CN108704214A - Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device - Google Patents

Abstract

The present invention relates to the technical field of medical equipment, in particular to a minimally invasive vascular interventional surgery robot catheter/guide wire rotation mechanism and a propulsion device, the propulsion device includes a rotation mechanism, a clamping mechanism, a fixing mechanism and a moving mechanism; the rotation mechanism includes a rotating motor, Drive pulley, tension pulley, limit eccentric and five needle bearing assemblies. The clamping mechanism includes a clamping rotating shaft, clamping claws, clamping claw sleeves, and clamping springs; the fixing mechanism includes: fixed guide rails, fixed finger sliders, fixed finger sliding bases, motor friction wheel guide seats, spring guide rods, Fixed finger motor, fixed finger eccentric wheel, movable rubber block and fixed rubber block; the fixed finger eccentric wheel drives the fixed finger sliding base to move to clamp or separate the movable rubber block from the fixed rubber block; the moving mechanism drives the rotating mechanism and the clamping mechanism Move towards or away from the fixed mechanism. The clamping body assembly of the clamping mechanism of the present invention is convenient to disassemble and disinfect, and the clamping claws will not slip.

Description

Minimally invasive vascular interventional surgery robotic catheter/guide wire rotation mechanism and propulsion device

technical field

The invention relates to a catheter/guide wire rotating mechanism and a propulsion device of a minimally invasive vascular interventional robot, belonging to the field of medical equipment.

Background technique

Cardiovascular and cerebrovascular diseases are currently the number one killer facing human beings, seriously threatening people's lives, health and living standards. With the development of social science and technology and the continuous improvement of people's living standards, people have paid more attention to cardiovascular and cerebrovascular diseases. Compared with traditional heart surgery, minimally invasive vascular interventional surgery has great advantages. The human heart is protected by the surrounding thorax. Traditional heart surgery requires doctors to saw through the sternum for surgery, and most of the thoracotomy wounds exceed 20 cm , It will cause additional damage to the patient's body, and the postoperative recovery is very slow, usually as long as several months, and the operation risk is high. Minimally invasive vascular interventional surgery only needs to drill a few small holes with a diameter of less than 1 cm on the body surface, and insert surgical instruments such as catheters and guide wires from the blood vessels to the heart. Minimally invasive vascular interventional surgery is accepted by more and more patients for its characteristics of small incision, light trauma, less pain and quick recovery.

The traditional minimally invasive vascular surgery method is under the monitoring and guidance of X-ray effects or other gray-scale images, and skilled doctors manually directly complete the insertion of catheters or guide wires, micro-guide wires and balloon lamp surgical tools. However, due to the fixed bending radius of the front end of the existing catheter and the characteristics of long and narrow bends, irregularities, and many branches in the blood vessels in the human body, this method is highly skilled and risky, and requires a long training time for specialists. Factors such as long operation time, doctor fatigue and unstable manual operation will directly affect the quality of operation, which in turn affects the quality of life of patients.

Minimally invasive intervention is developing rapidly with the characteristics of minimally invasive, painless and comfortable. The development of minimally invasive surgery technology will inevitably lead to an upsurge in the research of related surgical robot technology. The existing tube feeding mechanism, on the one hand, requires medical personnel to penetrate the required catheter and guide wire from one end of the device, which is time-consuming and laborious to operate; on the other hand, it is inconvenient to disassemble the motor and the operating part, which is not conducive to Preoperative disinfection and replacement after several uses.

Contents of the invention

The present invention aims at the deficiencies in the prior art, such as strong skills, unstable operation quality, and high risk, in the manual threading/threading method, and provides a minimally invasive blood vessel with stable pipe/wire threading, high degree of automation, and easy disinfection Catheter/guide wire rotation mechanism and propulsion device for interventional surgery robot.

The technical solution adopted by the present invention to solve its technical problems is:

A catheter/guide wire rotation mechanism for minimally invasive vascular interventional surgery robot, which is characterized in that it includes a mobile swing base with front and rear mounting plates parallel to each other at the front and rear ends, and a mobile swing base fixed on the rear mounting plate. A motor bracket, a rotating motor fixed on the motor bracket, a driving pulley coaxially connected with the output shaft of the rotating motor, a front internal fixed bracket and a rear internal fixed bracket fixed on the bottom plate of the mobile swing base , the front outer bracket and the rear outer bracket that are movably connected to the outer sides of the front inner fixation bracket and the rear inner fixation bracket, and the tension that the two ends of the rotating shaft are supported on the front inner fixation bracket and the rear inner fixation bracket through bearings The tension pulley, the fixed side plate fixed between the front internal fixed bracket and the rear internal fixed bracket, the limit mounting seat fixed on the fixed side plate, the limit mounting seat passing through the limit Position shaft, the limit eccentric wheel arranged on the upper end of the limit shaft, the front inner movable bracket and the rear inner movable bracket fixed on the opposite side of the front outer bracket and the rear outer bracket respectively, connected to the front inner movable bracket and the movable side plate between the rear inner movable bracket; the limit eccentric wheel abuts against the inner side of the movable side plate; the front outer bracket and the rear outer bracket all have the first long hole and the second horizontally arranged Two long holes, the connecting bolt passes through the first long hole on the front outer bracket and the rear outer bracket and is fixed with the front inner fixation bracket and the rear inner fixation bracket; the front outer bracket and the rear outer bracket There is a tension side plate perpendicular to the extension direction of the second long hole, a tension adjustment plate is fixed on the end of the rotation shaft of the tension pulley, and a tension adjustment plate is fixed on the tension adjustment plate. Bolt, adjust the position of the rotation shaft of the tension pulley in the second long hole by adjusting the length of the tension adjustment bolt screwed into the tension side plate; the rotation mechanism also includes five needle bearings Assemblies, the first needle roller bearing assembly, the second needle roller bearing assembly and the third needle roller bearing assembly are installed between the front internal fixed bracket and the rear internal fixed bracket, the front internal movable bracket and the rear internal fixed bracket The fourth needle roller bearing assembly and the fifth needle roller bearing assembly are installed between the inner movable brackets; a transmission belt sequentially bypasses the driving pulley, the tension pulley, the first needle roller bearing assembly, and the second needle roller bearing assembly , the third needle bearing assembly, the fourth needle bearing assembly and the fifth needle bearing assembly, wherein the transmission belt is driven by contacting the needle bearing of the needle bearing assembly, the first needle bearing assembly and the second needle bearing assembly The transmission belt between the needle bearing assemblies is parallel to the transmission belt between the fourth roller bearing assembly and the fifth needle bearing assembly; Between the transmission belts, the clamping mechanism is driven to rotate by the transmission belts with opposite moving directions on both sides.

Further, the rotating mechanism also includes a front clamping seat pinned above the front mounting plate and a rear clamping seat pinned on the rear mounting plate, and the front The clamping and fixing seat and the rear clamping and fixing seat are opened, and the front and the rear clamping and fixing seats are respectively locked on the front mounting plate and the rear mounting plate, The transmission shaft of the clamping mechanism is erected between the front mounting plate and the front clamping and fixing seat and between the rear mounting plate and the rear clamping and fixing seat through the flange bearing bush.

Further, the needle bearing assembly includes: a needle bearing shaft, at least one needle bearing mounted on the needle bearing shaft, and ribs arranged at both ends of the needle bearing; the transmission belt and the Needle bearing contact drive.

A catheter/guide wire propulsion device for a minimally invasive vascular interventional surgery robot, characterized in that it includes the rotating mechanism according to claim 1, and also includes a clamping mechanism, a fixing mechanism and a moving mechanism; the clamping mechanism includes a clamping mechanism The rotating shaft and the clamping claw fixed on the end of the clamping rotating shaft, the front end of the clamping claw has a plurality of claw heads that can be elastically opened and closed, and the outside of the multiple claw heads is covered with clamping claws There is a clamping spring between the clamping claw sleeve and the clamping rotating shaft, the catheter/guide wire passes through the center of the clamping claw and the clamping rotating shaft, and the clamping claw sleeve compresses and clamps The spring moves backward to make multiple claws open, and the catheter/guide wire is released; the fixing mechanism includes: a fixed finger base, a fixed guide rail fixed on the fixed finger base, and a fixed guide rail arranged on the fixed guide rail. The fixed finger slider, the fixed finger sliding base and the motor friction wheel guide seat fixed on the fixed finger slider, the spring guide rod fixed on the fixed finger sliding base, and the spring guide rod sleeved on the spring guide The fixed spring on the rod, the fixed finger motor fixedly installed on the base of the fixed finger, the fixed finger eccentric wheel connected to the output shaft of the fixed finger motor, the movable rubber block fixed on the sliding base of the fixed finger and The fixed rubber block fixed on the base of the fixed finger, the movable rubber block is set opposite to the fixed rubber block, the eccentric wheel of the fixed finger leans against the friction wheel guide seat of the motor; the spring guide rod Passes through the base of the fixed finger and fits with the base of the fixed finger; the fixed spring is arranged between the base of the fixed finger and the sliding base of the fixed finger, and drives the sliding of the fixed finger through the eccentric wheel of the fixed finger The block drives the sliding base of the fixed finger to clamp or separate the movable rubber block from the fixed rubber block; the moving mechanism drives the rotating mechanism and the clamping mechanism to move closer to or away from the fixing mechanism.

Further, it also includes a mounting base, and the moving mechanism includes a linear guide rail arranged on the mounting base, a moving slider moving along the linear guide rail, a moving base fixed on the moving slider, a moving base installed on the The mobile motor on the installation base, the screw connected coaxially with the output shaft of the mobile motor, and the screw nut sleeved on the screw; the screw nut is fixedly connected with the mobile base, and the mobile swing One end of the base is connected to the mobile base through a first pin shaft.

Further, a pressure sensor is provided between the other end of the mobile swing base and the mobile base.

Further, the clamping mechanism also includes a clamping motor bracket fixed on the front mounting plate, a clamping motor installed on the clamping motor bracket, a clamping motor connected to the output shaft of the clamping motor The clamping sheave, the transmission rope guide wheel and the transmission rope installed on the front mounting plate, one end of the transmission rope is wound on the clamping sheave, and the rope end is directly Or it is indirectly connected with the clamping claw cover, and the clamping claw cover is driven to move by taking in and releasing the rope to open or close the claw head.

Further, the clamping mechanism also includes claw sleeve guide shafts, claw sleeve guide tubes and clamping claw guide sleeves fixed on the front mounting plate parallel to each other, and the clamping claw guide sleeves are sleeved on the clip The outside of the gripping claw sleeve, and the front end of the clamping claw guide sleeve has a stop ring that restricts the forward movement of the clamping claw sleeve. The clamping claw guide sleeve is divided into an upper claw sleeve and a lower claw sleeve. The upper claw sleeve and the lower claw sleeve are hinged on the guide shaft of the claw sleeve, the bottom of the lower claw sleeve has a boss, and the claw sleeve conduit has a guide groove, and the boss is inserted into the guide groove, The clamping guide sleeve moves under the guidance of the claw sleeve guide shaft and the guide groove; the transmission rope is fixed on the clamping claw guide sleeve.

Further, it also includes a fixed finger support frame fixed on the installation base, and the fixed finger base is fixed on the fixed finger support frame.

Furthermore, a limit handle is fixedly installed on the lower end of the limit shaft.

Compared with prior art, the beneficial effect that the present invention has obviously is:

1. Turn the limit shaft of the rotating mechanism to drive the limit eccentric wheel to rotate, and separate the front movable bracket and the rear movable bracket from the front internal fixed bracket and the rear internal fixed bracket, that is, the first needle roller bearing assembly and The second needle bearing assembly is separated from the fourth needle bearing assembly and the fifth needle bearing assembly for easy installation and removal of the clamping mechanism. And the position of the tension pulley can be adjusted through the tension adjustment bolt, so as to adapt to the tension and relaxation of the transmission belt brought about by the opening and closing of the needle bearing assembly.

2. The fixing method of the catheter/guide wire is clamped by clamping claws to avoid slippage caused by the original clamping by roller friction.

3. The clamping main body assembly of the clamping mechanism is easy to disassemble, and disposable consumables are used. After a case of surgery is completed, the clamping main body assembly can be removed and thrown away together with the surgical catheter/guide wire, which is convenient for disinfection.

4. Amplify the small resistance of the guide wire in the blood vessel through the principle of leverage, and measure it through the pressure sensor.

5. Not only can the catheter/guide wire be delivered into the blood vessel, but also the guide wire can be rotated in the blood vessel, and the blood vessel entering the bifurcation can be identified to reach the correct lesion position.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments described in this application. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

Fig. 1 is the overall structural diagram of the embodiment of the present invention;

Fig. 2 is a perspective view of a rotating mechanism and a clamping mechanism according to an embodiment of the present invention;

Fig. 3 is an exploded view of the rotating mechanism of the embodiment of the present invention;

Fig. 4 is a structural diagram of a needle roller bearing assembly according to an embodiment of the present invention;

Fig. 5 is a schematic diagram of the drive belt transmission of the rotating mechanism of the embodiment of the present invention;

Fig. 6 is a partial structural diagram of the clamping mechanism of the embodiment of the present invention;

Fig. 7 is a structural diagram of a clamping body assembly according to an embodiment of the present invention;

Fig. 8 is a perspective view of the moving mechanism and part of the clamping mechanism according to the embodiment of the present invention;

Fig. 9 is another perspective view of the moving mechanism of the embodiment of the present invention;

Fig. 10 is a schematic diagram of transmission of a transmission rope according to an embodiment of the present invention;

Fig. 11 is a perspective view of the fixing mechanism of the embodiment of the present invention;

Fig. 12 is a working schematic diagram of the pressure sensor according to the embodiment of the present invention;

Among the figure: 1, rotation mechanism, 101, mobile swing base, 102, front mounting plate, 103, rear mounting plate, 104, base plate, 105, motor support, 106, rotating motor, 107, driving pulley, 108, front interior Fixed support, 109, rear internal fixed support, 110, front outer support, 111, rear outer support, 112, tension pulley, 113, fixed side plate, 114, limit mounting seat, 115, limit shaft, 116, Limiting eccentric wheel, 117, limit handle, 118, front inner movable bracket, 119, rear inner movable bracket, 120, movable side plate, 121, first long hole, 122, second long hole, 123, tensioning side Plate, 124, tension adjustment plate, 125, tension adjustment bolt, 126, first needle roller bearing assembly, 127, second needle roller bearing assembly, 128, third needle roller bearing assembly, 129, fourth needle roller bearing Components, 130, the fifth needle roller bearing assembly, 131, transmission belt, 132, front clamping and fixing seat, 133, rear clamping and fixing seat, 134, flanging bearing bush, 135, needle roller bearing, 136, needle roller bearing shaft, 137, rib, 138, shaft sleeve, 139, connecting bolt, 2, clamping mechanism, 201, clamping rotating shaft, 202, clamping claw, 203, claw head, 204, clamping claw sleeve, 205, clamping Spring, 206, clamping motor support, 207, clamping motor, 208, clamping sheave, 209, transmission rope guide wheel, 210, claw cover guide shaft, 211, claw cover conduit, 212, upper claw cover, 213, Lower claw cover, 214, transmission rope, 215, clamping pin, 216, clamping claw guide sleeve, 3, fixed mechanism, 301, fixed finger base, 302, fixed guide rail, 303, fixed finger slide block, 304, Fixed finger sliding base, 305, motor friction wheel guide seat, 306, spring guide rod, 307, fixed spring, 308, fixed finger motor, 309, fixed finger eccentric wheel, 310, movable rubber block, 311, fixed rubber block, 4 , installation base, 5, moving mechanism, 51, linear guide rail, 52, moving slider, 53, moving base, 54, moving motor, 55, lead screw, 56, screw nut, 57, lipping block, 58, moving motor Bracket, 6, pressure sensor, 7, fixed support frame, 8, the first pin shaft.

Detailed ways

In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments It is a part of embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

As shown in FIGS. 1-12 , a robot catheter/guide wire advancing device for minimally invasive vascular interventional surgery includes: a mounting base 4 , a rotating mechanism 1 , a clamping mechanism 2 , a fixing mechanism 3 and a moving mechanism 5 .

With reference to Fig. 2-Fig. 5, rotating mechanism 1 comprises that front and rear ends are respectively provided with mutually parallel front mounting plate 102 and the mobile swing base 101 of rear mounting plate 103, the rotary motor support 105 that is fixed on the rear mounting plate 103, is fixed on The rotary motor 106 on the rotary motor support 105, the drive pulley 107 that is coaxially connected with the output shaft of the rotary motor 106, the front internal fixed bracket 108 and the rear internal fixed bracket 109 that are fixed on the base plate 104 of the mobile swing base 101, respectively The front outer bracket 110 and the rear outer bracket 111, the two ends of the rotating shaft that are movably connected to the front inner fixed bracket 108 and the rear inner fixed bracket 109 outsides are supported on the front inner fixed bracket 108 and the tension belt on the rear inner fixed bracket 109 by bearings Wheel 112, the fixed side plate 113 that is fixed between the front internal fixed bracket 108 and the rear internal fixed bracket 109, the limit mounting seat 114 that is fixed on the fixed side plate 113, the limit that passes through the limit mount 114 Shaft 115, the limit eccentric wheel 116 that is arranged on the limit shaft 115 upper end, the limit handle 117 that is arranged on the lower end of limit shaft 115, is respectively fixed on the front inner movable support of front outer support 110 and rear outer support 111 opposite sides 118 and rear inner movable bracket 119, the movable side plate 120 that is connected between the front inner movable bracket 118 and the rear inner movable bracket 119; the limit eccentric wheel 116 leans against the movable side plate 120 inner side; All have the first elongated hole 121 and the second elongated hole 122 that horizontal direction is arranged on the bracket 111, connecting bolt 139 passes the first elongated hole 121 on the front outer bracket 110 and the rear outer bracket 111 and the front inner fixed bracket 108 and the rear. The inner fixed bracket 109 is fixed; the front outer bracket 110 and the rear outer bracket 111 have a tensioning side plate 123 perpendicular to the extending direction of the second elongated hole 122, and the end of the rotating shaft of the tensioning pulley 112 is fixed with a tensioning adjustment Plate 124, tension adjustment plate 124 is fixed with tension adjustment bolt 125, by adjusting the tension adjustment bolt 125 screwed into the length of tension side plate 123 to adjust the rotation axis of tension pulley 112 in the second long hole 122 Position; Rotating mechanism 1 also includes five needle bearing assemblies, and the first needle bearing assembly 126, the second needle bearing assembly 127 and the third needle bearing assembly are installed between the front internal fixed bracket 108 and the rear internal fixed bracket 109 Assemblies 128, the fourth needle bearing assembly 129 and the fifth needle bearing assembly 130 are installed between the front inner movable bracket 118 and the rear inner movable bracket 119; a transmission belt 131 bypasses the driving pulley 107 and the tension pulley 112 in turn , the first needle bearing assembly 126, the second needle bearing assembly 127, the third needle bearing assembly 128, the fourth needle bearing assembly 129 and the fifth needle bearing assembly 130, wherein the transmission belt 131 passes through the needle bearing assembly The needle roller bearing 135 contact transmission, the transmission belt 131 between the first needle roller bearing assembly 126 and the second needle roller bearing assembly 127 and the fourth roller bearing assembly and the fifth needle roller bearing assembly The transmission belts 131 between the bearing assemblies 130 are parallel to each other; the clamping mechanism 2 for clamping the catheter/guide wire is arranged between the transmission belts 131 parallel to each other, and the transmission belts 131 with opposite moving directions on both sides drive the clamping mechanism 2 to rotate.

Rotating mechanism 1 also comprises the front clamping fixed seat 132 that pin is connected on the front mounting plate 102 tops and the rear clamping fixed seat 133 that pin is connected on the rear mounting plate 103, when clamping mechanism 2 is installed, the front clamping fixed seat 132 and the rear clamping and fixing seat 133 are lifted, and after the front clamping and fixing seat 132 and the rear clamping and fixing seat 133 are respectively locked on the front mounting plate 102 and the rear mounting plate 103, the transmission shaft of the clamping mechanism 2 is turned over The side bearing bush 134 is erected between the front mounting plate 102 and the front clamping seat 132 and between the rear mounting plate 103 and the rear clamping seat 133 . The front mounting plate 102 and the front clamping and fixing seat 132 are respectively composed of half flanging bearing bushes 134, and the rear mounting plate 103 and the rear clamping and fixing group are also respectively composed of half flanging bearing bushes 134.

As shown in Figure 4, the needle roller bearing assembly includes: a needle roller bearing shaft 136, at least one needle roller bearing 135 installed on the needle roller bearing shaft 136, ribs 137 arranged at both ends of the needle roller bearing 135, and ribs 137 arranged on the ribs The axle sleeve 138 of 137 outsides; Driving belt 131 contacts transmission with needle bearing 135. In this embodiment, each needle bearing assembly includes two needle bearings 135, the two ends of the needle bearing shaft 136 of the first needle bearing assembly 126, the second needle bearing assembly 127 and the third needle bearing assembly 128 Installed on the internal fixation bracket and the rear internal fixation bracket 109 respectively. Both ends of the needle bearing shaft 136 of the fourth needle bearing assembly 129 and the fifth needle bearing assembly 130 are installed on the front inner movable bracket 118 and the rear inner movable bracket 119 respectively. As shown in Figure 5, the first needle bearing assembly 126, the second needle bearing assembly 127, the fourth needle bearing assembly 129 and the fifth needle bearing assembly 130 are separated at the four corners of a quadrangle, and the third needle bearing assembly The central axis of the needle bearing assembly 128 is located in the middle below the second needle bearing assembly 127 and the fourth needle bearing assembly 129 .

The rotating shaft of the driving pulley 107 is mounted on the front internal fixed support 108 and the rear internal fixed support 109 through rib bearings.

6-10, the clamping mechanism 2 includes a clamping rotating shaft 201 and a clamping claw 202 fixed at the end of the clamping rotating shaft 201, the rear end of the clamping claw 202 penetrates into the inner cavity of the clamping rotating shaft 201, And the two are fixedly connected by the clamping pin 215, and the front end of the clamping claw 202 has a plurality of claw heads 203 that can be elastically opened and closed. In this embodiment, there are four claw heads, and the outside of the multiple claw heads 203 is covered Clamping claw sleeve 204, there is a clamping spring 205 between the clamping claw sleeve 204 and the clamping rotating shaft 201, the catheter/guide wire passes through the center of the clamping claw 202 and the clamping rotating shaft 201, and the clamping claw sleeve 204 is compressed Rearward movement of the clamping spring 205 causes the plurality of jaws 203 to open, releasing the catheter/guide wire. Referring to Fig. 6, the clamping rotating shaft 201, the clamping claw 202, the clamping pin shaft 215, the clamping claw cover and the clamping spring are the clamping main components. The clamping main body assembly in Fig. 6 is removed and thrown away together with the surgical catheter/guide wire as consumables, which is convenient for disinfection.

Clamping mechanism 2 also comprises the clamping motor support 206 that is fixed on the front mounting plate 102, the clamping motor 207 that is installed on the clamping motor support 206, the clamping sheave 208 that is connected on the output shaft of clamping motor 207 1. The transmission rope guide wheel 209 and the transmission rope 214 installed on the front mounting plate 102, one end of the transmission rope 214 is wound on the clamping sheave 208, and after bypassing the transmission rope guide wheel 209, the head of the rope is directly or indirectly connected to the clamping claw The sleeve 204 is connected, and the clamping claw sleeve 204 is driven to move by receiving and releasing the rope so that the claw head 203 is opened or closed.

In order to guide the clamping claw cover 204, the clamping mechanism 2 also includes a claw cover guide shaft 210, a claw cover guide tube 211 and a clamping claw guide sleeve 216, which are fixed on the front mounting plate 102 and are parallel to each other. 216 is set on the outside of the clamping claw sleeve 204, and the front end of the clamping claw guide sleeve 216 has a retaining ring that limits the forward movement of the clamping claw sleeve 204. The clamping claw guide sleeve 216 is divided into an upper claw sleeve 212 and a lower claw sleeve. Cover 213, upper claw cover 212 and lower claw cover 213 are hinged on the claw cover guide shaft 210, the bottom of the lower claw cover 213 has a boss, and the claw cover conduit 211 has a guide groove, and the boss is inserted into the guide groove to clamp the guide sleeve 216 moves under the guiding action of pawl cover guide shaft 210 and guide groove;

1 and 11, the fixing mechanism 3 includes: a fixed finger base 301, a fixed guide rail 302 fixed on the fixed finger base 301, a fixed finger slider 303 arranged on the fixed guide rail 302, all fixed on the fixed finger slide The fixed finger sliding base 304 on the block 303 and the motor friction wheel guide seat 305, the spring guide rod 306 fixedly installed on the fixed finger sliding base 304, the fixed spring 307 sleeved on the spring guide rod 306, the fixed spring 307 fixedly installed on the fixed finger The fixed finger motor 308 on the base 301, the fixed finger eccentric wheel 309 connected to the output shaft of the fixed finger motor 308, the movable rubber block 310 fixed on the fixed finger sliding base 304 and the fixed rubber block fixed on the fixed finger base 301 311, the movable rubber block 310 is arranged opposite to the fixed rubber block 311, and the fixed finger eccentric wheel 309 abuts against the motor friction wheel guide seat 305; the spring guide rod 306 passes through the fixed finger base 301, and is in clearance fit with the fixed finger base 301; The fixed spring 307 is arranged between the shown fixed finger base 301 and the fixed finger sliding base 304, and the fixed finger slider 303 is driven by the fixed finger eccentric wheel 309 to drive the fixed finger sliding base 304 to move so that the movable rubber block 310 and the fixed rubber block 311 are clipped Tight or separate.

Referring to FIG. 1 and FIG. 8 , the moving mechanism 5 drives the rotating mechanism 1 and the clamping mechanism 2 to move closer to or away from the fixing mechanism 3 . The moving mechanism 5 includes a linear guide rail 51 arranged on the mounting base 4, a moving slide block 52 moving along the linear guide rail 51, a mobile base 53 fixed on the moving slide block 52, and a mobile motor bracket 58 installed on the mounting base 4. Moving motor 54, the coaxial connection leading screw 55 with the output shaft of moving motor 54, the nut 56 that is sleeved on the leading screw 55; Connected by the first pin shaft 8. A pressure sensor 6 is provided between the other end of the mobile swing base 101 and the mobile base 53 .

In order to install the fixing mechanism 3 , a fixed finger support frame 7 is fixed on the installation base 4 , and the fixed finger base 301 is fixed on the fixed finger support frame 7 .

The specific working process is: first insert the catheter/guide wire into the clamping claw 202, and clamp the catheter/guide wire by moving the clamping claw cover 204. The inner holes of the claw head 203 and the clamping claw cover 204 all have tapered Different positions of the clamping claw sleeve 204 on the clamping claw 202 can clamp catheters/guide wires of different thicknesses. Separate the upper claw sleeve 212 from the lower claw sleeve 213, rotate the limit handle 117 to make the front inner movable bracket 118 and the rear inner movable bracket 119 drive the fourth needle roller bearing assembly 129 and the fifth needle roller bearing assembly 130 to move outward, and then The distance between the sides parallel to each other of the drive belt 131 increases, and the front clamping seat 132 and the rear clamping seat 133 are opened, and the clamping rotating shaft 201 of the clamping mechanism 2 is installed on the front mounting plate 102 and the rear mounting plate 103, then the front clamping seat 132 is locked with the front mounting plate 102, the rear clamping seat 133 and the rear mounting plate 103 are locked, the upper claw cover 212 and the lower claw cover 213 are locked, and the transmission The rope is fixed on the clamping claw guide sleeve 216; by rotating the limit handle 117, the fourth needle bearing assembly 129 and the fifth needle bearing assembly 130 are brought close to the first needle bearing assembly 126 and the second needle bearing assembly 127 , by adjusting the tension adjustment bolt 125 to drive the tension pulley 112 to move, the transmission belt 131 is tensioned; the fixed finger motor 308 moves to loosen the fixed rubber block 311 and the movable rubber block 310, so that the catheter/guide wire can pass between the two Pass through; the moving motor 54 moves forward, the lead screw 55 rotates, the lead screw nut structure drives the rotating mechanism 1 and the clamping mechanism 2 to move forward, and the catheter/guide wire is delivered forward; when the clamping claw 202 moves to the fixing mechanism 3 Nearby, the mobile motor 54 stops, the clamping claw 202 loosens the catheter/guide wire, and the fixed finger motor 308 moves in reverse to make the movable rubber block 310 and the fixed rubber block 311 fit closely to compress the catheter/guide wire; 54 reverse movement, the clamping mechanism 2 and the rotating mechanism 1 return to the rear end of the linear guide rail 51; the clamping motor 207 reversely moves to clamp the guide rod/guide wire; the catheter/guide wire is sent into the human blood vessel repeatedly. When the guide wire encounters a bifurcated blood vessel and needs to be rotated, the clamping claw 202 clamps the catheter/guide wire, the rotating motor 106 moves, drives the transmission belt 131 to move, and the clamping mechanism 2 rotates under the drive of the transmission belt 131, driving the guide rod/guide wire The wire rotates, and when the guide rod/guide wire turns to a predetermined angle, the rotating motor 106 stops moving.

As shown in FIG. 12 , when the catheter/guide wire is blocked in the human body, the small resistance of the catheter/guide wire in the blood vessel is amplified by the principle of leverage and measured by the pressure sensor 6 .

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Anyone familiar with the technical field within the technical scope disclosed in the present invention, according to the technical solutions of the present invention and its Any equivalent replacement or change of the inventive concept shall fall within the protection scope of the present invention.

Claims (10)

1. A catheter/guide wire rotation mechanism for minimally invasive vascular interventional surgery robot, characterized in that: the front and rear ends are respectively provided with a mobile swing base (101) with parallel front mounting plates (102) and rear mounting plates (103) ), the rotary motor bracket (105) fixed on the rear mounting plate (103), the rotary motor (106) fixed on the rotary motor bracket (105), and the output shaft of the rotary motor (106) The coaxially connected driving pulley (107), the front internal fixed support (108) and the rear internal fixed support (109) fixed on the base plate (104) of the mobile swing base (101) are respectively movably connected to the The front outer bracket (110) and the rear outer bracket (111) on the outside of the front inner fixation bracket (108) and the rear inner fixation bracket (109), and the two ends of the rotating shaft are supported on the front inner fixation bracket (108) by bearings. and the tension pulley (112) on the back internal fixation bracket (109), the fixed side plate (113) that is fixed between the described front internal fixation bracket (108) and the rear internal fixation bracket (109), is fixed on the The limiting mounting seat (114) on the fixed side plate (113), the limiting shaft (115) passing through the limiting mounting base (114), the upper end of the limiting shaft (115) The limit eccentric wheel (116), the front inner movable support (118) and the rear inner movable support (119) which are respectively fixed on the opposite sides of the front outer support (110) and the rear outer support (111), are connected to the front The movable side plate (120) between the inner movable bracket (118) and the rear inner movable bracket (119); the limit eccentric wheel (116) is against the inside of the movable side plate (120); the front outer Both the first slotted hole (121) and the second slotted hole (122) arranged in the horizontal direction are arranged on the bracket (110) and the rear outer bracket (111), and the connecting bolt (139) passes through the front outer bracket (110) and the second slotted hole (122). The first elongated hole (121) on the rear outer bracket (111) is fixed with the front inner fixation bracket (108) and the rear inner fixation bracket (109); the front outer bracket (110) and the rear outer The bracket (111) has a tensioning side plate (123) perpendicular to the extending direction of the second long hole (122), and the end of the rotating shaft of the tensioning pulley (112) is fixed with a tensioning adjustment plate (124), the tension adjustment plate (124) is fixed with a tension adjustment bolt (125), and the tension adjustment bolt (125) is screwed into the length of the tension side plate (123) to adjust the tension adjustment bolt (124). The position of the rotating shaft of the tension pulley (112) in the second elongated hole (122); the rotating mechanism (1) also includes five needle bearing assemblies, the front internal fixed bracket (108) and the The first needle bearing assembly (126), the second needle bearing assembly (127) and the third needle bearing assembly (128) are installed between the rear internal fixed brackets (109), and the front internal movable bracket (118 ) and the rear internal movable bracket (119) is installed between The fourth needle bearing assembly (129) and the fifth needle bearing assembly (130) are installed; a driving belt (131) passes around the driving pulley (107), the tension pulley (112), the first roller Needle bearing assembly (126), second needle bearing assembly (127), third needle bearing assembly (128), fourth needle bearing assembly (129) and fifth needle bearing assembly (130), wherein the drive belt ( 131) Through contact transmission with the needle bearing (135) of the needle bearing assembly, the transmission belt (131) between the first needle bearing assembly (126) and the second needle bearing assembly (127) is connected to the The transmission belts (131) between the fourth roller bearing assembly and the fifth needle bearing assembly (130) are parallel to each other; the clamping mechanism (2) used to clamp the catheter/guide wire is arranged on the transmission belts parallel to each other Between (131), the clamping mechanism (2) is driven to rotate by the transmission belts (131) with opposite moving directions on both sides. 2. The catheter/guide wire rotation mechanism of minimally invasive vascular interventional surgery robot according to claim 1, characterized in that: the rotation mechanism (1) also includes a front pin connected above the front mounting plate (102). Clamp the fixed seat (132) and the rear clamped fixed seat (133) pinned on the described rear mounting plate (103), when the clamping mechanism (2) is installed, the described front clamped fixed seat (132) and The rear clamping and fixing seat (133) is opened, and the front clamping and fixing seat (132) and the rear clamping and fixing seat (133) are respectively locked on the front mounting plate (102) and the After the rear mounting plate (103) is installed, the transmission shaft of the clamping mechanism (2) is erected between the front mounting plate (102) and the front clamping and fixing seat (132) through the flanging bearing bush (134). between the rear mounting plate (103) and the rear clamping seat (133). 3. The catheter/guide wire rotation mechanism of minimally invasive vascular interventional surgery robot according to claim 1 or 2, characterized in that: the needle bearing assembly comprises: a needle bearing shaft (136), mounted on the roller At least one needle bearing (135) on the needle bearing shaft (136) and ribs (137) arranged at both ends of the needle bearing (135); the drive belt (131) and the needle bearing (135) contact drive. 4. A catheter/guide wire propulsion device for a robot for minimally invasive vascular interventional surgery, characterized in that: it includes the rotating mechanism (1) according to claim 1, and also includes a clamping mechanism (2), a fixing mechanism (3) and Moving mechanism (5); described clamping mechanism (2) comprises clamping rotating shaft (201) and the clamping claw (202) that is fixed on described clamping rotating shaft (201) end, and described clamping claw ( The front end of 202) has a plurality of claw heads (203) that can be opened and closed elastically, and the outer cover of a plurality of said claw heads (203) is provided with clamping claw sleeves (204), and the clamping claw sleeves (204) and There is a clamping spring (205) between the clamping rotation shafts (201), the catheter/guide wire passes through the center of the clamping claw (202) and the clamping rotation shaft (201), and the clamping claw sleeve (204) Compress the clamping spring (205) to move backwards to open a plurality of claw heads (203), and loosen the catheter/guide wire; the fixing mechanism (3) includes: a fixed finger base (301), fixed on the The fixed guide rail (302) on the fixed finger base (301), the fixed finger slider (303) arranged on the fixed guide rail (302), and the fixed finger slider (303) are all fixed on the fixed finger slider (303). The fixed finger sliding base (304) and the motor friction wheel guide seat (305), the spring guide rod (306) fixedly installed on the fixed finger sliding base (304), is sleeved on the spring guide rod (306) The fixed spring (307), the fixed finger motor (308) fixedly installed on the fixed finger base (301), the fixed finger eccentric wheel (309) connected to the output shaft of the fixed finger motor (308), the fixed finger The movable rubber block (310) on the sliding base (304) of the fixed finger and the fixed rubber block (311) fixed on the base (301) of the fixed finger, the movable rubber block (310) and the fixed rubber block (310) The rubber blocks (311) are arranged oppositely, and the fixed finger eccentric wheel (309) leans against the motor friction wheel guide seat (305); the spring guide rod (306) passes through the fixed finger base (301) , and fit in clearance with the fixed finger base (301); the fixed spring (307) is arranged between the fixed finger base (301) and the fixed finger sliding base (304), through the eccentricity of the fixed finger The wheel (309) drives the fixed finger slider (303) to drive the fixed finger sliding base (304) to move so that the movable rubber block (310) is clamped or separated from the fixed rubber block (311); the moving mechanism (5 ) drives the rotating mechanism (1) and the clamping mechanism (2) to move closer to or away from the fixing mechanism (3). 5. The catheter/guide wire propulsion device of the minimally invasive vascular interventional surgery robot according to claim 4, characterized in that: it also includes a mounting base (4), and the moving mechanism (5) includes a set on the mounting base ( 4) The linear guide rail (51) on the top, the moving slider (52) moving along the linear guide rail (51), the mobile base (53) fixed on the moving slider (52), installed on the installation The moving motor (54) on the base (4), the coaxial connection screw (55) with the output shaft of the moving motor (54), the screw nut (56) sleeved on the leading screw (55); The nut (56) is fixedly connected to the mobile base (53), and one end of the mobile swing base (101) is connected to the mobile base (53) through a first pin shaft (8). 6. The catheter/guide wire propulsion device for minimally invasive vascular interventional surgery robot according to claim 5, characterized in that: a pressure sensor is arranged between the other end of the mobile swing base (101) and the mobile base (53) (6). 7. The catheter/guide wire advancing device for minimally invasive vascular interventional surgery robot according to claim 4, characterized in that: the clamping mechanism (2) also includes a clamp fixed on the front mounting plate (102) Hold the motor support (206), the clamping motor (207) that is installed on the described clamping motor support (206), the clamping sheave (208) that is connected on the output shaft of described clamping motor (207), The drive rope guide wheel (209) and the drive rope (214) installed on the front mounting plate (102), one end of the drive rope (214) is wound on the clamping sheave (208), and The rear rope end of the transmission rope guide wheel (209) is directly or indirectly connected to the clamping claw cover (204), and the clamping claw cover (204) is driven to move by receiving and releasing the rope to make the claw head (203) open. open or closed. 8. The catheter/guide wire propulsion device for minimally invasive vascular interventional surgery robot according to claim 7, characterized in that: the clamping mechanism (2) also includes mutual The claw sleeve guide shaft (210), the claw sleeve guide tube (211) and the clamping claw guide sleeve (216) arranged in parallel, the clamping claw guide sleeve (216) is sleeved on the clamping claw sleeve (204) outside, and the front end of the clamping claw guide sleeve (216) has a stop ring that restricts the forward movement of the clamping claw sleeve (204), and the clamping claw guide sleeve (216) is divided into upper claw sleeves (212 ) and the lower claw cover (213), the upper claw cover (212) and the lower claw cover (213) are hinged on the claw cover guide shaft (210), and the bottom of the lower claw cover (213) has There is a guide groove on the claw sleeve conduit (211), the boss is inserted into the guide groove, and the clamping guide sleeve (216) is connected between the claw sleeve guide shaft (210) and the guide groove. Move under the guiding effect of; the transmission rope is fixed on the clamping claw guide sleeve (216). 9. The catheter/guide wire propulsion device of minimally invasive vascular interventional surgery robot according to claim 4, characterized in that: it also includes a fixed finger support frame (7) fixed on the installation base (4), the The fixed finger base (301) is fixed on the fixed finger support frame (7). 10. The catheter/guide wire propulsion device for minimally invasive vascular interventional surgery robot according to claim 4, characterized in that: the lower end of the limit shaft (115) is fixedly equipped with a limit handle (117).