CN115414123B - Roller separation structure and consumable box - Google Patents
Roller separation structure and consumable box Download PDFInfo
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- CN115414123B CN115414123B CN202211002708.1A CN202211002708A CN115414123B CN 115414123 B CN115414123 B CN 115414123B CN 202211002708 A CN202211002708 A CN 202211002708A CN 115414123 B CN115414123 B CN 115414123B
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- 238000000926 separation method Methods 0.000 title claims abstract description 22
- 230000007246 mechanism Effects 0.000 claims abstract description 37
- 230000009471 action Effects 0.000 claims abstract description 18
- 238000005381 potential energy Methods 0.000 claims abstract description 16
- 230000004044 response Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013459 approach Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000003073 embolic effect Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000001356 surgical procedure Methods 0.000 description 1
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- General Health & Medical Sciences (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Accommodation For Nursing Or Treatment Tables (AREA)
- Inking, Control Or Cleaning Of Printing Machines (AREA)
Abstract
The specification discloses gyro wheel separation structure and consumptive material box, the structure includes: the first roller and the second roller are rotatably arranged, and the first roller is provided with a joint piece; a first biasing member providing a biasing force for the first roller toward the second roller; a guide mechanism comprising: a guide shaft engaged with the engagement member; a second biasing member for providing a biasing force to the guide shaft away from the second roller; the linkage mechanism is configured to drive the guide shaft to move from the first position to the second position based on the pressing action; when the guide shaft moves from the first position to the second position, the first biasing member can push the first roller to move, and the clamping gap is reduced; when the second biasing piece releases elastic potential energy, the guide shaft is reset from the second position towards the first position, the guide shaft can drive the first roller to move through the joint piece, and the clamping gap is increased. The roller separation structure and the consumable box provided by the application are convenient for doctors to operate, and can achieve the effect of rapidly separating and closing the rollers.
Description
Technical Field
The application relates to the technical field of medical equipment, in particular to a roller separation structure and a consumable box.
Background
Some current surgical robots have mechanisms for delivering catheters or guidewires that typically take the form of a pair of rollers that are pressed against each other. The mechanism comprises: the driving wheel is usually connected with a driving meshing gear, the driven wheel is connected with a driven meshing gear, and the driving meshing gear and the driven meshing gear are meshed with each other. When the guide wire guiding device works, the motor is started, the motor drives the driving meshing gear to rotate, and then drives the driven meshing gear to rotate, so that the driving wheel and the driven wheel can rotate clockwise and anticlockwise respectively, and friction force is generated to drive the guide tube or the guide wire to advance or retreat.
Because the guide wire or the guide tube has different specification types, in order to be suitable for the guide tube or the guide wire with different sizes, the mechanism is often provided with a spring at one side of the driven wheel or the driving wheel. Meanwhile, when the catheter or the guide wire is placed or taken out, the driving wheel and the driven wheel are required to be separated, and after the catheter or the guide wire is taken out or placed, the driving wheel and the driven wheel are closed.
At present, two modes of separating and closing the driving wheel and the driven wheel are mainly adopted, one mode is that a doctor controls a motion driving module linked with the spring through a control to control the opening and closing of the roller manually; the other is that the doctor manually pulls the driving wheel and the driven wheel apart, and then the driving wheel and the driven wheel are closed by the thrust of the spring. Both of these approaches do not facilitate the surgeon's operation during the procedure.
Disclosure of Invention
In order to solve at least one technical problem in the prior art, the application provides the roller separation structure and the consumable box, which are convenient for doctors to operate and can achieve the effect of rapidly separating and closing the rollers.
In order to achieve the above purpose, the technical scheme provided by the application is as follows:
a roller separation structure, comprising:
the first roller and the second roller are rotatably arranged, a clamping gap is formed between the first roller and the second roller, and the first roller is provided with a joint piece;
a first biasing member providing a biasing force for the first roller toward the second roller;
A guide mechanism comprising: a guide shaft engaged with the engagement member, the guide shaft being movable between a first position and a second position; a second biasing member for providing a biasing force to the guide shaft away from the second roller;
the linkage mechanism is configured to drive the guide shaft to move from the first position to the second position based on the pressing action;
When the guide shaft moves from the first position to the second position, the first biasing member can push the first roller to move, the second biasing member accumulates elastic potential energy, and the clamping gap is reduced; when the second biasing member releases elastic potential energy, the guide shaft is reset from the second position towards the first position, the guide shaft can drive the first roller to move through the joint member, and the clamping gap is increased.
As a preferred embodiment, a snap-fit unit is formed between the guide shaft and the engagement piece, the snap-fit unit having a snap-fit state and a release state;
When the guide shaft moves from the first position to the second position, the buckling unit is converted into a disengaging state from the buckling state, and the first biasing member can push the first roller and the joint piece to move towards the second roller; when the guide shaft is reset from the second position to the first position, the buckling unit is converted into a buckling state from a disengaging state, and the guide shaft can drive the joint piece and the first roller to move away from the second roller.
As a preferred embodiment, the snap unit comprises: a guide portion provided on the guide shaft and an end portion of the engagement member, the end portion of the engagement member protruding into the guide portion, the guide portion being configured to allow the end portion of the engagement member to rotate along the axis of the first roller in a disengaged state.
As a preferred embodiment, the guide portion is a long hole provided on the guide shaft, the long hole having opposite first and second ends in an extending direction thereof; when the buckling unit is in a disengaging state, the joint piece is positioned between the first end and the second end, and when the buckling unit is in a clamping state, the joint piece is abutted with the second end.
As a preferred embodiment, the structure comprises: the fixing base, the fixing base be provided with the recess and with the through-hole that the recess is linked together, the guiding axle is followed the extending direction of recess is removed between first position and second position, the one end of guiding axle stretches into the recess, the other end of guiding axle passes through the through-hole stretches out the fixing base, the second biasing member cover is established on the guiding axle, the guiding axle sets up the expanding section, the one end of second biasing member supports and leans on the expanding section, the other end supports and leans on the recess inner wall of fixing base.
As a preferred embodiment, the linkage mechanism includes: the pressing block is arranged in the groove, protrudes out of the surface of the fixing seat when the guide shaft is positioned at the first position, and can move downwards relative to the groove when a pressing action is applied; the pressing shaft is arranged on the pressing block, an inclined plane is arranged at the end part of the guide shaft extending into the groove, and the pressing shaft abuts against the inclined plane.
As a preferred embodiment, the linkage mechanism further includes: the stop block is arranged in the fixing seat and used for limiting the position of the pressing shaft on the inclined plane.
As a preferred embodiment, the structure comprises: slide rail, slide and spring fixing base, the slide with the spring fixing base sets up on the slide rail, the slide can be followed the slide removes, first biasing member sets up spring fixing base with between the slide, be provided with first axis of rotation on the slide, first gyro wheel sets up on the first axis of rotation.
As a preferred embodiment, the engaging member is connected to an upper end of the first rotating shaft, and the engaging member is disposed coaxially with the first rotating shaft.
In a preferred embodiment, the first biasing member applies a biasing force to the first roller equal to a biasing force applied to the first roller by the second biasing member when the guide shaft is in the first position.
As a preferred embodiment, the length of the guide portion satisfies the following formula:
W＝2(H×tanθ)-2S+D
wherein h×tan θ=Δl;
Wherein H is expressed as the downward moving distance of the pressing block, and the unit is mm; θ is the angle of the bevel in degrees; d is expressed as the diameter of the joint in mm; Δl is expressed as a distance difference between the first position and the second position in mm; s is expressed as the amount of roller movement in mm determined by the nip gap and the guide wire size.
A consumable cartridge comprising: the roller separation structure is arranged in the box body, wherein the linkage mechanism triggers a pressing action in response to closing of the cover, and the second biasing piece releases elastic potential energy in response to opening of the cover.
The beneficial effects are that:
The roller separation structure and the consumable box provided by the embodiment of the application can control the closing and separation of the roller in response to the closing and opening actions of the consumable box. Specifically, when a doctor closes the cover, the linkage mechanism controls the guide shaft to move based on the pressing action, so that the first roller moves towards the second roller under the action of the first biasing member, and the roller is closed; when the doctor uncaps, the guiding shaft is driven to reset through the release of the elastic potential energy of the second biasing piece, and the guiding shaft drives the first roller to move away from the second roller against the acting force of the first biasing piece through the connecting piece, so that the separation of the rollers is realized.
The roller separation structure provided by the application does not need a doctor to operate a control, and only needs to realize the separation and the closing of the linked control rollers when the doctor opens or closes the cover of the consumable box. In addition, the redundant active motion driving is not required, the functions can be realized only through a simple mechanical structure, and the cost is reduced.
Specific embodiments of the application are disclosed in detail below with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the application are not limited in scope thereby.
Features that are described and/or illustrated with respect to one embodiment may be used in the same way or in a similar way in one or more other embodiments in combination with or instead of the features of the other embodiments.
It should be emphasized that the term "comprises/comprising" when used herein is taken to specify the presence of stated features, integers, steps or components but does not preclude the presence or addition of one or more other features, integers, steps or components.
Drawings
In order to more clearly illustrate the embodiments of the application or the technical solutions of the prior art, the drawings that are necessary for the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the application and that other drawings can be obtained from them without the benefit of the inventive effort to the person skilled in the art.
Fig. 1 is a schematic structural diagram of a roller separation structure according to an embodiment of the present disclosure at a first view angle;
fig. 2 is a schematic structural diagram of a roller separation structure according to an embodiment of the present disclosure at a second view angle;
fig. 3 is a schematic structural view of a buckle unit according to an embodiment of the present disclosure;
fig. 4 is a schematic structural diagram of a linkage mechanism according to an embodiment of the present disclosure;
FIG. 5 is a cross-sectional view of FIG. 4;
FIG. 6 is a schematic view showing a state in which the guide shaft according to the embodiment of the present disclosure is located at the first position and the second position;
Fig. 7 is a schematic view showing a state of a roller separation structure when the cover is closed according to the embodiment of the present disclosure;
fig. 8 is a schematic structural diagram of a sliding rail and a sliding seat according to an embodiment of the present disclosure.
Reference numerals illustrate:
1. A first roller; 11. a first rotation shaft; 12. a joint; 2. a second roller; 31. a slide rail; 32. a spring fixing seat; 33. a slide; 34. a first biasing member; 4. a guide shaft; 41. a long hole; 411. a first end; 412. a second end; 5. a second biasing member; 6. a linkage mechanism; 61. briquetting; 62. pressing a shaft; 63. a stop block; 64. an inclined plane; 7. a fixing seat; 8. a guide wire; l1, a first position; l2, second position.
Detailed Description
The technical solution of the present application will be described in detail below with reference to the accompanying drawings and the specific embodiments, it being understood that these embodiments are for illustrating the present application only and not for limiting the scope, and that various equivalent modifications of the present application will fall within the scope defined by the present application by those skilled in the art after reading the present application.
It will be understood that when an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.
The roller separating structure and the consumable cartridge of the embodiments of the present specification will be explained and described with reference to fig. 1 to 8. In the embodiments of the present invention, like reference numerals denote like components. While, for the sake of brevity, detailed descriptions of the same components are omitted in the different embodiments, and the descriptions of the same components may be referred to and cited with each other.
The present specification provides a roller separation structure, as shown in fig. 1 to 8, including: the first roller 1 and the second roller 2 are rotatably arranged, a clamping gap is formed between the first roller 1 and the second roller 2, and the first roller 1 is provided with a joint piece 12; a first biasing member 34 that provides a biasing force to the first roller 1 toward the second roller 2; a guide mechanism comprising: a guide shaft 4 engaged with the engagement member 12, the guide shaft 4 being movable between a first position L1 and a second position L2; a second biasing member 5 for providing a biasing force to the guide shaft 4 away from the second roller 2; a link mechanism 6 configured to be movable from a first position L1 toward a second position L2 by driving the guide shaft 4 based on a pressing operation; when the guide shaft 4 moves from the first position L1 toward the second position L2, the first biasing member 34 can push the first roller 1 to move, the second biasing member 5 accumulates elastic potential energy, and the nip gap is reduced; when the second biasing member 5 releases elastic potential energy, the guide shaft 4 is reset from the second position L2 toward the first position L1, the guide shaft 4 can drive the first roller 1 to move through the engaging member 12, and the clamping gap is increased.
The clamping gap between the first roller 1 and the second roller 2 is used for placing the slender medical instrument, and the size of the clamping gap can be changed when the first roller 1 moves towards or away from the second roller 2 so as to allow a doctor to take out or put in the slender medical instrument. The elongate medical device has an elongate shaft which is a different type of medical device in different application scenarios, such as a guidewire, a guide catheter, a microcatheter, an embolic coil, a working catheter such as a balloon catheter, a suction catheter, an atherectomy catheter, etc., the application is not limited to the type of elongate medical device. When the elongated medical device is clamped between the pair of rollers, the rotational motion of the pair of rollers about their own centers can generate rotational friction forces, thereby driving the elongated medical device to advance and retract. The elongated medical device moves along the axial direction of the elongated medical device when being pushed in and retracted, and the moving direction of the first roller 1 is perpendicular to the axial direction of the elongated medical device.
Generally, the roller separation structure and the elongated medical device are both disposed in the consumable cartridge to isolate the external environment. When the slender medical instrument is taken out, the consumable box needs to be opened, and then the first roller 1 and the second roller 2 are separated, so that the clamping gap is increased; when surgery is required, the consumable cartridge needs to be closed, and the first roller 1 and the second roller 2 are closed. Thus, when the consumable cartridge is opened, the first roller 1 and the second roller 2 should be separated, and when the consumable cartridge is closed, the first roller 1 and the second roller 2 should be closed.
Specifically, when the doctor closes the cover, the cover of the consumable box can apply a downward pressing action to the linkage mechanism 6, and the linkage mechanism 6 controls the guide shaft 4 to move based on the pressing action, so that the first roller 1 moves towards the second roller 2 under the action of the first biasing member 34, and the rollers are closed; when the doctor uncaps, the guiding shaft 4 is driven to reset through the release of the elastic potential energy of the second biasing member 5, and the guiding shaft 4 drives the first roller 1 to move away from the second roller 2 against the acting force of the first biasing member 34 through the joint member 12, so that the separation of the rollers is realized.
To achieve the above object, when the guide shaft 4 moves from the first position L1 toward the second position L2, it is necessary that the first roller 1 loses the restriction of the guide shaft 4 so that the first roller 1 can be pushed by the first biasing member 34 to move toward the second roller 2. While the guide shaft 4 is reset from the second position L2 towards the first position L1, the guide shaft 4 needs to engage the first roller 1 so that the first roller 1 can move away from the second roller 2 against the thrust of the first biasing member 34. The first roller 1 is therefore provided with an engagement member 12 for cooperation with the guide shaft 4, said engagement member 12 being arranged on the rotational centre line of the first roller 1 in order not to affect the rotation of the first roller 1 about its own centre.
Further, the guide shaft 4 has a longitudinal extending direction, and the guide shaft 4 is movable along the longitudinal extending direction when moving between the first position L1 and the second position L2. As in the embodiment shown in fig. 6 and 7, when the guide shaft 4 is at the first position L1 and the lid of the consumable cartridge is in an open state, the linkage 6 is not pressed; when the guide shaft 4 is positioned at the second position L2, the lid of the consumable cartridge is closed, the linkage mechanism 6 is pressed, and the second biasing member 5 accumulates elastic potential energy and acts on the guide shaft 4. Since the movement of the guide shaft 4 occurs due to the closing action of the lid, the second biasing member 5 also acts on the lid of the consumable cartridge, and when the lid is opened, the second biasing member 5 can release the accumulated elastic potential energy to drive the guide shaft 4 to reset.
When the guide shaft 4 is located between the first position L1 and the second position L2, the lid of the consumable cartridge is not fully opened, and the link mechanism 6 is not pressed to the limit. Thus, when the guide shaft 4 is located at the second position L2, the lid of the consumable cartridge should be in a closed state, the linkage 6 is pressed to the limit, and the guide shaft 4 moves to the limit position.
In the present specification, a snap-in unit is formed between the guide shaft 4 and the engagement piece 12, the snap-in unit having a snap-in state and a release state; when the guide shaft 4 moves from the first position L1 toward the second position L2, the buckle unit is changed from the engaged state to the disengaged state, and the first biasing member 34 can push the first roller 1 and the engaging member 12 to move toward the second roller 2; when the guide shaft 4 is reset from the second position L2 toward the first position L1, the fastening unit is changed from the disengaged state to the engaged state, and the guide shaft 4 can drive the engaging member 12 and the first roller 1 to move away from the second roller 2.
Specifically, in the clamping state of the clamping unit, the guide shaft 4 can drive the joint piece 12 to move together; in the disengaged state, the guiding shaft 4 and the engaging member 12 remain relatively independent, i.e. the engaging member 12 can move relative to the guiding shaft 4. The buckle unit includes: a guide portion provided on the guide shaft 4 and an end portion of the engaging piece 12, the end portion of the engaging piece 12 protruding into the guide portion, the guide portion being configured to allow the end portion of the engaging piece 12 to rotate along the axis of the first roller 1 in a disengaged state.
The guiding part is arranged along the lengthwise extending direction of the guiding shaft 4, the guiding part can be a track groove formed at the bottom of the guiding shaft 4, the joint piece 12 extends into the track groove and keeps a certain gap with the bottom of the track groove so as to avoid interference to the rotation of the joint piece 12; the guide may also be a slot 41 provided in the surface of the guide shaft 4, the engagement element 12 extending into the slot 41. The guide is larger in radial dimension than the engagement member 12 to enable independent movement of the engagement member 12.
In one embodiment, as shown in fig. 3, the guide portion is a long hole 41 provided on the guide shaft 4, the long hole 41 having opposite first and second ends 411 and 412 in the extending direction thereof; when the fastening unit is in the disengaged state, the engaging member 12 is located between the first end 411 and the second end 412, and when the fastening unit is in the fastened state, the engaging member 12 abuts against the second end 412. Specifically, when the fastening unit is in the fastening state, the engaging member 12 abuts against the second end 412 of the long hole 41, so that when the guide shaft 4 is reset to the first position L1, the guide shaft 4 can drive the engaging member 12 and the first roller 1 to move; when the snap unit is in the separated state, the engaging member 12 is separated from the second end 412 of the long hole 41, between the first end 411 and the second end 412, and the engaging member 12 moves further in the long hole 41 until the first roller 1 and the second roller 2 are closed under the pushing of the first biasing member 34. When the roller is closed, the travel of the slot 41 is required to keep the engagement member 12 between the first end 411 and the second end 412, i.e. the snap-in unit remains disengaged.
As shown in fig. 4, the roller separating structure further includes: the fixing seat 7, the fixing seat 7 be provided with the recess and with the through-hole that the recess is linked together, guiding axle 4 is followed the extending direction of recess removes between first position L1 and second position L2, the one end of guiding axle 4 stretches into the recess, the other end of guiding axle 4 passes through the through-hole stretches out fixing seat 7, second biasing piece 5 cover is established guiding axle 4 is last, and is located in the recess.
When the roller separating structure is installed in the consumable box, since the linkage mechanism 6 generates a series of linkage reactions by the movement of the cover of the consumable box, the guide mechanism and the linkage mechanism 6 need to be disposed at the upper portion of the consumable box and near the position of the cover, and the first biasing member 34, the first roller 1 and the second roller 2 are disposed at the lower portion of the consumable box. The guide mechanism can form a whole through the fixing seat 7, and then the fixing seat 7 is installed on the upper part of the consumable box. The second biasing member 5 is used for helping the guide shaft 4 to reset, the second biasing member 5 is a spring, an expanding section can be arranged on the guide shaft 4, one end of the second biasing member 5 abuts against the expanding section, and the other end abuts against the inner wall of the groove of the fixing seat 7.
The linkage 6 moves the guide shaft 4 along its own lengthwise extension between the first position L1 and the second position L2 in response to closing of the lid. In some embodiments, the linkage mechanism 6 may be a linkage mechanism, including a first link and a second link, where the first link is hinged to the second link, and the second link is hinged to the guide shaft 4, and the first link drives the second link to move in response to the downward pressing of the closing action of the cover, so as to drive the guide shaft 4 to move from the first position L1 toward the second position L2; when the cover is opened, the link mechanism returns to the original state by the second biasing member 5, and the guide shaft 4 returns toward the first position L1.
Or in some possible embodiments the linkage may be provided on the lid, which is moved from the first position L1 towards the second position L2 by squeezing the guide shaft 4 when the lid is closed; when the cover is opened, the guide shaft 4 is driven to return from the second position L2 to the first position L1 under the action of the second biasing member 5 due to the fact that the guide shaft 4 loses the pressing force of the cover, namely, the pressing force of the linkage mechanism on the cover.
In one embodiment, as shown in fig. 5 to 7, the linkage mechanism 6 includes: a pressing block 61, wherein the pressing block 61 is arranged in a groove of the fixed seat 7, and when the guide shaft 4 is positioned at the first position L1, the pressing block 61 protrudes out of the surface of the fixed seat 7 and can move downwards relative to the groove when a pressing action is applied; the pressing shaft 62 is arranged on the pressing block 61, an inclined surface 64 is arranged at the end part of the guide shaft 4 extending into the groove, and the pressing shaft 62 abuts against the inclined surface 64.
The pressing block 61 may have a square structure, and the pressing shaft 62 is inserted into the pressing block 61. When the pressing block 61 moves downward with respect to the groove of the fixing base 7, the pressing shaft 62 abuts against the inclined surface 64 and presses downward, thereby pushing the inclined surface 64 to move, and thus the guide shaft 4 is moved. When the second biasing member 5 releases the accumulated elastic potential energy, the guide shaft 6 can be pushed to reset, and the inclined surface 64 can drive the pressing shaft 62 and the pressing block 61 to move upwards due to the fact that the pressure of the consumable cover is lost above the pressing block 61, so that the pressing block 61 protrudes out of the surface of the fixing seat 7.
In one embodiment, as shown in fig. 3 and 6, the length of the guide portion on the guide shaft 4 satisfies the following formula:
W＝2(H×tanθ)-2S+D
wherein h×tan θ=Δl;
Wherein H is expressed as a distance of downward movement of the pressing block 61 in mm; θ is expressed as the angle of the bevel 64 in degrees; d is expressed as the diameter of the joint 12 in mm; Δl is expressed as a distance difference between the first position L1 and the second position L2 in mm; s is expressed as a roller movement amount in mm determined according to the nip gap and the size of the guide wire 8.
Specifically, it is assumed that the engaging piece 12 moves to the intermediate position of the guide portion on the guide shaft 4 in the case where the consumable cartridge is closed. S denotes a size in which the first roller 1 is pushed by the first biasing member 34. Under the condition that the consumable box is opened, the clamping gap between the first roller 1 and the second roller 2 is a known quantity, and the first roller 1 is pushed until the second roller 2 is closed, so that S can be determined according to the size of the guide wire 8 to be clamped, and the model selection of the first biasing member 34 can be determined.
Of course, the size of the guide wire 8 clamped between the first roller 1 and the second roller 2 may be varied, or the elongated medical device clamped between the first roller 1 and the second roller 2 is not limited to the guide wire 8, so that the S value may be a non-fixed value, and there may be a range of values, so that the length of the guide portion may be a non-fixed value.
In this embodiment, the linkage mechanism 6 further includes: the stop block 63 is arranged in the fixed seat 7 and used for limiting the position of the pressing shaft 62 on the inclined plane 64. As shown in fig. 4 and 5, the stopper 63 may have a lateral section and a vertical section, the lateral section may extend into the fixing seat 7 and be located above the inclined surface 64, and when the guide shaft 4 is reset from the second position L2 toward the first position L1, the pressing shaft 62 moves from the bottom to the upper portion of the inclined surface 64 along the inclined angle of the inclined surface 64, and is restrained by the lateral section of the stopper 63, so as to prevent further upward movement away from the inclined surface 64. The vertical section of dog 63 is located the side of fixing base 7, can carry out spacing to guiding axle 4.
In this specification, as shown in fig. 8, the roller separating structure includes: the sliding rail 31, the sliding seat 33 and the spring fixing seat 32 are arranged on the sliding rail 31, the sliding seat 33 can move along the sliding rail 31, the first biasing member 34 is arranged between the spring fixing seat 32 and the sliding seat 33, the sliding seat 33 is provided with a first rotating shaft 11, and the first roller 1 is arranged on the first rotating shaft 11.
The first biasing member 34 is a spring, and the first biasing member 34 maintains a certain elastic potential energy in an initial state, so that the engaging member 12 and the first roller 1 can be pushed to move when the guide shaft 4 is in a disengaged state from the engaging member 12. The slide rail 31 has a longitudinal extension direction and is parallel to the longitudinal extension direction of the guide shaft 4.
Further, the second roller 2 is connected with a second rotating shaft, and the first rotating shaft 11 and the second rotating shaft may be both connected with a driver, and may be driven by the driver to rotate the first rotating shaft 11 and the second rotating shaft in opposite directions, for example, one rotates in a clockwise direction, and the other rotates in a counterclockwise direction. Or one of the first rotation shaft 11 and the second rotation shaft is connected with an external driver, and power is transmitted between the first rotation shaft 11 and the second rotation shaft through a meshing gear, thereby realizing that the pair of rollers rotate in opposite directions. Wherein the engaging piece 12 is connected to the upper end of the first rotating shaft 11, and the engaging piece 12 is disposed coaxially with the first rotating shaft 11.
Further, when the guide shaft 4 is at the first position L1, the biasing force applied by the first biasing member 34 to the first roller 1 is equal to the biasing force applied by the second biasing member 5 to the first roller 1, so that the first roller 1 and the second roller 2 are kept separated when the consumable cartridge is in the uncapped state.
The present specification also provides a consumable cartridge comprising: a box body and a cover for opening and closing the box body, wherein the roller separation structure is installed in the box body, the linkage mechanism 6 triggers a pressing action in response to the closing of the cover, and the second biasing member 5 releases elastic potential energy in response to the opening of the cover. The consumable box can realize the technical problem solved by the roller separation structure and correspondingly achieve the technical effects of the embodiment, and the specific application is not repeated here.
The above embodiments are provided to illustrate the technical concept and features of the present application and are intended to enable those skilled in the art to understand the content of the present application and implement the same, and are not intended to limit the scope of the present application. All equivalent changes or modifications made in accordance with the spirit of the present application should be construed to be included in the scope of the present application.
It is to be understood that the above description is intended to be illustrative, and not restrictive. Many embodiments and many applications other than the examples provided will be apparent to those of skill in the art upon reading the above description. The disclosures of all articles and references, including patent applications and publications, are incorporated herein by reference for the purpose of completeness.
Claims (11)
1. A roller separation structure, comprising:
the first roller and the second roller are rotatably arranged, a clamping gap is formed between the first roller and the second roller, and the first roller is provided with a joint piece;
a first biasing member providing a biasing force for the first roller toward the second roller;
A guide mechanism comprising: a guide shaft engaged with the engagement member, the guide shaft being movable between a first position and a second position; a second biasing member for providing a biasing force to the guide shaft away from the second roller;
the linkage mechanism is configured to drive the guide shaft to move from the first position to the second position based on the pressing action;
A clamping unit is formed between the guide shaft and the joint piece, and the clamping unit has a clamping state and a separating state;
When the guide shaft moves from the first position to the second position, the buckling unit is converted into a disengaging state from the buckling state, the first biasing member can push the first roller and the joint member to move towards the second roller, the second biasing member stores elastic potential energy, and the clamping gap is reduced; when the second biasing member releases elastic potential energy, the guide shaft is reset from the second position towards the first position, the buckling unit is converted into a buckling state from a disengaging state, the guide shaft can drive the first roller to move away from the second roller through the connecting member, and the clamping gap is increased.
2. The roller separating structure as claimed in claim 1, wherein the catching unit includes: a guide portion provided on the guide shaft and an end portion of the engagement member, the end portion of the engagement member protruding into the guide portion, the guide portion being configured to allow the end portion of the engagement member to rotate along the axis of the first roller in a disengaged state.
3. The roller separating structure according to claim 2, wherein the guide portion is a long hole provided on the guide shaft, the long hole having opposite first and second ends in an extending direction thereof; when the buckling unit is in a disengaging state, the joint piece is positioned between the first end and the second end, and when the buckling unit is in a clamping state, the joint piece is abutted with the second end.
4. The roller separating structure of claim 2, wherein the structure comprises: the fixing base, the fixing base be provided with the recess and with the through-hole that the recess is linked together, the guiding axle is followed the extending direction of recess is removed between first position and second position, the one end of guiding axle stretches into the recess, the other end of guiding axle passes through the through-hole stretches out the fixing base, the second biasing member cover is established on the guiding axle, the guiding axle sets up the expanding section, the one end of second biasing member supports and leans on the expanding section, the other end supports and leans on the recess inner wall of fixing base.
5. The roller release mechanism of claim 4, wherein the linkage mechanism comprises: the pressing block is arranged in the groove, protrudes out of the surface of the fixing seat when the guide shaft is positioned at the first position, and can move downwards relative to the groove when a pressing action is applied; the pressing shaft is arranged on the pressing block, an inclined plane is arranged at the end part of the guide shaft extending into the groove, and the pressing shaft abuts against the inclined plane.
6. The roller release mechanism of claim 5, wherein the linkage mechanism further comprises: the stop block is arranged in the fixing seat and used for limiting the position of the pressing shaft on the inclined plane.
7. The roller separating structure of claim 1, wherein the structure comprises: slide rail, slide and spring fixing base, the slide with the spring fixing base sets up on the slide rail, the slide can be followed the slide removes, first biasing member sets up spring fixing base with between the slide, be provided with first axis of rotation on the slide, first gyro wheel sets up on the first axis of rotation.
8. The roller separating structure according to claim 7, wherein the engaging member is connected to an upper end of the first rotating shaft, and the engaging member is disposed coaxially with the first rotating shaft.
9. The roller separating structure of claim 1, wherein the first biasing member applies a biasing force to the first roller equal to a biasing force applied to the first roller by the second biasing member when the guide shaft is in the first position.
10. The roller separating structure according to claim 5, wherein the length of the guide portion satisfies the following formula:
W＝2(H×tanθ)-2S+D
wherein h×tan θ=Δl;
Wherein H is expressed as the downward moving distance of the pressing block, and the unit is mm; θ is the angle of the bevel in degrees; d is expressed as the diameter of the joint in mm; Δl is expressed as a distance difference between the first position and the second position in mm; s is expressed as the amount of roller movement in mm determined by the nip gap and the guide wire size.
11. A consumable cartridge, comprising: a case in which the roller separating structure according to any one of claims 1 to 10 is installed, and a cover for opening and closing the case, wherein the linkage mechanism triggers a pressing action in response to the closing of the cover, and the second biasing member releases elastic potential energy in response to the opening of the cover.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211002708.1A CN115414123B (en) | 2022-08-19 | 2022-08-19 | Roller separation structure and consumable box |
| PCT/CN2023/079490 WO2024036919A1 (en) | 2022-08-19 | 2023-03-03 | Roller separation structure and consumable box |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211002708.1A CN115414123B (en) | 2022-08-19 | 2022-08-19 | Roller separation structure and consumable box |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115414123A CN115414123A (en) | 2022-12-02 |
| CN115414123B true CN115414123B (en) | 2024-06-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211002708.1A Active CN115414123B (en) | 2022-08-19 | 2022-08-19 | Roller separation structure and consumable box |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN115414123B (en) |
| WO (1) | WO2024036919A1 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115414123B (en) * | 2022-08-19 | 2024-06-14 | 苏州生科智能科技有限公司 | Roller separation structure and consumable box |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840565A (en) * | 2019-11-07 | 2020-02-28 | 北京唯迈医疗设备有限公司 | Automatic clamping and opening device for catheter of interventional operation robot |
| CN114587616A (en) * | 2022-02-23 | 2022-06-07 | 上海奥朋医疗科技有限公司 | Guide wire catheter conveying device |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9326822B2 (en) * | 2013-03-14 | 2016-05-03 | Hansen Medical, Inc. | Active drives for robotic catheter manipulators |
| CN110652357B (en) * | 2019-09-19 | 2020-06-12 | 中国科学院自动化研究所 | Double-guide-wire or balloon vascular interventional instrument control device |
| CN110859669A (en) * | 2019-12-10 | 2020-03-06 | 北京唯迈医疗设备有限公司 | Interventional operation robot catheter guide wire propulsion device |
| CN114515194B (en) * | 2022-02-17 | 2024-06-11 | 山东威高医疗科技有限公司 | Vascular intervention robot guide wire driving device |
| CN114887198A (en) * | 2022-05-17 | 2022-08-12 | 苏州润迈德医疗科技有限公司 | Clamping driving device and surgical robot |
| CN115414123B (en) * | 2022-08-19 | 2024-06-14 | 苏州生科智能科技有限公司 | Roller separation structure and consumable box |
-
2022
- 2022-08-19 CN CN202211002708.1A patent/CN115414123B/en active Active
-
2023
- 2023-03-03 WO PCT/CN2023/079490 patent/WO2024036919A1/en unknown
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110840565A (en) * | 2019-11-07 | 2020-02-28 | 北京唯迈医疗设备有限公司 | Automatic clamping and opening device for catheter of interventional operation robot |
| CN114587616A (en) * | 2022-02-23 | 2022-06-07 | 上海奥朋医疗科技有限公司 | Guide wire catheter conveying device |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2024036919A1 (en) | 2024-02-22 |
| CN115414123A (en) | 2022-12-02 |
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