CN113951946B - Vascular interventional instrument pushing device and method - Google Patents
Vascular interventional instrument pushing device and method Download PDFInfo
- Publication number
- CN113951946B CN113951946B CN202111234034.3A CN202111234034A CN113951946B CN 113951946 B CN113951946 B CN 113951946B CN 202111234034 A CN202111234034 A CN 202111234034A CN 113951946 B CN113951946 B CN 113951946B
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- 230000002792 vascular Effects 0.000 title claims abstract description 60
- 238000000034 method Methods 0.000 title claims abstract description 20
- 230000007246 mechanism Effects 0.000 claims abstract description 56
- 230000005540 biological transmission Effects 0.000 claims abstract description 28
- 230000006835 compression Effects 0.000 claims description 14
- 238000007906 compression Methods 0.000 claims description 14
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008569 process Effects 0.000 description 5
- 208000024172 Cardiovascular disease Diseases 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000003902 lesion Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000002583 angiography Methods 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000916 dilatatory effect Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 210000001105 femoral artery Anatomy 0.000 description 1
- 238000013152 interventional procedure Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 210000002321 radial artery Anatomy 0.000 description 1
- 238000004064 recycling Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- 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
-
- 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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
Abstract
The invention relates to the technical field of surgical robots, and provides a vascular interventional instrument pushing device and a vascular interventional instrument pushing method, wherein the vascular interventional instrument pushing device comprises an active wire feeding mechanism, a first bracket assembly, an active conveying belt and an active carrier roller belt wheel; the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, wherein the Mecanum wheels are in transmission connection with the driving conveyor belt; the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, wherein the lifting plate is matched with the Mecanum wheel support; the driven wire feeding mechanism comprises a driven conveyor belt and a driven carrier roller belt wheel, and the driven conveyor belt is positioned above the driving conveyor belt and is used for clamping the guide wire. According to the invention, the Mecanum wheel and the driving conveyor belt are tightly propped up by the lifting mechanism and the driving conveyor belt is driven to rotate, so that the phenomenon of slipping between the Mecanum wheel and the driving conveyor belt is effectively prevented, the stable pushing of the guide wire clamped by the driven conveyor belt and the driving conveyor belt is realized, and the operation efficiency and the safety are improved.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a vascular interventional instrument pushing device and a vascular interventional instrument pushing method.
Background
At present, the number of people suffering from cardiovascular diseases is continuously increased, so that various medical burdens are increased, and the cardiovascular diseases become the first disease threatening the life health of the national people gradually. The main current method for treating the cardiovascular and cerebrovascular diseases is interventional therapy, namely, firstly, puncture is carried out on radial artery or femoral artery, and then interventional instruments are delivered to a lesion area through human blood vessels, so that the purposes of dilating stenosed blood vessels, embolizing malformed blood vessels and the like are achieved. The use of Digital Subtraction Angiography (DSA) systems for interventional procedures requires guidance, such that the operator is required to wear heavy protective clothing and be exposed to the radiation environment for a long period of time, which affects the effectiveness and accuracy of the procedure and also negatively affects the health of the operator.
In recent years, vascular intervention robots are increasingly being used to assist doctors in performing vascular intervention. The operator controls the slave end mechanism to perform the operation through the main end control rod or the operation handle of the vascular intervention operation robot, thereby avoiding the influence of radiation and also enabling the remote operation. Aiming at the disease, the vascular stent is mainly used for treating the lesion clinically, however, the existing vascular minimally invasive interventional operation robot delivery mechanism often slips in the wire feeding process, smooth conveying of a guide wire or a catheter cannot be carried out, and the problems of long operation time of a patient, long exposure time under a radiation environment and the like are caused.
Disclosure of Invention
The invention provides a vascular interventional instrument pushing device and a vascular interventional instrument pushing method, which are used for solving the defect that a vascular minimally invasive interventional operation robot in the prior art is easy to slip and cannot drive a guide wire, realizing stable pushing of the guide wire, reducing operation time and improving safety.
The invention provides a vascular interventional instrument pushing device, which comprises:
the driving wire feeding mechanism comprises a first bracket component, a driving conveyor belt and a driving carrier roller belt wheel, wherein the driving carrier roller belt wheel is arranged on the first bracket component, and the driving conveyor belt is in tensioning fit with the driving carrier roller belt wheel;
the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, wherein the controller is electrically connected with the motor, the output end of the motor is connected with the Mecanum wheels, and the Mecanum wheels are in transmission connection with the driving conveyor belt;
the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, wherein the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate is matched with the Mecanum wheel support;
the driven wire feeding mechanism comprises a driven conveying belt and a driven carrier roller belt wheel, the driven conveying belt is in tensioning fit with the driven carrier roller belt wheel, and the driven conveying belt is located above the driving conveying belt and used for clamping a guide wire.
According to the vascular interventional instrument pushing device provided by the invention, the first bracket component comprises the second guide rail and the carrier roller bracket, the second guide rail is provided with the slidable locking slide block, the carrier roller bracket is connected with the locking slide block, and the driving carrier roller belt wheel is connected with the carrier roller bracket.
According to the vascular interventional instrument pushing device provided by the invention, the driving assembly comprises the lead screw, the first base, the driving sliding block and the transmission beam, the first base is respectively arranged at two ends of the lead screw, the lead screw can rotate relative to the first base, the driving sliding block is sleeved on the lead screw, the transmission beam is connected with the driving sliding block, and the end part of the driving sliding block is in transmission connection with the lifting assembly.
According to the vascular interventional instrument pushing device provided by the invention, the lifting assembly comprises a light bar, a second base, a driven sliding block and an X-shaped hinged frame, wherein the second base is respectively arranged at two ends of the light bar, the driven sliding block is slidably sleeved on the light bar, the lifting end of the X-shaped hinged frame is hinged with the lifting plate, and the driven end of the X-shaped hinged frame is respectively hinged with the driven sliding block and the second base at the corresponding side.
The invention provides a vascular interventional instrument pushing device which further comprises a pressing mechanism, wherein the pressing mechanism comprises a second bracket component, an adjusting component and a pressing plate, the adjusting component is arranged on the second bracket component, and the pressing plate is connected with the adjusting component.
According to the vascular interventional instrument pushing device provided by the invention, the second bracket component comprises the supporting frame, the vertical beam and the cross beam, the vertical beam is arranged on the supporting frame, the end part of the cross beam is connected with the top end of the vertical beam, and the adjusting component is arranged on the cross beam.
According to the vascular interventional instrument pushing device provided by the invention, the adjusting assembly comprises the adjusting bolt, the buffer cushion block and the connecting plate, the cross beam is provided with the through hole which is in penetrating fit with the adjusting bolt, the buffer cushion block is arranged at the bottom side of the cross beam and is connected with the connecting end of the adjusting bolt, and the connecting plate is used for connecting the buffer cushion block and the pressing plate.
According to the vascular interventional instrument pushing device provided by the invention, the support frame is provided with the guide post, the compression plate is provided with the guide hole which is in guide fit with the guide post, the guide post is sleeved with the tensioning spring, and the tensioning spring is positioned between the support frame and the compression plate.
The invention provides a vascular interventional instrument pushing device, which also comprises a supporting table, wherein two first guide rails which are arranged in parallel are arranged on the supporting table, two ends of each first guide rail are respectively overlapped with a backing plate on the corresponding side, and the two backing plates are arranged in parallel and are arranged on the supporting table; the first bracket component is slidably arranged on the first guide rail.
The invention also provides a pushing method of the vascular interventional instrument, which comprises the following steps:
placing a guide wire on the driving conveyor belt, and clamping the guide wire by the driven conveyor belt and the driving conveyor belt in a matching way;
the driving assembly drives the lifting assembly to lift, and the vertical position of the lifting plate is adjusted, so that the Mecanum wheel and the driving conveyor belt are tightly propped up;
the motor is controlled to rotate through the controller, the motor drives the Mecanum wheel to rotate, and the driving conveyor belt is driven to rotate, so that the guide wire is conveyed.
The invention provides a vascular interventional instrument pushing device and a vascular interventional instrument pushing method, comprising a driving wire feeding mechanism, wherein the driving wire feeding mechanism comprises a first bracket component, a driving conveyor belt and a driving carrier roller belt wheel, the driving carrier roller belt wheel is arranged on the first bracket component, and the driving conveyor belt is in tensioning fit with the driving carrier roller belt wheel; the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, wherein the controller is electrically connected with the motor, the output end of the motor is connected with the Mecanum wheels, and the Mecanum wheels are in transmission connection with the driving conveyor belt; the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, wherein the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate is matched with the Mecanum wheel support; the driven wire feeding mechanism comprises a driven conveying belt and a driven carrier roller belt pulley, the driven conveying belt is in tensioning adaptation with the driven carrier roller belt pulley, the driven conveying belt is located above the driving conveying belt and used for clamping a guide wire, the Mecanum wheel and the driving conveying belt are tightly jacked by the lifting mechanism and drive the driving conveying belt to rotate, the phenomenon of slipping between the Mecanum wheel and the driving conveying belt is effectively prevented, stable pushing of the guide wire clamped by the driven conveying belt and the driving conveying belt is further achieved, and operation efficiency and safety are improved.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of a vascular interventional instrument pushing device provided by the invention;
FIG. 2 is a schematic diagram of an active wire feeder mechanism in a vascular interventional instrument pusher provided by the present invention;
fig. 3 is a schematic structural view of a pressing mechanism in the vascular interventional instrument pushing device provided by the invention;
fig. 4 is a schematic structural view of a power mechanism of a microphone in the vascular interventional instrument pushing device provided by the invention;
fig. 5 is a schematic structural view of a lifting mechanism in the vascular interventional instrument pushing device provided by the invention;
reference numerals:
1. an active wire feed mechanism; 2. a driven wire feed mechanism; 3. a Mecanum power mechanism; 4. a lifting mechanism; 5. a compressing mechanism; 6. a support table; 7. an active conveyor belt; 8. a driving idler pulley; 9. a carrier roller bracket; 10. a free slide; 11. a locking slide block; 12. a first guide rail; 13. a driven conveyor belt; 14. a driven idler pulley; 15. a hanging bracket; 16. a compacting plate; 17. mecanum wheel; 18. a motor; 19. a mounting bracket; 20. a mounting base; 21. a controller; 22. a supporting plate; 23. a screw rod; 24. a first base; 25. a driving slide block; 26. a light bar; 27. a second base; 28. a driven slide block; 29. rotating a hand wheel; 30. a drive beam; 31. a hinged plate; 32. an X-shaped hinge bracket; 33. a lifting plate; 34. a guide post; 35. a support frame; 36. tensioning a spring; 37. a vertical beam; 38. a cross beam; 39. an adjusting bolt; 40. and a buffer cushion block.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention will be described in further detail with reference to the accompanying drawings and examples. The following examples are illustrative of the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the embodiments of the present invention and simplifying the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In describing embodiments of the present invention, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present invention will be understood in detail by those of ordinary skill in the art.
In embodiments of the invention, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
A vascular interventional instrument pushing device of the present invention is described below with reference to fig. 1 to 5, including:
the support table 6, there are two first guide rails 12 that parallel arrangement on the support table 6;
the driving wire feeding mechanism 1, the driving wire feeding mechanism 1 comprises a first bracket component, a driving conveyor belt 7 and a driving carrier roller belt wheel 8, the first bracket component is slidably arranged on a first guide rail 12, the driving carrier roller belt wheel 8 is arranged on the first bracket component, and the driving conveyor belt 7 is in tensioning fit with the driving carrier roller belt wheel 8;
the compressing mechanism 5 comprises a second bracket component, an adjusting component and a compressing plate 16, wherein the second bracket component is arranged on the supporting table 6, the adjusting component is arranged on the second bracket component, and the compressing plate 16 is connected with the adjusting component;
the driven wire feeding mechanism 2, driven wire feeding mechanism 2 include driven conveyer 13 and driven bearing roller band pulley 14, and driven conveyer 13 and driven bearing roller band pulley 14 tensioning adaptation, driven bearing roller band pulley 14 locate the one side that pinch plate 16 deviates from the adjustment subassembly, and driven conveyer 13 is located the top of driving conveyer 7 for press from both sides tight seal wire. It will be appreciated that the support table 6 is provided on the underside for stable support of the driven wire feeder 2, the hold down mechanism 5 and the driven wire feeder 2. The supporting surface of the supporting table 6 is provided with two parallel base plates, and two ends of the first guide rail 12 are respectively lapped on the base plates. The two first guide rails 12 are arranged in parallel, that is, the length direction of the first guide rails 12 is perpendicular to the length direction of the base plate, so that an operation space is reserved for operating the lifting mechanism 4 on the premise of ensuring the stability of the first guide rails 12.
Further, the driving wire feeding mechanism 1 comprises a first bracket component, a driving conveyor belt 7 and a driving idler pulley 8, wherein the first bracket component is used for stably supporting the driving conveyor belt 7 and the driving idler pulley 8, and simultaneously driving the driving conveyor belt 7 and the driving idler pulley 8 to move along the length direction of the first track. The driving conveyor belt 7 is in tensioning fit with the driving idler pulley 8, so that the driving conveyor belt 7 is always in a tensioning state in the twisting process.
The pressing mechanism 5 includes a second bracket assembly, an adjusting assembly and a pressing plate 16, wherein the second bracket assembly is arranged on the supporting table 6, and specifically, the second bracket assembly is arranged on the upper side of the backing plate. The adjusting component is arranged on the second bracket component and connected with the pressing plate 16, and the position of the pressing plate 16 in the vertical direction is adjusted through the adjusting component.
Further, the driven wire feeding mechanism 2 comprises a driven conveyor belt 13 and a driven carrier roller belt wheel 14, wherein the driven carrier roller belt wheel 14 is used for adjusting the tension degree of the driven conveyor belt 13, so that the driven conveyor belt 13 is kept in a tension state all the time in the twisting process. The driven idler pulley 14 is arranged at the bottom side of the compacting plate 16 through the hanging bracket 15, the hanging bracket 15 is fixedly arranged, two hanging brackets are arranged and are respectively positioned at two ends of the driven idler pulley 14, and the driven idler pulley 14 and the driven conveyor belt 13 can rotate relative to the hanging bracket 15.
Wherein, driven conveyer belt 13 is located the initiative conveyer belt 7 directly over, through the position of the vertical direction of adjustment subassembly adjustment driven conveyer belt 13, namely, distance between driven conveyer belt 13 and the initiative conveyer belt 7, and the seal wire is placed on initiative conveyer belt 7, and then realizes the adjustment of driven conveyer belt 13 and initiative conveyer belt 7 to the clamp force of seal wire, prevents that the wire feeding process from taking place to skid the phenomenon, improves operation efficiency and security.
According to the vascular interventional instrument pushing device provided by the invention, the second bracket component comprises the supporting frame 35, the vertical beam 37 and the cross beam 38, the supporting frame 35 is arranged on the supporting table 6, the vertical beam 37 is arranged on the supporting frame 35, the end part of the cross beam 38 is connected with the top end of the vertical beam 37, and the adjusting component is arranged on the cross beam 38. It will be appreciated that the second bracket assembly includes two brackets 35, with two brackets 35 being disposed opposite each other on the backing plate. Each support 35 is provided with a vertical beam 37 corresponding to one branch. Both ends of the cross beam 38 are fixedly connected with the top ends of the vertical beams 37, respectively. The adjustment assembly is mounted in an intermediate position of the beam 38 with the hold down plate 16 on the underside of the beam 38.
According to the vascular interventional instrument pushing device provided by the invention, the adjusting assembly comprises the adjusting bolt 39, the buffer cushion block 40 and the connecting plate, the cross beam 38 is provided with a through hole which is matched with the adjusting bolt 39 in a penetrating way, the buffer cushion block 40 is arranged at the bottom side of the cross beam 38 and is connected with the connecting end of the adjusting bolt 39, and the connecting plate is used for connecting the buffer cushion block 40 and the pressing plate 16. It will be appreciated that the adjustment assembly includes an adjustment bolt 39, a through hole is provided in the middle of the cross beam 38, and the adjustment bolt 39 is vertically inserted into the through hole. The lower end of the adjusting bolt 39 is a connecting end and is fixedly connected with the buffer cushion block 40, a connecting plate is arranged at the bottom side of the buffer cushion block 40, and the connecting plate is fixedly connected with the compacting plate 16. It should be noted that the adjusting bolt 39 includes a stud and a nut, the lower end of the stud is fixedly connected with the buffer cushion block 40, the nut is sleeved on the stud and is located on the upper side of the beam 38, and the diameter of the through hole is larger than that of the stud and smaller than that of the nut. By screwing the nut, the stud moves up and down in the through hole, and the position of the pressing plate 16 in the vertical direction is adjusted.
It should be noted that, the length of the connection plate is greater than the length of the buffer cushion block 40, so as to increase the connection area between the connection plate and the compression plate 16, improve the connection strength, and ensure the stability of the movement of the compression plate 16 during the adjustment process, and prevent the offset.
According to the vascular interventional instrument pushing device provided by the invention, the support frame 35 is provided with the guide post 34, the compression plate 16 is provided with the guide hole which is in guide fit with the guide post 34, the guide post 34 is sleeved with the tensioning spring 36, and the tensioning spring 36 is positioned between the support frame 35 and the compression plate 16. It can be understood that the support frame 35 is provided with a vertically arranged guide post 34, the pressing plate 16 is provided with a guide hole, the guide hole is sleeved on the guide post 34, the pressing plate 16 can move along the axial direction of the guide post 34, and the guide post 34 plays a role in guiding.
The guide post 34 is sleeved with a tensioning spring 36, the tensioning spring 36 is located between the support frame 35 and the compression plate 16, the tensioning spring 36 and the adjusting bolt 39 generate opposite acting force on the compression plate 16, and further effective adjustment of the position of the compression plate 16 and controllable adjustment of clamping force are achieved.
According to the vascular interventional instrument pushing device provided by the invention, the first bracket component comprises the second guide rail and the carrier roller bracket 9, the second guide rail is perpendicular to the first guide rail 12, two ends of the second guide rail are respectively and slidably assembled on the first guide rail 12 through the free sliding blocks 10, the second guide rail is provided with the slidable locking sliding blocks 11, the carrier roller bracket 9 is connected with the locking sliding blocks 11, and the driving carrier roller belt wheel 8 is connected with the carrier roller bracket 9. It is understood that the first bracket component comprises second rails, and the second rails are correspondingly arranged in two and parallel. The second track is perpendicular to the first track. The first track is provided with a free sliding block 10, and two ends of the second track are respectively and fixedly connected with the free sliding blocks 10 on the corresponding sides, so that the second track can slide along the length direction of the first track through the free sliding blocks 10.
The second guide rail is provided with a locking slide block 11, and the locking slide block 11 can slide along the length direction of the second guide rail and has a locking function. The locking slide block 11 is provided with a carrier roller bracket 9, the end part of the driving carrier roller belt wheel 8 is connected with the carrier roller bracket 9, and the driving carrier roller belt wheel 8 can rotate relative to the carrier roller bracket 9. That is, by moving the lock slider 11, the driving idler pulley 8 is driven to move, tension adjustment of the driving conveyor belt 7 is achieved, and the lock slider 11 is locked, so that the driving conveyor belt 7 is in a tensioned state. And the free sliding block 10 is moved to realize the reciprocating movement of the driving conveyor belt 7 relative to the driven conveyor belt 13 along the first guide rail 12, and the twisting of the guide wire clamped between the driving conveyor belt 7 and the driven conveyor belt 13 is realized.
According to the vascular interventional instrument pushing device provided by the invention, the vascular interventional instrument pushing device further comprises a Mecanum power mechanism 3, the Mecanum power mechanism 3 comprises Mecanum wheels 17, a motor 18 and a controller 21, the controller 21 is electrically connected with the motor 18, the output end of the motor 18 is connected with the Mecanum wheels 17, and the Mecanum wheels 17 are in transmission connection with the driving conveyor belt 7. It will be appreciated that the Mecanum power mechanism 3 is configured to power the active wire feeder 1 and includes, in particular, mecanum wheels 17, a motor 18, and a controller 21. The controller 21 is electrically connected to the motor 18 for controlling the forward rotation and the reverse rotation of the motor 18. The output end of the motor 18 is connected with the Mecanum wheel 17 to drive the Mecanum wheel 17 to rotate forward or reversely. The mecanum wheel 17 is in transmission connection with the active conveyor belt 7, that is, the controller 21 sends a starting instruction to the motor 18, the motor 18 drives the mecanum wheel 17 to rotate forward or reversely, the mecanum wheel 17 is in close contact with the active conveyor belt 7, friction force is generated, and further the active conveyor belt 7 is driven to rotate, and conveying or recycling of guide wires is achieved.
The controller 21 is fixedly mounted on the supporting plate 22, the Mecanum wheel 17 is arranged on the supporting plate 22 through the mounting bracket 19, the motor 18 is mounted on the supporting plate 22 through the mounting seat 20, and stable mounting of the controller 21, the Mecanum wheel 17 and the motor 18 is ensured.
According to the vascular interventional instrument pushing device provided by the invention, the vascular interventional instrument pushing device further comprises a lifting mechanism 4, the lifting mechanism 4 comprises a lifting plate 33, a lifting assembly and a driving assembly, the driving assembly and the lifting assembly are arranged on the supporting table 6, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate 33, and the lifting plate 33 is in supporting fit with the Mecanum wheel 17. It can be appreciated that the lifting mechanism 4 is configured to drive the mecanum power mechanism 3 to lift, thereby adjusting the tightness between the mecanum wheel 17 and the active conveyor belt 7, and preventing the slipping phenomenon between the mecanum wheel 17 and the active conveyor belt 7. Specifically, including lifter plate 33, lifting assembly and drive assembly, lifter plate 33 level sets up, and drive assembly and lifting assembly are all fixed assembly on brace table 6, and lifter plate 33 is located the bottom side of layer board 22. The output end of the driving component is in transmission connection with the lifting component, power is provided for the lifting component through the driving component, and the lifting component drives the lifting plate 33 to lift and adjust, so that the Mecanum wheel 17 is supported to be close to or far away from the active conveyor belt 7.
According to the vascular interventional instrument pushing device provided by the invention, the driving assembly comprises the lead screw 23, the first base 24, the driving sliding block 25 and the transmission beam 30, wherein two ends of the lead screw 23 are respectively arranged on the supporting table 6 through the first base 24, the lead screw 23 can rotate relative to the first base 24, the driving sliding block 25 is sleeved on the lead screw 23, the transmission beam 30 is connected with the driving sliding block 25, and the end part of the driving sliding block 25 is in transmission connection with the lifting assembly. It will be appreciated that the two ends of the screw 23 are respectively mounted on the support table 6 through the first base 24, that is, the first base 24 is fixedly mounted on the support table 6, and the two ends of the screw 23 are rotatably mounted on the first base 24. The driving slide block 25 is sleeved on the screw rod 23, one end of the screw rod 23 is provided with a rotary hand wheel 29, and the screw rod 23 is driven to rotate by rotating the rotary hand wheel 29, so that the driving slide block 25 moves along the length direction of the screw rod 23.
Further, the middle part of the transmission beam 30 is fixedly installed on the driving slide block 25, so that synchronous movement of the transmission beam 30 and the driving slide block 25 is realized. The two ends of the transmission beam 30 are respectively connected with the lifting components on the corresponding sides in a transmission way, so that the power transmission is realized.
According to the vascular interventional instrument pushing device provided by the invention, the lifting assembly comprises the light bar 26, the second base 27, the driven sliding block 28 and the X-shaped hinging frame 32, wherein two ends of the light bar 26 are respectively arranged on the supporting table 6 through the second base 27, the driven sliding block 28 is slidably sleeved on the light bar 26, the lifting end of the X-shaped hinging frame 32 is hinged with the lifting plate 33, and the driven end of the X-shaped hinging frame 32 is respectively hinged with the driven sliding block 28 and the second base 27 at the corresponding side. It will be appreciated that the lifting assembly comprises a feed bar 26, the feed bar 26 being provided in two strips and being parallel to the screw 23. The two ends of the light bar 26 are respectively arranged on the supporting table 6 through the second base 27, and the light bar 26 is fixedly assembled to play a role in guiding. The feed beam 26 is sleeved with a driven slide block 28, and the driven slide block 28 can slide along the length direction of the feed beam 26. The upper end of the X-shaped hinged frame 32 is a lifting end and is hinged with the lifting plate 33, and the lower end of the X-shaped hinged frame 32 is a driven end and is respectively hinged with the driven sliding block 28 and the second base 27 at the corresponding side.
Specifically, the X-shaped hinge frame 32 includes a first hinge rod and a second hinge rod which are disposed in an X-shaped cross manner, the middle of the first hinge rod is hinged with the middle of the second hinge rod, two second bases 27 and a light bar 26 which are opposite up and down are respectively disposed on the bottom side of the lifting plate 33 and the supporting table 6, and driven sliding blocks 28 are disposed on the two light bars 26; the upper end of the first hinging rod is hinged with a driven sliding block 28 at the bottom side of a lifting plate 33, and the lower end of the first hinging rod is hinged with a hinged plate 31 of a second base 27 of the supporting table 6; the upper end of the second hinging rod is hinged with the hinging plate 31 of the second base 27 at the bottom side of the lifting plate 33, the lower end of the second hinging rod is hinged with the driven sliding block 28 on the supporting table 6, and the first hinging rod and the second hinging rod are obliquely and crosswise arranged.
That is, the driving beam 30 drives the driven slider 28 on the supporting table 6 to move along the length direction of the feed beam 26, the lower end of the second hinge rod slides synchronously with the driven slider 28, the upper end of the second hinge rod does not move in the horizontal direction and moves in the vertical direction; the upper end of the first hinge rod moves with the driven slide block 28 at the bottom side of the lifting plate 33, the lower end of the first hinge rod does not move in the horizontal direction and moves in the vertical direction, and lifting driving of the lifting plate 33 is further achieved.
The vascular interventional instrument pushing method provided by the invention is described below, and the vascular interventional instrument pushing method described below and the vascular interventional instrument pushing device described above can be correspondingly referred to each other.
The invention also provides a pushing method of the vascular interventional instrument, which comprises the following steps:
placing the guide wire on the driving conveyor belt 7, and clamping the guide wire by the driven conveyor belt 13 and the driving conveyor belt 7 in a matching way;
the lifting assembly is driven to lift by the driving assembly, the vertical position of the lifting plate 33 is adjusted, and then the Mecanum wheel 17 is tightly propped against the driving conveyor belt 7;
the motor 18 is controlled by the controller 21 to rotate, and the motor 18 drives the Mecanum wheel 17 to rotate so as to drive the driving conveyor belt 7 to rotate, thereby realizing the conveying of the guide wire.
The invention provides a vascular interventional instrument pushing method, which specifically comprises the following steps:
placing a guide wire on the driving conveyor belt 7, moving the locking slide block 11 to enable the driving carrier roller belt pulley 8 to move along the opposite directions, tensioning the driving conveyor belt 7, locking the locking slide block 11 and keeping the locking slide block stationary;
screwing the adjusting bolt 39, moving the pressing plate 16 downwards to enable the driven conveyor belt 13 tensioned by the driven carrier roller belt wheels 14 to move downwards, and enabling the driven conveyor belt 13 and the driving conveyor belt 7 to stably clamp the guide wire;
rotating the hand wheel 29, rotating the lead screw 23, moving the driving sliding block 25 along the length direction of the lead screw 23, wherein the lead screw 23 is vertical to the first track, and the transmission beam 30 and the driving sliding block 25 synchronously move, so as to drive the driven sliding block 28 to move along the feed beam 26, and the upper end of the X-shaped hinged frame 32 performs lifting movement to realize lifting driving of the lifting plate 33;
lifting plate 33 rises to tightly prop up supporting plate 22, so that Mecanum wheel 17 is in close contact with active conveyor belt 7, controller 21 controls motor 18 to forward or reverse, motor 18 drives Mecanum wheel 17 to rotate, mecanum wheel 17 drives active conveyor belt 7 to rotate, slipping is prevented, and guide wire is conveyed;
the free sliding block 10 is driven to slide back and forth along the length direction of the first guide rail 12, the driving conveyor belt 7 and the free sliding block 10 move synchronously, and as the driven conveyor belt 13 does not displace, the movement trend of the driving conveyor belt 7 and the driven conveyor belt 13 is opposite, and twisting force is generated on the guide wire, so that twisting of the guide wire is completed.
It should be noted that the acting object in the embodiment of the present invention may also be a catheter.
The invention provides a vascular interventional instrument pushing device and a vascular interventional instrument pushing method, comprising a driving wire feeding mechanism, wherein the driving wire feeding mechanism comprises a first bracket component, a driving conveyor belt and a driving carrier roller belt wheel, the driving carrier roller belt wheel is arranged on the first bracket component, and the driving conveyor belt is in tensioning fit with the driving carrier roller belt wheel; the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, wherein the controller is electrically connected with the motor, the output end of the motor is connected with the Mecanum wheels, and the Mecanum wheels are in transmission connection with the active conveyor belt; the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate is matched with the Mecanum wheel support; the driven wire feeding mechanism comprises a driven conveying belt and a driven carrier roller belt pulley, the driven conveying belt is in tensioning fit with the driven carrier roller belt pulley, the driven conveying belt is located above the driving conveying belt and used for clamping a guide wire, the Mecanum wheel and the driving conveying belt are tightly propped up through the lifting mechanism and drive the driving conveying belt to rotate, the phenomenon of slipping between the Mecanum wheel and the driving conveying belt is effectively prevented, and then stable pushing of the guide wire clamped by the driven conveying belt and the driving conveying belt is achieved, and the operation efficiency and safety are improved.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A vascular interventional instrument pushing device, comprising:
the driving wire feeding mechanism comprises a first bracket component, a driving conveyor belt and a driving carrier roller belt wheel, wherein the driving carrier roller belt wheel is arranged on the first bracket component, and the driving conveyor belt is in tensioning fit with the driving carrier roller belt wheel;
the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, wherein the controller is electrically connected with the motor, the output end of the motor is connected with the Mecanum wheels, and the Mecanum wheels are in transmission connection with the driving conveyor belt;
the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, wherein the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate is matched with the Mecanum wheel support;
the driven wire feeding mechanism comprises a driven conveying belt and a driven carrier roller belt wheel, the driven conveying belt is in tensioning fit with the driven carrier roller belt wheel, and the driven conveying belt is located above the driving conveying belt and used for clamping a guide wire.
2. The vascular interventional instrument pushing device according to claim 1, wherein the first bracket assembly comprises a second guide rail and a carrier roller bracket, a slidable locking slide block is arranged on the second guide rail, the carrier roller bracket is connected with the locking slide block, and the driving carrier roller pulley is connected with the carrier roller bracket.
3. The vascular interventional instrument pushing device according to claim 1, wherein the driving assembly comprises a screw rod, a first base, a driving sliding block and a transmission beam, the first base is respectively arranged at two ends of the screw rod, the screw rod can rotate relative to the first base, the driving sliding block is sleeved on the screw rod, the transmission beam is connected with the driving sliding block, and the end part of the driving sliding block is in transmission connection with the lifting assembly.
4. The vascular interventional instrument pushing device according to claim 3, wherein the lifting assembly comprises a light bar, a second base, a driven sliding block and an X-shaped hinged frame, the second base is respectively arranged at two ends of the light bar, the driven sliding block is slidably sleeved on the light bar, the lifting end of the X-shaped hinged frame is hinged with the lifting plate, and the driven end of the X-shaped hinged frame is respectively hinged with the driven sliding block and the second base at the corresponding side.
5. The vascular interventional instrument pushing device of claim 1, further comprising a compression mechanism comprising a second bracket assembly, an adjustment assembly and a compression plate, the adjustment assembly being disposed on the second bracket assembly, the compression plate being connected to the adjustment assembly.
6. The vascular interventional instrument pushing device of claim 5, wherein the second bracket assembly comprises a support frame, a vertical beam and a cross beam, the vertical beam is disposed on the support frame, an end of the cross beam is connected with a top end of the vertical beam, and the adjustment assembly is disposed on the cross beam.
7. The vascular interventional instrument pushing device according to claim 6, wherein the adjusting assembly comprises an adjusting bolt, a buffer block and a connecting plate, the cross beam is provided with a through hole which is matched with the adjusting bolt in a penetrating way, the buffer block is arranged on the bottom side of the cross beam and is connected with the connecting end of the adjusting bolt, and the connecting plate is used for connecting the buffer block and the pressing plate.
8. The vascular interventional instrument pushing device according to claim 6, wherein the support frame is provided with a guide post, the compression plate is provided with a guide hole in guiding fit with the guide post, the guide post is sleeved with a tensioning spring, and the tensioning spring is located between the support frame and the compression plate.
9. The vascular interventional instrument pushing device according to claim 1, further comprising a supporting table, wherein two first guide rails arranged in parallel are arranged on the supporting table, two ends of each first guide rail are respectively overlapped with a base plate on the corresponding side, and two base plates are arranged in parallel and are arranged on the supporting table; the first bracket component is slidably arranged on the first guide rail.
10. A pushing method based on the vascular interventional instrument pushing device according to any one of claims 1 to 9, characterized by comprising the steps of:
placing a guide wire on the driving conveyor belt, and clamping the guide wire by the driven conveyor belt and the driving conveyor belt in a matching way;
the driving assembly drives the lifting assembly to lift, and the vertical position of the lifting plate is adjusted, so that the Mecanum wheel and the driving conveyor belt are tightly propped up;
the motor is controlled to rotate through the controller, the motor drives the Mecanum wheel to rotate, and the driving conveyor belt is driven to rotate, so that the guide wire is conveyed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111234034.3A CN113951946B (en) | 2021-10-22 | 2021-10-22 | Vascular interventional instrument pushing device and method |
| PCT/CN2022/126610 WO2023066362A1 (en) | 2021-10-22 | 2022-10-21 | Vascular interventional instrument pushing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111234034.3A CN113951946B (en) | 2021-10-22 | 2021-10-22 | Vascular interventional instrument pushing device and method |
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| CN113951946A CN113951946A (en) | 2022-01-21 |
| CN113951946B true CN113951946B (en) | 2023-11-17 |
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| WO (1) | WO2023066362A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113974787B (en) * | 2021-10-22 | 2022-09-27 | 中国科学院自动化研究所 | Twisting device and method for vascular interventional instrument |
| CN113951946B (en) * | 2021-10-22 | 2023-11-17 | 中国科学院自动化研究所 | Vascular interventional instrument pushing device and method |
| CN114560284B (en) * | 2022-03-30 | 2024-04-16 | 四川大川合颐生物科技有限公司 | Cell culture apparatus production equipment, intelligent control system and production method thereof |
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Also Published As
| Publication number | Publication date |
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| CN113951946A (en) | 2022-01-21 |
| WO2023066362A1 (en) | 2023-04-27 |
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