CN-224206889-U - Intervene rotation axis subassembly that consumable delivery mechanism has forced perception

CN224206889UCN 224206889 UCN224206889 UCN 224206889UCN-224206889-U

Abstract

The utility model discloses a rotating shaft assembly with a force sensing function of an intervention consumable delivery mechanism, wherein a rotating shaft is rotatably arranged in a rotating shaft driving seat, a first connecting part or a handle of the intervention consumable is rotatably arranged in the rotating shaft through a bearing structure or a shaft sleeve structure, the first connecting part can be in locking connection with the intervention consumable, an axial force sensing element measures the axial force of the intervention consumable, a torque force sensing element measures the torque of the intervention consumable in the direction around an axis, the axial force sensing element and the torque force sensing element are respectively and independently connected to the rotating shaft, or the axial force sensing element is connected to the rotating shaft, and the torque force sensing element is indirectly connected to the rotating shaft through the axial force sensing element. The rotary shaft assembly can clamp and drive the intervention consumable to rotate, can detect the axial force and torque of the intervention consumable, provides powerful support for the force feedback technology of the main hand end, and has more accurate detection and higher sensitivity.

Inventors

WANG XUETANG
WU FAN
FU GUANGMING
LIAO FUXI
ZHU JINLI

Assignees

杭州大士科技有限公司

Dates

Publication Date: 20260508
Application Date: 20250207
Priority Date: 20250122

Claims (10)

1. A rotary shaft assembly with force sensing of an intervention consumable delivery mechanism is characterized by comprising a rotary shaft, an axial force sensing element and a torque force sensing element, wherein a first connecting part or a handle of the intervention consumable is rotatably arranged in the rotary shaft through a bearing structure or a shaft sleeve structure, the first connecting part can be in locking connection with the intervention consumable, the axial force sensing element measures the axial force received by the intervention consumable, the torque force sensing element measures the torque received by the intervention consumable in the direction around an axis, the axial force sensing element and the torque force sensing element are respectively and independently connected to the rotary shaft, or the axial force sensing element is connected to the rotary shaft, and the torque force sensing element is indirectly connected to the rotary shaft through the axial force sensing element.
2. The rotating shaft assembly with force sensing for the interventional consumable delivery mechanism of claim 1, wherein the first connecting portion or the handle of the interventional consumable is axially movable and circumferentially rotatable on the rotating shaft through a shaft sleeve structure, and the shaft sleeve structure is one or a combination of a ball bearing shaft sleeve, a magnetic suspension shaft sleeve, an air shaft sleeve and a hydraulic shaft sleeve.
3. The rotating shaft assembly with force sensing of the interventional consumable delivery mechanism of claim 2, wherein the torque force sensing element is a combination of a force sensor and a torque conversion structure, a fixed end of the force sensor is fixedly connected with the rotating shaft or a force measuring end of the axial force sensing element, a first connecting part or a handle of the interventional consumable is in transmission connection with the force measuring end of the force sensor through the torque conversion structure, the torque received by the first connecting part or the handle of the interventional consumable is converted into a push-pull force to act on the force sensor, and the torque received by the interventional consumable can be converted by combining a force arm after the push-pull force is measured; Or the torque force sensing element is a combination of a torque sensor and a torque amplifying structure, the fixed end of the torque sensor is fixedly connected with the rotating shaft, the first connecting part or the handle of the intervention consumable is in transmission connection with the torque measuring end of the torque sensor through the torque amplifying structure, the torque received by the first connecting part or the handle of the intervention consumable is amplified and then acts on the torque sensor, and the torque received by the intervention consumable can be converted by combining the torque amplifying proportion after the torque is measured; The axial force sensing element is a combination of an axial force sensor and an axial force coupling structure, a fixed end of the axial force sensor is fixedly connected with the rotating shaft, and the first connecting part or a handle inserted into consumable is directly connected with a force measuring end of the axial force sensor in a transmission way through the axial force coupling structure; Or the force measuring end of the axial force sensor is connected with the fixed end of the force measuring sensor, the first connecting part or the handle of the intervention consumable is in transmission connection with the force measuring end of the force measuring sensor through the axial force coupling structure, and at the moment, the axial force coupling structure is also a torque conversion structure, so that the axial force received by the first connecting part or the handle of the intervention consumable acts on the axial force sensor.
4. The rotary shaft assembly with force sensing of the intervention consumable delivery mechanism of claim 3, wherein when the torque force sensing element is indirectly connected to the rotary shaft through the axial force sensing element and is a combination of the force transducer and the torque conversion structure, the torque conversion structure adopts a pin hole structure, the pin hole structure comprises a poking pin or a through hole arranged on a first connecting part or a handle of the intervention consumable, the force measuring end of the axial force transducer is fixedly connected with a connecting plate, the connecting plate is fixedly connected with the fixed end of the force transducer, the force measuring end of the force transducer is fixedly connected with a force transmission plate, the force transmission plate is correspondingly provided with a through hole or poking pin, the poking pin penetrates through the through hole and is clung to the side wall of the through hole, the torque received by the intervention consumable is converted into push-pull force by the poking pin under the guidance of the shaft sleeve structure, and the axial force received by the intervention consumable is directly transmitted to the axial force transducer through the poking pin and the force transmission plate; When torque force sensing element and axial force sensing element are respectively and independently connected on the rotation axis, and torque force sensing element is the combination of force transducer and moment of torsion conversion structure, moment of torsion conversion structure adopts first cotter way structure, axial force coupling structure adopts the second cotter way structure, first cotter way structure is including setting up first group round pin or first notch on the handle of first connecting portion or intervention consumptive material, the force transducer's the first notch of correspondence that is equipped with on the force transducer's the force measurement end, the direction of first notch is on a parallel with the axial of the handle of first connecting portion or intervention consumptive material, first group round pin stretches into first notch, the second cotter way structure includes setting up the second group round pin or the second notch on the force transducer's the force measurement end that is equipped with the handle of first connecting portion or intervention consumptive material, the second group round pin stretches into the second notch, the torque that intervenes the consumptive material received is under the guide of first cotter way structure, it is transferred to push-pull force to force transducer, it receives the axial force transducer through the second connecting portion or intervention consumptive material's the direct connection of axial force transducer with the rotation axis, the axial force transducer all receives the axial force transducer through the axial force transducer's the axial force transducer.
5. The rotating shaft assembly with force sensing function of the interventional consumable delivery mechanism of claim 4, wherein the through hole of the force transmission plate is internally provided with a spherical hinge hole, a force transmission spherical hinge is clamped in the spherical hinge hole, the force transmission spherical hinge is in shape fit with the spherical hinge hole and can rotate, the force transmission spherical hinge is provided with a round hole for a poking pin to pass through, and the poking pin can slide relatively in the round hole of the force transmission spherical hinge.
6. The rotating shaft assembly with the powerful sensing function of the interventional consumable delivery mechanism of claim 1, wherein the rotating shaft is internally provided with a rotating sleeve, the rotating sleeve is sleeved on a first connecting part, the first connecting part is axially limited and circumferentially rotatably arranged on the rotating sleeve through a bearing structure, and the bearing structure is one or a combination of a rolling body bearing structure, a magnetic suspension bearing structure and an air bearing structure.
7. The rotating shaft assembly with force sensing of the interventional consumable delivery mechanism of claim 6, wherein the axial force sensing element is an axial force sensor, the rotating sleeve is fixedly connected with a force measuring end of the axial force sensor, a fixed end of the axial force sensor is fixedly connected with the rotating shaft, axial force received by the first connecting part is transmitted to the rotating sleeve through a bearing structure, and the rotating sleeve transmits the axial force to the axial force sensor; The torque force sensing element is a combination of a force measuring sensor and a torque conversion structure, a fixed end of the force measuring sensor is fixedly connected with the rotating shaft, the first connecting part is in transmission connection with a force measuring end of the force measuring sensor through the torque conversion structure, the torque received by the first connecting part is converted into push-pull force to act on the force measuring sensor, and the torque received by the intervention consumable can be converted by combining a force arm after the push-pull force is measured; or the torque force sensing element is a combination of a torque sensor and a torque amplifying structure, the fixed end of the torque sensor is fixedly connected with the rotating shaft, the first connecting part is in transmission connection with the torque measuring end of the torque sensor through the torque amplifying structure, the torque received by the first connecting part acts on the torque sensor after being amplified, and the torque received by the intervention consumable can be converted by combining the torque amplifying proportion after the torque is measured.
8. The rotating shaft assembly with force sensing function of the interventional consumable delivery mechanism of claim 7, wherein when the torque force sensing element is a combination of a force measuring sensor and a torque conversion structure, the rotating shaft assembly further comprises a sensor force transmission piece, the first connecting part is connected with the sensor force transmission piece through the torque conversion structure, the torque conversion structure is one or a combination of a direct connection structure, a hinge structure, a toggle structure, a linear transmission structure and a pin hole structure, the fixed end of the force measuring sensor is fixed on the rotating shaft, the force measuring end of the force measuring sensor is fixedly connected with or integrally formed with the sensor force transmission piece, and the force measuring axis of the force measuring sensor is perpendicular to the axis of the rotating shaft.
9. The rotating shaft assembly with force sensing of the interventional consumable delivery mechanism of claim 7, wherein when the torque force sensing element is a combination of a torque sensor and a torque amplifying structure, the torque amplifying structure is one or a combination of a poking pin structure, a connecting rod mechanism, a gear mechanism, a belt transmission mechanism and a wire transmission mechanism, the rotating shaft assembly further comprises a torque transmission part, the first connecting part is in transmission connection with the torque transmission part through the torque amplifying structure, the fixed end of the torque sensor is fixed on the rotating shaft, the torque measuring end of the torque sensor is fixedly connected with or integrally formed with the torque transmission part, and the torque measuring axis of the torque sensor is parallel to the axis of the rotating shaft.
10. The rotary shaft assembly with the force sensing function of the interventional consumable delivery mechanism of claim 1, wherein the rotary shaft is of a shell structure formed by connecting a shell A and a shell B in an openable and closable manner, a part of gear rings are respectively arranged outside the shell A and the shell B, and after the shell A and the shell B are folded, the gear rings outside the shell A and the shell B are closed to form a complete gear ring.

Description

Intervene rotation axis subassembly that consumable delivery mechanism has forced perception Technical Field The utility model relates to the technical field of interventional robots, in particular to a rotating shaft assembly with a force sensing function of an interventional consumable delivery mechanism. Background Minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases. Under the guidance of the perspective imaging device, the interventional instrument is used for diagnosing and treating diseases through the physiological cavity, and compared with the traditional surgical operation, the medical instrument has the obvious advantages of good curative effect, high safety, small incision, short postoperative recovery time and the like. In the vascular intervention operation process, the method mainly comprises the steps of femoral artery/radial artery vascular puncture, collaborative progressive of a guide wire and a radiography catheter, digital Subtraction Angiography (DSA), collaborative progressive of a treatment guide wire and a balloon catheter, placement of a vascular stent and the like. In the operation, the cooperative progression of the guide wire, the guide tube and the balloon guide tube is a long-time link and is a link which needs to be carried out under the navigation of the X-ray auxiliary image. The current vascular intervention operation is usually completed manually by a doctor, in the operation process, because the DSA can emit X rays, the doctor needs to wear a thick lead coat to complete the operation, the physical strength of the doctor is reduced rapidly, the attention and the stability are also reduced, the operation precision is reduced, accidents such as vascular intima injury, vascular perforation rupture and the like caused by improper pushing force are easy to occur, the life of a patient is dangerous, and the spine of the doctor is damaged after the lead coat is worn for a long time. Second, long-term ionizing radiation accumulation injuries can greatly increase the chances of a doctor suffering from leukemia, cancer, and acute cataracts. Therefore, in order to ensure physical health and operation quality of doctors, research and development efforts on interventional operation robots are increasing, and robots capable of being clinically applied are increasing. The prior interventional operation robot mainly adopts a master-slave end operation structure to isolate doctors from radioactive environment, the prior interventional operation robot slave end device needs to clamp an elongated medical instrument such as a catheter and a guide wire and move from the proximal end to the distal end, and the device moves the catheter and the guide wire forward and is delivered to a focus in a patient body (such as a blood vessel) through cooperative movement of the device, so that the doctors can conveniently carry out subsequent related treatment such as radiography, embolism malformation blood vessel, thrombus dissolution, stenosis blood vessel expansion and the like. The patent application of the patent application No. 2022116787026 to Shenzhen medical robot limited company is that the application No. 2022116787026 is an interventional operation robot slave end, the application No. 202211686818.4 is an interventional operation robot slave end, the application No. 202210923132.6 is an interventional operation robot slave end guide wire guide pipe control device, the application No. 202210326352.0 is an interventional operation robot slave end device, the power of a control pipe/guide wire is split, the delivery of a corresponding pipe is controlled through a pipe delivery mechanism, the rotation of the corresponding pipe is controlled through a pipe rotation mechanism, the delivery of the guide wire is controlled through a guide wire delivery mechanism, the rotation of the guide wire is controlled through a guide wire rotation mechanism, and the defects are that (1) the structures of the guide wire rotation mechanism and the guide wire rotation mechanism are complex, (2) the balloon delivery mechanism synchronously rotates with a driven roller through a driving roller, friction power is applied to the balloon guide wire, the balloon is delivered forwards under the action of the friction power, the balloon is powerless in the delivery process, the force feedback cannot be perceived, and therefore the safety of the operation cannot be ensured, and (3) the cooperative delivery of multiple guide wires cannot be realized. Therefore, it would be desirable to provide a rotating shaft assembly with a force sensing that facilitates rotational control of an interventional consumable, and to provide a solution to the problem of those skilled in the art. Disclosure of utility model In order to solve the above-mentioned technical problems, defects and technical requirements which cannot be met, the utility model aims to provide a rotating s