CN113749780B - Follow-on intervention operation robot is rubbed with hands from end seal wire pipe and is moved device - Google Patents
Follow-on intervention operation robot is rubbed with hands from end seal wire pipe and is moved device Download PDFInfo
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- CN113749780B CN113749780B CN202111009818.6A CN202111009818A CN113749780B CN 113749780 B CN113749780 B CN 113749780B CN 202111009818 A CN202111009818 A CN 202111009818A CN 113749780 B CN113749780 B CN 113749780B
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- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B34/37—Master-slave robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The utility model provides an improved generation intervenes operation robot from end seal wire pipe and rubs movable device, it installs on intervene operation robot from the end for realize the centre gripping of seal wire pipe, rotate, it includes two clamping groups that set up relatively, first drive assembly and second drive assembly, and first drive assembly drives two clamping groups and is close to or keep away from along first direction, makes two clamping groups alternate between the clamping position and the non-clamping position of second drive assembly in first direction for two clamping groups, when two clamping groups are located the clamping position of first direction, two clamping groups clamp seal wire pipe, two clamping groups of second drive assembly drive clamp seal wire pipe are along the mutual reverse motion of second direction that is different from first direction, rub movable seal wire pipe and rotate. The invention has good transmission effect, relatively simple structure, compact structure, small occupied space, strong practicability and strong popularization significance, effectively reduces the use cost of the product and lightens the economic burden of patients.
Description
Technical Field
The invention relates to a device in the field of medical instrument robots, in particular to an improved device for rubbing a guide wire catheter from the end of an interventional operation robot.
Background
The interventional therapy is a minimally invasive therapy by using modern high-tech means, namely, under the guidance of medical imaging equipment, special precise instruments such as a catheter, a guide wire and the like are introduced into a human body to diagnose and treat the in vivo pathological condition locally.
The interventional therapy uses a digital technology, so that the visual field of a doctor is expanded, the guide wire prolongs the hands of the doctor by means of the catheter, and the incision (puncture point) of the guide wire is only in the size of rice grains, so that a plurality of diseases which cannot be treated in the past and have poor curative effects in surgical treatment or medical treatment, such as tumors, hemangiomas, various 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 a development trend of future medicine.
For the vascular intervention operation, the traditional Chinese medicine needs to receive X-ray radiation for a long time, so that a master-slave vascular intervention operation robot with remote operation is developed in engineering. The master-slave vascular interventional operation robot can work in a strong radiation environment, so that a doctor can control the master-slave vascular interventional operation robot outside a ray environment.
The surgical robot needs corresponding drive mechanism to drive in the advancing, retreating and rotating processes of executing guide wires (or guide pipes), however, for the drive mechanism of the existing surgical robot, the drive effect of the whole drive mechanism is poor due to unreasonable structural design, the structure is relatively complex, the use cost of products is increased, the medical cost is further reduced, the economic burden of patients is increased, the whole volume of the drive mechanism is overlarge, the spatial layout of the surgical robot is not facilitated, various inconveniences are brought in the practical use process, and the use flexibility is influenced.
Disclosure of Invention
Based on this, there is a need to provide an improved interventional surgical robot slave guidewire catheter twisting device that addresses the deficiencies in the prior art.
The utility model provides an improved generation intervenes operation robot from end seal wire pipe and rubs movable device, it installs on intervene operation robot from the end for realize the centre gripping of seal wire pipe, rotate, it includes two clamping groups that set up relatively, first drive assembly and second drive assembly, and first drive assembly drives two clamping groups and is close to or keep away from along first direction, makes two clamping groups alternate between the clamping position and the non-clamping position of second drive assembly in first direction for two clamping groups, when two clamping groups are located the clamping position of first direction, two clamping groups clamp seal wire pipe, two clamping groups of second drive assembly drive clamp seal wire pipe are along the mutual reverse motion of second direction that is different from first direction, rub movable seal wire pipe and rotate.
Further, in clamping group and the second drive assembly, one is equipped with the hasp groove, and another is equipped with the card strip, clamping position and non-clamping position in the first direction are located in the hasp groove, when first drive assembly drove two clamping groups clamp or loosen the wire pipe, the card strip slides to clamping position or slides to non-clamping position from the clamping position in hasp groove respectively from the non-clamping position in hasp groove.
Further, the catch groove extends in the first direction.
Further, the clamping strip penetrates through the locking groove.
Further, the clamping group comprises a positioning part and a clamping part connected to the positioning part, and the locking groove is arranged on one side of the positioning part, which is close to the other clamping group; the second driving assembly comprises two sliding seats and a driving motor for enabling the two sliding seats to synchronously move in the opposite directions along the second direction, and the clamping strip is arranged at the position, close to the outer side, on the sliding seats.
Further, the second driving assembly further comprises a second linkage wheel arranged between the two sliding seats, the driving motor is connected with the second linkage wheel, the inner side surfaces of the two sliding seats are respectively provided with a latch, the outer circumferential surface of the second linkage wheel is provided with a latch, and the two sliding seats of the second driving assembly are simultaneously meshed with the second linkage wheel.
Further, the sliding seat is provided with a second guide rod, the second driving assembly further comprises a sliding sleeve, a guide groove extending along a second direction is formed in the sliding sleeve, the second guide rod penetrates through the guide groove of the sliding sleeve, and the sliding sleeve guides the sliding seat.
Further, the first driving assembly comprises two first underframes, a driver for driving the two first underframes to move along a first direction and a first guide rod arranged on the first underframes, and the first guide rod is inserted in the clamping group.
Further, the first driving component is further provided with a first guiding device on the first guide rod, the first guiding device is a bearing, and the bearing is sleeved on the outer side of the guide rod which is matched with the bearing.
Further, the improved interventional operation robot slave end guide wire catheter rubbing device further comprises an inner frame, two clamping plates which are oppositely arranged are arranged on the inner frame, and the first guiding device is clamped between the two clamping plates of the inner frame.
Further, the first drive assembly still includes the first linkage wheel of connecting simultaneously on two first chassis, two first chassis is relative setting, first linkage wheel is arranged in two between the first chassis, two the inboard of first chassis all is equipped with the latch, the surface of first linkage wheel is equipped with the latch, first linkage wheel passes through the latch and meshes simultaneously two on the first chassis of clamping group.
Further, the inner frame is further provided with two groups of bearings corresponding to the two clamping groups, the two first underframes of the first driving assembly are respectively arranged on the two groups of guide rails, and the first underframes slide on the bearings along the first direction.
Further, the first direction and the second direction are perpendicular to each other.
In summary, the improved interventional operation wire guiding device disclosed by the invention is provided with the rubbing mechanism, the rubbing 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 be close to each other along a first direction so as to clamp the wire guide pipe, and the second driving assembly drives the two clamping groups to be moved in opposite directions along a second direction different from the first direction so as to rub the wire guide pipe to rotate.
Drawings
FIG. 1 is a schematic diagram of a slave end guide wire catheter twisting device of an improved interventional surgical robot according to the present invention;
FIG. 2 is an exploded view of the slave end guidewire catheter twisting device of the improved interventional surgical robot of FIG. 1;
FIG. 3 is an exploded view of the improved interventional surgical robot of FIG. 2 from another angle of the end guide wire catheter twisting device;
FIG. 4 is a further exploded view of the improved interventional surgical robot slave end guide wire catheter twisting device of FIG. 2;
FIG. 5 is an exploded view of the improved interventional surgical robot of FIG. 4 from another angle of the end guide wire catheter twisting device;
FIGS. 6 and 7 are front and rear views of the rubbing mechanism of the present invention mounted in cooperation with the inner frame;
fig. 8 and 9 are schematic diagrams of the structure of fig. 7 after omitting the first driving motor, the inner frame and the photoelectric sensor;
fig. 10 is a schematic structural view of the improved interventional operation robot according to the present invention when the clamping set of the slave end guide wire catheter twisting device is mounted in cooperation with the first driving assembly.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 to 10, the present invention provides an improved interventional operation robot slave end guide wire catheter twisting device, which is mounted on the interventional operation robot slave end, and pushes an elongated medical device (guide wire or catheter) 100 to perform clamping, forward rotation and reverse rotation, wherein the forward rotation of pushing the elongated medical device 100, i.e. the guide wire or catheter, means a direction in which the guide wire or catheter rotates into the body of the surgical patient, and the reverse rotation means a direction in which the guide wire or catheter rotates out of the body of the surgical patient.
The improved interventional operation robot slave end guide wire catheter rubbing device comprises a frame 10, an inner frame 20 and a rubbing mechanism, wherein the rubbing mechanism is arranged on the inner frame 20, and the frame 10 is sleeved on the outer sides of the inner frame 20 and the rubbing mechanism to isolate the outside from the rubbing mechanism. The rubbing mechanism comprises two clamping groups 30, a first driving assembly 40 and a second driving assembly 50 which are oppositely arranged, the first driving assembly 40 drives the two clamping groups 30 to approach or separate along a first direction, so that clamping positions and non-clamping positions of the two clamping groups 30 relative to the second driving assembly 50 in the first direction are alternately changed, when the two clamping groups 30 are positioned at the clamping positions in the first direction, the two clamping groups 30 clamp a guide wire pipe, the second driving assembly 50 drives the two clamping groups 30 clamping the guide wire pipe to mutually reversely move along a second direction different from the first direction, the guide wire pipe is rubbed to rotate, the first direction and the second direction are mutually perpendicular, and the frame 10 supports the guide wire or the guide wire pipe.
Both clamping groups 30 include clamping part 31, positioning part 32, clamping part 31 and positioning part 32 are T shape and distribute, the bottom surface of clamping part 31 is equipped with inwards extending draw-in groove 35, positioning part 32's upper end detachably installs in draw-in groove 35, form a clearance between positioning part 32's lateral surface and draw-in groove 35's the cell wall, positioning part 32's bottom is equipped with inwards extending a plurality of positioning grooves, positioning part 32 is close to another clamping group 30's one side and is equipped with along the outward extending hasp groove 321 of first direction.
The first driving assembly 40 includes two first chassis 43 mounted on the inner frame 20, first coupling wheels 46 simultaneously connected to the two first chassis 43, two first guide rods 44 respectively mounted on the two first chassis 43, and a driver 41 driving the two first chassis 43 to move along a first direction. The two first underframes 43 are disposed opposite to each other. The first coupling wheel 46 is disposed between the two first chassis 43 and allows the two first chassis 43 to move closer to or away from each other in the first direction simultaneously. The inner sides of the two first underframe 43 are respectively provided with a latch, the outer surface of the first linkage wheel 46 is provided with a latch, and the first linkage wheel 46 is simultaneously engaged on the first underframe 43 of the two clamping groups 30 through the latch. The driver 41 is connected to one of the first chassis 43, and under the action of the first linkage wheel 46, the driver 41 drives the two first chassis 43 to move in opposite directions along the first direction. The positioning portions 32 of the two clamping groups 30 are respectively mounted on the two first guide rods 44, and drive the two clamping groups 30 to approach or separate from each other along the first direction, so as to drive the two clamping groups 30 to perform clamping or loosening actions. In this embodiment, the driver 41 is an electromagnetic driver.
It will be appreciated that in this embodiment, an electromagnetic drive is used to drive the two clamping groups 30 to perform clamping or unclamping, and in other embodiments, the drive 41 further includes a second drive motor for driving the two first chassis 43 to move in opposite directions relative to each other in the first direction, instead of the electromagnetic drive. The second drive motor is directly connected to the first linkage wheel 46.
The two first bottom frames 43 of the first driving assembly 40 are respectively mounted with the two clamping groups 30 through first guide rods 44. Specifically, the two first guide rods 44 of the first driving assembly 40 are respectively inserted into the positioning slots at the bottoms of the two positioning portions 32, so that the whole clamping set 30 can slide reciprocally along the first guide rods 44 in the second direction, and further the guide wire or the catheter is rubbed.
The first driving assembly 40 is further provided with a first guiding device 45 on each first guiding rod 44, in this embodiment, the first guiding device 45 is a bearing, and the bearing is sleeved on the outer side of the first guiding rod 44 which is cooperatively installed with the bearing. The inner frame 20 is provided with two clamping plates 21 which are oppositely arranged along the first direction, and the two first guiding devices 45 are clamped between the two clamping plates 21 of the inner frame 20, so that the first driving assembly 40 drives the two clamping groups 30 to move more stably along the first direction.
The inner frame 20 is further provided with two sets of bearings 22, two first bottom frames 43 of the first driving assembly 40 are respectively mounted on the two sets of bearings 22, and each first bottom frame 43 slides on the corresponding set of bearings 22 along the first direction.
The improved interventional surgical robot slave end guide wire catheter twisting device further comprises a first travel detection device 60, wherein the first travel detection device 60 is used for identifying the diameter of the guide wire of the catheter. In this embodiment, the first travel detecting device 60 is a grating sensor, the grating sensor includes a grating ruler 62 and a grating reading head 61, the grating ruler 62 is mounted on a first chassis 43, and the grating reading head 61 is disposed above the grating ruler 62 and fixedly mounted on the clamping plate 21. The two first underframes 43 are moved in the first direction until the two clamping groups 30 clamp the catheter guide wire, the grating sensor acquires the moving displacement, and the measurement result is transmitted to the system controller and converted into the diameter of the guide wire or the catheter.
The second driving assembly 50 includes two sliding bases 53, a second coupling wheel 52 disposed between the two sliding bases 53 and allowing the two sliding bases 53 to move away from or close to each other in the second direction synchronously, and a first driving motor 51 connected to the second coupling wheel 52, so that the first driving motor 51 drives the two clamping groups 30 to move away from each other in the second direction to twist the guide wire tube. The inner side surfaces of the two sliding seats 53 of the second driving assembly 50 are respectively provided with a latch, the outer circumferential surface of the second coupling wheel 52 is provided with a latch, the two sliding seats 53 of the second driving assembly 50 are simultaneously meshed with the second coupling wheel 52, the second coupling wheel 52 is driven to rotate by the first driving motor 51, and under the action of the second coupling wheel 52, the two sliding seats 53 are driven to mutually and reversely move, so that the clamping group 30 is driven to rub the guide wire or the guide pipe to positively rotate or reversely rotate.
The slide seat 53 is provided with a clamping strip 54 at an outer side, and when the assembly is performed, the clamping strip 54 is inserted into the locking groove 321, so that the first driving motor 51 can drive the clamping group 30 corresponding to the first driving motor to move along the second direction through the two slide seats 53. And, the clamping position and the non-clamping position in the first direction are located in the locking groove 321, and when the first driving assembly 40 drives the two clamping groups 30 to clamp or unclamp the guide wire catheter, the second driving assembly 50 extends into the clamping position or the non-clamping position of the clamping group 30, and the clamping strip 54 cooperates with different positions of the locking groove 321 in the first direction to perform position adjustment. Specifically, when the first driving assembly 40 drives the two clamping groups 30 to release the guide wire catheter, the clamping strip 54 slides from the non-clamping position to the clamping position of the locking slot 321 or slides from the clamping position to the non-clamping position of the locking slot 321.
More preferably, the second driving assembly 50 further includes two sliding sleeves 55, the two sliding sleeves 55 are fixed between the two clamping plates 21, each sliding seat 53 is provided with a second guide rod 56, each sliding sleeve 55 is internally provided with a guide groove extending along the second direction, and the two second guide rods 56 penetrate through the guide grooves of the two sliding sleeves 55, so that the two sliding sleeves 55 guide the two sliding seats 53.
The improved interventional operation robot slave end guide wire catheter rubbing device further comprises a second stroke detection device 63, and the second stroke detection device 63 is used for detecting whether the strokes of the two clamping groups 30 in the second direction reach the limit position. In this embodiment, the second stroke detecting device 63 is a photoelectric sensor, and the number of the photoelectric sensors is two, the two photoelectric sensors are mounted on the clamping plate 21, and the two sliding bases 53 are further provided with the barrier bars 57 in a protruding manner, the barrier bars 57 on the two sliding bases 53 respectively correspond to the two photoelectric sensors, and since the two clamping groups 30 move in opposite directions along the second direction, only one of the two photoelectric sensors detects that the corresponding clamping group 30 moves to the limit position, then the barrier bars 57 on the corresponding sliding base 53 moves to the light outlet position of the corresponding photoelectric sensor, and the system controller determines that the two clamping groups 30 reach the limit position according to the change of the light information of the photoelectric sensor, so as to control the second driving assembly 50 to drive the second coupling wheel 52 to reversely drive.
In addition, the slave end guide wire catheter twisting device of the improved interventional operation robot further comprises a second force detection module 80 and a first force detection module 70, wherein the first force detection module 70 comprises a first force sensor installed on one of the two first underframe 43 and a connecting plate 42 connecting the driver 41 and the first force sensor in a first direction, when the two clamping groups 30 are in a state of loosening the guide wire catheter, the connecting plate 42 enables the first force sensor to generate a preset pressure, and when the two clamping groups 30 clamp the guide wire catheter, the first underframe 43 drives the first force sensor to displace to enable the preset pressure to change, so that the clamping force of the two clamping groups 30 on the guide wire catheter is measured. The first chassis 43 is provided with a baffle 431, a side surface of the baffle 431, which is opposite to the driver 41, is provided with an assembly groove, the second force sensor is installed in the assembly groove, the first force sensor extends out of the assembly groove, an opening is formed on one side of the connecting plate 42, which is close to the first chassis 43, and the opening is sleeved on the baffle 431 and the first force sensor. In this embodiment, the first load cell is a pressure sensor.
When the two clamping groups 30 clamp the guide wire catheter, the two first underframe 43 drives the second force sensor to displace so as to change the preset pressure. The system controller records the pressure information change and feeds back the pressure information change to the main end operated by the doctor, so that the presence of the doctor is increased.
The improved interventional operation robot slave end guide wire catheter twisting device further comprises an auxiliary module 90, the auxiliary module 90 is used for being matched with the second force detection module 80 to carry out force detection, the auxiliary module comprises a sliding rail 91 and a sliding block 92, the second force detection module 80 comprises a first force sensor 82 fixed at the bottom of the inner frame 20, an elastic piece 83 and a fixed seat 81, the fixed seat 81 is fixed on a supporting plate (not shown) for supporting the improved interventional operation robot slave end guide wire catheter twisting device, the sliding block 82 is fixed at the bottom of the inner frame 20, the sliding rail 91 is installed on the supporting plate (not shown) for supporting the improved interventional operation robot slave end guide wire catheter twisting device, the installation direction of the sliding rail 91 is consistent with the delivery direction of the elongated medical instrument 100, the sliding block 92 is matched with the sliding rail 91, and when the delivery resistance of the third direction perpendicular to the first direction (namely the delivery direction of the elongated medical instrument 100) is changed, the sliding block 92 can slightly slide on the sliding rail 91 along the third direction perpendicular to the first direction. The elastic member 83 is a compression spring extending along the advancing direction of the guide wire catheter, and two ends of the elastic member respectively abut against the second load cell 82 and the fixing seat 81. The second force sensor 82 and the elastic piece 83 are both arranged in the fixing seat 81, the second force sensor 82 is fixedly arranged at the bottom of the inner frame 20, the arrangement direction of the second force sensor 82 and the elastic piece 83 in the fixing seat 81 is consistent with the third direction, and two ends of the elastic piece 83 are respectively abutted between the first force sensor 82 and the fixing seat 81. In the process of delivering the guide wire or the catheter along the third direction, the delivery resistance of the guide wire or the catheter drives the two clamping groups 30 and the inner frame 20 to slightly move along the sliding rail 71, and in the moving process, the position of the first force sensor 82 is correspondingly changed, the elastic piece 83 changes the extrusion force to the first force sensor 82, and then the pressure change detected by the first force sensor 82 is brought, and the system controller records the pressure information change and feeds back the pressure information change to the main end operated by the doctor.
The frame 10 includes a first housing 11, where the whole first housing 11 is in a hollow structure, two extension cylinders 111 are protruding from the top surface of the first housing 11, each extension cylinder is provided with a through hole 112 penetrating along the second direction, and a supporting leg 113 is protruding from one side of the first housing 11.
During assembly, the first driving assembly 40, the second driving assembly 50 and the inner frame 20 of the rubbing mechanism are installed in the first housing 11, the positioning portions 32 of the two clamping groups 30 respectively penetrate through the through holes 112 of the two extension cylinders 111 on the first housing 11 and are mounted in cooperation with the corresponding first guide rods 44 of the first driving assembly 40 through positioning grooves thereof, so that the whole clamping group 30 can slide back and forth along the two first guide rods 44 in the second direction, and the clamping group 30 and the second driving assembly 50 are mounted in cooperation with each other through the locking grooves 321 and the locking strips 54. Because the depth of the clamping groove 35 of the clamping part 31 is larger than the length of the extension cylinder 111, the second driving assembly 50 drives the two clamping groups 30 to slide along the corresponding first guide rods 44, and the clamping parts 31 of the two clamping groups 30 remain wrapped outside the extension cylinder 111, so that the internal space is isolated from the outside.
The machine frame 10, the inner frame 20 and the rubbing mechanism are non-consumable parts, the invention also comprises a consumable part, the consumable part comprises an outer cover 33 and a buffer piece 34, when the machine frame is used, the outer cover 33 is sleeved outside the clamping part 31, the buffer piece 34 is adhered to the outer cover 33, the buffer pieces 34 of the two clamping groups 30 are oppositely arranged, the buffer piece 34 has elasticity, the clamping force of the clamping groups 30 on a catheter or a guide wire can be prevented from being too large, the catheter or the guide wire is prevented from being damaged, and in the embodiment, the buffer piece 34 is made of silica gel.
The consumable part further comprises a second shell 12 and a face cover 13, wherein the second shell 12 is used for accommodating the first shell 11, the second shell 12 comprises an accommodating part 121 and a butt joint part 122 connected to the upper end of the accommodating part 121, the accommodating part 121 is in a hollow arrangement, an opening 123 is arranged at the upper end of the butt joint part 122, two guide grooves 124 which are oppositely arranged are arranged at the edge position of the opening 123 along the third direction, the guide grooves 124 are in a V-shaped arrangement, and the groove width of the guide grooves 124 is gradually reduced from the edge to the inside.
When the novel wire guiding device is used, the second shell 12 is sleeved on the outer side of the first shell 11 along the second direction, the second shell 12 and the first shell 11 are provided with magnets and/or iron blocks, the second shell 12 and the first shell 11 are fixed in a magnetic attraction mode, so that the first shell 11 and the second shell 12 are not easy to loosen when being matched, the novel wire guiding device can be freely disassembled and assembled, the groove bottom of the front V-shaped guide groove 124 and the groove bottom of the rear V-shaped guide groove are arranged at the overlapping positions of the moving paths of the two sliding seats 53, the guide groove 124 is arranged, the wire guiding pipe can be installed more conveniently, and the guide groove 124 can support the wire guiding pipe.
The clamping parts 31 of the two clamping groups 30, the outer cover 33 sleeved on the clamping parts and the buffer piece 34 are arranged in the openings 123 of the butt joint parts 122 on the second shell 12, and the center positions of the clamping parts are opposite to the two V-shaped guide grooves 124; cover face 13 on butt joint portion 122, face 13 can follow the second casing 12 and freely dismantle and mount, is equipped with cardboard 131 on the face 13, cardboard 131 cooperation guide slot 124 is spacing to wire or pipe to for the complex effect is better, the bottom of cardboard 131 is equipped with dodges groove 132.
Because the slave end guide wire catheter rubbing device of the assembled improved interventional operation robot only has the consumable part exposed outside in the use process, the consumable part is only required to be directly replaced after each use, the whole slave end guide wire catheter rubbing device is not required to be replaced, and the operation cost is reduced.
In summary, the improved device for twisting the guide wire guide tube at the slave end of the interventional operation robot disclosed by the invention is provided with the twisting mechanism, the twisting mechanism comprises two clamping groups 30, a first driving assembly 40 and a second driving assembly 50 which are oppositely arranged, wherein the first driving assembly 40 drives the two clamping groups 30 to be close to each other along a first direction so as to clamp the guide wire guide tube, and the second driving assembly drives the two clamping groups 30 to be moved in opposite directions along a second direction different from the first direction so as to twist the guide wire guide tube for rotation.
The first direction and the second direction in the present invention are bidirectional. For example, when the first direction is a horizontal direction, it includes both a leftward direction and a rightward direction; when the second direction is a vertical direction, it includes both an upward direction and a downward direction.
In addition, both the gripping position and the non-gripping position are variable. For example, the diameter of the guide wire guide tube clamped between the two clamping groups is different, the clamping position can be changed, the clamping force is different at any time, and the clamping position can be slightly changed.
The above examples illustrate only one embodiment of the invention, which is described in more detail and is not to be construed as limiting the scope of the invention. It should be noted that variations and modifications can be made by those skilled in the art without departing from the inventive concept, which fall within the scope of the invention. Accordingly, the scope of the invention should be determined from the following claims.
Claims (12)
1. The improved device is arranged on the slave end of the interventional operation robot and is used for clamping and rotating the guide wire guide tube, and is characterized by comprising 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 approach or depart along a first direction, so that clamping positions and non-clamping positions of the two clamping groups relative to the second driving assembly in the first direction are alternately changed, when the two clamping groups are positioned at the clamping positions in the first direction, the two clamping groups clamp the guide wire guide tube, and the second driving assembly drives the two clamping groups for clamping the guide wire guide tube to mutually reversely move along a second direction different from the first direction, so that the guide wire guide tube is rubbed to rotate;
and when the first driving assembly drives the two clamping groups to clamp or unclamp the guide wire guide tube, the clamping strips slide from the non-clamping position of the locking groove to the clamping position or slide from the clamping position of the locking groove to the non-clamping position respectively.
2. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 1, wherein: the catch groove extends in a first direction.
3. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 1, wherein: the clamping strip is arranged in the locking groove in a penetrating mode.
4. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 1, wherein: the clamping group comprises a positioning part and a clamping part connected to the positioning part, and the locking groove is arranged on one side of the positioning part, which is close to the other clamping group; the second driving assembly comprises two sliding seats and a driving motor for enabling the two sliding seats to synchronously move in the opposite directions along the second direction, and the clamping strip is arranged at the position, close to the outer side, on the sliding seats.
5. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 4, wherein: the second driving assembly further comprises a second linkage wheel arranged between the two sliding seats, the driving motor is connected with the second linkage wheel, clamping teeth are arranged on the inner side surfaces of the two sliding seats, clamping teeth are arranged on the outer circumferential surface of the second linkage wheel, and the two sliding seats of the second driving assembly are simultaneously meshed with the second linkage wheel.
6. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 4, wherein: the sliding seat is provided with a second guide rod, the second driving assembly further comprises a sliding sleeve, a guide groove extending along a second direction is formed in the sliding sleeve, the second guide rod penetrates through the guide groove of the sliding sleeve, and the sliding sleeve guides the sliding seat.
7. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 1, wherein: the first driving assembly comprises two first underframes, a driver for driving the two first underframes to move along a first direction and a first guide rod arranged on the first underframes, and the first guide rod is inserted in the clamping group.
8. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 7, wherein: the first driving assembly is further provided with a first guide device on the first guide rod, the first guide device is a bearing, and the bearing is sleeved on the outer side of the guide rod which is matched with the bearing.
9. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 8, wherein: the improved interventional operation robot slave end guide wire catheter rubbing device further comprises an inner frame, two clamping plates which are oppositely arranged are arranged on the inner frame, and the first guiding device is clamped between the two clamping plates of the inner frame.
10. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 7, wherein: the first driving assembly further comprises first linkage wheels which are simultaneously connected to the two first underframes, the two first underframes are oppositely arranged, the first linkage wheels are arranged between the two first underframes, clamping teeth are arranged on the inner sides of the two first underframes, clamping teeth are arranged on the outer surfaces of the first linkage wheels, and the first linkage wheels are simultaneously meshed with the two first underframes of the clamping groups through the clamping teeth.
11. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 9, wherein: the inner frame is also provided with two groups of bearings, two first underframes of the first driving assembly are respectively arranged on the two groups of bearings, and each first underframe slides on the corresponding group of bearings along a first direction.
12. The improved interventional procedure robot slave end guide wire catheter twisting device of claim 1, wherein: the first direction and the second direction are perpendicular to each other.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2022/102232 WO2023016118A1 (en) | 2021-08-10 | 2022-06-29 | Improved slave-end guidewire/catheter twisting device for interventional surgical robot |
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2021109125553 | 2021-08-10 | ||
| CN202110912555 | 2021-08-10 |
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| Publication Number | Publication Date |
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| CN113749780A CN113749780A (en) | 2021-12-07 |
| CN113749780B true CN113749780B (en) | 2023-06-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111009818.6A Active CN113749780B (en) | 2021-08-10 | 2021-08-31 | Follow-on intervention operation robot is rubbed with hands from end seal wire pipe and is moved device |
Country Status (2)
| Country | Link |
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| CN (1) | CN113749780B (en) |
| WO (1) | WO2023016118A1 (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113749782B (en) * | 2021-08-10 | 2023-05-16 | 深圳市爱博医疗机器人有限公司 | From end drive arrangement of intervention operation robot with protection isolation function |
| 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 |
| CN114391965B (en) * | 2021-12-31 | 2024-03-01 | 深圳爱博合创医疗机器人有限公司 | Aseptic box and have full protection formula of this aseptic box to intervene surgical robot from end drive arrangement |
| CN114391964B (en) * | 2021-12-31 | 2023-12-01 | 深圳市爱博医疗机器人有限公司 | Compact interventional operation robot driving device |
| CN114587604A (en) * | 2022-03-02 | 2022-06-07 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot drive base |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102210610B (en) * | 2011-03-17 | 2013-06-05 | 北京航空航天大学 | Pushing mechanism for minimally invasive surgical robot |
| JP6837774B2 (en) * | 2016-08-05 | 2021-03-03 | 前沿産業設計研究（深セン）有限公司 | Catheter and guide wire interlocking insertion system |
| CN107106244B (en) * | 2017-04-01 | 2020-06-12 | 中国科学院深圳先进技术研究院 | Catheter twisting device of vascular intervention surgical robot |
| CN109939332B (en) * | 2019-03-11 | 2021-06-29 | 南京航空航天大学 | Blood vessel intervention operation is with twirling device with three-dimensional power perception ability |
| CN110840566B (en) * | 2019-11-07 | 2021-06-29 | 北京唯迈医疗设备有限公司 | Guide wire clamping and twisting device of interventional operation robot |
| 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 |
| CN215874930U (en) * | 2021-08-10 | 2022-02-22 | 深圳市爱博医疗机器人有限公司 | Intervene operation robot drive arrangement with stroke detects function |
| 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 |
| CN216394240U (en) * | 2021-08-10 | 2022-04-29 | 深圳市爱博医疗机器人有限公司 | Motor-driven slave-end guide wire catheter twisting device of interventional surgical robot |
-
2021
- 2021-08-31 CN CN202111009818.6A patent/CN113749780B/en active Active
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2022
- 2022-06-29 WO PCT/CN2022/102232 patent/WO2023016118A1/en unknown
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| WO2023016118A1 (en) | 2023-02-16 |
| CN113749780A (en) | 2021-12-07 |
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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. 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. |