CN115702828A - Intervene operation robot pipe rotary device - Google Patents

Abstract

The invention relates to a catheter rotating device of an interventional operation robot, which comprises: the top of the box body is provided with a sterile box bottom shell; the Y valve bracket assembly is arranged on the bottom shell of the sterile box; the pinch roller in the friction wheel assembly can be abutted and rotated with the Y valve in the Y valve bracket assembly; the rotating motor is fixed at one end of the front side wall of the box body and drives the pressing wheel to rotate through the transmission pair, the pressing wheel drives the Y valve to rotate, and the pressing wheel is a disposable consumable material; the driver is arranged at the other end of the front side wall of the box body and is electrically connected with the rotating motor, and the driver is in communication connection with the external controller. The Y valve is driven to rotate by the pressing wheel, the pressing wheel is driven to rotate by the rotating motor and the transmission pair, the rotation is manually operated by a doctor outside an operation room through the controller, so that the catheter is accurately controlled to rotate and is not easy to slip, meanwhile, the pressing wheel is a disposable consumable material, is replaced by a new one in each operation, and the problem of inconvenience in sterilizing control parts is solved.

Description

Intervene operation robot pipe rotary device

Technical Field

The invention relates to the technical field of microvascular interventional surgery, in particular to a catheter rotating device of an interventional surgery robot.

Background

The minimally invasive interventional therapy for the cardiovascular and cerebrovascular diseases is a main treatment means for the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.

Firstly, in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, so that the life risk of a patient is caused. Second, the cumulative damage of long-term ionizing radiation can greatly increase the probability of doctors suffering from leukemia, cancer and acute cataract. The phenomenon that the doctor continuously accumulates rays because of the interventional operation becomes a problem that the occupational life of the doctor is damaged and the development of the interventional operation is restricted to be neglected. The problem can be effectively solved by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the harm of radiation to an interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. Rotational control of a catheter is one of the important steps in interventional procedures.

The rotation control of the catheter of the interventional operation robot has the following problems in China: (1) inconvenient for the conduit gripping member to be fixed; (2) sterilization of the control part is inconvenient; (3) the rotation control of the catheter is only applicable to a specific Y valve; and (4) the rotation control of the guide pipe is not accurate and the guide pipe is easy to slip.

Therefore, how to provide a catheter rotating device for an interventional surgical robot is a problem that needs to be solved urgently by those skilled in the art.

Disclosure of Invention

The present invention is directed to solving, at least to some extent, one of the above-mentioned problems in the prior art.

To this end, an object of the present invention is to provide an interventional surgical robotic catheter rotating device,

the invention provides a catheter rotating device of an interventional operation robot, which comprises:

the top of the box body is provided with a sterile box bottom shell;

the Y valve bracket assembly is arranged on the sterile box bottom shell;

the pressing wheel in the friction wheel assembly can be abutted and rotated with the Y valve in the Y valve support assembly;

the rotating motor is fixed at one end of the front side wall of the box body and drives the pressing wheel to rotate through a transmission pair, the pressing wheel drives the Y valve to rotate, and the pressing wheel is a disposable consumable material; and

the driver is arranged at the other end of the front side wall of the box body and electrically connected with the rotating motor, and the driver is in communication connection with the external controller.

According to the technical scheme, compared with the prior art, the invention discloses a catheter rotating device of an interventional operation robot, a Y valve is driven to rotate by a pressing wheel, the pressing wheel is driven to rotate by a rotating motor and a transmission pair, the rotation is that a doctor carries out manual operation outside an operation room by a controller, so that the catheter is accurately controlled to rotate and is not easy to slip, meanwhile, the pressing wheel is a disposable consumable material, a new one is replaced in each operation, and the problem of inconvenience in disinfection of control parts is solved.

Further, the friction wheel assembly includes: the friction output shaft, the pinch roller shaft, the annular magnet and the synchronous belt pulley; the friction output shaft is a stepped shaft, the synchronous belt wheel, the annular magnet and the pinch roller shaft are sequentially sleeved on the stepped shaft from one end to the other end, and the pinch roller is fixed on the pinch roller shaft.

The other purpose of the invention is that the device also comprises a pressure arm, wherein the pressure arm comprises a pressure arm front arm, a force sensor and a pressure arm rear arm; one end of the pressure arm forearm is an annular sleeve, the synchronous pulley is matched with the output shaft in a flat wire mode, a large bearing is sleeved outside a connecting shaft sleeve of the synchronous pulley, and the annular sleeve is fixed on an outer ring of the large bearing; the other end of the pressure arm front arm is fixed on one side of the force sensor, and the other side of the force sensor is fixed on one end of the pressure arm rear arm; the other end of the rear arm of the pressure arm is connected with a first gear.

Furthermore, the output end of the rotating motor is connected with a second gear, the second gear is meshed with a third gear, the third gear, a belt pulley and the first gear are coaxially arranged, the belt pulley is connected with the synchronous belt pulley through a belt, a fourth gear is meshed below the second gear, the middle of the fourth gear is connected onto a positioning shaft through a bearing, the positioning shaft is fixed on an installation mainboard, and the installation mainboard is fixed on the front wall of the box body through a support frame and is located in front of the rotating motor.

According to the scheme, the motor is rotated to control the supporting arm to press the Y valve tightly, so that the problem that a conduit clamping part is inconvenient to fix is solved.

Furthermore, the installation main board comprises a bottom board, a motor fixing plate, a connecting plate and a positioning shaft bracket are fixed on the bottom board, and the positioning shaft penetrates into the positioning shaft bracket; a lead screw stepping motor is fixed on the motor fixing plate, a track is fixed on the front portion of the top end of the bottom plate, a sliding block slides on the track, a rack plate is fixed on the top of the sliding block, and the rack plate is located below the fourth gear and is in meshing transmission with the fourth gear; a nut of the lead screw stepping motor is arranged at the end part of the rack plate; the screw rod stepping motor controls the rack plate to move back and forth through rotation so as to drive the rear arm of the pressure arm to rotate; the lead screw stepping motor is electrically connected with the driver.

Furthermore, the pinch roller is made of silica gel.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic structural view of a catheter rotating device of an interventional surgical robot provided by the invention;

FIG. 2 is an exploded view of a catheter rotation device of an interventional surgical robot provided by the present invention;

FIG. 3 is a schematic view of the friction wheel;

in the figure: 101-a box body; 102-a rotating motor; 103-Y valve carriage; 104-sterile case bottom case; 105-a synchronous pulley; 106-Y valve carriage assembly; a 107-Y valve; 108-large bearing; 109-a driver; 110-ring magnet; 111-a friction output shaft; 112-arm forearm press; 113-a pinch roller shaft; 114-a pressure wheel; 115-lead screw stepper motor; 116-a force sensor; 117-mounting the motherboard; 118-a slider; 119-a rack plate; 120-a fourth gear; 121-a positioning shaft; 122-arm rear arm pressing; 123-a pulley; 124-axis; 125-small bearing; 126-second gear; 127-a motor fixing frame; 128-support frame.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. 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.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

Referring to fig. 1-3, in one embodiment of the present invention, there is provided an interventional surgical robotic catheter rotating device comprising: the box body 101, the top of the box body 101 is provided with a sterile box bottom shell 104; a Y-valve carriage assembly 106, said Y-valve carriage assembly 106 disposed on said sterility case bottom case 104; a friction wheel assembly, wherein a pressure wheel 114 in the friction wheel assembly can be abutted and rotated with a Y valve 107 in the Y valve bracket assembly 106, the Y valve bracket assembly 106 is connected with the disinfection box bottom case 104, the Y valve 107 is connected with the Y valve bracket assembly 106, and the Y valve bracket 103 is connected with the box body 101 and is used for supporting the disinfection box bottom case 104; the motor fixing frame 127 is connected with the box body 101, and meanwhile, the motor fixing frame 127 is fixed with the rotating motor 102; the rotating motor 102 is fixed at one end of the front side wall of the box body 101, drives the pressing wheel 114 to rotate through a transmission pair, the pressing wheel 114 drives the Y valve 107 to rotate, and the pressing wheel 114 is disposable consumable and is subjected to sterilization treatment; and the driver 109 is arranged at the other end of the front side wall of the box body 101, electrically connected with the rotating motor 102, and the driver 109 is in communication connection with an external controller. Rotating motor 102, when rotated, may transfer an output force to puck 114. Pinch roller 114 is compressing tightly the back, can with the laminating of the front end rotating part of Y valve, rotatory pinch roller 114 back can be so that the front end rotating part of Y valve follows the rotation, and then drives and guides the pipe and follow the rotation to reach the rotation control to guiding the pipe. The catheter rotation operation is controlled by a doctor outside an operating room through a controller or a control box, and the operation is convenient. The guide catheter can be rotated clockwise and anticlockwise at any time, so that the operation requirement of the operation on the guide catheter is met.

Advantageously, the friction wheel assembly comprises: a friction output shaft 111, a pinch roller shaft 113, a ring magnet 110, and a timing pulley 105; the friction output shaft 111 is a stepped shaft, the synchronous pulley 105, the annular magnet 110, the pinch roller shaft 113, and the pinch roller 114 are sequentially sleeved on the stepped shaft from one end to the other end, and are fixed on the pinch roller shaft 113. The friction wheel can be assembled and disassembled without tools. The installation mode is plug-in type. The pinch roller is connected with the friction output shaft 111, and the annular magnet 110 is arranged on the friction output shaft 111, so that the pinch roller can be tightly attracted with the device.

The invention also includes a press arm comprising a press arm front arm 112, a force sensor 116, and a press arm rear arm 122; one end of the pressure arm front arm 112 is an annular sleeve, the synchronous pulley 105 is matched with the output shaft 111 in a flat wire mode, a large bearing 108 is sleeved outside a connecting shaft sleeve of the synchronous pulley 105, and the annular sleeve is fixed on an outer ring of the large bearing 108; the other end of the pressure arm front arm 112 is fixed to one side of the force sensor 116, and the other side of the force sensor 116 is fixed to one end of the pressure arm rear arm 122; the other end of the rear arm 122 of the pressing arm is connected with a first gear.

Specifically, the output end of the rotating motor 102 is connected with a second gear 126, the second gear 126 is engaged with a third gear, the third gear, a pulley 123 and the first gear are coaxially arranged 124, the pulley 123 is connected with the synchronous pulley 105 through a belt, a fourth gear 120 is engaged below the second gear, the middle part of the fourth gear 120 is connected to a positioning shaft 121 through a small bearing 125, the positioning shaft 121 is fixed on the mounting main board 117, and the mounting main board 117 is fixed on the front wall of the box body 101 through a support frame 128 and is located in front of the rotating motor 102. The motor mount 127 is connected to the mounting main board 117.

Referring to fig. 2, the mounting main plate 117 includes a bottom plate, a motor fixing plate, a connecting plate and a positioning shaft bracket are fixed on the bottom plate, and the positioning shaft 121 penetrates into the positioning shaft bracket; a lead screw stepping motor 115 is fixed on the motor fixing plate, a track is fixed on the front portion of the top end of the bottom plate, a sliding block 118 is arranged on the track in a sliding mode, a rack plate 119 is fixed on the top of the sliding block 118, and the rack plate 119 is located below the fourth gear 120 and is in meshed transmission with the fourth gear 120; a nut of the lead screw stepping motor 115 is mounted at the end of the rack plate 119; the lead screw stepping motor 115 controls the rack plate 119 to move back and forth through rotation, so as to drive the pressure arm rear arm 122 to rotate; the lead screw stepping motor 115 is electrically connected to the driver 109. Because the rear arm 122 and the front arm 112 are connected by the force sensor 116. After the pinch roller presses the Y valve, the force sensor 116 has a change of a plurality of values, and when the specified stress is reached, the lead screw stepping motor 115 stops moving. When the lead screw stepping motor rotates reversely, the pressing arm can be lifted, and the purpose of loosening the Y valve can be achieved.

In the above embodiment, the pressing wheel 114 is made of silicone.

When the device is used, the device adopts an automatic initialization mode, so that the device is convenient for a doctor to use. At the beginning of the procedure, first, the Y-valve is placed in its mounting assembly and the knob is tightened. The press arm of the device is restored to a nearly vertical position. The surgeon then places a new puck on the friction output shaft. Then the cover of the disinfection box is closed, and after the system receives a disinfection box closing signal, the system automatically finishes clamping the pinch roller Y valve. The physician then controls the rotation of the guide catheter, both clockwise and counterclockwise, via a controller or control box outside the operating room. After the operation is finished, when the cover of the disinfection box is opened, the system automatically lifts the friction wheel to be close to the vertical position. And finally, the doctor takes down the pressing wheel and uniformly recovers the pressing wheel.

In the prior art, a rotating part of a specific structure for controlling the front end of the Y valve is adopted, and because the shape of different Y valves is different, the diameter and the size of the rotating part at the front end of the Y valve are also different. The fixed Y valve is selected to facilitate the structural design, but the practical clinical use is greatly limited. There are dozens of kinds of Y valves on the market, and the selection of different Y valves for other devices is likely to fail to realize the rotation control of the catheter. The invention adopts the matching of the pressure arm and the friction wheel to tightly press the front end of the Y valve from top to bottom. The pressure sensor on the pressure arm can detect the pressure applied to the front end of the Y valve by the pressure wheel in real time, and the motor is controlled, so that the pressure arm is guaranteed to always press the front end of the Y valve. By adopting the mode, the Y-shaped valve can not be limited to a specific Y-shaped valve, namely, the device can compress the front end of the Y-shaped valve regardless of the diameter and the shape of a rotating part at the front end of the Y-shaped valve, ensures that the pressure rod can not slide and the like when rotating the front end of the Y-shaped valve, and is suitable for all Y-shaped valves.

Referring specifically to FIG. 1, trailing arm 122, force sensor 116, leading arm 112, and cooperating pinch roller 114 are shown, pinch roller 114 cooperating with the front end of Y-valve 107. When the pinch roller touches the Y valve downwards, the force sensor 116 (adopting a pressure sensor) detects the stress change, and when the pressing force reaches a certain value, the pressing arm stops continuing to finish the clamping action downwards.

The invention solves the problems that no rotation control device suitable for an interventional operation robot to guide a catheter is available at the present stage, the disinfection of the rotation control device is complicated, the catheter rotation control device is not suitable for a universal Y valve, and the catheter rotation control is not accurate. The device is specially suitable for catheter rotation control of an interventional operation robot, can be suitable for most general Y valves on the market, and has a wide application range. The invention adopts a disposable consumable material mode which is convenient to install and dismantle to control the rotation of the catheter, thereby effectively solving the problem of complicated disinfection of the device in actual clinic. Overall structure is simple, and stability is good, adopts the modular mode, the equipment and the debugging of being convenient for. The invention adopts the mode of automatically clamping the Y valve and automatically loosening after the use is finished, and has the advantages of simple and convenient use, simple operation and strong practicability.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (6)

1. An interventional surgical robotic catheter rotation device, comprising:

the box body (101), the top of the box body (101) is provided with a sterile box bottom shell (104);

a Y-valve carriage assembly (106), said Y-valve carriage assembly (106) disposed on said sterility case bottom case (104);

a friction wheel assembly, wherein a pressure wheel (114) in the friction wheel assembly is connected with a Y valve (107) in the Y valve bracket assembly (106) in an abutting mode in a rotatable mode;

the rotating motor (102), the rotating motor (102) is fixed at one end of the front side wall of the box body (101), the rotating motor drives the pressing wheel (114) to rotate through a transmission pair, the pressing wheel (114) drives the Y valve (107) to rotate, and the pressing wheel (114) is a disposable consumable; and

the driver (109), the driver (109) set up in box body (101) front side wall other end, its with rotating motor (102) electric connection, driver (109) and external control ware communication connection.

2. An interventional surgical robotic catheter rotation device of claim 1, wherein the friction wheel assembly comprises: a friction output shaft (111), a pinch roller shaft (113), a ring magnet (110) and a synchronous pulley (105); the friction output shaft (111) is a stepped shaft, the synchronous pulley (105), the annular magnet (110) and the pinch roller shaft (113) are sequentially sleeved on the stepped shaft from one end to the other end, and the pinch roller (114) is fixed on the pinch roller shaft (113).

3. An interventional surgical robotic catheter rotation device according to claim 2, further comprising a press arm front arm (112), a force sensor (116), and a press arm rear arm (122); one end of the pressure arm front arm (112) is an annular sleeve, the synchronous pulley (105) is matched with the output shaft (111) in a flat wire mode, a large bearing (108) is sleeved outside a connecting shaft sleeve of the synchronous pulley (105), and the annular sleeve is fixed on an outer ring of the large bearing (108); the other end of the pressure arm front arm (112) is fixed on one side of the force sensor (116), and the other side of the force sensor (116) is fixed on one end of the pressure arm rear arm (122); the other end of the pressure arm rear arm (122) is connected with a first gear.

4. The interventional surgical robot catheter rotating device according to claim 3, wherein the output end of the rotating motor (102) is connected with a second gear (126), the second gear (126) is engaged with a third gear, the third gear, a pulley (123) and a first gear are coaxially (124) arranged, the pulley (123) is connected with the synchronous pulley (105) through a belt, a fourth gear (120) is engaged below the second gear, the middle part of the fourth gear (120) is connected with a positioning shaft (121) through a bearing, the positioning shaft (121) is fixed on a mounting main plate (117), and the mounting main plate (117) is fixed on the front wall of the box body (101) through a support frame (128) and is positioned in front of the rotating motor (102).

5. The interventional surgical robot catheter rotating device according to claim 4, wherein the mounting main board (117) comprises a bottom board, a motor fixing board, a connecting board and a positioning shaft bracket are fixed on the bottom board, and the positioning shaft (121) penetrates into the positioning shaft bracket; a lead screw stepping motor (115) is fixed on the motor fixing plate, a track is fixed on the front portion of the top end of the bottom plate, a sliding block (118) slides on the track, a rack plate (119) is fixed on the top of the sliding block (118), and the rack plate (119) is located below the fourth gear (120) and is in meshed transmission with the fourth gear (120); a nut of the lead screw stepping motor (115) is arranged at the end part of the rack plate (119); the lead screw stepping motor (115) controls the rack plate (119) to move back and forth through rotation, so that the pressure arm rear arm (122) is driven to rotate; the lead screw stepping motor (115) is electrically connected with the driver (109).

6. The interventional surgical robot catheter rotating device according to any one of claims 1-5, wherein the pressing wheel (114) is made of silicone.

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