CN114515194A - Guide wire driving device of blood vessel interventional robot - Google Patents
Guide wire driving device of blood vessel interventional robot Download PDFInfo
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- CN114515194A CN114515194A CN202210148082.9A CN202210148082A CN114515194A CN 114515194 A CN114515194 A CN 114515194A CN 202210148082 A CN202210148082 A CN 202210148082A CN 114515194 A CN114515194 A CN 114515194A
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- 210000004204 blood vessel Anatomy 0.000 title description 8
- 230000005540 biological transmission Effects 0.000 claims abstract description 66
- 230000002792 vascular Effects 0.000 claims abstract description 19
- 239000000758 substrate Substances 0.000 claims description 42
- 230000001360 synchronised effect Effects 0.000 claims description 14
- 230000009471 action Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 230000006378 damage Effects 0.000 abstract description 5
- 230000009286 beneficial effect Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 9
- 230000002093 peripheral effect Effects 0.000 description 9
- 238000009434 installation Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 238000002059 diagnostic imaging Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 206010044565 Tremor Diseases 0.000 description 1
- 238000002583 angiography Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Animal Behavior & Ethology (AREA)
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- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention provides a guide wire driving device of a vascular intervention robot, which comprises: support, first driving motor, first transmission assembly, second driving motor, second transmission assembly and base plate, the both ends of base plate are equipped with left end axle and the right-hand member axle of axis coincidence, and left end axle and right-hand member axle rotate with the support and link to each other, and the axis department of left end axle and right-hand member axle is equipped with the seal wire hole, and first driving motor passes through first transmission assembly drive base plate and rotates, be equipped with seal wire centre gripping roller set on the base plate. The guide wire has the beneficial effects that by adopting the technical scheme, the guide wire can realize rotation and axial movement through the driving of the motor, so that the labor intensity and the irradiation damage of doctors are greatly reduced.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a guide wire driving device for a vascular intervention robot.
Background
The vascular interventional operation is a method for a doctor to control an interventional instrument to move in a human blood vessel under the guidance of a blood vessel subtraction angiography (DSA) device, and finally, the interventional instrument accurately reaches a lesion and is treated. Common interventional devices are venous catheters, guide wires, filters, spring emboli, etc. The vascular interventional operation has become an important means for treating cardiovascular diseases at present, and has the characteristics of small incision, quick recovery and good effect compared with the traditional surgical operation.
At present, the traditional operation mode of the vascular intervention operation is that a doctor manually sends a catheter and a guide wire into a patient body to complete the operation. In the blood vessel interventional operation, the catheter and the guide wire pass through the blood vessel, which mainly involves advancing, retreating and rotating actions, namely, axial pushing force, pulling force and torque are applied to the guide wire or the catheter at the outer part of the catheter and the guide wire, as an operation object is small, the operation technical requirement on a doctor is high, long-time training is needed, the general interventional operation time is long, the doctor can possibly have reactions such as hand trembling due to fatigue, and the potential risk in the operation is increased. Meanwhile, due to the existence of the medical imaging equipment, doctors need to be exposed in a ray environment for a long time, and the medical imaging equipment has great harm to bodies.
Disclosure of Invention
The invention aims to provide a guide wire driving device of a vascular intervention robot, which replaces manual guide wire driving with mechanical driving, can effectively reduce the labor intensity of doctors and reduce the damage of rays to the doctors.
The technical scheme of the invention is as follows:
a vascular intervention robot guidewire drive, comprising: the novel automatic wire guiding device comprises a support, a first driving motor, a first transmission assembly, a second driving motor, a second transmission assembly and a substrate, wherein a left end shaft and a right end shaft of which the axes are coincident are arranged at two ends of the substrate, the left end shaft and the right end shaft are rotatably connected with the support, wire guiding holes are formed in the middle shafts of the left end shaft and the right end shaft, the first driving motor drives the substrate to rotate through the first transmission assembly, a wire guiding clamping roller set and a spring are arranged on the substrate, the wire guiding clamping roller set is composed of a driving roller and a driven roller, the axes of the driving roller are parallel to each other, the roller shaft of the driving roller is perpendicular to the substrate and rotatably connected with the substrate, the second driving motor drives the driving roller to rotate through the second transmission assembly, a strip-shaped driven roller shaft hole is formed in the substrate, the roller shaft of the driven roller is slidably connected with the substrate through the driven roller shaft hole, and a spring for pushing the driven roller to the driving roller is arranged between the roller shaft of the driven roller and the substrate.
The guide wire is arranged on one side of the substrate along the guide wire hole and is connected with the guide wire hole in a sliding mode. The clamping roller group and the guide wire are positioned on the same side of the substrate, the driving roller is perpendicular to the substrate, and the axes of the left end shaft and the right end shaft are tangent to the circumferential surface of the driving roller. The driven roller is perpendicular to the substrate, the driven roller can rotate around the axis of the driven roller in the driven roller shaft hole, and the roller shaft of the driven roller can slide along the driven roller shaft hole, so that the peripheral surfaces of the driven roller and the driving roller are attached to clamp the guide wire or separated to release clamping of the guide wire. A pressure spring is arranged between the driven roller and the base plate, and the driven roller is pushed to the driving roller along the shaft hole of the driven roller by the pressure spring.
After the peripheral surfaces of the driving roller and the driven roller are attached, the guide wire is clamped, the first driving motor drives the substrate to rotate relative to the support by taking the guide wire hole as a shaft, and the substrate clamps the guide wire, so that torque is provided for circumferential rotation of the guide wire. The second driving motor drives the driving roller to rotate, the peripheral surfaces of the driving roller and the driven roller are tangent to clamp the guide wire, the driving roller and the driven roller rotate, and the friction force among the driving roller, the driven roller and the guide wire drives the guide wire to move axially.
Through the technical scheme, the axial movement and the circumferential rotation of the guide wire can be realized in a mechanical mode, and further the labor intensity and the radiation damage of manual driving of a doctor are reduced.
Specifically, the second transmission assembly comprises a right fixing plate, a sun gear, a planetary gear and a driving roller driving shaft, the right end shaft penetrates through the right fixing plate and is fixedly connected with the right fixing plate, the sun gear is rotatably connected with the right end shaft, the planetary gear is rotatably connected with the right fixing plate and is meshed with the sun gear, end plates which are parallel to each other are arranged at two ends of the base plate, two ends of the driving roller driving shaft are rotatably connected with the end plates, a second driving motor drives the sun gear to rotate relative to the right end shaft, and the planetary gear is in transmission connection with the driving roller driving shaft.
In the guide wire driving device in the prior art, the driving device for axial movement of the guide wire and the driving device for circumferential rotation are usually independent, when the axial movement mechanism and the circumferential rotation mechanism are applied in combination, or the driving device for circumferential rotation (such as a motor) is arranged on the axial movement mechanism, and the driving device for circumferential rotation moves in the axial direction along with the axial movement mechanism, which increases the load of axial movement, increases the volume and power of the device, and reduces the precision of the guide wire action; or the driving device moving axially is arranged on the circumferential rotating mechanism, and the driving mechanism moving axially rotates along with the circumferential rotating mechanism, so that the load of the axial rotating mechanism is increased, the volume and the power of equipment are increased, and the precision of the action of the guide wire is reduced.
In the solution of the invention, the second transmission assembly is used to transmit the torque of the second drive motor to move the guide wire axially. The planetary gear in the second transmission assembly is connected with a right fixing plate, the right fixing plate rotates around the thread guide hole along with the substrate, and the planetary gear also rotates by taking the thread guide hole as an axis. The sun gear of the second transmission assembly is rotatably connected with the right end shaft, the sun gear is meshed with the planetary gear, the sun gear is coaxial with the wire guide hole, and the planetary gear can rotate under the condition of revolving around the wire guide hole by the driving of the sun gear, namely the planetary gear rotates relative to the right fixed plate and rotates relative to the substrate. The planet gear drives the driving roller driving shaft to rotate, and the driving roller driving shaft further drives the driving roller to rotate through the bevel gear.
Through the technical scheme, under the condition that the substrate rotates around the axis of the guide wire hole (circumferential rotation of the guide wire), the driving roller can rotate (axial movement of the guide wire) as long as the sun gear is driven to rotate. The position of the sun gear and the bracket is relatively fixed, and the second driving motor can be arranged on the bracket and does not need to be arranged on the substrate, so that the load of the guide wire circumferential rotating mechanism is reduced.
Specifically, the second transmission assembly comprises a left fixed plate, a transmission shaft is arranged between the left fixed plate and the right fixed plate, two ends of the transmission shaft are respectively connected with the left fixed plate and the right fixed plate in a rotating mode, the planetary gear is coaxially and fixedly connected with the transmission shaft, and the transmission shaft and the driving roller driving shaft are in belt pulley transmission and belt transmission.
The transmission shaft passes through the bearing and sets up between left fixed plate and right fixed plate, rotates with left fixed plate and right fixed plate and links to each other, and left and right fixed plate sets up in the left and right sides of base plate, and the right-hand member of transmission shaft runs through right fixed plate, and planetary gear sets up in the tip that the transmission shaft is located right fixed plate right side. The transmission shaft and the drive roll driving shaft are two rotating shafts which are parallel to each other, the transmission shaft is located on one side, close to the guide wire, of the base plate, the drive roll driving shaft is located on one side, far away from the guide wire, of the base plate, the transmission shaft and the drive roll driving shaft are in transmission through a belt and belt pulleys, specifically, the belt pulleys are arranged at the end portions of the transmission shaft and the drive roll driving shaft respectively, and the belt is arranged between the two belt pulleys. The belt and the belt pulley are arranged at a position close to the left fixing plate, roll shafts of the driving roller and the driven roller penetrate through the substrate, the guide wire is clamped by the driving roller and the driven roller at one side of the substrate close to the guide wire, and the roll shaft of the driving roller is meshed with a driving roller driving shaft through a bevel gear at one side of the substrate far away from the guide wire to perform transmission.
By setting the coefficient of friction between the belt and the pulley and the tension of the belt, the belt and the pulley can slip when the torque of the planetary gear is excessive. When the advancing resistance of the guide wire is large, the axial movement of the guide wire can be limited by the slippage between the belt pulley and the belt, and the blood vessel is prevented from being damaged by the strong advancing of the guide wire. Set up belt and belt pulley in the base plate and keep away from one side of sun gear and planetary gear, can balance the weight and the subassembly density of base plate both sides, improve the base plate and wind wire guide hole pivoted stability, the assembly of also being convenient for simultaneously.
In another alternative of the present invention, the planetary gear is directly fixed to the right end portion of the drive roller driving shaft, the planetary gear is engaged with the sun gear, and transmission between the sun gear and the drive roller driving shaft depends only on the planetary gear.
The side of the base plate, which is far away from the clamping roller set, is provided with a sliding block, a roller shaft of the driven roller penetrates through the base plate along a shaft hole of the driven roller and is fixedly connected with the sliding block, the outer side of the sliding block is provided with a sliding block shell, the sliding block shell is fixedly connected with the base plate, and a spring is arranged between the sliding block and the sliding block shell.
The sliding block forms a clutch between the driving roller and the driven roller, the spring can be compressed by sliding the sliding block, so that the peripheral surfaces of the driving roller and the driven roller are separated, the clamping of the guide wire is released, the guide wire does not axially move or circumferentially rotate, and after the sliding block is loosened, the peripheral surfaces of the driving roller and the driven roller are attached to continue clamping the guide wire.
Specifically, two groups of clamping roller sets are arranged on the base plate, a key sliding groove penetrating through the base plate is formed in the base plate between the two driven rollers, a key is arranged in the key sliding groove, and the key is fixedly connected with the sliding block.
The sliding of the sliding block can be controlled by an operator at one side of the substrate close to the guide wire through the key, the sliding block is used for separating the driving roller from the driven roller so as to install or unload the guide wire between the driving roller and the driven roller, and the sliding block can be driven at one side of the substrate close to the guide wire through the key so as to facilitate the operation of the guide wire placing process.
Furthermore, a guide rod parallel to the length direction of the shaft hole of the driven roller is arranged on the sliding block, a guide hole matched with the guide rod is formed in the sliding block shell, and the spring is sleeved on the guide rod.
And a driving roller synchronous gear and a driven roller synchronous gear are respectively arranged on the driving roller and the driven roller, and the driving roller synchronous gear and the driven roller synchronous gear are meshed under the action of a spring.
When the peripheral surfaces of the driving roller and the driven roller are externally tangent, the driving roller synchronous gear is meshed with the driven roller synchronous gear. The meshing of the driving roller synchronous gear and the driven roller synchronous gear improves the rotating synchronism of the driving roller and the driven roller and improves the stability of the axial movement of the guide wire.
The support includes the mesa, and the mesa upside is equipped with left mount pad and right mount pad respectively, and left end axle and right-hand member axle rotate with left mount pad and right mount pad respectively and link to each other, first driving motor and second driving motor set up in the mesa downside, and first driving motor and second driving motor's output runs through the mesa.
First driving motor and second driving motor link to each other with the mesa is fixed through the installation flange board of cover in the motor casing outside, and it is stable to connect, and first driving motor and second driving motor's main part is located below the mesa, the effectual space of having saved on the mesa makes seal wire drive arrangement's structure compacter, and the wholeness is good.
The output ends of the first driving motor and the second driving motor, which are positioned on the upper side of the table board, are respectively provided with a bevel gear, the left mounting seat is provided with a combined gear consisting of a cylindrical gear and a bevel gear, the bevel gear at the output end of the first driving motor is meshed with the bevel gear of the combined gear, and the cylindrical gear of the combined gear is meshed with a gear fixedly connected to a left end shaft to drive the substrate to rotate.
The right mounting seat is also provided with a combined gear, a bevel gear at the output end of the second driving motor is meshed with a bevel gear of the combined gear, and a cylindrical gear of the combined gear is meshed with a sun gear.
And through grooves are formed in the left end shaft, the right end shaft, the left fixing plate, the right fixing plate, the left mounting seat, the right mounting seat and the sun gear. The logical groove of left end axle and right end axle is by global extension to seal wire hole, and the logical groove of left fixed plate, right fixed plate, left mount pad and right mount pad all is seted up from top to bottom, extends to seal wire hole axial position, and sun gear's logical groove is that sun gear is global to extend to seal wire hole axial position. The lead to groove of left fixed plate, right fixed plate, left mount pad, right mount pad is located the coplanar, when rotating base plate and sun gear, can make left end axle, right end axle, left fixed plate, right fixed plate, left mount pad, lead to the coincidence on right mount pad and the sun gear, the seal wire is from top to bottom embedded seal wire drive arrangement, compare in the seal wire mounting means who passes seal wire drive arrangement along the seal wire hole, very big convenient installation and the dismantlement of seal wire.
The guide wire driving device of the vascular intervention robot is also provided with a controller, and the controller controls the rotation of the first driving motor and the second driving motor, including the starting and stopping and the rotating speed of the motors.
The invention has the advantages and positive effects that: due to the adoption of the technical scheme, rotation and axial movement are realized by the driving of the guide wire accessible motor, the labor intensity and irradiation damage of doctors are greatly reduced, the second driving motor is allowed to be installed on the support by the design of the second transmission assembly, the load of the base plate is reduced, meanwhile, the balance weight between the left end and the right end of the base plate is balanced, the base plate is stable in rotation, the guide wire is stable in rotation, the installation is convenient, the setting of the key is convenient and fast to separate the driving roller from the driven roller, particularly, the key and the guide wire clamping roller group are arranged on the same side of the base plate, and the guide wire is matched with the design of the through groove, so that the installation and separation operation of the guide wire to the blood vessel intervention robot guide wire driving device are greatly facilitated.
Drawings
FIG. 1 is a schematic view of the structure of the present invention
FIG. 2 is a schematic view of the structure of the base plate, the first transmission assembly and the second transmission assembly
FIG. 3 is a schematic view of the structure of the side of the substrate away from the guide wire
FIG. 4 is a schematic view of the structure principle of the guide wire clamping roller group and the slide block
FIG. 5 is a schematic view of the structure of the slider and the slider housing
FIG. 6 is a schematic view of the first driving motor
In the figure:
1. support 2, base plate 5, seal wire
11. Left mounting seat 12, right mounting seat 13 and table top
14. A first driving motor 15, a second driving motor 16 and a mounting flange
21. Left end shaft 22, right end shaft 23 and driving roll
24. Driven roller 25, driven roller shaft hole 26, drive roller synchronizing gear
27. Slider 28, slider case 29, driven roller synchronizing gear
31. First combination gear 32, transmission gear 41 and second combination gear
42. Sun gear 43, planetary gear 44, left fixed plate
45. Right fixing plate 46, transmission shaft 47 and belt pulley
48. Drive roller drive shaft 271, push button 272, and guide bar
281. Guide hole
Detailed Description
As shown in fig. 1-6, the present invention:
a vascular intervention robot guidewire drive, comprising: support 1, first driving motor, first transmission assembly, second driving motor, second transmission assembly and base plate 2, the support includes mesa 13, be equipped with perpendicular to mesa 13 and left mount pad 11 and right mount pad 12 that are parallel to each other on the mesa 13, the both ends of base plate 2 are equipped with left end axle 21 and the right-hand member axle 22 of axis coincidence, a left side, be equipped with on the right side mount pad with a left side, right-hand member axle complex shaft hole, left end axle and right-hand member axle rotate with left mount pad and right mount pad respectively and link to each other, the axis department of left end axle and right-hand member axle is equipped with the yarn guide hole, the axis in yarn guide hole is located one side of base plate 2. First driving motor 14 and second driving motor 15 all set up in the downside of mesa 13, are equipped with the installation ring flange 16 of perpendicular to motor axis on the motor casing of first driving motor 14 and second driving motor 15, and first driving motor 14 and second driving motor 15 pass through installation ring flange 16 and mesa 13 fixed continuous, and first driving motor and second driving motor's output is located mesa 13 upside. Bevel gears are arranged at the output ends of the first driving motor and the second driving motor.
The first transmission assembly comprises a first combined gear 31 consisting of a bevel gear and a cylindrical gear which are coaxial, the first combined gear 31 is rotatably connected with the left mounting seat 11 through a rotating shaft which is perpendicular to the left mounting seat and parallel to the table board, the bevel gear of the first combined gear 31 is meshed with the bevel gear at the output end of the first driving motor 14, a transmission gear 32 is arranged on the left end shaft 21, and the transmission gear 32 is coaxial and fixedly connected with the left end shaft 21. The torque of the first driving motor 14 is transmitted to the substrate 2 along the bevel gear of the output end of the first driving motor, the first composite gear 31, the transmission gear 32, the left end shaft 21, in sequence.
The second transmission assembly comprises a second combined gear 41, a sun gear 42, a planetary gear 43, a left fixing plate 44, a right fixing plate 45, a transmission shaft 46, a belt pulley 47, a belt and a driving roller driving shaft 48, wherein the second combined gear 41 is rotatably connected with the right mounting seat 12 through a rotating shaft which is perpendicular to the right mounting seat and is parallel to the table top, the sun gear 42 is coaxial with the right end shaft 22 and is rotatably connected with the right end shaft, a cylindrical gear of the second combined gear is meshed with the sun gear, and a bevel gear of the second combined gear is meshed with a bevel gear at the output end of a second driving motor. The left fixing plate 44 is fixedly connected with the left end shaft 21, the right fixing plate 45 is fixedly connected with the right end shaft 22, the left fixing plate and the right fixing plate are parallel to each other, the transmission shaft 46 is rotatably connected with the left fixing plate and the right fixing plate, the planetary gear 43 is coaxially and fixedly installed at the end part, located on the right side of the right fixing plate 45, of the transmission shaft 46, and the planetary gear 43 is meshed with the sun gear 42. The driving roller driving shaft 48 is arranged on one side of the base plate 2 far away from the transmission shaft 46, the driving roller driving shaft 48 is rotatably connected with the base plate 2 through end plates on two sides of the base plate, and the driving roller driving shaft 48 and the transmission shaft 46 are transmitted through a belt and a belt pulley 47. The driving roll driving shaft is provided with a bevel gear.
Two groups of guide wire clamping roller sets are arranged on the base plate 2 and are arranged on one side, close to the guide wire 5, of the base plate 2, each group of guide wire clamping roller set is composed of a driving roller 23 and a driven roller 24, and roller shafts of the driving roller 23 and the driven roller 24 penetrate through the base plate 2 and are connected with the base plate 2 in a rotating mode. The base plate 2 is provided with a circular hole matched with the roll shaft of the driving roll, and is provided with a strip-shaped hole matched with the roll shaft of the driven roll, the roll shaft of the driven roll can slide in the strip-shaped shaft hole 25 of the driven roll, and the length direction of the shaft hole 25 of the driven roll is arranged along the radial direction of the driving roll, so that the driven roll 24 can be externally tangent to and separated from the driving roll 23. The base portions of the drive roller 23 and the driven roller 24 are provided with a drive roller synchronizing gear 26 and a driven roller synchronizing gear 29 which are engaged with each other, and the drive roller synchronizing gear 26 is engaged with the driven roller synchronizing gear 29 when the drive roller 23 and the driven roller 24 are circumscribed.
The side of the base plate 2 far away from the guide wire clamping roller group is provided with a slide block 27, and the slide block 27 is fixedly connected with the roller shafts of the two driven rollers 24. The slider is provided with a key 271, the end part of the key 271 far away from the slider penetrates through the substrate and is positioned on one side of the substrate close to the guide wire 5, the substrate is provided with a key sliding groove matched with the key, and the length direction of the key sliding groove is parallel to the length direction of the shaft hole of the driven roller. The slide block 27 is provided with a guide rod 272 parallel to the shaft hole direction of the driven roller, the outer side of the slide block is sleeved with a slide block shell 28, the slide block shell 28 is fixedly connected with the base plate 2, the slide block shell is provided with a guide hole 281 matched with the guide rod, the guide rod 272 slides along the guide hole 281, the guide rod 281 is sleeved with a spring, one end of the spring is abutted against the slide block, and the other end of the spring is abutted against the inner wall of the slide block shell 28.
Through grooves are formed in the left end shaft 21, the right end shaft 22, the left fixing plate 44, the right fixing plate 45, the left mounting seat 11, the right mounting seat 12, the transmission gear 32 and the sun gear 42. The through grooves of the left end shaft 21, the right end shaft 22 and the transmission gear 32 extend to the yarn guide hole from the peripheral surface, the through grooves of the left end shaft 21, the right end shaft 22 and the transmission gear 32 are located in the same plane, the through grooves of the left fixing plate 44, the right fixing plate 45, the left mounting seat 11 and the right mounting seat 12 are all formed from top to bottom and extend to the yarn guide hole axis position, and the through groove of the sun gear 42 is formed by extending the peripheral surface of the sun gear to the yarn guide hole axis position. The through grooves of the left fixing plate, the right fixing plate, the left mounting seat and the right mounting seat are located in the same plane, and when the base plate and the sun gear are rotated, the through grooves on the left end shaft, the right end shaft, the left fixing plate, the right fixing plate, the left mounting seat, the right mounting seat, the transmission gear and the sun gear can be overlapped.
The guide wire driving device of the vascular intervention robot is also provided with a controller, and the controller controls the rotation of the first driving motor and the second driving motor, including the starting and stopping and the rotating speed of the motors.
The working process of the example is as follows:
when the device is used, the base plate 2 and the sun gear 42 are firstly rotated to enable the left end shaft 21, the right end shaft 22, the left fixing plate 44, the right fixing plate 45, the left mounting seat 11, the right mounting seat 12, the transmission gear 32 and the through groove on the sun gear 42 to be overlapped, the key 271 is pushed to compress the spring, the driving roller 23 and the driven roller 24 are separated from a tangent position, and the guide wire 5 is placed into the axis of the guide wire hole from the opening of the through groove.
The key 271 is released, the slide block 27 is driven by a spring, the slide block 27 drives the roller shaft of the driven roller to slide along the shaft hole 25 of the driven roller, so that the peripheral surfaces of the driving roller 23 and the driven roller 24 are tangent, the guide wire 5 is clamped between the driving roller 23 and the driven roller 24, and the driving roller synchronous gear 26 and the driven roller synchronous gear 29 at the base parts of the driving roller and the driven roller are meshed.
The controller controls the first driving motor to rotate 14, and the torque of the first driving motor 14 is transmitted to the substrate 2 through the first combined gear 31, the transmission gear 32 and the left end shaft 21, so that the substrate rotates relative to the left and right mounting seats, and further the rotation of the guide wire 5 is realized.
The controller controls the second driving motor 15 to rotate, the torque of the second driving motor 15 is transmitted to a driving roller driving shaft 48 through a second combined gear 41, a sun gear 42, a planetary gear 43, a transmission shaft 46, a belt pulley 47 and a belt, so that the driving roller driving shaft 48 rotates, the end part of the roller shaft of the driving roller 23, which is positioned at one side of the substrate 2, away from the guide wire 5, is in bevel gear transmission with the driving roller driving shaft 48, the rotation of the driving roller 23 is finally realized, the synchronous rotation between the driving roller 23 and the driven roller 24 is realized through a synchronous gear, and the guide wire realizes the axial movement of the guide wire under the action of the friction force of the driving roller and the driven roller.
Although one embodiment of the present invention has been described in detail, the description is only for the purpose of illustrating the preferred embodiments of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.
Claims (9)
1. A vascular intervention robot guidewire drive, comprising: the novel automatic wire guiding device comprises a support, a first driving motor, a first transmission assembly, a second driving motor, a second transmission assembly and a substrate, wherein a left end shaft and a right end shaft of which the axes are coincident are arranged at two ends of the substrate, the left end shaft and the right end shaft are rotatably connected with the support, wire guiding holes are formed in the middle shafts of the left end shaft and the right end shaft, the first driving motor drives the substrate to rotate through the first transmission assembly, a wire guiding clamping roller set and a spring are arranged on the substrate, the wire guiding clamping roller set is composed of a driving roller and a driven roller, the axes of the driving roller are parallel to each other, the roller shaft of the driving roller is perpendicular to the substrate and rotatably connected with the substrate, the second driving motor drives the driving roller to rotate through the second transmission assembly, a strip-shaped driven roller shaft hole is formed in the substrate, the roller shaft of the driven roller is slidably connected with the substrate through the driven roller shaft hole, and a spring for pushing the driven roller to the driving roller is arranged between the roller shaft of the driven roller and the substrate.
2. The vascular intervention robot guidewire drive of claim 1, wherein: the second transmission assembly comprises a right fixing plate, a sun gear, a planetary gear and a driving roller driving shaft, the right end shaft penetrates through the right fixing plate and is fixedly connected with the right fixing plate, the sun gear is rotatably connected with the right end shaft, the planetary gear is rotatably connected with the right fixing plate and is meshed with the sun gear, end plates which are parallel to each other are arranged at two ends of the base plate, two ends of the driving roller driving shaft are rotatably connected with the end plates, the sun gear is driven by a second driving motor to rotate relative to the right end shaft, and the planetary gear is in transmission connection with the driving roller driving shaft.
3. The vascular intervention robot guidewire drive of claim 2, wherein: the second transmission assembly comprises a left fixed plate, a transmission shaft is arranged between the left fixed plate and the right fixed plate, two ends of the transmission shaft are respectively connected with the left fixed plate and the right fixed plate in a rotating mode, the planetary gear is coaxial with and fixedly connected with the transmission shaft, and the transmission shaft and the driving roller driving shaft are in transmission through a belt pulley and a belt.
4. The vascular intervention robot guidewire driving device of claim 1, wherein: the side of the base plate, which is far away from the clamping roller set, is provided with a sliding block, a roller shaft of the driven roller penetrates through the base plate along a shaft hole of the driven roller and is fixedly connected with the sliding block, the outer side of the sliding block is provided with a sliding block shell, the sliding block shell is fixedly connected with the base plate, and a spring is arranged between the sliding block and the sliding block shell.
5. The vascular intervention robot guidewire drive of claim 4, wherein: the base plate is provided with two groups of clamping roller sets, a key sliding groove penetrating through the base plate is formed in the base plate between the two driven rollers, a key is arranged in the key sliding groove, and the key is fixedly connected with the sliding block.
6. The vascular intervention robot guidewire driving device of claim 5, wherein: the sliding block is provided with a guide rod parallel to the length direction of the shaft hole of the driven roller, the sliding block shell is provided with a guide hole matched with the guide rod, and the spring is sleeved on the guide rod.
7. The vascular intervention robot guidewire driving device of claim 1, wherein: and a driving roller synchronous gear and a driven roller synchronous gear are respectively arranged on the driving roller and the driven roller, and are meshed under the action of a spring.
8. The vascular intervention robot guidewire driving device of claim 2, wherein: the support includes the mesa, and the mesa upside is equipped with left mount pad and right mount pad respectively, and left end axle and right-hand member axle rotate with left mount pad and right mount pad respectively and link to each other, first driving motor and second driving motor set up in the mesa downside, and first driving motor and second driving motor's output runs through the mesa.
9. The vascular intervention robot guidewire drive of claim 8, wherein: through grooves are formed in the left end shaft, the right end shaft, the left fixing plate, the right fixing plate, the left mounting seat, the right mounting seat and the sun gear.
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| CN202210148082.9A CN114515194B (en) | 2022-02-17 | 2022-02-17 | Vascular intervention robot guide wire driving device |
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| CN202210148082.9A CN114515194B (en) | 2022-02-17 | 2022-02-17 | Vascular intervention robot guide wire driving device |
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