CN108514448B - Guide wire and catheter control device of vascular intervention surgical robot - Google Patents
Guide wire and catheter control device of vascular intervention surgical robot Download PDFInfo
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- CN108514448B CN108514448B CN201711336307.9A CN201711336307A CN108514448B CN 108514448 B CN108514448 B CN 108514448B CN 201711336307 A CN201711336307 A CN 201711336307A CN 108514448 B CN108514448 B CN 108514448B
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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
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
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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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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M2210/00—Anatomical parts of the body
- A61M2210/12—Blood circulatory system
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Abstract
The utility model provides a vascular intervention surgical robot seal wire, pipe controlling means, including push mechanism, revolve and twist with fingers mechanism and control system, push mechanism includes fine tuning and coarse tuning, coarse tuning includes two stand pipe supports at interval, locate synchronous pulley drive mechanism between two stand pipe supports and by the first clamping device of synchronous pulley drive mechanism drive, fine tuning includes the fixed bolster, locate the removal support between this stand pipe support and the fixed bolster, be fixed in on the fixed bolster and can drive the relative fixed bolster of removal support forward, the lead screw nut subassembly of return motion and locate the second clamping device on the removal support, revolve and twist with fingers the mechanism including locating on the removal support and with second clamping device fixed connection in order to drive the rotatory gear drive mechanism of second clamping device. According to the invention, the pushing efficiency and precision of the guide wire and the guide pipe are improved, the connection between the whole system and the external connection is simpler, and the device has the advantages of easiness in operation, convenience in cleaning and disinfection.
Description
Technical Field
The invention relates to the technical field of medical robots, and particularly provides a guide wire and catheter control device of a vascular intervention surgical robot.
Background
The traditional treatment modes aiming at the cardiovascular diseases comprise medical drug treatment and surgical operation treatment. The traditional internal medicine treatment achieves the purpose of treatment by taking various medicines, but has the problems of poor treatment effect, high cost, incapability of radically treating the diseases and the like. The surgical operation treatment is to cut the tissue outside the human body for treatment, but the mode has the problems of great pain of the patient, long hospitalization recovery time, scar and the like.
With the development of medical intervention, interventional surgery is becoming an important means for treating cardiovascular diseases, and is a general term for a series of technologies that guide and monitor digital subtraction angiography, CT, ultrasound, magnetic resonance and other imaging devices, and guide a specific instrument into a diseased region of a human body through a natural duct or a tiny wound of the human body by using a puncture needle, a catheter and other interventional devices to perform minimally invasive treatment. The method has good therapeutic effect on cardiovascular diseases, and can achieve complete cure effect on certain diseases. However, up to now, the vascular intervention operation is still performed by directly manipulating guide wires and catheters by an operator, which has great disadvantages: 1) the operator can work in the environment of X-ray after wearing the lead clothes for a long time, but the lead clothes can not shield all X-rays, the radiation accumulated all the year round can cause great damage to the body of the operator, and meanwhile, the heavy lead clothes can cause burden to the body of the operator; 2) because the operation time is long and manual operation is adopted, the accuracy of the operation is poor, the adverse effect on the operation effect can be generated, and even the blood vessel of a patient can be seriously damaged; 3) because human blood vessels are complex, an operator needs to rely on image guidance and anatomical knowledge during operation, needs strong skill and has strong subjective intention. The existence of these problems makes the intervention impossible to be widely spread.
In response to the above-identified problems, researchers have introduced increasingly sophisticated robotics into interventional procedures. Most of the existing blood vessel intervention robots at present can be mainly divided into a friction driving type blood vessel intervention robot and a sliding platform type, wherein the friction driving type blood vessel intervention robot is simple in driving mode, small in overall size and compact in structure, but the problems that a guide wire intervention process is easy to slip due to too small clamping force of a friction wheel and the guide wire and the guide pipe are easy to damage due to too large clamping force exist, and the transmission precision of the overall mechanism is poor; the sliding platform type blood vessel intervention robot solves the problems that the transmission precision is poor and the like in the current friction driving type existing robot by utilizing lead screw transmission, but simultaneously has the problems that the whole size of the robot is large, the noise of the robot is large, a propulsion motor needs to frequently rotate forwards and backwards, the operation efficiency is low and the like, and the existing blood vessel intervention robot adopts an external driver and a controller and is powered by an external power supply, so that the whole robot system is large, large and complex.
Disclosure of Invention
The invention aims to provide a guide wire and catheter control device of a vascular intervention surgical robot, and aims to solve the technical problems of poor transmission precision of a friction drive type robot, large size of a sliding platform type machine, complex system and low surgical efficiency in the prior art.
In order to achieve the purpose, the invention adopts the technical scheme that: the utility model provides a vascular intervention surgical robot seal wire, pipe controlling device, including the push mechanism that is used for propelling movement seal wire, pipe axial motion, realize seal wire, pipe circumference rotary motion revolve twist with fingers mechanism and control push mechanism with revolve the control system who twists with fingers the coordinated operation of mechanism, push mechanism includes fine tuning and coarse tuning that sets gradually along seal wire, pipe advancing direction, coarse tuning includes that the interval sets up two stand pipe supports that are used for placing seal wire, pipe, locates two synchronous pulley drive between the stand pipe support and by synchronous pulley drive drives the first clamping device who is used for centre gripping seal wire, pipe, fine tuning is including the fixed bolster that is located one side of one of them stand pipe support, locate this stand pipe support with remove the support between the fixed bolster, be fixed in on the fixed bolster and can drive remove the support relatively the fixed bolster is toward the fixed bolster, The back-moving screw rod nut assembly and the second clamping device are arranged on the movable support and used for clamping the guide wire and the guide pipe, and the rotary twisting mechanism comprises a gear transmission mechanism which is arranged on the movable support and fixedly connected with the second clamping device so as to drive the second clamping device to rotate and be used for rotary twisting the guide wire and the guide pipe.
Further, synchronous pulley drive mechanism include the mounting panel of vertical setting, level and interval install in the positive driving synchronous pulley and the driven synchronous pulley of mounting panel, the cover is located driving synchronous pulley with on the driven synchronous pulley and be equipped with the hold-in range of dogtooth and locate the back of mounting panel is used for driving synchronous pulley's drive assembly.
Furthermore, the number of the first clamping devices is multiple, the first clamping devices are arranged on the synchronous belt pulley at intervals, and a limiting block matched with each first clamping device and used for clamping a guide wire and a guide pipe is arranged on the mounting plate and located on one side of each first clamping device.
Further, the first clamping device comprises a first clamping block and a second clamping block which are arranged oppositely and at intervals, a first reset spring and a first guide rod are arranged between the first clamping block and the second clamping block, the first clamping block is fixed on the synchronous belt and is far away from one side edge of the mounting plate, the second clamping block is arranged on the first guide rod in a sliding mode and can be pushed by the limiting block to move towards the first clamping block along the first guide rod so as to clamp the guide wire and the guide pipe between the first clamping block and the second clamping block.
Furthermore, a guide shaft sleeve facing the movable support is horizontally arranged on the fixed support, and the second clamping device is arranged facing the guide shaft sleeve and can enter the guide shaft sleeve under the driving of the movable support and clamp the guide wire and the guide pipe under the extrusion of the inner wall of the guide shaft sleeve.
Further, the second clamping device comprises a third clamping block, a fourth clamping block which is located above and opposite to the third clamping block, a second reset spring which is arranged between the third clamping block and the fourth clamping block and a second guide rod which is arranged between the third clamping block and the fourth clamping block, a clamping opening with an upward opening is formed in the third clamping block, the second guide rod is located beside the clamping opening, the fourth clamping block is sleeved on the second guide rod, the guide shaft sleeve is close to the inner wall of one end of the fixed support, the inner wall of one end of the fixed support is inwards sunken to form a groove used for releasing the fourth clamping block, a notch is formed in the side wall of the guide shaft sleeve, and the notch is formed by extending the opening edge of the guide shaft sleeve to the groove.
Further, a pressure sensor is arranged in the clamping port.
Further, the back of mounting panel still is equipped with hold-in range tightness adjusting device, driven synchronous pulley installation axle is fixed in on the hold-in range tightness adjusting device.
Further, hold-in range tight regulation device is including being fixed in regulation seat and regulating plate on the mounting panel, be equipped with the connecting block on the regulating plate, the connecting block with the regulation seat passes through adjusting nut fixed connection, driven synchronous pulley's installation axle passes the mounting panel is fixed in on the regulating plate.
Further, the driving assembly comprises a driving motor horizontally arranged, a first bevel gear arranged on an output shaft of the driving motor, and a second bevel gear arranged at the end part of a mounting shaft of the driving synchronous pulley and meshed with the first bevel gear.
Further, the screw-nut assembly comprises a screw motor horizontally arranged on the fixed support in a penetrating mode, a screw rod driven by the screw motor and a screw-nut, the screw-nut is fixed on the movable support, and the screw rod penetrates through the screw-nut and the movable support.
Furthermore, slide rails parallel to the screw rod are further arranged on two sides of the screw rod, each slide rail is provided with a slide block, and each slide block is fixedly connected with the movable support.
Furthermore, the gear transmission mechanism comprises a rotary twisting motor, a first gear and a second gear, wherein the rotary twisting motor is positioned between the movable support and the fixed support, a motor shaft of the rotary twisting motor horizontally penetrates through the movable support, the first gear is fixed on the motor shaft of the rotary twisting motor, the second gear is meshed with the first gear, a gear shaft of the second gear penetrates through the movable support, and the second clamping device is arranged on the gear shaft of the second gear.
Furthermore, a six-dimensional force sensor is arranged on a gear shaft of the second gear.
Further, the control system comprises a first controller for controlling the screw nut assembly, a second controller for controlling the gear transmission mechanism, a third controller for controlling the synchronous pulley transmission mechanism, a boosting module electrically connected with the first controller, the second controller and the third controller, a power supply for supplying power to the screw nut assembly, the gear transmission mechanism and the synchronous pulley transmission mechanism, a motion control card connected with the screw nut assembly, the gear transmission mechanism and the synchronous pulley transmission mechanism through a network cable, and an upper computer connected with the motion control card through the network cable.
The invention has the beneficial effects that:
when the control device works and needs to quickly push the guide wire and the catheter, the coarse adjustment mechanism arranged along the axial direction of the guide wire and the catheter quickly drives the first clamping device to push the guide wire and the catheter forward by utilizing the synchronous pulley transmission mechanism, so that the guide wire and the catheter can quickly move in a blood vessel which is easy to pass through and reach a blood vessel branch, and the use of X rays and a contrast agent is reduced; when the guide wire and the catheter enter a thinner blood vessel, the fine adjustment mechanism drives the second clamping device to push the guide wire and the catheter forward at a lower speed and higher accuracy by utilizing the lead screw nut component, so that the guide wire and the catheter can move in the thinner blood vessel, and the accuracy and the safety of the operation are ensured; meanwhile, the circumferential rotation motion of the guide wire and the guide pipe adopts a gear transmission mechanism to drive the second clamping device, the mechanism and the fine adjustment mechanism share the second clamping device, a gear is adopted for power transmission, the motion transmission precision is high, and the guide wire and the guide pipe can be twisted in a +/-300-degree precision mode. The control device provided by the invention avoids the problems of friction drive type and sliding platform type minimally invasive surgical robots in the prior art, improves the pushing efficiency and precision of guide wires and guide pipes, reduces the volume of the whole robot, enables the connection of the whole system and external connection to be simpler, and has the advantages of easiness in operation, convenience in cleaning and disinfection.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.
Fig. 1 is a schematic structural diagram of a guide wire and catheter control device of a vascular interventional surgical robot according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a coarse adjustment mechanism viewed from the back according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a coarse adjustment mechanism viewed from the front according to an embodiment of the present invention;
FIG. 4 is a schematic structural diagram of a limiting block according to an embodiment of the present invention;
FIG. 5 is a schematic structural diagram of a first clamping device according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a fine adjustment mechanism and a twisting mechanism according to an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a second clamping device provided in an embodiment of the present invention;
FIG. 8 is a schematic diagram of a control system provided by an embodiment of the present invention;
wherein, in the figures, the respective reference numerals:
10-guide wires, catheters; 20-a base plate; 100-a guide tube support; a 110-L shaped stent; 120-a guide tube; 200-synchronous pulley drive; 210-a mounting plate; 220-driving synchronous pulley; 230-a driven synchronous pulley; 240-synchronous belt; 250-a drive assembly; 251-a drive motor; 252-a first bevel gear; 253-a second bevel gear; 260-synchronous belt tightness adjusting device; 261-an adjusting seat; 262-an adjusting plate; 263-connecting block; 264-adjusting nut; 270-a limiting block; 271-pushing the top; 272-a fixed part; 300-a first clamping device; 310-a first clamping block; 320-a second clamping block; 330-a first return spring; 340-a first guide bar; 350-rubber block; 400-fixing the bracket; 410-a guide shaft sleeve; 411-grooves; 412-a notch; 500-moving the support; 600-a feed screw nut assembly; 610-screw motor; 620-screw mandrel; 630-screw nut; 640-a slide rail; 650-a slide block; 700-a second clamping device; 710-a third clamping block; 711-a clamping port; 720-a fourth clamping block; 721-fixed column; 730-a second return spring; 740-a second guide bar; 750-a pressure sensor; 800-a gear transmission mechanism; 810-a rotary twisting motor; 820-a first gear; 830-a second gear; 840-six-dimensional force sensor; 900-a control system; 910-a first controller; 920-a second controller; 930-a third controller; 940-a boost module; 950-a power supply; 960-a motion control card; 970-an upper computer; 980-switch.
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 drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Referring to fig. 1, the guide wire and catheter control device for a vascular intervention surgical robot according to an embodiment of the present invention includes a pushing mechanism for pushing the guide wire and the catheter 10 to move axially, a twisting mechanism for realizing circumferential rotation of the guide wire and the catheter 10, and a control system 900 for controlling the pushing mechanism and the twisting mechanism to operate in coordination. The pushing mechanism comprises a fine adjustment mechanism and a coarse adjustment mechanism which are sequentially arranged along the advancing direction of the guide wire and the catheter 10, the coarse adjustment mechanism comprises two guide pipe supports 100 which are arranged at intervals and used for placing the guide wire and the catheter 10, a synchronous pulley transmission mechanism 200 arranged between the two guide pipe supports 100, and a first clamping device 300 which is driven by the synchronous pulley transmission mechanism 200 and used for clamping the guide wire and the catheter 10, the fine adjustment mechanism comprises a fixed support 400 positioned at one side of one guide pipe support 100, a movable support 500 arranged between the guide pipe support 100 and the fixed support 400, a screw nut component 600 which is fixed on the fixed support 400 and can drive the movable support 500 to move back and forth relative to the fixed support 400, and a second clamping device 700 which is arranged on the movable support 500 and used for clamping the guide wire and the catheter 10, the rotary twisting mechanism comprises a first clamping device and a second clamping device 700 which are fixedly connected with the second clamping device 700 and arranged on the movable support 500 to drive the second clamping device 700 to rotate, Gear train 800 of catheter 10.
When the operation device in the embodiment of the invention works, when the guide wire and the catheter 10 need to be pushed rapidly, the coarse adjustment mechanism arranged along the axial direction of the guide wire and the catheter 10 utilizes the synchronous pulley transmission mechanism 200 to rapidly drive the first clamping device 300 to push the guide wire and the catheter 10 forward, so that the guide wire and the catheter 10 can rapidly move in a blood vessel which is easy to pass through and reach a blood vessel branch, and the use of X rays and contrast agents is reduced; when the guide wire and the catheter 10 enter a thin blood vessel, the fine adjustment mechanism drives the second clamping device 700 to push the guide wire and the catheter 10 forwards at a low speed and high accuracy by using the lead screw nut assembly 600, so that the guide wire and the catheter 10 can move in the thin blood vessel, and the accuracy and the safety of the operation are ensured; meanwhile, the circumferential rotation motion of the guide wire and the catheter 10 adopts the gear transmission mechanism 800 to drive the second clamping device 700, the mechanism and the fine adjustment mechanism share the second clamping device 700, the gears are adopted for power transmission, the motion transmission precision is high, and the guide wire and the catheter can be twisted in a +/-300-degree precise manner. The control device in the embodiment of the invention avoids the problems of two minimally invasive surgical robots of a friction drive type and a sliding platform type in the prior art, improves the pushing efficiency and precision of the guide wire and the guide pipe 10, reduces the volume of the whole robot, makes the connection between the whole system and the external connection simpler, and has the advantages of easy operation, convenient cleaning and disinfection.
Specifically, in the present embodiment, the fine adjustment mechanism, the rough adjustment mechanism, the twist mechanism and the control system 900 are all disposed on a bottom plate 20. As shown in fig. 1, the coarse adjustment mechanism is disposed at the left end of the bottom plate 20, the fine adjustment mechanism and the twist mechanism are disposed at the right end of the bottom plate 20, and the control system 900 is disposed at both sides of the coarse adjustment mechanism and the fine adjustment mechanism.
The two guide tube brackets 100 each include an L-shaped bracket 110 and a guide tube 120, wherein a horizontal plate of the L-shaped bracket 110 is fixed on the bottom plate 20, and vertical plates of the L-shaped bracket 110 are disposed opposite to each other. The two guide tubes 120 are horizontally inserted through the vertical plates of the two L-shaped brackets 110 and are located on the same straight line. The two guide tubes 120 are each in the shape of a spindle and are used for guiding the guide wire and the catheter 10 to pass through and move horizontally.
The synchronous pulley transmission mechanism 200 includes a vertically disposed mounting plate 210, a driving synchronous pulley 220, a driven synchronous pulley 230, a synchronous belt 240 sleeved on the driving synchronous pulley 220 and the driven synchronous pulley 230 and having convex teeth, and a driving assembly 250 for driving the driving synchronous pulley 220. The mounting plate 210 is located at the back side of the two guide tube brackets 100 and is parallel to the guide wire and the guide tube 10. The front surface of the mounting plate 210 is a surface facing the guide pipe brackets 100, and the back surface of the mounting plate 210 is a surface opposite to the front surface. The mounting shaft of the driving synchronous pulley 220 extends from the back surface to the front surface of the mounting plate 210, the driving synchronous pulley 220 is fixed on the mounting shaft and located on the front surface of the mounting plate 210, and the driven synchronous pulley 230 is parallel to the driving synchronous pulley 220 and arranged at intervals, so that the driven synchronous pulley 230 is also fixed on the front surface of the mounting plate 210 through the mounting shaft. And a drive assembly 250 that drives the driving timing pulley 220 is located on the back side of the mounting plate 210.
Specifically, referring to fig. 2, the driving assembly 250 includes a driving motor 251 horizontally fixed to the mounting plate 210, a first bevel gear 252 provided on an output shaft of the driving motor 251, and a second bevel gear 253 provided on an end of a mounting shaft of the driving synchronous pulley 220 and engaged with the first bevel gear 252. When the driving motor 251 operates, the driving motor 251 drives the first bevel gear 252 to rotate, the second bevel gear 253 meshed with the first bevel gear 252 rotates with the first bevel gear and drives the installation shaft of the driving synchronous pulley 220 to rotate, so as to drive the driving synchronous pulley 220 to rotate, and when the driving synchronous pulley 220 rotates, the driving synchronous pulley 240 is driven to rotate by being meshed with the convex teeth on the synchronous belt 240, so as to drive the driven synchronous pulley 230 to rotate through the synchronous belt 240. In this embodiment, the modulus and the number of teeth of the first bevel gear 252 are the same as those of the second bevel gear 253, the modulus is 1, the number of teeth is 20, and the pressure angle is 20 °. Of course, each of the above parameters may be changed into other parameters according to actual needs.
Referring to fig. 2, in this embodiment, a timing belt slack adjuster 260 is further disposed on the back surface of the mounting plate 210, and the mounting shaft of the driven timing pulley 230 is fixed to the timing belt slack adjuster 260. The synchronous belt tightness adjusting device 260 comprises an adjusting seat 261 fixed on the mounting plate 210 and an adjusting plate 262, a connecting block 263 is arranged on the adjusting plate 262, the connecting block 263 is fixedly connected with the adjusting seat 261 through an adjusting nut 264, and a mounting shaft of the driven synchronous pulley 230 penetrates through the mounting plate 210 and is fixed on the adjusting plate 262. The tightness of the synchronous belt 240 can be adjusted by adjusting the distance between the driving synchronous pulley 220 and the driven synchronous pulley 230. When the distance between the two is required to be adjusted, the adjusting nut 264 is screwed in or out, the distance of the adjusting plate 262 relative to the adjusting seat 261 is moved, and the adjusting plate 262 is connected with the mounting shaft of the driven synchronous pulley 230, while the adjusting seat 261 is fixedly connected with the mounting plate 210, so that the position of the driven synchronous pulley 230 relative to the mounting plate 210 is changed equivalently, the position of the driving synchronous pulley 220 on the mounting plate 210 is unchanged, the distance between the driven synchronous pulley 230 and the driving synchronous pulley 220 is changed equivalently, and the effect of adjusting the tightness of the synchronous belt 240 is achieved.
Referring to fig. 3, in this embodiment, the number of the first clamping devices 300 is multiple (specifically, four), the first clamping devices are equidistantly disposed on the synchronous belt 240, and the top of the mounting plate 210 is provided with a limit block 270. The limiting block 270 is located at one side of the first clamping device 300 and can be matched with each first clamping device 300 to clamp the guide wire and the catheter 10. In this embodiment, the length of the limiting block 270 is 60mm, and the limiting block with other lengths can be replaced.
Specifically, with reference to fig. 4 and 5, the limiting block 270 includes a pushing portion 271 and a fixing portion 272 located on the back of the pushing portion 271. The fixing portion 272 is fixed on the mounting plate 210, and the fixing portion 272 is provided with an adjusting hole for adjusting the position of the stopper 270 relative to the first clamping device 300. The pushing top part 271 gradually protrudes from the two ends to the middle part, and the protruding middle part and the two ends are in smooth transition. The first clamping device 300 includes a first clamping block 310 and a second clamping block 320 which are oppositely and spaced, a first return spring 330 disposed between the first clamping block 310 and the second clamping block 320, and a first guide rod 340 disposed between the two first clamping blocks 310 and the second clamping block 320, wherein the first clamping block 310 is fixed on one side edge of the synchronous belt 240 away from the mounting plate 210, and the second clamping block 320 is slidably disposed on the first guide rod 340 and can move along the first guide rod 340 toward the first clamping block 310 under the pushing of the limiting block 270 to clamp the guide wire and the guide tube 10 disposed between the first clamping block 310 and the second clamping block 320. Specifically, there are three first guide rods 340, one of the first guide rods 340 is located in the middle of the first clamping block 310 and the second clamping block 320, the first return spring 330 is sleeved on the first guide rod 340, and the other two first guide rods 340 are symmetrically disposed at the two end edges of the first clamping block 310 and the second clamping block 320. In this embodiment, in order to avoid damaging the guide wire and the catheter 10, the rubber blocks 350 are disposed inside the first clamping block 310 and inside the second clamping block 320, and the guide wire and the catheter 10 are clamped by the two rubber blocks 350. Of course, the first clamping block 310 and the second clamping block 320 may also be made of rubber material directly, so as to omit the rubber block 350.
When the guide wire and the catheter 10 need to be pushed forward rapidly, the driving motor 251 starts to rotate in the forward direction, the first bevel gear 252 and the second bevel gear 253 are engaged to transmit power to the driving synchronous pulley 220, the driving synchronous pulley 220 drives the synchronous belt 240 with the convex teeth to rotate in the forward direction synchronously, the first clamping device 300 moves on the synchronous belt 240, when the first clamping device 300 moves to contact with the limiting block 270, under the extrusion action of the limiting block 270, the second clamping block 320 of the first clamping device 300 starts to slide to the first clamping block 310 along the first guide rod 340, so that the two rubber blocks 350 contact with the guide wire and the catheter 10 and press the guide wire and the catheter 10 tightly, at this time, under the action of the synchronous belt 240, the first clamping device 300 drives the guide wire and the catheter 10 to advance synchronously, when the first clamping device 300 and the limiting block 270 start to be separated, under the resilience of the first return spring 330, the second clamping block 320 starts to slide away from the first clamping block 310 along the first guide rod 340, so that the two rubber blocks 350 are separated from the guide wire and the catheter 10 and loosened to complete the forward pushing action of the guide wire and the catheter 10. Similarly, when the guide wire or catheter 10 needs to be pulled back, the driving motor 251 starts to rotate in the reverse direction, the first bevel gear 252 and the second bevel gear 253 are engaged to transmit power to the driving synchronous pulley 220, the driving synchronous pulley 220 drives the synchronous belt 240 with the convex teeth to rotate in the reverse direction synchronously, and the first clamping device 300 also moves in the reverse direction and contacts with the stop block 270, which is the same as the above-mentioned forward movement, and will not be described herein again.
Referring to fig. 6, the fixing bracket 400 is also provided in an L-shape, a horizontal plate thereof is fixed to the base plate 20, and a guide bushing 410 facing the moving bracket 500 is horizontally provided on a vertical plate thereof. The second clamping device 700 is disposed toward the guide sleeve 410, and can enter the guide sleeve 410 under the driving of the movable bracket 500 and clamp the guide wire and the catheter 10 under the extrusion of the inner wall of the guide sleeve 410. In this embodiment, the length of the guide sleeve 410 is 30mm, and the guide sleeve 410 having another length may be replaced.
In this embodiment, the lead screw nut assembly 600 is disposed below the guide shaft sleeve 410, and includes a lead screw motor 610 horizontally disposed on a vertical plate of the fixing bracket 400, a lead screw 620 driven by the lead screw motor 610, and a lead screw nut 630, the lead screw nut 630 is sleeved on the lead screw 620, the lead screw nut 630 is fixed on the movable bracket 500, and the lead screw 620 passes through the lead screw nut 630 and the movable bracket 500.
Further, the two sides of the screw 620 are further provided with slide rails 640 parallel to the screw 620, each slide rail 640 is provided with a slide block 650, and each slide block 650 is fixedly connected with the movable bracket 500. Thus, the sliding block 650 moves on the sliding rail 650 to guide the movement of the movable bracket 500 and prevent the displacement.
The gear transmission mechanism 800 is located above the lead screw nut 630 assembly 600, and includes a twist motor 810, a first gear 820 and a second gear 830. The rotary twisting motor 810 is positioned between the movable bracket 500 and the fixed bracket 400, a motor shaft of the rotary twisting motor 810 horizontally penetrates through the movable bracket 500, the first gear 820 is fixed on the motor shaft of the rotary twisting motor 810, the second gear 830 is meshed with the first gear 820, the second gear 830 is positioned above the first gear 820, a gear shaft of the second gear 830 penetrates through the movable bracket 500, and the second clamping device 700 is arranged on the gear shaft of the second gear 830. In this embodiment, the module of the first gear 820 and the module of the second gear 830 are both 1, and the number of teeth is 20 and 40, respectively. The first gear 820 and the second gear 830 are straight-tooth cylindrical gears, and may be replaced by straight-tooth cylindrical gears or helical cylindrical gears with other modules and teeth numbers.
Further, a six-dimensional force sensor 840 is disposed on a gear shaft of the second gear 830. Because the second clamping device 700 is arranged on the gear shaft of the second gear 830, when the second clamping device 700 clamps the guide wire and the catheter 10 for twisting, the torque applied to the guide wire and the catheter 10 can be known by monitoring the value of the six-dimensional force sensor 840, and therefore the twisting torque of the guide wire and the catheter 10 can be obtained.
Referring to fig. 7, the second clamping device 700 includes a third clamping block 710, a fourth clamping block 720 disposed above and opposite to the third clamping block 710, a second return spring 730 disposed between the third clamping block 710 and the fourth clamping block 720, and a second guide rod 740 disposed between the third clamping block 710 and the fourth clamping block 720. Specifically, the third clamping block 710 is formed by transforming a cylinder, the cylinder is provided with a clamping opening 711 with an upward opening, four second guide rods 740 are arranged on two sides of the clamping opening 711, the fourth clamping block 720 is sleeved on the second guide rods 740, the fourth clamping block 720 is provided with downward fixing columns 721, the second return spring 730 is sleeved on the fixing columns 721, and the bottom of the second return spring 730 abuts against the edge of the clamping opening 711. The inner wall of one end of the guide shaft sleeve 410 close to the fixing bracket 400 is recessed inwards to form a groove 411 for releasing the fourth clamping block 720, a notch 412 is formed in the side wall of the guide shaft sleeve 410, and the notch 412 extends to the groove 411 from the opening edge of the guide shaft sleeve 410. Similarly, in this embodiment, in order to prevent damage to the guide wire and the catheter 10, the rubber blocks 350 are disposed inside the third clamping block 710 and inside the fourth clamping block 720, and the guide wire and the catheter 10 are clamped by the two rubber blocks 350. Of course, the third clamping block 710 and the fourth clamping block 720 can also be made of rubber material directly, so that the rubber block 350 is omitted.
Further, a pressure sensor 750 is provided in the clamp port 711. By monitoring the data of the pressure sensor 750, the clamping force applied to the guide wire and the catheter 10 by the second clamping device 700 can be mastered in real time, and the guide wire and the catheter 10 are prevented from being damaged due to too large clamping force.
When the guide wire and the guide tube 10 need to be finely adjusted forwards, the lead screw motor 610 starts to rotate forwards, the moving bracket 500 is driven to move forwards integrally through the lead screw nut 630, the second clamping device 700 moves forwards along the moving bracket 500, when the second clamping device 700 and the guide shaft sleeve 410 start to contact, due to the pressing action of the guide shaft sleeve 410, the fourth clamping block 720 moves downwards along the second guide rod 740, so that the two rubber blocks 350 contact with the guide wire and the guide tube 10 to press the guide wire and the guide tube 10, the guide wire and the guide tube 10 are pushed forwards under the driving action of the lead screw motor 610, when the second clamping device 700 reaches the groove 411 of the guide shaft sleeve 410, the guide shaft sleeve 410 does not press the third clamping block 710 any more, the third clamping block 710 moves upwards under the restoring force of the second complex spring, so as to loosen the guide wire and the guide tube 10, at this time, the rotary twisting motor 810 transmits rotary power to the second clamping device 700 through the first gear 820 and the second gear 830, the third clamping block 710 is rotated to the notch 412 of the guide shaft sleeve 410, and at this time, the lead screw motor 610 rotates reversely, so as to drive the second clamping device 700 to exit from the guide shaft sleeve 410, thereby completing a fine adjustment of the guide wire and the catheter 10.
When the guide wire and the catheter 10 need to be twisted, the lead screw motor 610 starts to rotate in the forward direction, the movable bracket 500 is driven by the lead screw nut 630 to move integrally forward, the second clamping device 700 moves forward along the movable bracket 500, when the second clamping device 700 and the guide shaft sleeve 410 start to contact, due to the pressing effect of the guide shaft sleeve 410, the fourth clamping block 720 moves downward along the second guide rod 740, so that the two rubber blocks 350 contact with the guide wire and the catheter 10 to press the guide wire and the catheter 10 tightly, at this time, the twisting motor 810 starts to rotate, power is transmitted to the second clamping device 700 through the first gear 820 and the second gear 830, the guide wire and the catheter 10 start to be twisted under the driving of the second clamping device 700, when the guide wire and the catheter 10 are twisted to a correct angle, the lead screw motor 610 starts to rotate in the reverse direction, the movable bracket 500 is driven by the lead screw nut 630 to, the second clamping device 700 moves backwards along with the moving bracket 500, when the second clamping device 700 is separated from the guide shaft sleeve 410, the guide shaft sleeve 410 does not press the third clamping block 710 any more, and the third clamping block 710 moves upwards under the restoring force of the second return spring 730, so that the guide wire and the catheter 10 are loosened, and one twisting motion of the guide wire and the catheter 10 is completed.
Referring to fig. 1 again, in the present embodiment, the control system 900 includes a first controller 910 for controlling the lead screw nut 630 assembly 600, a second controller 920 for controlling the gear transmission mechanism 800, a third controller 930 for controlling the synchronous belt 240 wheel transmission mechanism 200, a voltage boosting module 940 electrically connected to the first controller 910, the second controller 920 and the third controller 930, a power supply 950 for supplying power to the lead screw nut 630 assembly 600, the gear transmission mechanism 800 and the synchronous belt 240 wheel transmission mechanism 200, a motion control card 960 connected to the lead screw nut 630 assembly 600, the gear transmission mechanism 800 and the synchronous belt 240 wheel transmission mechanism 200 through a network cable, and an upper computer 970 connected to the motion control card 960 through a network cable. The first controller 910, the second controller 920, and the third controller 930 are sequentially disposed at the front edge of the synchronous belt 240 wheel transmission mechanism 200, the voltage boosting module 940 and the power supply 950 are disposed near the rear edges of the fixed bracket 400 and the movable bracket 500, and the motion control card 960 is disposed near the rear edges of the fixed bracket 400 and the movable bracket 500.
Specifically, the power supply 950 is a 24V lithium battery, the 24V lithium battery may be replaced by a battery with other rated voltage or other materials, the battery may be removed, and a conventional 22V power supply is used to supply power through the adapter module.
In this embodiment, the boost module 940 is a 24V to 48V boost module. Referring to fig. 1, 3, 6 and 8, a negative pole of a power supply 950 is connected to a boost module 940, a positive pole of the power supply 950 is connected to a switch 980, the switch 980 is connected to the boost module 940, a first controller 910 is connected to a lead screw motor 610 of a lead screw nut 630 assembly 600 by a cable, a second controller 920 is connected to a twist motor 810 of a gear transmission mechanism 800 by a cable, a third controller 930 is connected to a driving motor 251 of a synchronous belt 240 wheel transmission mechanism 200 by a cable, the first controller 910, the second controller 920 and the third controller 930 are all connected to an output end of the boost module 940 by a cable, the lead screw motor 610, the twist motor 810 and the driving motor 251 are all connected to the power supply 950 by cables, meanwhile, the lead screw motor 610, the rotary twisting motor 810 and the driving motor 251 are all connected with the motion control card 960 through a network cable, and the motion control card 960 is connected with the upper computer 970 through the network cable.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (15)
1. The utility model provides a vascular intervention surgical robot seal wire and pipe controlling means, including the push mechanism that is used for propelling movement seal wire and pipe axial motion, realize seal wire and pipe circumference rotary motion twist with fingers mechanism and control soon push mechanism with twist with fingers the control system of mechanism coordination work, its characterized in that soon: push mechanism includes fine-tuning and coarse-tuning that sets gradually along seal wire and pipe advancing direction, coarse-tuning constructs including the interval sets up two stand pipe supports that are used for placing seal wire and pipe, locates two synchronous pulley drive mechanism between the stand pipe support and by synchronous pulley drive mechanism drives is used for the first clamping device of centre gripping seal wire and pipe, fine-tuning constructs including the fixed bolster that is located one of them stand pipe support one side, locate this stand pipe support with remove the support between the fixed bolster, be fixed in on the fixed bolster and can drive remove the support relatively the fixed bolster is toward, the lead screw nut subassembly of returning the motion and locate remove the second clamping device that is used for centre gripping seal wire and pipe on the support, twist with fingers the mechanism including locating on removing the support and with second clamping device fixed connection is in order to drive the second clamping device is rotatory is used for twisting with fingers the gear of seal wire and pipe And a transmission mechanism.
2. A vascular interventional surgical robotic guidewire and catheter manipulation device according to claim 1, wherein: synchronous pulley drive mechanism include mounting panel, level and the interval of vertical setting install in positive initiative synchronous pulley and driven synchronous pulley, the cover of mounting panel are located initiative synchronous pulley with driven synchronous pulley is last and be equipped with the hold-in range of dogtooth and locate the back of mounting panel is used for the drive initiative synchronous pulley's drive assembly.
3. A vascular interventional surgical robotic guidewire and catheter manipulation device according to claim 2, wherein: the first clamping devices are arranged on the synchronous belt wheel at intervals, and a limiting block matched with each first clamping device to clamp a guide wire and a guide pipe is arranged on the mounting plate and positioned on one side of each first clamping device.
4. A vascular interventional surgical robotic guidewire and catheter steering device according to claim 3, wherein: first clamping device includes relative and interval placement's first grip block, second grip block, locates first grip block with first reset spring between the second grip block and locate first grip block with first guide arm between the second grip block, first grip block is fixed in the hold-in range is kept away from the edge of one side of mounting panel, the second grip block slide set up in just can on the first guide arm the stopper ejection is followed down first guide arm to first grip block removes to press from both sides tightly to be located first grip block with seal wire and pipe between the second grip block.
5. A vascular interventional surgical robotic guidewire and catheter steering device according to any one of claims 1-4, wherein: the fixed support is horizontally provided with a guide shaft sleeve facing the movable support, and the second clamping device faces the guide shaft sleeve and can enter the guide shaft sleeve under the driving of the movable support and clamp the guide wire and the catheter under the extrusion of the inner wall of the guide shaft sleeve.
6. A vascular interventional surgical robotic guidewire and catheter manipulation device according to claim 5, wherein: the second clamping device comprises a third clamping block, a fourth clamping block, a second reset spring and a second guide rod, wherein the fourth clamping block is located above and opposite to the third clamping block, the second reset spring is arranged between the third clamping block and the fourth clamping block, the second guide rod is arranged between the third clamping block and the fourth clamping block, the third clamping block is provided with a clamping opening with an upward opening, the second guide rod is located beside the clamping opening, the fourth clamping block is sleeved on the second guide rod, the guide shaft sleeve is close to the inner wall of one end of the fixed support, which is inwards sunken to form a groove for releasing the fourth clamping block, a notch is formed in the side wall of the guide shaft sleeve, and the notch extends to the groove.
7. A vascular interventional surgical robotic guidewire and catheter steering device according to claim 6, wherein: and a pressure sensor is arranged in the clamping port.
8. A vascular interventional surgical robotic guidewire and catheter steering device according to any one of claims 2-4, wherein: the back of mounting panel still is equipped with hold-in range tightness adjustment device, driven synchronous pulley installation axle is fixed in on the hold-in range tightness adjustment device.
9. A vascular interventional surgical robotic guidewire and catheter steering device according to claim 8, wherein: hold-in range tight regulation device is including being fixed in regulation seat and regulating plate on the mounting panel, be equipped with the connecting block on the regulating plate, the connecting block with it passes through adjusting nut fixed connection to adjust the seat, driven synchronous pulley's installation axle passes the mounting panel is fixed in on the regulating plate.
10. A vascular interventional surgical robotic guidewire and catheter steering device according to any one of claims 2-4, wherein: the driving assembly comprises a driving motor, a first bevel gear and a second bevel gear, the driving motor is horizontally arranged, the first bevel gear is arranged on an output shaft of the driving motor, the second bevel gear is arranged at the end part of an installation shaft of the driving synchronous belt pulley, and the second bevel gear is meshed with the first bevel gear.
11. A vascular interventional surgical robotic guidewire and catheter steering device according to any one of claims 1-4, wherein: the screw rod nut assembly comprises a screw rod motor horizontally arranged on the fixed support in a penetrating mode, a screw rod driven by the screw rod motor and a screw rod nut, the screw rod nut is fixed on the movable support, and the screw rod penetrates through the screw rod nut and the movable support.
12. A vascular interventional surgical robotic guidewire and catheter steering device according to claim 11, wherein: and sliding rails parallel to the screw rod are further arranged on two sides of the screw rod, sliding blocks are arranged on the sliding rails, and the sliding blocks are fixedly connected with the movable support.
13. A vascular interventional surgical robotic guidewire and catheter steering device according to any one of claims 1-4, wherein: the gear transmission mechanism comprises a rotary twisting motor, a first gear and a second gear, wherein the rotary twisting motor is positioned between the movable support and the fixed support, a motor shaft horizontally penetrates through the movable support, the first gear is fixed on a motor shaft of the rotary twisting motor, the second gear is meshed with the first gear, a gear shaft of the second gear penetrates through the movable support, and the second clamping device is arranged on a gear shaft of the second gear.
14. A vascular interventional surgical robotic guidewire and catheter steering device according to claim 13, wherein: and a six-dimensional force sensor is arranged on a gear shaft of the second gear.
15. A vascular interventional surgical robotic guidewire and catheter manipulation device according to claim 1, wherein: the control system comprises a first controller for controlling the lead screw nut component, a second controller for controlling the gear transmission mechanism, a third controller for controlling the synchronous pulley transmission mechanism, a boosting module electrically connected with the first controller, the second controller and the third controller, a power supply for supplying power to the lead screw nut component, the gear transmission mechanism and the synchronous pulley transmission mechanism, a motion control card for connecting the lead screw nut component, the gear transmission mechanism and the synchronous pulley transmission mechanism through a network cable, and an upper computer for connecting the motion control card through the network cable.
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| CN201711336307.9A CN108514448B (en) | 2017-12-14 | 2017-12-14 | Guide wire and catheter control device of vascular intervention surgical robot |
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| CN201711336307.9A CN108514448B (en) | 2017-12-14 | 2017-12-14 | Guide wire and catheter control device of vascular intervention surgical robot |
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| CN108514448B true CN108514448B (en) | 2020-02-07 |
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