CN110151310B - Catheter/guide wire rotary pushing device of minimally invasive vascular interventional surgical robot - Google Patents
Catheter/guide wire rotary pushing device of minimally invasive vascular interventional surgical robot Download PDFInfo
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- CN110151310B CN110151310B CN201910445602.0A CN201910445602A CN110151310B CN 110151310 B CN110151310 B CN 110151310B CN 201910445602 A CN201910445602 A CN 201910445602A CN 110151310 B CN110151310 B CN 110151310B
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- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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Abstract
The invention discloses a catheter/guide wire rotary propelling device of a minimally invasive vascular interventional surgery robot, which can comprise a base, a first guide rail, a first sliding block, a synchronous belt fixing plate, a swing seat mounting rack, a swing seat, a rotary motor, a driving friction wheel, a driven friction wheel and a clamping screw rod, wherein the first guide rail is arranged on the base; the inner part of the screw clamping rod is provided with an eccentric through hole, the front end of the screw clamping rod is provided with a bulge, the front end of the screw clamping rod is sleeved with a screw clamping end cover, the screw clamping end cover comprises a cover part, an outer cylinder part and a flange, an opening and closing spring is arranged between the bulge and the flange, and the cover part is provided with an end cover through hole which is not concentric with the eccentric through hole; the belt pulley seat, the moving motor, the driving belt pulley, the driven belt pulley and the synchronous belt are further included; the synchronous belt is fixedly connected with the synchronous belt fixing plate. The guide tube and the guide wire can be clamped tightly by the eccentric through holes on the wire clamping rod and the wire clamping end cover and the through holes of the end cover being not concentric, and the axial advancing and retreating and the circumferential rotation of the guide tube and the guide wire are respectively realized by the mobile motor and the rotating motor.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a catheter/guide wire rotary pushing device of a minimally invasive vascular interventional surgery robot.
Background
According to the report of World Health Statistics 2018 of World Health organization 2018, about 4100 million people in the World die in 2016 due to non-infectious diseases, and the proportion of 5700 million dead people accounts for 71 percent. The majority of non-infectious death causes are mainly caused by four non-infectious diseases, namely: 1790 million cases of death of cardiovascular and cerebrovascular diseases, 44% of the total death of non-infectious diseases; 900 million people are killed by cancer, accounting for 22%; 380 million people are killed by chronic respiratory diseases, accounting for 9%; diabetes is 160 million deaths, accounting for 4%. The fatality rate is gradually increased year by year, the fatality rate of cardiovascular and cerebrovascular diseases in China is no exception, and according to calculation, patients suffering from cardiovascular and cerebrovascular diseases reach more than 2.9 billion, wherein 1300 million patients suffering from cerebral apoplexy, 1100 million patients suffering from coronary heart disease, 1400 million patients suffering from various heart diseases and 2.7 billion patients suffering from hypertension. About 40 percent of the deaths of residents in China due to diseases are caused by cardiovascular and cerebrovascular diseases, and the death rate of the residents is far higher than that of diseases such as tumors. The burden caused by death of cardiovascular diseases is gradually increased, and the indispensible prevention and treatment become a serious public health problem. The treatment of cardiovascular diseases requires first medication, and then more advanced interventional therapy is performed under the condition of insignificant curative effect. The interventional therapy comprises two modes of blood vessels and blood vessels, and is called a pillar subject and is named together with surgery and internal medicine after more than 30 years of development. Generally speaking, the interventional therapy does not need large-area operation, only needs a method of making diagnosis and treatment with the help of machines such as an angiography machine, B-ultrasound, a fluoroscopy machine, MR, CT and the like, and can be discharged after a few days. Minimally invasive vascular interventional surgery is accepted by more and more patients due to the characteristics of small wound, light wound, less pain and quick recovery.
The shortfall of the traditional manual intervention gradually appears in the development process: (1) irradiating; when the X-ray tube is exposed to X-rays for a long time, medical workers cannot be injured, and are easy to cause gene mutation to cause diseases. (2) Fatigue; the operation is complicated and takes a long time, the patient needs to stand and see the image of the radiography machine with eyes during the long-time operation, the body and the eyes are easy to be tired, and the vertigo feeling can occur. (3) The precision is reduced; physical fatigue leads to stiff movements and malpractice caused by not-in-place movements; fatigue can make the physician feel less resistant to the catheter guidewire in the vessel and the procedure becomes less effective. (4) Experience is up; the interventional operation process is complex, the operation training of doctors is strict, the actual operation needs to be carried out for a long time, the experience of the doctors is difficult to obtain, and the cost of corresponding patients is also increased.
With the rapid development of minimally invasive vascular interventional surgery, interventional surgical robots are also rapidly developed. The working environment is special, the reliability requirement is high, and the design and control requirements of the mechanism are high. Blood vessels in a human body are complicated and complicated, the wall thickness and the branches are more, great difficulty is added to delivery work, so that the operation is required to be flexible and the action is reliable, the process is manually operated, high requirements are provided for the technique of an operator, the hand vibration is difficult to avoid, the fatigue of the operator for a long time is caused, and the operation reliability is greatly reduced. Therefore, on the basis of the research of the ancestors, the problem of more reliable robot and intelligent control is researched, the real operability of the whole system of the robot is improved, and the method is an important target for the development and progress of the interventional operation robot. On one hand, the existing tube delivery mechanism needs medical staff to insert a delivered catheter and a delivered guide wire from one end of the device, and the operation is time-consuming and labor-consuming; on the other hand, the motor and the operation part assembly are inconvenient to disassemble, and are not beneficial to preoperative disinfection and replacement after multiple uses.
Disclosure of Invention
The invention aims to provide a catheter/guide wire rotary pushing device of a minimally invasive vascular interventional surgery robot, which is used for solving the problems in the prior art, is convenient to disassemble and can automatically drive the catheter/guide wire to rotate and advance.
In order to achieve the purpose, the invention provides the following scheme:
the invention provides a catheter/guide wire rotary propelling device of a minimally invasive vascular interventional surgery robot, which comprises a base, wherein a first guide rail is horizontally arranged on the base, a first slide block is movably arranged on the first guide rail, a synchronous belt fixing plate is fixedly arranged on the first slide block, a swing seat mounting frame is fixedly arranged on the synchronous belt fixing plate, a swing seat is connected to the swing seat mounting frame in a pin joint manner, a rotating motor is arranged on the swing seat, an output shaft of the rotating motor is coaxially connected with a driving friction wheel, the driving friction wheel is connected with a driven friction wheel in a matching manner, and a wire clamping rod is erected on the swing seat; the driven friction wheel penetrates through the lead screw, an eccentric through hole is formed in the lead screw along the axial direction, two bulges are symmetrically arranged on the side wall of the front end of the lead screw, a lead screw clamping end cover is sleeved at the front end of the lead screw and comprises a cover part covering the end of the lead screw, an outer cylinder part sleeved on the rod part of the lead screw and a flange arranged at the tail part of the lead screw, a slot is formed in the outer cylinder part along the axial direction of the outer cylinder part, the bulges are movably arranged in the slot, an opening and closing spring is arranged between the bulges and the flange, and the cover part is provided with an end cover through hole which is not concentric with the eccentric through hole; a second guide rail is fixedly arranged on the upper surface of the swinging seat, a second sliding block is movably arranged on the second guide rail, a wire clamping end cover push block is fixedly arranged on the second sliding block, and an L-shaped push plate is fixedly arranged on the wire clamping end cover push block; an opening and closing motor is installed on the swinging seat through a bracket, and an eccentric wheel is installed on an output shaft of the opening and closing motor; the eccentric wheel abuts against one side of the L-shaped push plate of the wire clamping end cover push block, and the tail end of the wire clamping end cover abuts against the other side of the L-shaped push plate of the wire clamping end cover push block.
Optionally, the rotary propulsion device further includes pulley seats disposed at two ends of the base, one of the pulley seats is provided with a moving motor, an output shaft of the moving motor is coaxially connected with a driving pulley, the pulley seat without the moving motor is provided with a driven pulley, and a synchronous belt is sleeved between the driving pulley and the driven pulley; the synchronous belt is fixedly connected with the synchronous belt fixing plate.
Optionally, the swing seat comprises two lower screw clamping rod mounting brackets arranged in parallel, a concave mounting groove is formed in the top of each lower screw clamping rod mounting bracket, and the screw clamping rods are erected on the mounting grooves of the lower screw clamping rod mounting brackets through bearings; the driving friction wheel is positioned between the two lead screw clamping lower mounting brackets, and an output shaft of the rotating motor penetrates through one of the lead screw clamping lower mounting brackets and then is connected with the driving friction wheel.
Optionally, the upper surface of hold-in range fixed plate is provided with a plurality of grids, the tooth of hold-in range with the fixed joint of grid.
Optionally, the catheter/guide wire fixing device further comprises a catheter/guide wire fixing mechanism, the catheter/guide wire fixing mechanism comprises a clamping fixing frame arranged at the front end of the base, a clamping base is fixedly arranged at the top end of the clamping fixing frame, a third guide rail perpendicular to the first guide rail is arranged on the upper surface of the clamping base, a third sliding block is movably arranged on the third guide rail, and a clamping guide seat and a sliding base are sequentially and fixedly connected to the third sliding block; the clamping base comprises a left end plate and a right end plate which are vertically and oppositely arranged, a spring guide rod is arranged between the left end plate and the sliding base, a guide rod hole is formed in the left end plate, one end of the spring guide rod is fixedly connected with one side of the sliding base, and the other end of the spring guide rod movably penetrates through the guide rod hole of the left end plate; a clamping spring is sleeved on the spring guide rod, a fixed rubber block is arranged on the side surface of the right end plate opposite to the sliding base, and a movable rubber block is arranged on one side of the sliding base, which is not connected with the spring guide rod; lower connecting strips which are integrally formed are arranged on two sides of the clamping guide seat and are positioned on two sides of the clamping base; the clamping base is further provided with a clamping motor, an output shaft of the clamping motor is provided with a variable-radius curved-surface ball, and the outer surface of the variable-radius curved-surface ball is abutted against the lower connecting strip plate of the clamping guide seat.
Optionally, the variable radius curved sphere structure is a part of a curved sphere obtained by rotating a virtual parabola around a central axis.
Optionally, the swing seat mounting frame comprises a mounting frame lower base plate fixed to the synchronous belt fixing plate, the mounting frame lower base plate is vertically provided with a mounting support plate, and the swing seat is mounted on the mounting support plate; a pressure sensor is arranged on the upper surface of the lower bottom plate of the mounting frame; and the testing end of the pressure sensor is in contact with the lower bottom surface of the swinging seat.
Optionally, the end cover through hole is located at the center of the wire pressing end cover.
Optionally, the first guide rail has two that are parallel to each other, and every it is respectively provided with two to divide equally on the first guide rail first slider, four first slider respectively with the hold-in range fixed plate is connected.
Optionally, the lower mounting bracket of the screw clamping rod is pinned with an upper mounting bracket of the screw clamping rod, the upper mounting bracket of the screw clamping rod and the lower mounting bracket of the screw clamping rod are both provided with flanging half-bushes therein, and the screw clamping rod is arranged in a bush composed of the two flanging half-bushes.
Compared with the prior art, the invention has the following technical effects:
according to the catheter/guide wire rotary propelling device for the minimally invasive vascular interventional surgery robot, the eccentric through hole of the wire clamping rod is designed to be eccentric with the end cover through hole of the wire clamping end cover, the wire clamping end cover can clamp the catheter and the guide wire under the action of the opening and closing spring during normal work, so that the wire clamping rod can drive the catheter and the guide wire to rotate under the driving of the rotating motor, when the catheter and the guide wire need to be loosened, the opening and closing spring is only required to be further compressed to separate the wire clamping end cover from the wire clamping rod to form a gap, and the catheter and the guide wire can be guaranteed to be clamped. The moving motor drives the catheter and the guide wire to advance and retreat along the axial direction of the catheter and the guide wire. The passive friction wheel and the wire clamping rod are integrated, and the whole machine has compact structure, small volume and light weight.
The opening and closing motor drives the eccentric wheel to rotate to automatically push the wire clamping end cover push block, so that the wire clamping end cover clamps or loosens the catheter and/or the guide wire. The clamping motor drives the variable-radius curved surface ball to rotate to push the clamping guide seat to move, so that the fixed rubber block and the movable rubber block clamp or loosen the catheter and the guide wire. According to the invention, the pressure sensor is arranged between the upper surface of the lower bottom plate of the mounting frame and the lower bottom surface of the swing seat to realize force feedback, and the resistance of the front end of the catheter/guide wire is monitored in real time through a lever principle, so that the operation safety is ensured. A mounting bracket for installing press from both sides the lead screw adopts upper and lower two parts butt joint installation, is convenient for take off the washing with press from both sides the lead screw portion, also can abandon as disposable consumptive material, dismantles simple to operate.
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 embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
FIG. 1 is a schematic overall three-dimensional structure of a catheter/guide wire rotary propulsion device of a minimally invasive vascular interventional surgical robot according to the present invention;
FIG. 2 is a schematic structural diagram of a catheter/guide wire rotating part of the catheter/guide wire rotating and advancing device of the minimally invasive vascular interventional surgical robot of the invention;
FIG. 3 is a structure view of a wire clamping rod and a wire clamping end cover of the catheter/guide wire rotary propulsion device of the minimally invasive vascular interventional surgical robot of the invention;
FIG. 4 is a structure diagram of a wire clamping rod of the catheter/guide wire rotary propulsion device of the minimally invasive vascular interventional surgical robot of the invention;
FIG. 5 is a structure diagram of a wire clamping end cap of the catheter/guide wire rotary propulsion device of the minimally invasive vascular interventional surgical robot of the invention;
FIG. 6 is a timing belt fixing plate structure of the catheter/guide wire rotary propulsion device of the minimally invasive vascular interventional surgical robot of the invention;
FIG. 7 is a schematic view of a fixed catheter/guidewire mechanism of the catheter/guidewire rotary propulsion device of the minimally invasive vascular interventional surgical robot of the present invention;
description of reference numerals: 1. a base, 2, a first guide rail, 3, a first slide block, 4, a synchronous belt fixing plate, 41, a grid, 5, a swing seat mounting rack, 51, a mounting rack lower bottom plate, 52, a mounting support plate, 6, a swing seat, 61, a wire clamping rod lower mounting support, 62, a wire clamping rod upper mounting rack, 7, a rotating motor, 8, a rotating motor mounting rack, 9, a driving friction wheel, 10, a driven friction wheel, 11, a wire clamping rod, 111, an eccentric through hole, 112, a bulge, 12, a wire clamping end cover, 121, a cover, 122, an outer barrel part, 123, a flange, 124, a slot, 125, an end cover through hole, 13, an opening and closing spring, 14, a belt wheel seat, 15, a moving motor, 16, a moving motor mounting rack, 17, a driving belt wheel, 18, a driven belt wheel, 19, a synchronous belt, 20, a second guide rail, 21, a second slide block, 22, a wire clamping end cover pushing block, 23, an opening and, 25. the clamping device comprises a clamping fixed frame, 26, a clamping base, 261, a left end plate, 262, a right end plate, 27, a third guide rail, 28, a third sliding block, 29, a sliding base, 30, a clamping guide seat, 31, a spring guide rod, 32, a clamping spring, 33, a fixed rubber block, 34, a movable rubber block, 35, a clamping motor, 36, a variable-radius curved-surface sphere, 37, a pressure sensor, 38 and a flanging half-bush.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a catheter/guide wire rotary pushing device of a minimally invasive vascular interventional surgery robot, which is used for solving the problems in the prior art, is convenient to disassemble and can automatically drive the catheter/guide wire to rotate and advance.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Example one
The term "front" as used herein refers to the advancing direction of the catheter/guidewire into the blood vessel during the operation, and the opposite direction is "back", and the directional terms such as "front", "back", "left", "right", "upper", "lower", etc. in this description are only used for explaining the invention and are easy to understand and use, and should not be considered to limit the scope of the claims.
The invention provides a catheter/guide wire rotary propelling device of a minimally invasive vascular interventional surgery robot, which comprises a base 1, a first guide rail 2 horizontally arranged on the upper surface of the base 1, a first slide block 3 clamped on the first guide rail 2 and moving along the first guide rail, a synchronous belt fixing plate 4 fixed on the first slide block 3, a swing seat mounting frame 5 fixed on the synchronous belt fixing plate 4, a swing seat 6 in pin joint with the swing seat mounting frame 5, a rotary motor 7 mounted on the swing seat 6 through a rotary motor mounting frame 8, a driving friction wheel 9 coaxially connected with an output shaft of the rotary motor 7, a driven friction wheel 10 matched with the driving friction wheel 9 and a wire clamping rod 11 erected on the swing seat 6, wherein the first guide rail 2 is arranged on the upper surface of the base 1; the driven friction wheel 10 is installed on the wire clamping rod 11, an eccentric through hole 111 is formed in the wire clamping rod 11 along the axial direction, a protrusion 112 extending along the radial direction is arranged at the front end of the wire clamping rod 11, a wire clamping end cover 12 is sleeved at the front end of the wire clamping rod 11, the wire clamping end cover 12 comprises a cover portion 121 covering the end of the wire clamping rod 11, an outer cylinder portion 122 sleeved on the rod portion of the wire clamping rod 11 and a flange 123 arranged at the tail portion of the wire clamping rod, a groove 124 arranged along the axial direction is formed in the outer cylinder portion 122, the protrusion 112 is movably arranged in the groove 124, an opening and closing spring 13 is arranged between the protrusion 112 and the flange 123, the cover portion 121 is provided with an end cover through hole 125 which is not concentric with the eccentric through hole 111, and in the embodiment, the end cover through hole.
Referring to fig. 1, the rotary propulsion device further includes pulley seats 14 disposed at two ends of the base 1, a moving motor 15 mounted on one of the pulley seats 14 through a moving motor mounting bracket 16, a driving pulley 17 coaxially connected to an output shaft of the moving motor 15, a driven pulley 18 mounted on the other pulley seat 14, and a synchronous belt 19 sleeved between the driving pulley 17 and the driven pulley 18. The timing belt 19 is fixedly connected to the timing belt fixing plate 4, and in this embodiment, referring to fig. 6, a plurality of grids 41 are disposed on the surface of the timing belt fixing plate 4, and the toothed clips of the timing belt 19 are disposed in the grids 41 to fix the timing belt 19 and the grid.
In this embodiment, the rotary propulsion device further includes a second guide rail 20 fixed on the upper surface of the swing seat 6, a second slider 21 clamped on the second guide rail 20 and capable of moving along the second guide rail, a wire clamping end cover push block 22 fixed on the second slider 21, an opening and closing motor 23 installed on the swing seat 6 through a bracket, and an eccentric wheel 24 eccentrically installed on an output shaft of the opening and closing motor 23; the eccentric wheel 24 is abutted against the wire clamping end cover push block 22, and the wire clamping end cover push block 22 is abutted against the tail end of the wire clamping end cover 12.
In this embodiment, referring to fig. 1 and fig. 2, the swing seat 6 includes two lower wire clamping rod mounting brackets 61 arranged in parallel, and the wire clamping rod 11 is mounted on the lower wire clamping rod mounting brackets 61 through a bearing. The upper mounting frame 62 of the screw clamping rod is connected to the lower mounting frame 61 of the screw clamping rod in a pin joint mode, the flanging half-bushes 38 are mounted in the upper mounting frame 62 of the screw clamping rod and the lower mounting frame 61 of the screw clamping rod, and the screw clamping rod 11 is mounted in a bush formed by the two flanging half-bushes 38. The screw clamping rod 11 can be taken out by opening the screw clamping rod upper mounting frame 62, so that the post-operation cleaning is convenient, the screw clamping rod 11, the driven friction wheel 10, the screw clamping end cover 12 and the opening and closing spring 13 can be made into disposable throwable parts, and the next operation can be directly replaced, so that the operation is convenient and sanitary.
With reference to fig. 1 and 7, the present embodiment further includes a catheter/guidewire fixing mechanism, the catheter/guidewire fixing mechanism includes a clamping fixing frame 25 disposed at the front end of the base 1, the front end of the base 1 is further provided with the clamping fixing frame 25, a clamping base 26 disposed at the top end of the clamping fixing frame 25, a third guide rail 27 disposed on the upper surface of the clamping base 26, a third slide block 28 clamped on the third guide rail 27 and capable of moving along the third guide rail 27, a clamping guide seat 30 fixed on the third slide block 28, and a sliding base 29 fixed on the third slide block 28; the clamping base 26 comprises a left end plate 261 and a right end plate 262 which are arranged oppositely, a spring guide rod 31 is fixed between the left end plate 261 and the sliding base 29, a clamping spring 32 is sleeved on the spring guide rod 31, and a fixed rubber block 33 and a movable rubber block 34 are respectively arranged on the side surface of the right end plate 262 opposite to the sliding base 29, the two rubber blocks can clamp the catheter, and the catheter can be prevented from being damaged while being fixed; the clamping base 26 is also provided with a clamping motor 35, and an output shaft of the clamping motor 35 is provided with a variable radius curved sphere 36 with an outer surface abutting against the clamping guide seat 30. The variable radius sphere 36 may be selected as a portion of a curved sphere that is rotated parabolically about a central axis.
The swing seat mounting frame 5 comprises a mounting frame lower bottom plate 51 fixed with the synchronous belt fixing plate 4 and a mounting support plate 52 which is vertical to the mounting frame lower bottom plate 51 and is used for mounting the swing seat 6; a pressure sensor 37 is mounted on the upper surface of the mounting frame lower base plate 51; the test end of the pressure sensor 37 is in contact with the lower bottom surface of the swing seat 6.
In this embodiment, the first guide rail 2 has two parallel rails, and the four corners of the timing belt fixing plate 4 have a first slider 3 respectively.
The specific working process of the embodiment of the invention is as follows:
firstly, a guide pipe penetrates into an eccentric through hole 111 of a wire clamping rod 11, an opening and closing motor 23 is started to drive an eccentric wheel 24 to rotate, and then a wire clamping end cover push block 22 is pushed to move forwards, an opening and closing spring 13 is compressed, so that a cover part 121 of a wire clamping end cover 12 is separated from the end part of the wire clamping rod 11, and the guide pipe can freely move forwards and backwards; when the guide pipe extends out of the front end of the wire clamping rod 11 for a certain length, the opening and closing motor 23 is started again to drive the eccentric wheel 24 to rotate, so that the opening and closing spring 13 is opened backwards, the wire clamping end cover 12 is tightly pressed with the front end of the wire clamping rod 11, the guide pipe is tightly pressed due to the fact that the eccentric through hole 111 through which the guide pipe passes is not concentric with the end cover through hole 125, and the guide pipe cannot freely rotate and move in the eccentric through hole 111 at the moment. If the guide pipe needs to be rotated, the rotating motor 7 is started, the driving friction wheel 9 drives the driven friction wheel 10 to further drive the screw clamping rod 11 to rotate, and the guide pipe is rotated. If the guide pipe needs to be pushed forwards or backwards, the moving motor 15 is started, and the clamping screw rod 11 above the synchronous belt fixing plate 4 is driven to move forwards and backwards through the synchronous belt 19. The guide wire is threaded into the catheter and finally exits the forwardmost end of the catheter for surgery.
In the interventional operation, if the doctor needs to perform the operation according to the requirement, the catheter guide wire finally needs to perform the movement with two degrees of freedom of axial feeding and axial rotation, and if the two actions of the guide wire and the guide catheter are performed, the current implementation mode is generally realized by the positive pressure generated by directly contacting the catheter and the friction force generated under the pressure. However, in the case of a very thin object to be operated, i.e. a catheter/guide wire (the thinnest is less than 1mm), axial feeding and rotation around the axis of the guide wire and the catheter are realized by friction, the requirements on the structure and the material of the mechanism are very high, and the reliability is difficult to guarantee. To avoid this problem, the present invention fixes the catheter/guidewire to the wire clamping rod 11 by means of a uniquely designed mechanism consisting of the wire clamping rod 11 and the wire clamping end cap 12, as shown in fig. 1-5, by means of the pressure between the eccentric holes between the wire clamping rod 11 and the wire clamping end cap 12. The guide wire/guide wire is clamped by the clamping screw rod 11, so that the guide wire and the guide wire with small apparent diameters are integrated, and the guide wire can be axially fed and circumferentially rotated by actuating the clamping screw rod 11.
One end of a spring guide rod 31 of the fixed catheter/guide wire mechanism is fixedly connected with one side of the sliding base 29, the other end of the spring guide rod is movably arranged in a guide rod hole of the left end plate 261 in a penetrating mode, therefore, the spring guide rod 31 can be driven by the sliding base 29 to horizontally move in the guide rod hole, the spring guide rod can automatically reset under the pressure generated by the clamping spring 32, the fixed rubber block 33 and the movable rubber block 34 are used for fixing a thick catheter which has the function of navigation and is delivered into a blood vessel, besides, when a part of idle stroke capable of moving back and forth returns, the catheter and the guide wire are fixed, and the catheter and the guide wire.
The principle and the implementation mode of the invention are explained by applying a specific example, and the description of the embodiment is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (10)
1. A minimally invasive vascular intervention surgical robot catheter/guide wire rotary propulsion device is characterized in that: the automatic lifting device comprises a base (1), wherein a first guide rail (2) is horizontally arranged on the base (1), a first sliding block (3) is movably mounted on the first guide rail (2), a synchronous belt fixing plate (4) is fixedly mounted on the first sliding block (3), a swing seat mounting frame (5) is fixed on the synchronous belt fixing plate (4), a swing seat (6) is connected onto the swing seat mounting frame (5) in a pin joint mode, a rotating motor (7) is mounted on the swing seat (6), an output shaft of the rotating motor (7) is coaxially connected with a driving friction wheel (9), the driving friction wheel (9) is connected with a driven friction wheel (10) in a matching mode, and a lead clamping rod (11) is erected on the swing seat (6); the driven friction wheel (10) is arranged on the screw clamping rod (11) in a penetrating way, an eccentric through hole (111) is formed in the screw clamping rod (11) along the axial direction, two bulges (112) are symmetrically arranged on the side wall of the front end of the screw clamping rod (11), the front end of the screw clamping rod (11) is sleeved with a screw clamping end cover (12), the screw clamping end cover (12) comprises a cover part (121) covering the end of the screw clamping rod (11), an outer cylinder part (122) sleeved on the rod part of the screw clamping rod (11) and a flange (123) arranged at the tail part of the screw clamping rod, the outer cylinder part (122) is provided with a slot (124) arranged along the axial direction, the protrusion (112) is movably arranged inside the slot (124), an opening and closing spring (13) is arranged between the protrusion (112) and the flange (123), the cover part (121) has an end cover through hole (125) that is not concentric with the eccentric through hole (111); a second guide rail (20) is fixedly arranged on the upper surface of the swinging seat (6), a second sliding block (21) is movably arranged on the second guide rail (20), a wire clamping end cover push block (22) is fixedly arranged on the second sliding block (21), and an L-shaped push plate is fixedly arranged on the wire clamping end cover push block (22); an opening and closing motor (23) is mounted on the swinging seat (6) through a support, and an eccentric wheel (24) is mounted on an output shaft of the opening and closing motor (23); the eccentric wheel (24) abuts against one side of an L-shaped push plate of the wire clamping end cover push block (22), and the tail end of the wire clamping end cover (12) abuts against the other side of the L-shaped push plate of the wire clamping end cover push block (22).
2. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 1, characterized in that: the rotary propelling device further comprises belt wheel seats (14) arranged at two ends of the base (1), a moving motor (15) is mounted on one belt wheel seat (14), an output shaft of the moving motor (15) is coaxially connected with a driving belt wheel (17), a driven belt wheel (18) is arranged on the belt wheel seat (14) where the moving motor (15) is not mounted, and a synchronous belt (19) is sleeved between the driving belt wheel (17) and the driven belt wheel (18); the synchronous belt (19) is fixedly connected with the synchronous belt fixing plate (4).
3. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 1, characterized in that: the swing seat (6) comprises two wire clamping rod lower mounting brackets (61) which are arranged in parallel, a concave mounting groove is formed in the top of each wire clamping rod lower mounting bracket (61), and the wire clamping rod (11) is erected on the mounting groove of each wire clamping rod lower mounting bracket (61) through a bearing; the driving friction wheel (9) is positioned between the two lower lead screw clamping mounting brackets (61), and an output shaft of the rotating motor (7) penetrates through one lower lead screw clamping mounting bracket (61) and then is connected with the driving friction wheel (9).
4. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 2, characterized in that: the upper surface of hold-in range fixed plate (4) is provided with a plurality of grids (41), the tooth of hold-in range (19) with the fixed joint of grid (41).
5. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 1, characterized in that: the catheter/guide wire fixing mechanism comprises a clamping fixing frame (25) arranged at the front end of the base (1), a clamping base (26) is fixedly arranged at the top end of the clamping fixing frame (25), a third guide rail (27) perpendicular to the first guide rail (2) is arranged on the upper surface of the clamping base (26), a third sliding block (28) is movably arranged on the third guide rail (27), and a clamping guide seat (30) and a sliding base (29) are sequentially and fixedly connected onto the third sliding block (28); the clamping base (26) comprises a left end plate (261) and a right end plate (262) which are vertically and oppositely arranged, a spring guide rod (31) is arranged between the left end plate (261) and the sliding base (29), a guide rod hole is formed in the left end plate (261), one end of the spring guide rod (31) is fixedly connected with one side of the sliding base (29), and the other end of the spring guide rod is movably arranged in the guide rod hole of the left end plate (261) in a penetrating mode; a clamping spring (32) is sleeved on the spring guide rod (31), a fixed rubber block (33) is arranged on the side surface of the right end plate (262) opposite to the sliding base (29), and a movable rubber block (34) is arranged on one side of the sliding base (29) which is not connected with the spring guide rod (31); lower connecting strips which are integrally formed are arranged on two sides of the clamping guide seat (30) and are positioned on two sides of the clamping base (26); still install centre gripping motor (35) on centre gripping base (26), install variable radius curved surface spheroid (36) on the output shaft of centre gripping motor (35), the surface of variable radius curved surface spheroid (36) supports and leans on the lower connection slat of centre gripping saddle (30).
6. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 5, characterized in that: the variable radius sphere (36) is configured as a portion of a virtual parabola rotated about a central axis.
7. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 1, characterized in that: the swing seat mounting frame (5) comprises a mounting frame lower bottom plate (51) fixed with the synchronous belt fixing plate (4), a mounting support plate (52) is vertically arranged on the mounting frame lower bottom plate (51), and the swing seat (6) is mounted on the mounting support plate (52); a pressure sensor (37) is arranged on the upper surface of the mounting frame lower bottom plate (51); the testing end of the pressure sensor (37) is in contact with the lower bottom surface of the swinging seat (6).
8. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 1, characterized in that: the end cover through hole (125) is positioned at the central position of the wire clamping end cover (12).
9. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 1, characterized in that: first guide rail (2) have two that are parallel to each other, every it is provided with two respectively the symmetry on first guide rail (2) first slider (3), four first slider (3) respectively with hold-in range fixed plate (4) are connected.
10. The minimally invasive vascular interventional surgical robotic catheter/guidewire rotational advancement device according to claim 3, characterized in that: the upper mounting frame (62) of the screw clamping rod is connected to the lower mounting frame (61) of the screw clamping rod in a pin joint mode, the flanging half-bushes (38) are mounted in the upper mounting frame (62) of the screw clamping rod and the lower mounting frame (61) of the screw clamping rod, and the screw clamping rod (11) is mounted in the bushes formed by the two flanging half-bushes (38).
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| CN201910445602.0A CN110151310B (en) | 2019-05-27 | 2019-05-27 | Catheter/guide wire rotary pushing device of minimally invasive vascular interventional surgical robot |
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