CN114366995A - Guide wire driving mechanism of interventional operation catheter - Google Patents
Guide wire driving mechanism of interventional operation catheter Download PDFInfo
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- CN114366995A CN114366995A CN202210160678.0A CN202210160678A CN114366995A CN 114366995 A CN114366995 A CN 114366995A CN 202210160678 A CN202210160678 A CN 202210160678A CN 114366995 A CN114366995 A CN 114366995A
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- 230000007246 mechanism Effects 0.000 title claims abstract description 100
- 230000009471 action Effects 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 238000005452 bending Methods 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000010073 coating (rubber) Methods 0.000 claims 1
- 238000013152 interventional procedure Methods 0.000 claims 1
- 206010052428 Wound Diseases 0.000 description 3
- 208000027418 Wounds and injury Diseases 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 210000004185 liver Anatomy 0.000 description 3
- 230000002441 reversible effect Effects 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 2
- 230000005855 radiation Effects 0.000 description 2
- 230000003068 static effect Effects 0.000 description 2
- 208000005189 Embolism Diseases 0.000 description 1
- 208000028571 Occupational disease Diseases 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 239000013043 chemical agent Substances 0.000 description 1
- 238000002512 chemotherapy Methods 0.000 description 1
- 239000003814 drug Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000035876 healing Effects 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000002779 inactivation Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
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- 230000002035 prolonged effect Effects 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
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- Heart & Thoracic Surgery (AREA)
- Hematology (AREA)
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Abstract
An interventional operation catheter guide wire driving mechanism relates to a medical instrument. Comprises a linear motion unit, a hollow rotary table, a wire feeding mechanism and a pipe conveying mechanism; the hollow rotating platform is connected with the linear motion unit through a connecting piece and comprises a guide wire rotating platform and a catheter rotating platform, the guide wire rotating platform is vertically fixed on the linear motion unit moving platform, and the catheter rotating platform is vertically fixed at the foremost end of the linear motion unit main body; the wire feeding mechanism and the pipe conveying mechanism are respectively positioned on the wire guiding rotary platform and the catheter rotary platform and rotate along with the rotation of the hollow rotary platform; the wire feeding mechanism and the pipe conveying mechanism are consistent in height and are respectively used for pushing a guide wire and a guide pipe; the linear motion unit is matched with the wire feeding mechanism and the pipe conveying mechanism to drive the guide wire and the guide pipe to advance and retreat, and the hollow rotary table drives the guide wire and the guide pipe to rotate. By introducing linear driving and friction wheel hybrid driving, the pushing and rotating motion of the catheter and the guide wire can be simultaneously driven.
Description
Technical Field
The invention relates to a medical instrument, in particular to a guide wire driving mechanism of an interventional operation catheter, which can simultaneously drive the guide wire of the catheter to push and rotate.
Background
The minimally invasive interventional operation is a surgical operation that 'special instruments, physical energy or chemical agents are sent into a human body through tiny wounds or natural channels to complete the inactivation, excision, repair or reconstruction and the like of pathological changes, deformities and wounds in the human body so as to achieve the treatment purpose', has the advantages that the pain of a patient is relieved, the infection risk is reduced, the healing difficulty and the like which are not possessed by the traditional surgical operation, and is gradually replacing the traditional surgical operation of large wounds.
In the liver interventional operation, a micro catheter is introduced into a human body through a blood vessel, a catheter guide wire approaches to and reaches a focus along the blood vessel, and the operation work of medicine delivery, chemotherapy, embolism and the like on the focus is completed through the catheter; in order to confirm the position and posture of the catheter and guide wire in the human body and correctly guide the catheter and guide wire to advance and rotate, the current interventional operation needs to be carried out under the irradiation of X-rays all the way.
The existing liver interventional operation needs manual operation of doctors in the X-ray environment in the whole process, and has the following problems: the time of the liver interventional operation is generally 1-3 h along with the illness state of a patient and the operation requirement; prolonged X-ray radiation can cause immeasurable damage to the physician. Standing for a long time, performing fine operation, bringing huge workload to doctors, causing pain of the waist and the back, and even causing related occupational diseases.
Disclosure of Invention
The invention aims to provide a guide wire driving mechanism of an interventional operation catheter, which can replace a surgical doctor to work in a radiation environment, ensure the health of the doctor and reduce the workload of the doctor.
The guide wire driving mechanism of the interventional operation catheter comprises a linear motion unit, a hollow rotary table, a wire feeding mechanism and a pipe conveying mechanism; the linear motion unit comprises a linear motion unit main body and a linear motion unit moving platform; the hollow rotating platform is connected with the linear motion unit through a connecting piece and comprises a guide wire rotating platform and a catheter rotating platform, the guide wire rotating platform is vertically fixed on the linear motion unit moving platform, and the catheter rotating platform is vertically fixed at the foremost end of the linear motion unit main body; the wire feeding mechanism and the pipe conveying mechanism are respectively positioned on the wire guiding rotary platform and the catheter rotary platform and rotate along with the rotation of the hollow rotary platform; the wire feeding mechanism and the pipe conveying mechanism are consistent in height and are respectively used for pushing a guide wire and a guide pipe; the linear motion unit is matched with the wire feeding mechanism and the pipe conveying mechanism to drive the guide wire and the guide pipe to advance and retreat, and the hollow rotary table drives the guide wire and the guide pipe to rotate.
The wire feeding mechanism and the pipe conveying mechanism are designed by driving a main friction wheel and a rubber-coated bearing driven wheel by a motor, the main friction wheel and the motor are relatively fixed, and the driven wheel is in an adjustable design so as to adjust the tightness degree of clamping a guide pipe and a guide wire and facilitate installation and disassembly; the motor and the friction driven wheel of the friction wheel are both arranged on the hollow rotating platform.
Furthermore, the wire feeding mechanism is designed by using a spring clamp, and a main friction wheel of the wire feeding mechanism is arranged on the stepping motor and is relatively fixed on the bracket; the driven wheel is arranged on the movable arm and is kept in a state of being tightly attached to the main friction wheel by the spring, the spring clamp can be loosened by pressing the handle, the clamped guide wire is released, and the driven wheel is naturally pressed on the motor friction wheel under the action of the spring through the structural design of the spring clamp, so that the function of naturally pressing the guide wire and the catheter is realized.
Furthermore, the wire feeding mechanism is arranged on the guide wire rotating platform through a connecting hole, on the basis of realizing guide wire pushing, the spring clamp mechanism also realizes natural clamping on the guide wire, and when the rotating platform integrally rotates, the twisting action of the guide wire is realized; a limiting slip ring support is arranged in the hollow interior of the rotary platform and used for ensuring that the rotary center of the wire feeding mechanism does not deviate greatly in the rotating process and limiting the deviation amount of the wire feeding mechanism;
further, the guide wire rotating platform is fixed on a moving platform of the linear motion unit through a 1 st platform fixing frame, a catheter port fixing clamp is simultaneously installed on the 1 st platform fixing frame, and an operation port of the catheter is installed on the 1 st platform fixing frame through the catheter port fixing clamp; the 1 st platform fixing frame enables the catheter port, the wire feeding mechanism and the guide wire rotating platform to move along with the movement of the linear motion unit moving platform and keep the relative positions of the catheter port, the wire feeding mechanism and the guide wire rotating platform;
further, the structure and the principle of the pipe conveying mechanism and the catheter rotating platform are consistent with those of the wire feeding mechanism and the guide wire rotating platform;
furthermore, the pipe conveying mechanism is arranged on the catheter rotating platform through the connecting hole, on the basis of pushing the catheter, the spring clamp mechanism also realizes natural clamping of the catheter, and when the catheter rotating platform rotates integrally, the twisting action of the catheter is realized;
the catheter port fixing clamp comprises a movable branch and a fixed branch, and a guide wire and a catheter are installed through a guide wire and catheter connecting sleeve; the guide wire and guide tube connecting sleeve completes displacement restraint in the horizontal direction through the clamping action between the movable branch and the fixed branch of the guide tube port fixing clamp, and does not restrain the rotational freedom degree of the guide wire and guide tube connecting sleeve in the vertical direction.
Furthermore, the hollow rotating platform is assembled with the linear motion unit through the connecting piece, the wire feeding mechanism and the pipe conveying mechanism both adopt spring clamp structures, a friction wheel has a clamping function, and the wire feeding mechanism and the pipe conveying mechanism can drive the wire guide pipe to perform twisting motion under the action of the rotating platform, and meanwhile, the position of the wire guide pipe is positioned in the center of the rotating platform; the friction wheel and the linear motion platform are matched to move to ensure the straight state of the guide wire catheter, so that the unstable movement of the guide wire catheter caused by bending of the guide wire catheter is avoided.
Compared with the prior art, the invention has the outstanding technical effects and advantages that:
the friction wheel set has a clamping function by adopting a spring clamp structure, and can drive the guide wire guide pipe to do twisting motion under the action of the rotating platform, and meanwhile, the position of the guide wire guide pipe is positioned in the center of the rotating platform; meanwhile, the friction wheel and the linear motion platform are matched to move to ensure the straight state of the guide wire catheter, and the unstable movement of the guide wire catheter caused by bending is avoided. Compared with the similar catheter guide wire control mechanism, the linear driving and friction wheel hybrid driving mechanism is introduced, so that the pushing and rotating motion of the catheter and the guide wire can be simultaneously driven. By the invention, a doctor can remotely perform an operation in a radiation-free environment, and compared with the limitation that the traditional operation needs to stand for a long time, the doctor can operate the operating mechanism in a sitting posture. To a certain extent, the working strength of the doctor is reduced.
Drawings
Fig. 1 is a schematic view of the general structure of the present invention.
FIG. 2 is a detail view of the wire feeder.
Figure 3 is a front detail view of the guidewire rotation platform.
Figure 4 is a detail view of the back of the guidewire rotation platform.
Figure 5 is a detail view of the back of the conduit rotation platform.
Figure 6 is a detail view of the guidewire and catheter connection.
Detailed Description
The following examples will further illustrate the present invention with reference to the accompanying drawings.
Referring to fig. 1-6, the embodiment of the invention comprises five electric driving power sources, wherein a stepping motor, a linear motion unit and an electric rotating platform are connected to a stepping motor driver to complete the integral electrification of the mechanism;
in the embodiment of the invention, the linear motion unit drives the guide wire of the catheter to move forwards and backwards, and the electric rotating platform drives the guide wire of the catheter to rotate and twist;
furthermore, the friction wheel pipe conveying and wire feeding mechanism adopts a design that a motor drives a main wheel and a rubber-coated bearing driven wheel, the main wheel and the motor are relatively fixed, and the driven wheel is in an adjustable design so as to adjust the tightness degree of the clamping guide pipe and the wire, and the installation and the disassembly are convenient;
furthermore, the wire feeding mechanism (2) is designed by a spring clamp, and a main friction wheel (12) is arranged on the stepping motor (11) and is relatively fixed on the bracket; the driven friction wheel (13) is arranged on the movable arm, is kept in a state of being tightly attached to the main friction wheel by a spring, and the spring clamp can be loosened by pressing the handle to release the clamped guide wire (10);
furthermore, the wire feeding mechanism (2) is arranged on the guide wire rotating platform (3) through a connecting hole, and on the basis of realizing guide wire pushing, the spring clamp mechanism also realizes natural clamping on the guide wire, and when the rotating platform integrally rotates, the twisting action of the guide wire is realized; a limiting slip ring support (14) is arranged in the hollow interior of the rotary platform, so that the rotary center of the wire feeding mechanism is prevented from deviating a lot in the rotating process, and the deviation amount of the wire feeding mechanism is limited;
further, the guide wire rotating platform (3) is fixed on a moving platform of the linear motion unit through a 1 st platform fixing frame (15), a catheter port fixing clamp (4) is simultaneously installed on the 1 st platform fixing frame (15), and an operation port of the catheter (7) is installed on the 1 st platform fixing frame through the catheter port fixing clamp; the 1 st platform fixing frame (15) enables the catheter port, the wire feeding mechanism (2) and the guide wire rotating platform (3) to move along with the movement of the linear motion unit moving platform (9) and keep the relative positions of the catheter port, the wire feeding mechanism and the guide wire rotating platform;
furthermore, the working principle of the pipe conveying mechanism (5) and the catheter rotating platform (6) is consistent with that of the wire feeding mechanism (2) and the guide wire rotating platform (3);
furthermore, the wire feeding mechanism (2) is arranged on the wire guide rotating platform (3) through a connecting hole, the spring clamp mechanism also realizes natural clamping of the catheter on the basis of realizing catheter pushing, and when the wire guide rotating platform integrally rotates, the twisting action of the catheter is realized;
further, the guide wire (10) and the catheter (7) are installed through a guide wire catheter connecting sleeve (21). The guide wire and guide tube connecting sleeve (21) completes displacement constraint in the horizontal direction through the clamping action between the 1 st movable branch (17) and the 1 st fixed branch (19) of the guide tube port clamp, and does not constrain the rotational freedom degree of the guide wire and guide tube connecting sleeve in the vertical direction;
FIG. 1 is a general view of the structure of the present invention, which comprises a spring clamp wire feeding mechanism (2), an electric guide wire rotating platform (3), a catheter port fixing clamp (4), a spring clamp tube feeding mechanism (5), an electric catheter rotating platform (6), a linear motion unit main body (8) and a linear motion unit moving platform (9); wherein the catheter (7) and the guide wire (10) are mounted on the mechanism.
FIG. 2 is a detailed view of the wire feeder, including a stepping motor (11), a main friction wheel (12), and a driven friction wheel (13), wherein the surfaces of the two friction wheels are provided with grooves for enhancing the clamping degree of the guide wire; the guide wire (10) is clamped between a main friction wheel (12) and a driven friction wheel (13). The pipe conveying mechanism (5) is similar to the wire feeding mechanism in structure and also comprises a stepping motor, a main friction wheel and a driven friction wheel; wherein the conduit (7) is clamped between two friction wheels; the difference is that the grooves on the friction wheel are larger for gripping the conduit.
FIG. 3 is a detail view of the guide wire rotating platform, which includes the main friction wheel (12), the driven friction wheel (13) and the guide wire (10) clamped therebetween as mentioned in FIG. 2; the wire guide rotating platform comprises a limiting slip ring support (14), wherein the limiting slip ring support (14) is arranged in the hollow part of the wire guide rotating platform (3). And the catheter rotation platform (6) is similar to this mechanism, except that the mechanism to be held is a catheter (7).
Fig. 4 is a detail view of the back of fig. 3, including the 1 st platform fixing frame (15), the 1 st movable branch (17) and the 1 st fixed branch (19) of the catheter port fixing clamp (4), and the guide wire catheter connecting sleeve (21).
Fig. 5 is a detail view of the back of the motorized catheter rotation platform, showing the 2 nd platform mount (16), the 2 nd movable branch (18) and the 2 nd stationary branch (20) of the catheter port clip.
Fig. 6 is a detail view of a guidewire-catheter connection, including guidewire (10), catheter (7) and guidewire-catheter adapter (21).
When the guide wire catheter connecting sleeve is used, a guide wire (10) penetrates into a catheter (7), the foremost end of the catheter is pressed into the guide wire catheter connecting sleeve (21), and the guide wire catheter connecting sleeve (21) is clamped on a catheter port clamp (22). A guide wire (10) passes through the guide wire rotating platform (3) along a limiting slip ring bracket (14); the spring clamp of the spring clamping and wire feeding mechanism (2) is pressed to be released, and the guide wire is inserted into the gap between the two friction wheels; a guide pipe (7) passes through a guide pipe rotating platform (6) along a limiting slip ring bracket; and pressing the spring clamp of the spring clamping pipe conveying mechanism (5) to release the spring clamp, and penetrating the catheter into the gap between the two friction wheels to complete the installation of the guide wire of the catheter.
When the motion control of the guide wire is executed, the linear motion unit moving platform (9) is still, and the guide wire motion control is completed by the wire feeding mechanism (2) and the guide wire rotating platform (3); the forward and reverse rotation of the stepping motor (11) can realize the pushing and withdrawing actions of the guide wire (10), and the rotation of the guide wire rotating platform (3) can drive the rotary twisting action of the guide wire; the two mechanisms can realize single advance and retreat, single twisting or simultaneous advance and retreat and twisting movement of the guide wire by cooperation.
When the motion control of the catheter is executed, the catheter motion control is completed by the catheter tube feeding mechanism (5) and the catheter rotating platform (6); the push withdrawing action and the twisting action of the catheter (7) are realized by the rotation of the forward and reverse rotation memory catheter rotating platform of the stepping motor; the two mechanisms can realize single advance and retreat, single twisting or simultaneous advance and retreat and twisting movement of the guide wire and the catheter by cooperation.
Furthermore, when the catheter moves, the stepping motor (11) needs to be powered off or rotate in the same speed and reverse direction, so that the position of the guide wire is kept relatively static.
Further, after the guide wire is ensured to be relatively static, the moving platform (9) of the linear motion unit moves back and forth to complete the pushing and withdrawing actions of the catheter port;
the invention is not the best known technology.
The above embodiments are merely illustrative of the technical ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and implement the present invention, and not to limit the protection scope of the present invention. All equivalent changes and modifications made according to the spirit of the present invention should be covered within the protection scope of the present invention.
Claims (9)
1. The guide wire driving mechanism of the interventional operation catheter is characterized by comprising a linear motion unit, a hollow rotating platform, a wire feeding mechanism and a pipe conveying mechanism; the linear motion unit comprises a linear motion unit main body and a linear motion unit moving platform; the hollow rotating platform is connected with the linear motion unit through a connecting piece and comprises a guide wire rotating platform and a catheter rotating platform, the guide wire rotating platform is vertically fixed on the linear motion unit moving platform, and the catheter rotating platform is vertically fixed at the foremost end of the linear motion unit main body; the wire feeding mechanism and the pipe conveying mechanism are respectively positioned on the wire guiding rotary platform and the catheter rotary platform and rotate along with the rotation of the hollow rotary platform; the wire feeding mechanism and the pipe conveying mechanism are consistent in height and are respectively used for pushing a guide wire and a guide pipe; the linear motion unit is matched with the wire feeding mechanism and the pipe conveying mechanism to drive the guide wire and the guide pipe to advance and retreat, and the hollow rotary table drives the guide wire and the guide pipe to rotate.
2. The interventional operation catheter guide wire driving mechanism as set forth in claim 1, wherein the wire feeding mechanism and the tube delivery mechanism are designed with a motor driving a main friction wheel and a rubber coating bearing driven wheel, the main friction wheel and the motor are relatively fixed, and the driven wheel is designed to be adjustable, so as to adjust tightness of clamping the catheter and the guide wire, and facilitate installation and disassembly; the motor and the friction driven wheel of the friction wheel are both arranged on the hollow rotating platform.
3. The interventional surgical catheter guidewire actuation mechanism of claim 1, wherein the wire feeder is configured with a spring clamp, and a main friction wheel of the wire feeder is mounted on the stepper motor and is relatively fixed to the carriage; the driven wheel is arranged on the movable arm and is kept in a state of being tightly attached to the main friction wheel by the spring, the spring clamp can be loosened by pressing the handle, the clamped guide wire is released, and the driven wheel is naturally pressed on the motor friction wheel under the action of the spring through the structural design of the spring clamp, so that the function of naturally pressing the guide wire and the catheter is realized.
4. The guide wire driving mechanism of the interventional operation catheter according to claim 1, wherein the wire feeding mechanism is mounted on the guide wire rotating platform through a connecting hole, and the spring clamp mechanism of the wire feeding mechanism also realizes natural clamping of the guide wire on the basis of realizing guide wire pushing, and realizes the twisting action of the guide wire when the rotating platform integrally rotates; a limiting slip ring support is arranged in the hollow interior of the rotary platform and used for ensuring that the rotary center of the wire feeding mechanism does not deviate greatly in the rotating process and limiting the deviation amount of the wire feeding mechanism.
5. The guide wire driving mechanism of the interventional operation catheter as set forth in claim 1, wherein the guide wire rotating platform is fixed on the moving platform of the linear motion unit through a 1 st platform fixing frame, a catheter port fixing clamp is simultaneously installed on the 1 st platform fixing frame, and the operation port of the catheter is installed on the 1 st platform fixing frame through the catheter port fixing clamp; the 1 st platform fixing frame enables the guide pipe port, the wire feeding mechanism and the guide wire rotating platform to move along with the movement of the linear motion unit moving platform and keep the relative positions of the guide pipe port, the wire feeding mechanism and the guide wire rotating platform.
6. The interventional procedure catheter guidewire actuation mechanism of claim 1, wherein the tube delivery mechanism and the catheter rotation platform are configured in accordance with the wire feeder and the guidewire rotation platform.
7. The guide wire driving mechanism of the interventional operation catheter as set forth in claim 1, wherein the tube delivering mechanism is installed on the catheter rotating platform through a connecting hole, and on the basis of realizing the pushing of the catheter, the spring clamp mechanism also realizes the natural clamping of the catheter, and when the catheter rotating platform rotates integrally, the twisting action of the catheter is realized.
8. The interventional surgical catheter guide wire driving mechanism of claim 1, wherein the catheter port fixing clamp comprises a movable branch and a fixed branch, and the guide wire and the catheter are installed through a guide wire and catheter connecting sleeve; the guide wire and guide tube connecting sleeve completes displacement restraint in the horizontal direction through the clamping action between the movable branch and the fixed branch of the guide tube port fixing clamp, and does not restrain the rotational freedom degree of the guide wire and guide tube connecting sleeve in the vertical direction.
9. The guide wire driving mechanism of interventional operation catheter according to claim 1, wherein the hollow rotating platform is assembled with the linear motion unit through a connecting piece, the wire feeding mechanism and the tube delivery mechanism both adopt spring clamp structures, adopt a friction wheel with clamping function, and can drive the guide wire catheter to perform twisting motion under the action of the rotating platform, and meanwhile, the position of the guide wire catheter is located at the center of the rotating platform; the friction wheel and the linear motion platform are matched to move to ensure the straight state of the guide wire catheter, so that the unstable movement of the guide wire catheter caused by bending of the guide wire catheter is avoided.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210160678.0A CN114366995A (en) | 2022-02-22 | 2022-02-22 | Guide wire driving mechanism of interventional operation catheter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210160678.0A CN114366995A (en) | 2022-02-22 | 2022-02-22 | Guide wire driving mechanism of interventional operation catheter |
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| Publication Number | Publication Date |
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| CN114366995A true CN114366995A (en) | 2022-04-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210160678.0A Pending CN114366995A (en) | 2022-02-22 | 2022-02-22 | Guide wire driving mechanism of interventional operation catheter |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115040760A (en) * | 2022-07-14 | 2022-09-13 | 深圳微美机器人有限公司 | Control method of motion control device, and conveying system |
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| CN113082463A (en) * | 2021-04-14 | 2021-07-09 | 王利 | Rotary pushing device and interventional operation robot |
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2022
- 2022-02-22 CN CN202210160678.0A patent/CN114366995A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102210610A (en) * | 2011-03-17 | 2011-10-12 | 北京航空航天大学 | Pushing mechanism for minimally invasive surgical robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115040760A (en) * | 2022-07-14 | 2022-09-13 | 深圳微美机器人有限公司 | Control method of motion control device, and conveying system |
| CN115040760B (en) * | 2022-07-14 | 2024-05-24 | 深圳微美机器人有限公司 | Control method of motion control device, motion control device and conveying system |
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Application publication date: 20220419 |