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CN-121242741-B - Surgical robot main end control device and vascular intervention surgical robot system

CN121242741BCN 121242741 BCN121242741 BCN 121242741BCN-121242741-B

Abstract

The invention relates to the technical field of medical instruments and discloses a surgical robot main end control device and a vascular interventional surgical robot system, wherein the surgical robot main end control device comprises a main end shell, a roller mechanism, a controller, a first gear damper, a track ball and a track ball, wherein the roller mechanism is rotatably arranged in the main end shell, part of the roller mechanism extends out of the main end shell, the controller is arranged in the main end shell and is respectively and electrically connected with the roller mechanism and a slave surgical robot so as to adjust the feeding state of the slave surgical robot according to signals generated by the roller mechanism, the first gear damper is arranged in the main end shell and meshed with the roller mechanism, and the track ball is rotatably arranged outside the main end shell and is in signal connection with a magnetic field generator in a catheter chamber through the controller. According to the invention, the first gear damper enables the roller mechanism to have damping sense when being rolled, so that adverse effects on the motion precision of the slave-end operation robot caused by slight hand shake of a doctor can be avoided, and the operation risk is reduced.

Inventors

  • HAN LONG
  • LIU FULIN

Assignees

  • 深圳市人工智能与机器人研究院
  • 招商局先进技术开发(深圳)有限公司

Dates

Publication Date
20260508
Application Date
20251205

Claims (11)

  1. 1. A surgical robot master control apparatus, comprising: a main end housing; The roller mechanism is rotatably arranged in the main end shell, and part of the roller mechanism extends out of the main end shell; the controller is arranged in the main end shell, and is respectively and electrically connected with the roller mechanism and the slave end operation robot so as to adjust the feeding state of the slave end operation robot according to signals generated by the roller mechanism; the first gear damper is arranged in the main end shell and meshed with the roller mechanism; The track ball is rotatably arranged on the outer side of the main end shell, is in signal connection with the magnetic field generator in the catheter chamber through the controller and is used for changing the magnetic field direction around the magnetic field generator; the magnetic field switch is arranged on the outer side of the main end shell and is electrically connected with the controller so as to turn on or off the magnetic field generator; the human body induction switch is electrically connected with the controller and is used for inducing a human body so as to control the magnetic field switch to be turned on or off; The indicator lamp is arranged on the outer side of the main end shell and is electrically connected with the controller so as to display the on state or the off state of the magnetic field generator; The roller mechanism includes a first roller assembly, the first roller assembly including: the first support is fixedly arranged in the main end shell, and the first gear damper is arranged on the first support; one end of the first rolling shaft is rotationally connected with the first support; The first gear is fixedly sleeved on the first roller and meshed with the first gear damper; the first roller is fixedly sleeved on the first roller, and part of the first roller extends out of the main end shell; The second support is opposite to the first support and fixedly arranged in the main end shell, and the other end of the first roller is rotationally connected with the second support; the first magnetic piece is arranged in the other end of the first roller; the first encoder is arranged on the second support and is electrically connected with the controller, the end part of the first roller, provided with the first magnetic piece, is coaxially arranged in the central hole of the first encoder, a gap is reserved between the first magnetic piece and the central hole, and the first encoder generates a signal through rotation of the first magnetic piece so as to adjust the feeding state of the guide wire of the slave-end surgical robot; the second gear is fixedly sleeved on the other end of the first rolling shaft; The motor is arranged on the second support and is electrically connected with the controller; And the third gear is fixedly sleeved on the rotating shaft of the motor and meshed with the second gear.
  2. 2. The surgical robot main end control device of claim 1, wherein the first roller assembly further comprises: the first support plate is arranged on the second support, and one side of the first encoder is arranged in a first mounting hole of the first support plate; The first end cover is arranged on the first supporting plate, and the other side of the first encoder is arranged in the first end cover.
  3. 3. The surgical robot main end control device according to claim 1, further comprising: The first key is arranged on the surface of the main end shell and is electrically connected with the controller and used for controlling the guide wire of the slave end surgical robot to rotate positively; And the second key is arranged on the surface of the main end shell and is electrically connected with the controller and used for controlling the guide wire of the slave end surgical robot to rotate reversely.
  4. 4. The surgical robot main end control device of claim 1, wherein the roller mechanism further comprises: At least one second roller assembly rotatably disposed within the main end housing and electrically connected to the controller, a portion of the second roller assembly extending out of the main end housing for manual scrolling, signals generated after the second roller assembly is triggered for adjusting a feeding state of a microcatheter of the slave end surgical robot and/or an intermediate catheter of the slave end surgical robot; the second gear damper is arranged in the main end shell and is in meshed connection with one end of the second roller assembly.
  5. 5. The surgical robot main end control device of claim 4, wherein the second roller assembly comprises: the third support is fixedly arranged in the main end shell, and the second gear damper is arranged on the third support; one end of the second rolling shaft is rotationally connected with the third support; the fourth gear is fixedly sleeved on the second rolling shaft and meshed with the second gear damper; the second roller is fixedly sleeved on the second roller, and part of the second roller extends out of the main end shell; The fourth support is opposite to the third support and fixedly arranged in the main end shell, and the other end of the second rolling shaft is rotationally connected with the fourth support; the second magnetic piece is arranged in the other end of the second rolling shaft; the second encoder is arranged on the fourth support and is electrically connected with the controller, and the end part of the second rolling shaft, provided with the second magnetic piece, is coaxially arranged in the central hole of the second encoder, and a gap is reserved between the second rolling shaft and the central hole.
  6. 6. The surgical robot main end control device of claim 5, wherein the second roller assembly further comprises: The second supporting plate is arranged on the fourth support, and one side of the second encoder is arranged in a second mounting hole of the second supporting plate; the second end cover is arranged on the second supporting plate, and the other side of the second encoder is arranged in the second end cover.
  7. 7. The surgical robot main end control device of claim 6, further comprising: at least one third key arranged on the surface of the main end shell and electrically connected with the controller, and used for controlling the micro-catheter of the slave end operation robot and/or the middle catheter of the slave end operation robot to rotate positively; And at least one fourth key, which is arranged on the surface of the main end shell and is electrically connected with the controller, and is used for controlling the micro-catheter of the slave end operation robot and/or the middle catheter of the slave end operation robot to reverse.
  8. 8. The surgical robot main end control device according to claim 1, further comprising: damping the rotating shaft; The display screen is rotationally connected with the main end shell through the damping rotating shaft and is electrically connected with the controller.
  9. 9. The surgical robot main end control device according to claim 8, wherein a screen wire cover is arranged on the back side of the display screen, a damping rotating shaft cover is arranged on the outer side of the main end shell, a fixed end of the damping rotating shaft is fixedly connected with the inside of the damping rotating shaft cover, a movable end of the damping rotating shaft is fixedly connected with the inside of the screen wire cover, the inside of the damping rotating shaft is hollow to form a wire hole, and a wire connected between the display screen and the controller penetrates through the wire hole.
  10. 10. The surgical robot main end control device according to claim 1, further comprising: The power line interface is arranged on the outer side of the main end shell and is electrically connected with the controller; The network cable interface is arranged on the outer side of the main end shell and is electrically connected with the controller; the power switch is arranged on the outer side of the main end shell and is electrically connected with the controller; And the emergency stop switch is arranged on the outer side of the main end shell and is electrically connected with the controller.
  11. 11. A vascular interventional surgical robot system comprising a surgical robot main end control device according to any one of claims 1-10.

Description

Surgical robot main end control device and vascular intervention surgical robot system Technical Field The invention relates to the technical field of medical instruments, in particular to a surgical robot main end control device and a vascular intervention surgical robot system. Background Vascular interventional surgical robots are becoming an important tool in the field of treatment of cerebrovascular, cardiovascular and peripheral vascular diseases. In the traditional vascular intervention operation, a doctor needs to wear a heavy lead coat to control instruments in a catheter room (a special department used for interventional diagnosis and treatment operation in a hospital), physical strength of the doctor is easy to be reduced, attention and operation stability are also affected, and probability of medical accidents is also randomly increased, so that the current operation of controlling a main-end control device outside the catheter is generally performed to control a slave-end surgical instrument to treat a blood vessel. The existing main end control equipment usually adopts a rocker to control the feeding speed of the instrument, controls the speed of a motor on the slave end by controlling the movement amount of the rocker, has simple structure and easy production and assembly, however, when a doctor controls the rocker, the speed of the motor of the slave end instrument is changed easily due to the careless slight shake of the doctor's hand, and the movement precision of the instrument is affected. Disclosure of Invention In view of the above-mentioned shortcomings of the prior art, the present invention aims to provide a surgical robot master end control device and a vascular interventional surgical robot system, which aim to solve the problem that in the prior art, a rocker in a master end control device is easy to slightly shake due to carelessness of a doctor's hand, so that the motor speed of a slave end instrument changes, and the movement accuracy of the instrument is affected. The technical scheme adopted for solving the technical problems is as follows: in a first aspect, an embodiment of the present invention provides a surgical robot main end control device, including: a main end housing; The roller mechanism is rotatably arranged in the main end shell, and part of the roller mechanism extends out of the main end shell; the controller is arranged in the main end shell, and is respectively and electrically connected with the roller mechanism and the slave end operation robot so as to adjust the feeding state of the slave end operation robot according to signals generated by the roller mechanism; the first gear damper is arranged in the main end shell and meshed with the roller mechanism; and the track ball is rotatably arranged on the outer side of the main end shell, is in signal connection with the magnetic field generator in the catheter chamber through the controller and is used for changing the magnetic field direction around the magnetic field generator. Further, the roller mechanism includes a first roller assembly, the first roller assembly including: the first support is fixedly arranged in the main end shell, and the first gear damper is arranged on the first support; one end of the first rolling shaft is rotationally connected with the first support; The first gear is fixedly sleeved on the first roller and meshed with the first gear damper; the first roller is fixedly sleeved on the first roller, and part of the first roller extends out of the main end shell; The second support is opposite to the first support and fixedly arranged in the main end shell, and the other end of the first roller is rotationally connected with the second support; the first magnetic piece is arranged in the other end of the first roller; The first encoder is arranged on the second support and is electrically connected with the controller, the end part of the first roller, provided with the first magnetic piece, is coaxially arranged in the central hole of the first encoder, a gap is reserved between the first encoder and the central hole, and the first encoder rotates through the first magnetic piece to generate a signal so as to adjust the feeding state of the guide wire of the slave-end operation robot. Further, the first roller assembly further includes: the second gear is fixedly sleeved on the other end of the first rolling shaft; The motor is arranged on the second support and is electrically connected with the controller; And the third gear is fixedly sleeved on the rotating shaft of the motor and meshed with the second gear. Further, the first roller assembly further includes: the first support plate is arranged on the second support, and one side of the first encoder is arranged in a first mounting hole of the first support plate; The first end cover is arranged on the first supporting plate, and the other side of the first encoder is arranged in the first end cover. Further, the surgical