CN-224216882-U - Operating part touch detection device, circuit system and interventional operation robot

CN224216882UCN 224216882 UCN224216882 UCN 224216882UCN-224216882-U

Abstract

The utility model belongs to the field of medical robot control, and discloses an operation part touch detection device, a circuit system and an interventional operation robot, wherein the touch detection device detects the touch state of an operation part through a touch sensor module and outputs a first path of signal, whether a controller module detects the inching state of the operation part within a preset time threshold or not controls the output of a second path of signal, and the logic circuit module receives the first path of signal and the second path of signal, performs logic AND operation and outputs a final touch signal. The touch detection device provided by the utility model can not trigger safety risk when a human hand releases an operation part even if the touch sensor fails. The problem of the very big security risk that possibly brings when touch signal became invalid has been solved, the security of intervention operation robot has been improved.

Inventors

HAO JIANLIANG
YANG LIANGZHENG

Assignees

深圳爱博合创医疗机器人有限公司

Dates

Publication Date: 20260508
Application Date: 20250515

Claims (8)

1. The interventional operation robot operation part touch detection device comprises a master end control device and a slave end driving device which is in communication connection with the master end control device, wherein an operation part is arranged on the master end control device and used for controlling the movement of an interventional instrument on the slave end driving device, and a touch sensor is integrated on the operation part; The touch sensor module is used for detecting the touch state of the operation part based on the touch sensor and outputting a first path of signal; the controller module is used for controlling and outputting a second path of signal based on whether the inching state of the operation part is detected within a preset time threshold; the logic circuit module is used for receiving the first path of signals and the second path of signals, and outputting touch signals after finishing logical AND operation.
2. The interventional procedure robot manipulator touch detection device according to claim 1, wherein the touch sensor module is configured to output a high level when the touch signal is detected and the touch sensor module is configured to output a low level when the touch signal is not detected.
3. The interventional procedure robot operating part touch detection device according to claim 1, characterized in that the touch sensor is a capacitive sensor or a pressure sensor.
4. The interventional procedure robot manipulator touch detection device of claim 1, wherein the controller module comprises a displacement encoder and/or an angle encoder; The displacement encoder is used for detecting displacement change of the operation part in real time and outputting a first pulse signal, and the angle encoder is used for detecting angle change of the operation part in real time and outputting a second pulse signal.
5. The interventional surgical robot operating component touch detection device of claim 4, wherein the controller module further comprises a timer and a controller; The controller is used for controlling the timer to count when the first pulse signal and/or the second pulse signal are not detected, controlling the timer to count when the first pulse signal and/or the second pulse signal are detected to be clear, controlling the controller to output low level if the timer counts more than the preset time threshold value, and controlling the controller to output high level if the timer counts less than or equal to the preset time threshold value.
6. The interventional procedure robot manipulator touch detection device of claim 5, wherein the preset time threshold is 500ms.
7. The circuit system of the touch sensor isolation module is applied to an interventional operation robot, and comprises a main end control device, wherein an operation part is arranged on the main end control device, and a touch sensor is integrated on the operation part; the power isolation circuit unit is electrically connected with the input power supply and is used for generating a group of isolation power supplies isolated from the input power supply, and the isolation power supplies are used for supplying power to the touch sensor; The touch sensor unit is used for detecting the touch state of the operation part based on the touch sensor and outputting a touch signal; the optical coupling isolation circuit unit is used for receiving the touch signal and outputting an isolated touch signal to the main control board circuit unit; The main control board circuit unit is used for carrying out relevant signal processing operation based on the isolated touch signal.
8. An interventional procedure robot, characterized by comprising a circuit system of the interventional procedure robot operating part touch detection device of any one of claims 1-6 or the touch sensor isolation module of claim 7.

Description

Operating part touch detection device, circuit system and interventional operation robot Technical Field The utility model relates to the technical field of medical robot control, in particular to an operation part touch detection device, a circuit system and an interventional operation robot. Background In the interventional operation robot operation process, in order to prevent other parts from being mistakenly touched on the operation part to cause the robot to carry out unexpected movement, the progressive movement and rotation of the operation part can be effective only after an operator touches the operation part and detects the touch. To increase the operator's operational experience, touch detection uses a touch sensor to detect the human hand. After the operator wears gloves or lays an aseptic cover on the equipment, the touch sensor can well detect the aseptic cover, and the operation experience of the operator is very friendly. However, the touch sensor is susceptible to the surrounding environment and individual differences, and there is a small probability of failure risk, and in case of failure, there is a great safety risk. For example, when using an interventional surgical robot for surgery, the operator uses the speed mode (fixed speed mode and variable speed mode) for catheter guidewire delivery, the touch signal is the only motion command, and once the touch signal fails, the catheter guidewire can be advanced or retracted all the time, and there is a great safety risk. How to avoid the great security risk that may be brought about when the touch signal fails is therefore an urgent issue to be resolved. Disclosure of utility model The utility model provides an operation part touch detection device, a circuit system and an interventional operation robot, aiming at solving the problem of great safety risk possibly brought when a touch signal fails. In order to achieve the above object, a first aspect of the present utility model provides an interventional operation robot operation component touch detection device, where the interventional operation robot includes a master end control device and a slave end driving device communicatively connected to the master end control device, the master end control device is provided with an operation component, the operation component is used for controlling movement of an interventional instrument on the slave end driving device, the operation component is integrated with a touch sensor, and the operation component touch detection device includes a touch sensor module, a controller module and a logic circuit module; The touch sensor module is used for detecting the touch state of the operation part based on the touch sensor and outputting a first path of signal; the controller module is used for controlling and outputting a second path of signal based on whether the inching state of the operation part is detected within a preset time threshold; the logic circuit module is used for receiving the first path of signals and the second path of signals, and outputting touch signals after finishing logical AND operation. Further, the touch sensor module is used for outputting a high level when the touch signal is detected, and is used for outputting a low level when the touch signal is not detected. Further, the touch sensor is a capacitive sensor or a pressure sensor. Further, the controller module includes a displacement encoder and/or an angle encoder; The displacement encoder is used for detecting displacement change of the operation part in real time and outputting a first pulse signal, and the angle encoder is used for detecting angle change of the operation part in real time and outputting a second pulse signal. Further, the controller module also comprises a timer and a controller; The controller is used for controlling the timer to count when the first pulse signal and/or the second pulse signal are not detected, controlling the timer to count when the first pulse signal and/or the second pulse signal are detected to be clear, controlling the controller to output low level if the timer counts more than the preset time threshold value, and controlling the controller to output high level if the timer counts less than or equal to the preset time threshold value. Further, the preset time threshold is 500ms. The utility model provides a circuit system of a touch sensor isolation module, which is applied to an interventional operation robot, wherein the interventional operation robot comprises a main end control device, an operation part is arranged on the main end control device, a touch sensor is integrated on the operation part, and the circuit system of the touch sensor isolation module comprises an input power supply, a power supply isolation circuit unit, a touch sensor unit, an optical coupling isolation circuit unit and a main control board circuit unit; the power isolation circuit unit is electrically connected with the input power supply and is