CN115089296A - Multi-instrument cooperative execution device of minimally invasive vascular interventional surgical robot - Google Patents

Abstract

The application relates to a multi-instrument cooperative execution device of a minimally invasive vascular interventional surgery robot, which relates to the field of medical equipment and comprises a mobile platform, wherein a catheter fixing mechanism, a catheter clamping and rotating twisting device, a micro-catheter fixing and propelling mechanism, a double-guide-wire clamping and rotating twisting device and a double-guide-wire fixing mechanism are arranged on the mobile platform; and the moving platform is provided with a catheter displacement mechanism for driving the catheter clamping and twisting device to move and a guide wire displacement mechanism for driving the double guide wire clamping and twisting device to move. The catheter and the double-guide-wire clamping device have the advantages that manual operation of a human hand is simulated, clamping and twisting operation of the catheter and the double guide wires are completed, complex pathological changes are responded, the labor degree of doctors is relieved, clamping force is moderate, and delivery of the catheter and the guide wires is facilitated.

Description

Multi-instrument cooperative execution device of minimally invasive vascular interventional surgical robot

Technical Field

The invention relates to the field of medical equipment, in particular to a multi-instrument cooperative execution device of a minimally invasive vascular interventional surgery robot.

Background

At present, the traditional minimally invasive vascular surgery is mainly implemented by manually completing the insertion work of surgical instruments such as catheters, guide wires, micro-catheters, balloon lamps and the like under the monitoring and guidance of X-ray images or other gray images by skilled doctors. However, because the bending radius of the front end of the existing catheter is fixed, and the blood vessel in the human body has the characteristics of long and narrow bending, irregularity, multiple branches and the like, a doctor has certain risks during insertion work, and the operation is complex, the operation time is long, and factors such as physical fatigue and unstable manual operation influence the operation quality.

The minimally invasive intervention of the blood vessel has the characteristics of minimally invasive, painless and comfortable use, and is developed and popularized rapidly. The development of minimally invasive vascular surgery technology inevitably drives the heat of the technical research of related surgical robots. In the operation process of minimally invasive vascular intervention, a catheter is required to perform the supporting, navigation and orientation of a target vascular approach and the guiding and positioning action of a guide wire, and the support of collateral vessels is completed by the aid of the cooperative motion of the guide wire, so that the specific operation flow of clinical operation is completed under the action of the three actions.

In view of the above-mentioned related technologies, the inventor believes that the existing catheter and guide wire advancing and twisting mechanisms are both single catheter and guide wire delivery, cannot cope with complex lesions, and have the following defects: clamping mechanisms for clamping catheters and guidewires suffer from the technical problem of too much or too little clamping force, which is detrimental to catheter and guidewire delivery.

Disclosure of Invention

In order to improve the technical problems that clamping mechanisms for clamping a catheter and a guide wire have too large or too small clamping force and are not beneficial to delivery of the catheter and the guide wire, the application provides a multi-instrument cooperative execution device of a minimally invasive vascular interventional surgery robot.

The application provides a many apparatuses of minimal access vascular intervention operation robot collaborative execution device adopts following technical scheme:

a minimally invasive vascular intervention surgical robot multi-instrument cooperative execution device comprises a mobile platform, wherein a catheter fixing mechanism, a catheter clamping and twisting device, a micro-catheter fixing and pushing mechanism, a double-guide-wire clamping and twisting device and a double-guide-wire fixing mechanism are arranged on the mobile platform;

and the moving platform is provided with a catheter displacement mechanism for driving the catheter clamping and twisting device to move and a guide wire displacement mechanism for driving the double guide wire clamping and twisting device to move.

Optionally, the conduit clamping and twisting device comprises a conduit fixing box body, a first gear transmission mechanism installed on the conduit fixing box body, a conduit twisting motor for driving the first gear transmission mechanism to rotate, a first twisting roller and a second twisting roller connected to the first gear transmission mechanism, a gear revolute pair rotationally connected to the first gear transmission mechanism, a third twisting roller connected to the gear revolute pair, and an opening and closing device for driving the gear revolute pair to rotate relative to the first gear transmission mechanism.

Optionally, the opening and closing device comprises an opening and closing motor installed on the catheter fixing box body and a first transmission gear connected to an output shaft of the opening and closing motor, and the first transmission gear drives the gear revolute pair to rotate.

Optionally, the conduit fixing mechanism includes a conduit fixing frame, a conduit fixing cover plate connected to the conduit fixing frame, a conduit fixing motor mounted on the conduit fixing frame, a conduit clamping jaw, and a first rack-and-pinion mechanism connected to an output shaft of the conduit fixing motor and driving the conduit clamping jaw to move.

Optionally, the micro catheter fixing and pushing mechanism comprises a micro catheter rotary twisting motor and a micro catheter fixing motor which are mounted on the micro catheter fixing frame, a second gear transmission mechanism connected to an output shaft of the micro catheter rotary twisting motor, and a second gear rack mechanism connected to an output shaft of the micro catheter fixing motor; a driving roller is arranged at the second gear transmission mechanism, and the second gear transmission mechanism drives the driving roller to rotate; and the second gear rack mechanism is provided with a driven roller, and drives the driven roller to move.

Optionally, the double-guide-wire clamping and twisting device comprises a guide wire fixing box body, a third gear transmission mechanism installed on the guide wire fixing box body, a guide wire twisting motor driving the third gear transmission mechanism to rotate, a fourth twisting roller, a fifth twisting roller, a sixth twisting roller, a gear swing pair rotatably connected to the third gear transmission mechanism, a swing mechanism driving the gear swing pair to rotate relative to the third gear transmission mechanism, and a seventh twisting roller connected to the gear swing pair.

Optionally, a conduit displacement base is arranged on the conduit clamping and twisting device, and the conduit clamping and twisting device is fixed on the conduit displacement mechanism through the conduit displacement base;

a first bearing seat is arranged between the conduit clamping and twisting device and the conduit displacement base, and a first pressure sensor for detecting the pressure change of the conduit clamping and twisting device relative to the first bearing seat is arranged on the first bearing seat;

the double-guide-wire clamping and rotating twisting device is provided with a guide wire displacement base and is fixed on the guide wire displacement mechanism through the guide wire displacement base;

and a second bearing seat is arranged between the double-guide-wire clamping rotary twisting device and the guide-wire displacement base, and a second pressure sensor for detecting the pressure change of the double-guide-wire clamping rotary twisting device relative to the second bearing seat is arranged on the second bearing seat.

Optionally, a gravity counteracting device is installed at the rear ends of the first bearing seat and the second bearing seat.

Optionally, the swing mechanism includes a swing motor installed on the guide wire fixing box body, and a second transmission gear connected to an output shaft of the swing motor, and the second transmission gear drives the gear swing pair to rotate relative to the third gear transmission mechanism.

Optionally, the double-guide-wire fixing mechanism comprises a double-guide-wire fixing frame, a double-guide-wire fixing cover plate connected to the double-guide-wire fixing frame, a guide-wire fixing motor installed on the double-guide-wire fixing frame, and a third gear-rack mechanism connected to an output shaft of the guide-wire fixing motor and driving the guide-wire clamping claw to move.

In summary, the present application includes at least one of the following beneficial technical effects:

1. the device has the advantages that the device can simulate manual operation through the arrangement of the catheter clamping and twisting device and the double-guide-wire clamping and twisting device, the effect of a bionic finger mechanism is designed, the clamping and twisting operation of the catheter and the double guide wires can be completed, complex pathological changes can be dealt with, the labor degree of doctors is reduced, and the clamping force is always convenient for delivery of the catheter and the guide wires.

2. Through the arrangement of the first pressure sensor and the second pressure sensor, the effect of adjusting the moving direction of the catheter and the guide wire to reach the position of the vascular lesion can be achieved. First pressure sensor detects the pipe centre gripping and revolves the device and change for the first pressure that bears the seat, and pipe displacement mechanism drives the pipe centre gripping and revolves the device and move, and when the pipe touched the vascular wall, the resistance increase of pipe displacement mechanism amplifies the small resistance of pipe in the blood vessel through lever principle, and the small resistance after will amplifying transmits for first pressure sensor, realizes the collection of pipe resistance signal to adjust pipe moving direction. The second pressure sensor detects that two seal wire centre grippings revolve the twist with fingers the device and for the pressure variation that the second bore the seat, and seal wire displacement mechanism drives two seal wire centre grippings and revolves the twist with fingers the device and remove, and when the seal wire touched the vascular wall, the resistance increase of seal wire displacement mechanism amplifies the little resistance of seal wire in the blood vessel through lever principle, and the little resistance after will amplifying transmits for second pressure sensor, realizes the collection of seal wire resistance signal to adjust seal wire moving direction.

3. Through the arrangement of the catheter fixing mechanism and the micro-catheter fixing and propelling mechanism, the catheter and the micro-catheter can be fixed, and the effect of continuous propelling of the catheter and the micro-catheter is achieved. The synchronous or independent fixing function of the double guide wires can be realized through the arrangement of the double guide wire fixing mechanism. The conduit clamping and twisting device is used for clamping the conduit and pushing the conduit forwards through the conduit displacement mechanism; the double-guide-wire clamping and rotating device is used for clamping guide wires, the guide wires penetrate through the catheter, and the guide wire clamping and rotating device forwards pushes the guide wires through the platform displacement mechanism or the guide wire displacement mechanism; the catheter displacement mechanism, the platform displacement mechanism, the guide wire displacement mechanism and the micro-catheter fixing and pushing mechanism can synchronously move or independently move, and the catheter, the micro-catheter and the guide wire can be conveniently and synchronously or independently delivered in the blood vessel.

Drawings

Fig. 1 is a schematic perspective view of a cooperative delivery device according to the present application; the direction of the arrow in the figure is the advancing direction of the catheter, the micro-catheter and the guide wire moving into the blood vessel.

Fig. 2 is a schematic diagram of an exploded structure of the mobile platform and guidewire displacement mechanism of the present application.

Fig. 3 is a schematic view of a connection structure of the guide wire displacement base and the guide wire displacement mechanism in the present application.

Fig. 4 is a schematic view of a connection structure of the guide wire displacement base and the double-guide wire clamping and twisting device in the present application.

Fig. 5 is a schematic cross-sectional view at a in fig. 4, which is a schematic cross-sectional view for embodying the gravity force counteracting apparatus in the present application.

Fig. 6 is a perspective view of a catheter fixing mechanism according to the present application.

Fig. 7 is a perspective view of the catheter fixing base and the catheter fixing cover plate of fig. 6.

FIG. 8 is a perspective view of a catheter gripping and twisting device according to the present application.

Fig. 9 is a perspective view of the catheter retaining housing of fig. 8 from a first perspective.

Fig. 10 is a perspective view of the catheter retaining housing of fig. 8 from a second perspective.

FIG. 11 is a schematic view of the third twisting roller of the catheter gripping and twisting device of the present application shown gathered together between the first twisting roller and the second twisting roller.

FIG. 12 is a schematic view of the third twisting roller of the conduit gripping and twisting device of the present application separated from the first twisting roller and the second twisting roller.

FIG. 13 is a schematic cross-sectional view of the conduit clamping and twisting device with the conduit fixing box removed, wherein the arrows indicate the rotation directions of the gears.

Fig. 14 is a perspective view of a microcatheter fixation and advancement mechanism of the present application.

Fig. 15 is a schematic perspective view of the microcatheter fixing base, the microcatheter protecting shell and the microcatheter back plate in fig. 14 from a first viewing angle.

Fig. 16 is a schematic perspective view of the second perspective view of fig. 14 with the microcatheter fixing base, the microcatheter protecting shell and the microcatheter back plate removed.

Fig. 17 is a schematic perspective view of a double-wire clamping and twisting device according to the present application.

Fig. 18 is a perspective view of the guide wire securing box of fig. 17 from a first perspective with the guide wire securing box removed.

Fig. 19 is a perspective view of the guide wire fixing box of fig. 17 from a second perspective with the guide wire fixing box removed.

FIG. 20 is a schematic view of the seventh twisting roller of the double yarn holding twisting device of the present application being gathered together with the fourth twisting roller and the fifth twisting roller.

FIG. 21 is a schematic view of the seventh twist roller of the double yarn holding and twisting device of the present application separated from the fourth twist roller, the fifth twist roller, and the sixth twist roller and in an intermediate position.

FIG. 22 is a cross-sectional view of the double wire clamping and twisting device with the wire retaining box removed, wherein the arrows indicate the rotation direction of the gears.

Fig. 23 is a schematic perspective view of a double-wire fixing mechanism according to the present application.

Fig. 24 is a perspective view of the dual-guide wire fixing base and the dual-guide wire cover plate of fig. 23 removed.

Description of reference numerals: 1. a mobile platform; 111. a first case; 112. a first cover plate; 121. a second box body; 122. a second cover plate; 13. a catheter displacement mechanism; 15. a guide wire displacement mechanism; 151. a motor; 152. a small belt pulley; 153. a linear module; 154. a large belt pulley; 155. a synchronous belt; 156. an encoder; 157. a slider; 21. a catheter displacement mount; 211. a first protruding block; 221. a second protruding block; 23. a guide wire displacement base; 242. a second bearing seat; 252. a second pressure sensor; 26. a gravity force counteracting means; 261. a spring pressing plate; 262. a spring cap; 263. a spring; 3. a catheter fixing mechanism; 31. a catheter securement base; 32. a catheter securement frame; 33. a conduit fixing cover plate; 34. a catheter-fixed motor; 35. a first rack and pinion mechanism; 351. a first drive gear; 352. a catheter fixed movable seat; 36. a conduit gripping jaw; 361. a conduit clamping and fixing claw; 362. a conduit gripping moving jaw; 4. a conduit gripping and twisting device; 411. a first housing; 412. a first cover body; 413. a catheter support tube; 421. a first rotating shaft; 422. a second rotating shaft; 423. a first gear; 424. a second gear; 431. a catheter twisting motor; 432. a catheter twisting gear; 441. a first rotary twisting roller; 442. a second rotary twisting roller; 443. a third rotary twisting roller; 451. a gear rotating seat; 452. an auxiliary rotating seat; 453. a third rotating shaft; 454. an auxiliary rotating shaft; 455. a third gear; 456. an auxiliary gear; 46. an opening and closing device; 461. an opening and closing motor; 462. a first transmission gear; 5. a micro-catheter fixing and propelling mechanism; 51. a microcatheter fixation base; 52. a microcatheter mounting frame; 53. a microcatheter boot; 54. a microcatheter back plate; 551. a micro-catheter rotary twisting motor; 552. a motor is fixed on the micro-catheter; 56. a second gear transmission mechanism; 561. a second driving gear; 562. a first driven gear; 563. a drive roll shaft; 564. a drive roll; 57. a second rack and pinion mechanism; 571. a third driving gear; 572. a movable seat is fixed on the micro-catheter; 573. a driven roller shaft; 574. a driven roller; 58. a microcatheter guide tube; 6. a double-guide-wire clamping and twisting device; 61. the guide wire is fixed in the box body; 611. a second housing; 612. a second cover body; 613. a guide wire support tube; 621. a fourth rotating shaft; 622. a fifth rotating shaft; 623. a sixth rotating shaft; 624. a fourth gear; 625. a fifth gear; 626. a sixth gear; 631. a first guide wire rotary twisting motor; 632. a second guide wire rotary twisting motor; 633. a first guide wire rotary twisting gear; 634. a second guide wire rotary twisting gear; 641. a fourth rotary twisting roller; 642. a fifth rotary twisting roller; 643. a sixth rotary twisting roller; 644. a seventh rotary twisting roller; 65. a gear swing pair; 651. a gear swing seat; 652. an auxiliary swing seat; 653. a seventh rotating shaft; 654. a pulley; 655. a belt; 66. a swing mechanism; 661. a swing motor; 662. a second transmission gear; 7. a double guide wire fixing mechanism; 71. a double-guide-wire fixing base; 72. a double guide wire fixing frame; 73. a double-guide-wire fixing cover plate; 74. a guide wire fixing motor; 741. a first guide wire fixing motor; 742. a second guide wire fixing motor; 75. a third rack and pinion mechanism; 751. a fourth driving gear; 752. a guide wire fixing movable seat; 76. a guide wire clamping jaw; 761. the guide wire clamping fixing claw; 762. the guide wire clamps the movable jaw.

Detailed Description

The present application is described in further detail below with reference to figures 1-24.

The embodiment of the application discloses a multi-instrument cooperative execution device of a minimally invasive vascular interventional surgical robot. Referring to fig. 1 and 2, the multi-instrument cooperative execution device for the minimally invasive vascular interventional surgery robot comprises a moving platform 1, and a catheter fixing mechanism 3, a catheter clamping and twisting device 4, a micro-catheter fixing and pushing mechanism 5, a double-guide-wire clamping and twisting device 6 and a double-guide-wire fixing mechanism 7 which are sequentially arranged on the moving platform 1 from left to right. The catheter fixing mechanism 3 is located at the left end of the mobile platform 1 and is used for fixing the catheter and realizing the continuous delivery of the catheter. The conduit clamping and twisting device 4 is used for clamping a conduit and can simulate hands to carry out twisting operation on the conduit. The micro-catheter fixing and pushing mechanism 5 is positioned in the middle of the moving platform 1 and is used for fixing and delivering the micro-catheter. The double-guide-wire clamping and twisting device 6 can clamp two guide wires and can simulate hands to perform twisting operation on the guide wires. The double-guide-wire fixing mechanism 7 is located at the right end of the mobile platform 1 and used for fixing the double guide wires and realizing continuous delivery of the guide wires.

Referring to fig. 1 and 2, a catheter displacement mechanism 13 for driving the catheter clamping and twisting device 4 to move and a guide wire displacement mechanism 15 for driving the double guide wire clamping and twisting device 6 to move are arranged in the moving platform 1. The double-guide-wire clamping and twisting device 6 can advance the guide wire forwards through the guide wire displacement mechanism 15. The catheter clamping and twisting device 4 and the double-guide-wire clamping and twisting device 6 can simulate manual operation, and can simultaneously realize the propelling and twisting actions of the catheter and the guide wire by combining with corresponding displacement mechanisms, so that the motion continuity of the catheter and the guide wire is ensured.

Referring to fig. 1 and 2, the mobile platform 1 includes a first case 111 and a first cover 112 mounted on the first case 111. The pipe displacement mechanism 13 is located inside the first casing 111, wherein the pipe displacement mechanism 13 is installed on the left side of the first moving platform 1. The catheter displacement mechanism 13 is connected to a catheter displacement base 21, and the catheter displacement base 21 is connected to a first bearing seat, which is located on the upper side of the first cover plate 112. The conduit displacement mechanism 13 drives the conduit clamping and twisting device 4 mounted on the first bearing seat to move through the conduit displacement base 21.

Referring to fig. 1 and 2, the mobile platform 1 further includes a second box 121 juxtaposed to the first box 111, and a second cover 122 mounted on the second box 121, and the first cover 112 and the second cover 122 are integrally formed. The guide wire displacement mechanism 15 is located inside the second box body 121, a guide wire displacement base 23 is connected to the guide wire displacement mechanism 15, and a second bearing seat 242 is connected to the guide wire displacement base 23. The guide wire displacement mechanism 15 drives the double guide wire clamping and twisting device 6 mounted on the second bearing seat 242 to move through the guide wire displacement base 23.

Referring to fig. 1 and 2, the first cover plate 112 is provided with two first sliding grooves for the movement of the catheter displacement base 21, the catheter displacement base 21 is provided with two first protruding blocks 211 protruding upwards and capable of moving in the first sliding grooves, and the bottom end of the first bearing seat is fixedly connected to the two first protruding blocks 211. The second cover plate 122 is provided with two second sliding grooves for the guide wire displacement base 23 to move, the number of the second sliding grooves is two, the guide wire displacement base 23 is provided with a second protruding block 221 which protrudes upwards and can move in the second sliding grooves, and the bottom end of the second bearing seat 242 is fixedly connected to the two second protruding blocks 221. The second chute is arranged in the same direction as the first chute and is arranged in the moving direction of the catheter and the guide wire.

Referring to fig. 2 and 3, the catheter displacement mechanism 13 and the guide wire displacement mechanism 15 are both belt drive mechanisms. Taking the guide wire displacement mechanism 15 as an example, the belt transmission mechanism includes a motor 151 fixed in the second box member 121, a small pulley 152 mounted on an output shaft of the motor 151, a linear module 153 fixed in the second box member 121, a large pulley 154 mounted on an input shaft of the linear module 153, a synchronous belt 155 connected between the small pulley 152 and the large pulley 154, an encoder 156 fixed in the second box member 121 and connected to the other end of the input shaft of the linear module 153 through a coupling, and a sliding block 157 fixedly connected to the linear module 153. When motor 151 rotated, hold-in range 155 drove big band pulley 154 and rotates, and then drives the sliding block 157 on the sharp module 153 and move forward, sliding block 157 and displacement base's bottom fixed connection, the sliding block 157 fixed connection seal wire displacement base 23 of seal wire displacement mechanism 14 promptly to drive seal wire displacement base 23 and remove, gather positional information through encoder 156, realize the position closed loop. Accordingly, the sliding block 157 of the catheter displacement mechanism 13 is fixedly connected to the catheter displacement base 21 and drives the catheter displacement base 21 to move. Referring to fig. 2, in other embodiments, the catheter displacement mechanism 13 and the guide wire displacement mechanism 15 may employ other transmission methods, such as a lead screw transmission method, a push rod transmission method, and the like. In this embodiment, the catheter displacement mechanism 13 and the guide wire displacement mechanism 15 are both installed inside the moving platform 1, and the first cover plate 112 and the second cover plate 122 can effectively improve the cleanliness of the transmission mechanism and the accuracy of the catheter and the guide wire during movement, and certainly, the catheter displacement mechanism 13 and the guide wire displacement mechanism 15 can also be installed outside the moving platform 1.

Referring to fig. 1 and 2, both sides of the front end of the catheter fixing box body are connected to the first bearing seat through a pin shaft. The first bearing seat is provided with a groove for mounting a first pressure sensor, and the first pressure sensor can contact the bottom of the guide pipe fixing box body. The first pressure sensor is used for detecting the pressure change of the conduit clamping and twisting device 4 relative to the first bearing seat 41. The pipe displacement mechanism 13 drives the pipe centre gripping and twists with fingers device 4 removal soon, and when the pipe touched the vascular wall, the resistance increase of pipe displacement mechanism 13 enlargies the small resistance of pipe in the blood vessel through lever principle, and the small resistance after will enlargiing transmits for first pressure sensor, realizes the collection of pipe resistance signal to adjust pipe moving direction.

Referring to fig. 2 and 4, both sides of the front end of the guide wire fixing case 61 are connected to the second bearing seat 242 by a pin. The second bearing seat 242 is provided with a groove for mounting a second pressure sensor 252, and the second pressure sensor 252 can contact the bottom of the guide wire fixing box body 61. The second pressure sensor 252 is used to detect the pressure change of the dual-guide-wire clamping and twisting device 6 relative to the second bearing seat 242. Guide wire displacement mechanism 23 drives two seal wire centre gripping and revolves and twist with fingers device 6 and remove, and when the seal wire touched the vascular wall, the resistance increase of guide wire displacement mechanism 23 enlargies the tiny resistance of seal wire in the blood vessel through lever principle, and the tiny resistance after will enlargiing transmits for second pressure sensor 252, realizes the collection of seal wire resistance signal to the adjustment seal wire moving direction.

Referring to fig. 2, 4 and 5, the gravity force counteracting device 26 is mounted to the rear ends of the first and second bearing seats 242. The gravity force counteracting device 26 includes a spring pressing plate 261 installed on the bearing seat, a spring cap 262 protruding from the spring pressing plate 261, and a retractable spring 263. The bottom end of the fixed box body contacts the spring cap 263, and partial gravity of the clamping rotary twisting device is counteracted through the elastic force of the spring 263 so as to avoid exceeding the measuring range of the sensor.

Referring to fig. 1, 6 and 7, the catheter fixing mechanism 3 is mounted on the mobile platform 1 by a catheter fixing base 31. The catheter fixing mechanism 3 comprises a catheter fixing base 31 arranged on the first cover plate 112, a catheter fixing frame 32 arranged on the catheter fixing base 31, a catheter fixing cover plate 33 connected to the catheter fixing frame 32, a catheter fixing motor 34 arranged on the catheter fixing frame 32, a first gear and rack mechanism 35 connected to an output shaft of the catheter fixing motor 34, and a catheter clamping claw 36 driven by the first gear and rack mechanism 35 to fix the catheter. The first rack and pinion mechanism 35 includes a first pinion gear 351 mounted on the output shaft of the catheter fixing motor 34, and a catheter fixing base 352 fixed on the guide rail slider and having a rack structure engaged with the first pinion gear 351. The conduit gripping jaw 36 includes a conduit gripping fixed jaw 361 mounted to the conduit mounting frame 32 and a conduit gripping movable jaw 362 mounted to the conduit mounting block 352. When the conduit fixing motor 34 rotates, the conduit fixing movable base 352 is driven to move along the linear guide rail, so as to adjust the distance between the conduit clamping movable claw 362 and the conduit clamping fixed claw 361, and fix and release the conduit. When the conduit gripping claw 36 is in the gripping state, its groove clearance corresponds to the position of the conduit supporting tube 413 (refer to fig. 12) on the conduit gripping and twisting device 4.

Referring to fig. 1, 8, 9 and 10, the conduit clamping and twisting device 4 includes a conduit fixing case, a first gear mechanism installed on the conduit fixing case, a conduit twisting motor 431 for driving the first gear mechanism to rotate, a first twisting roller 441 and a second twisting roller 442 connected to the first gear mechanism, a gear rotation pair rotatably connected to the first gear mechanism, a third twisting roller 443 connected to the gear rotation pair, and an opening and closing device 46 for driving the gear rotation pair to rotate relative to the first gear mechanism. When the gear rotation pair rotates relative to the first gear transmission mechanism, the third twisting roller 443 can be driven to gather or separate from the first twisting roller 441 and the second twisting roller 442. When the third rotating twisting roller 443 is gathered on the first rotating twisting roller 441 and the second rotating twisting roller 442, the cross sections of the first rotating twisting roller 441, the second rotating twisting roller 442 and the third rotating twisting roller 443 are triangular, and the gap spaces at the gathered connection positions form through holes for accommodating the conduits to pass through, so that the conduits are clamped. The third twisting roller 443 is separated from the first twisting roller 441 and the second twisting roller 442, thereby facilitating the removal or installation of the catheter.

Referring to fig. 1, 8, 9 and 10, the catheter fixing case includes a first housing 411 and a first cover 412 rotatably coupled to the first housing 411 and capable of covering the first housing 411. First housing 411 is provided with a concave groove for mounting catheter support tube 413, and catheter support tube 413 is placed in the concave groove and extends into the interstitial space at the convergence junction of the three twist rollers. The first gear transmission mechanism, the catheter twisting motor 45 and the opening and closing device 46 are all installed on the first shell 411.

Referring to fig. 1, 9 to 13, an output shaft of the conduit twisting motor 431 is connected to a conduit twisting gear 432 through a coupling, the first gear transmission mechanism includes a first rotating shaft 421 and a second rotating shaft 422 which are installed on the first housing 411 and are arranged in parallel, a first gear 423 sleeved on the first rotating shaft 421, and a second gear 424 sleeved on the second rotating shaft 422, and both the first gear 423 and the second gear 424 are externally engaged with the conduit twisting gear 432, so that the first gear 423 and the second gear 424 rotate in the same direction. The parameters of the first gear 423 and the second gear 424 are the same, so the rotation speeds of the first gear 423 and the second gear 424 are the same, and the rotation directions and the rotation speeds of the first rotating shaft 421 and the second rotating shaft 422 are the same. The first rotating shaft 421 and the second rotating shaft 422 are rotatably connected to the first housing 411 and protrude out of the first housing 411, the first rotating roller 441 is installed at the protruding end of the first rotating shaft 421, the second rotating roller 442 is installed at the protruding end of the second rotating shaft 422, and the first rotating roller 441 and the second rotating roller 442 are respectively provided with a plurality of annular grooves which are embedded into each other. When the conduit twisting motor 431 rotates, the conduit twisting gear 432 drives the first gear 423 and the second gear 424 to rotate at the same rotation direction and rotation speed, and further drives the first twisting roller 441 and the second twisting roller 442 to rotate at the same rotation direction and rotation speed.

Referring to fig. 1, 9 to 13, the gear rotary pair includes a gear rotary base 451 rotatably connected to the first rotary shaft 421 and an auxiliary rotary base 452, a third rotary shaft 453 and an auxiliary rotary shaft 454 installed between the gear rotary base 451 and the auxiliary rotary base 452, a third gear 455 coupled to the third rotary shaft 453, and an auxiliary gear 456 coupled to the auxiliary rotary shaft 454. The third shaft 453 and the auxiliary shaft 454 protrude from the first housing 411 and are located inside the first cover 412, the third shaft 453 protrudes from the first cover 412, and the third twist roller 443 is mounted at the protruding end of the third shaft 453. The third rotating twisting roller 443 is also provided with a plurality of annular grooves which are engaged with the annular grooves of the first rotating twisting roller 441 and the second rotating twisting roller 442.

Referring to fig. 1, 9 to 13, the auxiliary gear 456 externally engages with the first gear 423, and the third gear 455 externally engages with the auxiliary gear 456, so that the third gear 455 rotates in the same direction as the first gear 423 and the second gear 424. The third gear 455 has the same parameters as the first gear 423 and the second gear 424, so that the third gear 455 has the same rotation speed as the first gear 423 and the second gear 424, and the third twisting roller 443 rotates at the same rotation speed and rotation direction as the first twisting roller 441 and the second twisting roller 442. When the conduit twisting motor 431 rotates, the conduit twisting gear 432 drives the first gear 423, the second gear 424 and the third gear 455 to rotate at the same rotation direction and rotation speed, and further drives the first twisting roller 441, the second twisting roller 442 and the third twisting roller 443 to rotate at the same rotation direction and rotation speed, so as to simulate a human hand to twist the conduit at the same rotation direction and at the same constant speed, and adjust the advancing direction of the conduit.

Referring to fig. 9 to 13, the opening and closing device 46 includes an opening and closing motor 461 mounted on the first housing 411, and a first transmission gear 462 connected to an output shaft of the opening and closing motor 461 through a coupling. The partial gear portion of the gear rotating block 451 externally engages the first transmission gear 462. When the opening and closing motor 461 rotates, the first transmission gear 462 drives the gear rotating base 451 and the auxiliary rotating base 452 to rotate around the axis of the first rotating shaft 421, and then drives the third twisting roller 443 to gather or separate from the first twisting roller 441 and the second twisting roller 442, thereby facilitating the detachment or installation of the catheter. An avoiding notch for accommodating the movement of the third rotating shaft 453 is formed at one side of the first cover 412 close to the twisting roller, so that the gear rotating seat 451 and the auxiliary rotating seat 452 can rotate around the axis of the first rotating shaft 421 conveniently.

Referring to fig. 1, 14 to 16, the micro catheter fixing and advancing mechanism 5 is mounted on the movable platform 1 through a micro catheter fixing base 51. The micro-catheter fixing and pushing mechanism 5 comprises a micro-catheter fixing base 51 arranged on the first cover plate 112, a micro-catheter fixing frame 52 arranged on the micro-catheter fixing base 51, a micro-catheter protection shell 53 connected to the front end of the micro-catheter fixing frame 52, a micro-catheter back plate 54 connected to the rear end of the micro-catheter fixing frame 52, a micro-catheter rotary twisting motor 551 and a micro-catheter fixing motor 552 arranged on the catheter fixing frame 52, a second gear transmission mechanism 56 connected to the output shaft of the micro-catheter rotary twisting motor 552 and driving a driving roller 564 to rotate, a second gear rack mechanism 57 connected to the output shaft of the micro-catheter fixing motor 552 and driving a driven roller 574 to move, and a micro-catheter guide tube 58 fixed on the micro-catheter protection shell 53 and the micro-catheter back plate 54.

The second gear transmission mechanism 56 includes a second driving gear 561 mounted on the output shaft of the micro duct twist motor 551, a driving roller shaft 563 mounted on the micro duct fixing frame 52, a first driven gear 562 sleeved on the driving roller shaft 563, and a driving roller 564. When the micro-catheter twist motor 551 rotates, the driving roller shaft 563 is driven to rotate, and the driving roller 564 is driven to rotate. The second rack and pinion mechanism 57 includes a third pinion 571 mounted on the output shaft of the microcatheter fixing motor 552, a microcatheter fixing base 572 provided with a rack structure fixed on the rail slider and engaged with the third pinion 571, a driven roller shaft 573 mounted on the microcatheter fixing base 572, and a driven roller 574 fitted around the driven roller shaft 573. When the micro-catheter fixing motor 552 rotates, the micro-catheter fixing movable seat 572 is driven to move along the linear guide rail, so as to adjust the distance between the driving roller 564 and the driven roller 574, and realize the fixing and loosening of the micro-catheter. When the driven roller 574 contacts the drive roller 564, the driven roller 574 is driven by the drive roller 564 to rotate under the action of friction, and the microcatheter passes through the microcatheter guide tube 58, thereby fixing and advancing the microcatheter under the clamping and frictional forces of the drive roller 564 and the driven roller 574.

Referring to fig. 1, 17 to 22, the double-yarn clamping and twisting device 6 includes a yarn fixing case 61, a third gear transmission mechanism mounted on the yarn fixing case 61, a yarn twisting motor for driving the third gear transmission mechanism to rotate, a fourth twisting roller 641, a fifth twisting roller 642 and a sixth twisting roller 643 connected to the third gear transmission mechanism, a gear swing pair 65 rotatably connected to the third gear transmission mechanism, a swing mechanism 66 for driving the gear swing pair 65 to rotate relative to the third gear transmission mechanism, and a seventh twisting roller 644 connected to the gear swing pair 65. When the gear swing pair 65 rotates relative to the third gear transmission mechanism, the seventh rotary twisting roller 644 can be driven to gather or separate from the fifth rotary twisting roller 642, and the seventh rotary twisting roller 644 can also be driven to gather or separate from the sixth rotary twisting roller 643.

When the seventh rotating twisting roller 644 gathers at the fifth rotating twisting roller 642, the cross sections of the fourth rotating twisting roller 641, the fifth rotating twisting roller 642 and the seventh rotating twisting roller 644 are triangular, and the gap space at the gathering connection part forms a through hole for accommodating the guide wire to pass through, thereby realizing the clamping of the guide wire. When the seventh rotating twisting roller 644 gathers at the sixth rotating twisting roller 643, the cross sections of the fourth rotating twisting roller 641, the sixth rotating twisting roller 643 and the seventh rotating twisting roller 644 are triangular, and the gap space at the gathering connection position forms a through hole for accommodating the guide wire to pass through, so that the guide wire is clamped. Seventh twist roller 644 is separate from fifth twist roller 642 or sixth twist roller 643 to facilitate removal or installation of the guide wire. The seventh rotary twisting roller 644 is controlled to gather to the fifth rotary twisting roller 642 or the sixth rotary twisting roller 643, so that the first guide wire or the second guide wire is rotated and twisted or pushed, and the delivery function of the double guide wires is realized.

Referring to fig. 17 to 22, the guide wire fixing case 61 includes a second housing 611 and a second cover 612 rotatably connected to the second housing 611 and capable of covering the second housing 611. Because two guidewires need to be delivered, the second housing 611 has two concave grooves for mounting the guidewire support tube 613, and the guidewire support tube 613 is placed on the concave groove and extends into the gap space at the convergence joint of the three twisting rollers. The third gear transmission mechanism, the yarn guiding rotary twisting motor and the swinging mechanism 66 are all arranged on the second shell 611.

Referring to fig. 17 to 22, an output shaft of the first guide wire twisting motor 1 is connected to the first guide wire twisting gear 632 through a coupler, an output shaft of the second guide wire twisting motor 2 is connected to the second guide wire twisting gear 634 through a coupler, and the first guide wire twisting gear 633 and the second guide wire twisting gear 634 have the same parameters, and are installed on the second housing 611 at the same height. The third gear transmission mechanism includes a fourth rotating shaft 621, a fifth rotating shaft 622, and a sixth rotating shaft 623 which are mounted on the second housing 611 and arranged in parallel, a fourth gear 624 sleeved on the fourth rotating shaft 621, a fifth gear 625 sleeved on the fifth rotating shaft 622, and a sixth gear 626 sleeved on the sixth rotating shaft 623.

The fourth gear 624 and the fifth gear 625 are externally meshed with the first guide wire rotary-twisting gear 633, so that the fourth gear 624 and the fifth gear 625 rotate in the same direction; and the parameters of the fourth gear 624 and the fifth gear 625 are the same, so the rotation speeds of the fourth gear 624 and the fifth gear 625 are the same, and the rotation directions and the rotation speeds of the fourth rotating shaft 621 and the fifth rotating shaft 622 are the same. The sixth gear 626 is externally engaged with the second guide wire twisting gear 634, and in actual use, the rotation directions and the rotation speeds of the first guide wire twisting gear 633 and the second guide wire twisting gear 634 are always consistent. Sixth gear 626 therefore rotates in the same direction as fourth and fifth gears 624, 625; and the parameters of the sixth gear 626 are the same as those of the fourth gear 624 and the fifth gear 625, so that the rotation speeds of the sixth gear 626, the fourth gear 624 and the fifth gear 625 are the same, and the rotation directions and the rotation speeds of the fourth rotating shaft 621, the fifth rotating shaft 622 and the sixth rotating shaft 623 are the same.

Referring to fig. 17 to 22, the fourth rotating shaft 621, the fifth rotating shaft 622 and the sixth rotating shaft 624 are rotatably connected to the second housing 611 and protrude out of the second housing 611, the fourth rotating roller 641 is installed at a protruding end of the fourth rotating shaft 621, the fifth rotating roller 642 is installed at a protruding end of the fifth rotating shaft 622, the sixth rotating roller 643 is installed at a protruding end of the sixth rotating shaft 623, the fourth rotating roller 641, the fifth rotating roller 642 and the sixth rotating roller 643 are respectively provided with a plurality of annular grooves, and the fourth rotating roller 641 is respectively embedded in the fifth rotating roller 642 and the sixth rotating roller 643. When the first yarn guiding and twisting motor 1 rotates, the first yarn guiding and twisting gear 633 drives the fourth gear 624 and the fifth gear 625 to rotate at the same rotation direction and rotation speed, and further drives the fourth twisting roller 641 and the fifth twisting roller 642 to rotate at the same rotation direction and rotation speed. When the second guide wire twisting motor rotates 632, the second guide wire twisting gear 634 drives the sixth gear 626 to rotate at the rotation speed and rotation direction of the fourth gear 624 and the fifth gear 625, and further drives the sixth twisting roller 643 to rotate at the rotation speed and rotation direction of the fourth twisting roller 641 and the fifth twisting roller 642.

Referring to fig. 17 to 22, the gear swing pair 65 includes a gear swing base 651 and an auxiliary swing base 652 rotatably coupled to the fourth rotation shaft 621, and a seventh rotation shaft 653 installed between the gear swing base 651 and the auxiliary swing base 652. The seventh rotating shaft 653 is protruded outside the second housing 611, and the seventh rotary twisting roller 644 is mounted to the protruded end of the seventh rotating shaft 653. The seventh twisting roller 644 also has a plurality of annular grooves, which are embedded with the annular grooves of the fourth twisting roller 641, the fifth twisting roller 642 or the sixth twisting roller 643. A belt wheel 654 is installed on the other side of the second housing 611 protruding from the fourth rotating shaft 621 and the seventh rotating shaft 653, when the first guide wire twisting motor 1 rotates, the first guide wire twisting gear 633 drives the fourth gear 624 and the fifth gear 625 to rotate, and further drives the fourth rotating shaft 621 and the fifth rotating shaft 622 to rotate, and the belt wheel 654 and the belt 655 installed on the fourth rotating shaft 621 and the seventh rotating shaft 653 drive the seventh rotating shaft 653 to rotate at the rotation direction and the rotation speed of the fourth rotating shaft 621, and further drives the fourth twisting roller 641, the fifth twisting roller 642 and the seventh twisting roller 644 to rotate at the same rotation direction and rotation speed, so as to simulate human hands to twist the guide wire at the same rotation speed in the same rotation direction, and adjust the advancing direction of the guide wire. In practical use, when the first guide wire is twisted, the seventh twisting roller 644 is gathered at the fifth twisting roller 642, and the first guide wire twisting motor 1 rotates; when the second guide wire is twisted, the seventh twisting roller 644 is gathered at the sixth twisting roller 643, and the first guide wire twisting motor 1 and the second guide wire twisting motor 2 both rotate.

Referring to fig. 17 to 22, the swing mechanism 66 includes a swing motor 661 mounted on the second housing 611, and a second transmission gear 662 connected to an output shaft of the swing motor 661 through a coupling. The gear portion of the gear swing base 651 externally engages the second transmission gear 662. When the swing motor 661 rotates, the second transmission gear 662 drives the gear swing seat 651 and the auxiliary swing seat 652 to rotate around the axis of the fourth rotating shaft 621, so as to drive the seventh twisting roller 644 to gather together with the fifth twisting roller 642 or the sixth twisting roller 643, thereby facilitating the detachment or installation of the guide wires and realizing the twisting and pushing movement of the double guide wires. The gear swing seat 651 and the auxiliary swing seat 652 are provided with avoidance notches for accommodating the guide wire support tube 613 to move relative to the gear swing seat 651 and the auxiliary swing seat 652, so that the gear swing seat 651 and the auxiliary swing seat 652 can rotate around the axis of the fourth rotating shaft 621 conveniently.

Referring to fig. 1, 23 and 24, the double guide wire fixing mechanism 7 is mounted on the moving platform 1 by a double guide wire fixing base 71. The double-guide-wire fixing mechanism 7 comprises a double-guide-wire fixing base 71 installed on the second cover plate 122, a double-guide-wire fixing frame 72 installed on the double-guide-wire fixing base 71, a double-guide-wire fixing cover plate 73 connected to the double-guide-wire fixing frame 72, a first guide-wire fixing motor 741 and a second guide-wire fixing motor 742 installed on the double-guide-wire fixing frame 72, a third rack-and-pinion mechanism 75 connected to an output shaft of the guide-wire fixing motor 74, and a guide-wire clamping claw 76 for fixing a guide wire under the driving of the third rack-and-pinion mechanism 75. The third rack and pinion mechanism 75 includes a fourth pinion 751 mounted on the output shaft of the guide wire fixing motor 74, and a guide wire fixing movable base 752 fixed to the rail block and having a rack structure engaged with the fourth pinion 751. The guide wire holding claw 76 includes a guide wire holding fixed claw 761 mounted on the double guide wire fixing frame 72, and a guide wire holding movable claw 762 mounted on the guide wire fixing movable base 752. When the guide wire fixing motor 74 rotates, the guide wire fixing movable base 752 is driven to move along the linear guide rail, so as to adjust the distance between the guide wire clamping movable claw 762 and the guide wire clamping fixed claw 761, and fix and loosen the guide wire. The double guide wire fixing mechanism 7 comprises two sets of third rack and pinion mechanisms 75 and guide wire clamping claws 76, and is symmetrically installed on the double guide wire fixing frame 72. When the guide wire holding claw 76 is in the clamped state, the groove gap thereof corresponds to the position of the guide wire support tube 613 on the double guide wire holding twist device 6.

The implementation principle of the multi-instrument cooperative execution device of the minimally invasive vascular interventional surgical robot in the embodiment of the application is as follows: the conduit fixing motor 34 of the conduit fixing mechanism 3 rotates forward, and drives the conduit fixing moving seat 352 to move through the first rack-and-pinion mechanism 35, so that the conduit clamping moving claw 362 is far away from the conduit clamping fixing claw 361, so that the conduit can smoothly pass through the conduit clamping claw 36.

The opening and closing motor 461 of the conduit clamping and twisting device 4 rotates forward to drive the gear rotating seat 451 and the auxiliary rotating seat 452 to rotate around the axis of the first rotating shaft 421, and further drive the third twisting roller 443 to separate from the first twisting roller 441 and the second twisting roller 442, and the conduit passes through the conduit supporting tube 413 placed in the concave groove of the first housing 411 and is placed among the three twisting rollers; the opening and closing motor 461 rotates reversely, so that the third rotating and twisting roller 443 is gathered on the first rotating and twisting roller 441 and the second rotating and twisting roller 442, and the conduit is clamped.

The microcatheter fixing motor 552 of the microcatheter fixing and advancing mechanism 5 rotates forward to drive the microcatheter fixing and moving seat 572 to move through the second rack-and-pinion mechanism 57, so that the driven roller 574 is far away from the driving roller 564. The microcatheter extends through the microcatheter guide tube 58 and the microcatheter holding motor 552 is rotated in a reverse direction so that the driven roller 574 is adjacent to the drive roller 564 to grip the microcatheter. The microcatheter twisting motor 551 of the microcatheter fixed propelling mechanism rotates forwards to drive the driving roller shaft 563 to rotate, so that the driving roller 564 and the driven roller 574 rotate in opposite directions through friction force, and the microcatheter is further propelled forwards; the micro-catheter twist motor 551 rotates in the reverse direction, withdrawing the micro-catheter backward.

The swing motor 661 of the double-guide-wire clamping twisting device 6 rotates forward to drive the gear swing base 651 and the auxiliary swing base 652 to rotate around the axis of the fourth rotating shaft 621, so as to drive the seventh twisting roller 644 to separate from the fifth twisting roller 642 and stop rotating at the middle position. Two guide wires are respectively passed through two guide wire support tubes 613 placed in the concave grooves of the second housing 611 and placed between the four twist rollers. The swing motor 661 rotates in a reverse direction to make the seventh rotary twisting roller 644 gather at the fifth rotary twisting roller 642, so as to clamp the first guide wire.

The swing motor 661 rotates in a reverse direction to drive the gear swing base 651 and the auxiliary swing base 652 to rotate around the axis of the fourth rotating shaft 621, so as to drive the seventh twisting roller 644 to separate from the sixth twisting roller 643, and stop rotating at the middle position. Two guide wires respectively pass through two guide wire supporting tubes 613 arranged in the concave grooves of the second shell 611 and are arranged between the four rotary twisting rollers; the swing motor 661 rotates forward to make the seventh twisting roller 644 gather at the sixth twisting roller 643 to clamp the second guide wire.

Two seal wire fixed establishment 7's first seal wire fixed motor 741 forward rotates, and second seal wire fixed motor 742 antiport drives the fixed seat 752 that moves of seal wire through third rack and pinion mechanism 75 for two seal wire centre gripping remove claws 762 all keep away from seal wire centre gripping fixed claw 761, so that two seal wires all can pass seal wire centre gripping claw 76 smoothly. Wherein, the guide wire passes through the micro-catheter and the catheter, and the micro-catheter passes through the catheter.

After the catheter and the guide wire are assembled on the catheter clamping and twisting device 4 and the double-guide-wire clamping and twisting device 6, the catheter clamping and twisting device 4 forwards pushes the catheter through the catheter displacement mechanism 13, and the double-guide-wire clamping and twisting device 6 forwards pushes the guide wire through the platform displacement mechanism and the guide wire displacement mechanism 15. For example: the catheter displacement mechanism 13 advances the catheter until the catheter is delivered to the desired location in the blood vessel. The guide wire displacement mechanism 15 advances the guide wire forward until the guide wire is delivered to the prescribed position of the blood vessel. Wherein the catheter displacement mechanism 13. And the guidewire displacement mechanism 15 may be moved in unison or separately, i.e., to effect coordinated or separate delivery of the catheter and guidewire within the vessel.

If the catheter and the guide wire cannot be conveyed to the designated position by each displacement mechanism through one stroke, at this time, the catheter fixing motor 34 of the catheter fixing mechanism 3 reversely rotates to make the catheter clamping moving claw 362 close to the catheter clamping fixing claw 361, so as to fix the catheter, the opening and closing motor 461 of the catheter clamping and twisting device 4 forwardly rotates to make the third twisting roller 443 separate from the first twisting roller 441 and the second twisting roller 442, so as to loosen the catheter, the catheter displacement mechanism 13 drives the catheter clamping and twisting device 4 to move backwards, the opening and closing motor 461 of the catheter clamping and twisting device 4 reversely rotates to make the third twisting roller 443 converge on the first twisting roller 441 and the second twisting roller 442, so as to clamp the catheter, the catheter fixing motor 34 of the catheter fixing mechanism 3 forwardly rotates to make the catheter clamping moving claw 362 far away from the catheter clamping fixing claw, the catheter is released and delivery of the second stroke of the catheter is performed.

Two seal wire fixed establishment 7's first seal wire fixed motor 741 antiport, second seal wire fixed motor 742 forward rotation for two seal wire centre gripping movable claw 762 all are close to seal wire centre gripping stationary dog 761, realize the fixed to two seal wires. The swing motor 66 of the double-guide-wire clamping and twisting device 6 rotates forwards, the seventh twisting roller 644 is separated from the fifth twisting roller 642, the rotation is stopped at the middle position, the guide wire is loosened, the platform displacement mechanism and the guide wire displacement mechanism 15 drive the double-guide-wire clamping and twisting device 6 to move backwards, and the swing motor 66 of the double-guide-wire clamping and twisting device 6 rotates reversely, so that the seventh twisting roller 644 is gathered at the fifth twisting roller 642, and the first guide wire (for convenience of description, the guide wires are divided into the first guide wire and the second guide wire, and the first guide wire and the second guide wire have no substantial difference) is clamped.

The swing motor 66 of the double-guide-wire clamping and twisting device 6 rotates reversely, the seventh twisting roller 644 is separated from the sixth twisting roller 643, the rotation is stopped at the middle position, the guide wire is loosened, the platform displacement mechanism and the guide wire displacement mechanism 15 drive the double-guide-wire clamping and twisting device 6 to move backwards, and the swing motor 66 of the double-guide-wire clamping and twisting device 6 rotates forwards, so that the seventh twisting roller 644 is gathered at the sixth twisting roller 643, and the second guide wire is clamped. The first guide wire fixing motor 741 of the double guide wire fixing mechanism 7 rotates forward, and the second guide wire fixing motor 742 rotates backward, so that both the guide wire clamping and moving claws 762 are far away from the guide wire clamping and fixing claw 761, the guide wire is loosened, and the guide wire is delivered by a second stroke.

The swinging motor 661 of the double-guide-wire clamping and twisting device 6, the first guide-wire fixing motor 741 and the second guide-wire fixing motor 742 of the double-guide-wire fixing mechanism 7 are matched with each other, so that the operations of single-guide-wire fixing, single-guide-wire advancing or withdrawing and double-guide-wire fixing can be performed, and the time-sharing delivery of double guide wires is realized.

In the process that the guide wires move forwards, when the guide wires meet a bifurcated blood vessel, the advancing direction of the guide wires needs to be adjusted, the first guide wire rotating and twisting motor 1 of the double-guide-wire clamping rotating and twisting device 6 rotates, the third gear transmission mechanism drives the fourth rotating and twisting roller 641, the fifth rotating and twisting roller 642 and the seventh rotating and twisting roller 644 to rotate at the same rotating speed and in the same rotating direction, the first guide wires are manually operated and twisted by a human hand, and if the second guide wires are rotated and twisted, the first guide wire rotating and twisting motor 1 and the second guide wire rotating and twisting motor 2 both rotate so as to adjust the advancing direction of the corresponding guide wires. The catheter sleeved on the periphery of the guide wire is correspondingly turned, and certainly, the catheter twisting motor 431 of the catheter clamping and twisting device 4 can also be started, the first gear transmission mechanism drives the first twisting roller 441, the second twisting roller 442 and the third twisting roller 443 to rotate at the same rotating speed and in the same turning direction, and a human hand is simulated to operate the twisting catheter so as to adjust the advancing direction of the catheter.

The catheter is assembled on the catheter clamping and rotating device, the micro catheter is assembled on the micro catheter fixing and pushing mechanism, the guide wire is assembled on the double-guide-wire clamping and rotating device and the catheter, the guide wire penetrates through the catheter fixing mechanism, and the double-guide-wire fixing mechanism are assembled according to actual conditions; in addition. In the above description, the "forward rotation" and the "reverse rotation" of the motor are only used for convenience to describe two rotation modes of the motor, and do not represent a limitation requirement of the present technical solution, and a working principle of the motor can be clear and understood by those skilled in the art.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims (10)

1. A robot multi-instrument cooperative execution device for minimally invasive vascular intervention surgery is characterized in that: the device comprises a moving platform (1), wherein a conduit fixing mechanism (3), a conduit clamping and twisting device (4), a micro-conduit fixing and pushing mechanism (5), a double-wire clamping and twisting device (6) and a double-wire fixing mechanism (7) are arranged on the moving platform (1);

and the moving platform (1) is provided with a catheter displacement mechanism (13) for driving the catheter clamping and twisting device (4) to move and a guide wire displacement mechanism (15) for driving the double guide wire clamping and twisting device (6) to move.

2. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 1, wherein: the conduit clamping and twisting device (4) comprises a conduit fixing box body, a first gear transmission mechanism arranged on the conduit fixing box body, a conduit twisting motor (431) for driving the first gear transmission mechanism to rotate, a first twisting roller (441) and a second twisting roller (442) connected to the first gear transmission mechanism, a gear revolute pair rotationally connected with the first gear transmission mechanism, a third twisting roller (443) connected to the gear revolute pair and an opening and closing device (46) for driving the gear revolute pair to rotate relative to the first gear transmission mechanism.

3. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 2, wherein: the opening and closing device (46) comprises an opening and closing motor (461) arranged on the guide pipe fixing box body and a first transmission gear (462) connected to an output shaft of the opening and closing motor (461), and the first transmission gear (462) drives a gear revolute pair to rotate.

4. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 1, wherein: the catheter fixing mechanism (3) comprises a catheter fixing frame (32), a catheter fixing cover plate (33) connected to the catheter fixing frame (32), a catheter fixing motor (34) installed on the catheter fixing frame (32), a catheter clamping claw (36) and a first gear and rack mechanism (35) which is connected to an output shaft of the catheter fixing motor (34) and drives the catheter clamping claw (36) to move.

5. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 4, wherein: the micro-catheter fixing and pushing mechanism (5) comprises a micro-catheter rotary twisting motor (551) and a micro-catheter fixing motor (552) which are arranged on a micro-catheter fixing frame (52) and a micro-catheter fixing frame (32), a second gear transmission mechanism (56) connected with an output shaft of the micro-catheter rotary twisting motor (551), and a second gear rack mechanism (57) connected with an output shaft of the micro-catheter fixing motor (552); a driving roller (564) is arranged at the second gear transmission mechanism (56), and the second gear transmission mechanism (56) drives the driving roller (564) to rotate; the second gear rack mechanism (57) is provided with a driven roller (574), and the second gear rack mechanism (57) drives the driven roller (574) to move.

6. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 1, wherein: the double-guide-wire clamping and twisting device (6) comprises a guide wire fixing box body (61), a third gear transmission mechanism arranged on the guide wire fixing box body (61), a guide wire twisting motor (151) for driving the third gear transmission mechanism to rotate, a fourth twisting roller (641), a fifth twisting roller (642) and a sixth twisting roller (643) connected to the third gear transmission mechanism, a gear swing pair (65) rotatably connected to the third gear transmission mechanism (455), a swing mechanism (66) for driving the gear swing pair (65) to rotate relative to the third gear transmission mechanism, and a seventh twisting roller (644) connected to the gear swing pair (65).

7. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 1, wherein: the catheter clamping and twisting device (4) is provided with a catheter displacement base (21), and the catheter clamping and twisting device (4) is fixed on the catheter displacement mechanism (13) through the catheter displacement base (21);

a first bearing seat is arranged between the conduit clamping and twisting device (4) and the conduit displacement base (21), and a first pressure sensor for detecting the pressure change of the conduit clamping and twisting device (4) relative to the first bearing seat is arranged on the first bearing seat;

the double-guide-wire clamping and twisting device (6) is provided with a guide wire displacement base (23), and the double-guide-wire clamping and twisting device (6) is fixed on the guide wire displacement mechanism (15) through the guide wire displacement base (23);

a second bearing seat (242) is arranged between the double-guide-wire clamping and twisting device (6) and the guide-wire displacement base (23), and a second pressure sensor (252) used for detecting the pressure change of the double-guide-wire clamping and twisting device (6) relative to the second bearing seat (242) is arranged on the second bearing seat (242).

8. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 2, wherein: and the rear ends of the first bearing seat and the second bearing seat (242) are provided with gravity counteracting devices (26).

9. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 6, wherein: the swinging mechanism (66) comprises a swinging motor (661) arranged on the guide wire fixing box body (61) and a second transmission gear (662) connected to an output shaft of the swinging motor (661), and the second transmission gear (662) drives the gear swinging pair (65) to rotate relative to the third gear (455) transmission mechanism.

10. The robotic multi-instrument cooperative execution device for minimally invasive vascular intervention surgery according to claim 1, wherein: the double-guide-wire fixing mechanism (7) comprises a double-guide-wire fixing frame (72), a double-guide-wire fixing cover plate (73) connected to the double-guide-wire fixing frame (72), a guide-wire fixing motor (74) installed on the double-guide-wire fixing frame (72), and a third gear rack mechanism connected to an output shaft of the guide-wire fixing motor (74) and driving a guide-wire clamping claw (76) to move.

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