CN113331950B

CN113331950B - Conveying turntable, catheter storage conveying device and catheter controller

Info

Publication number: CN113331950B
Application number: CN202110729410.XA
Authority: CN
Inventors: 赵柏湖; 梁振猷; 程舒宇; 王永胜
Original assignee: Hangzhou Deno Brain Neurology Medical Technology Co ltd
Current assignee: Hangzhou Deno Brain Neurology Medical Technology Co ltd
Priority date: 2021-06-29
Filing date: 2021-06-29
Publication date: 2023-07-25
Anticipated expiration: 2041-06-29
Also published as: WO2023274259A1; CN113331950A

Abstract

The invention provides a conveying turntable, a catheter storage conveying device and a catheter controller. At least one part of the peripheral wall of the conveying turntable is provided with a groove extending along the circumferential direction in a spiral way, and the groove is used for coiling a guide pipe; the groove comprises a first section in its extension direction, the radial distance of any two positions of said first section being unequal. Because the catheter is coiled on the spiral groove, the knotting phenomenon in the catheter conveying process is avoided, and the surgical safety is improved.

Description

Conveying turntable, catheter storage conveying device and catheter controller

Technical Field

The invention relates to the technical field of medical equipment, in particular to a conveying turntable, a catheter storage conveying device and a catheter controller.

Background

In recent years, vascular interventional procedures have been widely used in clinical applications with the advantages of minimal trauma, low risk, few complications, and the like. Because in the process of interventional operation, doctors need to operate under the ray environment, bad influence and damage can be caused to human bodies when working under the ray environment for a long time, and the operation robot can effectively reduce the damage of radioactive rays to doctors, improve the operation efficiency and reduce the operation risk, so that the operation robot is widely applied.

At present, a circular rotary table is generally adopted for storing and conveying catheters (the length of the soft catheters is between 1 and 3 meters) in the surgical robot, and a straight cylindrical groove (without an isolation structure between the catheters) is arranged on the circular rotary table so as to realize storing of the catheters. However, since there is no isolation structure between the catheters, the catheters are easily cross-knotted during delivery, thereby increasing the risk of surgery.

Disclosure of Invention

The invention aims to provide a conveying turntable, which solves the problem that a catheter is knotted when a surgical robot conveys the catheter in the prior art.

The invention aims to provide a catheter storage and conveying device, which is provided with the conveying turntable.

The invention aims to provide a catheter controller which is provided with the catheter storage and delivery device.

In order to solve the technical problems, the invention adopts the following technical scheme:

a conveying turntable, wherein at least one part of the peripheral wall of the conveying turntable is provided with a groove extending along the circumferential direction in a spiral manner, and the groove is used for coiling a guide pipe; the groove comprises a first section in the extending direction of the groove, and the radial distance of any two positions of the first section is unequal.

According to one embodiment of the invention, the radial distance of the first section is gradually increased or gradually decreased in the thickness direction of the transport carousel.

According to one embodiment of the invention, the groove further comprises a second section, the radial distance of any two positions of the second section being equal.

According to one embodiment of the invention, the radial distance of the second section is equal to the maximum radial distance of the first section, the second section being arranged on one side of the maximum radial distance of the first section.

According to one embodiment of the invention, the radial distance of the second section is equal to the minimum radial distance of the first section, the second section being arranged on one side of the minimum radial distance of the first section.

According to one embodiment of the invention, the groove comprises a semicircular storage tank and two side walls which extend outwards in an inclined mode along two sides of the circumference of the semicircular storage tank, the two side walls are opposite and parallel, and the semicircular storage tank is matched with the diameter of the guide pipe.

According to one embodiment of the invention, the conveying turntable comprises a turntable body in a circular ring shape and a turntable bracket arranged in the turntable body; the groove is formed in the peripheral wall of the turntable body; the turntable support protrudes upwards from the turntable body.

The invention also provides a catheter storage and conveying device, which comprises a base, a driving part and the conveying turntable; the conveying turntable is rotatably arranged on the base; the driving part is connected with the conveying turntable and is used for driving the conveying turntable to rotate forward and backward so as to convey or store the catheter.

According to one embodiment of the invention, the base comprises a chassis and a housing; the conveying turntable is rotatably arranged on the chassis; the outer cover is arranged on the periphery of the chassis and surrounds the conveying turntable; the housing and the groove together define a receiving space for receiving a catheter.

According to one embodiment of the invention, the housing comprises a first housing and a second housing that are symmetrical to each other; the first shell and the second shell comprise a semicircular main body part and a bottom plate which extends outwards along the side wall of the main body part in a radial direction; the bottom plate is detachably connected with the chassis.

According to one embodiment of the invention, the housing further comprises a first guide member in the shape of a cylinder and a second guide member in the shape of a cylinder; the first guide piece and the second guide piece are simultaneously arranged on the first shell; the first guide piece radially protrudes out of the first shell, is connected to the side wall of the main body part of the first shell, and is communicated with the interior of the first shell; the first guide member is used for passing the distal end of the catheter; the second guide piece is arranged on the bottom plate of the first shell and is opposite to the first guide piece at intervals, and the second guide piece and the first guide piece are positioned on the same axis.

According to one embodiment of the invention, the catheter deposit conveying device further comprises a turntable cover, wherein the turntable cover is arranged on the upper surface of the conveying turntable; the turntable cover is provided with a wire passing hole, and the wire passing hole is used for the proximal end of the catheter to pass through.

According to one embodiment of the invention, the drive section includes a second motor, a third gear and a fourth gear; the turntable cover also comprises a mounting hole; the second motor is fixedly arranged on the turntable cover, an output shaft of the second motor penetrates through the mounting hole, and the tail end of the output shaft is accommodated in the third gear; the fourth gear is fixedly arranged on the base, and the third gear is meshed with the fourth gear; the second motor drives the third gear to rotate around the periphery of the fourth gear through the output shaft so as to drive the turntable cover and the conveying turntable to synchronously rotate.

According to one embodiment of the invention, the base is provided with a vertical shaft in a protruding manner, and the vertical shaft extends in a direction away from the base; the driving part further comprises a supporting shaft sleeve and a tapered roller bearing, and the tapered roller bearing is sleeved on the periphery of the vertical shaft; the supporting shaft sleeve is rotatably sleeved on the periphery of the tapered roller bearing, the supporting shaft sleeve is accommodated in the central through hole of the fourth gear, and the conveying turntable is fixedly arranged at the top end of the supporting shaft sleeve; the conveying turntable can rotate around the vertical shaft under the support of the support shaft sleeve.

The invention also provides a catheter controller, which comprises a catheter clamping device, a catheter rotation driving device and the catheter storage and conveying device; the catheter clamping device is arranged above the conveying turntable and used for clamping the proximal end of the catheter; the catheter rotation driving device is used for driving the catheter clamping device to rotate so as to drive the catheter to synchronously rotate.

According to one embodiment of the invention, the catheter clamping device comprises a shaft sleeve joint and a luer joint, wherein the front end of the luer joint extends into the shaft sleeve joint and is clamped by the shaft sleeve joint, and the luer joint is communicated with the shaft sleeve joint; the front end of the luer connector is connected with the proximal end of the catheter, the proximal end of the catheter is penetrated with the shaft sleeve connector, and the shaft sleeve connector clamps the proximal end of the catheter by clamping the front end of the luer connector.

According to one embodiment of the invention, the catheter controller further comprises a bearing seat arranged above the turntable cover; the guide pipe rotation driving device comprises a first motor, a driving shaft, a first gear and a second gear; the shaft sleeve joint and the driving shaft are respectively rotatably arranged on the bearing seat and respectively extend out of the bearing seat; the first gear is sleeved at one end of the driving shaft, which extends out of the bearing seat, the second gear is sleeved at one end of the shaft sleeve joint, which extends out of the bearing seat, and the first gear and the second gear are positioned at the same side of the bearing seat and meshed with each other; the output end of the first motor is connected with the driving shaft to drive the first gear to rotate, and the first gear drives the shaft sleeve joint to synchronously rotate.

According to the technical scheme, the conveying turntable provided by the invention has at least the following advantages and positive effects:

the conveying turntable is provided with the spiral grooves, and the storage and coiling of the guide pipe are realized through the grooves. Meanwhile, the groove has curvature variation along its own extending direction. The groove is embodied as having a first section in the direction of extension, the radial distance of any two positions in the first section being unequal. Because the catheter is coiled on the spiral groove, the knotting phenomenon in the catheter conveying process is avoided, and the surgical safety is improved. In addition, when the front part of the catheter is blocked, the resistance of the catheter to the rollback of the turntable is increased due to the difference of the curvatures of the grooves, and the catheter is not easy to rollback, so that the stability of conveying is improved, and the accuracy of the position of the catheter in a patient is ensured.

Drawings

FIG. 1 is a schematic diagram of a catheter controller according to an embodiment of the invention.

Fig. 2 is a schematic view of the connection of the catheter clamping device and the catheter rotation driving device of fig. 1.

Fig. 3 is an exploded view of the catheter clamping device and catheter rotation drive device of fig. 1.

FIG. 4 is a schematic diagram of a catheter array delivery device according to an embodiment of the present invention.

Fig. 5 is an exploded view of the catheter array delivery device of fig. 4.

FIG. 6 is a schematic illustration of the chassis and the cover separated in an embodiment of the present invention.

Fig. 7 is an exploded view of a rotary table driving part according to an embodiment of the present invention.

Fig. 8 is a schematic diagram illustrating an assembly of a driving portion and a base body according to an embodiment of the present invention.

Fig. 9 is an axial cross-sectional view of the base of fig. 8.

Fig. 10 is a schematic structural view of a conveying turntable according to an embodiment of the present invention.

Fig. 11 is an axial cross-sectional view of the conveyor carousel of fig. 10.

Fig. 12 is an enlarged view at a in fig. 11.

Fig. 13 is a schematic structural view of another embodiment of the catheter array delivery device of the present invention.

The reference numerals are explained as follows:

300-conduit,

1-catheter storage and delivery device,

11-base, 10-chassis, 111-annular side wall, 112-vertical axis, 101-connecting hole, 16-housing, 161-first housing, 162-second housing, 1611-main body, 1613-bottom plate, 1615-connecting part, 106-through hole,

13-conveying turntables, 131-turntable bodies, 133-turntable supports, 1331-radial struts, 103-grooves, 1031-semicircular storage tanks, 1033-side walls, 102-inlet ends, 104-outlet ends,

14-driving part, 141-tapered roller bearing, 142-second motor, 1421-main body part, 1422-output shaft, 143-third gear, 144-fourth gear, 145-supporting shaft sleeve, 146-second motor seat,

15-a turntable cover, 105-a wire through hole, 107-a mounting hole,

17-a first guide member,

18-a second guide member,

3-catheter clamping device, 31-sleeve joint, 33-luer joint, 34-three-way valve, 341-tube body, 342-branch tube, 35-three-way valve fixing seat, 36-rotating wheel, 37-sleeve, and,

5-conduit rotary driving device, 51-first motor, 52-driving shaft, 53-first gear, 54-second gear, 55-first motor base, 56-bearing, 57-coupling,

6-bearing seat.

Detailed Description

Exemplary embodiments that embody features and advantages of the present invention will be described in detail in the following description. It will be understood that the invention is capable of various modifications in various embodiments, all without departing from the scope of the invention, and that the description and illustrations herein are intended to be by way of illustration only and not to be construed as limiting the invention.

The invention provides a conveying turntable, a catheter storage conveying device and a catheter controller. The catheter controller can be applied to a surgical robot to realize vascular interventional procedures. The invention solves the knotting problem when the catheter is retracted by improving the structure of the conveying turntable and designing a spiral groove for coiling the catheter according to the structure of the turntable, and solves the retraction problem of the catheter by changing the curvature of the groove; and the conveying turntable is rotated forward and backward by the driving part, so that the guide pipe can be separated from the groove to realize conveying of the guide pipe, or the guide pipe is accommodated in the groove.

Referring to fig. 1, the catheter controller includes a catheter storage and delivery device 1, a catheter clamping device 3, and a catheter rotation driving device 5.

The catheter storage and delivery device 1 includes a base 11 and a delivery turntable 13 rotatably disposed on the base 11, wherein a spiral groove 103 is formed on the outer circumference of the delivery turntable 13 for winding a catheter 300, the groove 103 has an inlet end 102 near the proximal end of the catheter 300, and an outlet end 104 for penetrating the distal end of the catheter 300 (the specific structure of the delivery turntable 13 will be described in detail in the following embodiments). The proximal end refers to the end that is closer to the heart of the operator, and the distal end is the end that is farther from the heart. The catheter clamping device 3 is provided on the delivery carousel 13 adjacent the inlet end 102 of the recess 103 to clamp the proximal end of the catheter 300. The output end of the catheter rotation driving device 5 is connected with the catheter clamping device 3, and drives the catheter clamping device 3 to rotate so as to drive the catheter 300 to rotate around the axis of the catheter, so that the circumferential rotation of the proximal end of the catheter 300 is transmitted to the distal end, and the pushing effect of the catheter 300 is improved.

Referring to fig. 2 and 3, the catheter controller further includes a bearing seat 6. The bearing seat 6 is vertically arranged on the upper surface of the conveying turntable 13 and is used for providing installation space for the conduit clamping device 3 and the conduit rotation driving device 5.

The catheter clamping device 3 comprises a hub 31 and a luer 33 for connecting the catheter 300.

The boss joint 31 has a hollow cylindrical structure, and the boss joint 31 is integrally rotatably mounted on the bearing housing 6 via a bearing 56. For the sake of more clear description, both ends in the axial direction of the boss joint 31 itself are defined as a front end and a rear end, respectively; wherein the diameter of the rear end of the boss joint 31 is smaller than the diameter of the front end thereof. And, the rear end of the boss joint 31 protrudes rearward out of the bearing housing 6.

Similarly, luer fitting 33 also has a front end and a rear end in its own axial direction. The front end of the luer fitting 33 extends into the interior of the boss fitting 31 via the front end of the shaft sleeve fitting 31 and is clamped by the boss fitting 31, and the luer fitting 33 communicates with the boss fitting 31. In use, the forward end of luer fitting 33 is used to connect the proximal end of catheter 300, with the forward end of luer fitting 33 extending into hub fitting 31 so that the proximal end of catheter 300 can pass through hub fitting 31. Further, the hub fitting 31 is capable of gripping the forward end of the luer fitting 33, thereby achieving the purpose of gripping the proximal end of the catheter 300. Specifically, the luer connector 33 and the sleeve connector 31 are matched in a conical locking mode, and the connection part of the luer connector 33 and the sleeve connector can be radially contracted through the conical matching of the luer connector 33 and the sleeve connector, so that the clamping force is applied to the whole circumference of the front end of the luer connector 33, the clamping area is large, the clamping is reliable, and the damage to the luer connector 33 is small. In addition, the sleeve joint 31 can adapt to luer joints 33 with catheters 300 of different specifications, so that the installation is more convenient.

The luer fitting 33 is provided with a three-way valve 34, a three-way valve holder 35, a rotary wheel 36, and a sleeve 37.

The three-way valve holder 35 is fixedly disposed to provide support for the three-way valve 34. The three-way valve 34 has a cylindrical tube body 341 through which a liquid flows and a branch pipe 342 connected to a side wall of the tube body 341 and communicating with the tube body 341 to form three lines. The main body of the tube 341 is disposed on the three-way valve fixing seat 35, and two ends of the tube 341 in the axial direction of the tube extend beyond two sides of the three-way valve fixing seat 35. In use, the two ends of the tube 341 may be defined as the front end and the rear end of the three-way valve 34, respectively; the front end of the three-way valve 34 is provided with a rotatable sleeve 37, which front end is in connection with the rear end of the luer fitting 33 via the sleeve 37, so that the luer fitting 33 can be rotated relative to the three-way valve 34. Wherein, the three-way valve 34 can facilitate the doctor to inject the liquid medicine, deliver the guide wire or the delivery bracket into the catheter 300, thereby providing convenience for the operation process and saving the operation space. A swivel wheel 36 is rotatably provided on the rear end of the three-way valve 34, and the swivel wheel 36 is located on the side of the three-way valve holder 35 remote from the luer fitting 33. The rotary wheel 36 is used for closing and opening the through hole at the rear end of the three-way valve 34, and the closing and opening mode of the rotary wheel 36 is realized by adopting a joint in a conical surface locking mode to be connected and matched with the three-way valve 34.

The catheter rotation driving device 5 includes a first motor 51, a driving shaft 52, a first gear 53, a second gear 54, and a first motor mount 55.

The drive shaft 52 is rotatably mounted on the bearing housing 6 via a bearing 56, and the drive shaft 52 also has a front end and a rear end in the axial direction thereof, the rear end of the drive shaft 52 projecting rearward out of the bearing housing 6. The driving shaft 52 and the shaft sleeve joint 31 are respectively arranged in holes at different positions on the bearing seat 6 and are horizontally arranged side by side. The first gear 53 is sleeved on the rear end of the driving shaft 52, and the second gear 54 is sleeved on the rear end of the boss joint 31, so that the first gear 53 and the second gear 54 are positioned on the same side of the bearing seat 6 and are engaged with each other. The first motor 51 is mounted on the first motor mount 55, and an output end of the first motor 51 is coaxially connected to a front end of the driving shaft 52 through a coupling 57.

When the first motor 51 works, the output end of the first motor drives the first gear 53 to rotate, so that the shaft sleeve joint 31 and the luer joint 33 are driven to synchronously rotate through the meshing transmission of the first gear 53 and the second gear 54, the rotation operation of the catheter 300 is realized, and the catheter 300 can be ensured to be smoothly propelled to a preset position in a blood vessel. In addition, the rotational speed of the catheter 300 may be adjusted by adjusting the gear ratio of the first gear 53 and the second gear 54.

The present embodiment can control both the advancement and circumferential rotation of the catheter 300 by the catheter clamping device 3 and the catheter rotation driving device 5 described above, so that the catheter 300 can be advanced more smoothly inside the human body. In addition, in the catheter structure having the threads on the outer surface, when the catheter 300 rotates in the blood vessel, the catheter 300 can be rotationally advanced by forming a threaded connection with the blood vessel wall by the external threads of the catheter 300, so that a better advancing effect is achieved.

Referring to fig. 4, the catheter storage and delivery device 1 includes a base 11, a delivery turntable 13 rotatably disposed on the base 11, and a driving portion 14 for driving the delivery turntable 13 to rotate. Wherein the transfer turntable 13 is rotated in a forward and reverse direction to release the transfer or receiving duct 300.

Referring further to fig. 5 and 6, the base 11 includes a chassis 10 and a housing 16. Wherein the outer cover 16 is arranged on the periphery of the chassis 10 and surrounds the periphery of the conveying turntable 13; in other words, the conveyor carousel 13 is located inside the housing 16.

Specifically, the chassis 10 has a rectangular shape. The chassis 10 has a ring of annular side walls 111 protruding from its outer periphery. The annular sidewall 111 has a rectangular outline, and the annular sidewall 111 encloses an upwardly open receiving groove for receiving a part of the components in the conveying turntable 13 and the driving portion 14. And, a plurality of connection holes 101 are also provided on opposite sides of the annular sidewall 111, respectively. The cover 16 is detachably provided on the periphery of the chassis 10 through the connection hole 101. The chassis 10 is provided with a vertical shaft 112 protruding vertically upward at the bottom of the accommodation groove, and the conveying turntable 13 is rotatable around the vertical shaft 112 by the drive of the drive section 14.

The housing 16 has an annular structure and has an outer shape matching the outer shape of the conveying turntable 13. The housing 16 and the groove 103 together define a receiving space for receiving the catheter 300, thereby restraining the catheter 300 on the conveyor carousel 13.

The housing 16 includes a first case 161 and a second case 162 symmetrical to each other.

The first housing 161 and the second housing 162 are each of a half-open arc-shaped structure. The first housing 161 is mounted on the left half of the chassis 10, the second housing 162 is mounted on the right half of the chassis 10, and the two housings can be enclosed to form a complete annular structure, so that the mounting and dismounting are convenient, and space is also provided for mounting the driving part 14.

The first housing 161 and the second housing 162 each include a body portion 1611 having a semicircular shape and a bottom plate 1613 extending radially outwardly from a side wall of the body portion 1611.

The main body 1611 of the two shells are spliced to form a complete annular structure and are arranged concentrically with the chassis 10. The base plate 1613 is detachably connected to the chassis 10 to cover the chassis 10. Specifically, one side of the bottom plate 1613 is opposite to one side of the annular sidewall 111 having the connection hole 101, the side of the bottom plate 1613 is bent downward to form a connection portion 1615, and a through hole 106 adapted to the connection hole 101 is formed in the connection portion 1615. When in installation, the bottom plate 1613 is flatly placed on the upper end surface of the annular side wall 111 of the chassis 10, and the connecting part 1615 is attached to the outer wall of the annular side wall 111; the connecting holes 101 and the through holes 106 are in one-to-one correspondence, so that the matched bolts and other fasteners form bolt connection, and the detachable connection of the outer cover and the chassis 10 is realized.

Further, the catheter array delivery device 1 further includes a first guide 17 and a second guide 18 each having a hollow cylindrical shape.

The first guide 17 and the second guide 18 are provided on the first housing 161 at the same time; of course, the first guide 17 and the second guide 18 may also be provided on the second housing 162 at the same time.

Wherein the first guide 17 radially protrudes and is connected to an outer wall of the body portion 1611 of the first housing 161 and communicates with the inside of the first housing 161. The first guide 17 is provided for the distal end of the catheter 300 to pass through. The second guide 18 is provided on the bottom plate 1613 of the first housing 161 and is spaced apart from and opposite to the first guide 17. The two guides are located on the same axis to function as guide catheter 300.

In use, by rotating the delivery dial 13, the distal end of the catheter 300 is pushed outwardly through the first guide 17, at which point the distal end of the catheter 300 is exposed to the first guide 17; then, as catheter 300 is pushed further, the distal end of catheter 300 passes through second guide 18 and finally into the patient. The design planning and restriction of the first guide member 17 and the second guide member 18 constrain the movement path of the catheter 300, so that the catheter 300 moves linearly in the axial direction in the same direction, the positioning of the catheter 300 in the patient is more accurate, and the reliability and real-time performance of the catheter 300 in the advancing and retreating transportation process are ensured.

Referring to fig. 7, the catheter storage and delivery device 1 further includes a turntable cover 15.

The turntable cover 15 covers over the conveyance turntable 13, and the periphery of the turntable cover 15 exceeds the periphery of the conveyance turntable 13. The turntable cover 15, the outer cover 16 and the chassis 10 cooperate together so that the conveying turntable 13 is in a relatively sealed space, thereby preventing the catheter 300 from being polluted by the outside and greatly increasing the reliability of aseptic operation.

Specifically, the turntable cover 15 has a circular shape, and the turntable cover 15 is horizontally fixed to an upper surface of a turntable support 133 (a structure of the turntable support 133 will be described in detail later in fig. 11) of the conveying turntable 13. The carousel cover 15 is arranged concentrically with the transport carousel 13. Bolt holes are correspondingly formed in the turntable cover 15 and the turntable support 133 to form a bolt connection.

The dial cover 15 is provided with a wire through hole 105 for the proximal end of the catheter 300 to pass out.

In the present embodiment, the conduit gripping device 3 and the conduit rotation driving device 5 are integrally mounted on the upper surface of the turntable cover 15, so that the overall structure is more compact. Wherein the catheter clamping device 3 is closer to the wire passing hole 105 than the catheter rotation driving device 5, thereby facilitating clamping of the proximal end of the catheter 300 passing out through the wire passing hole 105.

The turntable cover 15 is also provided with a mounting hole 107 for mounting and fixing the driving part 14.

Referring to fig. 8 and 9 in combination with fig. 7, the driving portion 14 includes a second motor 142, a third gear 143, and a fourth gear 144.

The third gear 143 and the fourth gear 144 are accommodated in the accommodating groove of the chassis 10. Wherein the fourth gear 144 is fixedly disposed in the middle of the chassis 10 and disposed around the vertical axis 112. The third gear 143 is meshed with the outer periphery of the fourth gear 144. The diameter size of the fourth gear 144 is larger than the diameter size of the third gear 143, and the reduction is achieved. The second motor 142 is provided with a second motor base 146, and the second motor 142 is integrally fixed on the turntable cover 15 through the second motor base 146, so that the whole structure is more compact, the volume is smaller, and the environmental adaptability is high. The second motor 142 includes a main body portion 1421 provided above the dial cover 15 and an output shaft 1422 protruding from the main body portion 1421, the output shaft 1422 passing downward through the mounting hole 107; the tip of the output shaft 1422 is accommodated in the third gear 143. The second motor 142 is started, the output shaft 1422 rotates, and the output shaft 1422 drives the third gear 143 to rotate together; accordingly, the third gear 143 starts to rotate around the outer circumference of the fourth gear 144, thereby reversely driving the turntable cover 15 connected to the third gear 143 to rotate together with the conveying turntable 13, and realizing the advancing and retreating conveying operation of the guide pipe 300. By adjusting the gear ratio of the third gear 143 and the fourth gear 144, the speed of advancing and retracting the catheter 300 can be adjusted.

Further, the driving part 14 further includes tapered roller bearings 141 and supporting shaft sleeves 145 to achieve smoother rotation of the turntable cover 15 and the conveying turntable 13.

The tapered roller bearing 141 and the support boss 145 are located in the center through hole of the fourth gear 144. The tapered roller bearing 141 has a hollow cylindrical structure, and the tapered roller bearing 141 is rotatably sleeved on the vertical shaft 112 of the chassis 10. The support boss 145 is also of a hollow cylindrical structure, and has a diameter larger than that of the tapered roller bearing 141. The supporting shaft sleeve 145 is rotatably sleeved on the periphery of the tapered roller bearing 141, and the supporting shaft sleeve 145 upwards extends beyond the tapered roller bearing 141 and is connected to the bottom of the conveying turntable 13, so that the purpose of supporting the conveying turntable 13 is achieved. The rolling fit formed by the tapered roller bearing 141 and the supporting shaft sleeve 145 can reduce the frictional resistance to be overcome when the conveying turntable 13 rotates, so that the conveying turntable 13 rotates more stably and smoothly.

In this embodiment, the whole structure of the catheter controller is simple, adopts the modularized structural design, and the assembly and disassembly are simple and convenient, the structure is compact, and most of the catheter controller can be made of plastics, so that the whole weight is light, the sterilization and disinfection are easy, and the manufacturing cost is low.

The structure of the conveying carousel 13 will be described in detail by several embodiments.

Embodiment of the conveying turntable

At least a part of the peripheral wall of the conveying turntable 13 is provided with a groove 103 extending along the circumferential direction in a spiral manner, and the groove 103 is coiled by the guide pipe 300, so that the guide pipe 300 is spirally stored on the turntable, and the guide pipe 300 is neatly stored.

Referring to fig. 10 and 11, the conveying turntable 13 includes a circular turntable body 131 and a turntable bracket 133 disposed inside the turntable body.

The turntable body 131 and the chassis 10 are concentrically arranged, and the axis of the turntable body 131 is consistent with the axis of the vertical shaft 112. At the same time, the thickness direction of the conveying turntable 13 is also coincident with the axial direction thereof. The axis of the turntable body 131 is identified as L in fig. 11.

The turntable support 133 protrudes upward from the turntable body 131 so as to be mounted and fixed by the turntable cover 15. The turntable support 133 has a plurality of circumferentially arranged radial struts 1331; the radial struts 1331 are radially distributed along the center of the turntable body 131 and are radially connected to the inner wall of the turntable body 131.

As shown in fig. 11, the diameter size of the turntable body 131 is gradually increased from top to bottom, and the sidewall of the turntable body 131 is inclined in the up-down direction, so that the shape of the turntable is not used for a general cylindrical shape, but is biased to a trapezoid shape with a small top and a large bottom.

The groove 103 is spirally provided on a part of the outer circumference of the turntable body 131.

The groove 103 includes a first section in its own extending direction, and the radial distances of any two positions of the first section are not equal. The radial distance here means the distance between the position on the first section and the axis L of the turntable body 131.

The groove 103 in this embodiment forms a first section from its inlet end 102 to its outlet end 104.

The radial distance of the first section increases gradually from top to bottom in the axial direction of the conveying carousel 13.

For convenience of description, the two positions are defined as a first position P1 and a second position P2, respectively. Wherein the first position P1 is located below the second position P2 on the conveyor carousel 13, it is evident that the radial distance of the first position P1 is greater than the radial distance of the second position P2.

In the present embodiment, the groove 103 includes a first position P1 and a second position P2 having different spiral radii (curvatures) of the turns. It should be noted that the curvature is equal to the inverse of the radius, and indicates the degree to which a curve is bent at a specific point. The curvature of the small circle is thus greater than that of the large circle, i.e. the small circle is more curved than the large circle.

When the guide tube 300 is wound around the groove 103 one by one, the guide tube 300 may make frictional contact with the groove 103. When winding, the catheter 300 is more tightly and tightly coiled in the groove 103 due to the coiling curvature as it goes down from the small loop with the larger curvature to the large loop with the smaller curvature. Due to the different compliance of the curvatures, the length of the windings of the catheter 300 on each turn is different, the closer to the lower part of the turntable, the larger the diameter of the turn is, the longer the winding length of the catheter 300 on the large turn is, the larger the contact area is, the friction resistance of the catheter 300 in the groove 103 is increased, and the catheter 300 is less prone to "slipping".

Therefore, when the distal end of the catheter 300 penetrating out of the outlet end 104 of the groove 103 enters a human body to meet an obstacle, the curvature is increased, so that the resistance of the catheter to be overcome relative to the rollback of the conveying turntable is larger, the catheter 300 is not easy to rollback, the conveying stability of the catheter 300 in a release state is ensured, the positioning accuracy of the catheter 300 in the position of the human body is ensured, and the control difficulty is reduced.

With further reference to fig. 12, the depth of the groove 103 on each of the coils is uniform, and the depth is considered to match the diameter of the groove 103 and the catheter 300, so that the catheter 300 can be exactly received in the groove 103, and the catheter 300 is not buried too deeply in the groove 103 and is not easily separated from the groove 103.

Specifically, the groove 103 has two side walls 1033 extending upward from both sides of the semicircular reservoir 1031 in the circumferential direction, respectively, the two side walls 1033 being opposed and parallel.

The semicircular groove 1031 is designed to fit the general diameter of the catheter 300, and the two side walls 1033 are tilted upward and extend outward according to the curvature of the semicircular groove wall 1031, and the direction away from the axis L is outward. The opening of the recess 103 is shown to be outwardly, and to be inclined upwardly. The purpose of this is that the inclined groove 103 can act as a radial limitation for the catheter 300, so that the catheter 300 is not easily protruding or even coming out of the groove 103.

Compared with the conventional semicircular groove or U-shaped groove, the design of the groove 103 can reduce the circumferential gap of the catheter 300 in the spiral groove, so that the catheter 300 cannot move, the catheter 300 can be stored more stably, and the catheter 300 cannot easily protrude outwards to cause cross knotting. Because the gap between the groove 103 and the guide tube 300 is smaller when the groove is attached to the guide tube 300, when the front end of the guide tube 300 is blocked, the space for retracting the guide tube 300 is smaller, so that the advancing and retracting conveying precision of the guide tube 300 is improved, and the control difficulty is reduced.

Meanwhile, based on the spiral groove 103 with the radial diameter gradually decreasing upwards, when the catheter 300 is coiled in the groove 103, the three-dimensional space can be fully utilized, the space on the height is saved, the storage volume of the catheter 300 is saved, and the volume of the whole surgical robot is further reduced.

Second embodiment of conveying turntable

Referring to fig. 13, the present embodiment is different from the first embodiment in the structure of the conveying turntable 13.

Specifically, the circumferential dimension of the conveying turntable 13 gradually decreases from top to bottom, that is, the diameter of the upper end of the conveying turntable 13 is the largest and the diameter of the lower end thereof is the smallest. Correspondingly, on the conveyor carousel 13 thus shaped, the radial distance of the first section of the groove 103 gradually decreases from top to bottom.

Wherein the first position P1 is closer to the upper end of the conveying turntable 13 than the second position P2. Thus, the radial distance of the first position P1 is greater than the radial distance of the second position P2.

In assembly, the catheter 300 is helically wound around the delivery carousel 13, with the proximal end of the catheter 300 extending from the upper end of the delivery carousel 13 beyond the inlet end 102 of the recess 103 and passing through the wire passing hole 105 in the carousel cover 15 to be held by the catheter clamping device 3. The distal end of the catheter 300 protrudes from the lower end of the delivery dial 13 beyond the outlet end 104 of the groove 103 and further extends to pass through the first guide 17 and the second guide 18 in order, so that the catheter 300 can be released as the delivery dial 13 rotates and moves linearly in the axial direction of the two guides and enters the inside of the human body.

Due to the different coiling curvatures, the catheter 300 may be tightly coiled in the groove 103. When the distal end of the catheter 300 penetrating out of the outlet end 104 of the groove 103 enters a human body to meet an obstacle, the catheter 300 is not easy to retract due to larger retraction resistance to be overcome, so that the stability of delivery of the catheter 300 in a release state is ensured, the positioning accuracy of the catheter 300 in the position of the patient is ensured, and the control difficulty is reduced.

Third embodiment of conveying turntable

This embodiment differs from the first embodiment in the structure of the conveying turntable 13.

The conveying turntable 13 in this embodiment has a trapezoidal structure and a straight cylindrical structure integrally formed at the lower end of the trapezoidal structure.

The trapezoid structure is identical to the structure of the turntable body 131 in the first embodiment described above, and the diameter of the trapezoid structure gradually increases from top to bottom. The straight cylindrical structure is a hollow cylindrical structure, the diameter of which remains unchanged, and the diameter of which is equal to the maximum diameter of the lower end of the turntable body 131.

On the conveying carousel 13 thus shaped, the groove 103 has a first section helically shaped on the outer periphery of the trapezoid structure, and a second section helically shaped on the outer periphery of the straight cylinder structure.

Wherein the radial distance of the first section correspondingly increases from top to bottom. Since the diameter of the straight cylindrical structure remains unchanged, the radial distance of the second section along any two positions in the axial direction is equal. And the radial distance of the second section is equal to the maximum radial distance of the first section.

By adding the second section of the groove 103, the accommodating space for accommodating the catheter 300 is increased, so that the storage requirement of the catheter with longer length can be met, and the practicability is improved. Of course, the vertical volumes of the two parts of the trapezoid structure and the straight cylindrical structure can be adjusted according to the requirement, so as to meet the requirement of the diversified storage of the catheter 300.

Fourth embodiment of the conveying turntable

This embodiment differs from the embodiment in the structure of the conveying turntable 13.

The conveying turntable 13 in this embodiment has a trapezoidal structure and a straight cylindrical structure integrally formed at the upper end of the trapezoidal structure.

The trapezoid structure is identical to the structure of the turntable body 131 in the first embodiment described above, and the diameter of the trapezoid structure gradually increases from top to bottom. The straight cylindrical structure is a hollow cylindrical structure, the diameter of which remains unchanged, and the diameter of which is equal to the minimum diameter of the upper end of the turntable body 131.

Wherein the radial distance of the first section correspondingly increases from top to bottom. Since the diameter of the straight cylindrical structure remains unchanged, the radial distance of the second section along any two positions in the axial direction is equal. The radial distance of the second section is equal to the minimum radial distance of the first section.

By adding the second section of the groove 103, the accommodating space for accommodating the catheter 300 is increased, so that the storage requirement of the catheter with longer length can be met, and the practicability is improved.

Fifth embodiment of the conveying turntable

The trapezoid structure is identical to the structure of the turntable body 131 in the second embodiment, and the diameter of the trapezoid structure gradually decreases from top to bottom, and is a trapezoid structure with a large top and a small bottom. The diameter of the upper end of the turntable body 131 is the largest and the diameter of the lower end thereof is the smallest.

The straight cylindrical structure is a hollow cylindrical structure, the diameter of which remains unchanged, and the diameter of which is equal to the maximum diameter of the upper end of the turntable body 131.

On the conveying carousel 13 thus shaped, the groove 103 has a first section helically shaped on the outer periphery of the trapezoid structure, and a second section helically shaped on the outer periphery of the straight cylinder structure. Wherein the radial distance of the first section correspondingly decreases from top to bottom. Since the diameter of the straight cylindrical structure remains unchanged, the radial distance of the second section along any two positions in the axial direction is equal, and the radial distance of the second section is equal to the maximum radial distance of the first section. The different curvatures of the first section and the second section enable the catheter 300 to be tightly coiled in the groove 103, so as to avoid the retraction phenomenon of the catheter 300.

Sixth embodiment of the conveying turntable

The straight cylindrical structure is a hollow cylindrical structure, the diameter of which remains unchanged, and the diameter of which is equal to the minimum diameter of the lower end of the turntable body 131.

On the conveying carousel 13 thus shaped, the groove 103 has a first section helically shaped on the outer periphery of the trapezoid structure, and a second section helically shaped on the outer periphery of the straight cylinder structure. Wherein the radial distance of the first section correspondingly decreases from top to bottom. Since the diameter of the straight cylindrical structure remains unchanged, the radial distance of the second section along any two positions in the axial direction is equal, and the radial distance of the second section is equal to the minimum radial distance of the first section. The different curvatures of the first section and the second section enable the catheter 300 to be tightly coiled in the groove 103, so as to avoid the retraction phenomenon of the catheter 300.

Of course, in other embodiments, the diameter of the conveying carousel 13 may also alternate in the radial direction, with a consequent curvature change of the grooves 103. Specifically, the conveying turntable 13 may have a symmetrical structure in which the diameters of the conveying turntable 13 are gradually increased from the middle to the upper and lower ends in the vertical direction, that is, the diameters of the conveying turntable 13 are gradually decreased in the radial direction and then gradually increased. By such design, the resistance of the catheter 300 in the guide groove is increased, so that the retraction resistance of the catheter 300 is larger when the catheter 300 encounters an obstacle, and the catheter 300 is less easy to retract.

While the invention has been described with reference to several exemplary embodiments, it is to be understood that the terminology used is intended to be in the nature of words of description and of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.

Claims

1. A delivery carousel, wherein the delivery carousel is applied for medical treatment, at least a portion of the circumferential wall of the delivery carousel is provided with a groove extending along a circumferential spiral, the groove being for coiling a catheter; the groove at least comprises a part of sections in the extending direction, the curvature of the sections is changed, wherein the groove comprises a first section in the extending direction, the radial distance of any two positions of the first section is unequal, the radial distance of the first section is gradually increased or gradually decreased along the thickness direction of the conveying turntable, and the groove also comprises a second section, and the radial distance of any two positions of the second section is equal; when the conveying turntable works, the guide pipe is pushed along the groove.

2. The conveyor carousel as in claim 1 wherein:

the radial distance of the second section is equal to the maximum radial distance of the first section, and the second section is arranged on one side of the maximum radial distance of the first section; or (b)

The radial distance of the second section is equal to the minimum radial distance of the first section, and the second section is arranged on one side of the minimum radial distance of the first section.

3. The transfer carousel of claim 1, wherein the transfer carousel is mounted on a base, the base includes a vertical axis, the transfer carousel includes a first through-hole, the first through-hole runs through the transfer carousel, the recess encircles the axis of the first through-hole, the transfer carousel is sleeved outside the vertical axis through the first through-hole, the transfer carousel during operation is driven by a drive portion to rotate about the vertical axis to transfer the catheter.

4. A conveyor carousel as in claim 3 wherein the drive section comprises a second motor, a third gear and a fourth gear, the third gear being in mesh with the fourth gear, wherein:

the fourth gear is sleeved outside the vertical shaft, the axis of the third gear is spaced from the axis of the fourth gear, and the fourth gear is fixedly connected with the base.

5. The conveyor carousel of any one of claims 1-4, wherein the groove comprises a semicircular reservoir and two sidewalls extending obliquely outward along two sides of the circumference of the semicircular reservoir, the two sidewalls being opposite and parallel, the semicircular reservoir matching the diameter of the conduit.

6. The conveyor carousel of claim 1, wherein the conveyor carousel comprises a carousel body having a circular shape and a carousel support disposed inside the carousel body; the groove is formed in the peripheral wall of the turntable body; the turntable support protrudes upwards from the turntable body.

7. A catheter deposit and delivery device comprising a base, a drive section and a delivery carousel as claimed in any one of claims 1 to 6; the conveying turntable is rotatably arranged on the base; the driving part is connected with the conveying turntable and is used for driving the conveying turntable to rotate forward and backward so as to convey or store the catheter.

8. The catheter deposit and delivery device of claim 7 wherein said base includes a chassis and a housing; the conveying turntable is rotatably arranged on the chassis; the outer cover is arranged on the periphery of the chassis and surrounds the conveying turntable; the housing and the groove together define a receiving space for receiving a catheter.

9. The catheter deposit and delivery device of claim 8 wherein said housing comprises first and second shells that are symmetrical to one another; the first shell and the second shell comprise a semicircular main body part and a bottom plate which extends outwards along the side wall of the main body part in a radial direction; the bottom plate is detachably connected with the chassis.

10. The catheter deposit and delivery apparatus of claim 9 wherein said housing further comprises a first guide in a cylindrical shape and a second guide in a cylindrical shape;

the first guide piece and the second guide piece are simultaneously arranged on the first shell; the first guide piece radially protrudes out of the first shell, is connected to the side wall of the main body part of the first shell, and is communicated with the interior of the first shell; the first guide member is used for passing the distal end of the catheter; the second guide piece is arranged on the bottom plate of the first shell and is opposite to the first guide piece at intervals, and the second guide piece and the first guide piece are positioned on the same axis.

11. The catheter deposit and delivery device of claim 7 further comprising a carousel cover disposed on an upper surface of said delivery carousel; the turntable cover is provided with a wire passing hole, and the wire passing hole is used for the proximal end of the catheter to pass through.

12. The catheter deposit and delivery device of claim 11 wherein said drive portion includes a second motor, a third gear, and a fourth gear; the turntable cover also comprises a mounting hole; the second motor is fixedly arranged on the turntable cover, an output shaft of the second motor penetrates through the mounting hole, and the tail end of the output shaft is accommodated in the third gear; the fourth gear is fixedly arranged on the base, and the third gear is meshed with the fourth gear; the second motor drives the third gear to rotate around the periphery of the fourth gear through the output shaft so as to drive the turntable cover and the conveying turntable to synchronously rotate.

13. The catheter deposit and delivery apparatus of claim 12 wherein said base is provided with a protruding vertical axis, said vertical axis extending in a direction away from said base; the driving part further comprises a supporting shaft sleeve and a tapered roller bearing, and the tapered roller bearing is sleeved on the periphery of the vertical shaft; the supporting shaft sleeve is rotatably sleeved on the periphery of the tapered roller bearing, the supporting shaft sleeve is accommodated in the central through hole of the fourth gear, and the conveying turntable is fixedly arranged at the top end of the supporting shaft sleeve; the conveying turntable can rotate around the vertical shaft under the support of the support shaft sleeve.

14. A catheter controller comprising a catheter gripping device, a catheter rotation drive device, and a catheter deposit delivery device according to any one of claims 7-13;

the catheter clamping device is arranged above the conveying turntable and used for clamping the proximal end of the catheter; the catheter rotation driving device is used for driving the catheter clamping device to rotate so as to drive the catheter to synchronously rotate _。

15. The catheter control of claim 14, wherein the catheter clamping device comprises a hub and a luer, a front end of the luer extending into and being clamped by the hub, the luer communicating with the hub; the front end of the luer connector is connected with the proximal end of the catheter, the proximal end of the catheter is penetrated with the shaft sleeve connector, and the shaft sleeve connector clamps the proximal end of the catheter by clamping the front end of the luer connector.

16. The catheter controller of claim 15, further comprising a bearing housing disposed above the turntable cover;

the guide pipe rotation driving device comprises a first motor, a driving shaft, a first gear and a second gear; the shaft sleeve joint and the driving shaft are respectively rotatably arranged on the bearing seat and respectively extend out of the bearing seat; the first gear is sleeved at one end of the driving shaft, which extends out of the bearing seat, the second gear is sleeved at one end of the shaft sleeve joint, which extends out of the bearing seat, and the first gear and the second gear are positioned at the same side of the bearing seat and meshed with each other; the output end of the first motor is connected with the driving shaft to drive the first gear to rotate, and the first gear drives the shaft sleeve joint to synchronously rotate.