations; the problems of hand trembling and the like caused by long-time operation also bring uncertainty to the operation. Therefore, the use of surgical robots is becoming more widespread.
However, the existing surgical auxiliary device (generally called a surgical robot) still has many problems and disadvantages, and the main characteristic is that a mode different from the manual operation of the doctor or a tool different from the manual operation tool of the doctor is adopted, such as an operation form that a joystick is adopted to replace the doctor to hold the surgical instrument by hand, and a force sensor is not provided, which causes the doctor to need special training to operate correctly, but for high-tech doctors, the experience accumulated for a long time in the past can become an obstacle to grasp a new operation method, and the problems of misoperation, reduced operation quality and the like are caused.
In the aspect of an auxiliary device (robot) for vascular interventional surgery, the main purpose is to use the auxiliary device to replace a doctor to operate a guide wire/guide wire under X-ray by adopting a remote control mode, but at present, remote control devices at home and abroad mainly adopt a control rod mode, which is completely different from a mode that the doctor uses fingers to linearly push and twist the guide wire/guide wire in the vascular interventional surgery. Some techniques, while considering the design of a remote control that can simulate the operation of a doctor, have the problem that the doctor feels bad and the output control displacement does not coincide with the doctor's desired value, and cannot provide force feedback.
At present, the existing remote control system technology of the vascular intervention operation and auxiliary device for simulating the operation of a doctor adopts a guide wire holder used by the doctor to realize the generation of rotation and push signals and adopts a motor to realize force feedback, but has the problems that a forward signal cannot be continuously sent, the stroke is limited by the length of a slide rail, and after the maximum displacement of the slide rail is reached, the slide rail needs to be withdrawn, so that the working efficiency is greatly influenced.
Disclosure of Invention
The present invention is directed to solving at least one of the problems of the prior art. Therefore, an object of the present invention is to provide a remote control system for a vessel-dilating interventional operation auxiliary device, which simulates the operation and feeling of a doctor, can better simulate the operation and feeling of the doctor, has high operation efficiency, ensures the health of the doctor, can improve the treatment level in remote areas and areas behind the treatment level, saves a lot of time on the way, and has a simple structure and simple operation.
According to the embodiment of the first aspect of the invention, the remote control system of the auxiliary device for the vessel-wide interventional operation, which simulates the operation and feeling of a doctor, comprises:
a frame;
a handle;
the feeding module comprises a linear motion restraint device and a linear motion adjustable resistance generator, the handle is supported on the rack through the linear motion restraint device, the linear motion adjustable resistance generator is connected with one end of the handle, and the linear motion adjustable resistance generator is used for collecting linear motion information of the handle under push-pull, sending the linear motion information to the end effector, receiving a linear resistance signal sent by the end effector and performing linear resistance feedback on the handle;
the twisting motion module is connected with the other end of the handle, and is used for collecting the rotation motion information of the handle under twisting and sending the rotation motion information to the end effector, receiving the rotation resistance signal sent by the end effector and feeding back the rotation resistance of the handle.
According to the remote control system of the auxiliary device for the endovascular intervention surgery simulating the operation and the feeling of the doctor, which is disclosed by the embodiment of the first aspect of the invention, the end effector is remotely controlled to perform minimally invasive surgery on a patient by remotely operating the remote control system of the auxiliary device for the endovascular intervention surgery simulating the operation and the feeling of the doctor, namely, the doctor can perform surgery on the patient through a main operation table of the remote control system of the auxiliary device for the endovascular intervention surgery simulating the operation and the feeling of the doctor outside an operation room. The doctor holds the handle by hand, pushes, pulls and twists the handle, the adjustable resistance generator of the linear motion collects the linear motion information of the handle and sends the linear motion information to the end effector, and the twisting motion module collects the twisting motion information of the handle and sends the twisting motion information to the end effector; the end effector performs surgery on the patient according to the linear motion information and the twisting motion information, and respectively and correspondingly transmits a linear motion resistance signal and a rotary motion resistance signal obtained in the surgery back to the linear motion adjustable resistance generator and the twisting motion module in real time; the linear motion adjustable resistance generator feeds back the linear resistance to the handle after receiving the linear resistance signal, namely the fed-back linear resistance acts on the handle, the twist motion module feeds back the rotation resistance to the handle after receiving the rotation resistance signal, namely the fed-back rotation resistance acts on the handle, and then the fed-back linear resistance and the fed-back rotation resistance finally act on the hand of a doctor, so that the doctor can feel the real force signal from the end effector, the force touch feedback is completed, and the hand feeling of real operation is restored. Therefore, the remote control system of the auxiliary device for the operation of the universal vascular intervention operation, which simulates the operation and feeling of a doctor, has a force feedback function, can completely reproduce the original situation of directly operating the holder of the catheter and the guide wire, accords with the original operation habit and ergonomics of the doctor, keeps the original operation hand feeling, enables the doctor to apply the existing experience, avoids thinking mode conversion, can skillfully operate the main operating table without long-time training, and reduces the requirements on the doctor. The feeding module in the first aspect of the present invention is configured to continuously generate a guide wire/catheter advancing or retracting command, so as to improve the operation efficiency and improve the operation experience of the doctor. The remote control system of the auxiliary device for the vessel-expanding interventional operation, which simulates the operation and feeling of a doctor, has the characteristic of remote operation, namely, the doctor operates a handle outside an operating room, so that the doctor is prevented from X-ray radiation in the operating room, and the health of the doctor is guaranteed; meanwhile, due to the characteristic of remote control, doctors can perform remote operation across areas, which is beneficial to improving the treatment level of remote areas and areas with lagged medical level and saves a great amount of time on the way. The remote control system of the auxiliary device for the intervention operation of the blood vessel in the embodiment of the first aspect of the invention has simple structure and simple operation.
In some embodiments, a centerline of linear motion of the adjustable resistance to linear motion generator is parallel to or coincident with a centerline of the handle.
In some embodiments, the linear motion adjustable resistance generator is a linear motor, a voice coil motor, a hydraulic adjustable damping cylinder in a linear motion mode, etc., and any device capable of generating an adjustable force under the control of an electric signal is also included.
In some embodiments, the linear motion restraint is a linear slide rail assembly in the form of a linear bearing or a sliding channel.
In some embodiments, the twist motion module includes a rotation adjustable resistance generator for collecting rotation information of the handle under twist and sending the rotation information to the end effector, and for receiving a rotation resistance signal from the end effector and providing rotation resistance feedback to the handle.
In some embodiments, a rotational centerline of the rotary motion adjustable resistance generator is parallel to or coincident with a centerline of the handle.
In some embodiments, the adjustable resistance generator for rotational motion is a rotary motor, a rotary voice coil motor, a hydraulic adjustable damping cylinder with a rotary motion mode, etc., and any device capable of generating an adjustable torque under the control of an electric signal is also included.
In some embodiments, the rotary electric machine is a first rotary electric machine with a first rotation detecting encoder; the feeding module further comprises a sliding block, a guide rail parallel to the central line of the handle is arranged on the rack, and the sliding block is arranged on the guide rail; a stator part of the first rotating motor is fixed on the sliding block, and a rotor part of the first rotating motor is coaxially fixed with the other end of the handle;
or the rotating motor is a second rotating motor with a second rotation detection encoder; a stator part of the second rotating motor is fixed on the rack, and a rotor part of the second rotating motor is in linear sliding fit with one end of the handle in the axial direction and is in fixed fit in the circumferential direction;
or the rotating motor is a third rotating motor with a third rotation detection encoder; the twisting motion module also comprises a first synchronous belt wheel, a second synchronous belt wheel and a synchronous belt; the stator part of the third rotating motor is fixed on the rack, the rotor part of the third rotating motor is coaxially fixed with the first synchronous belt pulley, the first synchronous belt pulley is connected with the second synchronous belt pulley through the synchronous belt, and the second synchronous belt pulley is in linear sliding fit with one end of the handle in the axial direction and is in fixed fit with the handle in the circumferential direction.
In some embodiments, the diameter and shape of the handle is close to or identical to the outer diameter and shape of the guidewire gripping manipulator.
In some embodiments, a wrist support is further included, the wrist support being disposed on the frame.
The invention also provides an intervention auxiliary device in a second aspect.
An interventional procedure assistance device according to an embodiment of a second aspect of the present invention includes:
the remote control system and the end effector of the auxiliary device for the vessel-wide interventional operation, which simulate the operation and feeling of a doctor, are characterized in that,
the linear motion adjustable resistance generator is used for collecting linear motion information of the handle under push-pull and sending the linear motion information to the end effector, and the twist motion module is used for collecting rotation motion information of the handle under twist and sending the rotation motion information to the end effector; the end effector operates according to the received linear motion information and the received rotary motion information, detects the stress and motion conditions of the end effector to obtain the linear resistance signal and the rotary resistance signal, and transmits the linear resistance signal and the rotary resistance signal back to the linear motion adjustable resistance generator and the twisting motion module, the linear motion adjustable resistance generator performs linear resistance feedback on the handle, and the twisting motion module performs rotary resistance feedback on the handle.
Since the interventional operation assisting device according to the second aspect of the present invention employs the remote control system of the auxiliary device for a pan-vascular interventional operation, which simulates the operation and feeling of a doctor, according to the first aspect of the present invention, the interventional operation assisting device according to the second aspect of the present invention has the same advantages as the remote control system of the auxiliary device for a pan-vascular interventional operation, which simulates the operation and feeling of a doctor, according to the first aspect of the present invention, and thus, no further description is provided herein.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
FIG. 1 is a schematic structural diagram of a remote control system of a pan-vascular interventional operation auxiliary device for simulating the operation and feeling of a doctor according to one embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a remote control system of a pan-vascular interventional operation auxiliary device for simulating the operation and feeling of a doctor according to another embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a remote control system of a pan-vascular interventional operation auxiliary device for simulating the operation and feeling of a doctor according to yet another embodiment of the present invention;
FIG. 4 is a block diagram of a system for identifying linear motion tendencies in accordance with the present invention.
Reference numerals are as follows:
a remote control system 1000 of the auxiliary device for the vessel-expanding interventional operation for simulating the operation and feeling of a doctor;
a frame 1; a base plate 101; a riser 102; a guide rail 103; a handle 2; a coupling 201; a drive shaft 202; a feeding module 3; a linear motion constrainer 301; a linear bearing 3011; a linear motion adjustable resistance generator 302; a voice coil motor 3021; a slider 303; a twisting motion module 4; a rotational movement adjustable resistance generator 401; a first rotating electrical machine 401a; a second rotating electrical machine 401b; a shaft housing 4011; a third rotating electrical machine 401c; a first synchronization pulley 402; a second timing pulley 403; a timing belt 404; a wrist support portion 5; a controller module 6; a displacement sensor 7; and a motion module 8.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
The remote control system 1000 of the auxiliary device for the intervention operation of the blood vessel for simulating the operation and feeling of the doctor and the auxiliary device for the intervention operation in the embodiment of the invention are described below with reference to fig. 1 to 4.
As shown in fig. 1 to fig. 3, a remote control system 1000 of a pan-vascular interventional operation auxiliary device for simulating the operation and feeling of a doctor according to an embodiment of the first aspect of the present invention is used as a proximal main operation platform for a minimally invasive vascular interventional operation. The remote control system 1000 of the auxiliary device for the intervention operation of the blood vessel with a function of simulating the operation and feeling of a doctor in the embodiment of the first aspect of the invention comprises a frame 1, a handle 2, a feeding module 3 and a twisting and rotating motion module 4.
The frame 1 may include a bottom plate 101 and a vertical plate 102 fixed on the bottom plate 101, and provides mounting support for the handle 2, the feeding module 3, the twisting motion module 4, and the like.
The two ends of the handle 2 are respectively and correspondingly supported on the two vertical plates 102 of the frame 1, that is, one end of the handle 2 is supported by one vertical plate 102, and the other end of the handle 2 is supported by the other vertical plate 102, so that the handle 2 is horizontally supported above the vertical plate 102 in a suspended manner, and a doctor can conveniently hold the handle 2 by hand to push, pull and twist the handle 2, so as to remotely control the end effector to perform an operation.
The feeding module 3 comprises a linear motion constraining vessel 301 and a linear motion adjustable resistance generator 302. The handle 2 is supported on the frame 1 through the linear motion constraining device 301, specifically, two ends of the handle 2 are respectively supported on the two vertical plates 102 through the two linear motion constraining devices 301, the linear motion constraining device 301 constrains the handle 2 to make linear motion along the central axis direction of the handle 2, and the resistance between the interface of the linear motion constraining device 301 and the handle 2 is greatly reduced. Therefore, the linear motion constraining device 301 may select the linear bearing 3011 (see fig. 1 to 3) and a linear slider sliding rail assembly (not shown in the drawings) in the form of a sliding chute assisted by steel ball lubrication, so as to provide a reliable guarantee for ensuring that a doctor can completely reproduce the situation of directly operating the catheter and the guide wire clamp when operating the handle 2.
The adjustable resistance generator 302 for linear motion is connected with one end of the handle 2, the adjustable resistance generator 302 for linear motion is used for collecting the linear motion information of the handle 2 under pushing and pulling, sending the linear motion information to the end effector, receiving the linear resistance signal sent by the end effector and feeding back the linear resistance of the handle 2, and the linear resistance finally acts on the hand of the doctor, so that the hand of the doctor can feel the linear resistance of the end effector in the operation process. Meanwhile, aiming at the problems that the prior remote control system of the vascular intervention operation and auxiliary device for simulating doctor operation cannot continuously send forward signals, the stroke is limited by the length of the slide rail, and the operation efficiency is affected because the slide rail needs to withdraw after the maximum displacement is reached, the linear motion adjustable resistance generator 302 of the embodiment of the invention is directly connected with one end of the handle 2, so that a structure of a guide wire/catheter forward or backward instruction can be continuously generated, and the operation efficiency is improved.
The twisting motion module 4 is connected with the other end of the handle 2, and the twisting motion module 4 is used for collecting the rotation motion information of the handle 2 under twisting and sending the rotation motion information to the end effector, receiving the rotation resistance signal sent by the end effector and feeding back the rotation resistance (namely the torque) of the handle 2. The rotational resistance is ultimately applied to the surgeon's hand, which is made to feel the rotational resistance of the end effector during the surgical procedure.
According to the remote control system 1000 for the auxiliary device for the endovascular intervention surgery simulating the operation and the feeling of the doctor, which is disclosed by the embodiment of the first aspect of the invention, the end effector is remotely controlled to perform minimally invasive surgery on the patient by remotely operating the remote control system 1000 for the auxiliary device for the endovascular intervention surgery simulating the operation and the feeling of the doctor, namely, the doctor can perform surgery on the patient through a main operating table of the remote control system 1000 for the auxiliary device for the endovascular intervention surgery simulating the operation and the feeling of the doctor outside the operating room. The working process is that a doctor holds the handle 2 by hand and pushes and pulls and twists the handle 2, the linear motion adjustable resistance generator 302 collects the linear motion information of the handle 2 and sends the linear motion information to the end effector, and the twisting motion module 4 collects the twisting motion information of the handle 2 and sends the twisting motion information to the end effector; the end effector performs surgery on the patient according to the linear motion information and the twisting motion information, and respectively correspondingly transmits a linear motion resistance signal and a rotary motion resistance signal obtained in the surgery back to the linear motion adjustable resistance generator 302 and the twisting motion module 4 in real time; the adjustable resistance generator 302 for linear motion feeds back the linear resistance to the handle 2 after receiving the linear resistance signal, the linear resistance to be fed back acts on the handle 2, the twist motion module 4 feeds back the rotation resistance to the handle 2 after receiving the rotation resistance signal, the rotation resistance to be fed back acts on the handle 2, and then the linear resistance and the rotation resistance fed back to the handle 2 finally act on the hand of the doctor, so that the hand of the doctor can feel the real force signal from the end effector, the force touch feedback is completed, and the hand feeling of real operation is restored. Therefore, the remote control system 1000 of the auxiliary device for the operation of the universal vascular intervention operation, which simulates the operation and feeling of a doctor, in the embodiment of the first aspect of the invention has a force feedback function, can completely reproduce the original situation of directly operating the holder of the catheter and the guide wire, accords with the original operation habit and ergonomics of the doctor, keeps the original operation hand feeling, enables the doctor to apply the existing experience, avoids thinking mode conversion, can skillfully operate the main operating table without long-time training, and reduces the requirements on the doctor. The feeding module 3 in the first embodiment of the present invention is configured to continuously generate the guide wire/catheter advancing or retreating command, thereby improving the operation efficiency and improving the operation feeling of the doctor. The remote control system 1000 of the auxiliary device for the vessel-expanding interventional operation, which simulates the operation and feeling of a doctor, provided by the embodiment of the first aspect of the invention has the characteristic of remote operation, namely, the doctor operates the handle 2 outside the operating room, so that the doctor is prevented from X-ray radiation in the operating room, and the health of the doctor is guaranteed; meanwhile, due to the characteristic of remote control, doctors can perform remote operation across areas, which is beneficial to improving the treatment level of remote areas and areas with lagged medical level and saves a great amount of time on the way. The remote control system 1000 of the auxiliary device for the endovascular intervention surgery, which simulates the operation and feeling of a doctor, provided by the embodiment of the first aspect of the invention, has a simple structure and is simple to operate.
In some embodiments, the linear motion centerline of the linear motion adjustable resistance generator 302 is parallel or coincident with the centerline of the handle 2 (see fig. 1-3). Thus, the linear motion adjustable resistance generator 302 can measure the linear motion information of the handle 2 and perform the linear motion resistance feedback.
In some embodiments, the adjustable resistance to linear motion generator 302 is a linear motor (not shown) or a voice coil motor 3021 (see fig. 1-3) or a hydraulically adjustable damping cylinder (not shown) in a linear motion mode.
Specifically, the fixed end of the voice coil motor 3021 is fixed to the frame 1, and the movable output end of the voice coil motor 3021 is fixed to one end of the handle 2. The voice coil motor 3021 can collect linear motion information of the handle 2, and at the same time, can perform linear resistance feedback control of the handle 2.
The hydraulic adjustable damping cylinder of the linear motion mode is mounted in a similar manner to that of the voice coil motor 3021. The fixed end of the hydraulic adjustable damping cylinder in the linear motion mode is fixed on the frame 1, and the movable output end of the hydraulic adjustable damping cylinder in the linear motion mode is fixed with one end of the handle 2. The hydraulic adjustable damping cylinder in the linear motion mode can collect linear motion information of the handle 2 and can also perform linear resistance feedback control on the handle 2, and damping force (namely linear resistance) can be realized by adjusting the size of the liquid flow hole.
It should be noted that the linear motion adjustable resistance generator 302 is not limited to the voice coil motor 3021 and the hydraulic adjustable damping cylinder of the linear motion mode, and any other adjustable output linear force can be used as the resistance generator, such as a linear motor.
In some embodiments, the linear motion restrictor 301 is a linear bearing 3011 (see fig. 1-3) or a linear slide rail assembly (not shown) in the form of a sliding chute. That is, the linear motion restrictor 301 may be a linear bearing 3011 (as shown in fig. 1-3) or a linear slide rail assembly in the form of an auxiliary sliding slot.
In some embodiments, the twist motion module 4 includes a rotation motion adjustable resistance generator 401, and the rotation motion adjustable resistance generator 401 is configured to collect rotation motion information of the handle 2 under twist and send the rotation motion information to the end effector, and is configured to receive a rotation resistance signal from the end effector and perform rotation resistance feedback on the handle 2. Thus, the doctor can sense the resistance of the end effector to the rotational movement during the operation when twisting the handle 2.
In some embodiments, the rotational centerline of the rotational motion adjustable resistance generator 401 is parallel (see fig. 3) or coincident with the centerline of the handle 2 (see fig. 1 and 2). Thus, the rotational movement adjustable resistance generator 401 can measure the rotational movement information of the handle 2 and perform the rotational movement resistance feedback.
In some embodiments, the rotary motion adjustable resistance generator 401 is a rotary motor, a rotary voice coil motor, a hydraulic adjustable damping cylinder with rotary motion mode, etc., and any device capable of generating an adjustable torque under the control of an electric signal is also included.
In some embodiments, as shown in FIG. 1, the adjustable resistance to rotational motion generator 401 is a rotary motor, which is a first rotary motor 401a with a first rotation detecting encoder; the feeding module 3 further comprises a sliding block 303, a guide rail 103 parallel to the central line of the handle 2 is arranged on the frame 1, and the sliding block 303 is arranged on the guide rail 103; the stator portion of the first rotating electric machine 401a is fixed to the slider 303, and the mover portion of the first rotating electric machine 401a is coaxially fixed to the other end of the handle 2. The first rotating electrical machine 401a, the slider 303, the handle 2, and the movable portion of the linear-motion adjustable resistance generator 302 constitute a linear movable member that can perform linear motion. And a mover portion of the first rotating electrical machine 401a is fixed to one end of the handle 2 so that the first rotating electrical machine 401a can measure the rotational motion information of the handle 2 and feed back the rotational resistance of the handle 2.
The work flow of the remote control system 1000 of the auxiliary device for the universal vascular intervention surgery simulating the operation and feeling of the doctor in the embodiment of fig. 1 is as follows: the doctor operates the remote control system 1000 of the auxiliary device for the operation and feeling of the pan vascular intervention operation of the embodiment, and then controls the end effector. The handle 2 is controlled by the hands of the doctor to do linear motion and rotary motion; the handle 2 drives a rotor part (namely a rotor rotating shaft) of a first rotating motor 401a with a first rotary detection encoder to rotate, and the first rotary detection encoder detects the rotary motion information of the handle 2 and sends the rotary motion information to the end effector; the handle 2 drives the movable output end of the linear motion adjustable resistance generator 302 (such as the voice coil motor 3021 in fig. 1) to perform linear motion, and the voice coil motor 3021 detects linear displacement information of the handle 2 and sends the linear displacement information to the end effector. Thus, the acquisition of the operation control information of the doctor hand on the operation handle 2 is realized.
Meanwhile, the end effector performs force feedback control on the remote control system 1000 of the auxiliary device for the endovascular intervention surgery simulating the operation and feeling of the doctor in the embodiment: the end sensor detects force information on an operation object through a force sensor on the end actuator, and correspondingly sends a linear motion resistance signal and a rotary motion resistance signal to a linear motion adjustable resistance generator 302 (such as a voice coil motor 3021 in fig. 1) and a first rotary motor 401a with a first rotary detection encoder, the voice coil motor 3021 transmits linear motion resistance to the handle 2 through a movable output end of the voice coil motor 3021, the first rotary motor 401a with the first rotary detection encoder transmits rotary motion resistance (i.e., torsion) to the handle 2, and the handle 2 finally acts on the doctor's hand by the fed back linear resistance and rotary resistance, so that the doctor's hand can feel a real force signal from the end actuator, complete force tactile feedback, and restore the hand feeling of real operation.
Or as shown in fig. 2, the rotary motion adjustable resistance generator 401 is a rotary motor which is a second rotary motor 401b with a second rotation detecting encoder; the stator part of the second rotating electric machine 401b is fixed on the frame 1, the rotor part of the second rotating electric machine 401b is in linear sliding fit with the other end of the handle 2 in the axial direction and is in fixed fit in the circumferential direction, specifically, the other end of the handle 2 is connected with a special transmission shaft 202 through a coupling 201, the transmission shaft 202 is connected with a shaft sleeve 4011 with a cylindrical flange through a roller, and the following connection modes can be provided: in the first mode, the transmission shaft 202 is a spline shaft, and the shaft sleeve 4011 is a spline shaft sleeve with balls; in the second mode, the transmission shaft 202 is a shaft with a tooth socket, the shaft sleeve 4011 is a shaft sleeve with teeth, and the contact is a plane pair. On the premise of not influencing the forward and backward axial movement of the handle 2, it is ensured that the rotor part of the second rotating electric machine 401b and the rotation of the handle 2 are in a synchronous locking state.
The workflow of the remote control system 1000 for the auxiliary device for a pan-vascular interventional operation simulating doctor operation and feeling in the embodiment of fig. 2 is substantially the same as the workflow of the remote control system 1000 for the auxiliary device for a pan-vascular interventional operation simulating doctor operation and feeling in the embodiment of fig. 1, and thus, the description thereof is omitted.
Alternatively, as shown in fig. 3, the rotary motion adjustable resistance generator 401 is a rotary motor, which is a third rotary motor 401c with a third rotation detection encoder; the twisting motion module 4 further comprises a first synchronous pulley 402, a second synchronous pulley 403 and a synchronous belt 404; a stator part of the third rotating motor 401c is fixed on the frame 1, a rotor part of the third rotating motor 401c is coaxially fixed with the first synchronous pulley 402, the first synchronous pulley 402 is connected with the second synchronous pulley 403 through the synchronous belt 404, the second synchronous pulley 403 is in linear sliding fit with one end of the handle 2 in the axial direction and is fixedly matched in the circumferential direction, specifically, a spline is coaxially fixed at the other end of the handle 2, and the second synchronous pulley 403 is fittingly sleeved on the spline.
The workflow of the remote control system 1000 for the assisted vessel-warming interventional operation device simulating the doctor's operation and feeling in the embodiment of fig. 3 is substantially the same as the workflow of the remote control system 1000 for the assisted vessel-warming interventional operation device simulating the doctor's operation and feeling in the embodiment of fig. 1, and is not repeated here.
One implementation is shown in fig. 4 in terms of sensing the physician's intent to push a guide wire/catheter straight. For example, in the embodiment of fig. 1, 2 and 3, linear motion adjustable resistance generator 302 is voice coil motor 3021 and rotary motion adjustable resistance generator 401 is rotary motor 401a. The controller module 6 of the remote control system 1000 for the auxiliary device for the universal vascular intervention operation, which simulates the operation and feeling of a doctor, calculates the intention of pushing the guide wire/catheter to move linearly, namely slow, accelerated, retreated and the like, of the doctor through the motion direction and the motion acceleration of the motion module 8 measured by the displacement sensor 7, and sends a control instruction to the end effector. The moving module 8 moves in the voice coil motor 3021 and is a part of the movable output of the voice coil motor 3021. The displacement sensor 7 may be in the form of a photo-electric, but is not limited thereto. In some embodiments, the diameter and shape of the handle 2 is close to or corresponds to the outer diameter and shape of the catheter/guidewire holding operator, such as knurling on the handle 2 or a plurality of bosses evenly distributed parallel to the axis. In this way. Thus, the doctor can more truly simulate the original operation feeling by holding the handle 2 with hands as the existing catheter/guide wire clamp.
In some embodiments, the surgical instrument further comprises a wrist supporting part 5, the wrist supporting part 5 is arranged on the rack 1, and the wrist supporting part 5 is close to the operating handle in height and used as a hand support for a doctor to operate, so that the operation of the doctor is facilitated, the shaking of the doctor handle 2 is avoided, and the operation quality is improved. The wrist supporting part 5 is provided with a soft cushion to improve the comfort of the hand support.
The invention also provides an interventional operation auxiliary device in a second aspect.
The interventional operation auxiliary device according to the embodiment of the second aspect of the invention comprises a remote control system 1000 of the auxiliary device for the endovascular intervention operation, which simulates the operation and feeling of a doctor, and an end effector. The linear motion adjustable resistance generator 302 is used for collecting linear motion information of the handle 2 under push-pull and sending the linear motion information to the end effector, and the twist motion module 4 is used for collecting rotation motion information of the handle 2 under twist and sending the rotation motion information to the end effector; the end effector operates according to the received linear motion information and the received rotary motion information, the self stress and the motion condition of the end effector are detected to obtain a linear resistance signal and a rotary resistance signal, the linear resistance signal and the rotary resistance signal are transmitted back to the linear motion adjustable resistance generator 302 and the twisting motion module 4, the linear motion adjustable resistance generator 302 carries out linear resistance feedback on the handle 2, and the twisting motion module 4 carries out rotary resistance feedback on the handle 2.
Since the interventional operation assisting device according to the second aspect of the present invention employs the remote control system 1000 of the assisted vessel-expanding interventional operation device for simulating doctor operation and feeling according to the first aspect of the present invention, the interventional operation assisting device according to the second aspect of the present invention has the same advantages as the remote control system 1000 of the assisted vessel-expanding interventional operation device for simulating doctor operation and feeling according to the first aspect of the present invention, and thus, no further description is provided herein.
In the description of the specification, references to "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like, mean that a particular feature, structure, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
While embodiments of the invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.
Claims (11)
1. A remote control system of a pan-vascular interventional operation auxiliary device for simulating operation and feeling of a doctor is characterized by comprising:
a frame;
a handle;
the feeding module comprises a linear motion restraint device and a linear motion adjustable resistance generator, the handle is supported on the rack through the linear motion restraint device, the linear motion adjustable resistance generator is connected with one end of the handle, and the linear motion adjustable resistance generator is used for collecting linear motion information of the handle under push and pull, sending the linear motion information to the end effector, receiving a linear resistance signal sent by the end effector and carrying out linear resistance feedback on the handle;
the twisting motion module is connected with the other end of the handle, and is used for collecting the rotation motion information of the handle under twisting and sending the rotation motion information to the end effector, receiving the rotation resistance signal sent by the end effector and feeding back the rotation resistance of the handle.
2. The remote control system for a endovascular intervention device simulating physician operation and feeling as set forth in claim 1, wherein the linear motion centerline of the adjustable resistance to linear motion generator is parallel to or coincides with the centerline of the handle.
3. The remote control system for the auxiliary device of the universal vascular intervention surgery simulating the operation and feeling of a doctor according to claim 1, wherein the generator of the adjustable resistance of the linear motion is a linear motor, a voice coil motor or a hydraulic adjustable damping cylinder in a linear motion mode.
4. The remote control system for a vessel-expanding interventional operation auxiliary device simulating doctor's operation and feeling as claimed in claim 1, wherein the linear motion constraining means is a linear slide rail assembly in the form of a linear bearing or a sliding chute.
5. The remote control system for a endovascular intervention device simulating physician operation and sensation as defined in claim 1, wherein the rotation module comprises an adjustable resistance generator for rotation, the adjustable resistance generator for rotation is configured to collect rotation information of the handle under rotation and send the rotation information to the end effector, and configured to receive a rotation resistance signal from the end effector and perform rotation resistance feedback on the handle.
6. A remote control system of a vessel-warming interventional operation auxiliary device simulating doctor operation and feeling according to claim 1, characterized in that a rotation center line of the rotation motion adjustable resistance generator is parallel to or coincident with a center line of the handle.
7. The remote control system for a vessel-warming interventional operation auxiliary device simulating doctor's operation and feeling as set forth in claim 6, wherein the rotary motion adjustable resistance generator is a rotary motor, a rotary voice coil motor or a hydraulic adjustable damping cylinder in a rotary motion mode.
8. The remote control system for a endovascular intervention surgical aid simulating physician's operation and feeling as claimed in claim 7, wherein the rotary motor is a first rotary motor with a first rotation detection encoder; the feeding module further comprises a sliding block, a guide rail parallel to the central line of the handle is arranged on the rack, and the sliding block is arranged on the guide rail; a stator part of the first rotating motor is fixed on the sliding block, and a rotor part of the first rotating motor is coaxially fixed with the other end of the handle;
or the rotating motor is a second rotating motor with a second rotation detection encoder; a stator part of the second rotating motor is fixed on the rack, and a rotor part of the second rotating motor is in linear sliding fit with one end of the handle in the axial direction and is in fixed fit in the circumferential direction;
or the rotating motor is a third rotating motor with a third rotation detection encoder; the twisting motion module also comprises a first synchronous belt wheel, a second synchronous belt wheel and a synchronous belt; the stator part of the third rotating motor is fixed on the rack, the rotor part of the third rotating motor is coaxially fixed with the first synchronous belt pulley, the first synchronous belt pulley is connected with the second synchronous belt pulley through the synchronous belt, and the second synchronous belt pulley is in linear sliding fit with one end of the handle in the axial direction and is in fixed fit with the handle in the circumferential direction.
9. The remote control system for the auxiliary device of the vessel-expanding interventional operation, which simulates the operation and feeling of a doctor, as claimed in any one of claims 1 to 8, wherein the diameter and the shape of the handle are close to or consistent with the outer diameter and the shape of the catheter/guide wire clamping manipulator.
10. The remote control system for a endovascular procedure aid which simulates the operation and feel of a physician according to any one of claims 1-8, further comprising a wrist support, said wrist support being disposed on said frame.
11. An interventional procedure assistance device, comprising:
the remote control system and the end effector of the endovascular intervention assistance device simulating the operation and feeling of a physician in accordance with any one of claims 1-10,
the linear motion adjustable resistance generator is used for collecting linear motion information of the handle under push-pull and sending the linear motion information to the end effector, and the twisting motion module is used for collecting rotary motion information of the handle under twisting and sending the rotary motion information to the end effector; the end effector operates according to the received linear motion information and the received rotary motion information, detects the stress and motion conditions of the end effector to obtain the linear resistance signal and the rotary resistance signal, and transmits the linear resistance signal and the rotary resistance signal back to the linear motion adjustable resistance generator and the twisting motion module, the linear motion adjustable resistance generator performs linear resistance feedback on the handle, and the twisting motion module performs rotary resistance feedback on the handle.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211124600.XA CN115429442A (en) | 2022-09-15 | 2022-09-15 | Remote control system of auxiliary device for intervascular intervention operation for simulating operation and feeling of doctor |
| PCT/CN2022/122170 WO2024055361A1 (en) | 2022-09-15 | 2022-09-28 | Remote control system of pan-vascular interventional surgery auxiliary device for simulating operation and feeling of doctor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211124600.XA CN115429442A (en) | 2022-09-15 | 2022-09-15 | Remote control system of auxiliary device for intervascular intervention operation for simulating operation and feeling of doctor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115429442A true CN115429442A (en) | 2022-12-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211124600.XA Pending CN115429442A (en) | 2022-09-15 | 2022-09-15 | Remote control system of auxiliary device for intervascular intervention operation for simulating operation and feeling of doctor |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115429442A (en) |
| WO (1) | WO2024055361A1 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116473684A (en) * | 2023-04-26 | 2023-07-25 | 极限人工智能有限公司 | Vascular intervention robot simulation handle based on optical tracking and operation method |
| CN117814921A (en) * | 2024-03-05 | 2024-04-05 | 北京中科鸿泰医疗科技有限公司 | Interventional operation robot control end handle and vascular interventional operation robot |
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| WO2006120666A1 (en) * | 2005-05-10 | 2006-11-16 | Navicath Ltd. | User interface for remote control catheterization |
| AU2006268156B2 (en) * | 2005-07-11 | 2012-04-19 | Catheter Precision, Inc. | Remotely controlled catheter insertion system |
| GB201217905D0 (en) * | 2012-10-05 | 2012-11-21 | Imp Innovations Ltd | A device |
| CN103976765B (en) * | 2014-05-16 | 2016-08-17 | 天津理工大学 | A kind of principal and subordinate's interventional surgery aid system main side operator device |
| CN108309370B (en) * | 2018-02-02 | 2019-10-29 | 上海交通大学 | A kind of gradual cardiovascular and cerebrovascular intervention operation robot |
| CN110141365B (en) * | 2019-05-06 | 2021-01-26 | 清华大学 | Blood vessel intervention operation auxiliary device remote control system for simulating doctor operation |
| CN113133833A (en) * | 2020-01-20 | 2021-07-20 | 上海奥朋医疗科技有限公司 | Blood vessel intervention robot operating handle with guide wire catheter propulsion resistance feedback |
| CN113729965B (en) * | 2021-08-31 | 2023-06-16 | 深圳市爱博医疗机器人有限公司 | Main end control device of interventional operation robot |
| CN113827343B (en) * | 2021-10-12 | 2023-10-03 | 复旦大学 | Minimally invasive vascular interventional operation robot operating device |
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2022
- 2022-09-15 CN CN202211124600.XA patent/CN115429442A/en active Pending
- 2022-09-28 WO PCT/CN2022/122170 patent/WO2024055361A1/en unknown
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116473684A (en) * | 2023-04-26 | 2023-07-25 | 极限人工智能有限公司 | Vascular intervention robot simulation handle based on optical tracking and operation method |
| CN116473684B (en) * | 2023-04-26 | 2024-06-04 | 极限人工智能有限公司 | Vascular intervention robot simulation handle based on optical tracking and operation method |
| CN117814921A (en) * | 2024-03-05 | 2024-04-05 | 北京中科鸿泰医疗科技有限公司 | Interventional operation robot control end handle and vascular interventional operation robot |
| CN117814921B (en) * | 2024-03-05 | 2024-06-11 | 北京中科鸿泰医疗科技有限公司 | Interventional operation robot control end handle and vascular interventional operation robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024055361A1 (en) | 2024-03-21 |
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