CN109821138B - Minimally invasive vascular intervention surgical robot catheter and guide wire propulsion mechanism - Google Patents
Minimally invasive vascular intervention surgical robot catheter and guide wire propulsion mechanism Download PDFInfo
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- CN109821138B CN109821138B CN201910085186.8A CN201910085186A CN109821138B CN 109821138 B CN109821138 B CN 109821138B CN 201910085186 A CN201910085186 A CN 201910085186A CN 109821138 B CN109821138 B CN 109821138B
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Abstract
The invention discloses a catheter and guide wire propelling mechanism of a minimally invasive vascular interventional surgery robot, which comprises a displacement platform, and a fine adjustment device, a catheter clamping and twisting device and a guide wire clamping and twisting device which are sequentially arranged on the displacement platform; the displacement platform comprises a first displacement workbench and a second displacement workbench, the fine adjustment device and the catheter clamping and rotating twisting device are arranged on the first displacement workbench, and the guide wire clamping and rotating twisting device is arranged on the second displacement workbench; the first displacement workbench is provided with a catheter displacement mechanism for driving the catheter clamping rotary twisting device to move and a platform displacement mechanism for driving the second displacement workbench to move, and the second displacement workbench is provided with a guide wire displacement mechanism for driving the guide wire clamping rotary twisting device to move. The catheter displacement mechanism, the platform displacement mechanism and the guide wire displacement mechanism can synchronously move or independently move, and the catheter and/or the guide wire can be conveniently and synchronously or independently delivered to the blood vessel.
Description
Technical Field
The invention relates to the field of medical equipment, in particular to a propelling mechanism of a catheter and a guide wire of a minimally invasive vascular interventional surgery robot.
Background
The traditional minimally invasive vascular surgery is mainly implemented by manually inserting surgical instruments such as catheters, guide wires, micro-catheters, balloon lamps and the like under the monitoring and guidance of X-ray images or other gray images by skilled doctors. However, because the bending radius of the front end of the existing catheter is fixed, and the blood vessel in the human body has the characteristics of long and narrow bending, irregularity, multiple branches and the like, a doctor has certain risks during insertion work, and the operation is complex, the operation time is long, and factors such as physical fatigue and unstable manual operation influence the operation quality.
The minimally invasive intervention of the blood vessel is characterized by minimal invasion, no pain and comfort, and is rapidly developed and popularized. The development of minimally invasive vascular surgery technology inevitably drives the heat of the related surgical robot technical research. The existing catheter and guide wire advancing mechanism has the following defects: the assembly is complex and inconvenient to disassemble, and is not beneficial to disinfection of the catheter and the guide wire before the operation and replacement of the catheter and the guide wire; the advancing mechanism does not allow for simultaneous delivery of the catheter and guidewire. Therefore, in the development process of manufacturers, the structure of the pushing mechanism needs to be improved so as to facilitate the synchronous delivery of the catheter and the guide wire into the blood vessel, thereby improving the operation quality and reducing the pain of patients.
Disclosure of Invention
The invention aims to solve the technical problem of providing a catheter and guide wire propelling mechanism of a minimally invasive vascular interventional surgery robot, which is convenient for synchronously or independently delivering the catheter and the guide wire into a blood vessel.
In order to solve the technical problems, the invention provides the following technical scheme: a minimally invasive vascular intervention surgical robot catheter and guide wire propulsion mechanism comprises a displacement platform, and a fine adjustment device, a catheter clamping and twisting device and a guide wire clamping and twisting device which are sequentially arranged on the displacement platform from left to right; the displacement platform comprises a first displacement workbench and a second displacement workbench arranged above the first displacement workbench, the fine adjustment device and the catheter clamping and rotating twisting device are arranged on the first displacement workbench, and the guide wire clamping and rotating twisting device is arranged on the second displacement workbench; the first displacement workbench is provided with a catheter displacement mechanism for driving the catheter clamping and rotary twisting device to move and a platform displacement mechanism for driving the second displacement workbench to move, and the second displacement workbench is provided with a guide wire displacement mechanism for driving the guide wire clamping and rotary twisting device to move; the fine adjustment device comprises a fixed support arranged on the first displacement workbench, a rolling mechanism arranged on the fixed support and a guide pipe for the guide pipe and the guide wire to penetrate through and be led into the rolling mechanism; the rolling mechanism comprises a driving roller, a driven roller matched with the driving roller, a rolling fine adjustment motor driving the driving roller to rotate, and a distance adjusting mechanism adjusting the distance between the driving roller and the driven roller.
Preferably, the fine adjustment device is fixed at a first end of the first displacement table, the conduit displacement mechanism is installed in the middle of the first displacement table, and the platform displacement mechanism is installed at a second end of the first displacement table; the conduit clamping and twisting device is connected to the conduit displacement mechanism through a conduit displacement base, and the second displacement workbench is connected to the platform displacement mechanism through a platform displacement base; the guide wire clamping and twisting device is connected to the guide wire displacement mechanism through the guide wire displacement base.
Preferably, a first bearing seat is arranged between the conduit clamping and twisting device and the conduit displacement base, and a first pressure sensor for detecting the pressure change of the conduit clamping and twisting device relative to the first bearing seat is arranged on the first bearing seat; and a second bearing seat is arranged between the guide wire clamping and twisting device and the guide wire displacement base, and a second pressure sensor for detecting the pressure change of the guide wire clamping and twisting device relative to the second bearing seat is arranged on the second bearing seat.
Preferably, the first displacement workbench comprises a first accommodating box body and a first cover plate arranged on the first accommodating box body, the conduit displacement mechanism and the platform displacement mechanism are positioned in the first accommodating box body, and the first cover plate is provided with a first chute for the conduit displacement base to move and a second chute for the platform displacement base to move; the second displacement workbench comprises a second accommodating box body and a second cover plate arranged on the second accommodating box body, the guide wire displacement mechanism is located inside the second accommodating box body, and the second cover plate is provided with a third sliding groove for the guide wire displacement base to move.
Preferably, the catheter displacement mechanism, the platform displacement mechanism and the guide wire displacement mechanism are screw rod transmission mechanisms.
Preferably, each screw rod transmission mechanism comprises a motor, a screw rod connected to an output shaft of the motor, a screw nut screwed to the screw rod, a guide rail laid along the length direction of the screw rod, and a sliding block slidably connected to the guide rail and fixedly connected to the screw nut.
Preferably, the distance adjusting mechanism comprises a cam rotating motor installed on the fixed support, a cam connected to an output shaft of the cam rotating motor and abutting against the driven roller, and a tension spring connected to the driven roller and the fixed support.
Preferably, the catheter clamping and twisting device and the guide wire clamping and twisting device both comprise a fixed box body, a gear transmission mechanism arranged on the fixed box body, a rotating twisting motor for driving the gear transmission mechanism to rotate, a first rotating twisting roller and a second rotating twisting roller connected to the gear transmission mechanism, a gear rotating pair rotatably connected to the gear transmission mechanism, a third rotating twisting roller connected to the gear rotating pair and an opening and closing device for driving the gear rotating pair to rotate relative to the gear transmission mechanism.
Preferably, the opening and closing device comprises an opening and closing motor arranged on the accommodating box body, a crank arranged on an output shaft of the opening and closing motor, a connecting rod hinged to the crank and a transmission rod rotatably connected to the connecting rod.
Compared with the prior art, the invention has the following advantages:
1. the fine adjustment device is positioned at the front end of the catheter and guide wire pushing mechanism and used for clamping the catheter and the guide wire, ensuring the continuous delivery of the catheter and the guide wire and realizing the integral fine adjustment of the pushing state of the catheter and the guide wire; the conduit clamping and twisting device is used for clamping the conduit and pushing the conduit forwards through the conduit displacement mechanism; the guide wire clamping and rotating device is used for clamping a guide wire, the guide wire penetrates through the catheter, and the guide wire clamping and rotating device forwards pushes the guide wire through the platform displacement mechanism and/or the guide wire displacement mechanism; the catheter displacement mechanism, the platform displacement mechanism and the guide wire displacement mechanism can move synchronously or independently, and the synchronous or independent delivery of the catheter and/or the guide wire to the blood vessel is convenient.
2. The invention simulates manual operation of a human hand, and designs a bionic finger mechanism which is provided with two bionic fingers, namely a catheter clamping and twisting device and a guide wire clamping and twisting device, wherein the bionic fingers can finish the clamping and twisting operation of the catheter and the guide wire and slow down part of the labor of a doctor.
3. The whole delivery mechanism adopts two bionic fingers, the two bionic fingers can finish linear movement on the moving mechanism, and in the process of simultaneously delivering the catheter and the guide wire, the two bionic fingers respectively clamp the catheter and the guide wire, so that the operation during the operation like a doctor is finished, the propelling and twisting actions of the catheter and the guide wire can be realized, the continuity of the movement of the catheter and the guide wire is ensured while the catheter and the guide wire are conveyed in a rotating mode, the operation efficiency and the safety in the actual operation process are improved, the operation quality is improved, and the pain of patients is reduced.
4. The moving mechanism is divided into two parts, namely a delivery catheter and a guide wire, and the moving mechanism for delivering the guide wire is divided into two parts and designed into a step form, so that the length of the whole mechanism can be effectively shortened, and the operation is easier.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.
FIG. 1 is a perspective view of a first perspective of a catheter/guidewire advancing mechanism of a minimally invasive vascular interventional surgical robot according to the present invention; the direction of the arrow in the figure is the advancing direction of the catheter and the guide wire moving into the blood vessel;
FIG. 2 is a schematic view of a guidewire penetrating a catheter according to the present invention;
FIG. 3 is an exploded view of the catheter and guidewire advancement mechanism of the present invention;
FIG. 4 is a perspective view of the catheter gripping and twisting device of the present invention;
FIG. 5 is a perspective view of the device for clamping and twisting catheters according to the present invention with the cover opened to the fixed box and one side plate of the fixed box removed;
FIG. 6 is a perspective view of a first viewing angle of the conduit gripping and twisting device of the present invention with the twisting motor, the gear transmission mechanism, the gear rotating pair and the opening and closing device assembled together;
FIG. 7 is a perspective view of a second viewing angle of the conduit gripping and twisting device of the present invention, wherein the twisting motor, the gear transmission mechanism, the gear rotation pair and the opening and closing device are assembled together;
FIG. 8 is a schematic view of a third twisting roller of the conduit gripping and twisting device of the present invention shown gathered together on the first twisting roller and the second twisting roller;
FIG. 9 is a schematic view of a third twisting roller of the conduit gripping and twisting device of the present invention separated from the first twisting roller and the second twisting roller;
FIG. 10 is the schematic view of FIG. 6 with the first shaft seat and the opening and closing device removed;
FIG. 11 is the schematic view of FIG. 6 with the first rotating shaft, the first rotating shaft and the first rotating roller removed;
FIG. 12 is a schematic view from the right in FIG. 7, showing the directions of the arrows respectively showing the rotation directions of the respective twist rollers and gears;
FIG. 13 is a schematic cross-sectional view taken along line A-A of FIG. 7; the direction indicated by the arrow in the figure is the rotation direction of each gear;
FIG. 14 is a perspective view of a first viewing angle of the fine adjustment device of the present invention;
FIG. 15 is a perspective view of a second perspective of the fine adjustment device of the present invention;
FIG. 16 is a perspective view of the cam rotating motor of FIG. 14 with the trimmer motor removed;
FIG. 17 is a right side view of the support frame of FIG. 15 with the support frame removed;
FIG. 18 is a schematic view of the lead screw drive of the present invention connected to a mobile base;
FIG. 19 is a schematic view of the connection of the conduit gripping and twisting device of the present invention to the screw drive mechanism;
FIG. 20 is a schematic cross-sectional view taken along line B-B of FIG. 19;
FIG. 21 is a force diagram of the pressure sensor of the present invention.
Detailed Description
The following detailed description of the embodiments of the present invention is provided in conjunction with the accompanying drawings, and is not intended to limit the scope of the invention. It is to be understood that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. The terms "first," "second," "third," and the like are used merely to simplify the description of words for distinguishing between similar elements and are not to be construed as specifying a sequential relationship between particular orders.
In this application, unless expressly stated or limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
Referring to fig. 1 and fig. 2, the present embodiment provides a catheter and guide wire advancing mechanism of a robot for minimally invasive vascular intervention, including a displacement platform 10, and a fine adjustment device 2, a catheter clamping and twisting device 3, and a guide wire clamping and twisting device 4, which are sequentially installed on the displacement platform 10 from left to right. The fine adjustment device 2 is positioned at the front end of the catheter and guide wire pushing mechanism and used for clamping the catheter and the guide wire, ensuring the continuous delivery of the catheter and the guide wire and realizing the integral fine adjustment of the pushing state of the catheter and the guide wire. The conduit clamping and twisting device 3 is used for clamping a conduit and can simulate the operation of twisting the conduit by human hands. The guide wire clamping and twisting device 4 is used for clamping the guide wire and can simulate the operation of twisting the guide wire by human hands. A guidewire 200 is threaded through the catheter 100 as shown in fig. 2.
Referring to fig. 1 and 3, the displacement stage 10 includes a first displacement table 11 and a second displacement table 12 mounted above the first displacement table 11. The fine adjustment device 2 and the catheter clamping and twisting device 3 are sequentially arranged on a first displacement workbench 11 from left to right, and the guide wire clamping and twisting device 4 is arranged on a second displacement workbench 12 and is positioned on the right side of the catheter clamping and twisting device 3. The first displacement workbench 11 is provided with a conduit displacement mechanism 13 for driving the conduit clamping and twisting device 3 to move and a platform displacement mechanism 14 for driving the second displacement workbench 12 to move. The conduit gripping and twisting device 3 advances the conduit forward by the conduit displacement mechanism 13. The second displacement workbench 12 is provided with a guide wire displacement mechanism 15 which drives the guide wire clamping and twisting device 4 to move. The guidewire holding twist device 4 may advance the guidewire forward via the platform displacement mechanism 14 and/or the guidewire displacement mechanism 15. Guide wire centre gripping twists with fingers device 4 and installs in the top of first displacement workstation 11 through second displacement workstation 12, sets up the length that the structure can effectively shorten whole advancing mechanism through the ladder, changes in the operation more easily, and highly can guarantee that the guide wire can run through in the pipe. The catheter displacement mechanism 13, the platform displacement mechanism 14 and the guidewire displacement mechanism 15 may be moved simultaneously or individually, i.e., to facilitate simultaneous or independent delivery of the catheter and/or guidewire into the vessel. The catheter clamping and twisting device 3 and the guide wire clamping and twisting device 4 can be used as bionic fingers to simulate the manual operation of a human hand, and can realize the propelling and twisting actions of the catheter and the guide wire by combining with corresponding displacement mechanisms, the movement continuity of the catheter and the guide wire is ensured by rotating and conveying the catheter and the guide wire, and the operation efficiency and the safety in the actual operation process are improved.
Referring to fig. 4, 5, 6 and 7, in the present embodiment, the conduit clamping and twisting device 3 includes a fixed box 31, a gear transmission mechanism 32 installed on the fixed box 31, a twisting motor 33 for driving the gear transmission mechanism 32 to rotate, a first twisting roller 323 and a second twisting roller 326 connected to the gear transmission mechanism 32, a gear rotation pair 34 rotatably connected to the gear transmission mechanism 32, a third twisting roller 347 connected to the gear rotation pair 34, and an opening and closing device 35 for driving the gear rotation pair 34 to rotate relative to the gear transmission mechanism 32. When the gear pair 34 rotates relative to the gear transmission mechanism 32, the third twisting roller 347 can be driven to gather together or separate from the first twisting roller 323 and the second twisting roller 326. When the third rotary twisting roller 347 is gathered on the first rotary twisting roller 323 and the second rotary twisting roller 326 (as shown in fig. 7 and 8), the cross sections of the first rotary twisting roller 323, the second rotary twisting roller 326 and the third rotary twisting roller 347 are arranged in a triangular shape, and the clearance space at the gathering connection part of the three rotary twisting rollers forms a through hole for the conduit to pass through, and the conduit can be clamped by the gathered three rotary twisting rollers; when the third twisting roller 347 is separated from the first twisting roller 323 and the second twisting roller 326 (as shown in fig. 9), the catheter can be conveniently detached from the catheter holding twisting device 3.
Referring to fig. 4 and 5, the fixed box 31 includes an accommodating case 311 and a cover 312 rotatably connected to the accommodating case 311 and capable of covering the accommodating case 311. The receiving case 311 is provided with a V-shaped groove 313 to which the guide tube is mounted. The conduit is placed on the V-groove 313 and extends into the interstitial space at the convergence junction of the three twist rollers and to the guide tube 23 of the vernier device 2. The rotary twisting motor 33, the gear transmission mechanism 32 and the opening and closing device 35 are all installed on the accommodating shell 311.
Referring to fig. 10, the output shaft of the twisting motor 33 is connected to the driving twisting gear 331 through a coupling. The gear transmission mechanism 32 includes a first rotating shaft 321 and a second rotating shaft 324 mounted on the accommodating housing 311 and arranged in parallel, a first gear 322 sleeved on the first rotating shaft 321, and a second gear 325 sleeved on the second rotating shaft 324. The first gear 322 and the second gear 325 are externally meshed with the driving rotary twisting gear 331, so that the rotation directions of the first gear 322 and the second gear 325 are the same; and the parameters of the first gear 322 and the second gear 325 are the same, namely: the transmission ratio of the driving rotation gear 331 to the first gear 322 is equal to the transmission ratio of the driving rotation gear 331 to the second gear 325, so that the rotation speeds of the first gear 322 and the second gear 325 are the same, and further the rotation directions and the rotation speeds of the first rotating shaft 321 and the second rotating shaft 324 are also the same. The first rotating shaft 321 and the second rotating shaft 324 are rotatably connected to the accommodating housing 311 and protrude outside the accommodating housing 311. The first twist roller 323 is mounted to a protruding end of the first rotating shaft 321. The second rotating roller 326 is mounted on the protruding end of the second rotating shaft 324 and is pressed onto the first rotating roller 323. The first rotating twisting roller 323 and the second rotating twisting roller 326 are provided with a plurality of annular clamping grooves and are embedded into each other. When the twisting motor 33 rotates, the driving twisting gear 331 drives the first gear 322 and the second gear 325 to rotate at the same rotation speed and direction, and correspondingly drives the first twisting roller 323 and the second twisting roller 326 to rotate at the same rotation speed and direction.
Referring to fig. 11, 12 and 13, the gear rotating pair 34 includes a first shaft seat 341 and a second shaft seat 342 rotatably connected to the second rotating shaft 324, a third rotating shaft 343 and a fourth rotating shaft 345 installed between the first shaft seat 341 and the second shaft seat 342, a third gear 344 sleeved on the third rotating shaft 343, and a fourth gear 346 sleeved on the fourth rotating shaft 345. The first shaft holder 341 and the second shaft holder 342 are oppositely disposed and sleeved on the second rotating shaft 324, and the first shaft holder 341 and the second shaft holder 342 can rotate around the axis of the second rotating shaft 324. The third and fourth rotating shafts 343 and 345 are rotatably coupled to the first and second shaft holders 341 and 342. The third rotating shaft 343 and the fourth rotating shaft 345 protrude from the accommodating housing 311 and are located in the accommodating space of the cover 312. The fourth rotating shaft 345 protrudes out of the cover 312, and the third rotating roller 347 is mounted at the protruding end of the fourth rotating shaft 345 and is pressed on the first rotating roller 323 and the second rotating roller 326. The third twisting roller 347 is also provided with a plurality of ring-shaped slots, and is embedded with the ring-shaped slots of the first twisting roller 323 and the second twisting roller 326.
the fourth gear 346 is externally meshed with the third gear 344 such that the fourth gear 346 and the third gear 344 are in opposite directions; thereby making the fourth gear 346 and the first and second gears 322 and 325 rotate in the same direction, and correspondingly making the third twisting roller 347 and the first and second twisting rollers 323 and 326 rotate in the same direction. The third gear 344 and the active twisting gear 331 have the same parameters, and the fourth gear 346 has the same parameters as the first gear 322 and the second gear 325, that is: the transmission ratio of the third gear 344 to the fourth gear 346 is equal to the transmission ratio of the driving rotation gear 331 to the first gear 322, so that the fourth gear 346 rotates at the same speed as the first gear 322 and the second gear 325, and the third rotation roller 347 and the first rotation roller 323 and the second rotation roller 326 rotate at the same speed. When the twisting motor 33 rotates, the driving twisting gear 331 drives the first gear 322, the second gear 325 and the fourth gear 346 to rotate at the same rotation speed and rotation direction, and correspondingly drives the first twisting roller 323, the second twisting roller 326 and the third twisting roller 347 to rotate at the same rotation speed and rotation direction, so that the three twisting rollers can simulate the manual operation of a human hand to uniformly twist the catheter at the same rotation speed and rotation direction, so as to push the catheter to move forward and adjust the forward direction.
The driving rotation twisting gear 331, the first gear 322, the second gear 325, the third gear 344 and the fourth gear 346 are all helical gears. The helical gear has the advantages of stable meshing, small impact, low noise and large bearing capacity.
Referring to fig. 11, 12 and 13, the opening and closing device 35 includes an opening and closing motor 351 mounted on the accommodating housing 311, a crank 352 mounted on an output shaft of the opening and closing motor 351, a connecting rod 353 hinged to the crank 352, and a driving rod 354 rotatably connected to the connecting rod 353. One end of the transmission rod 354 is connected to the link 353 and the other end of the transmission rod 354 is connected to the first hub 341. The first shaft seat 341 takes the axis of the second rotating shaft 324 as the rotating center. The transmission rod 354 is connected to the connection of the first shaft seat 341 to the axis of the second rotating shaft 324 to form a rocker of the crank-rocker mechanism. When the opening and closing motor 351 rotates, the crank 352 is driven to rotate, the crank 352 drives the connecting rod 353 to move, the connecting rod 353 drives the first shaft seat 341 to rotate around the axis of the second rotating shaft 324 through the transmission rod 354, and simultaneously drives the second shaft seat 342 to rotate around the axis of the second rotating shaft 324, so that when the gear revolute pair 34 rotates relative to the second rotating shaft 324, the third rotary twisting roller 347 can be driven to gather together or separate from the first rotary twisting roller 323 and the second rotary twisting roller 326, and the catheter can be conveniently detached or installed between the three rotary twisting rollers. It should be noted that: the two side walls of the cover 312 are respectively provided with an avoiding notch 314 for allowing the driving rod 354 and the fourth rotating shaft 345 to move, so that the first shaft seat 341 and the second shaft seat 342 can rotate around the axis of the second rotating shaft 324.
In this embodiment, the guide wire clamping and twisting device 4 and the catheter clamping and twisting device 3 have the same structure and the same working principle. The guide wire clamping and twisting device 4 also comprises a fixed box 31, a gear transmission mechanism 32 arranged on the fixed box 31, a twisting motor 33 for driving the gear transmission mechanism 32 to rotate, a first twisting roller 323 and a second twisting roller 326 connected to the gear transmission mechanism 32, a gear rotating pair 34 rotatably connected to the gear transmission mechanism 32, a third twisting roller 347 connected to the gear rotating pair 34, and an opening and closing device 35 for driving the gear rotating pair 34 to rotate relative to the gear transmission mechanism 32. The difference between the two is that the catheter clamping and twisting device 3 is used for clamping and twisting the catheter, and the guide wire clamping and twisting device 4 is used for clamping and twisting the guide wire. The guidewire extends forwardly through the catheter.
Referring to fig. 3 and 14 to 17, in the present embodiment, the fine adjustment device 2 is mounted on the first displacement table 11 through the fine adjustment carrier 20. The fine-tuning device 2 comprises a fixed bracket 21 arranged on a fine-tuning bearing seat 20, a rolling mechanism 22 arranged on the fixed bracket 21 and a guide tube 23 for guiding the guide tube and the guide wire to pass through and be introduced into the rolling mechanism 22. The fixing bracket 21 includes a joint seat 211 fixedly connected to the fine adjustment bearing seat 20, a bearing bottom plate 212 fixedly connected to the joint seat 211, a first side plate 213 and a second side plate 214 respectively fixedly connected to both sides of the bearing bottom plate 212, a fine adjustment motor bracket 215 and a drive roller bracket 216 mounted on the first side plate 213, a cam rotating motor bracket 217 and a driven roller bracket 218 mounted on the second side plate 214, and a support frame 219 mounted on the first side plate 213 and fixing the guide pipe 23. The rolling mechanism 22 includes a driving roller 221 mounted on the driving roller support 216, a driven roller 222 mounted on the driven roller support 218 and fitted to the driving roller 221, a rolling fine adjustment motor 223 mounted on the fine adjustment motor support 215 and driving the driving roller 221 to rotate, and a spacing adjustment mechanism 24 adjusting a spacing between the driving roller 221 and the driven roller 222. The guide tube passes through the guide tube 23 and is drawn between the drive roller 221 and the driven roller 222.
The rolling fine adjustment motor 223 is installed on the fine adjustment motor support 215, and an output shaft of the rolling fine adjustment motor 223 is provided with a driving fine adjustment gear 224 through an elastic coupling. The drive roller support 216 is provided with a drive roller shaft 225, and the drive roller shaft 225 is sleeved with a drive roller 221 and a driven fine adjustment gear 226 which is engaged with and driven by the drive fine adjustment gear 224. The driven fine adjustment gear 226 is driven by the driving fine adjustment gear 224 and drives the driving roller 221 to rotate synchronously around the axis of the driving roller shaft 225. The outer circumferential surface of the drive roller 221 is provided with an annular groove to receive a portion of the conduit. The driven roller support 218 is provided with a driven roller shaft 227, and the driven roller 222 fitted to the drive roller 221 is fitted around the drive roller shaft 225. The outer peripheral surface of the driven roller 222 is provided with an annular groove to receive a portion of the catheter. The guide tube and the guide wire are introduced from the guide tube 23 and then extend into the gap groove between the driving roller 221 and the driven roller 222.
Referring to fig. 14 and 17, the interval adjusting mechanism 24 includes a cam rotating motor 241 mounted on the cam rotating motor support 217, a cam 242 connected to an output shaft of the cam rotating motor, a guide shaft 243 connected to the driven roller support 218 and the second side plate 214, and a tension spring 244 sleeved on the guide shaft 243. The driven roller holder 218 is provided with two guide shafts 243, and the two guide shafts 243 are disposed up and down. One end of each guide shaft 243 is fixedly coupled to the driven roller bracket 218, and the other end of the guide shaft 243 is slidably coupled to the second side plate 214. The second side plate 214 is provided with a through hole for the guide shaft 243 to pass through. Each guide shaft 243 is sleeved with a tension spring 244, one end of the tension spring 244 is fixedly connected to the driven roller bracket 218, and the other end of the tension spring 244 is fixedly connected to the second side plate 214. The cam 242 rotates around the axis of the output shaft of the cam rotating motor, and when the cam rotating motor 241 rotates, the cam 242 is driven to rotate, and the protruding portion of the cam 242 can be pressed against or separated from the follower roller holder 218. Wherein: when the cam rotating motor 241 rotates clockwise, and the protrusion of the cam 242 presses against the driven roller support 218, the driven roller support 218 is pushed to move towards the driving roller support 216, the tension spring 244 is correspondingly elongated, the driven roller 222 presses against the driving roller 221 and reduces the groove gap between the driving roller 221 and the driven roller 222, so that the catheter and the guide wire are clamped, and the catheter and the guide wire are conveniently delivered; the cam rotating motor 241 rotates counterclockwise, the convex part of the cam 242 is gradually separated from the driven roller bracket 218, the driven roller bracket 218 moves towards the second side plate 214 by the pulling force of the tension spring 244, the driven roller 222 is far away from the driving roller 221, the groove gap between the driving roller 221 and the driven roller 222 is increased, the guide tube and the guide wire are correspondingly loosened, and the guide tube and the guide wire move along the axis line of the guide tube 23; and the catheter and the guide wire can be conveniently detached from the fine adjustment device 2, so that the catheter and the guide wire can be replaced or cleaned. The driving roll shaft 225 and the driven roll shaft 227 both penetrate through the support frame 219, and a waist-shaped through hole for accommodating the movement of the driven roll shaft 227 is formed in the support frame 219, so that the driven roll shaft 227 can conveniently move relative to the driving roll shaft 225. Of course, in other embodiments, the driven roller shaft 227 may not penetrate the supporting frame 219.
The bearing bottom plate 212 is provided with slide rails 245, the slide rails 245 are provided with slide seats 246 sliding on the slide rails 245, the slide seats 246 are fixedly connected with connecting brackets 247, and the connecting brackets 247 are fixedly connected with the driven roller brackets 218. When the spacing mechanism 24 pushes the driven roller support 218 to approach or move away from the driving roller support 216, the sliding seat 246 can bear the weight of the driven roller support 218 and can assist the spacing mechanism 24 to push the driven roller support 218 to move. Of course, in other embodiments, the sliding seat 246 can also be driven by a driving device, which is an electric push rod, to slide autonomously and drive the driven roller bracket 218 to move.
Referring to fig. 3 again, in the present embodiment, the fine-tuning device 2 is mounted on the fine-tuning carrier 20 and is mounted on the first displacement table 11 through the fine-tuning carrier 20. The conduit gripping and twisting device 3 is mounted on a first carriage 30 and is mounted on the first displacement table 11 via the first carriage 30. The first carriage 30 is located between the conduit gripping and twisting device 3 and the first displacement table 11. The guide wire clamping and twisting device 4 is mounted on the second bearing seat 40 and is mounted on the second displacement table 12 through the second bearing seat 40. The second bearing seat 40 is located between the guide wire clamping and twisting device 4 and the second displacement table 12. The second displacement table 12 is mounted on the first displacement table 11 by a table displacement base 17. The second displacement table 12 and the first displacement table 11 are in a stepped arrangement. The catheter and the guide wire correspondingly penetrate through the guide wire clamping and twisting device 4, the catheter clamping and twisting device 3 and the fine adjustment device 2, and the same height is kept, so that the delivery of the catheter and the guide wire is facilitated. The corresponding adjustment fine-tunes the heights of the bearing seat 20, the first bearing seat 30 and the second bearing seat 40, so as to ensure that the catheter or the guide wire erected on the catheter and the guide wire propelling mechanism is at the same height.
In this embodiment, the first displacement table 11 includes a first accommodation case 111 and a first cover plate 112 mounted on the first accommodation case 111. The fine tuning carrier 20 is fixedly connected to the first cover plate 112 and located at the left end of the first cover plate 112. The pipe displacement mechanism 13 and the stage displacement mechanism 14 are located inside the first housing box 111. Wherein the catheter displacement mechanism 13 is mounted on the left side of the first displacement stage 11 and the platform displacement mechanism 14 is mounted on the right side of the first displacement stage 11 to cooperate with the catheter and guidewire advancement mechanism to assemble and deliver the catheter and guidewire. The first bearing seat 30 is connected with the catheter displacement mechanism 13 through the catheter displacement base 16, the first bearing seat 30 is located on the upper side of the catheter displacement base 16, and the catheter displacement mechanism 13 is located on the lower side of the catheter displacement base 16. The conduit displacement mechanism 13 drives the conduit clamping and twisting device 3 mounted on the first bearing seat 30 to move through the conduit displacement base 16. The second displacement table 12 is connected with the platform displacement mechanism 14 through a platform displacement base 17, the second displacement table 12 is located on the upper side of the platform displacement base 17, and the platform displacement mechanism 14 is located on the lower side of the platform displacement base 17. The stage displacement mechanism 14 drives the second displacement table 12 to move via the stage displacement base 17. The first cover plate 112 is provided with a first sliding slot 113 for the movement of the conduit displacement base 16 and a second sliding slot 114 for the movement of the platform displacement base 17. The tube displacement base 16 is provided with a first projection 161 projecting upward and capable of moving in the first chute 113. The number of the first projection blocks 161 is two, and the number of the first sliding grooves 113 is correspondingly two. The bottom end of the first bearing seat 30 is fixedly connected to the two first protruding blocks 161. The stage displacement base 17 is provided with a second projection 171 projecting upward and capable of moving in the second slide groove 114. The number of the second protrusions 171 is two, and the number of the second sliding grooves 114 is two accordingly. The bottom end of the second displacement table 12 is fixedly connected to two second projecting blocks 171. The first runner 113 and the second runner 114 are opened in the same direction, and both are opened in the moving direction of the catheter and the guide wire. The first cover plate 112 is provided with a first chute 113 which is beneficial to the movement of the guide pipe displacement base 16; the first cover plate 112 is provided with a second sliding slot 114, which is beneficial to the movement of the platform displacement base 17. Of course, in other embodiments, the pipe displacement mechanism 13 and the platform displacement mechanism 14 may also be installed outside the first accommodation box 111, for example: the conduit displacement mechanism 13 and the stage displacement mechanism 14 are mounted on the first cover plate 112.
The second displacement table 12 includes a second accommodation case 121 and a second cover 122 mounted on the second accommodation case 121. The guide wire displacement mechanism 15 is located inside the second housing case 121. The second bearing seat 40 is connected with the guide wire displacement mechanism 15 through the guide wire displacement base 18, the second bearing seat 40 is positioned on the upper side of the guide wire displacement base 18, and the guide wire displacement mechanism 15 is positioned on the lower side of the guide wire displacement base 18. The guide wire displacement mechanism 15 drives the guide wire clamping and twisting device 4 arranged on the second bearing seat 40 to move through the guide wire displacement base 18. The second cover plate 122 is provided with a third sliding groove 123 for the guide wire displacement base 18 to move. The guide wire displacement base 18 is provided with a third projection 181 projecting upward and capable of moving in the third slide groove 123. The number of the third protrusions 181 is two, and the number of the third slide grooves 123 is two accordingly. The bottom end of the second bearing seat 40 is fixedly connected to the two third protruding blocks 181. The third chute 123 is opened in the same direction as the first chute 113 and the second chute 114, and is opened in the moving direction of the catheter and the guide wire. The second cover plate 122 is provided with a third sliding chute 123, which is beneficial to the movement of the guide wire displacement base 18.
Referring to fig. 3 and 18, in the present embodiment, the catheter displacement mechanism 13, the platform displacement mechanism 14, and the guide wire displacement mechanism 15 are implemented as a screw transmission mechanism. The screw transmission mechanism comprises a motor 50, a screw 51 connected to an output shaft of the motor, a screw nut 52 screwed to the screw 51, a guide rail 53 laid along a length direction of the screw 51, and a slide block 54 slidably connected to the guide rail 53 and fixedly connected to the screw nut 52. The motor 50 is a stepping motor. The motor 50 is fixedly arranged on the accommodating box body, and the output shaft of the motor is connected to the screw rod 51 through a coupler and drives the screw rod 51 to rotate. Two ends of the screw rod 51 are respectively installed on the accommodating box body through the fixing seats 55. When the screw 51 rotates, the screw nut 52 moves in the longitudinal direction of the screw. The number of the guide rails 53 is two, and the two guide rails 53 are respectively laid on two sides of the screw rod 51. Each guide rail 53 is provided with a sliding block 54, the two sliding blocks 54 are fixedly connected to the lead screw nut 52, and the two sliding blocks 54 move along the length direction of the lead screw 51 along with the lead screw nut 52. The bottom end of the displacement base is fixedly connected to the two sliding blocks 54. Correspondingly, the two sliding blocks 54 of the catheter displacement mechanism 13 are fixedly connected with the catheter displacement base 16 and drive the catheter displacement base 16 to move; the two sliding blocks 54 of the platform displacement mechanism 14 are fixedly connected with the platform displacement base 17 and drive the platform displacement base 17 to move; the two sliding blocks 54 of the guide wire displacement mechanism 15 are fixedly connected with the guide wire displacement base 18 and drive the guide wire displacement base 18 to move. It should be noted that: the screw rod transmission mechanism arranged in the accommodating box body can improve the cleanliness of the screw rod transmission mechanism by installing the cover plate on the accommodating box body, reduces dust covering on the screw rod transmission mechanism, improves the moving accuracy of the screw rod nut, and correspondingly improves the displacement accuracy when the guide pipe and the guide wire move.
Of course, in other embodiments, the catheter displacement mechanism 13, the platform displacement mechanism 14, and the guide wire displacement mechanism 15 may be used as a push rod transmission mechanism, for example: an electric push rod.
Referring to fig. 3 and 19 to 21, in the present embodiment, the first carrying seat 30 is recessed with a first stage recess 301 for placing the fixing box of the conduit clamping and twisting device 3. Two sides of the front end of the fixed box 31 are respectively connected to the first bearing seat 30 through pin shafts. The bottom wall of the first step groove 301 is provided with a first pressure sensor 302, and the first pressure sensor 302 can contact with the fixed box body of the conduit clamping and twisting device 3. The first pressure sensor 302 is used to detect the pressure variation of the conduit clamping and twisting device 3 relative to the first bearing seat 30. The pipe displacement mechanism 13 drives the pipe clamping and twisting device 3 to move, when the pipe touches the vascular wall, the resistance of the pipe displacement mechanism 13 is increased, the small resistance of the pipe in the blood vessel is amplified through the lever principle, so that the small resistance F is amplified and then transmitted to the first pressure sensor 302, the collection of the resistance signal of the pipe is realized, the pipe clamping device is facilitated to twist and twist, and the moving direction of the pipe is adjusted.
The second bearing seat 40 is concavely provided with a second step groove 41 for placing the fixing box 31 of the guide wire clamping and twisting device 4. Both sides of the front end of the fixed box 31 are respectively connected to the second bearing seat 40 through pin shafts. The bottom wall of the second step groove 41 is provided with a second pressure sensor 42, and the second pressure sensor 42 can be contacted with the fixed box body of the guide wire clamping and twisting device 4. The second pressure sensor 42 is used for detecting the pressure change of the guide wire clamping and twisting device 4 relative to the second bearing seat 40. The guide wire displacement mechanism 15 and/or the platform displacement mechanism 14 drive the guide wire clamping and rotating twisting device 4 to move, when the guide wire touches the vascular wall, the resistance of the guide wire displacement mechanism 15 and/or the platform displacement mechanism 14 is increased, the tiny resistance of the guide wire in the vascular wall is amplified through the lever principle, so that the tiny resistance is amplified and then transmitted to the second pressure sensor 42, the collection of guide wire resistance signals is realized, the guide wire clamping device is favorable for rotating the guide wire, and the moving direction of the guide wire is adjusted.
The working principle of the catheter and the guide wire propelling mechanism of the minimally invasive vascular interventional surgical robot is as follows:
the opening and closing motor 351 of the conduit clamping and twisting device 3 rotates in the forward direction to drive the crank 352 to rotate, the crank 352 drives the connecting rod 353 to move, the connecting rod 353 drives the gear revolute pair 34 to rotate relative to the second rotating shaft 324 through the transmission rod 354, the third twisting roller 347 is correspondingly driven to be separated from the first twisting roller 323 and the second twisting roller 326, and the conduit is placed on the conduit V-shaped groove 313 of the accommodating shell 311 and among the three twisting rollers; the opening and closing motor 351 rotates reversely, so that the third rotating twisting roller 347 is gathered on the first rotating twisting roller 323 and the second rotating twisting roller 326, and the catheter is clamped.
The opening and closing motor 351 of the guide wire clamping and twisting device 4 rotates in the forward direction to drive the crank 352 to rotate, the crank 352 drives the connecting rod 353 to move, the connecting rod 353 drives the gear revolute pair 34 to rotate relative to the second rotary shaft 324 through the transmission rod 354, the third twisting roller 347 is correspondingly driven to be separated from the first twisting roller 323 and the second twisting roller 326, the guide wire is placed on the guide wire V-shaped groove 313 of the accommodating shell 311 and among the three twisting rollers, and the guide wire extends forwards and penetrates through the guide pipe; the opening and closing motor 351 rotates reversely, so that the third rotary twisting roller 347 is gathered on the first rotary twisting roller 323 and the second rotary twisting roller 326, and the guide wire is clamped.
The cam rotating motor 241 of the fine adjustment device 2 rotates counterclockwise, the protruding portion of the cam 242 gradually separates from the driven roller support 218, the driven roller support 218 moves towards the second side plate 214 by the pulling force of the tension spring 244, the driven roller 222 is far away from the driving roller 221 and the groove gap between the driving roller 221 and the driven roller 222 is increased, the guide tube and the guide wire are led in from the guide tube 23 and then extend into the gap groove between the driving roller 221 and the driven roller 222 and extend forwards, the guide tube and the guide wire are assembled in the fine adjustment device 2, and the guide tube and the guide wire can conveniently move relative to the gap groove.
After the catheter and the guide wire are assembled on the catheter and the guide wire propelling mechanism, the catheter clamping and twisting device 3 propels the catheter forwards through the catheter displacement mechanism 13. The guide wire holding and twisting device 4 advances the guide wire forward by the platform displacement mechanism 14 and/or the guide wire displacement mechanism 15. For example: the guide wire displacement mechanism 15 forwards pushes the guide wire, and when the guide wire displacement mechanism 15 moves to the front end of the stroke, the platform displacement mechanism 14 continues to push the guide wire forwards until the guide wire is sent to the cardiovascular specified position; the catheter displacement mechanism 13 advances the catheter forward until the catheter is delivered to the cardiovascular designated site; wherein, the catheter displacement mechanism 13, the guide wire displacement mechanism 15 and the platform displacement mechanism 14 can move synchronously or independently, which is convenient for the synchronous or independent delivery of the catheter and/or the guide wire to the blood vessel. If the catheter and the guide wire cannot be moved to the designated positions by each displacement mechanism through one stroke, at this time, the cam rotating motor 241 of the fine adjustment device 2 rotates clockwise, the convex part of the cam 242 presses against the driven roller bracket 218 to push the driven roller bracket 218 to move towards the driving roller bracket 216, the tension spring 244 is correspondingly elongated, the driven roller 222 presses against the driving roller 221 and reduces the groove gap between the driving roller 221 and the driven roller 222, and the catheter and the guide wire are clamped; the catheter displacement mechanism 13, the guide wire displacement mechanism 15 and the platform displacement mechanism 14 all move in opposite directions and drive the catheter clamping and twisting device 3 and the guide wire clamping and twisting device 4 to move to initial positions (at this time, because the catheter and the guide wire are clamped on the fine adjustment device 2, the displacement mechanisms do not drive the catheter and the guide wire to move in opposite directions when moving in opposite directions), and the cam rotating motor 241 of the fine adjustment device 2 rotates counterclockwise again, so that the driven roller 222 is far away from the driving roller 221 and the groove gap between the driving roller 221 and the driven roller 222 is increased; the catheter displacement mechanism 13, the guide wire displacement mechanism 15, and the stage displacement mechanism 14 repeat the above operations until the catheter and the guide wire are moved to cardiovascular prescribed positions.
Wherein: in the process that the guide wire moves forwards, when the guide wire meets a bifurcated blood vessel and the advancing direction needs to be adjusted, the guide wire clamping rotary twisting motor 33 of the rotary twisting device 4 rotates, the gear transmission mechanism 32 drives the three rotary twisting rollers to rotate at the same rotating speed and rotating direction, and the manual operation of a human hand is simulated to uniformly twist the guide wire at the same rotating speed and rotating direction so as to adjust the advancing direction of the guide wire; the catheter sleeved on the periphery of the guide wire is correspondingly turned, and certainly, a twisting motor 33 of the catheter clamping and twisting device 3 can also be started, a gear transmission mechanism 32 of the catheter clamping and twisting device 3 drives three twisting rollers to rotate at the same rotating speed and in the same turning direction, so that the catheter is uniformly twisted at the same rotating speed by simulating the manual operation of a human hand to adjust the advancing direction of the catheter.
When the catheter and the guide wire are close to the cardiovascular designated position and the local position of the catheter and the guide wire needs to be finely adjusted, the catheter displacement mechanism 13, the guide wire displacement mechanism 15 and the platform displacement mechanism 14 stop moving, the opening and closing motors 351 of the catheter clamping and twisting device 3 and the guide wire clamping and twisting device 4 rotate in the forward direction to drive the third twisting roller 347 to be separated from the first twisting roller 323 and the second twisting roller 326, namely the catheter and the guide wire are not clamped by the three twisting rollers at present; the cam rotating motor 241 of the fine adjustment device 2 rotates clockwise to drive the driven roller 222 to abut against the driving roller 221 and reduce the groove gap between the driving roller 221 and the driven roller 222, so that the catheter and the guide wire are clamped; the rolling fine tuning motor 223 of the fine tuning device 2 rotates to drive the driving fine tuning gear 224 to rotate, the driven fine tuning gear 226 is engaged with and driven by the driving fine tuning gear 224 to drive the driving roller shaft 225, and the driven roller shaft 227 is engaged with and driven by the driving roller shaft 225, so that the driving roller 221 and the driven roller 222 are pressed and rotated relatively, and the fine tuning of the local positions of the guide tube and the guide wire is realized.
It should be noted that: the catheter is assembled on the catheter clamping and twisting device, the guide wire is assembled on the guide wire clamping and twisting device, and the catheter and the guide wire are assembled on the fine adjustment device in no sequence, so that the catheter and the guide wire can be correspondingly assembled according to actual conditions in actual work; in addition, in the above description, the "forward rotation", "reverse rotation" and the "counterclockwise rotation" and "clockwise rotation" of each motor are only used to conveniently describe two rotation modes of the motor, and are not limited to the technical solutions, and the working principle of the motor can be clearly understood and understood by those skilled in the art.
Finally, it should be noted that: the above embodiments are only used to illustrate the present invention and do not limit the technical solutions described in the present invention; thus, although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those skilled in the art that various changes may be made and equivalents may be substituted; all such modifications and variations are intended to be included herein within the scope of this disclosure and the present invention and protected by the following claims.
Claims (7)
1. The utility model provides a minimal access vascular intervention operation robot pipe and seal wire advancing mechanism which characterized in that: comprises a displacement platform, and a fine adjustment device, a conduit clamping and twisting device and a guide wire clamping and twisting device which are sequentially arranged on the displacement platform;
the displacement platform comprises a first displacement workbench and a second displacement workbench arranged above the first displacement workbench, the fine adjustment device and the catheter clamping and rotating twisting device are arranged on the first displacement workbench, and the guide wire clamping and rotating twisting device is arranged on the second displacement workbench;
the first displacement workbench is provided with a catheter displacement mechanism for driving the catheter clamping and rotary twisting device to move and a platform displacement mechanism for driving the second displacement workbench to move, and the second displacement workbench is provided with a guide wire displacement mechanism for driving the guide wire clamping and rotary twisting device to move;
the fine adjustment device is arranged on the first displacement workbench through a fine adjustment bearing seat and comprises a fixed support arranged on the fine adjustment bearing seat, a rolling mechanism arranged on the fixed support and a guide pipe for a guide pipe and a guide wire to penetrate through and be led into the rolling mechanism; the fixed support comprises a connecting seat fixedly connected to the fine-tuning bearing seat, a bearing bottom plate fixedly connected to the connecting seat, a first side plate and a second side plate which are respectively and fixedly connected to two sides of the bearing bottom plate, a fine-tuning motor support and a driving roller support which are arranged on the first side plate, a cam rotating motor support and a driven roller support which are arranged on the second side plate, and a support frame which is arranged on the first side plate and is used for fixing the guide pipe; the rolling mechanism comprises a driving roller arranged on a driving roller support, a driven roller arranged on a driven roller support and matched with the driving roller, a rolling fine adjustment motor arranged on a fine adjustment motor support and used for driving the driving roller to rotate, and a distance adjusting mechanism used for adjusting the distance between the driving roller and the driven roller, wherein a guide pipe penetrates through a guide pipe and is pulled between the driving roller and the driven roller;
the rolling fine adjustment motor is arranged on the fine adjustment motor bracket, and an output shaft of the rolling fine adjustment motor is provided with an active fine adjustment gear through an elastic coupling; a driving roll shaft is arranged on the driving roll bracket, and a driving roll and a driven fine adjustment gear which is engaged and driven on the driving fine adjustment gear are sleeved on the driving roll shaft; the driven fine adjustment gear is driven by the driving fine adjustment gear and drives the driving roller to synchronously rotate around the axial lead of the driving roller shaft; the peripheral surface of the driving roller is provided with an annular groove for accommodating part of the guide pipe; the driven roller bracket is provided with a driven roller shaft, and a driven roller matched with the driving roller is sleeved on the driving roller shaft; the peripheral surface of the driven roller is provided with an annular groove for accommodating part of the guide pipe; the guide tube and the guide wire are led in from the guide tube and then extend into a gap groove between the driving roller and the driven roller.
2. The minimally invasive vascular interventional surgical robotic catheter and guidewire advancement mechanism of claim 1, wherein: the distance adjusting mechanism comprises a cam rotating motor arranged on a cam rotating motor support, a cam connected to an output shaft of the cam rotating motor, a guide shaft connected to the driven roller support and the second side plate, and a tension spring sleeved on the guide shaft; two guide shafts are arranged on the driven roller bracket, and the two guide shafts are arranged up and down; one end of each guide shaft is fixedly connected to the driven roller bracket, and the other end of each guide shaft is slidably connected to the second side plate; the second side plate is provided with a through hole for the guide shaft to penetrate through; each guide shaft is sleeved with a tension spring, one end of each tension spring is fixedly connected to the driven roller bracket, and the other end of each tension spring is fixedly connected to the second side plate; the cam takes the axial lead of the output shaft of the cam rotating motor as a rotating center, the cam rotating motor drives the cam to rotate when rotating, and the convex part of the cam can be pressed against or separated from the driven roller bracket; the cam rotating motor rotates clockwise, when the convex part of the cam is pressed against the driven roller bracket, the driven roller bracket is pushed to move towards the driving roller bracket, the tension spring is correspondingly elongated, the driven roller is pressed against the driving roller, and the groove gap between the driving roller and the driven roller is reduced, so that the guide tube and the guide wire are clamped tightly, and the guide tube and the guide wire are convenient to deliver.
3. The minimally invasive vascular interventional surgical robotic catheter and guidewire advancement mechanism of claim 1, wherein: the fine adjustment device is fixed at the first end of the first displacement workbench, the conduit displacement mechanism is installed in the middle of the first displacement workbench, and the platform displacement mechanism is installed at the second end of the first displacement workbench;
the conduit clamping and twisting device is connected to the conduit displacement mechanism through a conduit displacement base, and the second displacement workbench is connected to the platform displacement mechanism through a platform displacement base; the guide wire clamping and twisting device is connected to the guide wire displacement mechanism through the guide wire displacement base.
4. The robotic catheter and guidewire advancement mechanism for minimally invasive vascular interventional surgery according to claim 3, wherein: a first bearing seat is arranged between the conduit clamping and twisting device and the conduit displacement base, and a first pressure sensor for detecting the pressure change of the conduit clamping and twisting device relative to the first bearing seat is arranged on the first bearing seat;
and a second bearing seat is arranged between the guide wire clamping and twisting device and the guide wire displacement base, and a second pressure sensor for detecting the pressure change of the guide wire clamping and twisting device relative to the second bearing seat is arranged on the second bearing seat.
5. The robotic catheter and guidewire advancement mechanism for minimally invasive vascular interventional surgery according to claim 3, wherein: the first displacement workbench comprises a first accommodating box body and a first cover plate arranged on the first accommodating box body, the guide pipe displacement mechanism and the platform displacement mechanism are positioned in the first accommodating box body, and the first cover plate is provided with a first chute for the guide pipe displacement base to move and a second chute for the platform displacement base to move;
the second displacement workbench comprises a second accommodating box body and a second cover plate arranged on the second accommodating box body, the guide wire displacement mechanism is located inside the second accommodating box body, and the second cover plate is provided with a third sliding groove for the guide wire displacement base to move.
6. The robotic catheter and guidewire advancement mechanism for minimally invasive vascular interventional surgery according to any of claims 1-5, wherein: the catheter displacement mechanism, the platform displacement mechanism and the guide wire displacement mechanism are screw rod transmission mechanisms.
7. The robotic catheter and guidewire advancement mechanism for minimally invasive vascular intervention according to claim 6, wherein: each lead screw drive mechanism includes the motor, connects in the lead screw of motor output shaft, screwed connection in the lead screw nut of lead screw, the guide rail of laying along lead screw length direction, connect in the guide rail slidable and fixed connection in the sliding block of lead screw nut.
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| CN201910085186.8A CN109821138B (en) | 2019-01-29 | 2019-01-29 | Minimally invasive vascular intervention surgical robot catheter and guide wire propulsion mechanism |
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| CN201910085186.8A CN109821138B (en) | 2019-01-29 | 2019-01-29 | Minimally invasive vascular intervention surgical robot catheter and guide wire propulsion mechanism |
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| CN109821138B true CN109821138B (en) | 2020-07-03 |
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| CN107374737A (en) * | 2017-07-06 | 2017-11-24 | 北京理工大学 | A kind of intervention operation robot catheter guide wire cooperating system and its control method |
| CN107822711A (en) * | 2017-09-28 | 2018-03-23 | 济南大学 | A kind of seal wire intervention device of minimally invasive intervention operation robot |
| CN108514448A (en) * | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN108704214A (en) * | 2018-04-28 | 2018-10-26 | 燕山大学 | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device |
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