CN115887865A - Interventional instrument motion control device - Google Patents

Interventional instrument motion control device Download PDF

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Publication number
CN115887865A
CN115887865A CN202211216286.8A CN202211216286A CN115887865A CN 115887865 A CN115887865 A CN 115887865A CN 202211216286 A CN202211216286 A CN 202211216286A CN 115887865 A CN115887865 A CN 115887865A
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China
Prior art keywords
assembly
wheel assembly
driving
gear
mounting plate
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CN202211216286.8A
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Chinese (zh)
Inventor
肖莹
刘宏斌
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Institute of Automation of Chinese Academy of Science
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Institute of Automation of Chinese Academy of Science
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Application filed by Institute of Automation of Chinese Academy of Science filed Critical Institute of Automation of Chinese Academy of Science
Priority to CN202211216286.8A priority Critical patent/CN115887865A/en
Priority to PCT/CN2022/127119 priority patent/WO2024065910A1/en
Publication of CN115887865A publication Critical patent/CN115887865A/en
Pending legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • 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

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Public Health (AREA)
  • Engineering & Computer Science (AREA)
  • General Health & Medical Sciences (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Pulmonology (AREA)
  • Biophysics (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Accommodation For Nursing Or Treatment Tables (AREA)
  • Endoscopes (AREA)

Abstract

The invention discloses an interventional instrument motion control device, which comprises a fixed component and a detachable component; the fixing assembly comprises a first seat body, a first driving mechanism and a second driving mechanism, and the first driving mechanism and the second driving mechanism are respectively arranged on the first seat body; the detachable assembly comprises a second seat body, a hollow rotating shaft, a clamping wheel assembly and a clamping assembly; the first base body and the second base body are detachably connected; the hollow rotating shaft and the clamping wheel component are respectively and rotatably arranged on the second base body, and the interventional instruments can sequentially penetrate through the shaft center hole of the hollow rotating shaft and the clamping port of the clamping wheel component; the clamping assembly is connected with the hollow rotating shaft; the first driving mechanism is connected with the hollow rotating shaft so as to drive the interventional instrument to rotate circumferentially; the second driving mechanism is connected with the clamping wheel assembly to drive the interventional instrument to axially move. The invention not only can realize the disassembly of the whole device and the axial feeding and rotation of the interventional instrument, but also can avoid the problem of motor cable winding in use.

Description

Interventional instrument motion control device
Technical Field
The invention relates to the technical field of medical instruments, in particular to a motion control device of an interventional instrument.
Background
The interventional instrument is a surgical instrument used for interventional therapy, and during the interventional therapy, a micro channel with the diameter of a few millimeters is made on a blood vessel or skin through a natural cavity of a human body or by using a surgical means, so that the interventional instruments such as a guide wire, a puncture needle or a catheter and the like enter the human body to carry out minimally invasive therapy or examination. The interventional device is a key link of interventional therapy, and the interventional device needs to be provided with a relevant motion control device so as to guide, support and feed the interventional device before the interventional device enters a human body.
The existing interventional device motion control device can only realize axial feeding of the interventional device or rotary motion of the interventional device independently, cannot realize two types of motion in the same device, or has the problems of complex structure and incapability of being disassembled when the axial feeding and the rotary motion of the interventional device are carried out, so that components in contact with the interventional device are not convenient to disinfect and cross contamination is easy to generate; in addition, when the rotary motion of the interventional device is controlled, a driving motor of the conventional interventional device motion control device is usually fixedly connected with a roller driving mechanism, and when the roller driving mechanism is driven to rotate due to the rotation requirement of the interventional device, the driving motor can rotate synchronously along with the roller driving mechanism, so that a motor cable is easy to wind.
Disclosure of Invention
The invention provides a motion control device of an interventional instrument, which is used for solving at least one technical problem in the prior art, realizing the driving of the interventional instrument to simultaneously carry out axial feeding and rotary motion, and facilitating the disassembly and cleaning of a device contacted with the interventional instrument.
The invention provides an interventional instrument motion control device, which comprises: a fixed component and a detachable component; the fixing assembly comprises a first seat body, a first driving mechanism and a second driving mechanism, and the first driving mechanism and the second driving mechanism are respectively arranged on the first seat body;
the detachable component comprises a second base, a hollow rotating shaft, a clamping wheel component and a clamping component; the first base body and the second base body are detachably connected; the hollow rotating shaft and the clamping wheel assembly are respectively and rotatably arranged on the second base body, and an interventional instrument can sequentially penetrate through a shaft center hole of the hollow rotating shaft and a clamping opening of the clamping wheel assembly; the clamping assembly is connected with the hollow rotating shaft so as to clamp the interventional instrument in the axial hole;
the first driving mechanism is connected with the hollow rotating shaft so as to drive the interventional instrument to rotate circumferentially through the clamping assembly and the hollow rotating shaft; the second driving mechanism is connected with the pinch roller assembly so as to drive the interventional instrument to axially move through the pinch roller assembly.
According to the motion control device of the interventional instrument, an opening is formed in the side wall of the hollow rotating shaft and is communicated with the shaft center hole;
the clamping assembly is arranged on the outer side wall of the hollow rotating shaft, and at least part of the clamping assembly can extend into the shaft center hole through the opening so as to press the interventional device on the hole wall of the shaft center hole.
According to the motion control device of the interventional instrument, the clamping assembly comprises a fixed seat, a pressing piece and a first elastic piece;
the fixed seat is arranged on the outer side wall of the hollow rotating shaft; the pressing piece is movably arranged on the fixed seat and can be arranged in the opening in a penetrating manner; the first elastic piece is arranged between the fixed seat and the pressing piece;
under the condition that the first elastic piece is in a first state, the pressing end of the pressing piece is positioned in the shaft center hole, and the interventional instrument is pressed on the hole wall of the shaft center hole; with the first resilient member in the second state, the pressing end of the pressing member is separated from the interventional instrument.
According to the motion control device of the interventional instrument, the pressing piece comprises an operating rod and a pressing block, the fixed seat is provided with a guide hole, the operating rod is movably arranged in the guide hole in a penetrating mode, and the pressing block is arranged at one end of the operating rod;
the first elastic piece comprises a spring, the spring is sleeved on the operating rod, one end of the spring is abutted to the fixing seat, and the other end of the spring is abutted to the pressing block.
According to the interventional instrument motion control device provided by the invention, the first driving mechanism comprises a first driving motor and a first gear transmission component;
the first gear transmission assembly at least comprises a first gear and a second gear, the output end of the first driving motor is connected with the first gear, the first gear is in power coupling connection with the second gear, and the second gear is coaxially arranged with the hollow rotating shaft.
According to the motion control device of the interventional instrument, the clamping wheel assembly comprises a driving wheel assembly and a driven wheel assembly, and the clamping opening is formed between the driving wheel assembly and the driven wheel assembly;
the second driving mechanism is connected with the driving wheel assembly, and the driven wheel assembly is movably arranged on the second seat body and can move between a first position close to the driving wheel assembly and a second position far away from the driving wheel assembly.
According to the motion control device of the interventional instrument, the second driving mechanism comprises a second driving motor, a bevel gear transmission component and a second gear transmission component;
the bevel gear transmission component comprises a first bevel gear and a second bevel gear, and the first bevel gear and the second bevel gear are respectively rotatably arranged on the first seat body; the second gear transmission assembly comprises a transmission gear and a driving gear;
the output end of the second driving motor is coaxially connected with the first bevel gear, the first bevel gear is meshed with the second bevel gear, the transmission gear is coaxially connected with the second bevel gear, the transmission gear is meshed with the driving gear, and the driving gear is coaxially connected with the driving wheel assembly.
According to the motion control device of the interventional instrument provided by the invention, the second seat body comprises a first mounting plate and a second mounting plate;
the first mounting plate and the second mounting plate are arranged at intervals, the hollow rotating shaft is rotatably arranged between the first mounting plate and the second mounting plate, and the first mounting plate and the second mounting plate are both provided with the clamping wheel assembly;
the driving wheel assembly on the first mounting plate and the driving wheel assembly on the second mounting plate are in power coupling connection through a third gear transmission assembly so as to realize synchronous rotation;
the driven wheel assembly on the first mounting plate and the driven wheel assembly on the second mounting plate are in linkage connection to achieve synchronous movement between the first position and the second position.
According to the motion control device of the interventional instrument, sliding guide mechanisms are arranged between the driven wheel assembly on the first mounting plate and between the driven wheel assembly on the second mounting plate and the second mounting plate; the driven wheel assembly on the first mounting plate is connected with the driven wheel assembly on the second mounting plate through a linkage piece;
the sliding guide mechanism comprises a sliding rail and a sliding block, and the sliding rail and the sliding block are in sliding fit along the connecting line direction of the first position and the second position.
According to the motion control device of the interventional instrument, provided by the invention, the first seat body is also provided with a third driving mechanism; the third driving mechanism comprises a third driving motor, a lead screw transmission mechanism and a driving rod;
the output end of the third driving motor is connected with a lead screw of the lead screw transmission mechanism, a lead screw nut of the lead screw transmission mechanism is connected with the driving rod, and the driving rod is used for driving the driven wheel assembly to move relative to the second seat body along the connecting line direction of the first position and the second position.
According to the motion control device of the interventional instrument, the first seat body and the second seat body are detachably connected through the quick release assembly; the quick release assembly comprises a first positioning part, a second positioning part and a pressing claw assembly; the pressing claw assembly comprises a pressing claw seat, a second elastic piece and a pressing claw;
the first positioning part and the pressing claw are arranged on the first seat body, and the second positioning part is arranged on the second seat body; the first positioning part is provided with a first through hole, the second positioning part is provided with a second through hole, and the first positioning part and the second positioning part are connected through a positioning structure to enable the first through hole and the second through hole to be communicated;
the middle part of the pressing claw is rotatably arranged on the pressing claw seat, the first end of the pressing claw is connected with the pressing claw seat through the second elastic piece, and the second end of the pressing claw can penetrate through the first through hole and the second through hole and extends to one side, away from the first positioning part, of the second positioning part;
under the condition that the second elastic piece is in an initial state, the second end of the pressing claw is clamped with the second positioning part, so that the first positioning part and the second positioning part are connected into a whole; in a state where the second elastic member is in a compressed state, the second end of the pressing claw and the second positioning member are separated so that the first positioning member and the second positioning member can be separated.
The interventional instrument motion control device provided by the invention comprises a fixed assembly and a detachable assembly, and the detachable assembly is conveniently detached from the fixed assembly for cleaning by detachably connecting the first base body of the fixed assembly and the second base body of the detachable assembly.
Meanwhile, the driving part and the executing part which are related to the interventional device in the interventional device motion control device are arranged on the first base body and the second base body, the interventional device sequentially penetrates through the shaft center hole of the hollow rotating shaft and the clamping opening of the clamping wheel assembly, after the fixing assembly and the detachable assembly are assembled, the interventional device in the hollow rotating shaft is clamped through the clamping assembly, the hollow rotating shaft is driven by the first driving mechanism to rotate, the interventional device can circumferentially rotate along with the hollow rotating shaft, the clamping wheel assembly is driven to rotate through the second driving mechanism, the clamping action of the clamping wheel assembly can be used for driving the interventional device to axially move, and the problem that the motor cable is easy to wind due to the fact that the existing driving motor synchronously rotates along with the roller driving mechanism is solved.
Therefore, the invention not only can realize the disassembly of the whole device and the axial feeding and rotation of the interventional instrument, but also can avoid the problem of motor cable winding in use.
Meanwhile, based on the arrangement, the separation of the rotation function and the axial feeding function of the interventional device can be realized, the detachable assembly can be conveniently and quickly mounted and dismounted, the complexity of the design structure is simplified by the whole set of interventional device motion control device, the miniaturization design of the whole structure is realized, and the position and the posture of the whole set of interventional device motion control device can be conveniently adjusted through the mechanical arm, so that the use requirements of various application scenes are met.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed for the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and those skilled in the art can also obtain other drawings according to the drawings without creative efforts.
Fig. 1 is a schematic structural diagram of an interventional instrument motion control device provided by the present invention;
FIG. 2 is one of the structural schematic diagrams of the removable assembly provided by the present invention;
FIG. 3 is a second schematic view of the detachable assembly provided by the present invention;
FIG. 4 is a schematic view of the structure of the hollow rotating shaft and the clamping assembly provided by the present invention;
FIG. 5 is one of the schematic structural views of the fixing assembly provided in the present invention;
FIG. 6 is a second schematic structural view of a fixing assembly provided in the present invention;
fig. 7 is a schematic structural view of the quick release assembly provided by the present invention.
Reference numerals:
1. a fixing assembly; 11. a first seat body; 12. a first drive mechanism; 13. a second drive mechanism; 14. a third drive mechanism; 121. a first drive motor; 122. a first gear assembly; 1221. a first gear; 1222. a second gear; 1223. a third gear; 131. a second drive motor; 132. a bevel gear drive assembly; 133. a second gear drive assembly; 134. a third gear assembly; 1321. a first bevel gear; 1322. a second bevel gear; 1331. a transmission gear; 1332. a drive gear; 1341. a first synchronizing gear; 1342. a second synchronizing gear; 141. a third drive motor; 142. a lead screw transmission mechanism; 143. a drive rod;
2. a detachable component; 21. a second seat body; 22. a hollow rotating shaft; 23. a pinch wheel assembly; 24. a clamping assembly; 211. a first mounting plate; 212. a second mounting plate; 213. a slide guide mechanism; 221. an opening; 231. a drive wheel assembly; 232. a driven wheel assembly; 233. a linkage member; 241. a fixed seat; 242. a pressing member; 243. a first elastic member; 2421. an operating lever; 2422. briquetting; 2131. a slide rail; 2132. a slider;
3. a quick release assembly; 31. a first positioning member; 32. a second positioning member; 33. a pressing claw component; 311. a first through hole; 321. a second through hole; 331. a claw pressing seat; 332. a second elastic member; 333. and pressing the claws.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The following describes the interventional instrument motion control device provided by the present invention in detail through specific embodiments and application scenarios thereof with reference to fig. 1 to 7.
As shown in fig. 1, the present embodiment provides an interventional instrument motion control device, including: a fixed component 1 and a detachable component 2; the fixing assembly 1 includes a first seat 11, a first driving mechanism 12, a second driving mechanism 13 and a third driving mechanism 14, wherein the first driving mechanism 12, the second driving mechanism 13 and the third driving mechanism 14 are respectively disposed on the first seat 11.
The detachable component 2 comprises a second base 21, a hollow rotating shaft 22, a clamping wheel component 23 and a clamping component 24; the first seat 11 and the second seat 21 can be detachably connected by locking members and/or positioning structures such as bolts and pins; the hollow rotating shaft 22 and the clamping wheel assembly 23 are respectively and rotatably arranged on the second seat body 21, and the interventional device can sequentially penetrate through an axial hole of the hollow rotating shaft 22 and a clamping opening of the clamping wheel assembly 23; a clamping assembly 24 is coupled to hollow shaft 22 for clamping an interventional instrument within the bore.
Wherein the first driving mechanism 12 is connected with the hollow rotating shaft 22 to drive the interventional instrument to rotate circumferentially through the clamping assembly 24 and the hollow rotating shaft 22; the second drive mechanism 13 is coupled to the pinch roller assembly 23 to drive the interventional instrument for axial movement by the pinch roller assembly 23.
In practical applications, the hollow rotating shaft 22 and the clamping wheel assembly 23 can be oppositely arranged to ensure that the axial hole of the hollow rotating shaft 22 and the clamping opening of the clamping wheel assembly 23 are distributed on the extending path of the interventional instrument. For example, the present embodiment may provide that the clamping ports are distributed along the center line of the axial hole, or the offset distance of the clamping ports relative to the center line of the axial hole is controlled within a predetermined range, so as to ensure that the interventional instrument can pass through the clamping ports of the clamping wheel assembly 23 again after passing through the axial hole of the hollow rotating shaft 22.
Meanwhile, the pinch roller assembly 23 may be provided with a plurality of pinch rollers forming a pinch port therebetween for pinching the interventional instrument, and the second driving mechanism 13 may be connected to at least one of the plurality of pinch rollers. Since each of the clamping wheels is in rolling contact with the interventional instrument, and the clamping port between the clamping wheels clamps the interventional instrument, when at least one of the clamping wheels is driven to rotate by the second driving mechanism 13, the interventional instrument can be driven to be directionally fed along the axial direction based on the contact friction force between the clamping wheel and the interventional instrument.
In addition, the first seat 11 of the present embodiment is adapted to be detachably connected to the mechanical arm, and the position and the posture of the whole interventional device motion control apparatus can be adjusted by the mechanical arm.
From the above, the interventional instrument motion control device of the invention can be conveniently detached from the fixed component 1 for cleaning or one-time replacement by detachably connecting the first seat 11 of the fixed component 1 and the second seat 21 of the detachable component 2 through the arrangement of the fixed component 1 and the detachable component 2.
Meanwhile, as the driving part and the executing part which are related to the interventional device in the interventional device motion control device are arranged on the first seat body 11 and the second seat body 21, and the interventional device sequentially penetrates through the axial hole of the hollow rotating shaft 22 and the clamping port of the clamping wheel assembly 23, after the fixed assembly 1 and the detachable assembly 2 are assembled, the interventional device in the hollow rotating shaft 22 is clamped through the clamping assembly 24, the first driving mechanism 12 drives the hollow rotating shaft 22 to rotate, so that the interventional device can circumferentially rotate along with the hollow rotating shaft 22, and the clamping wheel assembly 23 is driven to rotate through the second driving mechanism 13, the clamping action of the clamping wheel assembly 23 can be used for driving the interventional device to axially move, and the problem that the driving motor synchronously rotates along with the roller driving mechanism to cause the winding of the motor cable in the prior art is avoided.
Therefore, the invention not only can realize the detachability of the whole device and the axial feeding and rotation of the interventional instrument, but also can avoid the problem of motor cable winding in use.
In some embodiments, as shown in fig. 1 and 4, the side wall of the hollow rotating shaft 22 of the present embodiment is provided with an opening 221, and the opening 221 is communicated with the shaft center hole. The axial hole penetrates through the hollow rotating shaft 22 along the axial direction of the hollow rotating shaft 22, and is not specifically illustrated in fig. 4.
Meanwhile, the clamping assembly 24 is disposed on the outer side wall of the hollow rotating shaft 22, the clamping assembly 24 may be a bolt locking member, or may also be a telescopic driving member such as an electric push rod or a hydraulic cylinder, which is not limited specifically, and it is only required to ensure that at least a part of the clamping assembly 24 can extend into the axial hole through the opening 221, so as to press the interventional device onto the hole wall of the axial hole.
Therefore, based on the clamping assembly 24, the interventional device penetrating through the axial hole can be fixed on the hollow rotating shaft 22, so that the interventional device can synchronously rotate along with the hollow rotating shaft 22, and the circumferential rotation of the interventional device is realized.
Optionally, the clamping assembly 24 of the present embodiment includes a fixing seat 241, a pressing piece 242, and a first elastic piece 243. The fixed seat 241 is arranged on the outer side wall of the hollow rotating shaft 22; the pressing piece 242 is movably arranged on the fixing seat 241 and can be arranged in the opening 221 in a penetrating way; the first elastic member 243 is disposed between the fixing base 241 and the pressing member 242.
When the first elastic member 243 is in the first state, the pressing end of the pressing member 242 is located in the axial hole, and presses the interventional instrument against the hole wall of the axial hole; with the first elastic member 243 in the second state, the pressing end of the pressing member 242 is separated from the interventional instrument.
In practical applications, the deformation amount of the first elastic member 243 in the first state may be set to be smaller than that of the first elastic member 243 in the second state, and the length of the first elastic member 243 in the first state may be set to be greater than that of the first elastic member 243 in the second state. For example, the first state of the first elastic member 243 is a natural extension state, and the second state of the first elastic member 243 is a compression state; alternatively, the first state of the first elastic member 243 is a first compressed state, and the second state of the first elastic member 243 is a second compressed state.
In this way, when the first elastic member 243 is in the first state, the operator does not need to apply a driving force to the pressing member 242, and the intervention instrument can be securely clamped between the pressing end of the pressing member 242 and the hole wall of the axial hole by the first elastic member 243, so that the intervention instrument can rotate circumferentially along with the hollow rotating shaft 22 without manual intervention.
Accordingly, when the interventional instrument needs to be taken out from the axial hole, the pressing end of the pressing piece 242 can be separated from the interventional instrument by only ensuring that the hollow rotating shaft 22 stops rotating and then manually pulling the pressing piece 242.
It should be noted here that in order to ensure that the interventional instrument can be rotated circumferentially or fed axially, respectively, the pressing force of the pressing end of the pressing member 242 on the interventional instrument should be ensured to be smaller than the clamping force and the feeding force of the clamping opening of the clamping wheel assembly 23 on the interventional instrument.
In some embodiments, as shown in fig. 4, the pressing element 242 of the present embodiment includes an operating rod 2421 and a pressing block 2422, the fixing base 241 is provided with a guide hole, the operating rod 2421 is movably disposed through the guide hole, and the pressing block 2422 is disposed at one end of the operating rod 2421.
Meanwhile, the first elastic member 243 includes a spring, the spring is sleeved on the operating rod 2421, one end of the spring abuts against the fixed seat 241, and the other end of the spring abuts against the pressing block 2422.
In order to ensure that the pressing piece 242 can stably press the interventional device against the hole wall of the axial hole, the pressing piece 242 may be provided with a plurality of operation bars 2421, the plurality of operation bars 2421 are arranged side by side, one ends of the plurality of operation bars 2421 are commonly connected with the pressing block 2422, the other ends of the plurality of operation bars 2421 are commonly connected with the handle, and the operator can conveniently control the pressing piece 242 to contact with or separate from the interventional device by holding the handle.
In some embodiments, as shown in fig. 3 and 5, the first drive mechanism 12 of the present embodiment includes a first drive motor 121 and a first gear assembly 122.
The first gear assembly 122 at least includes a first gear 1221 and a second gear 1222, an output end of the first driving motor 121 is connected to the first gear 1221, the first gear 1221 is connected to the second gear 1222 in a power coupling manner, and the second gear 1222 is coaxially disposed with the hollow rotating shaft 22.
Specifically, the first driving motor 121 can adopt a servo motor, the first driving motor 121 can drive the first gear 1221 to rotate synchronously with the first gear, and based on the power transmission between the first gear 1221 and the second gear 1222, the hollow rotating shaft 22 can be driven to rotate relative to the first seat 11 by the second gear 1222. Wherein, the hollow rotating shaft 22 is rotatably connected with the first base 11 through a bearing.
Of course, in order to achieve the compactness of the overall structure of the interventional device motion control apparatus, the first gear transmission assembly 122 of the present embodiment may further include a third gear 1223, the first gear 1221 is engaged with the third gear 1223, and the third gear 1223 is engaged with the second gear 1222, so that the position of the first driving motor 121 and the hollow rotating shaft 22 can be ensured to be displaced based on the third gear 1223, so as to reserve a sufficient space on the first seat 11 for arranging other driving mechanisms.
Based on the solution of the above embodiment, as shown in fig. 2 and fig. 3, the pinch roller assembly 23 of the present embodiment includes a driving roller assembly 231 and a driven roller assembly 232, and a pinch port is formed between the driving roller assembly 231 and the driven roller assembly 232. The second driving mechanism 13 is connected to the driving pulley assembly 231, and the driven pulley assembly 232 is movably disposed on the second seat 21 and can move between a first position close to the driving pulley assembly 231 and a second position far from the driving pulley assembly 231.
It can be appreciated that since the interventional instrument is clamped between the driving wheel assembly 231 and the driven wheel assembly 232, the driving wheel assembly 231 can rotate relative to the second base 21 under the driving of the second driving mechanism 13 to apply a contact friction force to the interventional instrument, and the driven wheel assembly 232 can passively rotate along with the interventional instrument so that the interventional instrument can be driven to move along the axial direction thereof by the clamping wheel assembly 23 based on the cooperation of the clamping wheel assembly 23 and the interventional instrument.
The position of the driven wheel assembly 232 arranged on the second seat 21 is adjustable, so that the position of the driven wheel assembly 232 relative to the driving wheel assembly 231 can be adjusted according to actual requirements, and the clamping of the clamping opening on interventional instruments with different specifications and sizes is realized.
As shown in fig. 2 and 3, the driving wheel assembly 231 of the present embodiment includes a fixed support, a first rotating shaft and a first roller, the fixed support is fixedly connected with the second seat 21, the first rotating shaft is rotatably installed on the fixed support, and the first roller is sleeved on the first rotating shaft.
Correspondingly, the driven wheel assembly 232 includes a movable support, a second rotating shaft and a second roller, the movable support is movably disposed on the second seat 21 along a connecting line of the first position and the second position, the second rotating shaft is rotatably mounted on the movable support, and the second roller is sleeved on the second rotating shaft.
The second driving mechanism 13 is connected with the first rotating shaft of the driving wheel assembly 231 to drive the first rotating shaft to rotate relative to the fixed support, a clamping opening for clamping the interventional device is formed between the first roller and the second roller, and both the first roller and the second roller can be concave wheels.
In some embodiments, as shown in fig. 2, 5 and 6, the second driving mechanism 13 of the present embodiment includes a second driving motor 131, a bevel gear assembly 132 and a second gear assembly 133. The bevel gear assembly 132 comprises a first bevel gear 1321 and a second bevel gear 1322, wherein the first bevel gear 1321 and the second bevel gear 1322 are respectively rotatably disposed on the first seat 11; the second gear assembly 133 includes a drive gear 1331 and a drive gear 1332.
Specifically, the second driving motor 131 may be a servo motor, an output end of the second driving motor 131 is coaxially connected to the first bevel gear 1321, the first bevel gear 1321 and the second bevel gear 1322 are disposed in mesh, and a rotation axis of the first bevel gear 1321 and a rotation axis of the second bevel gear 1322 may be disposed vertically; meanwhile, the transmission gear 1331 and the second bevel gear 1322 are coaxially connected, the transmission gear 1331 and the driving gear 1332 are disposed in mesh, the driving gear 1332 and the capstan assembly 231 are coaxially connected, and the driving gear 1332 may be coaxially disposed on the first rotation shaft of the capstan assembly 231.
In some embodiments, as shown in fig. 2 and 3, the second seat 21 of the present embodiment includes a first mounting plate 211 and a second mounting plate 212.
The first mounting plate 211 and the second mounting plate 212 are arranged at intervals, and the hollow rotating shaft 22 is rotatably arranged between the first mounting plate 211 and the second mounting plate 212. In practical applications, the first mounting plate 211 and the second mounting plate 212 may be disposed in parallel, the first end of the hollow rotating shaft 22 is rotatably connected to the first mounting plate 211 through a bearing, the second end of the hollow rotating shaft 22 is rotatably connected to the second mounting plate 212 through a bearing, and the first mounting plate 211 and the second mounting plate 212 are detachably connected to the first seat 11 respectively.
Further, the first mounting plate 211 and the second mounting plate 212 are both provided with a pinch roller assembly 23; the driving wheel assembly 231 on the first mounting plate 211 and the driving wheel assembly 231 on the second mounting plate 212 are coupled through the third gear assembly 134 to achieve synchronous rotation. The driven wheel assemblies 232 on the first mounting plate 211 and the driven wheel assemblies 232 on the second mounting plate 212 are linked to achieve synchronized movement between the first and second positions.
The third gear transmission assembly 134 of this embodiment includes a first synchronizing gear 1341 and a second synchronizing gear 1342, the first synchronizing gear 1341 is coaxially disposed on a first rotating shaft of the driving wheel assembly 231 on the first mounting plate 211, the second synchronizing gear 1342 is coaxially disposed on a first rotating shaft of the driving wheel assembly 231 on the second mounting plate 212, the first synchronizing gear 1341 and the second synchronizing gear 1342 can be connected by a transmission mechanism such as a chain, a belt, or a gear, so as to conveniently realize the synchronous rotation of the driving wheel assembly 231 on the first mounting plate 211 and the driving wheel assembly 231 on the second mounting plate 212.
Based on the above arrangement, the present embodiment can control the driving wheel assemblies 231 of the two sets of pinch wheel assemblies 23 to rotate synchronously, and can also adjust the size of the clamping openings of the two sets of pinch wheel assemblies 23 synchronously. Because the two sets of clamping wheel assemblies 23 are respectively arranged at the two ends of the hollow rotating shaft 22, the stability of the interventional instrument in axial feeding can be driven by the two sets of clamping wheel assemblies 23.
In some embodiments, as shown in fig. 2, in order to ensure the stability of the movement of the two sets of driven wheel assemblies 232 relative to the second seat 21, the embodiment is provided with a sliding guide mechanism 213 between the driven wheel assembly 232 on the first mounting plate 211 and the first mounting plate 211, and between the driven wheel assembly 232 on the second mounting plate 212 and the second mounting plate 212.
In some examples, the slide guiding mechanism 213 includes a slide rail 2131 and a slide block 2132, and the slide rail 2131 and the slide block 2132 are slidably engaged along a line connecting the first position and the second position.
Alternatively, in this embodiment, the sliding rails 2131 may be disposed on the first mounting plate 211 or the second mounting plate 212 of the second seat 21, and the sliding blocks 2132 may be disposed on the moving support of the driven wheel assembly 232. Of course, the movable support of the driven wheel assembly 232 may also be used as the sliding block 2132, and a sliding groove capable of slidably engaging with the sliding rail 2131 may be provided on the movable support.
Further, the driven wheel assembly 232 on the first mounting plate 211 and the driven wheel assembly 232 on the second mounting plate 212 of the present embodiment are connected by a linkage 233. In practice, the operator can manually synchronize the position of the two sets of driven wheel assemblies 232 via the linkage 233. Of course, the linkage 233 may be directly connected to the linear driving mechanism, and the position of the driven wheel assembly 232 relative to the driving wheel assembly 231 may be adjusted by the linear driving mechanism.
In some examples, as shown in fig. 5, the first seat 11 of the present embodiment is further provided with a third driving mechanism 14; the third driving mechanism 14 includes a third driving motor 141, a lead screw transmission mechanism 142, and a driving lever 143; the third driving motor 141 may employ a servo motor known in the art.
The output end of the third driving motor 141 is connected to the screw rod of the screw rod transmission mechanism 142, the screw nut of the screw rod transmission mechanism 142 is connected to the driving rod 143, the driving rod 143 is connected to the link member 233, and the driving rod 143 is configured to drive the driven wheel assembly 232 to move relative to the second seat 21 along the line connecting the first position and the second position.
Specifically, the third driving motor 141 may drive the lead screw of the lead screw transmission mechanism 142 to rotate, and due to the thread fit between the lead screw of the lead screw transmission mechanism 142 and the lead screw nut, the lead screw nut may be slidably mounted on the guide rod, and the guide rod is disposed along the extending direction of the lead screw, so that under the limiting and guiding of the guide rod, the lead screw nut may only move along the extending direction of the guide rod, and drive the two sets of driven wheel assemblies 232 to move along the connecting line direction of the first position and the second position.
In practical applications, the present embodiment may provide an overlapping element on the linking element 233, and the driving rod 143 is disposed on a side of the overlapping element away from the driving wheel assembly 231. In this way, when the driving rod 143 of the third driving mechanism 14 moves toward the side close to the driving wheel assembly 231, the driving rod 143 may gradually approach the bridge and contact the bridge, thereby pushing the driven wheel assembly 232 to move toward the side of the driving wheel assembly 231, and clamping the interventional instrument through the clamping opening of the clamping wheel assembly 23 is achieved. When the driving lever 143 of the third driving mechanism 14 moves toward the side away from the driving wheel assembly 231, the driving lever 143 may be separated from the bridge and the grip adjustment of the grip opening is no longer performed.
Based on the above-mentioned scheme of embodiment, because can dismantle subassembly 2 and directly contact with the intervention apparatus, in order to assemble the subassembly 2 on fixed subassembly 1 fast when work (operation) to and after work (operation) is accomplished, be convenient for dismantle and clean the subassembly 2 dismantled, connect through quick detach subassembly 3 detachablely between the first pedestal 11 of this embodiment and the second pedestal 21.
As shown in fig. 7, the quick release assembly 3 of the present embodiment includes a first positioning member 31, a second positioning member 32 and a pressing claw assembly 33; the pressing claw assembly 33 includes a pressing claw seat 331, a second elastic member 332, and a pressing claw 333.
The first positioning part 31 and the pressing claw 333 are arranged on the first seat body 11, and the second positioning part 32 is arranged on the second seat body 21; the first positioning member 31 is provided with a first through hole 311, the second positioning member 32 is provided with a second through hole 321, and the first positioning member 31 and the second positioning member 32 are connected by a positioning structure such that the first through hole 311 and the second through hole 321 communicate.
The middle part of the pressing claw 333 is rotatably disposed on the pressing claw seat 331, a first end of the pressing claw 333 is connected to the pressing claw seat 331 through the second elastic member 332, and a second end of the pressing claw 333 can pass through the first through hole 311 and the second through hole 321 and extend to a side of the second positioning member 32 away from the first positioning member 31.
The middle of the pressing claw 333 is hinged to the pressing claw seat 331 through a pin shaft, the second elastic member 332 can be a spring known in the art, and an included angle of the pressing claw 333 relative to a central axis of the first through hole 311 or the second through hole 321 can be adjusted by adjusting a deformation state of the second elastic member 332.
Under the condition that the second elastic member 332 is in the initial state, the second end of the pressing claw 333 is clamped with the second positioning member 32, so that the first positioning member 31 and the second positioning member 32 are connected into a whole; with the second elastic member 332 in the compressed state, the second end of the pressing claw 333 and the second positioning member 32 are separated, so that the first positioning member 31 and the second positioning member 32 can be separated.
In practical applications, since the second fastening structure 21 includes the first mounting plate 211 and the second mounting plate 212, in order to ensure the structural stability of the whole set of apparatus, the quick release assembly 3 can be disposed between the first mounting plate 211 and the first fastening structure 11, and between the second mounting plate 212 and the first fastening structure 11.
In order to facilitate the positioning connection between the first positioning member 31 and the second positioning member 32, a tongue may be provided at one end of the first positioning member 31 facing the second positioning member 32, and a socket may be provided at one end of the second positioning member 32 facing the first positioning member 31. The insertion tongue can be inserted into the insertion groove, the first through hole 311 penetrates through the insertion tongue and is arranged coaxially with the insertion tongue, and the insertion groove and the second through hole 321 are arranged coaxially.
In this way, when the quick release assembly 3 is assembled, only the first end of the pressing claw 333 needs to be pressed first, so that the second elastic member 332 is in a compressed state, and it is ensured that the second end of the pressing claw 333 can pass through the first through hole 311 and the second through hole 321 until extending to the side of the second positioning member 32 away from the first positioning member 31; then, the first end of the pressing claw 333 is released, and the second end of the pressing claw 333 is automatically engaged with the second positioning member 32 by the driving of the second elastic member 332, so that the first positioning member 31 and the second positioning member 32 are integrally connected.
Accordingly, when the quick release assembly 3 is disassembled, the first end of the pressing claw 333 is only required to be pressed to separate the pressing claw 333 from the second positioning part 32, and the operation is simple and convenient.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.

Claims (11)

1. An interventional instrument motion control apparatus, comprising: a fixed component and a detachable component;
the fixing assembly comprises a first seat body, a first driving mechanism and a second driving mechanism, and the first driving mechanism and the second driving mechanism are respectively arranged on the first seat body;
the detachable assembly comprises a second seat body, a hollow rotating shaft, a clamping wheel assembly and a clamping assembly; the first seat body and the second seat body are detachably connected; the hollow rotating shaft and the clamping wheel assembly are respectively and rotatably arranged on the second base body, and an interventional instrument can sequentially penetrate through a shaft center hole of the hollow rotating shaft and a clamping opening of the clamping wheel assembly; the clamping assembly is connected with the hollow rotating shaft so as to clamp the interventional instrument in the axial hole;
the first driving mechanism is connected with the hollow rotating shaft so as to drive the interventional instrument to rotate circumferentially through the clamping assembly and the hollow rotating shaft; the second driving mechanism is connected with the pinch roller assembly so as to drive the interventional instrument to axially move through the pinch roller assembly.
2. The interventional instrument motion control device of claim 1,
an opening is formed in the side wall of the hollow rotating shaft and communicated with the shaft center hole;
the clamping component is arranged on the outer side wall of the hollow rotating shaft, and at least part of the clamping component can extend into the shaft center hole through the opening so as to press the interventional instrument on the hole wall of the shaft center hole.
3. The interventional instrument motion control device of claim 2,
the clamping assembly comprises a fixed seat, a pressing piece and a first elastic piece;
the fixed seat is arranged on the outer side wall of the hollow rotating shaft; the pressing piece is movably arranged on the fixed seat and can be arranged in the opening in a penetrating manner; the first elastic piece is arranged between the fixed seat and the pressing piece;
under the condition that the first elastic piece is in a first state, the pressing end of the pressing piece is positioned in the shaft center hole, and the interventional instrument is pressed on the hole wall of the shaft center hole; in a case where the first elastic member is in the second state, the pressing end of the pressing member is separated from the interventional instrument.
4. The interventional instrument motion control device of claim 3,
the pressing piece comprises an operating rod and a pressing block, the fixing seat is provided with a guide hole, the operating rod is movably arranged in the guide hole in a penetrating mode, and the pressing block is arranged at one end of the operating rod;
the first elastic piece comprises a spring, the spring is sleeved on the operating rod, one end of the spring is abutted to the fixing seat, and the other end of the spring is abutted to the pressing block.
5. The interventional instrument motion control device of claim 1,
the first driving mechanism comprises a first driving motor and a first gear transmission assembly;
the first gear transmission assembly at least comprises a first gear and a second gear, the output end of the first driving motor is connected with the first gear, the first gear is in power coupling connection with the second gear, and the second gear is coaxially arranged with the hollow rotating shaft.
6. The interventional instrument motion control device of any one of claims 1 to 5, wherein the pinch wheel assembly comprises a drive wheel assembly and a driven wheel assembly, the drive wheel assembly and the driven wheel assembly defining the clamping port therebetween;
the second driving mechanism is connected with the driving wheel assembly, and the driven wheel assembly is movably arranged on the second seat body and can move between a first position close to the driving wheel assembly and a second position far away from the driving wheel assembly.
7. The interventional instrument motion control device of claim 6,
the second driving mechanism comprises a second driving motor, a bevel gear transmission component and a second gear transmission component;
the bevel gear transmission component comprises a first bevel gear and a second bevel gear, and the first bevel gear and the second bevel gear are respectively and rotatably arranged on the first seat body; the second gear transmission assembly comprises a transmission gear and a driving gear;
the output end of the second driving motor is coaxially connected with the first bevel gear, the first bevel gear is meshed with the second bevel gear, the transmission gear is coaxially connected with the second bevel gear, the transmission gear is meshed with the driving gear, and the driving gear is coaxially connected with the driving wheel assembly.
8. The interventional instrument motion control device of claim 6,
the second seat body comprises a first mounting plate and a second mounting plate;
the first mounting plate and the second mounting plate are arranged at intervals, the hollow rotating shaft is rotatably arranged between the first mounting plate and the second mounting plate, and the first mounting plate and the second mounting plate are both provided with the clamping wheel assembly;
the driving wheel assembly on the first mounting plate and the driving wheel assembly on the second mounting plate are in power coupling connection through a third gear transmission assembly so as to realize synchronous rotation;
the driven wheel assembly on the first mounting plate and the driven wheel assembly on the second mounting plate are in linkage connection to achieve synchronous movement between the first position and the second position.
9. The interventional instrument motion control device of claim 8,
sliding guide mechanisms are arranged between the driven wheel assembly on the first mounting plate and between the driven wheel assembly on the second mounting plate and the second mounting plate; the driven wheel assembly on the first mounting plate is connected with the driven wheel assembly on the second mounting plate through a linkage piece;
the sliding guide mechanism comprises a sliding rail and a sliding block, and the sliding rail and the sliding block are in sliding fit along the connecting line direction of the first position and the second position.
10. The interventional instrument motion control device of claim 6,
the first seat body is also provided with a third driving mechanism; the third driving mechanism comprises a third driving motor, a lead screw transmission mechanism and a driving rod;
the output end of the third driving motor is connected with a lead screw of the lead screw transmission mechanism, a lead screw nut of the lead screw transmission mechanism is connected with the driving rod, and the driving rod is used for driving the driven wheel assembly to move relative to the second seat body along the connecting line direction of the first position and the second position.
11. The interventional instrument motion control device of any one of claims 1 to 5, wherein the first holder and the second holder are detachably connected by a quick release assembly; the quick release assembly comprises a first positioning part, a second positioning part and a pressing claw assembly; the pressing claw assembly comprises a pressing claw seat, a second elastic piece and a pressing claw;
the first positioning component and the pressing claw are arranged on the first seat body, and the second positioning component is arranged on the second seat body; the first positioning part is provided with a first through hole, the second positioning part is provided with a second through hole, and the first positioning part and the second positioning part are connected through a positioning structure so that the first through hole is communicated with the second through hole;
the middle part of the pressure claw is rotatably arranged on the pressure claw seat, the first end of the pressure claw is connected with the pressure claw seat through the second elastic piece, and the second end of the pressure claw can penetrate through the first through hole and the second through hole and extends to one side of the second positioning component, which is far away from the first positioning component;
under the condition that the second elastic piece is in an initial state, the second end of the pressing claw is clamped with the second positioning part, so that the first positioning part and the second positioning part are connected into a whole; in a state where the second elastic member is in a compressed state, the second end of the pressing claw and the second positioning member are separated so that the first positioning member and the second positioning member can be separated.
CN202211216286.8A 2022-09-30 2022-09-30 Interventional instrument motion control device Pending CN115887865A (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN202211216286.8A CN115887865A (en) 2022-09-30 2022-09-30 Interventional instrument motion control device
PCT/CN2022/127119 WO2024065910A1 (en) 2022-09-30 2022-10-24 Interventional instrument motion control device

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211216286.8A CN115887865A (en) 2022-09-30 2022-09-30 Interventional instrument motion control device

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WO (1) WO2024065910A1 (en)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103006327B (en) * 2012-12-03 2014-09-17 北京航空航天大学 Master-slave teleoperation vascular intervention surgical robot
CN110652357B (en) * 2019-09-19 2020-06-12 中国科学院自动化研究所 Double-guide-wire or balloon vascular interventional instrument control device
CN112353491B (en) * 2020-10-29 2021-09-14 北京唯迈医疗设备有限公司 Universal robot for interventional radiography and therapeutic surgery
KR102611540B1 (en) * 2020-12-09 2023-12-07 한양대학교 에리카산학협력단 Robot for vascular intervention with axis-based multi-part setup jig and system thereof
CN113289201A (en) * 2021-05-06 2021-08-24 深圳高性能医疗器械国家研究院有限公司 Auxiliary execution device for vascular intervention operation
CN113509244B (en) * 2021-05-24 2022-10-21 武汉联影智融医疗科技有限公司 Puncture device and puncture system

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