CN113633389B - Auxiliary end guide wire/catheter twisting device of interventional operation robot - Google Patents
Auxiliary end guide wire/catheter twisting device of interventional operation robot Download PDFInfo
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- CN113633389B CN113633389B CN202111010071.6A CN202111010071A CN113633389B CN 113633389 B CN113633389 B CN 113633389B CN 202111010071 A CN202111010071 A CN 202111010071A CN 113633389 B CN113633389 B CN 113633389B
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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
- A61B34/35—Surgical robots for telesurgery
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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
- A61B34/70—Manipulators specially adapted for use in surgery
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES 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
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES 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
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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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 device comprises a rack and a twisting mechanism, wherein the twisting mechanism comprises two clamping groups which are arranged oppositely, a first driving component which drives the two clamping groups to approach along a first direction so as to clamp the guide wire/catheter, and a second driving component which drives the two clamping groups to leave along a second direction different from the first direction so as to twist the guide wire/catheter to rotate. The invention has the advantages of good transmission effect, relatively simple structure, compact structure, small occupied space, strong practicability and stronger popularization significance, and effectively reduces the use cost of products and the economic burden of patients.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to a slave-end guide wire/catheter twisting device of an interventional operation robot.
Background
Interventional therapy is a minimally invasive therapy carried out by modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as catheters, guide wires and the like are introduced into a human body to diagnose and locally treat in-vivo pathological conditions.
The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, and the incision (puncture point) of the doctor is only rice grain in size, so that a plurality of diseases which cannot be treated in the past and have poor curative effect such as tumors, hemangiomas, various kinds of bleeding and the like can be treated without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect. Is the development trend of future medicine.
For the blood vessel interventional operation, doctors need to receive X-ray radiation for a long time, and therefore, a master-slave blood vessel interventional operation robot for remote operation is developed in engineering. The master-slave vascular interventional surgical robot can work in an intense radiation environment, so that a doctor can control the robot outside a radiation environment.
Surgical robot is carrying out the advance and retreat of seal wire (or pipe), pivoted in-process, need corresponding drive mechanism to drive, however, to current surgical robot's drive mechanism, because structural design is unreasonable, whole drive mechanism's transmission effect is not good, the structure is complicated relatively, the use cost of increase product, and then be unfavorable for reducing medical cost, increase patient's economic burden, and drive mechanism is whole bulky moreover, be unfavorable for surgical robot spatial layout, in the in-service use, bring various inconveniences equally, influence the flexibility of use.
Disclosure of Invention
In view of the above, there is a need to provide a novel slave guide wire/catheter twisting device for an interventional surgical robot, which overcomes the shortcomings in the prior art.
The rubbing device for the guide wire/catheter at the slave end of the interventional surgical robot is characterized by comprising a rack and a rubbing mechanism, wherein the rubbing mechanism comprises two clamping groups which are oppositely arranged, a first driving component for driving the two clamping groups to approach along a first direction to clamp the guide wire/catheter, and a second driving component for driving the two clamping groups to leave along a second direction different from the first direction to rotate to rub the guide wire/catheter.
Further, the first driving assembly comprises a first opening and closing device for driving the two clamping groups to clamp or release.
Further, the first opener is an electromagnetic opener.
Further, the first driving assembly comprises a first driving motor for driving the two clamping groups to clamp or release.
Further, the first direction and the second direction are perpendicular to each other.
Furthermore, the two clamping groups respectively comprise a first bottom frame, a first guide rod arranged on the first bottom frame, and a rubbing block arranged on the first guide rod and capable of sliding along the first guide rod.
Furthermore, the first underframe of the two clamping groups are arranged oppositely, and the first driving assembly further comprises a first linkage wheel which is arranged between the first underframe of the two clamping groups and enables the first underframe of the two clamping groups to synchronously approach or leave each other along the first direction.
Furthermore, the inner sides of the first underframe of the two clamping groups are respectively provided with a latch, the outer surface of the first linkage wheel is provided with a latch, and the first linkage wheel is simultaneously meshed with the first underframe of the two clamping groups through the latch.
Further, the second driving assembly comprises a second driving motor which drives the two clamping groups to move away from each other along a second direction so as to twist the guide wire/the guide pipe to rotate.
Furthermore, the second driving assembly further comprises two sliding seats, two first connecting rods respectively connecting the two sliding seats and the two rubbing blocks, and a second linkage wheel which is arranged between the two sliding seats and enables the two sliding seats to synchronously leave each other along a second direction.
Furthermore, the inner side surfaces of the two sliding seats of the second driving assembly are provided with clamping teeth, the outer circumferential surface of the second coupling wheel is provided with the clamping teeth, the two sliding seats of the second driving assembly are simultaneously meshed with the second coupling wheel, and the second driving motor drives the second coupling wheel.
Furthermore, the frame is provided with two guide rails, and the two sliding seats of the second driving assembly are respectively arranged on the two guide rails in a sliding manner.
Furthermore, the slave guide wire/catheter twisting device of the interventional operation robot comprises two twisting mechanisms, and the two twisting mechanisms synchronously clamp and twist the guide wire/catheter.
Furthermore, the slave guide wire/catheter twisting device of the interventional operation robot comprises two twisting mechanisms, and the two twisting mechanisms alternately clamp and twist the guide wire/catheter.
Furthermore, the auxiliary guide wire/catheter twisting device of the interventional operation robot comprises two twisting mechanisms, wherein one twisting mechanism clamps and twists the guide wire/catheter, and the other twisting mechanism clamps the guide wire/catheter in the process that one twisting mechanism releases the guide wire/catheter and resets.
Further, the slave-end guide wire/catheter twisting device of the interventional surgical robot further comprises a supporting device, and the supporting device fixes the guide wire/catheter in the process that the twisting mechanism loosens the guide wire/catheter and resets.
Further, the supporting device comprises two oppositely arranged supporting groups and a third driving assembly for driving the two supporting groups to approach along the first direction so as to clamp the guide wire/the guide pipe.
Furthermore, the two support groups respectively comprise a second bottom frame, a second guide rod arranged on the second bottom frame and a support block arranged on the second guide rod, and the second bottom frames of the two support groups are arranged oppositely.
Furthermore, the third drive assembly comprises a third driving wheel which is arranged between the second chassis of the two support groups and enables the second chassis of the two support groups to synchronously approach or leave along the first direction, the inner sides of the second chassis of the two support groups are provided with clamping teeth, the outer surface of the third driving wheel is provided with the clamping teeth, and the third driving wheel is simultaneously meshed with the second chassis of the two support groups through the clamping teeth.
Further, the third driving assembly comprises a third driving motor for driving the two clamping groups to clamp or release.
Further, the third driving assembly comprises a second opening and closing device for driving the two supporting groups to clamp or release.
Further, the second opener is an electromagnetic opener.
Furthermore, the frame comprises a bottom plate and a shell arranged on the bottom plate, the shell is of a hollow box structure, an opening is formed in the upper end of the shell, the twisting mechanism is arranged in the shell, and the two clamping groups clamp the guide wire/guide pipe through the opening.
Furthermore, two opposite guide grooves are arranged at the edge positions of two sides of the opening, the guide grooves are arranged in a V shape, and the size of the opening is gradually reduced from top to bottom.
Furthermore, the outer side surfaces of the front side and the rear side of the rack are provided with movable grooves, the groove shapes of the movable grooves are arranged in a V shape, and the movable grooves are aligned with the guide grooves.
Further, the frame is still including installing in the shell top and can be around shell pivoted face lid, the face lid includes the lid and connects in the limiting plate of lid both sides, the limiting plate pin joint is on the cell wall of activity groove, and the face lid can rotate around the shell, and when the face lid was completely covered on the opening, form a through wires hole between limiting plate and the guide slot and let seal wire/pipe pass through.
Furthermore, a first sliding groove and a second sliding groove are arranged on the bottom plate, the horizontal extending direction of the first sliding groove and the horizontal extending direction of the second sliding groove are consistent with the first direction, the inner space of the first sliding groove is wide, the outer space of the first sliding groove is narrow, and the inner space of the second sliding groove is also wide and the outer space of the second sliding groove is narrow.
In summary, the interventional operation wire guiding device is provided with the twisting mechanism, the twisting mechanism comprises two clamping groups, a first driving assembly and a second driving assembly which are oppositely arranged, wherein the first driving assembly drives the two clamping groups to mutually approach to each other along a first direction so as to clamp the guide wire/catheter, and the second driving assembly drives the two clamping groups to mutually depart from each other along a second direction different from the first direction so as to twist the guide wire/catheter to rotate.
Drawings
FIG. 1 is a schematic structural diagram of a slave end guide wire/catheter twisting device of an interventional surgical robot according to the present invention;
FIG. 2 is an exploded view of the slave guidewire/catheter twirling device of the interventional surgical robot of FIG. 1;
fig. 3 is an exploded view of the interventional surgical robot of fig. 2 from another angle of the end guide wire/catheter twirling device.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1 to fig. 3, the invention provides a slave-end guide wire/catheter twisting device for an interventional surgical robot, which is installed on a slave end of the interventional surgical robot, and pushes a slender medical device (guide wire or catheter) 100 to perform operations of clamping, advancing, retreating, forward rotation and reverse rotation, the forward movement of the slender medical device 100 (guide wire or catheter) means that the guide wire or catheter is moved into the body of a surgical patient, the retreat means that the guide wire or catheter is moved into the body of the surgical patient, the forward rotation means that the guide wire or catheter is rotated into the body of the surgical patient, and the reverse rotation means that the guide wire or catheter is rotated out of the body of the surgical patient.
The slave guide wire/catheter twisting device for the interventional operation robot comprises a rack 10 and a twisting mechanism 20, wherein the twisting mechanism 20 comprises two clamping groups 21 which are arranged oppositely, a first driving component for driving the two clamping groups 21 to approach along a first direction so as to clamp the guide wire/catheter, and a second driving component 23 for driving the two clamping groups 21 to leave along a second direction different from the first direction so as to twist the guide wire/catheter to rotate, and the first direction and the second direction are perpendicular to each other.
Both of the clamping sets 21 include a first chassis 211, a first guide rod 212 mounted on the first chassis 211, and a twisting block 213 mounted on the first guide rod 212 and capable of sliding along the first guide rod 212. The first chassis 211 of the two clamping groups 21 are arranged oppositely. The first driving assembly comprises a first linkage wheel 222 which is arranged between the first chassis 211 of the two clamping groups 21 and enables the first chassis 211 of the two clamping groups 21 to synchronously approach or separate from each other along a first direction. The inner sides of the first underframe 211 of the two clamping groups 21 are both provided with a latch, the outer surface of the first linkage wheel 222 is provided with a latch, and the first linkage wheel 222 is meshed with the first underframe 211 of the two clamping groups 21 through the latch. The first driving assembly is connected to the clamping group 21, and the first driving assembly includes a first switch 221 for driving the two clamping groups 21 to clamp or release, in this embodiment, the first switch 221 is an electromagnetic switch.
It should be understood that in the present embodiment, the first driving assembly uses the first switch 221 to drive the two clamping groups 21 to perform the clamping or releasing action, and in other embodiments, the first driving assembly includes a first driving motor that drives the two clamping groups 21 to perform the clamping or releasing action, and the first driving motor is directly connected to the first linkage wheel 222.
The second driving assembly 23 includes a second driving motor 234 for driving the two clamping sets 21 to move away from each other along the second direction to twist the guide wire/catheter, two sliding seats 232, two first connecting rods 231 for respectively connecting the two sliding seats 232 and the two twisting blocks 213, and a second linkage wheel 233 disposed between the two sliding seats 232 for synchronously moving the two sliding seats 232 away from each other along the second direction. The inner side surfaces of the two sliding seats 232 of the second driving assembly 23 are provided with clamping teeth, the outer circumferential surface of the second coupling wheel 233 is provided with clamping teeth, the two sliding seats 232 of the second driving assembly 23 are simultaneously meshed with the second coupling wheel 233, the second coupling wheel 233 is driven to rotate by the second driving motor 234, and the sliding seats 232 are driven to move reversely under the action of the second coupling wheel 233. Preferably, the frame 10 is further provided with two guide rails 15, the two sliding seats 232 of the second driving assembly 23 are slidably mounted on the two guide rails 15, and the guide rails 15 guide the sliding seats 232 so as to move the sliding seats 232 along the second direction.
The auxiliary guide wire/catheter twisting device of the interventional operation robot can also adopt two groups of twisting mechanisms 20, and when the device works, the two twisting mechanisms 20 synchronously or alternately clamp and twist the guide wire/catheter. When an alternate twisting structure is adopted, one twisting mechanism 20 clamps and twists the guide wire/catheter, and the other twisting mechanism 20 clamps the guide wire/catheter during the process that one twisting mechanism 20 releases the guide wire/catheter and resets. When a synchronous twisting structure is adopted, the two twisting mechanisms 20 synchronously loosen or clamp and twist the guide wire/catheter.
The slave guide wire/catheter twisting device of the interventional operation robot further comprises a supporting device 30, and the supporting device 30 fixes the guide wire/catheter in the process of loosening the guide wire/catheter and resetting by the twisting mechanism 20.
The support device 30 includes two support sets 31 disposed opposite to each other, and a third driving assembly for driving the two support sets 31 to approach each other along a first direction to clamp the guide wire/catheter. The two support sets 31 each include two second bottom frames 311, second guide rods 312 mounted on the second bottom frames 311, and support blocks 313 mounted on the second guide rods 312.
The second bottom frames 311 of the two support groups 31 are oppositely arranged, and the third driving assembly further includes a third driving wheel 33 disposed between the second bottom frames 311 of the two support groups 31 and allowing the second bottom frames 311 of the two support groups 31 to synchronously move toward or away from each other along the first direction. The inner sides of the second bottom frames 311 of the two support groups 31 are provided with clamping teeth, the outer surface of the third driving wheel 33 is provided with the clamping teeth, and the third driving wheel 33 is simultaneously engaged with the second bottom frames 311 of the two support groups 31 through the clamping teeth. The third driving assembly is connected to the support sets 31, and the third driving assembly includes a second opener 32 for driving the two support sets 31 to clamp or release, in this embodiment, the second opener 32 is an electromagnetic opener.
It should be understood that in the present embodiment, the third driving assembly uses the second switch 32 to drive the two supporting sets 31 to perform the clamping or releasing action, and in other embodiments, the third driving assembly includes a third driving motor for driving the two clamping sets 21 to perform the clamping or releasing action, the third driving motor is directly connected to the second coupling wheel 233, and the third driving motor drives the two supporting sets 31 to perform the clamping or releasing action.
The frame 10 includes a bottom plate 11, a housing 12 mounted on the bottom plate 11, a mounting plate 14 mounted on the bottom plate 11 and penetrating through the housing 12, a face cover 13 mounted on the top of the housing 12 and capable of rotating around the housing 12, the housing 12 is arranged in a hollow box structure, an opening 121 is arranged at the upper end of the housing 12, two opposite guide slots 122 are arranged at the edge positions of two sides of the opening 121, the guide slots 122 are arranged in a V shape, the size of the opening 121 is gradually reduced from top to bottom, and the guide wire/catheter can be more conveniently installed by arranging the V-shaped guide groove 122, and when the twisting mechanism 20 and the supporting device 30 release the guide wire/catheter, the V-shaped guide groove can support the guide wire/catheter, the outer side surfaces of the front side and the rear side of the rack 10 are provided with movable grooves 123, the groove shapes of the movable grooves 123 are also arranged in a V shape, and the movable grooves 123 are aligned with the guide grooves 122.
The surface cover 13 includes a cover body and limiting plates 131 connected to two sides of the cover body, the limiting plates 131 are pivoted on the walls of the movable grooves 123, the surface cover 13 can rotate around the housing 12, and when the surface cover 13 completely covers the opening 121, a threading hole is formed between the limiting plates 131 and the guide groove 122.
The bottom plate 11 is provided with a first sliding groove 111 and a second sliding groove 112, the first sliding groove 111 and the second sliding groove 112 are respectively arranged at two sides of the mounting plate 14, the horizontal extending directions of the first sliding groove 111 and the second sliding groove 112 are parallel to each other, the horizontal extending direction of the first sliding groove 111 is consistent with the first direction, the inner space of the first sliding groove 111 is wide and the outer space of the first sliding groove is narrow, the inner space of the second sliding groove 112 is also wide and the outer space of the second sliding groove 112 is narrow, the second bottom frame 311 of the support group 31 is arranged on the second sliding groove 112 and can slide along the second sliding groove 112, and the first bottom frame 211 of the clamping group 21 is arranged on the first sliding groove 111 and can slide along the first sliding groove 111.
Initially, the face cover 13 of the frame 10 is opened, the first driving component of the twisting mechanism 20 separates the clamping group 21, the third driving component of the supporting device 30 separates the two supporting groups 31, and then the wire passes through the two guide grooves 122, the supporting blocks 313 of the two supporting groups 31, and the twisting blocks 213 of the two clamping groups 21, and the guide grooves 122 can support the wire in the vertical direction to cover the face cover 13.
The two twisting mechanisms 20 synchronously or alternatively clamp and twist the guide wire/catheter. When the alternate twisting structure is adopted, the supporting device 30 is not needed, when one twisting mechanism 20 clamps and twists the guide wire/catheter, and the other twisting mechanism 20 clamps the guide wire/catheter during the process that one twisting mechanism 20 releases the guide wire/catheter and resets.
Specifically, the first driving assembly drives the twisting blocks 213 of the two clamping groups 21 to approach each other along a first direction to clamp the guide wire/catheter, the second driving motor 234 of the second driving assembly 23 drives the second coupling wheel 233 to rotate, the second coupling wheel 233 drives the two sliding seats 232 to move in opposite directions when rotating, the two sliding seats 232 drive the twisting blocks 213 of the two clamping groups 21 to move away from each other along a second direction through the first connecting rod 231 to twist the guide wire/catheter to rotate, during resetting, the other twisting mechanism 20 or the supporting device 30 clamps the guide wire/catheter to drive the clamping group 21 after twisting the guide wire/catheter to perform resetting, and so on, the operations are alternately repeated. If the guide wire/catheter is not clamped by the supporting device 30 at the beginning, the guide wire/catheter can be directly driven to rotate forwards or backwards by the twisting mechanism 20 under the condition that the guide wire/catheter is clamped by the two clamping groups 21 of the twisting mechanism 20.
In other embodiments, the first driving assembly of the twisting mechanism 20 may directly drive one of the clamping groups 21 to move toward the other clamping group 21 to clamp the guide wire/catheter, while the other clamping group 21 remains stationary, i.e., one of the twisting blocks 213 approaches the other twisting block 213 to clamp the guide wire/catheter, and in this case, the first driving assembly may not include the first linkage wheel 222. The third driving assembly of the support device 30 may also directly drive one of the support sets 31 to move toward the other support set 31 to grip the guide wire/catheter, while the other support set 31 remains stationary, i.e., one of the support blocks 313 is close to the other support block 313 to grip the guide wire/catheter, in which case the third driving assembly may not include the third driving wheel 33. Similarly, in other embodiments, the second driving assembly 23 may drive only one of the clamping groups 21 to move away from the other clamping group 21 in the second direction to twist the guide wire/catheter. At this time, the second driving assembly 23 includes only the second driving motor 234, a slider 232, and a first link 231 connecting the slider 232 and the rubbing block 213.
In summary, the interventional operation wire guiding device is provided with the twisting mechanism 20, the twisting mechanism 20 comprises two clamping groups 21, a first driving assembly and a second driving assembly 23 which are oppositely arranged, wherein the first driving assembly drives the two clamping groups 21 to mutually approach along a first direction so as to clamp the guide wire/catheter, and the second driving assembly drives the two clamping groups 21 to mutually depart along a second direction different from the first direction so as to twist the guide wire/catheter to rotate.
The above-mentioned embodiments only express one embodiment of the invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that various changes and modifications can be made by those skilled in the art without departing from the spirit of the invention, and these changes and modifications are all within the scope of the invention. Therefore, the protection scope of the invention patent should be subject to the appended claims.
Claims (26)
1. The device is characterized in that the device comprises a rack, a twisting mechanism and a supporting device, wherein the twisting mechanism comprises two clamping groups which are oppositely arranged, a first driving component for driving the two clamping groups to approach along a first direction to clamp a guide wire/catheter, and a second driving component for driving the two clamping groups to leave along a second direction different from the first direction to twist the guide wire/catheter to rotate, and the supporting device fixes the guide wire/catheter in the process of loosening the guide wire/catheter and resetting by the twisting mechanism.
2. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 1, wherein: the first driving assembly comprises a first opening and closing device which drives the two clamping groups to clamp or release.
3. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 2, wherein: the first opener is an electromagnetic opener.
4. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 2, wherein: the first driving assembly comprises a first driving motor which drives the two clamping groups to clamp or release.
5. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 1, wherein: the first direction and the second direction are perpendicular to each other.
6. A slave guidewire/catheter twirling device for an interventional surgical robot according to claim 2 or 4, wherein: the two clamping groups respectively comprise a first bottom frame, a first guide rod arranged on the first bottom frame and a rubbing block arranged on the first guide rod and capable of sliding along the first guide rod.
7. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 6, wherein: the first chassis of the two clamping groups are oppositely arranged, and the first driving assembly further comprises a first linkage wheel which is arranged between the first chassis of the two clamping groups and enables the first chassis of the two clamping groups to synchronously approach or leave each other along a first direction.
8. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 7, wherein: the inner sides of the first underframe of the two clamping groups are respectively provided with a latch, the outer surface of the first linkage wheel is provided with a latch, and the first linkage wheel is simultaneously meshed with the first underframe of the two clamping groups through the latch.
9. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 6, wherein: the second driving component comprises a second driving motor which drives the two clamping groups to mutually leave along a second direction so as to twist the guide wire/the guide pipe to rotate.
10. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 9, wherein: the second driving assembly further comprises two sliding seats, two first connecting rods respectively connecting the two sliding seats and the two rubbing blocks, and a second linkage wheel arranged between the two sliding seats and enabling the two sliding seats to synchronously leave each other along a second direction.
11. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 10, wherein: the inner side surfaces of the two sliding seats of the second driving assembly are provided with clamping teeth, the outer circumferential surface of the second linkage wheel is provided with the clamping teeth, the two sliding seats of the second driving assembly are simultaneously meshed with the second linkage wheel, and the second driving motor drives the second linkage wheel.
12. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 11, wherein: the frame is provided with two guide rails, and the two sliding seats of the second driving assembly are respectively arranged on the two guide rails in a sliding manner.
13. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 1, wherein: the auxiliary guide wire/catheter twisting device of the interventional operation robot comprises two twisting mechanisms which synchronously clamp and twist the guide wire/catheter.
14. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 1, wherein: the auxiliary guide wire/catheter twisting device of the interventional operation robot comprises two twisting mechanisms which alternately clamp and twist the guide wire/catheter.
15. The interventional surgical robotic slave guidewire/catheter twirling device of claim 1, wherein: the auxiliary guide wire/catheter twisting device of the interventional operation robot comprises two twisting mechanisms, wherein one twisting mechanism clamps and twists the guide wire/catheter, and the other twisting mechanism clamps the guide wire/catheter in the process that one twisting mechanism releases the guide wire/catheter and resets.
16. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 1, wherein: the supporting device comprises two oppositely arranged supporting groups and a third driving assembly for driving the two supporting groups to approach along the first direction so as to clamp the guide wire/the guide pipe.
17. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 16, wherein: the two support groups respectively comprise a second underframe, a second guide rod arranged on the second underframe and a support block arranged on the second guide rod, and the second underframe of the two support groups is arranged oppositely.
18. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 17, wherein: the third drive assembly is including arranging in two between the second chassis of support group and let two the second chassis of support group is synchronous along the third driving wheel that first direction is close to each other or is left, two the inboard of the second chassis of support group all is equipped with the latch, the surface of third driving wheel is equipped with the latch, the third driving wheel passes through the latch and meshes simultaneously two on the second chassis of support group.
19. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 16, wherein: the third driving assembly comprises a third driving motor which drives the two clamping groups to clamp or release.
20. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 16, wherein: the third driving assembly comprises a second opening and closing device which drives the two supporting groups to clamp or release.
21. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 20, wherein: the second opener is an electromagnetic opener.
22. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 1, wherein: the machine frame comprises a bottom plate and a shell arranged on the bottom plate, the shell is of a hollow box structure, an opening is formed in the upper end of the shell, the twisting mechanism is arranged in the shell, and the two clamping groups clamp the guide wire/guide pipe through the opening.
23. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 22, wherein: two opposite guide grooves are arranged at the edge positions of two sides of the opening, the guide grooves are arranged in a V shape, and the size of the opening is gradually reduced from top to bottom.
24. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 23, wherein: the outer side surfaces of the front side and the rear side of the rack are provided with movable grooves, the groove shapes of the movable grooves are arranged in a V shape, and the movable grooves are aligned with the guide grooves.
25. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 24, wherein: the frame is still including installing in the shell top and can be around shell pivoted face lid, the face lid includes the lid and connects in the limiting plate of lid both sides, the limiting plate pin joint is on the cell wall of activity groove, and the face lid can rotate around the shell, when the face lid is completely covered on the opening, form a through wires hole between limiting plate and the guide slot and let seal wire/pipe pass through.
26. A slave guidewire/catheter twirling device for an interventional surgical robot as defined in claim 22, wherein: the bottom plate is provided with a first sliding chute and a second sliding chute, the horizontal extending direction of the first sliding chute and the horizontal extending direction of the second sliding chute are consistent with the first direction, the space in the first sliding chute is wide inside and narrow outside, and the space in the second sliding chute is also wide inside and narrow outside.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2022/097916 WO2022258018A1 (en) | 2021-06-10 | 2022-06-09 | Slave end guide wire/catheter twisting apparatus for interventional surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110649938 | 2021-06-10 | ||
| CN2021106499386 | 2021-06-10 |
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| CN113633389A CN113633389A (en) | 2021-11-12 |
| CN113633389B true CN113633389B (en) | 2022-08-09 |
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| CN202111010071.6A Active CN113633389B (en) | 2021-06-10 | 2021-08-31 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
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| Country | Link |
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| WO (1) | WO2022258018A1 (en) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113633389B (en) * | 2021-06-10 | 2022-08-09 | 深圳市爱博医疗机器人有限公司 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
| CN113749780B (en) * | 2021-08-10 | 2023-06-16 | 深圳市爱博医疗机器人有限公司 | Follow-on intervention operation robot is rubbed with hands from end seal wire pipe and is moved device |
| CN115517767A (en) * | 2022-01-29 | 2022-12-27 | 深圳市爱博医疗机器人有限公司 | Intervene medical instrument auxiliary device |
| CN114587604B (en) * | 2022-03-02 | 2024-05-28 | 深圳爱博合创医疗机器人有限公司 | Interventional operation robot driving base |
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| WO2022258018A1 (en) | 2022-12-15 |
| CN113633389A (en) | 2021-11-12 |
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Address after: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518112 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli Sixth Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |