CN115463312B - Guide wire driving mechanism and guide wire driving method thereof - Google Patents
Guide wire driving mechanism and guide wire driving method thereof Download PDFInfo
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- CN115463312B CN115463312B CN202211011986.3A CN202211011986A CN115463312B CN 115463312 B CN115463312 B CN 115463312B CN 202211011986 A CN202211011986 A CN 202211011986A CN 115463312 B CN115463312 B CN 115463312B
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- 230000007246 mechanism Effects 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 title claims abstract description 19
- 230000008569 process Effects 0.000 claims abstract description 10
- 230000005540 biological transmission Effects 0.000 claims description 21
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000013519 translation Methods 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000002526 effect on cardiovascular system Effects 0.000 description 3
- 208000024172 Cardiovascular disease Diseases 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 230000000149 penetrating effect Effects 0.000 description 1
- 230000002980 postoperative effect Effects 0.000 description 1
- 238000011084 recovery Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
-
- 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
- A61M2210/00—Anatomical parts of the body
- A61M2210/12—Blood circulatory system
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- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Surgery (AREA)
- Veterinary Medicine (AREA)
- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
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- Hematology (AREA)
- Pulmonology (AREA)
- Anesthesiology (AREA)
- Biophysics (AREA)
- Manipulator (AREA)
Abstract
The invention provides a guide wire driving mechanism and a guide wire driving method thereof, which relate to the technical field of guide wire driving, and the guide wire is clamped by a rotating wheel assembly by passing the guide wire in a channel of a first driving assembly and a channel of a second driving assembly, when the guide wire is required to be linearly moved in the operation process, the first driving assembly is started to drive the rotating wheel assembly arranged on a rotating base to rotate along the axis of the rotating wheel assembly, so that the guide wire clamped on the rotating wheel assembly can be linearly moved under the action of friction force, when the guide wire is required to be rotated in the operation process, the second driving assembly is started to drive the rotating base to rotate around the channel, so that the rotating wheel assembly drives the clamped guide wire to rotate along the axis of the rotating wheel assembly, and the mechanism for rotating the guide wire and the mechanism for moving the guide wire are combined on the rotating base, thereby effectively reducing the occupied space of the whole mechanism, and alleviating the technical problems of large structural size of the traditional interventional robot guide wire in the prior art.
Description
Technical Field
The invention relates to the technical field of guide wire driving, in particular to a guide wire driving mechanism and a guide wire driving method thereof.
Background
The cardiovascular and cerebrovascular minimally invasive interventional therapy is a main treatment means for cardiovascular and cerebrovascular diseases. Compared with the traditional surgery, the method has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular intervention operation is to send the catheter, guide wire and rack into the patient manually by doctor to complete the treatment process
However, the traditional interventional robot guide wire driving mechanism is complex and bulky in structure, the rotation and the reciprocating motion of the guide wire are divided into two independent mechanisms, and the structural size is large.
Disclosure of Invention
The invention aims to provide a guide wire driving mechanism and a guide wire driving method thereof, which are used for solving the technical problems of complicated and heavy structure, two independent mechanisms for rotation and reciprocation of a guide wire and large structural size of the guide wire driving mechanism of the traditional interventional robot in the prior art.
In a first aspect, the present invention provides a guidewire drive mechanism comprising: the first driving assembly, the second driving assembly, the rotating base and the rotating wheel assembly;
the first drive assembly and the second drive assembly have a passageway for passage of a guidewire;
the rotating wheel assembly is arranged on the rotating base and is used for clamping a guide wire;
the first driving component is in transmission connection with the rotating wheel component and is configured to drive the rotating wheel component to rotate along the axis of the first driving component so as to drive the guide wire to linearly move;
the second driving assembly is in transmission connection with the rotating base, and the second driving assembly is configured to drive the rotating base to rotate around the channel, so that the rotating wheel assembly drives the guide wire to rotate along the axis of the guide wire.
In an alternative embodiment of the present invention,
the rotating wheel assembly comprises a driving wheel and a driven wheel;
the driving wheel and the driven wheel are respectively arranged on two sides of the guide wire in the channel;
the driving wheel is sleeved with a first cylindrical gear, and driving force generated by the first driving assembly acts on the first cylindrical gear so that the driving wheel rotates along the axis direction of the driving wheel.
In an alternative embodiment of the present invention,
the runner assembly further includes a second cylindrical gear;
the driving wheel is provided with at least two, the second cylindrical gears are rotationally connected to the rotating base, and the second cylindrical gears are respectively meshed with the first cylindrical gears on any two adjacent driving wheels so that any two adjacent driving wheels rotate in the same direction.
In an alternative embodiment of the present invention,
the first driving assembly comprises a first motor, a first rotating shaft, a first bevel gear, a second bevel gear, a third bevel gear and a transmission wheel shaft;
the driving end of the first motor is connected with the first rotating shaft, the first bevel gear is arranged at the end part of the first rotating shaft, the first bevel gear is meshed with the second bevel gear, and the second bevel gear is connected with the third bevel gear through a first connecting main shaft;
the end part of the transmission wheel shaft is provided with a fourth bevel gear which is meshed with the third bevel gear so as to enable the transmission wheel shaft to rotate along the axis direction of the transmission wheel shaft;
the transmission wheel shaft is provided with a third cylindrical gear which is in meshed connection with the first cylindrical gear.
In an alternative embodiment of the present invention,
the second driving assembly comprises a second motor, a second rotating shaft, a fifth bevel gear and a sixth bevel gear;
the second motor and the first motor are respectively positioned at two sides of the rotating base, the driving end of the second motor is connected with the second rotating shaft, and the sixth bevel gear is arranged at the end part of the second rotating shaft;
the rotary base is connected with a second connecting main shaft, one end, far away from the rotary base, of the second connecting main shaft is provided with a fifth bevel gear, and the fifth bevel gear is in meshed connection with the sixth bevel gear so as to drive the second connecting main shaft to rotate along the axis direction of the second connecting main shaft.
In an alternative embodiment of the present invention,
the guide wire driving mechanism further comprises a roller fixing plate, a limit seat plate and a limit cover;
the side wall of the rotating base is provided with a mounting protrusion, the roller fixing plate is connected with the mounting protrusion, and the limit seat plate and the limit cover are sequentially arranged on the roller fixing plate along the direction away from the mounting protrusion;
the driving wheel and the driven wheel sequentially pass through the roller fixing plate and the limit seat plate;
the limiting seat plate is provided with an upper semicircular notch, one side, close to the limiting seat plate, of the limiting cover is provided with a lower semicircular notch, and the upper semicircular notch and the lower semicircular notch are surrounded to form a through hole for a guide wire to pass through.
In an alternative embodiment of the present invention,
the roller fixing plate is provided with a guide fixing block on one side close to the installation protrusion, one end of the driven wheel, which is far away from the limiting cover, is provided with a guide sliding block, the guide fixing block is provided with a guide groove, the guide sliding block stretches into the guide groove, and the guide sliding block can slide along the guide groove so as to adjust the distance between the driven wheel and the driving wheel.
In an alternative embodiment of the present invention,
the guide wire driving mechanism further comprises a clamping control assembly;
the clamping control assembly comprises a clamping handle, a clamping rotating shaft and a clamping cam;
the two ends of the clamping rotating shaft are respectively connected with the clamping handle and the clamping cam, the limiting cover is provided with a locking notch, and when the clamping handle moves towards the position where the axes of the clamping notch are mutually perpendicular, the clamping cam drives the guide sliding block to move towards the direction close to the driving wheel.
In an alternative embodiment of the present invention,
the guide wire driving mechanism further comprises an elastic component
The roller fixing plate is provided with a spring baffle, the spring baffle and the driving wheel are located on the same side of the roller fixing plate, one end of the elastic member is connected with the spring baffle, the other end of the elastic member is connected with the guide sliding block, and the elastic member is configured to enable the guide sliding block to have a movement trend away from the spring baffle.
In a second aspect, the present invention provides a guide wire driving method based on a guide wire driving mechanism, including the steps of:
and (3) locking: the clamping handle is rotated to be flush with the locking notch, the clamping cam drives the guide sliding block to move towards the direction of the spring baffle plate, so that the driven wheel moves towards the direction of the driving wheel, and the guide wire between the driving wheel and the driven wheel is clamped;
a guide wire translation step: the first motor is started to drive the driving wheel to rotate along the axis direction of the driving wheel so as to drive the guide wire to move in a translation way;
and a guide wire rotating step: the second motor is started to drive the rotating base to rotate around the second connecting main shaft, and the first motor is started to drive the third bevel gear to rotate along the axis of the first motor, so that the fourth bevel gear is limited to rotate along the axis direction of the first motor when the fourth bevel gear rotates around the third bevel gear.
According to the guide wire driving mechanism provided by the invention, the guide wire passes through the channels of the first driving assembly and the second driving assembly, and the guide wire is clamped by the rotating wheel assembly, when the guide wire is required to linearly move in the operation process, the first driving assembly is started to drive the rotating wheel assembly arranged on the rotating base to rotate along the axis of the rotating wheel assembly, so that the guide wire clamped on the rotating wheel assembly can linearly move under the action of friction force, when the guide wire is required to rotate in the operation process, the second driving assembly is started to drive the rotating base to rotate around the channel, so that the rotating wheel assembly drives the clamped guide wire to rotate along the axis of the rotating wheel assembly, and as a mechanism for rotating the guide wire and a mechanism for moving the guide wire are combined on the rotating base, the occupied space of the whole mechanism is effectively reduced, and the technical problems of complex and bulky structure, two independent mechanisms and large structural size of the guide wire driving mechanism of a traditional interventional robot in the prior art are solved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are needed in the description of the embodiments or the prior art will be briefly described, and it is obvious that the drawings in the description below are some embodiments of the present invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic diagram of an exploded structure of a guidewire driving mechanism according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the overall structure of a guide wire driving mechanism according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a wheel assembly in a guide wire driving mechanism according to an embodiment of the present invention;
fig. 4 is a schematic structural view of a limiting cover in a guide wire driving mechanism according to an embodiment of the present invention;
fig. 5 is a schematic structural view of a clamping control assembly in a guide wire driving mechanism according to an embodiment of the present invention.
Icon: 100-a first drive assembly; 110-a first motor; 120-a first rotation axis; 130-a first bevel gear; 140-a second bevel gear; 150-a third bevel gear; 160-a transmission wheel shaft; 170-four bevel gears; 180-a third cylindrical gear; 200-a second drive assembly; 210-a second motor; 220-a second rotation axis; 230-a fifth bevel gear; 240-sixth bevel gear; 300-rotating the base; 310-mounting a bump; 320-a first connecting spindle; 330-a second connecting spindle; 400-a runner assembly; 410-a driving wheel; 411-first cylindrical gear; 412-a second cylindrical gear; 420-driven wheel; 500-roller fixing plates; 510-guiding a fixed block; 520-guiding sliding block; 530-spring baffle; 600-limiting seat plates; 610-upper semicircular notch; 700-limiting cover; 710-lower semicircular notch; 720-locking notch; 800-a clamping control assembly; 810-clamping a handle; 820-clamping the rotating shaft; 830-clamping cams; 900-elastic member.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
Some embodiments of the present invention are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
The traditional interventional robot guide wire driving mechanism has the advantages that the rotation and the reciprocating motion of the guide wire are divided into two independent mechanisms, the structure is complex and heavy, and the structural size is large.
In view of this, as shown in fig. 1 and 2, the guide wire driving mechanism provided in this embodiment includes: a first driving assembly 100, a second driving assembly 200, a rotating base 300, and a wheel assembly 400; the first drive assembly 100 and the second drive assembly 200 have a passageway for the guidewire to pass through; the runner assembly 400 is mounted on the rotating base 300, and the runner assembly 400 is used for clamping a guide wire; the first driving assembly 100 is in transmission connection with the rotating wheel assembly 400, and the first driving assembly 100 is configured to drive the rotating wheel assembly 400 to rotate along the axis of the first driving assembly to drive the guide wire to linearly move; the second driving assembly 200 is in transmission connection with the rotating base 300, and the second driving assembly 200 is configured to drive the rotating base 300 to rotate around the channel, so that the rotating wheel assembly 400 drives the guide wire to rotate along the axis of the guide wire.
According to the guide wire driving mechanism provided by the embodiment, the guide wire passes through the channels of the first driving assembly 100 and the second driving assembly 200, and the guide wire is clamped by the rotating wheel assembly 400, when the guide wire is required to be linearly moved in the operation process, the first driving assembly 100 is started to drive the rotating wheel assembly 400 arranged on the rotating base 300 to rotate along the axis of the rotating wheel assembly, the guide wire clamped on the rotating wheel assembly 400 can be linearly moved under the action of friction force, when the guide wire is required to be rotated in the operation process, the second driving assembly 200 is started to drive the rotating base 300 to rotate around the channels, so that the rotating wheel assembly 400 drives the clamped guide wire to rotate along the axis of the rotating wheel assembly 400, and the mechanism for rotating the guide wire and the mechanism for moving the guide wire are combined on the rotating base 300, so that the occupied space of the whole mechanism is effectively reduced, the technical problems of complex and swelling of the structure, the rotating and reciprocating movement of the guide wire are divided into two independent mechanisms, and large structural size of the guide wire driving mechanism of the traditional interventional robot in the prior art are relieved.
Regarding the structure and shape of the wheel assembly 400, in particular:
as shown in fig. 3, the runner assembly 400 includes a driving wheel 410 and a driven wheel 420, where the number of the driving wheel 410 and the number of the driven wheel 420 are set in a one-to-one correspondence, the driving wheel 410 and the driven wheel 420 may be provided with a plurality of driving wheels 410 are rotatably connected to the rotating base 300, the driven wheel 420 is rotatably connected to the guiding sliding block 520, a first cylindrical gear 411 is fixedly connected to the bottom of the driving wheel 410, the first cylindrical gear 411 is sleeved on the driving wheel 410, a driving force generated by the first driving assembly 100 acts on the first cylindrical gear 411 to drive the first cylindrical gear 411 to rotate, and then drive the driving wheel 410 to rotate along the axis direction of itself, that is, the guide wire clamped between the driving wheel 410 and the driven wheel 420 can be driven to move, that is, the moving direction of the guide wire can be controlled by controlling the driving force direction generated by the first driving assembly 100.
It should be noted that the driven wheel 420 can rotate along its own axis, but the driving force generated by the first driving assembly 100 only acts on the driving wheel 410, and the driven wheel 420 only plays a role in clamping the guide wire.
In order to ensure that the plurality of driving wheels 410 rotate along the same direction, a second cylindrical gear 412 is arranged between the two driving wheels 410, the second cylindrical gear 412 is rotatably connected to the rotating base 300 through a rotating shaft, a first cylindrical gear 411 on one driving wheel 410 is meshed with the second cylindrical gear 412, a first cylindrical gear 411 on the other adjacent driving wheel 410 is meshed with the second cylindrical gear 412, and when a driving force generated by the first driving assembly 100 acts on the first cylindrical gear 411 on one driving wheel 410, the second cylindrical gear 412 synchronously rotates to drive the other adjacent first cylindrical gear 411 to rotate, so that the first cylindrical gears 411 on the plurality of driving wheels 410 can be ensured to rotate along the same direction.
Regarding the structure and shape of the swivel base 300, specifically:
the rotating base 300 has a U-shaped structure, two side walls of the rotating base 300 are provided with rotating holes, a first connecting spindle 320 and a second connecting spindle 330 are respectively connected in the rotating holes in a rotating mode, mounting protrusions 310 are arranged on the inner sides of the two side walls of the rotating base 300, mounting holes are formed in the mounting protrusions 310, and the roller fixing plates 500 are detachably connected to the mounting protrusions 310 through the mounting holes.
Regarding the structure and shape of the first drive assembly 100, in particular:
the first driving assembly 100 includes a first motor 110, a first rotation shaft 120, a first bevel gear 130, a second bevel gear 140, a third bevel gear 150, a transfer shaft 160, a four bevel gear 170, and a third cylindrical gear 180; the first motor 110 is located at one side of the first connection spindle 320, the first rotation shaft 120 is arranged along the vertical direction, one end of the first rotation shaft 120 is connected with the driving end of the first motor 110, the other end of the first rotation shaft 120 is connected with the first bevel gear 130, the first bevel gear 130 is meshed with the second bevel gear 140, the second bevel gear 140 is connected with the third bevel gear 150 through the first connection spindle 320, the second bevel gear 140 can synchronously rotate with the third bevel gear 150, the third bevel gear 150 is meshed with the fourth bevel gear 170 on the transmission wheel shaft 160, the transmission wheel shaft 160 is driven to rotate through the fourth bevel gear 170, the third cylindrical gear 180 at the bottom of the transmission wheel shaft 160 rotates, the third cylindrical gear 180 is meshed with the first cylindrical gear 411, the first cylindrical gear 411 can be driven to rotate, the driving wheel 410 is driven to rotate, and translational movement of the guide wire is controlled.
It should be noted that, to facilitate the guide wire passing, the second bevel gear 140, the first connecting spindle 320 and the third bevel gear 150 all have through holes penetrating each other.
Regarding the structure and shape of the second drive assembly 200, in particular:
the second driving assembly 200 includes a second motor 210, a second rotating shaft 220, a fifth bevel gear 230 and a sixth bevel gear 240, the second motor 210 is located at one side of the second connecting spindle 330, the second rotating shaft 220 is disposed along the vertical direction, one end of the second rotating shaft 220 is connected with the driving end of the second motor 210, the other end of the second rotating shaft 220 is connected with the sixth bevel gear 240, the sixth bevel gear 240 is engaged with the fifth bevel gear 230 connected to the second connecting spindle 330, the fifth bevel gear 230 rotates to drive the second connecting spindle 330 to rotate, so that the rotating base 300 can rotate around the axis direction of the second connecting spindle 330, and the driving wheel 410 and the driven wheel 420 are used to drive the guide wire to rotate along the axis direction thereof.
It should be noted that, when the rotating base 300 rotates, the fourth bevel gear 170 rotates around the axis of the third bevel gear 150, so that the fourth bevel gear 170 is driven to rotate, and at this time, a translational movement of the guide wire is driven, so that to avoid the translational movement of the guide wire, the first motor 110 needs to be controlled to be turned on, and the first motor 110 generates a rotation in a direction opposite to that of the second motor 210, so that the third bevel gear 150 rotates, and the fourth bevel gear 170 cannot rotate along the axis direction thereof, thereby realizing only the rotational movement of the guide wire.
Regarding the structure and shape of the roller fixing plate 500, specifically:
the bottom of the roller fixing plate 500 is connected to the mounting protrusion 310, the bottom of the roller fixing plate 500 is fixedly provided with a guide fixing block 510, a rotating shaft on the driven wheel 420 passes through the roller fixing plate 500 and is connected with a guide sliding block 520, two sides of the guide sliding block 520 extend into guide grooves on the guide fixing block 510, so that the guide fixing block 510 slides along the guide grooves, and the driven wheel 420 can be driven to move, and the distance between the driven wheel 420 and the driving wheel 410 is adjusted.
In order to facilitate the movement of the driven wheel 420, a long-strip hole is formed in the roller fixing plate 500, and a rotation shaft on the driven wheel 420 passes through the long-strip hole, so that the driven wheel 420 moves along the direction of the long-strip hole.
Regarding the structure and shape of the limit seat plate 600 and the limit cover 700, specifically:
as shown in fig. 4, the limit seat plate 600 is installed above the roller fixing plate 500, the limit cover 700 is installed above the limit seat plate 600, and the limit cover 700 covers the limit seat plate 600, one side of the limit seat plate 600 facing the limit cover 700 is provided with an upper semicircular notch 610, one side of the limit cover 700 facing the limit seat plate 600 is provided with a lower semicircular notch 710, and the upper semicircular notch 610 and the lower semicircular notch 710 are surrounded to form a through hole, so that the guide wire is limited in the through hole.
The corresponding positions of the limit seat plate 600 and the roller fixing plate 500 are respectively provided with a strip hole and a circular through hole for the rotation shaft of the driving wheel 410 to pass through, so that the positions of the driving wheel 410 and the driven wheel 420, which are contacted with the guide wires, are located below the limit cover 700.
Regarding the structure and shape of the clamp control assembly 800, in particular:
as shown in fig. 5, the clamping control assembly 800 includes a clamping handle 810, a clamping rotation shaft 820 and a clamping cam 830, wherein an upper end portion of the clamping rotation shaft 820 is connected with the clamping handle 810, a lower end portion of the clamping rotation shaft 820 is connected with the clamping cam 830, a groove is formed on one side of the guiding sliding block 520 close to the clamping cam 830, and an arc edge is formed on an end portion of the clamping cam 830, and in a rotating process that the clamping handle 810 drives the clamping cam 830 to rotate towards a direction close to the guiding sliding block 520, the arc edge of the end portion of the clamping cam 830 slides into the groove on a surface of the guiding sliding block 520, drives the guiding sliding block 520 to move towards a direction of the spring baffle 530, and further enables the driven wheel 420 to move towards a direction close to the driving wheel 410 to clamp a guide wire.
The roller fixing plate 500 is provided with a spring baffle 530, the spring baffle 530 is located on the same side as the driving wheel 410, an elastic member 900 is disposed between the spring baffle 530 and the guide slider 520, the elastic member 900 is specifically provided as a compression spring, and in the process that the clamping handle 810 drives the clamping cam 830 to rotate in the direction away from the guide slider 520, the clamping cam 830 is not in contact with the guide slider 520, the elastic force generated by the elastic member 900 causes the guide slider 520 to move in the direction away from the spring baffle 530, and the driven wheel 420 is further away from the driving wheel 410.
It should be noted that two protrusions are disposed on the limiting cover 700, a locking notch 720 is formed between the two protrusions, when the clamping handle 810 rotates to a position perpendicular to the axis of the locking notch 720, the limiting cover 700 is in a locking clamping state, the guide wire cannot be detached, and in a clamping state, when the clamping handle 810 rotates to a position flush with the locking notch 720, the limiting cover 700 is in an unlocking state, and the guide wire is not clamped.
In the guide wire driving method of the guide wire driving mechanism provided in this embodiment, the clamping handle 810 is rotated until the locking notch 720 is parallel when in use, the limiting cover 700 is opened, and the guide wire passes through the first connecting spindle 320 and the second connecting spindle 330 and is placed between the driving wheel 410 and the driven wheel 420 and at the upper semicircular notch 610 of the limiting seat plate 600. The limiting cover 700 is covered, the clamping handle 810 is rotated anticlockwise, and at the moment, the clamping handle 810 is pressed on the limiting cover 700, so that misoperation during use is prevented, the limiting cover 700 is directly opened, and the operation progress is influenced.
When the guide wire rotates only, the second motor 210 works to drive the sixth bevel gear 240 thereon to rotate, so that the fifth bevel gear 230 rotates, the second connecting spindle 330 is fixedly connected with the rotating base 300 to drive the rotating base 300 and the parts mounted on the rotating base to complete the rotation, and the fourth bevel gear 170 rotates around the third bevel gear 150 to drive the third cylindrical gear 180 to rotate when rotating, and at the moment, the guide wire generates translational motion, so that the first motor 110 is required to generate rotation in the opposite direction to the second motor 210, so that the fourth bevel gear 170 is stationary, and the guide wire only realizes the rotation motion.
When the guide wire moves in a reciprocating translational mode, the first motor 110 is started to drive the first bevel gear 130 to rotate, so that the second bevel gear 140 meshed with the first motor is driven to rotate, and because the second bevel gear 140 and the third bevel gear 150 are both arranged on the same first connecting main shaft 320, the third bevel gear 150 drives the fourth bevel gear 170 meshed with the third bevel gear 150 to rotate, and the fourth bevel gear 170 and the first cylindrical gear 411 are arranged on the same transmission wheel shaft 160, so that the first cylindrical gear 411 and the second cylindrical gear 412 are driven to rotate, and the plurality of driving wheels 410 can rotate in the same direction, so that the guide wire can move, and the guide wire can reciprocate by controlling the driving direction of the first motor 110.
When the guide wire reciprocates and rotates, the two motors work simultaneously to drive all gears, and the rotation speeds of the two motors are different according to the different speeds of the reciprocation and the rotation, so that the simultaneous rotation and the reciprocation are completed at different speeds.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and not for limiting the same; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the invention.
Claims (8)
1. A guidewire drive mechanism, comprising: a first drive assembly (100), a second drive assembly (200), a swivel base (300) and a wheel assembly (400);
the first drive assembly (100) and the second drive assembly (200) have a passageway for the passage of a guidewire;
the runner assembly (400) is mounted on the rotating base (300), and the runner assembly (400) is used for clamping a guide wire;
the first driving assembly (100) is in transmission connection with the rotating wheel assembly (400), and the first driving assembly (100) is configured to drive the rotating wheel assembly (400) to rotate along the axis of the rotating wheel assembly so as to drive the guide wire to linearly move;
the second driving assembly (200) is in transmission connection with the rotating base (300), and the second driving assembly (200) is configured to drive the rotating base (300) to rotate around the channel so that the rotating wheel assembly (400) drives the guide wire to rotate along the axis of the guide wire;
the runner assembly (400) includes a driving wheel (410) and a driven wheel (420);
the driving wheel (410) and the driven wheel (420) are respectively arranged on two sides of the guide wire in the channel;
the guide wire driving mechanism further comprises a roller fixing plate (500), a limiting cover (700) and a clamping control assembly (800);
the side wall of the rotating base (300) is provided with a mounting protrusion (310), and the roller fixing plate (500) is connected with the mounting protrusion (310);
a guide sliding block (520) is arranged at one end of the driven wheel (420) far away from the limiting cover (700);
the clamping control assembly (800) includes a clamping handle (810), a clamping rotation shaft (820), and a clamping cam (830);
the two ends of the clamping rotating shaft (820) are respectively connected with the clamping handle (810) and the clamping cam (830), the limiting cover (700) is provided with a locking notch (720), and when the clamping handle (810) moves towards a position perpendicular to the axis of the locking notch (720), the clamping cam (830) drives the guide sliding block (520) to move towards a direction close to the driving wheel (410);
the guide sliding block (520) is provided with a groove at one side close to the clamping cam (830), the end part of the clamping cam (830) is provided with an arc edge, and the arc edge at the end part of the clamping cam (830) slides into the groove on the surface of the guide sliding block (520) in the process that the clamping handle (810) drives the clamping cam (830) to rotate towards the direction close to the guide sliding block (520);
the guidewire drive mechanism further includes an elastic member (900);
the roller fixing plate (500) is provided with a spring baffle (530), the spring baffle (530) and the driving wheel (410) are located on the same side of the roller fixing plate (500), one end of the elastic member (900) is connected with the spring baffle (530), the other end of the elastic member (900) is connected with the guide sliding block (520), and the elastic member (900) is configured to enable the guide sliding block (520) to have a movement trend away from the spring baffle (530).
2. The guidewire drive mechanism of claim 1, wherein the guidewire drive mechanism comprises a guidewire,
the driving wheel (410) is sleeved with a first cylindrical gear (411), and driving force generated by the first driving assembly (100) acts on the first cylindrical gear (411) so that the driving wheel (410) rotates along the axis direction of the driving wheel.
3. A guidewire drive mechanism according to claim 2, wherein,
the wheel assembly (400) further includes a second cylindrical gear (412);
the driving wheels (410) are provided with at least two, the second cylindrical gears (412) are rotatably connected to the rotating base (300), and the second cylindrical gears (412) are respectively meshed with the first cylindrical gears (411) on any two adjacent driving wheels (410), so that any two adjacent driving wheels (410) rotate in the same direction.
4. A guide wire drive mechanism according to claim 3, wherein,
the first driving assembly (100) comprises a first motor (110), a first rotating shaft (120), a first bevel gear (130), a second bevel gear (140), a third bevel gear (150) and a transmission wheel shaft (160);
the driving end of the first motor (110) is connected with the first rotating shaft (120), the first bevel gear (130) is arranged at the end part of the first rotating shaft (120), the first bevel gear (130) is meshed with the second bevel gear (140), and the second bevel gear (140) is connected with the third bevel gear (150) through a first connecting main shaft (320);
a fourth bevel gear (170) is arranged at the end part of the transmission wheel shaft (160), and the fourth bevel gear (170) is in meshed connection with the third bevel gear (150) so as to enable the transmission wheel shaft (160) to rotate along the axis direction of the transmission wheel shaft;
the transmission wheel shaft (160) is provided with a third cylindrical gear (180) which is used for being meshed with the first cylindrical gear (411).
5. The guidewire drive mechanism of claim 4, wherein the guidewire drive mechanism comprises a guidewire,
the second driving assembly (200) includes a second motor (210), a second rotation shaft (220), a fifth bevel gear (230), and a sixth bevel gear (240);
the second motor (210) and the first motor (110) are respectively positioned at two sides of the rotating base (300), the driving end of the second motor (210) is connected with the second rotating shaft (220), and the sixth bevel gear (240) is arranged at the end part of the second rotating shaft (220);
the rotary base (300) is connected with a second connecting main shaft (330), one end, far away from the rotary base (300), of the second connecting main shaft (330) is provided with a fifth bevel gear (230), and the fifth bevel gear (230) is in meshed connection with the sixth bevel gear (240) so as to drive the second connecting main shaft (330) to rotate along the axis direction of the second connecting main shaft.
6. A guidewire drive mechanism according to claim 2, wherein,
the guide wire driving mechanism further comprises a limit seat plate (600);
the limit seat plate (600) and the limit cover (700) are sequentially arranged on the roller fixing plate (500) along the direction away from the mounting protrusion (310);
the driving wheel (410) and the driven wheel (420) sequentially pass through the roller fixing plate (500) and the limit seat plate (600);
the limiting seat plate (600) is provided with an upper semicircular notch (610), one side of the limiting cover (700) close to the limiting seat plate (600) is provided with a lower semicircular notch (710), and the upper semicircular notch (610) and the lower semicircular notch (710) are surrounded to form a through hole for a guide wire to pass through.
7. The guidewire drive mechanism of claim 6, wherein the guidewire drive mechanism comprises a guidewire,
the roller fixing plate (500) is provided with a guide fixing block (510) at one side close to the installation protrusion (310), the guide fixing block (510) is provided with a guide groove, the guide sliding block (520) stretches into the guide groove, and the guide sliding block (520) can slide along the guide groove so as to adjust the distance between the driven wheel (420) and the driving wheel (410).
8. A guidewire driving method based on a guidewire driving mechanism according to any one of claims 1-7, comprising the steps of:
and (3) locking: rotating the clamping handle (810) to be flush with the locking notch (720), and driving the guide sliding block (520) to move towards the direction of the spring baffle (530) by the clamping cam (830) so as to enable the driven wheel (420) to move towards the direction of the driving wheel (410) and clamp a guide wire between the driving wheel (410) and the driven wheel (420);
a guide wire translation step: the first motor (110) is started to drive the driving wheel (410) to rotate along the axis direction of the driving wheel so as to drive the guide wire to move in a translation way;
and a guide wire rotating step: the second motor (210) is started to drive the rotating base (300) to rotate around the second connecting main shaft (330), and the first motor (110) is started to drive the third bevel gear (150) to rotate along the axis of the motor, so that when the fourth bevel gear (170) rotates around the third bevel gear (150), the fourth bevel gear (170) is limited to rotate along the axis direction of the motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211011986.3A CN115463312B (en) | 2022-08-23 | 2022-08-23 | Guide wire driving mechanism and guide wire driving method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211011986.3A CN115463312B (en) | 2022-08-23 | 2022-08-23 | Guide wire driving mechanism and guide wire driving method thereof |
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| Publication Number | Publication Date |
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| CN115463312A CN115463312A (en) | 2022-12-13 |
| CN115463312B true CN115463312B (en) | 2024-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
| CN114522326A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Guide wire intervention device and blood vessel intervention operation robot |
| CN114569873A (en) * | 2022-03-17 | 2022-06-03 | 上海睿触科技有限公司 | Supplementary thread feeding mechanism of operation is intervene to blood vessel |
| CN114587611A (en) * | 2022-04-02 | 2022-06-07 | 广州市精谷智能科技有限公司 | Wire feeding device of interventional robot |
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Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
| CN114522326A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Guide wire intervention device and blood vessel intervention operation robot |
| CN114569873A (en) * | 2022-03-17 | 2022-06-03 | 上海睿触科技有限公司 | Supplementary thread feeding mechanism of operation is intervene to blood vessel |
| CN114587611A (en) * | 2022-04-02 | 2022-06-07 | 广州市精谷智能科技有限公司 | Wire feeding device of interventional robot |
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|---|---|
| CN115463312A (en) | 2022-12-13 |
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