CN114522327A - 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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- CN114522327A CN114522327A CN202210171864.4A CN202210171864A CN114522327A CN 114522327 A CN114522327 A CN 114522327A CN 202210171864 A CN202210171864 A CN 202210171864A CN 114522327 A CN114522327 A CN 114522327A
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- 239000000463 material Substances 0.000 claims description 3
- 229920002635 polyurethane Polymers 0.000 claims description 3
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- 230000007246 mechanism Effects 0.000 claims description 2
- 229920001296 polysiloxane Polymers 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
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- 230000004075 alteration Effects 0.000 description 2
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- 208000014674 injury Diseases 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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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
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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
- A61B34/70—Manipulators specially adapted for use in surgery
-
- 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
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Abstract
The embodiment of the disclosure provides a motion control device for a guide wire, which comprises a supporting frame, the supporting frame comprises a bottom plate, a first side plate and a second side plate, the first side plate and the second side plate are respectively arranged on two opposite sides of the bottom plate and perpendicular to the bottom plate, a first gear set and a second gear set are arranged on the first side plate, a guide wire outer barrel used for controlling the guide wire to realize rotary motion is arranged between the first side plate and the second side plate, the guide wire outer barrel is connected with the first gear set, a bevel gear set is arranged in the guide wire outer barrel, one end of the bevel gear set is connected with the second gear set, the other end of the bevel gear set is connected with a third gear set, the third gear set is in transmission connection with a guide wire set, and the guide wire set is used for clamping the guide wire to control the guide wire to realize linear reciprocating motion. The guide wire can be controlled to independently realize rotary motion and linear reciprocating motion respectively, the two motions are controlled not to be influenced mutually, and quick assembly and disassembly can be realized.
Description
Technical Field
The present disclosure relates to the field of surgical robots, and in particular, to a motion control device for a guide wire and a surgical robot.
Background
When the traditional guide wire and catheter interventional device are used, doctors and medical staff are exposed to ionizing radiation of X-rays for a long time, and the doctors are subjected to secondary injury by wearing heavy lead clothes. With the aid of robotics, doctors can treat and reduce injuries accurately by means of physical isolation or remote operation.
In the existing stage, the rotation of a catheter of a minimally invasive interventional surgical robot system which is developed and released inevitably causes the rotation of a corresponding driving element, so that the device is complex, the practical applicability is insufficient, a medical substance is caused, meanwhile, proper sterile protection is not available, infection is easy to occur, and how to design a catheter rotation and effective sterile isolation structure is the problem which needs to be solved urgently at present. The coupling between the propelling and rotating motions of the existing guide wire can affect each other through mechanical friction, so that errors and functional failures are easy to occur during control.
Disclosure of Invention
In view of this, the disclosed embodiments provide a motion control device for a guide wire and a surgical robot, so as to solve the problems in the prior art that friction on a machine may affect each other due to coupling between pushing and rotating motions of the guide wire, which causes a control error and a functional failure.
In one aspect, the present disclosure provides a motion control device for a guidewire, comprising a support frame comprising a base plate, a first side plate, and a second side plate, the first side plate and the second side plate are respectively arranged on two opposite sides of the bottom plate and are perpendicular to the bottom plate, a first gear set and a second gear set are arranged on the first side plate, a guide wire outer cylinder used for controlling the guide wire to realize rotary motion is arranged between the first side plate and the second side plate, the guide wire outer cylinder is connected with the first gear set, a bevel gear set is arranged in the guide wire outer cylinder, one end of the bevel gear set is connected with the second gear set, the other end of the wire feeding mechanism is connected with a third gear set, the third gear set is in transmission connection with a wire feeding wheel set, and the wire feeding wheel set is used for clamping the guide wire so as to control the guide wire to realize linear reciprocating motion.
In some embodiments, a third driving shaft is disposed between the first side plate and the second side plate, and the outer guide wire barrel and the first gear set are sleeved on the third driving shaft.
In some embodiments, the guide wire outer cylinder comprises a lower support plate, a circumferential side wall is arranged on the lower support plate, a guide wire support plate is arranged on the lower support plate, and a guide wire upper cover plate is covered on the side wall.
In some embodiments, a groove is formed in the side wall, a fixing buckle is arranged at the edge of the guide wire upper cover plate, and the guide wire upper cover plate is fixedly covered on the side wall by the fixing buckle being clamped in the groove.
In some embodiments, the third gear set is disposed in a space formed between the lower support plate and the guide wire support plate.
In some embodiments, the first gear set includes a first driving shaft, the first driving shaft is connected to the guide wire rotating motor, a first gear is sleeved on the first driving shaft, the first gear is engaged with a second gear, and the second gear is connected to the guide wire outer cylinder through a third driving shaft.
In some embodiments, the first and second gears are disposed inboard of the first side plate.
In some embodiments, the second gear set includes a second driving shaft connected to the guide wire pushing motor, and a third gear is sleeved on the second driving shaft and meshed with a fourth gear.
In some embodiments, the third gear and the fourth gear are disposed outboard of the first side plate.
In some embodiments, the bevel gear set includes a vertical bevel gear and a horizontal bevel gear that are engaged with each other, and the vertical bevel gear is disposed near the first side plate and coaxially connected to the fourth gear by a first connecting shaft.
In some embodiments, a second connecting shaft is arranged on the output side of the horizontal bevel gear, and the horizontal bevel gear is in transmission connection with the third gear set through the second connecting shaft.
In some embodiments, the third gear set includes a fifth gear and a seventh gear, the fifth gear and the seventh gear are coaxially connected with the horizontal bevel gear through the second connecting shaft, the seventh gear is meshed with an eighth gear in a first plane, the eighth gear is meshed with a ninth gear in the first plane, and the fifth gear is meshed with a sixth gear in a second plane.
In some embodiments, a third connecting shaft is disposed on the ninth gear, a fourth connecting shaft is disposed on the sixth gear, and the third gear set is respectively connected to the wire feeding wheel set through the third connecting shaft and the fourth connecting shaft.
In some embodiments, the wire feeding wheel group comprises a first wire feeding wheel and a second wire feeding wheel which are arranged oppositely, and the guide wire is clamped between the two wire feeding wheels.
In some embodiments, a first wire feeding belt and a second wire feeding belt are respectively sleeved on the first wire feeding wheel and the second wire feeding wheel, and the first wire feeding belt and the second wire feeding belt are used for cooperatively driving the guide wire to reciprocate along a straight line.
In some embodiments, the first wire feed strip and the second wire feed strip are made of a polyurethane or silicone material.
In some embodiments, the wire feeding device further comprises an adjusting device, the adjusting device comprises an adjusting knob and a linkage, the linkage is connected with the second wire feeding wheel, and the gap between the two wire feeding wheels is adjusted through the linkage by rotating the adjusting knob.
In some embodiments, the adjustment knob is disposed on the sidewall of the guidewire outer barrel.
In some embodiments, the wire feeding device further comprises a fixing frame connected with the first wire feeding wheel and used for fixing the position of the first wire feeding wheel, and the linkage is arranged between the fixing frame and the adjusting knob to adjust the position of the second wire feeding wheel.
In some embodiments, the linkage includes a first link and a second link, the adjusting knob is connected to one end of the first link through an adjusting screw, the other end of the first link is connected to the second wire feeding wheel, and two ends of the second link are respectively connected to the second wire feeding wheel and the fixing frame.
In another aspect, an embodiment of the present disclosure provides a surgical robot including the motion control device for a guide wire according to any one of the above technical solutions.
The guide wire can be controlled to independently realize rotary motion and linear reciprocating motion respectively, the two motions are controlled not to be influenced mutually, and quick 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 needed to be used in the description of the embodiments or the prior art will be briefly introduced below, it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a motion control apparatus according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 3 is a schematic structural diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 4 is a schematic structural diagram of a motion control apparatus according to an embodiment of the disclosure;
fig. 5 is a schematic structural diagram of a motion control device according to an embodiment of the disclosure.
Reference numerals:
1-a first drive shaft (guide wire rotating motor connecting shaft); 2-a second drive shaft (guide wire propulsion motor connecting shaft); 3-a first gear; 4-a second gear; 5-a guide wire outer cylinder; 6-a third gear; 7-a fourth gear; 8-vertical bevel gear; 9-horizontal bevel gear; 10-a fifth gear; 11-sixth gear; 12-seventh gear; 13-eighth gear; 14-ninth gear; 15-a first wire feeding wheel; 16-a first wire feed belt; 17-a second wire feeding wheel; 18-a second wire feed belt; 20-adjusting knob; 21-a support frame; 211-a base plate; 212-a first side panel; 213-a second side plate; 22-a lower support plate; 23-a guide wire support plate; 24-a guide wire upper cover plate; 25-fixing buckle; 26-a groove; 27-a first connecting shaft; 28-a first link; 29-a second link; 30-third link.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more clear, the technical solutions of the embodiments of the present disclosure will be described below clearly and completely with reference to the accompanying drawings of the embodiments of the present disclosure. It is to be understood that the described embodiments are only a few embodiments of the present disclosure, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the disclosure without any inventive step, are within the scope of protection of the disclosure.
Unless otherwise defined, technical or scientific terms used herein shall have the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The use of "first," "second," and similar terms in this disclosure is not intended to indicate any order, quantity, or importance, but rather is used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that the element or item listed before the word covers the element or item listed after the word and its equivalents, but does not exclude other elements or items. The terms "connected" or "coupled" and the like are not restricted to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", and the like are used merely to indicate relative positional relationships, and when the absolute position of the object being described is changed, the relative positional relationships may also be changed accordingly.
To maintain the following description of the embodiments of the present disclosure clear and concise, a detailed description of known functions and known components is omitted from the present disclosure.
The disclosed embodiments provide a motion control device for a guide wire, which can be disposed at a mounting position on a medical apparatus such as a surgical robot, and is used for controlling the guide wire to realize a rotational motion and a linear reciprocating motion when the guide wire is driven, wherein the guide wire is used for penetrating into a patient body to assist in the process of surgery and the like.
As shown in fig. 1, 2, and 3, the motion control apparatus according to an embodiment of the present disclosure includes a supporting frame 21, where the supporting frame 21 includes a bottom plate 211, a first side plate 212, and a second side plate 213, the first side plate 212 and the second side plate 213 that are disposed opposite to each other are respectively disposed at two ends of the bottom plate 211 and are disposed perpendicular to the bottom plate 211, and the guide wire penetrates in a direction of the first side plate 212 and penetrates out in a direction of the second side plate 213. The base plate 211 may be disposed at a suitable mounting position on a medical device such as a surgical robot by any means.
In order to control the movement of the guide wire, a first gear set and a second gear set are disposed on the first side plate 212, wherein the first gear set is used for controlling the guide wire to realize a rotary movement, and the second gear set is used for controlling the guide wire to realize a linear reciprocating movement, which is a reciprocating movement along a linear direction from the first side plate 212 to the second side plate 213.
Further, a guide wire outer cylinder 5 is provided between the first side plate 212 and the second side plate 213. Specifically, a third driving shaft is arranged between the first side plate 212 and the second side plate 213, and the guide wire outer cylinder 5 and the first gear set are sleeved on the third driving shaft and coaxially connected, so that the guide wire outer cylinder 5 can rotate along with the rotation of the first gear set, and the guide wire passes through the guide wire outer cylinder 5 and can rotate along with the guide wire outer cylinder 5.
The guide wire outer cylinder 5 may be a shell structure, and specifically, as shown in fig. 2 and 3, it includes a lower support plate 22, a surrounding side wall is provided on the lower support plate 22, a guide wire support plate 23 is provided on the lower support plate 22, and a guide wire upper cover plate 24 is covered on the side wall; preferably, at least one groove 26 is formed in the side wall, at least one fixing buckle 25 is arranged at the edge of the guide wire upper cover plate 24, and the fixing buckle 25 is matched with the corresponding groove 26 on the side wall, so that the guide wire upper cover plate 24 can be fixedly covered on the side wall by clamping the fixing buckle 25 in the groove 26. The number and the positions of the grooves 26 and the fixing buckles 25 can be determined according to the shape of the guide wire outer cylinder 5.
Further, a bevel gear set is arranged in the guide wire outer cylinder 5, one end of the bevel gear set is connected with the second gear set, the other end of the bevel gear set is connected with a third gear set, the third gear set is arranged in the guide wire outer cylinder 5, particularly in a space formed between the lower support plate 22 and the guide wire support plate 23, wherein the rotation of the second gear set in the first direction can be converted into the rotation of the third gear set in the second direction through the bevel gear set.
Specifically, as shown in fig. 1 in combination with fig. 2 and 3, the first gear set and the second gear set are respectively fixed on the first side plate 212, wherein the first gear set is located between the first side plate 212 and the guide wire outer cylinder 5 and includes a first driving shaft 1 (corresponding to a guide wire rotating motor connecting shaft), the first driving shaft 1 is connected to an outer guide wire rotating motor, a first gear 3 is sleeved on the first driving shaft 1, the first gear 3 is engaged with a second gear 4, and the second gear 4 is coaxially connected to the guide wire outer cylinder 5 through the third driving shaft, so that the guide wire outer cylinder 5 can rotate along with the rotation of the second gear 4.
The second gear set is located outside the first side plate 212 and includes a second driving shaft 2 (equivalent to a guide wire propulsion motor connecting shaft), the second driving shaft 2 is connected to a guide wire propulsion motor located outside, a third gear 6 is sleeved on the second driving shaft 2, and the third gear 6 is meshed with the fourth gear 7.
As described above, the bevel gear set is capable of converting rotation of the second gear set in a first direction to rotation of the third gear set in a second direction. Specifically, as shown in fig. 4, the bevel gear set includes a vertical bevel gear 8 and a horizontal bevel gear 9 which are engaged with each other, the vertical bevel gear 8 is disposed near the first side plate 212 and is coaxially connected with the fourth gear 7 through a first connecting shaft 27, wherein the first connecting shaft 27 penetrates the side wall of the guide wire outer cylinder 5 and the first side plate 212, and the vertical bevel gear 8 and the fourth gear 7 are respectively located at the inner side and the outer side of the side wall and are connected through the first connecting shaft 27. In this way, the rotation of the fourth gear 7 can make the vertical bevel gear 8 rotate the horizontal bevel gear 9 through the first connecting shaft 27, so as to convert the rotation of the fourth gear 7 in the first direction in the second gear set into the rotation of the horizontal bevel gear 9 in the second direction in the third gear set.
The bevel gear set can drive the third gear set to rotate, and in order to control the conversion of the rotation of the third gear set into the linear reciprocating motion of the guide wire, the third gear set is connected to a wire feeding wheel set, and the wire feeding wheel set is used for clamping the guide wire so as to control the guide wire to reciprocate in the linear direction from the first side plate 212 to the second side plate 213 through friction.
As shown in fig. 4, a second connecting shaft is arranged on the output side of the horizontal bevel gear 9, and the horizontal bevel gear 9 is in transmission connection with the third gear set through the second connecting shaft.
Further, the third gear set comprises a fifth gear 10 and a seventh gear 12, wherein the fifth gear 10 and the seventh gear 12 are coaxially arranged with the horizontal bevel gear 9 through the second connecting shaft, wherein the seventh gear 12 is arranged close to the horizontal bevel gear 9, the seventh gear 12 is meshed with an eighth gear 13 in a first plane, the eighth gear 13 is meshed with a ninth gear 14 in the first plane, and the fifth gear 10 is meshed with a sixth gear 11 in a second plane, so that the seventh gear 12, the eighth gear 13 and the ninth gear 14 are in mesh transmission with each other in one plane; the fifth gear 10 and the sixth gear 11 are in meshed transmission in the other plane.
As mentioned above, the third gear set is connected to the wire feeding wheel set, the wire feeding wheel set includes two wire feeding wheels, the guide wire is clamped between the two wire feeding wheels, and the ninth gear 14 is provided with a third connecting shaft; a fourth connecting shaft is arranged on the sixth gear 11, and the ninth gear 14 drives one wire feeding wheel to rotate through the third connecting shaft and the fourth connecting shaft of the sixth gear 11 respectively.
Specifically, the wire feeding wheel set includes a first wire feeding wheel 15 and a second wire feeding wheel 16, a first wire feeding belt 16 and a second wire feeding belt 18 are respectively sleeved on the first wire feeding wheel 15 and the second wire feeding wheel 16, the first wire feeding belt 16 and the second wire feeding belt 18 respectively rotate along with the first wire feeding wheel 15 and the second wire feeding wheel 16, and the first wire feeding belt 16 and the second wire feeding belt 18 may be made of materials for medical equipment, such as polyurethane and silica gel.
Further, the first wire feeding wheel 15 is sleeved on the fourth connecting shaft and is coaxially arranged with the sixth gear 11 through the fourth connecting shaft, the second wire feeding wheel 16 is sleeved on the third connecting shaft and is coaxially arranged with the ninth gear 14 through the third connecting shaft, so that the sixth gear 11 can drive the first wire feeding wheel 15 to rotate through the fourth connecting shaft, and the ninth gear 14 can drive the second wire feeding wheel 16 to rotate through the third connecting shaft.
In one embodiment, when the first wire feeding wheel 15 rotates in a first direction and the second wire feeding wheel 16 rotates in a second direction, the movement of the guide wire in a direction from the first side plate 212 to the second side plate 213 of the supporting frame 21 in a straight line can be controlled by the movement of the first wire feeding belt 16 and the second wire feeding belt 18; meanwhile, when the first wire feeding wheel 15 rotates in the third direction and the second wire feeding wheel 16 rotates in the fourth direction, the guide wire can be controlled to move in a straight line from the second side plate 213 of the support frame 21 to the first side plate 212 by the movement of the first wire feeding belt 16 and the second wire feeding belt 18.
In order to adjust the gap between the first wire feeding wheel 15 and the second wire feeding wheel 17 to clamp the wires with different sizes, an adjusting device may be further disposed on the outer guide wire barrel 5, as shown in fig. 5, the adjusting device includes an adjusting knob 20 and a linkage, wherein the adjusting knob 20 is disposed on the side wall of the outer guide wire barrel 5, the linkage is connected to one of the wire feeding wheels, and the adjusting knob 20 is rotated to adjust the position of the wire feeding wheel group close to the adjusting knob 20 in the wire feeding wheel group through the linkage, so as to adjust the gap between the two wire feeding wheels.
Specifically, a fixing frame is provided on the guide wire support plate 23, the fixing frame is connected with the first wire feeding wheel 15 and is used for fixing the position of the first wire feeding wheel 15, the linkage here comprises a first connecting rod 28 and a second connecting rod 29, wherein the adjusting knob 20 is connected with one end of the first connecting rod 28 through an adjusting screw 30, the other end of the first link 28 is connected to the second wire feeding wheel 17, the two ends of the second link 29 are respectively connected to the second wire feeding wheel 17 and the fixing frame, the adjustment knob 20 is rotated to move the first link 28 and the second link 29 by the displacement of the adjustment screw 30, so that the second wire feeding wheel 17 adjacent to the adjusting knob 20 is integrally brought close to or away from the first wire feeding wheel 15, so that the adjustment of the gap between the first wire feeding wheel 15 and the third wire feeding wheel 18 is achieved.
The motion control device adopting the embodiment can control the guide wire to respectively and independently realize rotary motion and linear reciprocating motion, and specifically comprises: on one hand, the guide wire rotating motor drives the first driving shaft 1 to drive the first gear 3 to rotate, and drives the second gear 4 to rotate through transmission between gears, and the guide wire outer cylinder 5 is driven to integrally rotate based on the rotation of the second gear 4, so that the guide wire is rotated; on the other hand, the second driving shaft 2 is driven by the guide wire pushing motor to drive the third gear 6 to rotate, the fourth gear 7 is driven to rotate by inter-gear transmission, the fourth gear 7 is coaxially connected with the vertical bevel gear 8 to further drive the vertical bevel gear 8 to rotate and the horizontal bevel gear 9 engaged with the vertical bevel gear 8 to rotate, the horizontal bevel gear 9 drives the fifth gear 10 and the seventh gear 12 to rotate, wherein the fifth gear 10 drives the sixth gear 11 to rotate, so as to drive the first wire feeding wheel 15 to rotate, the first wire feeding belt 16 on the first wire feeding wheel 15 and the first wire feeding wheel 15 rotate synchronously, and the seventh gear 12 drives the ninth gear 14 to rotate through the eighth gear 13 and drives the second wire feeding wheel 17 to rotate, the second wire feeding belt 18 on the second wire feeding wheel 17 and the first wire feeding wheel 17 synchronously rotate, and the guide wire is pushed forwards and backwards to realize linear motion through relative rotation between the first wire feeding belt 16 and the second wire feeding belt 18.
Another embodiment of the present disclosure provides a surgical robot including the motion control device for a guide wire according to any one of the above technical aspects.
The guide wire can be controlled to independently realize rotary motion and linear reciprocating motion respectively, the two motions are controlled not to be influenced mutually, and quick assembly and disassembly can be realized.
Further, while 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. Under 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 limitations on the scope of the 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 disclosed as example forms of implementing the claims.
While the present disclosure has been described in detail with reference to the embodiments, the present disclosure is not limited to the specific embodiments, and those skilled in the art can make various modifications and alterations based on the concept of the present disclosure, and the modifications and alterations should fall within the scope of the present disclosure as claimed.
Claims (21)
1. A motion control device for a guide wire is characterized by comprising a support frame, wherein the support frame comprises a bottom plate, a first side plate and a second side plate, the first side plate and the second side plate are respectively arranged on two opposite sides of the bottom plate and are perpendicular to the bottom plate, a first gear set and a second gear set are arranged on the first side plate, a guide wire outer cylinder used for controlling the guide wire to realize rotary motion is arranged between the first side plate and the second side plate, the guide wire outer cylinder is connected with the first gear set, a bevel gear set is arranged in the guide wire outer cylinder, one end of the bevel gear set is connected with the second gear set, the other end of the wire feeding mechanism is connected with a third gear set, the third gear set is in transmission connection with a wire feeding wheel set, and the wire feeding wheel set is used for clamping the guide wire so as to control the guide wire to realize linear reciprocating motion.
2. The motion control apparatus of claim 1, wherein a third drive shaft is disposed between the first side plate and the second side plate, and wherein the guide wire outer barrel and the first gear set are nested on the third drive shaft.
3. The motion control apparatus according to claim 1, wherein the guide wire outer cylinder includes a lower support plate on which a circumferential side wall is provided, a guide wire support plate provided on the lower support plate, and a guide wire upper cover plate provided on the side wall.
4. The motion control apparatus according to claim 3, wherein a groove is formed in the sidewall, a fixing buckle is formed at an edge of the guide wire upper cover plate, and the guide wire upper cover plate is fixedly covered on the sidewall by the fixing buckle being engaged in the groove.
5. The motion control apparatus of claim 3, wherein the third gear set is disposed in a space formed between the lower support plate and the guide wire support plate.
6. The motion control apparatus according to claim 2, wherein the first gear set comprises a first driving shaft, the first driving shaft is connected to a guide wire rotating motor, a first gear is sleeved on the first driving shaft, the first gear is meshed with a second gear, and the second gear is connected to the guide wire outer cylinder through a third driving shaft.
7. The motion control apparatus of claim 6, wherein the first gear and the second gear are disposed inboard of the first side plate.
8. The motion control apparatus of claim 6, wherein the second gear set comprises a second driving shaft, the second driving shaft is connected to a guide wire pushing motor, a third gear is sleeved on the second driving shaft, and the third gear is meshed with a fourth gear.
9. The motion control apparatus of claim 8, wherein the third gear and the fourth gear are disposed outside of the first side plate.
10. The motion control apparatus of claim 8, wherein the bevel gear set comprises a vertical bevel gear and a horizontal bevel gear that are intermeshed, the vertical bevel gear being disposed adjacent to the first side plate and being coaxially connected to the fourth gear by a first connecting shaft.
11. The motion control apparatus according to claim 10, wherein a second connecting shaft is provided on an output side of the horizontal bevel gear, and the horizontal bevel gear is drivingly connected to the third gear set through the second connecting shaft.
12. The motion control apparatus of claim 11, wherein the third gear set comprises a fifth gear and a seventh gear, the fifth gear and the seventh gear are coaxially coupled to the horizontal bevel gear via the second coupling shaft, the seventh gear meshes with an eighth gear in a first plane, the eighth gear meshes with a ninth gear in the first plane, and the fifth gear meshes with a sixth gear in a second plane.
13. The motion control apparatus of claim 12, wherein a third connecting shaft is disposed on the ninth gear, a fourth connecting shaft is disposed on the sixth gear, and the third gear set is connected to the wire feeding wheel set through the third connecting shaft and the fourth connecting shaft, respectively.
14. The motion control apparatus of claim 13, wherein the wire feed wheel assembly includes first and second oppositely disposed wire feed wheels, the wire being sandwiched between the two wire feed wheels.
15. The motion control device according to claim 14, wherein a first wire feeding belt and a second wire feeding belt are respectively sleeved on the first wire feeding wheel and the second wire feeding wheel, and the first wire feeding belt and the second wire feeding belt are used for driving the guide wire to reciprocate in a straight line in a matching manner.
16. The motion control apparatus of claim 15, wherein the first wire feed strip and the second wire feed strip are formed from a polyurethane or silicone material.
17. The motion control apparatus of claim 14, further comprising an adjustment device comprising an adjustment knob and a linkage, the linkage being coupled to the second feed wheel, the adjustment knob being rotated through the linkage to adjust a gap between the two feed wheels.
18. The motion control apparatus of claim 17, wherein the adjustment knob is disposed on the sidewall of the guidewire outer barrel.
19. The motion control apparatus of claim 17, further comprising a mount coupled to the first wire feed wheel and configured to fix a position of the first wire feed wheel, the linkage being disposed between the mount and the adjustment knob to adjust the position of the second wire feed wheel.
20. The motion control apparatus of claim 19, wherein the linkage comprises a first link and a second link, the adjusting knob is connected to one end of the first link through an adjusting screw, the other end of the first link is connected to the second wire feeding wheel, and the two ends of the second link are respectively connected to the second wire feeding wheel and the fixing frame.
21. A surgical robot comprising a motion control apparatus according to any one of claims 1 to 20.
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| CN202210171864.4A CN114522327B (en) | 2022-02-24 | 2022-02-24 | Motion control device for guide wire and surgical robot |
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