CN115645055A - Clutch device for replacing percutaneous interventional device and robot system - Google Patents

Abstract

The invention is suitable for the technical field of robot auxiliary devices, and discloses a clutch device for replacing a percutaneous intervention device and a robot system. The invention provides a clutch device for replacing a percutaneous interventional device, which comprises a conveying body; the conveying gear is rotatably arranged on one side of the conveying body, the rotating gear and the conveying gear are axially penetrated through by an opening, and the percutaneous intervention device is clamped in through the opening; the conveying body is provided with a conveying mechanism driven by the conveying gear, the conveying gear drives the conveying mechanism to convey the percutaneous intervention device through a transmission mechanism, and the transmission mechanism comprises a clutch mechanism which can be separated from the conveying gear in the lifting process. The technical problem that the percutaneous interventional device always moves forwards or backwards in the rotation process of a conveying gear in the prior art is solved.

Description

Clutch device for replacing percutaneous intervention device and robot system

[ technical field ] A method for producing a semiconductor device

The invention relates to the technical field of robot auxiliary devices, in particular to a clutch device for percutaneous intervention device replacement and a robot system.

[ background of the invention ]

Generally, a surgeon is required to construct a tiny wound on the surface of a human body under the guidance and monitoring of a digital angiography machine, magnetic resonance equipment and X-ray imaging equipment by utilizing a puncture needle, a catheter, a guide wire and the like, a basic channel is constructed by feeding the puncture needle, the catheter and the guide wire into the radiography catheter from the wound, the guide wire is inserted into the catheter and is ensured to extend out of the front end of the catheter, then an operator inserts the guide wire catheter into the blood vessel along the radiography catheter by guiding the medical image, when the guide wire reaches a vascular bifurcation, one hand needs to fix the catheter to prevent the catheter from moving, the other hand controls the tail end of a twisted guide wire to push the guide wire to generate certain displacement, the twisted guide wire rotates at an angle to feed the guide wire to a certain position and then one hand holds the guide wire to prevent the catheter from moving, the other hand controls the tail of the catheter, and the catheter generates corresponding movement under the guide wire guidance. The operator alternately operates the guide wire and the catheter in such a way that the guide wire is always in front of the catheter and guides the catheter to advance until the catheter reaches the target vascular position. After reaching the position of the target blood vessel, an operator needs to hold the catheter, slowly withdraw the guide wire, and then drive in the embolic agent with required dosage from the rear end of the catheter so as to meet the surgical requirements.

Catheters and other elongate medical devices may be used in minimally invasive medical procedures for diagnosing and treating various diseases of the vascular system, including neurovascular interventions (NVI) (also known as neurointerventional procedures), percutaneous Coronary Interventions (PCI), and Peripheral Vascular Interventions (PVI). These procedures typically involve navigating a guidewire through the vasculature and advancing a catheter over the guidewire for treatment. Catheterization is first accomplished using standard percutaneous techniques through an introducer sheath into an appropriate blood vessel, such as an artery or vein. The sheath or guide catheter is then advanced over the diagnostic guidewire to a primary location, such as the internal carotid artery for NVI, the coronary ostia for PCI, or the superficial femoral artery for PVI, through an introducer sheath, sheath or guide catheter. A guidewire adapted for the vasculature is then navigated through the sheath or guide catheter to a target location in the vasculature.

Robotic catheter-based surgical systems have been developed that can be used to assist physicians in performing catheterization procedures, such as NVI, PCI, and PVI. Examples of NVI procedures include coil embolization of aneurysms, fluid embolization of arteriovenous malformations, and mechanical thrombectomy of acute ischemic stroke large vessel occlusion. In NVI surgery, physicians use robotic systems to gain access to a target lesion by controlling the steering of neurovascular guidewires and microcatheters to provide treatment to restore normal blood flow. Target access is achieved through a sheath or guide catheter, although intermediate catheters may also be required for more distal regions or to provide adequate support for the microcatheter and guidewire. Depending on the lesion and the type of treatment, the distal tip of the guidewire is navigated into or through the lesion. For example, to treat an aneurysm, a microcatheter is advanced into the lesion, the guidewire is then removed, and a device that blocks blood flow into the aneurysm is deployed through the microcatheter into the aneurysm. Therefore, when the guide wire is removed, the guide wire is released by the mechanism for conveying the guide wire, so that the guide wire is kept in a static state, and the guide wire is conveniently removed and other medical instruments are replaced.

[ summary of the invention ]

The invention aims to overcome the defects of the prior art and provide a clutch device and a robot system for replacing a percutaneous interventional device, wherein a transmission mechanism is separated from a conveying gear by adding a clutch mechanism, and the technical problem that the percutaneous interventional device always moves forwards or backwards in the rotation process of the conveying gear in the prior art is solved.

In order to achieve the above object, the present invention provides a clutch device for percutaneous interventional device replacement, comprising a delivery body; the conveying gear is rotatably arranged on one side of the conveying body, the rotating gear and the conveying gear axially penetrate through the opening, and the guide wire is clamped in through the opening; the conveying body is provided with a conveying mechanism driven by the conveying gear, the conveying gear drives the conveying mechanism to convey the guide wire through a transmission mechanism, and the transmission mechanism comprises a clutch mechanism which can be disengaged from the conveying gear in the lifting process.

Preferably, the conveying mechanism comprises a driving gear driven by the conveying gear, a driving silica gel roller driven by the driving gear and a pressing silica gel roller corresponding to the driving silica gel roller; and a transmission mechanism is arranged between the driving gear and the conveying gear.

Preferably, one end of the conveying gear, which is close to the conveying body, is connected with the transmission mechanism.

Preferably, the transmission mechanism further comprises a driving cylindrical gear which is coaxially mounted with the bevel gear and drives the driving gear to rotate, wherein the bevel gear is used for driving the driving gear to rotate.

Preferably, the clutch mechanism comprises a clutch lug clamped with the bevel wheel and a mandril for mounting the clutch lug.

Preferably, the ejector rod is a central shaft of the clutch lug, and the helical borrowing gear and the driving cylindrical gear are coaxially connected to the ejector rod.

Preferably, the clutch lug comprises a disk and a shoulder arranged at the bottom of the disk; and the bevel wheel is provided with a groove matched with the shoulder.

Preferably, the bevel gear is rotatably connected to a mounting seat, and the mounting seat is mounted on the conveying body.

Preferably, the clutch projection is arranged between the bevel wheel and the driving cylindrical gear, and a spring is arranged between the driving cylindrical gear and the conveying body.

Preferably, the clutch mechanism is connected with a clutch driving mechanism, the clutch driving mechanism comprises a first motor, a crank mounted on the first motor, a slider mounted on the crank, a lifting slot arranged on the slider, and a lifting push rod lifting along the lifting slot, and the lifting push rod controls the clutch of the clutch mechanism.

Preferably, the crank is an L-shaped crank, and a moving slot is formed in one side of the crank, which is close to the first motor.

Preferably, a turntable is arranged on the first motor, a moving shaft is eccentrically arranged on the turntable, and the moving shaft moves in the moving groove.

Preferably, a guide plate is further disposed between the slider and the crank.

In order to achieve the above object, the present invention provides a robot system using the above clutch device for guidewire replacement.

Compared with the prior art, the clutch device and the robot system for replacing the percutaneous intervention device (such as a guide wire, a catheter and the like) have the advantages that:

1. the conveying gear drives the conveying body to convey the guide wire, the guide wire is clamped into the conveying body and the conveying gear through the opening, the conveying gear rotates all the time in the conveying process, and the opening of the conveying gear is separated from the opening of the conveying body. When the guide wire needs to be removed, the transmission mechanism is separated from the conveying gear through the clutch mechanism, and the conveying guide wire cannot advance or retreat in the process of continuously rotating the conveying gear.

2. The spring enables the bevel gear and the driving cylindrical gear to be in a clamping state, and the guide wire can be conveyed in the rotating process of the conveying gear. When the ejector rod is jacked up, the bevel gear and the driving cylindrical gear are separated, and the driving cylindrical gear is fixed in the rotating process of the bevel gear.

3. The first motor drives the crank to rotate, and the crank drives the sliding block to move radially to drive the ejector rod to move up and down, so that the state of the clutch mechanism is controlled.

The features and advantages of the present invention will be described in detail by embodiments in conjunction with the accompanying drawings.

[ description of the drawings ]

Fig. 1 is a schematic structural diagram of a clutch device for percutaneous access device replacement according to an embodiment of the invention.

Fig. 2 is a schematic structural diagram of a clutch device for percutaneous interventional device replacement according to a second embodiment of the invention.

Fig. 3 is a schematic view of the internal structure of a clutch device for percutaneous access device replacement according to a first embodiment of the invention.

Fig. 4 is a schematic structural diagram of a conveying mechanism of a clutch device for percutaneous interventional device replacement according to a first embodiment of the invention.

Fig. 5 is an enlarged schematic structural diagram at a of a clutch device for percutaneous access device replacement according to a first embodiment of the invention.

Fig. 6 is a front view of a clutch device for percutaneous access device replacement according to a first embodiment of the invention.

In the figure: 10. a delivery guidewire; 12. a conveying gear; 13. an opening; 14. a conveying mechanism; 15. a driving gear; 16. driving the silica gel roller; 17. compressing the silica gel roller; 19. a second helical gear; 20. a transmission mechanism; 21. using a bevel gear; 22. a driving cylindrical gear; 23. an intermediate gear; 24. a clutch mechanism; 241. a clutch projection; 242. a top rod; 243. a disc; 244. a shoulder is formed; 245. a groove; 25. a mounting seat; 26. a clutch drive mechanism; 261. a first motor; 262. a crank; 263. a slider; 264. a lifting groove; 265. a lifting push rod; 266. a moving groove; 267. a turntable; 268. a movable shaft; 269. a guide plate.

[ detailed description ] embodiments

In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.

In the description of the present invention, it should be noted that when an element is referred to as being "fixed" or "disposed" to another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.

In the description of the present invention, it should be noted that the terms "center", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on orientations or positional relationships shown in the drawings, or orientations or positional relationships that are conventionally placed when the product of the present invention is used, and are merely for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise. The meaning of "a number" is one or more unless specifically limited otherwise.

In the description of the present invention, it should also be noted that, unless otherwise explicitly specified or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

The embodiment of the invention provides a robot system, which uses the following clutch device for guide wire replacement.

The first embodiment is as follows:

referring to fig. 1, a clutch device for percutaneous access device replacement includes a delivery body 10. The percutaneous access device in the embodiment takes a guide wire as a main delivery device. The conveying gear 12 is rotatably mounted on one side of the conveying body 10, the conveying body 10 and the conveying gear 12 are axially penetrated through by an opening 13, and the guide wire is clamped in through the opening 13. The conveying body 10 is provided with a conveying mechanism 14 driven by a conveying gear 12, the conveying gear 12 drives the conveying mechanism 14 to convey the guide wire through a transmission mechanism 20 in the rotating process, and the transmission mechanism 20 comprises a clutch mechanism 24 which can be disengaged from the conveying gear 12 in the lifting process. The conveying gear 12 is rotatably installed at the right side of the conveying body 10.

When the guide wire needs to be removed, the guide wire needs to be released, the opening 13 is not in the same orientation as the opening 13 of the conveying body 10 when the conveying gear 12 stops rotating, and if the guide wire needs to be taken out, the conveying gear 12 is rotated to keep the orientations of the two openings 13 at all times. But the guidewire is typically not moved when delivered to the desired location. To avoid the rotation of the delivery gear 12 to continue to deliver the guidewire, a clutch 24 is added to disable the delivery gear 12 from delivering the guidewire via the clutch 24. In the embodiment, the conveying body 10 and the conveying gear 12 are both provided with openings 13, and when the openings 13 of the conveying body 10 and the conveying gear 12 correspond, a guide wire can be placed in the openings. However, during the guide wire feeding process, the feeding gear 12 is always rotated, and the openings 13 of the feeding gear and the feeding gear are deviated. During the process of replacing the guide wire, the conveying gear 12 is rotated to make the openings 13 correspond to each other, but the guide wire is preferably not advanced or retreated. The clutch mechanism 24 is raised and lowered so that it is completely disengaged from the delivery gear 12 so that the guidewire does not move during rotation of the delivery gear 12. The complete disengagement is understood to be sufficient to achieve that the delivery gear 12 cannot drive the delivery mechanism 14 to deliver the guidewire during rotation, rather than being completely out of contact.

Referring to fig. 3 and 4, in an alternative embodiment, the conveying mechanism 14 includes a driving gear 15 driven by the conveying gear 12, a driving silicone roller 16 driven by the driving gear 15, and a pressing silicone roller 17 corresponding to the driving silicone roller 16. A transmission mechanism 20 is arranged between the driving gear 15 and the conveying gear 12.

Wherein, the driving gear 15 and the driving silica gel roller 16 are coaxially arranged, and the pressing silica gel roller 17 and the driving silica gel roller 16 are in one-to-one correspondence and press the guide wire. The driving gear 15 is 1, and it is also 1 to compress tightly silica gel gyro wheel 17, and driving gear 15 rotates and drives drive silica gel gyro wheel 16 synchronous rotation, and drive silica gel gyro wheel 16 passes through frictional force and drives and compress tightly silica gel gyro wheel 17 and rotate, drives the seal wire motion under the state that compresses tightly the seal wire. The silica gel material is contacted with the guide wire, so that the guide wire is prevented from being worn by hard contact, and the blood vessel is easily punctured by the worn guide wire to cause greater harm.

The number of the drive gears 15 may be two or more. The power transmission between the drive gears 15 is performed through an intermediate gear 23. The diameter of the intermediate gear 23 is smaller than that of the driving gear 15, so that the transmission is more stable. Preferably, three driving gears 15 are uniformly distributed on the driving mechanism in the axial direction, so that the number of contact points is more, the guide wire is more stable in conveying, and the guide wire is not easy to bend in the conveying process.

Referring to fig. 4, in an alternative embodiment, a transmission mechanism 20 is connected to one end of the conveying gear 12 near the conveying body 10. The transmission mechanism 20 further includes a driving cylindrical gear 22 coaxially installed with the bevel gear 21 and the bevel gear 21, and the driving cylindrical gear 22 drives the driving gear 15 to rotate. The transfer gear 12 may be a single face gear with a gear face adjacent one side of the bevel gear 21. The conveying gear 12 may be a double-sided helical gear, and as shown in fig. 6, gear surfaces are provided on both the left and right sides of the conveying gear 12. The end far away from the conveying body 10 is engaged with a second bevel gear 19, and the second bevel gear 19 can be controlled by a motor, so that the rotation of the conveying gear 12 is automatically controlled by the second bevel gear 19 to control the conveying state of the guide wire.

Referring to fig. 4 and 5, in an alternative embodiment, the clutch mechanism 24 includes a clutch projection 241 engaged with the bevel gear 21, and a top bar 242 for mounting the clutch projection 241. The top rod 242 is a central shaft of the clutch lug 241, and the bevel wheel 21 and the driving cylindrical gear 22 are coaxially connected to the top rod 242. The through hole is formed in the middle of the bevel gear 21, and the rod 242 can be inserted. The clutch cam 241 includes a disk 243 and two shoulders 244 disposed at the bottom of the disk 243, preferably two shoulders 244, disposed at the bottom of the disk 243. The bevel wheel 21 is provided with a groove 245 matched with the shoulder 244, and the groove 245 is a cross-shaped groove. The bevel gear 21 is rotatably connected to a mounting seat 25, and the mounting seat 25 is mounted on the conveying body 10. The mounting seat 25 is Z-shaped and fixed to the bottom of the conveying body 10.

Referring to fig. 4, the clutch projection 241 is disposed between the helical gear 21 and the driving spur gear 22, and a spring is disposed between the driving spur gear 22 and the conveying body. The top of the top rod 242 is provided with a spring accommodating cavity.

The concrete actual working process is as follows:

in the initial state, the conveying gear 12 is aligned with the opening 13 of the conveying body 10, and the spring is pressed against the clutch projection 241 to engage with the recess 245. After the guide wire is put in, the guide wire can be driven to rotate by rotating the conveying gear 12. After the guide wire reaches the specified position of the blood vessel, the conveying gear 12 stops rotating. The ejector pin 242 is pushed up to separate the clutch projection 241 from the recess 245. At this time, the conveying gear 12 is rotated again, so that the openings 13 of the conveying body 10 and the conveying gear 12 are kept consistent, and the guide wire is removed. The push rod 242 is no longer pushed upward and the spring pushes down the push rod 242. After the medium is loaded from the opening 13 or other guide wires are replaced, the conveying gear 12 is rotated, after the conveying gear rotates for a certain angle, the clutch lug 241 and the groove 245 are clamped again, and the guide wires rotate along with the conveying gear 12.

The second embodiment:

in order to improve the automation degree, a clutch driving mechanism 26 is added on the basis of the first embodiment. The clutch drive mechanism 26 is described in detail below.

Referring to fig. 2, in an alternative embodiment, the clutch driving mechanism 26 is connected to the clutch mechanism 24, the clutch driving mechanism 26 includes a first motor 261, a crank 262 mounted on the first motor 261, a slider 263 mounted on the crank 262, a lifting groove 264 disposed on the slider 263, and a lifting push rod 265 lifting along the lifting groove 264, and the lifting push rod 265 controls the clutch of the clutch mechanism 24.

Referring to fig. 2, in an alternative embodiment, the crank 262 is an L-shaped crank, and a moving slot 266 is formed on a side of the crank 262 adjacent to the first motor 261. The L-shaped crank rotates along the central axis of rotation and the moving slot 266 may be configured to be open and not disengage therefrom during forward and reverse rotation of the motor.

Referring to fig. 2, in an alternative embodiment, the first motor 261 is provided with a rotary disc 267, a moving shaft 268 is eccentrically provided on the rotary disc 267, and the moving shaft 268 moves in the moving groove 266. The moving shaft 268 is matched with the opening of the moving groove 266, and the crank 262 is driven to rotate during the rotation of the rotary disc 267.

Referring to fig. 2, in an alternative embodiment, a guide plate 269 is provided between the slider 263 and the crank 262. The guide plate 269 is fixed to another large fixing plate, not shown in the drawing. The large fixed plate is provided with a guide rail for the guide plate 269 to move radially. The slider 263 can be moved more smoothly by the guide plate 269.

The specific working mode is as follows:

the first motor 261 rotates the rotary plate 267, and the movable shaft 268 rotates along with the rotary plate 267. The middle part of the L-shaped crank can rotate. The crank 262 rotates when the moving shaft 268 moves the moving groove 266 of the crank 262. The other side of the crank 262 is connected to a guide plate 269, the guide plate 269 being constrained to move back and forth. The sliding block 263 also moves back and forth along with the guide plate 269, and the sliding block 263 is provided with a lifting groove 264, so that during the movement of the sliding block 263, the lifting push rod 265 can lift along the lifting groove 264 to jack up or separate the push rod 242, which can replace the way of manually jacking the push rod 262.

The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents or improvements made within the spirit and principle of the present invention should be included in the scope of the present invention.

Claims (14)

1. A clutch device for percutaneous access device replacement, comprising a delivery body (10); the method is characterized in that: the conveying gear (12) is rotatably arranged on one side of the conveying body (10), the conveying body (10) and the conveying gear (12) are axially penetrated through by an opening (13), and the percutaneous intervention device is clamped in through the opening (13); the percutaneous interventional device is characterized in that a conveying mechanism (14) driven by the conveying gear (12) is arranged on the conveying body (10), the conveying gear (12) drives the conveying mechanism (14) to convey the percutaneous interventional device through a transmission mechanism (20), and the transmission mechanism (20) comprises a clutch mechanism (24) which can be separated from the conveying gear (12) in the lifting process.

2. A clutch device for percutaneous access device replacement as claimed in claim 1, wherein: the conveying mechanism (14) comprises a driving gear (15) driven by the conveying gear (12), a driving silica gel roller (16) driven by the driving gear (15) and a pressing silica gel roller (17) corresponding to the driving silica gel roller (16); a transmission mechanism (20) is arranged between the driving gear (15) and the conveying gear (12).

3. A clutch device for percutaneous access device replacement as claimed in claim 1, wherein: one end of the conveying gear (12) close to the conveying body (10) is connected with the transmission mechanism (20).

4. A clutch device for percutaneous access device replacement as claimed in claim 2, wherein: the transmission mechanism (20) also comprises a driving cylindrical gear (22) which drives the driving gear (15) to rotate by virtue of a helical gear (21) and a driving cylindrical gear (22) which is coaxially arranged with the helical gear (21).

5. A clutched device for percutaneous access device replacement as claimed in claim 4, wherein: the clutch mechanism (24) comprises a clutch lug (241) clamped with the bevel borrowing wheel (21) and a push rod (242) used for installing the clutch lug (241).

6. A clutched device for percutaneous access device replacement as claimed in claim 5, wherein: the ejector rod (242) is a central shaft of the clutch lug (241), and the bevel borrowing gear (21) and the driving cylindrical gear (22) are coaxially connected to the ejector rod (242).

7. A clutch device for percutaneous access device replacement as claimed in claim 5, wherein: the clutch lug (241) comprises a disc (243) and a shoulder (244) arranged at the bottom of the disc (243); the bevel borrowing wheel (21) is provided with a groove (245) matched with the shoulder (244).

8. A clutch device for percutaneous access device replacement as claimed in claim 4, wherein: the bevel gear (21) is rotatably connected to a mounting seat (25), and the mounting seat (25) is mounted on the conveying body (10).

9. A clutch device for percutaneous access device replacement as claimed in claim 5, wherein: the clutch lug (241) is arranged between the bevel borrowing gear (21) and the driving cylindrical gear (22), and a spring is arranged between the driving cylindrical gear (22) and the conveying body.

10. A clutch device for percutaneous access device replacement as claimed in claim 1, wherein: the clutch mechanism (24) is connected with a clutch driving mechanism (26), the clutch driving mechanism (26) comprises a first motor (261), a crank (262) installed on the first motor (261), a slider (263) installed on the crank (262), a lifting groove (264) arranged on the slider (263) and a lifting push rod (265) lifted along the lifting groove (264), and the lifting push rod (265) controls the clutch of the clutch mechanism (24).

11. A clutch device for percutaneous access device replacement as claimed in claim 10, wherein: the crank (262) is an L-shaped crank, and a moving groove (266) is formed in one side, close to the first motor (261), of the crank (262).

12. A clutch device for percutaneous access device replacement as claimed in claim 11, wherein: be equipped with carousel (267) on first motor (261), be equipped with removal axle (268) on carousel (267) eccentric, removal axle (268) are in move the groove (266).

13. A clutch device for percutaneous access device replacement as claimed in claim 12, wherein: a guide plate (269) is further arranged between the sliding block (263) and the crank (262).

14. A robotic system, characterized by: use of a clutch device for percutaneous access device replacement as claimed in any of claims 1-13.

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