CN110841176A - Cardiovascular interventional therapy device - Google Patents

Cardiovascular interventional therapy device Download PDF

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Publication number
CN110841176A
CN110841176A CN201911085384.0A CN201911085384A CN110841176A CN 110841176 A CN110841176 A CN 110841176A CN 201911085384 A CN201911085384 A CN 201911085384A CN 110841176 A CN110841176 A CN 110841176A
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Prior art keywords
frame
fixed mounting
wall
sliding
sleeve
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CN201911085384.0A
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CN110841176B (en
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张文静
刘颜美
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First Affiliated Hospital of Zhengzhou University
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First Affiliated Hospital of Zhengzhou University
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    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/06Body-piercing guide needles or the like
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/06Body-piercing guide needles or the like
    • A61M25/0612Devices for protecting the needle; Devices to help insertion of the needle, e.g. wings or holders
    • AHUMAN NECESSITIES
    • A61MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61MDEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00Catheters; Hollow probes
    • A61M25/01Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09Guide wires
    • A61M25/09041Mechanisms for insertion of guide wires

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biophysics (AREA)
  • Pulmonology (AREA)
  • Engineering & Computer Science (AREA)
  • Anesthesiology (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Hematology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

The invention discloses a cardiovascular interventional therapy device which mainly comprises a left frame, a right frame and a needle cylinder, wherein a connecting belt is rotatably arranged between the left frame and the right frame, rear frames are fixedly arranged at the rear parts of the left frame and the right frame, front frames are fixedly arranged at the front parts of the left frame and the right frame, hook belts are rotatably arranged in the middle parts of the rear frame and the front frame at the left part, and hooks are rotatably arranged at the end parts of the hook belts. The interventional device is reasonable in structural design, and when a needle is inserted and a guide wire is inserted, the interventional device is provided with a flexibly adjusted supporting mechanism, so that the labor capacity of a doctor is reduced, and the influence of shaking hands of the doctor on the operation stability is avoided; after the needle head is inserted, the guide wire is inserted into the needle head without pulling out the injector, so that blood backflow is avoided, the cleanness of an operation surface is ensured, the needle head cannot shake, the pain of a patient is reduced, and the needle head is more humanized; the parts to be replaced of the device and the main body are installed quickly, replacement is quick, integral replacement is not needed each time, and cost is reduced.

Description

Cardiovascular interventional therapy device
Technical Field
The invention relates to an interventional therapy device, in particular to a cardiovascular interventional therapy device.
Background
Interventional radiology, also called interventional therapeutics, is an emerging discipline combining image diagnosis and clinical treatment, which has been rapidly developed in recent years. Under the guidance and monitoring of digital subtraction angiography machine, CT, ultrasonic and magnetic resonance imaging equipment, puncture needle, catheter and other interventional devices are used to introduce specific instrument into the pathological change part of human body via natural pore canal or small wound for minimally invasive treatment. At present, in image diagnosis, contrast agent injection is needed to be carried out on blood vessels so as to ensure the success of contrast.
The existing interventional device completely depends on the hand of a doctor to carry out stabilization when a needle is inserted and a guide wire is inserted, and has higher requirements on the doctor; after the needle is inserted, the injector needs to be pulled out and separated from the needle, and then the guide wire is inserted into the injector from the needle, so that blood backflow can occur in the process, and the operation surface is polluted; moreover, most of the existing blood blocking membranes are integrated with the needle cylinder, and the overall replacement cost is high each time; when the injector is pulled out, the pain of the patient is aggravated due to the shaking of the needle head, and the humanization degree is low.
Disclosure of Invention
The present invention is directed to a cardiovascular interventional therapy device to solve the above problems of the background art.
In order to achieve the purpose, the invention provides the following technical scheme:
a cardiovascular intervention treatment device mainly comprises a left frame, a right frame and a needle cylinder, wherein a connecting belt is rotatably arranged between the left frame and the right frame, the rear parts of the left frame and the right frame are fixedly provided with a rear frame, the front parts of the left frame and the right frame are fixedly provided with a front frame, the middle parts of the rear frame and the front frame positioned at the left part are rotatably provided with a hook belt, the end parts of the hook belt are rotatably provided with a hook, the middle parts of the rear frame and the front frame positioned at the right part are rotatably provided with an elastic rope, the right end of the elastic rope is sewed and enclosed into a clamping hole, the middle parts of the top ends of the left frame and the right frame are fixedly provided with a slide rail, the upper part of the slide rail positioned at the right part is slidably provided with a right slide carriage, the middle part of the right slide carriage is fixedly provided with a rubber block, the bottom end of the rubber block is tightly contacted with the side wall at the, left balladeur train right-hand member rotates and installs the card post cover, and card post cover mid-rotation installs the card post, and card post right-hand member lateral wall has a connecting rod, two with smooth connection post left end lateral wall fixed mounting respectively between both ends around the connecting rod fixed mounting has smooth frame, two slidable mounting has the cylinder between the smooth frame, and the cylinder front end is located inside the smooth frame and has connect soon the pressure head, is located anteriorly lateral wall fixed mounting has and revolves pressure head complex friction ring before the smooth frame.
As a further scheme of the invention: the connecting band mainly includes offset plate and adapter, offset plate both ends fixed mounting has the adapter, the adapter left end rotates with the left side frame to be connected, the adapter right-hand member rotates with the right side frame to be connected.
As a still further scheme of the invention: the rubber ring is fixedly installed on the inner side wall of the clamping column sleeve, and a rubber ring groove matched with the rubber ring is formed in the middle of the clamping column.
As a still further scheme of the invention: and the middle parts of the top ends of the left sliding frame and the limiting sleeve are connected with a spinning frame through threads.
As a still further scheme of the invention: and a grinding head is fixedly installed at the right end of the sliding connection column, and the spinning frame positioned in the middle of the limiting sleeve is positioned right above the grinding head.
As a still further scheme of the invention: the needle cylinder mainly comprises an outer sleeve, a middle pipe, a relay sleeve and a needle head, wherein the upper part of the outer sleeve is fixedly provided with a side piece which is symmetrically arranged, the inner side of the outer sleeve is slidably provided with the middle pipe, the lower part of the outer side of the middle pipe is fixedly provided with a stabilizing ring, the outer side wall of the stabilizing ring, which is positioned on the upper part of the stabilizing ring, is fixedly provided with a guide piece, the side wall of the guide piece is in sliding contact with the inner wall of the outer sleeve, the top end of the middle pipe is provided with a plug, the edge of the bottom end of the middle pipe is fixedly provided with a clamping head which is arranged at equal distance, the side wall of the lower part of the clamping head is fixedly provided with convex strips, the relay sleeve is clamped between all the convex strips, the middle outer side wall of the relay sleeve is provided with, the utility model discloses a syringe needle, including relay sleeve, bulge loop complex, cutting ferrule, outer wall fixed mounting has the syringe needle, the through-hole that supplies the syringe needle to pass is seted up to the overcoat lower part, lateral wall fixed mounting has the commentaries on classics round pin behind the overcoat, lateral wall fixed mounting has the thread bush before the overcoat, change round pin outer wall and thread bush outer wall sliding contact sliding frame inside wall, the thread bush inner wall has connect soon the head.
As a still further scheme of the invention: the middle part of the left side of the left frame and the middle part of the right side of the right frame are fixedly provided with patches.
Compared with the prior art, the invention has the beneficial effects that:
the interventional device is reasonable in structural design, and when a needle is inserted and a guide wire is inserted, the interventional device is provided with a flexibly adjusted supporting mechanism, so that the labor capacity of a doctor is reduced, and the influence of shaking hands of the doctor on the operation stability is avoided; after the needle head is inserted, the guide wire is inserted into the needle head without pulling out the injector, so that blood backflow is avoided, the cleanness of an operation surface is ensured, the needle head cannot shake, the pain of a patient is reduced, and the needle head is more humanized; the parts to be replaced of the device and the main body are installed quickly, replacement is quick, integral replacement is not needed each time, and cost is reduced.
Drawings
Fig. 1 is a schematic structural diagram of a cardiovascular interventional therapy device.
Fig. 2 is a schematic cross-sectional view of a cardiovascular interventional therapy device.
Fig. 3 is a schematic structural diagram of a top view of the cardiovascular interventional therapy device.
Fig. 4 is a schematic structural diagram at a in fig. 3.
Fig. 5 is a half-section schematic view of the bottom view angle of the syringe in the cardiovascular interventional therapy device.
Fig. 6 is a schematic structural diagram at B in fig. 2.
Fig. 7 is a schematic view of the structure at C in fig. 2.
Fig. 8 is a schematic view of the structure at D in fig. 6.
Fig. 9 is a schematic structural diagram at E in fig. 2.
Fig. 10 is a schematic view of the structure at F in fig. 8.
In the figure: the device comprises a left frame 1, a clamping column 2, a rubber plate 3, a rotating pin 4, a rotating joint 5, a sliding frame 6, a connecting rod 7, a right frame 8, an elastic rope 9, a clamping hole 10, a stop collar 11, a right sliding frame 12, a rubber block 13, a rotating pressing frame 14, a patch 15, a sliding rail 16, a front frame 17, a sliding connection column 18, an outer sleeve 19, a friction ring 20, a plug 21, a rotating pressing head 22, a middle pipe 23, a side plate 24, a hook 25, a left sliding frame 26, a clamping column sleeve 27, a hook belt 28, a rear frame 29, a rubber ring 30, a needle head 31, a clamping sleeve 32, a relay sleeve 33, a stabilizing ring 34, a guide sheet 35, a grinding head 36, a pulling sheet 37, a clamping head 38, a threaded sleeve 39, a raised strip 40, a blocking film 41, a raised ring 42, a raised.
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.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.
In the description of the present invention, it should be noted that unless otherwise explicitly stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can, for example, be fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
Referring to fig. 1 to 10, in an embodiment of the present invention, a cardiovascular interventional therapy device mainly includes a left frame 1, a right frame 8 and a syringe, a connection belt is rotatably installed between the left frame 1 and the right frame 8, a rear frame 29 is fixedly installed at the rear portions of the left frame 1 and the right frame 8, a front frame 17 is fixedly installed at the front portions of the left frame 1 and the right frame 8, a hook belt 28 is rotatably installed at the middle portions of the rear frame 29 and the front frame 17 at the left portion, a hook 25 is rotatably installed at the end portion of the hook belt 28, an elastic rope 9 is rotatably installed at the middle portions of the rear frame 29 and the front frame 17 at the right portion, a clamping hole 10 is formed by sewing the right end of the elastic rope 9, a slide rail 16 is fixedly installed at the middle portion of the top ends of the left frame 1 and the right frame 8, a right slide rail 12 is slidably installed at the upper portion of the slide rail 16 at the right portion, a rubber block, be located the left part 16 upper portion slidable mounting of slide rail has left balladeur train 26, right side balladeur train 12 left end is rotated and is installed stop collar 11, and 11 inboard rotations of stop collar are installed and are slided and connect post 18, the 26 right-hand members of left side balladeur train rotate and install card post cover 27, and card post cover 27 mid-rotation installs card post 2, and card post 2 right-hand member lateral wall and the side wall of the 18 left sides of sliding and connecting post are fixed mounting respectively has connecting rod 7, two fixed mounting has sliding frame 6, two between the both ends around the connecting rod 7 slidable mounting has the cylinder between the sliding frame 6, and the cylinder front end is located the inside soon of sliding frame 6 and has connect soon the head 22, is located anteriorly lateral wall fixed mounting has and revolves.
The connecting band mainly includes offset 3 and adapter 5, 3 both ends fixed mounting of offset 5, 5 left ends of adapter rotate with left side frame 1 and are connected, 5 right-hand members of adapter rotate with right side frame 8 and are connected.
The inner side wall of the clamping column sleeve 27 is fixedly provided with a rubber ring 30, and the middle part of the clamping column 2 is provided with a rubber ring groove matched with the rubber ring 30.
The middle parts of the top ends of the left sliding frame 26 and the stop collar 11 are screwed with the spinning frame 14 through threads.
The right end of the sliding connection column 18 is fixedly provided with a grinding head 36, and the spinning frame 14 positioned in the middle of the limiting sleeve 11 is positioned right above the grinding head 36.
The cylinder mainly includes overcoat 19, well pipe 23, relay cover 33 and syringe needle 31, 19 upper portion fixed mounting of overcoat has the lateral plate 24 of symmetry setting, 19 inboard slidable mounting of overcoat has well pipe 23, well pipe 23 outside lower part fixed mounting has stabilizing ring 34, and stabilizing ring 34 is located the lateral wall fixed mounting on stabilizing ring 34 upper portion and has guide vane 35, the 19 inner walls of guide vane 35 lateral wall sliding contact overcoat, end cap 21 is installed on well pipe 23 top, well pipe 23 bottom edge lateral wall fixed mounting has the dop 38 of equidistance range, and dop 38 lower part lateral wall fixed mounting has protruding strip 40, all the joint has relay cover 33 between the protruding strip 40, and relay cover 33 middle part lateral wall card is equipped with the annular with protruding strip 40 complex, relay cover 33 middle part inner wall is provided with protruding rand 43, the inside protruding rand 43 department joint that is located of relay cover 33 installs card frame 44, card frame 44 inside wall fixed mounting has a barrier film 41, relay sleeve 33 lower part is provided with the bulge loop 42 that the equidistance was arranged, relay sleeve 33 outside lower part cover is equipped with cutting ferrule 32, and cutting ferrule 32 inside wall is seted up with bulge loop 42 complex annular groove, cutting ferrule 32 lower part fixed mounting has syringe needle 31, the through-hole that supplies syringe needle 31 to pass is seted up to overcoat 19 lower part, 19 back lateral wall fixed mounting of overcoat has commentaries on classics round pin 4, lateral wall fixed mounting has thread bush 39 before the overcoat 19, 4 outer walls of commentaries on classics round pin and the 6 inside walls of thread bush 39 outer wall sliding contact sliding frame, thread bush 39 inner walls have connect soon head 22 soon.
The middle part of the left side of the left frame 1 and the middle part of the right side of the right frame 8 are fixedly provided with patches 15.
The working principle of the invention is as follows:
the invention relates to a cardiovascular interventional therapy device, when in use, the device is placed at a perforation, the device is tightly tied and fixed on a patient body through a hook 25 and a clamping hole 10 at the end part of an elastic rope 9, then a left sliding frame 26 and a right sliding frame 12 slide back and forth to drive a needle cylinder to move back and forth, then the needle cylinder is fixed in the front and back direction through a spinning frame 14 at the upper part of the left sliding frame 26, then a clamping column 2 rotates in a clamping column sleeve 27, a sliding connection column 18 rotates in a limiting sleeve 11 to further adjust the front and back inclination angle of the needle cylinder, the rotation angle of the needle cylinder is fixed through the spinning frame 14 at the upper part of the limiting sleeve 11, then the position and the left and right inclination angle of the needle cylinder in the left and right direction are adjusted through the cooperation of a rotating pin 4 and a threaded sleeve 39, after the adjustment, a spinning head 22 is tightly pressed on the front side wall of a friction ring, then, the needle cylinder support by the doctor is not needed, the labor capacity of the doctor is reduced, the relay sleeve 33 is clamped at the bottom end of the middle pipe 23, the clamping sleeve 32 is sleeved at the lower part of the relay sleeve 33, the needle head 31 is pushed down to penetrate through the middle pipe 23, then the plug 21 is pulled out, the guide wire is pulled down through the middle pipe 23, the guide wire can directly penetrate through the blocking film 41 to complete the guide wire pulling down operation, the step of pulling down the guide wire of the injector is omitted, the blood is prevented from flowing back when the needle head 31 and the injector are separated, the cleanness of an operation surface is ensured, the shaking of the needle head 31 of the injector is reduced, the pain of a patient is reduced, the clamping frame 44 and the blocking film 41 in the needle head 31 and the relay sleeve 33 can be replaced, the middle pipe 23 can be directly pulled out to complete the disassembly, the replacement is rapid, and the flexible adjustment supporting mechanism is arranged when the needle head and the guide wire are, the labor capacity of a doctor is reduced, and the influence of shaking of the hand of the doctor on the operation stability is avoided; after the needle head is inserted, the guide wire is inserted into the needle head without pulling out the injector, so that blood backflow is avoided, the cleanness of an operation surface is ensured, the needle head cannot shake, the pain of a patient is reduced, and the needle head is more humanized; the parts to be replaced of the device and the main body are installed quickly, replacement is quick, integral replacement is not needed each time, and cost is reduced.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims (7)

1. The utility model provides a cardiovascular intervention treatment device, mainly includes left side frame (1), right side frame (8) and cylinder, its characterized in that, rotate between left side frame (1) and the right side frame (8) and install the connecting band, left side frame (1) and right side frame (8) rear portion fixed mounting have after-poppet (29), left side frame (1) and right side frame (8) anterior fixed mounting have before-poppet (17), be located the left part after-poppet (29) and before-poppet (17) middle part rotate and install couple area (28), couple area (28) tip rotates and installs couple (25), be located the right part after-poppet (29) and before-poppet (17) middle part rotate and install elasticity rope (9), elasticity rope (9) right-hand member sew up and enclose and establish card hole (10), left side frame (1) and right side frame (8) top middle part fixed mounting have slide rail (16), be located the right side portion slide rail (16) upper portion slidable mounting have right carriage (12), fixed mounting has block rubber (13) in right side balladeur train (12) middle part, and block rubber (13) bottom in close contact with slide rail (16) top lateral wall is located the left part slide rail (16) upper portion slidable mounting has left balladeur train (26), right side balladeur train (12) left end rotates and installs stop collar (11), and stop collar (11) inboard rotates and installs sliding post (18), left side balladeur train (26) right-hand member rotates and installs clamping post cover (27), and clamping post cover (27) mid-rotation installs clamping post (2), and clamping post (2) right-hand member lateral wall and sliding post (18) left end lateral wall fixed mounting respectively has connecting rod (7), two fixed mounting has sliding frame (6), two between both ends around connecting rod (7) slidable mounting has the cylinder between sliding frame (6), and the cylinder front end is located inside the spinning head (22) of sliding frame (6) soon, is located anteriorly lateral wall fixed mounting has and spinning head (22) complex friction ring (20) before sliding frame (6).
2. The cardiovascular interventional therapy device according to claim 1, wherein the connecting band mainly comprises a rubber plate (3) and an adapter (5), the adapter (5) is fixedly installed at two ends of the rubber plate (3), the left end of the adapter (5) is rotatably connected with the left frame (1), and the right end of the adapter (5) is rotatably connected with the right frame (8).
3. The cardiovascular interventional therapy device according to claim 1, characterized in that a rubber ring (30) is fixedly installed on the inner side wall of the clamping column sleeve (27), and a rubber ring groove matched with the rubber ring (30) is formed in the middle of the clamping column (2).
4. Cardiovascular interventional therapy device according to claim 1, characterized in that the left carriage (26) and the middle of the top end of the stop collar (11) are each screwed with a spinning frame (14) by screw threads.
5. The cardiovascular interventional therapy device according to claim 1, characterized in that a sanding head (36) is fixedly installed at the right end of the sliding connection column (18), and the spinning frame (14) located in the middle of the limiting sleeve (11) is located right above the sanding head (36).
6. The cardiovascular interventional therapy device according to claim 1, characterized in that the syringe mainly comprises an outer sleeve (19), a middle tube (23), a relay sleeve (33) and a needle (31), the upper part of the outer sleeve (19) is fixedly provided with a side piece (24) which is symmetrically arranged, the inner side of the outer sleeve (19) is slidably provided with the middle tube (23), the lower part of the outer side of the middle tube (23) is fixedly provided with a stabilizing ring (34), the outer side wall of the stabilizing ring (34) which is positioned on the upper part of the stabilizing ring (34) is fixedly provided with a guide sheet (35), the side wall of the guide sheet (35) is in sliding contact with the inner wall of the outer sleeve (19), the top end of the middle tube (23) is provided with a plug (21), the side wall of the bottom end edge of the middle tube (23) is fixedly provided with clamping heads (38) which are arranged at equal intervals, the, relay cover (33) middle part lateral wall card be equipped with protruding strip (40) complex annular, relay cover (33) middle part inner wall is provided with protruding rand (43), inside protruding rand (43) department joint that is located of relay cover (33) installs card frame (44), and card frame (44) inside wall fixed mounting has barrier film (41), relay cover (33) lower part is provided with bulge loop (42) that the equidistance was arranged, relay cover (33) outside lower part cover is equipped with cutting ferrule (32), and cutting ferrule (32) inside wall is seted up with bulge loop (42) complex annular groove, cutting ferrule (32) lower part fixed mounting has syringe needle (31), the through-hole that supplies syringe needle (31) to pass is seted up to overcoat (19) lower part, overcoat (19) rear side wall fixed mounting has commentaries on classics round pin (4), lateral wall fixed mounting has thread bush (39) before overcoat (19), the outer wall of the rotating pin (4) and the outer wall of the threaded sleeve (39) are in sliding contact with the inner side wall of the sliding frame (6), and the inner wall of the threaded sleeve (39) is screwed with a spinning head (22).
7. Cardiovascular interventional therapy device according to claim 1, characterized in that a patch (15) is fixedly mounted in the middle of the left side of the left frame (1) and in the middle of the right side of the right frame (8).
CN201911085384.0A 2019-11-08 2019-11-08 Cardiovascular interventional therapy device Active CN110841176B (en)

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CN113729966A (en) * 2021-09-06 2021-12-03 上海交通大学 Parallel progressive replaceable cardiovascular interventional operation robot and control method

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CN113729966A (en) * 2021-09-06 2021-12-03 上海交通大学 Parallel progressive replaceable cardiovascular interventional operation robot and control method
CN113729966B (en) * 2021-09-06 2023-02-28 上海交通大学 Parallel progressive replaceable cardiovascular interventional operation robot and control method

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