CN114246677A

CN114246677A - Guide wire rotating and delivering transmission device for vascular interventional surgical robot

Info

Publication number: CN114246677A
Application number: CN202210076775.1A
Authority: CN
Inventors: 王杨; 唐伟; 赵春莹
Original assignee: Weiya Medical Technology Suzhou Co ltd
Current assignee: Weiya Medical Technology Suzhou Co ltd
Priority date: 2022-01-24
Filing date: 2022-01-24
Publication date: 2022-03-29
Also published as: WO2023138395A1

Abstract

The invention discloses a guide wire rotating and delivering transmission device for a vascular intervention surgical robot, which comprises a shell, a guide wire disc autorotation transmission mechanism and a guide wire disc autorotation driving shaft, wherein the output end of the guide wire disc autorotation transmission mechanism is connected with the guide wire disc autorotation driving shaft; the partition plate is arranged in the lower shell and forms an installation space with the lower shell; a through hole through which the spinning driving shaft of the godet passes is formed on the horizontal plate part; the positioning device positions the guidewire delivery device mounted on the horizontal plate portion relative to the housing; a hollow shell rotating driving shaft is arranged on the cover plate at the rear end of the shell; the godet rotation transmission mechanism comprises a power input shaft and a transmission assembly arranged between the power input shaft and the godet rotation driving shaft; the power input shaft is coaxial with the shell rotation driving shaft, and the longitudinal front end of the power input shaft extends through and is supported by the rear end cover plate; the shell is provided with a rotary supporting shaft which is coaxial with the shell rotary driving shaft.

Description

Guide wire rotating and delivering transmission device for vascular interventional surgical robot

Technical Field

The invention relates to the technical field of medical instruments, in particular to a transmission device for realizing guide wire rotation and delivery for a vascular intervention surgical robot.

Background

Minimally invasive vascular interventional surgery is a basic means for diagnosis and treatment of cardiovascular and cerebrovascular diseases, and most of the currently implemented vascular lesion diagnosis and vascular reconstruction surgeries need the help of the technology. The operation of the guide wire is one of the core contents of the minimally invasive vascular interventional surgery, and determines the quality of the surgery. Currently, an interventionalist manually performs the positioning operation of a guide wire in a patient's vessel by means of digital silhouette angiography imaging (DSA). Use the robot device to carry out the location operation of seal wire, be favorable to improving location operation precision and stability, liberate medical personnel from the radiation, avoid medical personnel because of wearing the additional injury that heavy lead clothing brought, avoid medical personnel because of tired cause the unreliable condition of operation in the art, improve the condition that traditional intervention operation extremely relies on doctor's personal experience, reduce the study curve of intervention operation, intervene the operation for the blood vessel and provide more accurate operation.

The medical catheter is a hollow tubular structure, and the inner hollow cavity is used as a contrast agent injection channel or a medical instrument conveying channel. Because the catheter has high hardness and is not convenient for completing the selection of blood vessels, the solid guide wire with high flexibility is adopted to guide the catheter to enter the targeted blood vessels. During the operation, a doctor punctures a blood vessel in a femoral artery or a radial artery and leaves a blood vessel sheath as an entrance of a catheter into the blood vessel. The catheter is advanced through a vascular sheath into a blood vessel within the patient, and the guidewire is advanced from a passageway within the catheter into the blood vessel. Control of guidewire advancement and retraction and rotation is typically accomplished by the interventionalist with his assistant hand, two-handed and four-handed.

When a robot is used for assisting a vascular intervention operation, the robot is used for realizing guide wire advancing and withdrawing and guide wire rotation, which is one of the most central functions. To control the movement of the guide wire, a non-destructive clamping of the guide wire must first be achieved. Because the surface of the guide wire is provided with the ultra-smooth loach coating, the traditional clamping method is easy to damage the coating on the surface of the guide wire due to loose clamping or over-tight clamping. The guide wire rotation cannot be interfered by the clamping device, so the guide wire rotating device is integrated with the clamping device. Meanwhile, the guide wire can directly enter the body of a patient, and has higher requirements on aseptic conditions.

According to different driving force sources for guide wire conveying, the current guide wire clamp holder schemes at home and abroad can be divided into two types: the friction wheel clamping and direct pushing type conveying scheme. The friction wheel clamping means that one or more pairs of friction wheels are used for clamping the guide wire through extrusion, and the guide wire can move forwards or backwards under the driving of the driving wheel. In this case, the rotation of the guide wire requires the two friction wheels to move in opposite directions perpendicular to the axial direction of the guide wire to twist the guide wire. The other mode is a direct push type conveying scheme, and the guide wire is conveyed by a special driving mechanism to drive a device for clamping the guide wire to move linearly. The guide wire clamping device only needs to realize guide wire clamping, and more guide wire rotation needs to be considered. The traditional mode is to add an additional driving device for the clamping device to drive the guide wire clamping device to rotate the guide wire. Thereby realize the small-angle rotation of seal wire, efficiency is lower.

Disclosure of Invention

The guide wire rotating and delivering device of the traditional vascular interventional surgical robot has the following problems: because the surface of the guide wire is provided with the ultra-smooth loach coating, the guide wire is easy to slide when encountering resistance, so that the guide wire is reduced in rotation and delivery precision; the effect of guide wire rotation is unstable by clamping the guide wire; and sterile environments are not completely realized.

The invention aims to overcome the defects of the prior art, and aims to provide a guide wire rotating and delivering transmission device for a vascular intervention surgical robot, which can realize accurate delivery and rotation of the guide wire without causing any damage to the guide wire; moreover, the device and the robot body adopt a separated structure, and the isolation of the sterile environment in the operation can be realized.

According to the present invention, there is provided a guide wire rotation and delivery transmission for a vascular interventional surgical robot, the guide wire rotation and delivery transmission comprising:

the shell comprises a lower shell, the lower shell comprises a circumferential side wall, a front end cover plate arranged at the front end of the circumferential side wall and a rear end cover plate arranged at the rear end of the circumferential side wall, and the upper part of the lower shell is open;

the output end of the godet autorotation transmission mechanism is connected with the godet autorotation driving shaft and is used for driving the godet autorotation driving shaft to rotate, and the godet autorotation driving shaft is used for connecting a godet of a godet delivery device and driving the godet to autorotate;

a partition plate including a horizontal plate portion fixedly installed in the lower case, a mounting space being formed between the horizontal plate portion and a portion of the lower case located below the horizontal plate portion, an upper portion of the horizontal plate portion being used to mount a guide wire delivery device; a through hole through which the spinning drive shaft of the godet passes is formed on the horizontal plate part;

positioning means for positioning the guidewire delivery device mounted on the horizontal plate portion relative to the housing such that the guidewire delivery device is rotatable with the housing;

the rear end cover plate is provided with a shell rotating driving shaft which longitudinally extends backwards and is used for being connected with a shell rotating power output shaft to drive the shell to rotate, and the shell rotating driving shaft is of a hollow shaft structure and is provided with a central hole;

the godet rotation transmission mechanism comprises a godet self-rotation force input shaft and a transmission assembly arranged between the godet self-rotation force input shaft and the godet rotation driving shaft, the transmission assembly is at least partially arranged in the installation space, power input by the godet self-rotation force input shaft is transmitted to the godet rotation driving shaft through the transmission assembly, and the godet rotation driving shaft extends through a through hole formed on the horizontal plate part;

the godet self-rotation force input shaft is coaxially arranged with the shell rotation driving shaft, is positioned in a central hole of the shell rotation driving shaft and is used for being connected with the godet self-rotation force output shaft to receive driving force, and the longitudinal front end of the godet self-rotation force input shaft extends through the rear end cover plate and is supported by the rear end cover plate;

the shell is provided with a rotating supporting shaft which is coaxially arranged with the shell rotating driving shaft and is used for rotatably supporting the shell.

By adopting the technical scheme of the invention, the following technical effects are realized:

1. the guide wire rotating and delivering transmission device is arranged in the instrument operation box and is completely separated from the robot body, so that the problem that the sterile environment is difficult to ensure due to incomplete separation of the guide wire rotating and delivering transmission device and the power unit in the operation is thoroughly solved;

2. the technical scheme that the guide wire rotating and delivering transmission device adopts the technical scheme that the guide wire disc is driven to rotate by the rotation of the shell so as to drive the guide wire to rotate is adopted, the guide wire is not in contact with the guide wire rotating device, the problem of unstable rotation caused by the fact that the friction force between the guide wire and a contact part is obviously reduced under the wet condition of the ultra-smooth loach coating of the guide wire is solved, and the accurate rotating motion of the guide wire is realized;

3. the guide wire rotating and delivering transmission device adopts the technical scheme that the guide wire is delivered by rotating the guide wire disc, so that the problem of inaccurate delivery caused by relative movement of the guide wire and the clamping device in the prior art is solved, the accurate delivery of the guide wire is realized, and the guide wire is not damaged;

4. according to the guide wire rotating and delivering transmission device, the guide wire rotating and delivering driving force from the power unit of the robot body is transmitted out by using the transmission assembly, so that the realization of a sterile environment is facilitated;

5. the guide wire rotating and delivering transmission device is convenient and quick to install, and the possibility of installation errors caused by insufficient installation proficiency of doctors on the device is reduced to the maximum extent.

Drawings

The invention is explained in more detail below with reference to the drawing and the examples, in which

Fig. 1 is a perspective view illustrating the general structure of a slave end portion for a vascular interventional surgical robot;

FIG. 2 is a perspective view of a guidewire rotation and delivery transmission according to the present invention with the upper cover in an open state;

FIG. 3 is a perspective view of a guidewire rotation and delivery transmission according to the present invention with the upper cover in a closed state;

FIG. 4 is a perspective view of a guidewire rotation and delivery transmission according to the present invention with the upper cover in an open position with the divider plate removed to reveal the internal structure of the lower housing;

FIG. 5 is a perspective view in longitudinal cross-section of a guidewire rotation and delivery transmission according to the present invention;

FIG. 6 is a perspective view of an instrument cassette for use with the guidewire rotation and delivery transmission of the present invention;

FIG. 7A is a perspective view illustrating another embodiment of a guidewire rotation and delivery transmission in accordance with the present invention, with the upper cover in an open state;

FIG. 7B is a perspective view illustrating another embodiment of a guidewire rotation and delivery transmission in accordance with the present invention, with the upper cover in a closed state;

FIG. 8 is a perspective view illustrating the guidewire delivery device with the nipple installed in place in the lower housing;

FIG. 9 is a perspective view illustrating the configuration of a guide wire hole provided on a cover plate of the front end of the housing; and

FIG. 10 is a perspective view in longitudinal section illustrating another embodiment of the godet rotation transmission.

Detailed Description

The guide wire rotating and delivering transmission device for the vascular interventional surgical robot of the present invention is described in detail below with reference to the accompanying drawings. It should be noted herein that the embodiments of the present invention are merely illustrative, which are only for the purpose of illustrating the principles of the present invention and are not to be construed as limiting the present invention.

Referring first to fig. 1, the general structure of a slave end portion for a vascular interventional surgical robot is illustrated. As shown in fig. 1, the slave end portion includes a robot body 1, an instrument manipulation box assembly 2, and a guidewire rotation and delivery transmission 3. The robot body 1 comprises a base mechanism and a power unit, the power unit comprises a catheter power box and a guide wire power box, the catheter power box is installed on a sliding block arranged in the base and moves along with the sliding block, and the guide wire power box 4 is arranged at the rear part of the catheter power box and is laterally connected and fixed with the catheter power box. The transverse side of the instrument operation box component 2 is laterally connected with the adjacent side of the catheter power box, the longitudinal rear end of the instrument operation box component is arranged adjacent to the guide wire power box 4, and the instrument operation box component 2 moves along with the catheter power box. The guide wire rotating and delivering transmission device 3 is arranged on the instrument operation box component 2, and the rear end of the guide wire rotating and delivering transmission device is connected with the guide wire power box.

For convenience of description, in the following description, the moving direction of the instrument operation box assembly 2 is defined as a longitudinal direction, and the width direction of the instrument operation box assembly is defined as a lateral direction; in use, the end of the instrument pod assembly facing the blood vessel of the body is referred to as the front end and the end facing away from the blood vessel is referred to as the rear end.

Referring now to fig. 2-4, fig. 2 is a perspective view of a guidewire rotation and delivery transmission according to the present invention with the upper cover in an open state; FIG. 3 is a perspective view of a guidewire rotation and delivery transmission according to the present invention with the upper cover in a closed state; fig. 4 is a perspective view of a guidewire rotation and delivery transmission according to the present invention with the upper cover in an open position with the divider plate removed to reveal the internal structure of the lower housing. As shown in fig. 2, the guidewire rotation and delivery transmission includes a housing 600 including a lower housing 601 with an upper portion of the lower housing 601 open and an upper cover 602. As shown in fig. 3, in the state where the upper cover is closed, the combination of the lower case and the upper cover forms a cylindrical housing including a barrel 607, and a front end cover 603 and a rear end cover 604. As shown in fig. 2 to 4, a plane parallel to the axis of the cylindrical housing forms a split surface of the lower housing 601 and the upper cover 602, and the rear end cover 604 is an integral disk formed integrally with the lower housing 601; the front cover plate 603 and the barrel 607 are divided into two parts by a splitting surface, and the two parts are respectively attached to the lower shell and the upper cover. The split surfaces of the lower shell and the upper cover form binding surfaces of the lower shell and the upper cover, and when the upper cover is closed on the lower shell, the binding surfaces of the upper cover and the lower shell are mutually bound.

As shown in fig. 2, the circumferential wall end of the upper cover 602 and the circumferential wall end of the lower case 601 are connected by a hinge 610 so that the upper cover can pivot between the open position and the closed position. In order to securely hold the upper lid in the closed position against unintentional opening, a closure locking means may be provided.

In the illustrated embodiment, as shown in fig. 4, the closure locking device is a magnet assembly, and a magnet or ferromagnetic member 612 may be embedded in the abutting surface of the lower shell at the junction of the front cover plate and the peripheral wall plate, while a ferromagnetic member or magnet 614 may be embedded in the abutting surface of the upper cover at the junction of the front cover plate and the peripheral wall plate, so that the upper cover is held in the closed position by the attraction of the magnet and the ferromagnetic member.

Various prior art locking devices may be employed for the closure locking device, such as a snap-in-groove arrangement, and the like, and thus the example given herein is merely an illustrative example and is in no way intended to limit the specific structure of the closure locking device employed.

As shown in fig. 2, in order to facilitate the opening and closing of the upper cover, a cylinder 611 may be preferably provided on the front cover plate of the upper cover, and the opening and closing operation may be performed by holding the cylinder.

In addition, the upper cover does not need to be hinged on the lower shell, but is a component independent from the lower shell, and is connected together through a structure such as a buckle slot when being assembled, for example, like a musical button preservation box.

As shown in fig. 5, a housing rotation driving shaft 614 is formed at the rear side of the rear end cover 604, the housing rotation driving shaft 614 extends rearward in the longitudinal direction, and the axis of the housing rotation driving shaft is coaxial with the axis of the cylindrical housing. The housing rotary drive shaft 614 is a hollow shaft defining a central longitudinal bore 611. The structure of the hollow shaft can be represented as follows: the central hole is a non-circular hole, such as a polygonal hole or a D-shaped hole shown in fig. 5, and the outer peripheral surface is cylindrical; it can also be presented as: the central hole is a circular hole, and the outer peripheral surface is non-cylindrical, for example, a polygonal hole or a D-shaped cross section. The housing rotary drive shaft 614 is adapted for connection to a housing rotary power take-off shaft of the drive means having an adapter structure such that the housing can be rotated by the drive means.

In actual use, the housing rotation operation is achieved by coupling the housing rotation drive shaft 614 to the housing rotation power output shaft of the drive means. In order to ensure the stability of the housing installation, as a preferred solution, as shown in fig. 6, the instrument operation box assembly used with the guide wire rotation and delivery transmission device is provided with a circular arc shaped support surface 301, and the circular arc shaped support surface 301 contacts with the outer circumferential surface of the housing to provide support.

In order to ensure the smoothness of the rotation operation of the housing, a slide rail may be preferably provided on the housing. In the illustrated embodiment, as shown in fig. 3, two

slide rails

615 and 616 are provided, respectively at both longitudinal ends of the cylindrical housing, and are provided along the circumferential direction of the housing. The rear slide rail 615 is arranged on the outer circumference of the rear cover plate of the housing, the front slide rail 616 is composed of two sections, one section 617 is arranged on one side of the upper cover, the other section 618 is arranged on one side of the lower housing, and when the upper cover is in a closed position, the two sections are circumferentially jointed to form a complete circumferential slide rail. In operation, the two slide rails contact the circular arc-shaped support surface 301 of the instrument operation box, thereby ensuring the smoothness of the rotation of the cylinder.

As a modification of the above embodiment, a slide rail may not be provided on the cylindrical housing, and other alternatives may be adopted. As shown in fig. 6, two sets of support rollers 302 may be provided at the circular arc-shaped support surface of the instrument operation box at positions corresponding to the longitudinal ends of the cylindrical housing, respectively, each set of support rollers including a plurality of support rollers 303 arranged at intervals in the circumferential direction for rolling-supporting the housing.

As another modification of the above-described embodiment, instead of the barrel of the housing serving as the rotational support of the guide wire rotation and delivery transmission mechanism, a hollow support shaft 619 extending longitudinally forward may be provided on the front end cover plate, with the axis of the hollow support shaft 619 disposed coaxially with the axis of the housing rotation drive shaft, as shown in fig. 7A and 7B, and this hollow support shaft 619 serves as the rotational support of the guide wire rotation and delivery transmission mechanism. Accordingly, similar to the case of using the barrel of the cylindrical housing as the rotation support, a corresponding circular arc-shaped support surface may be provided on the instrument console box to support the hollow support shaft 619. Similarly to using the barrel of the cylindrical housing as a rotational support, a slide rail may be provided on the hollow support shaft, or a support roller may be provided at the circular arc-shaped support surface of the instrument operation box. In the illustrated embodiment, the hollow shaft is disposed in part on the lower shell and in part on the upper cover, which when closed, forms the complete hollow shaft. As a modification of the hollow shaft, other solutions are possible, for example, the entire hollow shaft may be arranged on the lower shell or on the upper cover, depending on the structure of the lower shell and the upper cover. In the case of using the hollow support shaft 619 provided on the front end cover plate and extending longitudinally forward as the rotation support, a non-cylindrical housing such as a housing having a polygonal cross section or the like may be used, and an example of a housing having a rectangular cross section is shown in fig. 7A and 7B.

To ensure the stability of the housing mounting and rotation, as a preferred solution, a longitudinal positioning means 305 for the guide wire rotation and delivery transmission is provided on the instrument handling cartridge assembly, as shown in fig. 6. In the embodiment shown, the longitudinal positioning means 305 shown comprise two longitudinal retaining members 306, which are longitudinally movable and longitudinally biased towards the rear side. When the guide wire rotation and delivery transmission is provided on the instrument cassette assembly, the two longitudinal stops 306 abut the front cover plate of the housing. In order to reduce friction and facilitate the rotation of the housing, the two longitudinal stops 306 are provided with balls, which, like the balls associated with a ballpoint pen, are urged against the front cover of the housing after assembly on the longitudinal stops 306.

As shown in fig. 2 and 5, according to the guide wire rotating and delivery transmission device of the present invention, a separation plate 620 is provided in a lower case, and the separation plate 620 is fixedly installed in the lower case 601. The partition plate 620 is L-shaped as a whole, and includes a horizontal plate portion 621 and an upright plate portion 622. The horizontal plate section 621 is circumferentially symmetrically disposed in the lower housing, and has a configuration matching the inner contour of the corresponding section of the lower housing for separation, and an upper portion thereof for receiving a guidewire delivery device. The horizontal plate portion 621 forms a mounting space 641, see fig. 5, with a portion of the lower case located under the partition plate. The vertical plate portion 622 is spaced apart from and parallel to the rear cover 604 of the lower case, and includes an upper portion and a lower portion, a lower portion 623 is inserted into the lower case, an upper portion 624 is located above the lower case engaging surface, and the outer contour shape of the upper cover 602 is matched. Further, the upper end portion 624 is provided with a circular ring portion 625 extending longitudinally rearward from the outer edge of the upper end portion, both circumferential ends of the circular ring portion 625 engaging the abutting surfaces of the lower case, respectively, and the longitudinally rearward end of the circular ring portion abutting against the front surface of the rear end cover plate, thereby forming a mounting space 640 between the standing plate portion 622 and the rear end cover plate 604 of the housing.

In order to fix the partition plate 620, as shown in fig. 4, a plurality of protruding columns 626 extending towards the partition plate horizontal plate portion 621 are arranged on the circumferential wall of the lower case, and threaded holes 627 are formed on the protruding columns; accordingly, as shown in fig. 2, a screw hole 628 is formed at a position corresponding to the screw hole 627 on the partition plate horizontal plate portion 621, whereby the partition plate horizontal plate portion is fixed to the lower case by the screw. Similarly, as shown in fig. 4 and 2, a screw hole 629 is provided on the rear end cover plate 604 of the lower case, and accordingly, a screw hole 630 is formed on the divider plate standing plate portion 622 at a position corresponding to the screw hole 629, whereby the divider plate standing plate portion is fixed to the rear end cover plate 604 by screws. A supporting cylindrical member may also be provided between the upright portion of the partition and the rear cover, and when the upright portion is secured, the screws extend through the through holes of the cylindrical member and are tightened with the threaded holes 629 in the rear cover 604, and the cylindrical member is supported between the upright portion and the rear cover. Alternatively, the cylindrical member may be provided as a cylinder on the upright plate portion or on the rear end cover plate.

As shown in fig. 2, the upper portion of the divider plate horizontal plate portion and the circumferential wall of the lower housing, the front end cover plate, and the divider plate upright plate portion define a mounting space 631 for receiving a guidewire delivery device. The mounting space 631 may be provided with specific positioning features depending on the outer profile shape of the guidewire delivery device. Taking a guide wire delivery device with a circular outer contour as an example, a boss 632 may be centrally disposed at a corner between the horizontal plate portion and the horizontal plate portion of the separation plate, and a side facing the guide wire delivery device is arc-shaped to fit the outer contour of the guide wire delivery device; similarly, a projection 633 with an arc-shaped inner end may be provided on the circumferential wall and/or the front end cover plate of the lower case. Preferably, as shown in fig. 3, the front cover plate of the housing may not be flat, but rather has a radially outer end in the form of a flat ring 634, and a central portion 635 in the form of a dome that projects forwardly and has an inner contour that conforms to the outer contour of the guidewire delivery device. Thereby, the guidewire delivery device is securely mounted in place in the inferior shell.

For guidewire delivery devices with a nipple, an aperture may be provided in the housing front cover plate to accommodate the nipple. As shown in fig. 2, the orifice 636 may be formed separately in the front cover plate of the housing, or the orifice 636 may be formed partially in the front cover plate of the lower housing and partially in the front cover plate of the upper housing, depending on the particular configuration of the snout and the configurations of the lower and upper housings. Fig. 8 illustrates the state where the guidewire delivery device 5 with the nipple 51 is mounted in place in the inferior shell.

For the guide wire delivery device without the convex nozzle, a guide wire hole can be formed on the front end cover plate of the shell, and the guide wire hole can be formed on the front end cover plate of the lower shell or the front end cover plate of the upper cover separately; or a part of the wire guide hole is formed on the front end cover plate of the lower shell, and a part of the wire guide hole is formed on the front end cover plate of the upper cover, and the wire guide hole is formed completely when the upper cover is closed. As a preferable mode, as shown in fig. 9, a longitudinally extending projection formed with a longitudinal guide wire hole may be separately provided on the front end cover plate of the housing. In the embodiment shown in fig. 9, boss halves 650 and 651 are provided on both the front end cover plate of the lower case and the front end cover plate of the upper case, respectively, and through

grooves

652 and 653 are provided on surfaces of the two bosses facing each other, and the two grooves are engaged to form a guide wire hole when the upper case is closed. Thereby, the longitudinal length of the guide wire hole can be extended to provide stable support and guidance for the guide wire. As a modification of the above, the longitudinal protrusions with the guide wire holes may be formed separately on the front cover plate of the lower case or the front cover plate of the upper case, depending on the specific structures of the lower case and the upper case.

In order to fix the guide wire delivery device placed in the inferior shell in place and prevent the guide wire delivery device from being dislocated when the shell is rotated, the guide wire rotation and delivery transmission mechanism of the present invention is provided with a positioning device. Fig. 4 illustrates an embodiment of the positioning device, and as shown in fig. 4, a plurality of cylinders 637 extending toward the horizontal plate portion of the partition plate may be provided on the circumferential wall of the upper cover, and when the upper cover is in the closed position, the top of each cylinder abuts against a disk box or other portion capable of being fixed to fix the guide wire delivery device in place.

As the positioning means, other various schemes may be adopted. For example, a piece of magnet or ferromagnetic material may be provided on the horizontal plate portion of the partition plate, while a piece of ferromagnetic material or magnet is provided at a corresponding portion of the guide wire delivery device, the magnet piece and ferromagnetic material combination serving as the positioning device. Thus, the present invention is not limited to positioning devices for securing a guidewire delivery device in place, and any positioning device capable of performing a positioning function is within the scope of the present invention. In the case of using, for example, a magnet assembly as the positioning means, the upper cover of the housing can also be dispensed with.

Further, as shown in fig. 2, a mounting hole 655 for the godet rotation drive shaft is further provided on the partition plate horizontal plate portion, through which the godet rotation drive shaft 661 extends in the assembled state.

In the above embodiment, the partition plate includes the horizontal plate portion and the upright plate portion, but the upright plate portion is not essential and may be omitted.

The specific operation to achieve rotation of the guidewire is described below.

Firstly, opening an upper cover of a shell, installing a guide wire delivery device in place, and connecting a shell rotating driving shaft with a shell rotating power output shaft of a driving device; then closing the upper cover, fixing the guide wire delivery device by using a positioning device, and simultaneously locking the upper cover by using a locking device; then, the driving device is started to drive the shell to rotate, and then the shell drives the guide wire delivery device to rotate, so that the guide wire is rotated.

In order to ensure the stability and accuracy of the rotation of the guide wire, after the guide wire delivery device is installed in place in the lower shell, the guide wire part extending straight from the guide wire outlet of the guide wire delivery device should be as coaxial as possible with the axis of the rotating drive shaft of the housing to ensure that the guide wire rotates about its own axis while avoiding the revolution of the guide wire about the axis of the rotating drive shaft of the housing as much as possible.

The godet rotation transmission mechanism of the guide wire rotation and delivery transmission device of the present invention is described below, which is used to drive the godet rotation of the guide wire delivery device, thereby realizing the delivery operation of the guide wire.

As shown in fig. 5, the godet rotation transmission mechanism includes a godet self-rotation force input shaft 660, and a transmission assembly 670 provided between the godet self-rotation force input shaft and a godet rotation drive shaft 661, and power input from the power input shaft 660 is transmitted to the godet rotation drive shaft via the transmission assembly. The godet rotation driving shaft is connected with a godet of a godet delivery device and used for driving the godet to rotate so as to realize delivery and retraction of a guide wire, and the cross section of the godet rotation driving shaft can be polygonal or D-shaped.

The godet self-rotation force input shaft 660 is disposed coaxially with the housing rotary drive shaft 614 and is located in the central bore 611 of the housing rotary drive shaft. A power input end of the power input shaft 660 extends rearward in a longitudinal direction and is formed with a longitudinal hole 664, which is a non-circular hole, such as a polygonal hole or a D-shaped hole, for receiving a driving force from the rotational power output shaft in connection with a godet of a driving source (such as a motor, etc.); the godet extends from the longitudinal forward end of the rotational force input shaft through the rear endcover 604 and is supported on the rear endcover by bearings 662.

The transmission assembly comprises a first transmission gear 663 in the form of a bevel gear, the power output end of the godet self-rotation force input shaft is arranged on the front side of the rear end cover plate, is positioned in the installation space 640 and rotates along with the godet self-rotation force input shaft.

The transmission assembly further comprises an intermediate shaft 664 and an output shaft 665, the intermediate shaft is arranged perpendicular to the godet self-rotation force input shaft and is formed by a cylinder arranged on the circumferential wall of the lower shell; further, the intermediate shaft 664 is perpendicular to the horizontal plate portion 621. A second drive gear 666 in the form of a bevel gear is rotatably mounted on the intermediate shaft 664 at the end adjacent to the godet self-rotation force input shaft and meshes with the first drive gear 663.

A third transmission gear 667 in the form of a straight gear and located on the lower side of the second transmission gear 666 is further arranged on the intermediate shaft 664, the third transmission gear rotates around the intermediate shaft along with the second transmission gear, and the third transmission gear and the second transmission gear can be integrally formed. The output shaft 665 is disposed parallel to the intermediate shaft and is formed of a cylinder disposed on the circumferential wall of the lower case. A fourth transfer gear 668 in the form of a spur gear is rotatably mounted on output shaft 665 and is meshed with third transfer gear 667. The godet rotation drive shaft 661 is fixedly mounted on the fourth transmission gear 668 or is integrally formed with the fourth transmission gear to protrude from a mounting hole 655 formed on the horizontal plate portion.

In operation, the godet self-rotation force input shaft 660 receives power from a power source, the power is transmitted to the godet self-rotation driving shaft 661 through the transmission assembly 670, and the godet self-rotation driving shaft 661 drives the godet to rotate, so that the delivering and withdrawing operations of the guide wire are realized.

Referring now to FIG. 10, a godet spinning drive according to another embodiment of the present invention is illustrated.

The godet rotation transmission mechanism of this embodiment is mainly different from the godet rotation transmission mechanism of the previous embodiment in the following respects.

In this embodiment, as shown in fig. 10, the intermediate shaft 864 is disposed parallel to and below the godet self-rotating force input shaft 860, and the intermediate shaft 864 is formed by a cylinder disposed on the housing rear cover plate 604. The power output end of the godet self-rotation force input shaft, which is positioned on the front side of the rear end cover plate, is provided with a first transmission gear 863 in the form of a straight gear, and the intermediate shaft is provided with a second transmission gear 866 which is meshed with the first transmission gear 863 and in the form of a straight gear. A third transmission gear 867 in the form of a bevel gear is also provided on the intermediate shaft 864 in front of the second transmission gear 866, which rotates together with and may be formed integrally with the second transmission gear. An output shaft 865 is provided perpendicularly to the intermediate shaft 864 and is formed of a cylindrical column provided on the circumferential wall of the lower case, and a fourth transmission gear 868 in the form of a bevel gear, which meshes with the third transmission gear 867, is provided on the output shaft.

The present invention has been described above in connection with the specific embodiments with reference to the accompanying drawings, but this is for illustrative purposes only and the present invention is not limited thereto. Therefore, it is apparent to those skilled in the art that various changes and modifications can be made within the technical spirit and scope of the present invention, and these changes and modifications should also be construed as falling within the scope of the present invention, which is defined by the claims and their equivalents.

Claims

1. A guidewire rotation and delivery transmission for a vascular interventional surgical robot, the guidewire rotation and delivery transmission comprising:

2. A guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 1, wherein the transmission assembly includes:

the first transmission gear is in a bevel gear form, is arranged at the power output end of the godet self-rotation force input shaft on the front side of the rear end cover plate and rotates along with the godet self-rotation force input shaft;

the middle shaft is perpendicular to the self-rotating force input shaft of the godet and is formed by a cylinder arranged on the circumferential side wall of the lower shell;

a second drive gear in the form of a bevel gear rotatably mounted on the intermediate shaft and meshing with said first drive gear;

a third transmission gear in the form of a spur gear rotatably mounted on the intermediate shaft and disposed at a lower side of the second transmission gear to rotate around the intermediate shaft along with the second transmission gear;

an output shaft formed of a cylinder provided on a circumferential side wall of the lower case, and arranged in parallel with the intermediate shaft;

a fourth drive gear in the form of a spur gear rotatably mounted on the output shaft and meshed with the third drive gear;

the spinning driving shaft of the godet is fixedly installed on the fourth transmission gear or is integrally formed with the fourth transmission gear and extends out of the through hole formed on the horizontal plate portion.

3. A guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 1, wherein the transmission assembly includes:

the first transmission gear is in a straight gear form and is arranged at the power output end of the godet self-rotation force input shaft on the inner side of the rear end cover plate;

the middle shaft is arranged in parallel with the godet self-rotating force input shaft, is positioned below the godet self-rotating force input shaft and is formed by a cylinder arranged on the rear end cover plate;

a second transmission gear in the form of a spur gear rotatably mounted on the intermediate shaft and meshed with the first transmission gear;

a third transmission gear in the form of a bevel gear rotatably mounted on the intermediate shaft and disposed on a front side of the second transmission gear and rotating around the intermediate shaft along with the second transmission gear;

an output shaft formed of a cylinder provided on a circumferential side wall of the lower case, and disposed perpendicular to the intermediate shaft;

a fourth drive gear in the form of a bevel gear rotatably mounted on said output shaft and meshing with said third drive gear;

4. The guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claims 2 or 3, wherein the second drive gear is integrally formed with the third drive gear.

5. A guide wire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 1, wherein the housing is provided with an upper cover that can be opened, the lower housing and the upper cover forming a closed space when the upper cover is closed; the guidewire rotation and delivery transmission further includes a locking device to securely hold the upper cover in the closed position.

6. The guidewire rotation and delivery transmission for a vascular interventional surgical robot of claim 5, wherein the upper cover is hinged with the lower housing such that the upper cover is pivotable between an open position and a closed position.

7. The guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claims 5 or 6, wherein a plane parallel to the housing rotation drive shaft forms a split of the lower and upper covers, the rear end cover plate being integrally formed with the lower housing, the front end cover plate being comprised of a front end cover plate half on the lower housing and a front end cover plate half on the upper cover.

8. A guide wire rotation and delivery transmission for a vascular interventional surgical robot as defined in claim 5 or 6, wherein the locking device comprises a magnet assembly including a piece of magnet or ferromagnetic material disposed at an abutting surface of the lower housing abutting the upper cover, and a piece of ferromagnetic material or magnet disposed at an abutting surface of the upper cover abutting the lower housing.

9. The guide wire rotation and delivery transmission device for a vascular interventional surgical robot as set forth in claim 5 or 6, wherein the upper cover is provided with a positioning post extending toward the divider plate horizontal plate portion when the upper cover is in the closed position, the positioning post abutting against a positioning surface of the guide wire delivery device and serving as the positioning device when the guide wire delivery device is seated in the housing.

10. The guidewire rotation and delivery transmission device for a vascular interventional surgical robot as set forth in claim 1, wherein the horizontal plate portion is provided with a magnet or ferromagnetic material piece, and the guidewire delivery device is provided at a corresponding portion with a ferromagnetic material piece or magnet piece, the magnet and ferromagnetic material piece combined serving as the positioning device.

11. The guidewire rotation and delivery transmission for a vascular access surgical robot of claim 7, wherein the lower housing and the upper cover form a cylinder having an axis coaxial with an axis of the housing rotation drive shaft, the rotation support shaft being formed by a barrel of the cylinder.

12. The guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 11, wherein the barrel of the barrel is provided with a slide track extending circumferentially along the barrel.

13. The guidewire rotation and delivery transmission device for a vascular interventional surgical robot as set forth in claim 12, wherein the cylinder has two sliding rails disposed at two longitudinal ends of the cylinder, respectively, the sliding rail at the rear end is disposed on the outer circumferential surface of the rear cover plate, the sliding rail at the front end is formed by two sections, one section is disposed at one side of the upper cover, the other section is disposed at one side of the lower cover, and the two sliding rails are circumferentially joined to form a complete circumferential sliding rail when the upper cover is in the closed position.

14. The guidewire rotation and delivery transmission for a vascular interventional surgical robot of claim 1, wherein the rotation support shaft is formed by a longitudinally forward extending hollow rotation support shaft provided on a front end cover plate.

15. The guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 7, wherein the rotation support shaft is formed by a longitudinally forwardly extending hollow rotation support shaft provided on a front end cover plate, the hollow rotation support shaft being formed by one of:

the hollow rotating supporting shaft is arranged on the lower shell;

the hollow rotating supporting shaft is arranged on the upper cover; and

one part of the hollow rotating supporting shaft is arranged on the shell, the other part of the hollow rotating supporting shaft is arranged on the upper cover, and the upper cover forms a complete hollow shaft when closed.

16. A guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 1, wherein the housing rotation drive shaft has a radially cross-sectional inner circumferential profile in the shape of a polygon or a D-shape.

17. The guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 1, wherein the guidewire disc self-rotating force input shaft is of a hollow shaft configuration with a polygonal or D-shaped radial cross-sectional inner circumferential profile.

18. The guide wire rotating and delivering transmission device for a vascular interventional surgical robot as set forth in claim 1, wherein the circumferential side wall of the lower casing is provided with bosses, and threaded holes are formed on the bosses; screw holes are formed in the horizontal plate portion at positions corresponding to the bosses, and the horizontal plate portion is fixed in the lower case by screws.

19. The guidewire rotation and delivery transmission device for a vascular access surgical robot of claim 18, wherein the divider plate is L-shaped and includes the horizontal plate portion and an upright plate portion, the upright plate portion being disposed adjacent to the rear cover plate, the rear cover plate having threaded holes formed therein, the upright plate portion having screw holes formed therein at locations corresponding to the respective threaded holes, the upright plate portion being secured to the rear cover plate by screws and cylindrical retainers disposed between the upright plate portion and the rear cover plate.

20. A guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 7, wherein the front cover plate of the housing has an aperture formed therein through which a guidewire passes.

21. A guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 20, wherein the aperture is formed by one of:

the orifice is disposed on the lower shell;

the orifice is arranged on the upper cover; and

one part of the orifice is arranged on the lower shell, the other part of the orifice is arranged on the upper cover, and the upper cover forms a complete orifice when being closed.

22. The guidewire rotation and delivery transmission for a vascular interventional surgical robot as set forth in claim 7, wherein a guidewire channel is formed in the front cover plate of the housing for passage of a guidewire therethrough.

23. A guide wire rotation and delivery transmission for a vascular interventional surgical robot as defined in claim 22, wherein the guide wire channel is formed by a perforated boss with a longitudinally extending through-hole provided on the front end cover plate, the perforated boss being formed by one of:

the bulge with the hole is arranged on the lower shell;

the bulge with the hole is arranged on the upper cover; and

one part of the perforated bulge is arranged on the lower shell, the other part of the perforated bulge is arranged on the upper cover, and the upper cover forms the complete perforated bulge when closed.