CN115153859B - Slender type medical instrument driving device - Google Patents
Slender type medical instrument driving device Download PDFInfo
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- CN115153859B CN115153859B CN202211076150.1A CN202211076150A CN115153859B CN 115153859 B CN115153859 B CN 115153859B CN 202211076150 A CN202211076150 A CN 202211076150A CN 115153859 B CN115153859 B CN 115153859B
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- elongated medical
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- 230000005540 biological transmission Effects 0.000 claims description 30
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 description 4
- 230000005855 radiation Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 201000010099 disease Diseases 0.000 description 1
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 210000000056 organ Anatomy 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
-
- 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
- A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
Abstract
The invention discloses a slender medical instrument driving device which comprises a mounting box, a driving wheel, a supporting part, a first driving assembly and a second driving assembly, wherein the mounting box is internally provided with a mounting plate, the driving wheel comprises a first driving wheel and a first driven wheel, the first driving wheel and the first driven wheel are rotatably arranged on the mounting plate, the supporting part is arranged on the mounting plate, the slender medical instrument is arranged in the supporting part and is placed between the first driving wheel and the first driven wheel, the first driving assembly is arranged in the mounting box and is used for driving the supporting part and the mounting plate to rotate together, the second driving assembly is arranged in the mounting box and is used for driving the first driving wheel to rotate. The support part and the mounting plate can drive the slender medical device to rotate, and the first driving wheel and the first driven wheel can drive the slender medical device to deliver.
Description
Technical Field
The present disclosure relates to the field of medical devices, and more particularly, to an elongated medical device driving apparatus.
Background
The interventional operation is to image the internal tissues and organs of the body of a patient through real-time ray irradiation, thereby achieving the purpose of minimally invasive operation. The operator needs to be exposed to the radiation for a long time, and doctors who are engaged in the interventional operation for a long time have a higher probability of suffering from radiation-related diseases and harming the body health. Since the interventional surgical environment is a harmful environment in which radiation is present, it is desirable to minimize the exposure time of the surgical operator to the radiation environment. The existing interventional operation robot can isolate an operation operator from a harmful environment and realize remote operation.
One of the important technologies in the development process of the interventional surgical robot is a delivery device of a slim medical instrument (e.g., a catheter, a guide wire), and one existing delivery device includes a delivery mechanism, a first motor, a second motor, a first transmission gear and a planetary gear train.
The driving device needs the first motor and the second motor to perform angle compensation, mainly, the delivery mechanism can drive the second transmission gear to rotate when rotating integrally, if the second motor does not operate at the moment to drive the second transmission gear to perform corresponding compensation, the integral rotating motion of the delivery mechanism can enable the transmission shaft to drive the driving gear train to drive the delivery mechanism to advance or retract the slender medical instrument, and if the angle compensation of the second motor is not performed, the slender medical instrument can not rotate and can not advance or retract.
Disclosure of Invention
It is an object of the present invention to at least address the problem of an elongated medical device that cannot be individually rotated and delivered. The purpose is realized by the following technical scheme:
a first aspect of the invention proposes an elongated medical device driving apparatus.
The elongated medical device driving apparatus according to the present invention includes: the mounting box is internally provided with a mounting plate; the driving wheel comprises a first driving wheel and a first driven wheel, the first driving wheel and the first driven wheel are rotatably arranged on the mounting plate, and the first driving wheel and the first driven wheel are arranged opposite to each other; the supporting part is rotatably arranged on the mounting plate, a slender medical instrument is arranged in the supporting part, the slender medical instrument is placed between the first driving wheel and the first driven wheel, and the slender medical instrument is clamped by the first driving wheel and the first driven wheel; the first driving assembly is arranged in the mounting box and comprises a rotating motor, the first driving assembly is used for driving the supporting part and the mounting plate to rotate together, the second driving assembly is arranged in the mounting box and comprises a delivery motor, and the second driving assembly is used for driving the first driving wheel to rotate; and when the rotating motor is started, the rotating transmission component drives the delivery motor to rotate.
According to the slender medical device driving device, the supporting part and the mounting plate can drive the slender medical device to rotate, and the first driving wheel and the first driven wheel can drive the slender medical device to deliver.
In some embodiments of the present invention, a rotation hole is provided on a side wall of the mounting box, the support portion is rotatably inserted into the rotation hole, and the mounting plate is rotatably located in the mounting box.
In some embodiments of the present invention, the support portion includes a first sub portion and a second sub portion connected to each other, the first sub portion rotatably penetrates through the rotation hole, the second sub portion connects the first sub portion and the mounting plate, and a diameter of the second sub portion is larger than a diameter of the rotation hole.
In some embodiments of the present invention, the circumferential surfaces of the first driving wheel and the first driven wheel are provided with notches.
In some embodiments of the invention, the elongated medical device driving apparatus further comprises: an elastic member; one end of the elastic piece is arranged on the mounting plate, the other end of the elastic piece is arranged on the first driven wheel, and the elastic piece drives the first driven wheel to abut against the first driving wheel.
In some embodiments of the invention, the first drive assembly comprises: a rotating motor and a rotating gear; the rotary gear is arranged in the mounting box, and the rotary motor is arranged outside the mounting box; rotatory gear sleeve is established on the supporting part, the rotating electrical machines can drive the supporting part with the mounting panel takes place to rotate, the supporting part with the mounting panel drives slender type medical instrument takes place to rotate.
In some embodiments of the invention, the second drive assembly comprises: the device comprises a delivery motor, a delivery gear, a delivery shaft, a transmission gear and a first bevel gear, wherein the transmission gear and the first bevel gear are sleeved on the delivery shaft; the delivery gear is arranged in the mounting box, and the delivery motor is arranged outside the mounting box; the delivery gear is rotatably sleeved on the supporting part, and the delivery motor can drive the delivery gear to rotate; the transmission gear is meshed with the delivery gear, the first bevel gear is meshed with the first driving wheel, and the first bevel gear is used for driving the first driving wheel to rotate.
In some embodiments of the invention, the second drive assembly further comprises a second bevel gear; the second bevel gear is arranged on the first driving wheel, and the second bevel gear is meshed with the first bevel gear.
In some embodiments of the present invention, the first driving wheel, the first driven wheel, the second bevel gear, and the first bevel gear are each plural; the first driving wheels and the first driven wheels are symmetrically arranged on two sides of the elongated medical device along the length direction of the elongated medical device; the plurality of second bevel gears and the plurality of first driving wheels are arranged in a one-to-one correspondence manner, and the plurality of first bevel gears and the plurality of second bevel gears are arranged in a one-to-one correspondence manner.
In some embodiments of the present invention, the elongated medical device driving apparatus further comprises: a rotary drive assembly including a first sub-gear, a second sub-gear and a third sub-gear, the first sub-gear being disposed on the rotary motor, the second sub-gear being disposed on the delivery motor, the third sub-gear being disposed between the first sub-gear and the second sub-gear, and the third sub-gear being engaged with the first sub-gear and the second sub-gear, respectively.
In some embodiments of the present invention, the rotary drive assembly further comprises a fourth sub gear, the third sub gear and the fourth sub gear are both disposed between the first sub gear and the second sub gear, and the first sub gear, the third sub gear, the fourth sub gear and the second sub gear are sequentially meshed.
In some embodiments of the invention, the elongated medical device driving apparatus further comprises: a first bearing seat and a second bearing seat disposed opposite to each other at both ends of the delivery motor.
In some embodiments of the invention, the elongated medical device driving apparatus further comprises: the electric slip ring is sleeved on the electric wire of the delivery motor; and/or further comprising: a torque sensor disposed on the rotary drive assembly.
In some embodiments of the invention, the elongated medical device driving apparatus further comprises: a drive belt connecting the rotary motor and the delivery motor; or a drive rack connecting the rotary motor and the delivery motor.
The above description is only an outline of the technical solution of the embodiments of the present application, and the embodiments of the present application will be described below in detail in order to make the technical means of the embodiments of the present application more clearly understood.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also, like parts are designated by like reference numerals throughout the drawings. In the drawings:
fig. 1 schematically shows a perspective view of an elongated medical device driving apparatus according to an embodiment of the present invention.
Fig. 2 schematically shows another perspective view of an elongated medical device drive apparatus according to an embodiment of the invention.
Fig. 3 schematically shows a top view of an elongated medical device drive apparatus according to an embodiment of the invention.
Fig. 4 schematically illustrates a bottom view of an elongated medical device driver according to an embodiment of the present invention.
Fig. 5 schematically shows a side view of an elongated medical device driving apparatus according to an embodiment of the invention.
The reference numbers are as follows:
an elongated medical device drive apparatus 100.
The device comprises a mounting box 10, a mounting plate 11, a first bearing seat 12, a second bearing seat 13, an electric slip ring 14 and a torque sensor 15.
A driving wheel 20, a first driving wheel 21 and a first driven wheel 22.
A support 30 and an elongated medical device 31.
A first drive assembly 40, a rotary motor 41, a first output gear 411, and a rotary gear 42.
A second drive assembly 50, a delivery motor 51, a second output gear 511, a delivery gear 52, a delivery shaft 53, a drive gear 54, a first bevel gear 55, and a second bevel gear 56.
A rotation transmission assembly 60, a first sub gear 61, a second sub gear 62, a third sub gear 63, and a fourth sub gear 64.
Detailed Description
Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be understood that the terminology used herein is for the purpose of describing particular example embodiments only, and is not intended to be limiting. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms "comprises," "comprising," "including," and "having" are inclusive and therefore specify the presence of stated features, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. It should also be understood that additional or alternative steps may be used.
Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as "first," "second," and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
For convenience of description, spatially relative terms, such as "inner", "outer", "lower", "below", "upper", "above", and the like, may be used herein to describe one element or feature's relationship to another element or feature as illustrated in the figures. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as "below" or "beneath" other elements or features would then be oriented "above" or "over" the other elements or features. Thus, the example term "below … …" may include both an up and down orientation. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
As shown in fig. 1-5, according to an embodiment of the present invention, an elongated medical device driving apparatus 100 is provided, which includes a mounting box 10, a driving wheel 20, a support 30, a first driving assembly 40 and a second driving assembly 50.
The mounting box 10 is provided with a mounting plate 11.
Specifically, as shown in fig. 1, the mounting box 10 is substantially square, and the mounting box 10 may be divided into an upper box (not shown) and a lower box. The mounting plate 11 is rotatably arranged in the mounting box 10, and the mounting plate 11 is of a flat plate structure.
The drive wheel 20 includes a first drive wheel 21 and a first driven wheel 22. The first driving wheel 21 and the first driven wheel 22 are rotatably disposed on the mounting plate 11, and the first driving wheel 21 and the first driven wheel 22 are disposed opposite to each other.
Specifically, as shown in fig. 1 to 5, the first driving wheel 21 and the first driven wheel 22 are both disposed on the upper surface of the mounting plate 11, and the first driving wheel 21 and the first driven wheel 22 are freely rotatable with respect to the mounting plate 11. Meanwhile, the first driving wheel 21 and the first driven wheel 22 are disposed opposite to and adjacent to each other in the width direction of the mounting plate 11.
The elongated medical device 31 is disposed between the first driver 21 and the first driven wheel 22, with the first driver 21 and the first driven wheel 22 gripping the elongated medical device 31.
Specifically, as shown in fig. 1 to 5, a support portion 30 is fixedly disposed on the upper surface of the mounting plate 11, that is, the mounting plate 11 and the support portion 30 are integrally disposed. The support portion 30 is provided with a through lumen for the passage of the elongated medical device 31, the elongated medical device 31 is disposed between the first driving wheel 21 and the first driven wheel 22 after passing through the through lumen of the support portion 30, the elongated medical device 31 passes through the through lumen of the support portion 30, and the first driving wheel 21 and the first driven wheel 22 clamp the elongated medical device 31. Thereby, friction is provided between the elongated medical device 31 and both the first driver 21 and the first driven wheel 22. Preferably, the first driving wheel 21 and the first driven wheel 22 are provided with notches along the thickness direction to increase the friction force of the first driving wheel 21 and the first driven wheel 22.
The first driving assembly 40 is disposed in the mounting box 10, and the first driving assembly 40 is used for driving the supporting portion 30 and the mounting plate 11 to rotate together. The second driving assembly 50 is disposed in the mounting box 10, and the second driving assembly 50 is used for driving the first driving wheel 21 to rotate.
Specifically, as shown in fig. 1 to 5, since the mounting plate 11 and the support portion 30 are integrally provided, the mounting plate 11 rotates together with the support portion 30.
Further, the first driving wheel 21 and the first driven wheel 22 on the mounting plate 11 clamp the elongated medical device 31, so that the mounting plate 11 can drive the elongated medical device 31 to rotate therewith.
In particular, as shown in FIGS. 1-5, due to the friction between the elongated medical device 31 and the first driver 21 and the first driven wheel 22, the first driver 21 can drive the elongated medical device 31 to move when the second driver assembly 50 drives the first driver 21 to rotate.
In some embodiments of the present invention, as shown in fig. 1 to 5, a rotating hole (not shown) is provided on a side wall of the mounting box 10, the supporting portion 30 is rotatably inserted into the rotating hole, and the mounting plate 11 is rotatably located in the mounting box 10.
It will be appreciated that the mounting box 10 is generally square in shape and that the mounting box 10 may be divided into an upper box (not shown) and a lower box. Arc grooves can be formed in both the upper box body and the lower box body of the mounting box 10, and the arc grooves of the upper box body and the lower box body are opposite to each other. Thus, the support portion 30 can be held in the mounting box 10 by the two arc-shaped grooves which together constitute the rotation hole.
Further, the supporting portion 30 is fixedly connected to the mounting plate 11, so that the mounting plate 11 can be suspended in the mounting box 10 through the supporting portion 30.
Meanwhile, the supporting portion 30 can freely rotate in the two arc-shaped grooves, thereby achieving the rotating function of the mounting plate 11.
Further, the number of the supporting portions 30 is at least two, that is, one supporting portion 30 is provided at each of both ends of the mounting plate 11. This is advantageous in improving the stability of the mounting plate 11 during rotation.
In some embodiments of the present invention, as shown in fig. 1 to 5, the supporting portion 30 includes a first sub portion and a second sub portion connected to each other, the first sub portion is rotatably inserted into the rotation hole, the second sub portion connects the first sub portion and the mounting plate 11, and a diameter of the second sub portion is larger than a diameter of the rotation hole.
It can be understood that the supporting portion 30 is divided into a first sub-portion and a second sub-portion, and the diameter of the second sub-portion is larger than that of the first sub-portion, and at the same time, the diameter of the rotation hole is larger than that of the first sub-portion. Thereby, the first sub-part is rotatably arranged in the rotating hole in a penetrating way, the second sub-part is positioned at the outer side of the rotating hole, and the moving range of the whole supporting part 30 and the mounting plate 11 is effectively limited.
In some embodiments of the present invention, as shown in fig. 1-5, the circumferential surfaces of the first driving wheel and the first driven wheel are provided with scores.
It will be appreciated that the circumferential surfaces of the first driven wheel 22 and the first driving wheel 21 may be scored to further increase the friction between the first driven wheel 22 and the first driving wheel 21 and the elongated medical device 31.
In some embodiments of the present invention, as shown in fig. 1-5, the elongated medical device driving apparatus 100 further comprises: a resilient member (not shown). One end of the elastic member is disposed on the mounting plate 11, the other end of the elastic member is disposed on the first driven wheel 22, and the elastic member drives the first driven wheel 22 to abut against the first driving wheel 21.
It will be appreciated that in the present disclosure, the mounting plate 11 is a flat plate structure, and the upper surface of the mounting plate 11 is a horizontal surface.
The first driving wheel 21 and the first driven wheel 22 are vertically disposed on the mounting plate 11, i.e., the axes of the first driving wheel 21 and the first driven wheel 22 are perpendicular to the upper surface of the mounting plate 11.
Further, the first driven wheel 22 is provided with an elastic member at a side thereof, and the elastic member can push the first driven wheel 22 to move toward the first driving wheel 21, so that the first driven wheel 22 abuts against the first driving wheel 21.
In summary, in the absence of the elongated medical device 31 between the first driven wheel 22 and the first driver 21, the first driven wheel 22 abuts the first driver 21.
When the elongated medical device 31 is disposed between the first driven wheel 22 and the first driving wheel 21, a gap is generated between the first driven wheel 22 and the first driving wheel 21, and at this time, the first driven wheel 22 and the first driving wheel 21 are used for clamping the elongated medical device 31.
In some embodiments of the present invention, as shown in fig. 1-5, the first drive assembly 40 comprises: a rotary motor 41 and a rotary gear 42.
The rotary gear 42 is provided in the mounting box 10, and the rotary motor 41 is provided outside the mounting box 10. The rotating gear 42 is sleeved on the supporting portion 30, the rotating motor 41 can drive the supporting portion 30 and the mounting plate 11 to rotate, and the mounting plate 11 and the supporting portion 30 drive the elongated medical device 31 to rotate.
Specifically, as shown in fig. 1 to 5, the rotary gear 42 is disposed in the mounting box 10, so that a dust-free and pollution-free working environment can be provided for the rotary gear 42, and the safety of the elongated medical device driving apparatus 100 is effectively improved.
Further, as shown in fig. 1 to 5, an output end is provided on the rotating electrical machine 41, and a first output gear 411 is provided on the output end. The first output gear 411 is engaged with the rotary gear 42, whereby the rotary motor 41 can rotate the rotary gear 42 via the first output gear 411.
In some embodiments of the present invention, as shown in fig. 1-5, the second drive assembly 50 comprises: a delivery motor 51, a delivery gear 52, a delivery shaft 53, a transmission gear 54 sleeved on the delivery shaft 53 and a first bevel gear 55.
The delivery gear 52 is provided inside the mounting box 10, and the delivery motor 51 is provided outside the mounting box 10. The delivery gear 52 is rotatably fitted over the support portion 30, and the delivery motor 51 can drive the delivery gear 52 to rotate.
Specifically, as shown in fig. 1 to 5, the delivery gear 52 is disposed in the mounting box 10, so that a dust-free and pollution-free working environment can be provided for the delivery gear 52, and the safety of the elongated medical device driving apparatus 100 can be effectively improved.
Further, an output end is provided on the delivery motor 51, and a second output gear 511 is provided on the output end. The second output gear 511 is engaged with the delivery gear 52, and thus the delivery motor 51 can rotate the delivery gear 52 through the second output gear 511.
Further, the delivery gear 52 is rotatably sleeved on the housing of the supporting portion 30, so that the delivery gear 52 and the supporting portion 30 can freely rotate, that is, the delivery gear 52 can be stationary when the rotating motor 41 can drive the supporting portion 30 to rotate through the rotating gear 42.
The transmission gear 54 is engaged with the delivery gear 52, the first bevel gear 55 is engaged with the first drive wheel 21, and the first bevel gear 55 is used for driving the first drive wheel 21 to rotate.
Wherein, the delivery shaft 53 is arranged along the delivery direction of the support part 30, the transmission gear 54 is sleeved at one end of the delivery shaft 53, and the transmission gear 54 is meshed with the delivery gear 52.
Further, a first bevel gear 55 is sleeved on the delivery shaft 53, the first driving wheel 21 is matched with the first bevel gear 55, the first bevel gear 55 can drive the first driving wheel 21 to rotate, and the elongated medical device 31 of the support portion 30 is laid adjacent to the first driving wheel 21. Thereby, the first driver 21 can be used to drive the elongated medical device 31 in the support 30 to advance or retreat when rotating.
In some embodiments of the present invention, as shown in fig. 1-5, the second drive assembly 50 further includes a second bevel gear 56. A second bevel gear 56 is provided on the first driving wheel 21, the second bevel gear 56 meshing with the first bevel gear 55.
Specifically, as shown in fig. 1 to 5, the second bevel gear 56 is provided on the lower surface of the mounting plate 11, and the first driver 21 is provided on the upper surface of the mounting plate 11.
The second bevel gear 56 is connected to the first driving wheel 21, and the second bevel gear 56 is engaged with the first bevel gear 55. Thus, when the first bevel gear 55 rotates, the second bevel gear 56 can be driven to rotate, and the second bevel gear 56 can drive the first driving wheel 21 to rotate around the axis thereof.
Specifically, as shown in fig. 1, the supporting portion 30 is substantially in a circular tube shape, the rotating gear 42 is sleeved on the supporting portion 30, and the delivery gear 52 is rotatably sleeved on the supporting portion 30. Thereby, friction generated during rotation of the delivery gear 52 is effectively reduced.
In some embodiments of the present invention, as shown in fig. 1 to 5, the first driving wheel 21, the first driven wheel 22, the second bevel gear 56, and the first bevel gear 55 are all plural.
The plurality of first driving wheels 21 and the plurality of first driven wheels 22 are symmetrically disposed on both sides of the elongated medical device 31 along the longitudinal direction of the elongated medical device 31. The plurality of second bevel gears 56 are provided in one-to-one correspondence with the plurality of first drive wheels 21, and the plurality of first bevel gears 55 are provided in one-to-one correspondence with the plurality of second bevel gears 56.
Specifically, in the present disclosure, as shown in fig. 1, the first bevel gear 55 and the second bevel gear 56 are each 2. 2 first bevel gears 55 are fitted over the delivery shaft 53 in the length direction of the delivery shaft 53, and 2 second bevel gears 56 are provided on the lower surface of the second drive assembly 50.
In the present disclosure, as shown in fig. 1 to 5, at least two first driving wheels 21 may be disposed above the mounting plate 11, and the two first driving wheels 21 are rotatably disposed on the mounting plate 11, wherein a second bevel gear 56 is disposed below one of the first driving wheels 21, and the second bevel gear 56 is engaged with the first bevel gear 55. Thus, the delivery motor 51 can ultimately drive the elongate medical device 31 for movement sequentially through the delivery gear 52, the drive gear 54, the first bevel gear 55, and the second bevel gear 56.
In some embodiments of the present invention, as shown in fig. 1-4, the elongated medical device driving apparatus 100 further comprises a rotary transmission assembly 60, the rotary transmission assembly 60 comprising a first sub-gear 61, a second sub-gear 62 and a third sub-gear 63, the first sub-gear 61 being disposed on the rotary motor 41, the second sub-gear 62 being disposed on the delivery motor 51, the third sub-gear 63 being disposed between the first sub-gear 61 and the second sub-gear 62, and the third sub-gear 63 being engaged with the first sub-gear 61 and the second sub-gear 62, respectively.
Specifically, in the present disclosure, as shown in fig. 1, one end of the rotating electrical machine 41 is provided with a first sub gear 61, and when the rotating electrical machine 41 is started, the first sub gear 61 is rotated in synchronization. One side of the third sub gear 63 is engaged with the first sub gear 61, and thus the first sub gear 61 rotates the third sub gear 63.
The other side of the third sub-gear 63 is engaged with the second sub-gear 62, and the second sub-gear 62 is connected to the delivery motor 51, so that the third sub-gear 63 can drive the second sub-gear 62 to rotate, and the second sub-gear 62 can further drive the delivery motor 51 to rotate.
It is understood that in the present disclosure, when the rotating motor 41 is started, the rotating transmission assembly 60 can drive the delivery motor 51 to rotate, and the angle of rotation of the delivery motor 51 is transmitted by the rotating transmission assembly 60, which is the angle that the delivery motor 51 needs to compensate when the rotating motor 41 rotates.
In some embodiments of the present invention, as shown in fig. 1, the rotary transmission assembly 60 further comprises a fourth sub-gear 64, the third sub-gear 63 and the fourth sub-gear 64 are both disposed between the first sub-gear 61 and the second sub-gear 62, and the first sub-gear 61, the third sub-gear 63, the fourth sub-gear 64 and the second sub-gear 62 are sequentially engaged.
Further, in the present disclosure, a plurality of sub-gears may be disposed between the first sub-gear 61 and the second sub-gear 62.
Specifically, as shown in fig. 1, the third sub gear 63 and the fourth sub gear 64 are disposed between the first sub gear 61 and the second sub gear 62, so that the volume of the single sub gear in the rotation transmission assembly 60 can be effectively reduced, which is beneficial to reducing the processing cost of the rotation transmission assembly 60.
In some embodiments of the present invention, as shown in fig. 1-4, the elongated medical device driving apparatus 100 further includes a first bearing housing 12 and a second bearing housing 13, the first bearing housing 12 and the second bearing housing 13 being disposed opposite to each other at both ends of the delivery motor 51.
Specifically, as shown in fig. 1, a first bearing housing 12 and a second bearing housing 13 are respectively provided at both ends of the delivery motor 51 along the length direction of the delivery motor 51, and the delivery motor 51 can freely rotate on the first bearing housing 12 and the second bearing housing 13.
In some embodiments of the present invention, as shown in fig. 1-4, the elongated medical device driving apparatus 100 further comprises an electrical slip ring 14, wherein the electrical slip ring 14 is sleeved on the electrical wire of the delivery motor 51.
It is understood that in the present disclosure, the electrical slip ring 14 is installed at the rear end of the delivery motor 51, and when the delivery motor 51 itself rotates, the electrical slip ring 14 ensures that the motor wires of the delivery motor 51 are not wound. This effectively improves the safety of the elongated medical device driving apparatus 100.
In some embodiments of the present invention, as shown in FIGS. 1-4, the elongated medical device driving apparatus 100 further includes a torque sensor 15, the torque sensor 15 being disposed on the rotary drive assembly 60.
It will be appreciated that in the present disclosure, the torque sensor 15 may be mounted on any one of the sub-gears in the rotary drive assembly 60, for example, the torque sensor 15 may be mounted on the third sub-gear 63, and the torque sensor 15 may constantly monitor the torque of the rotation of the third sub-gear 63. The operation condition of the slender medical instrument driving device 100 can be monitored by operators at any time, and the safety of the slender medical instrument driving device 100 is effectively improved.
In some embodiments of the present invention, the elongated medical device driving apparatus 100 further comprises a drive belt (not shown) or a drive rack (not shown). The transmission belt connects the rotary motor 41 and the delivery motor 51, and the transmission rack connects the rotary motor 41 and the delivery motor 51.
It can be understood that, in the present disclosure, the rotating motor 41 can drive the delivering motor 51 to rotate through various transmission structures, which effectively reduces the energy consumption and saves the operation cost of the elongated medical device driving apparatus 100.
One specific implementation of the elongated medical device driving apparatus 100 according to the present disclosure is as follows:
when the rotating motor 41 is started, the first output gear 411 rotates, the first output gear 411 drives the rotating gear 42 to rotate, and the rotating gear 42 drives the supporting portion 30 to rotate.
Meanwhile, when the rotating electric machine 41 is started, the first sub gear 61 located at the rear end of the rotating electric machine 41 is rotated, so that the first sub gear 61, the third sub gear 63, the fourth sub gear 64, and the second sub gear 62 are sequentially rotated. The second sub gear 62 is provided on the delivery motor 51, whereby the delivery motor 51 is rotated by the rotating motor 41 when the rotating motor 41 is started.
In summary, when the rotating motor 41 is started, the rotating transmission assembly 60 can drive the delivering motor 51 to rotate, and the rotating angle of the delivering motor 51 is transmitted by the rotating transmission assembly 60, which is the angle that the delivering motor 51 needs to compensate when the rotating motor 41 rotates.
Further, the delivery motor 51 can drive the second output gear 511 to rotate, the second output gear 511 can drive the delivery gear 52 to rotate, the delivery gear 52 can drive the transmission gear 54 to rotate, the transmission gear 54 can drive the first bevel gear 55 to rotate, the first bevel gear 55 can drive the second bevel gear 56 to rotate, the second bevel gear 56 can drive the first driving wheel 21 to rotate, and friction exists between the first driving wheel 21 and the slender medical device 31. Thereby, the first driving wheel 21 can drive the slender medical device 31 to move when rotating.
While the invention has been described with reference to specific preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (14)
1. An elongated medical device driving apparatus, comprising:
the mounting box is internally provided with a mounting plate;
the driving wheel comprises a first driving wheel and a first driven wheel, the first driving wheel and the first driven wheel are rotatably arranged on the mounting plate, and the first driving wheel and the first driven wheel are arranged opposite to each other;
the support part is arranged on the mounting plate, a slender medical instrument is arranged in the support part, the slender medical instrument is placed between the first driving wheel and the first driven wheel, and the slender medical instrument is clamped by the first driving wheel and the first driven wheel;
the first driving component is arranged in the mounting box and comprises a rotating motor, the first driving component is used for driving the supporting part and the mounting plate to rotate together,
the second driving assembly is arranged in the mounting box and comprises a delivery motor, and the second driving assembly is used for driving the first driving wheel to rotate;
and when the rotating motor is started, the rotating transmission component drives the delivery motor to rotate.
2. The elongated medical device driver according to claim 1,
the side wall of the mounting box is provided with a rotating hole, the supporting part is rotatably arranged in the rotating hole in a penetrating mode, and the mounting plate is rotatably located in the mounting box.
3. The elongated medical device driver according to claim 2,
the support part comprises a first sub-part and a second sub-part which are connected with each other, the first sub-part is rotatably arranged in the rotating hole in a penetrating mode, the second sub-part is connected with the first sub-part and the mounting plate, and the diameter of the second sub-part is larger than that of the rotating hole.
4. The elongated medical device driver according to claim 1,
notches are arranged on the circumferential surfaces of the first driving wheel and the first driven wheel.
5. The elongated medical device driving apparatus according to claim 1, further comprising: an elastic member;
one end of the elastic piece is arranged on the mounting plate, the other end of the elastic piece is arranged on the first driven wheel, and the elastic piece drives the first driven wheel to abut against the first driving wheel.
6. The elongated medical device driver apparatus according to claim 1, wherein said first drive assembly further includes a rotary gear;
the rotary gear is arranged in the mounting box, and the rotary motor is arranged outside the mounting box;
rotatory gear sleeve is established on the supporting part, the rotating electrical machines can drive the supporting part with the mounting panel takes place to rotate, the supporting part with the mounting panel drives slender type medical instrument takes place to rotate.
7. The elongated medical device driving apparatus according to claim 6, wherein the second drive assembly further comprises: the conveying device comprises a conveying gear, a conveying shaft, a transmission gear sleeved on the conveying shaft and a first bevel gear;
the delivery gear is arranged in the mounting box, and the delivery motor is arranged outside the mounting box;
the delivery gear is rotatably sleeved on the supporting part, and the delivery motor can drive the delivery gear to rotate;
the transmission gear is meshed with the delivery gear, the first bevel gear is meshed with the first driving wheel, and the first bevel gear is used for driving the first driving wheel to rotate.
8. The elongated medical device driver according to claim 7, wherein said second drive assembly further comprises a second bevel gear;
the second bevel gear is arranged on the first driving wheel, and the second bevel gear is meshed with the first bevel gear.
9. The elongated medical device driving apparatus according to claim 8, wherein said first drive wheel, said first driven wheel, said second bevel gear and said first bevel gear are each plural;
the first driving wheels and the first driven wheels are symmetrically arranged on two sides of the elongated medical device along the length direction of the elongated medical device;
the plurality of second bevel gears and the plurality of first driving wheels are arranged in a one-to-one correspondence manner, and the plurality of first bevel gears and the plurality of second bevel gears are arranged in a one-to-one correspondence manner.
10. The elongated medical device driver according to claim 7, further comprising: a rotary drive assembly including a first sub gear, a second sub gear, and a third sub gear, the first sub gear disposed on the rotary motor, the second sub gear disposed on the delivery motor, the third sub gear disposed between the first sub gear and the second sub gear, and the third sub gear engaged with the first sub gear and the second sub gear, respectively.
11. The elongated medical device drive apparatus according to claim 10, wherein said rotary drive assembly further includes a fourth sub-gear, said third and fourth sub-gears each being disposed between said first and second sub-gears, said first, third, fourth and second sub-gears being in sequential meshing engagement.
12. The elongated medical device driver according to claim 10, further comprising: a first bearing housing and a second bearing housing disposed opposite each other at both ends of the delivery motor.
13. The elongated medical device driver according to claim 10, further comprising: the electric slip ring is sleeved on the electric wire of the delivery motor;
and/or further comprising: a torque sensor disposed on the rotary drive assembly.
14. The elongated medical device driver according to claim 10, further comprising:
a drive belt connecting the rotary motor and the delivery motor; or
A drive rack connecting the rotary motor and the delivery motor.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211076150.1A CN115153859B (en) | 2022-09-05 | 2022-09-05 | Slender type medical instrument driving device |
| PCT/CN2022/132208 WO2024050966A1 (en) | 2022-09-05 | 2022-11-16 | Slender medical instrument driving apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211076150.1A CN115153859B (en) | 2022-09-05 | 2022-09-05 | Slender type medical instrument driving device |
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| Publication Number | Publication Date |
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| CN115153859A CN115153859A (en) | 2022-10-11 |
| CN115153859B true CN115153859B (en) | 2022-11-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211076150.1A Active CN115153859B (en) | 2022-09-05 | 2022-09-05 | Slender type medical instrument driving device |
Country Status (2)
| Country | Link |
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| CN (1) | CN115153859B (en) |
| WO (1) | WO2024050966A1 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN115153859B (en) * | 2022-09-05 | 2022-11-25 | 深圳市爱博医疗机器人有限公司 | Slender type medical instrument driving device |
| CN115553924B (en) * | 2022-12-02 | 2023-03-10 | 北京云力境安科技有限公司 | Flexible instrument conveying device and execution component and driving component thereof |
| CN116846257B (en) * | 2023-09-01 | 2024-02-23 | 深圳爱博合创医疗机器人有限公司 | Method, apparatus and storage medium for driving an elongated instrument |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN115153859A (en) | 2022-10-11 |
| WO2024050966A1 (en) | 2024-03-14 |
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Address after: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee after: Shenzhen Aibo Hechuang Medical Robot Co.,Ltd. Country or region after: China Address before: 518000 801-806, building 12, China Hisense innovation industry city, No. 12, Ganli 6th Road, gankeng community, Jihua street, Longgang District, Shenzhen, Guangdong Province Patentee before: Shenzhen Aibo medical robot Co.,Ltd. Country or region before: China |
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