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CN-224206891-U - Vascular intervention operation robot and main end control mechanism thereof

CN224206891UCN 224206891 UCN224206891 UCN 224206891UCN-224206891-U

Abstract

The present disclosure provides a vascular interventional operation robot and a main end control mechanism thereof, which belongs to the technical field of medical instruments, wherein the main end control mechanism comprises a control piece; the detection assembly comprises a detection piece and a photoelectric sensor, wherein the photoelectric sensor is provided with a detection area, at least part of the detection piece can generate displacement relative to the detection area when the control piece swings, so that the photoelectric sensor can detect the swinging condition of the control piece and output detection results, and the controller is used for judging whether the detection results output by the photoelectric sensor are consistent with the detection results of the inclination encoder or not and therefore selectively controlling the long and straight insertion consumable to execute corresponding actions according to the action information of the control piece. The main end control mechanism provided by the disclosure is higher in reliability and better in safety.

Inventors

  • ZHENG XUEFENG
  • LI HAOMIN

Assignees

  • 北京万思医疗科技有限公司

Dates

Publication Date
20260508
Application Date
20250407

Claims (10)

  1. 1. A main end control mechanism of a vascular interventional surgical robot, comprising: a manipulation member for controlling the slave-end action of the vascular intervention surgical robot and thus the corresponding action of the long straight intervention consumable clamped by the slave-end when being manipulated; the inclination encoder is used for detecting swing information of the control piece; The detection assembly comprises a detection piece and a photoelectric sensor, wherein the photoelectric sensor is provided with a detection area, and when the control piece swings, at least part of the detection piece can be displaced relative to the detection area, so that the photoelectric sensor can detect the swinging condition of the control piece and output a detection result; And the controller is used for judging whether the detection result output by the photoelectric sensor is consistent with the detection result of the inclination encoder and selectively controlling the long and straight intervention consumable to execute corresponding actions according to the action information of the control piece.
  2. 2. The primary end-effector mechanism of claim 1, wherein the photosensor comprises: the emission module is used for emitting the light source; The receiving module is used for receiving the optical signals emitted by the emitting module, the receiving module is arranged opposite to the emitting module, and a cavity between the emitting module and the receiving module forms the detection area; The detection piece comprises a triggering part, wherein the triggering part is positioned between the transmitting module and the receiving module and is used for changing the on-off state of an optical path between the transmitting module and the receiving module; The detection piece is connected with the control piece, the trigger part is driven to swing in a first plane when the control piece swings, and the arrangement direction of the transmitting module and the receiving module is perpendicular to the first plane.
  3. 3. The main end control mechanism according to claim 2, wherein the triggering portion is provided with a light-transmitting slot for the light emitted by the emitting module to pass through to reach the receiving module.
  4. 4. A primary end manipulation mechanism according to claim 3, wherein the cross-section of the light-transmissive slot in the first plane is an axisymmetric pattern symmetric about a first axis that intersects the light source emitted by the emission module when the trigger portion is in the zero position.
  5. 5. The primary end effector of claim 4, wherein the light-transmissive channel is a fan-shaped channel.
  6. 6. The primary end-effector mechanism of any one of claims 1 to 5, further comprising: The connecting piece comprises an input end and an output end, the input end of the connecting piece is connected with the operating piece, and the output end of the connecting piece is connected with the detecting piece; The inclination encoder is connected to the output end of the connecting piece, and swing information of the operating piece is synchronously transmitted to the inclination encoder and the detecting piece through the connecting piece.
  7. 7. The primary end-effector as claimed in claim 6, further comprising: And the rebound assembly is connected with the connecting piece and is used for rebounding the swinging operating piece to a zero position.
  8. 8. The main end effector as claimed in claim 6, wherein the connecting member includes a first link and a second link connected to each other, the first link extending in a direction perpendicular to the second link; The control piece is connected with the first connecting rod, and the inclination encoder and the detection piece are both connected with the second connecting rod.
  9. 9. The primary end-effector as claimed in claim 8, further comprising: The limiting seat is provided with a limiting groove, the limiting groove is used for limiting the operating piece to swing in a second plane, the extending direction of the limiting groove is parallel to the second plane, and the first connecting rod is movably embedded in the limiting groove.
  10. 10. A vascular interventional procedure robot comprising a slave and a master end steering mechanism according to any one of claims 1 to 9; The slave end comprises an intervention consumable execution device, and the control piece controls the long-straight intervention consumable action through the intervention consumable execution device.

Description

Vascular intervention operation robot and main end control mechanism thereof Technical Field The disclosure relates to the technical field of medical machinery, in particular to a vascular intervention surgical robot and a main end control mechanism thereof. Background At present, the interventional operation robot controls the interventional consumable material at the slave end to act in the blood vessel through the control mechanism at the master end, such as advancing, retreating or rotating. The control mechanism usually comprises a handle, a transmission mechanism, an encoder and other parts, during long-term use, the encoder itself and the transmission mechanism between the handle and the encoder have certain probability of damage and abrasion, and once the conditions occur, the encoder values acquired by the control system have large deviation, namely the encoder acquisition values fail, in this case, the motor action of the slave-end body is easy to be out of control, for example, the handle is in a zero position but the motor of the slave-end body is stopped, which leads to uncontrolled catheter and guide wire and seriously affects the safety of operation. Disclosure of utility model In order to overcome the problems in the related art, the present disclosure provides a vascular interventional operation robot and a main end control mechanism thereof, which have higher reliability and better safety. According to a first aspect of the present disclosure, there is provided a main end-effector of a vascular interventional surgical robot, comprising: a manipulation member for controlling the slave-end action of the vascular intervention surgical robot and thus the corresponding action of the long straight intervention consumable clamped by the slave-end when being manipulated; the inclination encoder is used for detecting swing information of the control piece; The detection assembly comprises a detection piece and a photoelectric sensor, wherein the photoelectric sensor is provided with a detection area, and when the control piece swings, at least part of the detection piece can be displaced relative to the detection area, so that the photoelectric sensor can detect the swinging condition of the control piece and output a detection result; And the controller is used for judging whether the detection result output by the photoelectric sensor is consistent with the detection result of the inclination encoder and selectively controlling the long and straight intervention consumable to execute corresponding actions according to the action information of the control piece. In some exemplary embodiments of the present disclosure, the photosensor includes: the emission module is used for emitting the light source; The receiving module is used for receiving the optical signals emitted by the emitting module, the receiving module is arranged opposite to the emitting module, and a cavity between the emitting module and the receiving module forms the detection area; The detection piece comprises a triggering part, wherein the triggering part is positioned between the transmitting module and the receiving module and is used for changing the on-off state of an optical path between the transmitting module and the receiving module; The detection piece is connected with the control piece, the trigger part is driven to swing in a first plane when the control piece swings, and the arrangement direction of the transmitting module and the receiving module is perpendicular to the first plane. In some exemplary embodiments of the present disclosure, the triggering portion is provided with a light-transmitting slot, so that the light emitted by the emitting module passes through to reach the receiving module. In some exemplary embodiments of the present disclosure, a cross section of the light-transmitting groove in the first plane is an axisymmetric pattern symmetric about the first axis, and the first axis intersects with the light source emitted by the emission module when the trigger part is in a zero position. In some exemplary embodiments of the present disclosure, the light-transmitting groove is a fan-shaped groove. In some exemplary embodiments of the present disclosure, the manipulator is configured to control the advance or retreat of the interventional consumable as it swings; The main end control mechanism further comprises: The connecting piece comprises an input end and an output end, the input end of the connecting piece is connected with the operating piece, and the output end of the connecting piece is connected with the detecting piece; The inclination encoder is connected to the output end of the connecting piece, and swing information of the operating piece is synchronously transmitted to the inclination encoder and the detecting piece through the connecting piece. In some exemplary embodiments of the present disclosure, the main end effector mechanism further includes: And the rebound assembly is connec