CN114522327B - Motion control device for guide wire and surgical robot - Google Patents
Motion control device for guide wire and surgical robot Download PDFInfo
- Publication number
- CN114522327B CN114522327B CN202210171864.4A CN202210171864A CN114522327B CN 114522327 B CN114522327 B CN 114522327B CN 202210171864 A CN202210171864 A CN 202210171864A CN 114522327 B CN114522327 B CN 114522327B
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- Prior art keywords
- gear
- wire
- guide wire
- wire feeding
- feeding wheel
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- 230000033001 locomotion Effects 0.000 title claims abstract description 58
- 230000005540 biological transmission Effects 0.000 claims abstract description 6
- 239000000463 material Substances 0.000 claims description 3
- 229920002635 polyurethane Polymers 0.000 claims description 3
- 239000004814 polyurethane Substances 0.000 claims description 3
- 238000006073 displacement reaction Methods 0.000 claims description 2
- 229920001296 polysiloxane Polymers 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 238000012986 modification Methods 0.000 description 3
- 230000004048 modification Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 2
- 238000002955 isolation Methods 0.000 description 2
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 1
- 238000013459 approach Methods 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
- 239000000741 silica gel Substances 0.000 description 1
- 229910002027 silica gel Inorganic materials 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- 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
- 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
Abstract
The embodiment of the disclosure provides a motion control device for guide wire, it includes the support frame, the support frame includes bottom plate, first curb plate and second curb plate are respectively at the relative two sides of bottom plate and perpendicular to bottom plate setting, set up first gear train and second gear train on first curb plate, set up the guide wire urceolus that is used for controlling the guide wire and realizes rotary motion between first curb plate and second curb plate, the guide wire urceolus is connected with first gear train, set up the cone gear train in the guide wire urceolus, the one end and the second gear train of cone gear train are connected, its other end is connected with the third gear train, the third gear train is connected with the transmission of wire feeding wheelset, wire feeding wheelset is used for pressing from both sides tight guide wire and thereby control the guide wire and realize sharp reciprocating 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 due to coupling between pushing and rotating motions of the guide wire in the prior art.
In one aspect, the present disclosure provides a motion control device for a guide wire, which comprises a supporting frame, the supporting frame includes a bottom plate, a first side plate and a second side plate, the first side plate and the second side plate are respectively in 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 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 cone gear set is arranged in the guide wire outer cylinder, one end of the cone gear set is connected with the second gear set, the other end of the cone gear set 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 drive shaft is disposed between the first side plate and the second side plate, and the wire outer barrel is sleeved on the third drive shaft with the first gear set.
In some embodiments, the guide wire outer cylinder comprises a lower support plate, a surrounding 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 through the fact that the fixing buckle is clamped in the groove.
In some embodiments, the third gear set is disposed in a space formed between the lower support plate and the guidewire support plate.
In some embodiments, the first gear set includes a first driving shaft, the first driving shaft is connected with a wire guiding 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 with the wire guiding outer barrel through a third driving shaft.
In some embodiments, the first gear and the second gear are disposed inboard of the first side plate.
In some embodiments, the second gear set includes a second drive shaft connected to the guidewire propulsion motor, and a third gear sleeved on the second drive shaft and meshed with the fourth gear.
In some embodiments, the third gear and the fourth gear are disposed outside of the first side plate.
In some embodiments, the bevel gear set includes a vertical bevel gear and a horizontal bevel gear that are intermeshed, the vertical bevel gear being disposed proximate the first side plate and coaxially coupled to the fourth gear via a first coupling shaft.
In some embodiments, a second connecting shaft is provided on the output side of the horizontal bevel gear, and the horizontal bevel gear is in driving 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 coaxially connected to the horizontal bevel gear via the second connecting shaft, the seventh gear meshing with an eighth gear in a first plane, the eighth gear meshing with a ninth gear in the first plane, the fifth gear meshing 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 connected to the wire feeding wheel set through the third connecting shaft and the fourth connecting shaft, respectively.
In some embodiments, the wire feeding wheel set comprises a first wire feeding wheel and a second wire feeding wheel which are oppositely arranged, and the wire guide 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 and second ribbons are made of polyurethane or silicone materials.
In some embodiments, the device further comprises an adjusting device comprising an adjusting knob and a linkage, the linkage being connected to the second wire feed wheel, the gap between the two wire feed wheels being adjusted by rotating the adjusting knob through the linkage.
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 connecting rod group is arranged between the fixing frame and the adjusting knob to adjust the position of the second wire feeding wheel.
In some embodiments, the connecting rod group comprises a first connecting rod and a second connecting rod, the adjusting knob is connected with one end of the first connecting rod through an adjusting screw, the other end of the first connecting rod is connected with the second wire feeding wheel, and two ends of the second connecting rod are respectively connected with the second wire feeding wheel and the fixing frame.
In another aspect, embodiments of the present disclosure provide a surgical robot including a motion control device for a guidewire according to any one of the above aspects.
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 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 electrical machine connecting shaft); 2-a second drive shaft (guide wire propulsion motor connection shaft); 3-a first gear; 4-a second gear; 5-a guide wire outer cylinder; 6-a third gear; 7-fourth gear; 8-vertical bevel gears; 9-horizontal bevel gears; 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 ribbon feed; 17-a second wire feeding wheel; 18-a second ribbon feed; 20-an adjustment knob; 21-a supporting frame; 211-a bottom plate; 212-a first side plate; 213-a second side panel; 22-a lower support plate; 23-a guidewire support plate; 24-a guide wire upper cover plate; 25-fixing buckles; 26-groove; 27-a first connecting shaft; 28-a first link; 29-a second link; 30-third connecting rod.
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 defined otherwise, 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 belongs. 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 a guide wire, which may be provided at an installation location on a medical device such as a surgical robot, for controlling the guide wire to perform a rotational motion as well as a linear reciprocating motion when the guide wire is driven, where the guide wire is used to penetrate into a patient to assist in the progress of a treatment such as a surgery.
As shown in fig. 1, 2 and 3, the motion control device according to the embodiment of the present disclosure includes a support frame 21, where the support 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 disposed opposite to each other are disposed at two ends of the bottom plate 211 and perpendicular to the bottom plate 211, and the guide wire penetrates from the direction of the first side plate 212 and penetrates from the direction of the second side plate 213. The base plate 211 may here be arranged in any suitable mounting position on a medical device, such as a surgical robot.
In order to control the movement of the guide wire, a first gear set for controlling the guide wire to perform a rotational movement and a second gear set for controlling the guide wire to perform a linear reciprocating movement, which is a reciprocating movement in a linear direction along the first side plate 212 to the second side plate 213, are provided on the first side plate 212.
Further, a wire outer tube 5 is provided between the first side plate 212 and the second side plate 213. Specifically, a third driving shaft is disposed between the first side plate 212 and the second side plate 213, and the wire outer tube 5 is sleeved on the third driving shaft together with the first gear set and is coaxially connected, so that the wire outer tube 5 can rotate with the rotation of the first gear set, and the wire is disposed through the wire outer tube 5 and can rotate together with the wire outer tube 5.
The guide wire outer cylinder 5 may have a housing structure, specifically, as shown in fig. 2 and 3, it includes a lower support plate 22, a surrounding side wall is disposed on the lower support plate 22, a guide wire support plate 23 is disposed on the lower support plate 22, and a guide wire upper cover plate 24 is disposed on the side wall; preferably, at least one groove 26 is formed in the side wall, at least one fixing buckle 25 is formed 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 through the fact that the fixing buckle 25 is clamped in the groove 26. The number and positions of the grooves 26 and the holder buckles 25 may be determined according to the shape of the guide wire outer cylinder 5.
Further, a bevel gear set is provided in the wire outer tube 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 provided in the wire outer tube 5, in particular, in a space formed between the lower support plate 22 and the wire support plate 23, wherein rotation of the second gear set in the first direction can be converted into rotation of the third gear set in the second direction by the bevel gear set.
Specifically, as shown in fig. 1 and in conjunction with fig. 2 and 3, the first gear set and the second gear set are respectively fixed on the first side plate 212, where the first gear set is located between the first side plate 212 and the wire outer cylinder 5, and includes a first driving shaft 1 (corresponding to a wire rotating motor connecting shaft), the first driving shaft 1 is connected with an external wire rotating motor, a first gear 3 is sleeved on the first driving shaft 1, the first gear 3 is meshed with a second gear 4, and the second gear 4 and the wire outer cylinder 5 are coaxially connected through the third driving shaft, so that the 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 (corresponding to a connecting shaft of a guide wire propulsion motor), the second driving shaft 2 is connected with the 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 group includes a vertical bevel gear 8 and a horizontal bevel gear 9 which are engaged with each other, the vertical bevel gear 8 being disposed near the first side plate 212 and being coaxially connected to the fourth gear 7 by a first connecting shaft 27, wherein the first connecting shaft 27 passes through the side wall of the wire outer cylinder 5 and the first side plate 212, and the vertical bevel gear 8 and the fourth gear 7 are located inside and outside the side wall, respectively, and are connected by the first connecting shaft 27. In this way, the rotation of the fourth gear 7 can cause the vertical bevel gear 8 to rotate the horizontal bevel gear 9 through the first connecting shaft 27, thereby converting 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, in order to control the rotation motion of the third gear set to be converted into linear reciprocating motion of the guide wire, the third gear set is connected 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 reciprocating motion in a linear direction along the first side plate 212 to the second side plate 213 through friction force.
As shown in fig. 4, a second connecting shaft is provided on the output side of the horizontal bevel gear 9, and the horizontal bevel gear 9 is in driving 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, the fifth gear 10 is meshed with a sixth gear 11 in a second plane, such that the seventh gear 12, the eighth gear 13 and the ninth gear 14 are meshed with each other in a plane; the fifth gear 10 and the sixth gear 11 are meshed with each other in another plane.
As described above, the third gear set is connected to the wire feeding wheel set, the wire feeding wheel set includes two wire feeding wheels, and the wire guide is sandwiched between the two wire feeding wheels, where a third connecting shaft is disposed on the ninth gear 14; 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 sixth gear 11 through the fourth connecting shaft.
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 here, the first wire feeding belt 16 and the second wire feeding belt 18 can be made of materials used for medical equipment, such as polyurethane, silica gel, and the like.
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 straight line from the first side plate 212 to the second side plate 213 of the support frame 21 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 movement of the guide wire in the direction from the second side plate 213 of the support frame 21 to the first side plate 212 can be controlled 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 so as to clamp the wires with different sizes, an adjusting device may be further provided on the wire guiding outer cylinder 5, as shown in fig. 5, wherein the adjusting device includes an adjusting knob 20 and a linkage, the adjusting knob 20 is provided on the side wall of the wire guiding outer cylinder 5, the linkage is connected with one of the wire feeding wheels, and the gap between the two wire feeding wheels is adjusted by rotating the adjusting knob 20 to adjust the position of the wire feeding wheel set adjacent to the adjusting knob 20 in the wire feeding wheel set through the linkage.
Specifically, a fixing frame is disposed on the wire supporting 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 group 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 connecting rod 28 is connected with the second wire feeding wheel 17, two ends of the second connecting rod 29 are respectively connected with the second wire feeding wheel 17 and the fixing frame, and the first connecting rod 28 and the second connecting rod 29 are moved by rotating the adjusting knob 20 through the displacement of the adjusting screw 30, so that the second wire feeding wheel 17 close to the adjusting knob 20 integrally approaches to or departs from the first wire feeding wheel 15, and the adjustment of the gap between the first wire feeding belt 16 and the second wire feeding belt 18 is realized.
The motion control device according to the above embodiment can control the guide wire to independently realize a rotational motion and a linear reciprocating motion, and specifically includes: on the one hand, the first driving shaft 1 is driven by the guide wire rotating motor to drive the first gear 3 to rotate, the second gear 4 is driven by inter-gear transmission to rotate, 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 wire-guiding propulsion motor to rotate the third gear 6, the fourth gear 7 is driven by inter-gear transmission to rotate, the fourth gear 7 is coaxially connected with the vertical bevel gear 8, and further drives the vertical bevel gear 8 to rotate and the horizontal bevel gear 9 meshed 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 first wire-feeding wheel 15 to rotate by driving the sixth gear 11, the first wire-feeding belt 16 on the first wire-feeding wheel 15 and the first wire-feeding wheel 15 synchronously rotate, the seventh gear 12 drives the ninth gear 14 to rotate by the eighth gear 13 and drives the second wire-feeding wheel 17 to rotate, and the second wire-feeding belt 18 on the second wire-feeding wheel 17 and the first wire-feeding wheel 17 synchronously rotate, and the first wire-feeding wheel 15 is relatively rotated by the first wire-feeding belt 16 and the second wire-feeding belt 18 to linearly advance forward.
Another embodiment of the present disclosure provides a surgical robot including the motion control device for a guide wire of 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.
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 (10)
1. The motion control device for the 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 side surfaces 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 for controlling the guide wire to realize the rotation motion is arranged between the first side plate and the second side plate, a third driving shaft is arranged between the first side plate and the second side plate, the guide wire outer cylinder and the first gear set are sleeved on the third driving shaft, the guide wire outer cylinder is connected with the first gear set, a cone gear set is arranged in the guide wire outer cylinder, one end of the cone gear set is connected with the second gear set, the other end of the cone gear set is connected with the 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 the linear reciprocating motion; the first gear set comprises a first driving shaft, the first driving shaft is connected with 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 with the guide wire outer barrel through a third driving shaft; the second gear set comprises a second driving shaft, the second driving shaft is connected with a guide wire propulsion motor, a third gear is sleeved on the second driving shaft, and the third gear is meshed with a fourth gear; the bevel gear group comprises a vertical bevel gear and a horizontal bevel gear which are meshed with each other, and the vertical bevel gear is arranged close to the first side plate and is coaxially connected with the fourth gear through a first connecting shaft; 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; the third gear set comprises 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;
the wire feeding wheel set comprises a first wire feeding wheel and a second wire feeding wheel which are oppositely arranged, and the wire guide is clamped between the two wire feeding wheels; a first wire feeding belt and a second wire feeding belt are sleeved on the first wire feeding wheel and the second wire feeding wheel respectively, and the first wire feeding belt and the second wire feeding belt are used for driving the guide wire to reciprocate along a straight line in a matched manner;
the adjusting device comprises an adjusting knob and a connecting rod group, the connecting rod group is connected with the second wire feeding wheel, and the gap between the two wire feeding wheels is adjusted through the connecting rod group by rotating the adjusting knob;
the connecting rod group is arranged between the fixing frame and the adjusting knob to adjust the position of the second wire feeding wheel;
the connecting rod group comprises a first connecting rod and a second connecting rod, the adjusting knob is connected with one end of the first connecting rod through an adjusting screw, the other end of the first connecting rod is connected with the second wire feeding wheel, and two ends of the second connecting rod are respectively connected with the second wire feeding wheel and the fixing frame; rotating the adjustment knob moves the first link and the second link through displacement of the adjustment screw such that the second wire feed wheel adjacent to the adjustment knob is integrally adjacent to or away from the first wire feed wheel, thereby effecting adjustment of the gap between the first wire feed belt and the second wire feed belt.
2. The motion control device of claim 1, wherein the guide wire outer cylinder comprises a lower support plate on which a surrounding side wall is provided, a guide wire support plate is provided on the lower support plate, and a guide wire upper cover plate is provided on the side wall.
3. The motion control device according to claim 2, wherein a groove is provided on the side wall, and a fixing buckle is provided at an edge of the guide wire upper cover plate, and the guide wire upper cover plate is fixedly covered on the side wall by being clamped in the groove by the fixing buckle.
4. The motion control device of claim 2, wherein the third gear set is disposed in a space formed between the lower support plate and the guidewire support plate.
5. The motion control device of claim 1, wherein the first gear and the second gear are disposed inside the first side plate.
6. The motion control device of claim 1, wherein the third gear and the fourth gear are disposed outside of the first side plate.
7. The motion control apparatus according to claim 1, wherein a third connecting shaft is provided on the ninth gear, a fourth connecting shaft is provided 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.
8. The motion control device of claim 1, wherein the first and second ribbons are made of polyurethane or silicone material.
9. A motion control device as in claim 3, wherein the adjustment knob is disposed on the side wall of the guidewire outer barrel.
10. A surgical robot comprising a motion control device according to any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171864.4A CN114522327B (en) | 2022-02-24 | 2022-02-24 | Motion control device for guide wire and surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171864.4A CN114522327B (en) | 2022-02-24 | 2022-02-24 | Motion control device for guide wire and surgical robot |
Publications (2)
| Publication Number | Publication Date |
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| CN114522327A CN114522327A (en) | 2022-05-24 |
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| CN115192866B (en) * | 2022-07-19 | 2023-08-01 | 上海神玑医疗科技有限公司 | Guide wire clamping device, guide wire feeding structure and interventional operation robot |
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| ITBO20090004U1 (en) * | 2009-02-11 | 2010-08-12 | Tre Esse Progettazione Biomedica S R L | ROBOTIC MANIPULATOR FOR DISTANCE MANEUVERING OF STEERABLE CATHETERS IN THE HUMAN CARDIOVASCULAR SYSTEM. |
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