CN114521970B - Motion control device for guide wire and surgical robot - Google Patents
Motion control device for guide wire and surgical robot Download PDFInfo
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- CN114521970B CN114521970B CN202210171900.7A CN202210171900A CN114521970B CN 114521970 B CN114521970 B CN 114521970B CN 202210171900 A CN202210171900 A CN 202210171900A CN 114521970 B CN114521970 B CN 114521970B
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- guide wire
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- 230000033001 locomotion Effects 0.000 title claims abstract description 75
- 230000005540 biological transmission Effects 0.000 claims abstract description 19
- 230000003014 reinforcing effect Effects 0.000 claims description 9
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 208000015181 infectious disease Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000005865 ionizing radiation Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
Classifications
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—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
- A61M25/09—Guide wires
- A61M2025/09116—Design of handles or shafts or gripping surfaces thereof for manipulating guide wires
Abstract
The embodiment of the disclosure provides a motion control device for a guide wire and a surgical robot, wherein the motion control device comprises a support base, a driving unit, a transmission unit and a rotating unit, the guide wire is arranged in the rotating unit, and the driving unit is connected with the rotating unit through the transmission unit so as to drive the rotating unit to perform linear motion and rotational motion. According to the embodiment of the disclosure, the guide wires can be controlled to realize rotary motion and linear reciprocating motion respectively and independently, the two motions are controlled not to influence each other, and rapid assembly and disassembly can be realized.
Description
Technical Field
The present disclosure relates to the technical field of surgical robots, and in particular to a motion control device for a guide wire and a surgical robot.
Background
In the use of conventional guidewires and catheter interventional instruments, doctors and medical staff are exposed to ionizing radiation of X-rays for a long time, and the doctors can be secondarily injured by wearing heavy lead clothing. By means of robotics, doctors can precisely treat and reduce injuries through physical isolation or remote operation.
In the current stage, the minimally invasive interventional surgical robot system which is developed and proposed, the rotation of the catheter inevitably causes the rotation of the corresponding driving element, so that the device is complex, the practical applicability is insufficient, medical objects are caused, meanwhile, no proper sterile protection exists, the infection is very easy to occur, and the problem that how to design a catheter rotation and simultaneously to effectively realize an effective sterile isolation structure is an urgent need to be solved currently. The coupling between the advancing and rotating movements of the existing guide wire can be influenced by the friction on the machinery, so that the control is easy to make mistakes and the function is invalid.
Disclosure of Invention
In view of this, the embodiment of the disclosure provides a motion control device for a guide wire and a surgical robot, so as to solve the problems of easy error and functional failure in control caused by mutual influence of mechanical friction and coupling between advancing and rotating motions of the guide wire in the prior art.
In one aspect, an embodiment of the present disclosure provides a motion control device for a guide wire, including a support base, a driving unit, a transmission unit, and a rotation unit, in which the guide wire is disposed, the driving unit is connected with the rotation unit through the transmission unit, so as to drive the rotation unit to perform a linear motion and a rotational motion.
In some embodiments, the support base has a bottom plate, a first riser and a second riser, the first riser and the second riser being disposed vertically at two ends of the bottom plate, respectively; the driving unit is arranged on the outer side of the first vertical plate, and the rotating unit and the transmission unit are arranged on the bottom plate and are positioned on the inner side of the first vertical plate.
In some embodiments, the drive unit includes a guidewire rotation motor and a guidewire propulsion motor, which are connected to the corresponding guidewire rotation motor and guidewire propulsion motor, respectively.
In some embodiments, the guidewire rotating motor and the guidewire advancing motor are secured to the first riser by a first mounting plate and a second mounting plate, respectively.
In some embodiments, a bearing support plate is disposed between the first riser and the rotating unit, the bearing support plate being disposed parallel to the first riser.
In some embodiments, the transmission unit includes a first gear, a second gear, a third gear, and a fourth gear, wherein the first gear and the second gear are disposed between the bearing support plate and the first riser, and the third gear and the fourth gear are disposed between the bearing support plate and the rotation unit.
In some embodiments, the first gear is coaxially connected to the guidewire propulsion motor via a first connection shaft, the second gear is meshed with the first gear, and the second gear is coaxially connected to the rotation unit via a second connection shaft.
In some embodiments, the fourth gear is coaxially connected to the guide wire rotating motor through a third connecting shaft, the third gear is fixedly disposed on a side surface of the rotating unit, and the third gear is meshed with the fourth gear.
In some embodiments, the rotating unit includes a housing portion in which a central bevel gear and two roller groups are disposed, each roller group including a plurality of rollers therein, the central bevel gear and the second gear being coaxially connected by the second connecting shaft.
In some embodiments, the two roller sets are a first roller set and a second roller set, respectively, the first roller set includes a first roller and a second roller, the second roller set includes a third roller and a fourth roller, motion is transferred between the first roller and the second roller by a first belt, and motion is transferred between the third roller and the fourth roller by a second belt.
In some embodiments, the first roller and the fourth roller are disposed opposite each other, and the second roller and the third roller are disposed opposite each other.
In some embodiments, the first roller, the second roller, the third roller, and the fourth roller are fixed and arranged in a parallelogram by a first support shaft, a second support shaft, a third support shaft, and a fourth support shaft, respectively.
In some embodiments, a first bearing, a planetary bevel gear bearing seat, a second bearing, a fifth gear, a third belt, and a planetary bevel gear are disposed inside the housing portion, wherein the first bearing and the planetary bevel gear bearing seat are fixedly disposed on the housing portion, the second bearing is fixedly disposed on the planetary bevel gear bearing seat, and the planetary bevel gear is disposed on the planetary bevel gear bearing seat and rotates between the first bearing and the second bearing, which is in meshed transmission with the center bevel gear.
In some embodiments, the fifth gear is coaxially fixed with the planetary bevel gear, one side of the third belt is fixed on the fifth gear, and the other side of the third belt is fixedly connected with the first roller.
In some embodiments, the fifth gear meshes with a sixth gear, which is coaxially fixed with the fourth roller.
In some embodiments, a guide wire adjusting knob is disposed at a side of the housing part, a base reinforcing plate is disposed in the housing part, the base reinforcing plate is fixed with a bottom of the housing part, a central support shaft and a link group are disposed on the base reinforcing plate, and the link group is used for connecting the central bevel gear, the central support shaft, the support shaft corresponding to each roller, and the planetary bevel gear to each other.
In some embodiments, the linkage includes a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, and an eighth link; the first connecting rod is respectively connected with the central bevel gear and the first supporting shaft, the second connecting rod is respectively connected with the adjusting knob and the third connecting rod, the third connecting rod is respectively connected with the first supporting shaft and the second supporting shaft, the fourth connecting rod is respectively connected with the second supporting shaft and the central supporting shaft, the fifth connecting rod is respectively connected with the central supporting shaft and the third supporting shaft 17, the sixth connecting rod is respectively connected with the third supporting shaft and the fourth supporting shaft, and the seventh connecting rod is respectively connected with the fourth supporting shaft and the planetary bevel gear.
In another aspect, embodiments of the present disclosure provide a surgical robot comprising a motion control device as described in any one of the above claims.
According to the embodiment of the disclosure, the guide wires can be controlled to realize rotary motion and linear reciprocating motion respectively and independently, the two motions are controlled not to influence each other, and rapid assembly and disassembly can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 2 is a schematic diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 4 is a schematic diagram of a semi-sectional structure of a motion control device according to an embodiment of the present disclosure;
fig. 5 is a schematic cross-sectional view of a motion control device according to an embodiment of the disclosure.
Reference numerals:
1-a first mounting base; 2-a guidewire rotating electrical machine; 3-a guidewire propulsion motor; 4-supporting a base; 5-a second mounting seat; 6-bearing support plates; 7-a housing part; 8-a planet bevel gear bearing seat; 9-a first support shaft; 10-a guide wire adjustment knob; 11-a first roller; 12-a first belt; 13-a second roller; 14-a second support shaft; 15-a guidewire; 16-a second riser; 17-a third support shaft; 18-a third roller; 19-a second belt; 20-fourth support shaft; 21-fourth roller; 22-a central bevel gear; 23-a first gear; 24-a second gear; 25-a third connecting shaft; 26-a first connecting shaft; 27-a third gear; 28-fourth gear; 29-a second connecting shaft; 30-a fifth gear; 31-a first bearing; 32-planetary bevel gears; 33-a third belt; 34-a second bearing; 35-a base reinforcing plate; 36-a first link; 37-a second link; 38-fourth link; 39-a fifth link; 40-sixth connecting rod; 41-a bottom plate; 42-a second riser; 43-sixth gear; 44-seventh link.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
Unless otherwise defined, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure pertains. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
In order to keep the following description of the embodiments of the present disclosure clear and concise, the present disclosure omits detailed description of known functions and known components.
The disclosed embodiments provide a motion control device for an interventional guidewire that enables the interventional guidewire to simultaneously perform both an advancing motion and a rotating motion along a straight line, and where the advancing motion and the rotating motion do not affect each other.
As shown in fig. 1, the motion control device provided by the embodiment of the present disclosure includes a support base 4, a driving unit, a transmission unit, and a rotation unit, in which a guide wire 15 is disposed, and the driving unit is connected with the rotation unit through the transmission unit, so as to drive the rotation unit to realize a rotation and a revolution, and finally, make the guide wire 15 realize a linear motion and a rotation motion.
Wherein the support base 4 has a U-shaped structure, and has a bottom plate 41, a first vertical plate 42 and a second vertical plate 16, the bottom plate 41 is used for installing the motion control device at an installation position of medical equipment such as an operation robot, and the first vertical plate 42 and the second vertical plate 16 are respectively and vertically arranged at two ends of the bottom plate 41; the driving unit is disposed at the outer side of the first vertical plate 42, where the outer side is a side far from the bottom plate 41, and a notch for allowing the guide wire 15 to pass through may be further provided at the first vertical plate 42; the rotation unit and the transmission unit are provided on the bottom plate 41 and located at an inner side of the first riser 42, where the inner side refers to a side close to the bottom plate 41. Wherein the rotation unit is disposed between the first riser 42 and the second riser 16 to facilitate rotation thereof.
Further, as shown in fig. 2, the first vertical plate 42 of the support base 4 may physically isolate the sterile portion, such as the driving unit, from the sterile portion, such as the rotating unit, so as to facilitate the manufacture and use of the sterile protective sleeve, and only the sterile portion needs to be mounted from the left side to the right side in fig. 2 in actual use, thereby greatly increasing versatility and reducing pollution risk.
Further, as further shown in fig. 1, the driving unit includes a wire rotating motor 2 and a wire pushing motor 3, the wire rotating motor 2 and the wire pushing motor 3 are respectively connected with the corresponding wire rotating motor and the corresponding wire pushing motor, wherein the wire rotating motor 2 and the wire pushing motor 3 are respectively fixed on the first vertical plate 42 through a first mounting plate 1 and a second mounting plate 5, and output shafts of the wire rotating motor 2 and the wire pushing motor 3 are respectively extended out of the outer side of the first vertical plate 42.
A bearing support plate 6 is disposed on the inner side of the first vertical plate 42 of the support base 4, the bearing support plate 6 and the first vertical plate 42 are disposed parallel to each other, and the bearing support plate 6 is particularly located at a position between the first vertical plate 42 and the rotating unit.
Further, as shown in connection with fig. 3, the transmission unit comprises a first gear 23, a second gear 24, a third gear 27 and a fourth gear 28, wherein the first gear 23 and the second gear 24 are arranged between the bearing support plate 6 and the first riser 42, and the third gear 27 and the fourth gear 28 are arranged between the bearing support plate 6 and the rotation unit.
The first gear 23 is coaxially connected with the guide wire propulsion motor 3 through a first connecting shaft 26, the second gear 24 is meshed with the first gear 23, the second gear 24 is coaxially connected with the rotating unit through a second connecting shaft 29, and the second connecting shaft 29 penetrates through the bearing support plate 6; the fourth gear 28 is coaxially connected with the guide wire rotating motor 2 through a third connecting shaft 25, the third gear 27 is fixedly arranged on the side surface of the rotating unit, and the third gear 27 is meshed with the fourth gear 28.
Thus, when the guide wire propulsion motor 3 rotates, the first gear 23 and the second gear 24 are driven to rotate by the first connecting shaft 26, and the second gear 24 drives the rotating unit by the second connecting shaft 29 to realize linear motion of the guide wire 15; when the guide wire rotating motor 2 rotates, the third connecting shaft 25 drives the fourth gear 28, the third gear 27 and the guide wire 15 to synchronously rotate.
Further, the rotating unit includes a housing 7, a central bevel gear 22 and two roller groups are disposed in the housing 7, each roller group includes a plurality of rollers, wherein the central bevel gear 22 is disposed on a side, close to the bearing support plate 6, of the housing 7, and is coaxially connected with the second gear 24 through a second connecting shaft 29, so that the central bevel gear 22 can be driven to rotate when the second gear 24 rotates, and the rotation of the central bevel gear 22 can drive the rollers in the roller groups to rotate.
In the embodiment of the present disclosure, the two roller groups are a first roller group and a second roller group, respectively, wherein the first roller group includes a first roller 11 and a second roller 13, and the second roller group includes a third roller 18 and a fourth roller 21, wherein the first roller 11, the second roller 13, the third roller 18 and the fourth roller 21 are fixed and arranged in a parallelogram shape by a first support shaft 9, a second support shaft 14, a third support shaft 17 and a fourth support shaft 20, respectively, wherein the first support shaft 9, the second support shaft 14, the third support shaft 17 and the fourth support shaft 20 are vertically disposed within the housing portion 7. Preferably, the first roller 11 and the fourth roller 20 are disposed opposite to each other, and the second roller 13 and the third roller 18 are disposed opposite to each other, so as to clamp the guide wire 15.
Further, the first roller 11 and the second roller 13 transmit motion through a first belt 12, the rotation of the first roller 11 can drive the second roller 13 to rotate through the first belt 12, the third roller 18 and the fourth roller 21 transmit motion through a second belt 19, and the rotation of the fourth roller 21 can drive the third roller 18 to rotate through the second belt 19; the guide wire 15 is clamped between the first roller 11 and the fourth roller 20 and between the second roller 13 and the third roller 18, so that 2 sets of oppositely arranged rollers are used for clamping the guide wire 15 and driving the guide wire 15 to move along a straight line through friction force, friction force is increased through cooperation of the rollers and the belt, movement of the guide wire 15 is smoother, and slip prevention is avoided.
In order to enable the guide wire 15 to move in a straight line, it is necessary to control the movement of the first roller 11, the second roller 13, the third roller 18, and the fourth roller 21.
For this purpose, as shown in fig. 4 and 5, a first bearing 31, a planetary bevel gear bearing seat 8, a second bearing 34, a fifth gear 30, a third belt 33 and a planetary bevel gear 32 are provided inside the housing part 7, wherein the first bearing 31 and the planetary bevel gear bearing seat 8 are fixedly provided on the housing part 7, the second bearing 34 is fixedly provided on the planetary bevel gear bearing seat 8, and the planetary bevel gear 32 is provided on the planetary bevel gear bearing seat 8 and rotatable between the first bearing 31 and the second bearing 34, which is capable of meshing transmission with the center bevel gear 22.
Further, the fifth gear 30 is coaxially fixed to the planetary bevel gear 32, and one side of the belt 33 is fixed to the fifth gear 30, and the other side thereof is fixedly connected to the first roller 11, so that the rotation of the first roller 11 can be driven by the rotation of the fifth gear 30.
In practice, the guide wire 15 penetrates from the right to the left in fig. 1 and 4, passing in turn through the support base 4, the second gear 24, the bearing support plate 6, the housing part 7, the planetary bevel gear bearing housing 8 and the second riser 16.
Thus, when the central bevel gear 22 rotates, the planetary bevel gear 32 can realize three movements of independent rotation, independent revolution or simultaneous rotation and revolution according to actual conditions, wherein the planetary bevel gear 32 is meshed with the central bevel gear 22, so that when the central bevel gear 22 rotates, on one hand, the planetary bevel gear 32 is driven by the central bevel gear 22 to realize rotation, and further the fifth gear 30 is driven to rotate, and further the belt 33 is driven to transmit the movement, so that the first roller 11 rotates and the second roller 13 rotates; on the other hand, the fifth gear 30 is meshed with a sixth gear 43, and the sixth gear 43 is coaxially fixed with the fourth roller 21 and the fourth support shaft 20. Thus, when the planetary bevel gear 32 rotates, the fifth gear 30 is driven to rotate, and the sixth gear 43 and the fourth roller 21 are synchronously driven to rotate, and the third roller 18 is driven to rotate via the second belt 19.
Further, in order to adjust the positions of the rollers in the roller group to adjust the gaps between the rollers so as to accommodate the guide wires 15 of different sizes to be able to be clamped between the rollers, as shown in fig. 4, a guide wire adjusting knob 10 is provided at a side surface of the housing portion 7, a base reinforcing plate 35 is provided in the housing portion 7, a center support shaft 42 is provided on the base reinforcing plate 35, and a lever group including, for example, a first link 36, a second link 37, a third link 38, a fourth link 39, a fifth link 40, a sixth link 41, and a seventh link 44 is provided; the link group is used to engage and drive the center bevel gear 22, the center support shaft 42, the support shaft corresponding to each roller, and the planetary bevel gear 32 with each other, and the movement control of the roller group is achieved by the nature of the parallelogram structure formed by the link group, specifically, the first roller 11 and the third roller 13 can be moved in the arrow direction shown in fig. 5, for example, toward or away from the third roller 17 and the fourth roller 21 by rotating the guide wire adjusting knob 10. It is of course also possible to provide the guide wire adjustment knob 10 on the other side of the housing part 7 for adjusting the position of the third roller 17 and the fourth roller 21.
Wherein, here, the base reinforcing plate 35 is fixed to the bottom of the housing portion 7, the first link 36 is connected to the center bevel gear 22 and the first support shaft 9, respectively, the second link 37 is connected to the adjustment knob 10 and the third link 38, respectively, the third link 38 is connected to the first support shaft 9 and the second support shaft 14, respectively, the fourth link 39 is connected to the second support shaft 14 and the center support shaft 42, respectively, the fifth link 40 is connected to the center support shaft 42 and the third support shaft 17, respectively, the sixth link 41 is connected to the third support shaft 17 and the fourth support shaft 20, respectively, and the seventh link 44 is connected to the fourth support shaft 20 and the planetary bevel gear 32, respectively.
Here, since the center support shaft 42 and the planetary bevel gear 32 have only their own rotational degrees of freedom with respect to the housing portion 7, the fourth link 39, the third link 38, and the first link 36 form a parallelogram structure a therebetween from a structural point of view; the fifth link 40, the sixth link 41 and the seventh link 44 form another parallelogram structure B therebetween, which ensures that the relative positions of the first roller 11, the second roller 13, the third roller 18 and the fourth roller 21 vary within a certain range.
When the size of the guide wire 15 needs to be adjusted, the guide wire adjusting knob 10 is rotated to drive the second connecting rod 37 to move, so that the parallelogram structure a can swing within a certain range, the second connecting rod 37 is pushed by rotating the guide wire adjusting knob 10, so that the third connecting rod 38 and the fourth connecting rod 39 fixedly connected with the second connecting rod 37 swing, and the parallelogram structure a is driven to move in the arrow direction, at this time, the first roller 11 and the second roller 13 mounted on the first supporting shaft 9 and the second supporting shaft 10 synchronously move, and the gaps between the first roller 11 and the fourth roller 20 and between the second roller 13 and the third roller 18 are adjusted, so that the guide wire 15 is clamped between the second belt 19 between the first belt 12 and the third roller 18 and the fourth roller 21 on the opposite side. In this way, since the guide wire 15 has different thickness and other dimensions, different clamping forces are required, the guide wire 15 with different thickness dimensions can be clamped by adjusting the guide wire adjusting knob 10, and the clamping force can be amplified by a larger multiple due to the adoption of the connecting rod structure.
In using the mechanism of the embodiment of the present disclosure, that is, in actual operation, the operator may insert the guide wire 15 from the right side to the left side of fig. 1, the guide wire 15 sequentially passes through the first riser 42, the second gear 24, the bearing support plate 6, the housing portion 7 of the rotation unit, the center of the second riser 16, and then put the guide wire 15 in the middle of the first roller 11, the second roller 13, the third roller 18, and the fourth roller 21, rotate the guide wire adjusting knob 10, and the rollers move inward to clamp the guide wire 15 due to the movement of the parallelogram structure a. Here, due to the special operating requirements for the interventional guide wire 15, it is necessary to ensure that the rotation of positive and negative multiple turns and the advancement of indefinite length are completed in a very small space, the above structure can form a differential gear train to realize the decoupling of the advancement and the rotation movement, i.e. the two movements do not collide with each other.
With the motion control device of the embodiments of the present disclosure, the guide wire 15 may be made to perform a linear motion and/or a rotational motion, in particular:
(1) The guide wire propulsion motor 3 is driven to rotate by the guide wire propulsion motor, the guide wire rotation motor 2 is kept motionless, in this case, the first gear 23, the second gear 24 and the central bevel gear 22 are sequentially driven to rotate, the planetary bevel gear 32 is further driven to rotate, and the fifth gear 30, the sixth gear 43, the third belt 33, the first roller 11, the second roller 13, the third roller 18 and the fourth roller 21 are driven to rotate, so that the guide wire 15 is driven to do only linear reciprocating propulsion motion;
(2) The guide wire rotating motor 2 is driven to rotate by the guide wire rotating motor, the guide wire pushing motor 3 is kept motionless, in this case, the third gear 27 and the fourth gear 28 rotate in turn, and the rotating unit is driven to rotate around the second connecting shaft 29, at this time, since the guide wire pushing motor 3 is kept motionless, the central bevel gear 22 will not rotate, the planetary bevel gear 32 will passively rotate under the revolution action of the rotating unit, and at this time, the guide wire 15 will move at a certain rotation speed and pushing speed;
(3) The guide wire pushing motor 3 is driven to rotate through the guide wire pushing motor, and the guide wire rotating motor 2 is driven to rotate through the guide wire rotating motor, at this time, the guide wire 15 can realize different speed combinations of rotation and linear motion according to different speeds of the guide wire pushing motor 3 and the guide wire rotating motor 2.
The following further quantitatively describes the movement speed of the guide wire 15, assuming that the transmission ratio of each gear in the embodiment of the present disclosure is fixed to be 1:1, assuming that the angular speed at which the guide wire advancing motor 3 rotates is ω1, the angular speed at which the guide wire rotating motor 2 rotates is ω2, the radius of the first roller 11 is R, the angular speed is ω3, the radii of the first roller 11, the second roller 13, the third roller 18, and the fourth roller 21 are the same, the angular speed of the rotating unit is ω4, and the linear speed of the guide wire 15 is v;
at this time, the motor angular velocity vector in the motion control device:
W input device ＝(ω1 ω2) T
Angular velocity parameter matrix in the motion control device:
angular velocity vector outputted from the motion control device:
W output of ＝(ω3 ω4) T
At this time
W Output of ＝A*W Input device
The linear velocity of the guide wire 15 along the linear motion can be obtained in the whole:
v＝(ω1+ω2)×R
rotational angular velocity of the guide wire 15:
ω4＝ω2。
another embodiment of the present disclosure provides a surgical robot, which includes a motion control device for a guide wire according to any one of the above claims, where the motion control device can control the guide wire to extend into a patient to achieve a corresponding motion when the surgical robot is operated.
According to the embodiment of the disclosure, the guide wires can be controlled to realize rotary motion and linear reciprocating motion respectively and independently, the two motions are controlled not to influence each other, and rapid assembly and disassembly can be realized.
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
While various embodiments of the present disclosure have been described in detail, the present disclosure is not limited to these specific embodiments, and various modifications and embodiments can be made by those skilled in the art on the basis of the concepts of the present disclosure, which modifications and modifications should fall within the scope of the claims of the present disclosure.
Claims (8)
1. The motion control device for the guide wire is characterized by comprising a supporting base, a driving unit, a transmission unit and a rotating unit, wherein the guide wire is arranged in the rotating unit, and the driving unit is connected with the rotating unit through the transmission unit so as to drive the guide wire in the rotating unit to perform linear motion and rotational motion;
the support base is provided with a bottom plate, a first vertical plate and a second vertical plate, and the first vertical plate and the second vertical plate are respectively and vertically arranged at two end parts of the bottom plate; the driving unit is arranged on the outer side of the first vertical plate, and the rotating unit and the transmission unit are arranged on the bottom plate and are positioned on the inner side of the first vertical plate;
the driving unit comprises a guide wire rotating motor and a guide wire propelling motor;
a bearing supporting plate is arranged between the first vertical plate and the rotating unit, and the bearing supporting plate and the first vertical plate are arranged in parallel;
the transmission unit comprises a first gear, a second gear, a third gear and a fourth gear, wherein the first gear and the second gear are arranged between the bearing support plate and the first vertical plate, and the third gear and the fourth gear are arranged between the bearing support plate and the rotation unit;
the first gear is coaxially connected with the guide wire propulsion motor through a first connecting shaft, the second gear is meshed with the first gear, and the second gear is coaxially connected with the rotating unit through a second connecting shaft;
the rotating unit comprises a shell part, a central bevel gear and two roller groups are arranged in the shell part, each roller group comprises a plurality of rollers, and the central bevel gear and the second gear are coaxially connected through the second connecting shaft;
the two roller groups are respectively a first roller group and a second roller group, the first roller group comprises a first roller and a second roller, the second roller group comprises a third roller and a fourth roller, the first roller and the second roller transfer motion through a first belt, and the third roller and the fourth roller transfer motion through a second belt;
the first roller, the second roller, the third roller and the fourth roller are respectively fixed and arranged in a parallelogram through a first supporting shaft, a second supporting shaft, a third supporting shaft and a fourth supporting shaft;
a guide wire adjusting knob is arranged on the side surface of the shell part, a base reinforcing plate is arranged in the shell part and fixed with the bottom of the shell part, a central supporting shaft and a connecting rod group are arranged on the base reinforcing plate, and the connecting rod group is used for connecting the central bevel gear, the central supporting shaft, the supporting shaft corresponding to each roller and the planetary bevel gear;
the planetary bevel gear transmission device comprises a shell, a first bearing, a planetary bevel gear bearing seat, a second bearing, a fifth gear, a third belt and a planetary bevel gear, wherein the first bearing, the planetary bevel gear bearing seat, the second bearing, the planetary bevel gear bearing seat and the central bevel gear are arranged in the shell, the first bearing, the planetary bevel gear bearing seat, the second bearing, the planetary bevel gear bearing seat and the planetary bevel gear, the planetary bevel gear is fixedly arranged on the planetary bevel gear bearing seat, and rotates between the first bearing and the second bearing, and the planetary bevel gear is meshed with the central bevel gear for transmission.
2. The motion control device of claim 1, wherein the guidewire rotation motor and the guidewire advancement motor are secured to the first riser by a first mounting plate and a second mounting plate, respectively.
3. The motion control apparatus according to claim 1, wherein the fourth gear is coaxially connected to the guide wire rotating motor through a third connecting shaft, the third gear is fixedly provided on a side surface of the rotating unit, and the third gear is meshed with the fourth gear.
4. The motion control device of claim 1, wherein the first roller and the fourth roller are disposed opposite each other and the second roller and the third roller are disposed opposite each other.
5. The motion control apparatus of claim 1, wherein the fifth gear is coaxially fixed with the planetary bevel gear, one side of the third belt is fixed to the fifth gear, and the other side thereof is fixedly connected to the first roller.
6. The motion control device of claim 5, wherein the fifth gear meshes with a sixth gear, the sixth gear being coaxially fixed with the fourth roller.
7. The motion control apparatus of claim 1, wherein the linkage comprises a first link, a second link, a third link, a fourth link, a fifth link, a sixth link, a seventh link, and an eighth link; the first connecting rod is connected with the central bevel gear and the first supporting shaft respectively, the second connecting rod is connected with the adjusting knob and the third connecting rod respectively, the third connecting rod is connected with the first supporting shaft and the second supporting shaft respectively, the fourth connecting rod is connected with the second supporting shaft and the central supporting shaft respectively, the fifth connecting rod is connected with the central supporting shaft and the third supporting shaft respectively, the sixth connecting rod is connected with the third supporting shaft and the fourth supporting shaft respectively, and the seventh connecting rod is connected with the fourth supporting shaft and the planetary bevel gear respectively.
8. A surgical robot comprising a motion control device according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171900.7A CN114521970B (en) | 2022-02-24 | 2022-02-24 | Motion control device for guide wire and surgical robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171900.7A CN114521970B (en) | 2022-02-24 | 2022-02-24 | Motion control device for guide wire and surgical robot |
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| CN114521970A CN114521970A (en) | 2022-05-24 |
| CN114521970B true CN114521970B (en) | 2023-11-07 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210171900.7A Active CN114521970B (en) | 2022-02-24 | 2022-02-24 | Motion control device for guide wire and surgical robot |
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| CN117137634B (en) * | 2023-10-26 | 2024-02-23 | 生一科技(北京)有限公司 | Tube wire roller driving mechanism and tube wire control device for interventional therapy |
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| CN103157170A (en) * | 2013-02-25 | 2013-06-19 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device based on two-point clamping |
| CN113133833A (en) * | 2020-01-20 | 2021-07-20 | 上海奥朋医疗科技有限公司 | Blood vessel intervention robot operating handle with guide wire catheter propulsion resistance feedback |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
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- 2022-02-24 CN CN202210171900.7A patent/CN114521970B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103157170A (en) * | 2013-02-25 | 2013-06-19 | 中国科学院自动化研究所 | Blood vessel interventional operation conduit or guide wire control device based on two-point clamping |
| CN113133833A (en) * | 2020-01-20 | 2021-07-20 | 上海奥朋医疗科技有限公司 | Blood vessel intervention robot operating handle with guide wire catheter propulsion resistance feedback |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
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