CN116637271B - A pipe seal wire linear drive device for vascular intervention operation - Google Patents

A pipe seal wire linear drive device for vascular intervention operation Download PDF

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Publication number
CN116637271B
CN116637271B CN202310577021.9A CN202310577021A CN116637271B CN 116637271 B CN116637271 B CN 116637271B CN 202310577021 A CN202310577021 A CN 202310577021A CN 116637271 B CN116637271 B CN 116637271B
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driving
driven wheel
assembly
shaft
wheel assembly
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CN116637271A (en
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杜淼燕
李昕帝
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Shanghai Ruitouch Technology Co ltd
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Shanghai Ruitouch Technology Co ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B34/35—Surgical robots for telesurgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/70—Manipulators specially adapted for use in surgery
    • A61B34/74—Manipulators with manual electric input means
    • A61B2034/742—Joysticks
    • 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/50—General characteristics of the apparatus with microprocessors or computers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M2210/00—Anatomical parts of the body
    • A61M2210/12—Blood circulatory system
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
    • Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
    • Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
  • Pulmonology (AREA)
  • Hematology (AREA)
  • Biophysics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Anesthesiology (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Media Introduction/Drainage Providing Device (AREA)

Abstract

The invention relates to a catheter guide wire linear driving device for vascular intervention operation, which comprises a first driving assembly, a second driving assembly, a bottom shell and a limit track, wherein the first driving assembly is connected with the bottom shell; the first driving component comprises a driven wheel mounting seat I, a spring I, a driving wheel shaft, a cylindrical gear-A, a cylindrical gear-B, a driving wheel component-A and a driven wheel component-A; the upper driving end of the driving wheel assembly-A consists of a driving wheel-A and an elastic driving body, and the lower driving end consists of the driving wheel-A and a rubber sleeve; the upper driving end of the driven wheel assembly-A comprises a driven wheel end cover, a driven wheel-A and an elastic driving body, and the lower driving end comprises a driven wheel-A and a rubber sleeve; the second driving component comprises a driven wheel mounting seat II, a spring II, a driving wheel shaft, a cylindrical gear-A, a cylindrical gear-B, a driven wheel component-B and a driving wheel component-B; the invention solves the problem of drive failure caused by drive slipping, increases the drive stability and realizes the operation of double guide wires with double guide pipes.

Description

A pipe seal wire linear drive device for vascular intervention operation
[ technical field ]
The invention relates to the technical field of medical appliances, in particular to a catheter guide wire linear driving device for vascular intervention operation.
[ background Art ]
Vascular intervention is a minimally invasive operation in which a clinician manually pushes precise instruments such as a guide wire, a catheter and the like into a blood vessel to reach a patient part by means of guidance of a Digital Subtraction Angiography (DSA) system, and then releases medicines, stents and the like to perform diagnosis and treatment operations. The vascular intervention operation has the advantages of obvious treatment effect, small wound area, quick postoperative recovery, fewer complications and the like, and becomes a main means for clinical treatment of cardiovascular and cerebrovascular diseases. The related data show that the number of vascular interventional procedures in China has exceeded millions of cases since 2020, and increases at a rate of more than 20% per year. In this situation, developing a vascular interventional surgical robot has great significance: 1) The application of the vascular interventional operation robot can prevent doctors from being exposed to the X-ray environment for a long time, and greatly reduce radiation injury; 2) The precision mechanical structure and the positioning system of the robot are utilized, so that the precision and the controllability of the twisting and pushing of the instruments in the operation can be improved; 3) Greatly reduces instability of operation caused by human factors, improves operation efficiency and cure rate of patients, and reduces complication risk.
The existing vascular interventional operation robot still has the following limitations: 1) Due to the limitation of the material characteristics of the catheter guide wire, the clamping force is too small, so that the driving structure is easy to slip, and the transmission is invalid; the excessive clamping force is easy to cause deformation of the guide wire catheter, which affects the use in the operation; 2) The operation of installing and replacing the guide wire catheter by doctors in the operation process is very complex, and time and labor are wasted; 3) The device can only realize the driving of one catheter and one guide wire, and can not meet the diagnosis and treatment operation of simultaneously applying two or more catheters and guide wires in complex interventional operations.
[ summary of the invention ]
The invention aims to solve the defects and provide the guide wire linear driving device for the vascular interventional operation, which solves the influence of clamping force on the guide wire structure of the guide wire, effectively avoids the problem of transmission failure caused by driving slipping, can realize stable pushing, withdrawing and effective fixing clamping of guide wires of different specifications and different types of guide wires, and can realize the operation of double guide wires or double guide wires simultaneously.
In order to achieve the aim, the guide wire linear driving device for the vascular interventional operation comprises a first driving component 1, a second driving component 2, a bottom shell 3 and a limit track 4; a first branch 401 and a second branch 402 for placing a guide wire/catheter 5 are arranged on the limit track 4, the first branch 401 passes through the first driving component 1, and the second branch 402 passes through the second driving component 2; the first driving assembly 1 comprises a driven wheel mounting seat I101, a spring I102, a driving wheel shaft 105, a cylindrical gear-A107, a cylindrical gear-B108, a driving wheel assembly-A111 and a driven wheel assembly-A113; the driving wheel assembly-A111 is divided into an upper driving end and a lower driving end, the upper driving end of the driving wheel assembly-A111 consists of a driving wheel-A114 and an elastic driving body 115, and the lower driving end of the driving wheel assembly-A111 consists of a driving wheel-A114 and a rubber sleeve 116; the driven wheel assembly-A113 is also divided into an upper driving end and a lower driving end, wherein the upper driving end of the driven wheel assembly-A113 comprises a driven wheel end cover 118, a driven wheel-A117 and an elastic driving body II 115-2, and the lower driving end of the driven wheel assembly-A113 comprises a driven wheel-A117 and a rubber sleeve II 116-2; the driving wheel assembly-A111 is fixed on the driving wheel shaft 105 through screws, and the driving wheel shaft 105 is arranged on a stepped hole of the base of the bottom shell 3; the driven wheel assembly-A113 is arranged on the driven wheel mounting seat I101, and is connected with a protruding shaft on the driven wheel mounting seat I101 through a screw and a driven wheel end cover 118 and is relatively fixed; the side surface of the driven wheel mounting seat I101 is connected with the side wall of the bottom shell 3 through a spring I102, and two ends of the spring I102 are respectively arranged in round holes in the driven wheel mounting seat I101 and the side wall of the bottom shell 3; the lower end of the driven wheel mounting seat I101 extends out of a shaft, the shaft extending out of the lower end of the driven wheel mounting seat I (101) is arranged in a hole on the base of the bottom shell 3, and the driven wheel mounting seat I101 rotates around the shaft so as to enable the driving wheel component-A111 and the driven wheel component-A113 to be mutually attached or separated; the cylindrical gear-A107 is connected with an output shaft of the motor and meshed with the cylindrical gear-B108, the cylindrical gear-B108 is locked and fixed with the driving wheel shaft 105, the driving wheel assembly-A111 is locked and fixed on the driving wheel shaft 105, the driving wheel assembly-A111 rotates under the drive of the motor, and the driven wheel assembly-A113 is driven to rotate through the surface friction of the elastic driving body 115; the rubber sleeve 116 and the rubber sleeve two 116-2 at the lower driving ends of the driving wheel assembly-A111 and the driven wheel assembly-A113 respectively squeeze and clamp the guide wire/catheter 5 from two sides, so as to drive the guide wire/catheter 5 to move.
Further, the second driving assembly 2 has the same structure as the first driving assembly 1, the second driving assembly 2 includes a second driven wheel mounting seat 201, a second spring 202, a second driving wheel shaft 105-2, a second cylindrical gear a107-2, a second cylindrical gear B108-2, a driven wheel assembly B203 and a driving wheel assembly B204, and the second driven wheel mounting seat 201 rotates around the shaft to enable the driven wheel assembly B203 and the driving wheel assembly B204 to be tightly attached to or separated from each other.
Further, the driving wheel assembly-B204 includes a driving wheel-B205 and a cylindrical rubber sleeve 206, the cylindrical rubber sleeve 206 is sleeved on the periphery of the driving wheel-B205, the driven wheel assembly-B203 includes a driven wheel-B207 and a grooved rubber sleeve 208, the grooved rubber sleeve 208 is sleeved on the periphery of the driven wheel-B207, and an arc groove on the grooved rubber sleeve 208 is used for accommodating a plurality of guide wires/catheters 5.
Further, a groove is formed in the first driven wheel mounting seat 101 and is used for poking the first driven wheel mounting seat 101 to rotate anticlockwise around the shaft, so that the driven wheel assembly-A113 is separated from the driving wheel assembly-A111; after the driven wheel mounting seat I101 is manually released, the driven wheel component-A113 is reset under the action of the resilience force of the spring I102 and is closely attached to the driving wheel component-A111 again.
Further, the driving wheel assembly-A111 and the driven wheel assembly-A113 in the first driving assembly 1 are provided with two pairs and are arranged in parallel.
Further, the initial state of the first spring 102 of the first driving assembly 1 is a compressed state, the elastic driving body 115 and the second driving body 115-2 at the driving ends of the driving wheel assembly-a 111 and the driven wheel assembly-a 113 are respectively attached to each other under the action of the first spring 102, and after the driving wheel assembly-a 111 is driven by the motor, the driven wheel assembly-a 113 is driven to rotate by means of surface friction of the elastic driving body 115.
The invention also provides a catheter guide wire linear driving device for vascular interventional operation, which comprises a first driving component 1, a second driving component 2, a bottom shell 3 and a limit track 4; a first branch 401 and a second branch 402 for placing the guide wire/catheter 5 are arranged on the limit track 4, the first branch 401 passes through the first driving assembly 1, and the second branch 402 passes through the second driving assembly 2; the first driving assembly 1 comprises a first spring 102, a shoulder cylindrical gear-A301, a shoulder cylindrical gear-B302, a synchronous pulley-A303, a synchronous belt 304, a synchronous pulley-B305, a transmission shaft 306, a driving mounting seat 307, an end surface limiting ring 308, a rubber driving wheel 309, a rubber driven wheel 310, a driven wheel shaft 311 and a tensioning wheel 312; the shoulder cylindrical gear-B302 and the synchronous pulley-A303 are arranged on a transmission shaft 306, the synchronous pulley-B305 and a rubber driven wheel 310 are arranged on a driven wheel shaft 311, the driving installation seat 307 is used for installing and supporting the rubber driven wheel 310 and the driven wheel shaft 311, the driving installation seat 307 is limited on the bases on two sides of the bottom shell 3 in the vertical direction through a shaft shoulder at the upper end of the transmission shaft 306 and an end face limiting ring 308, the side surface of the driving installation seat 307 is connected with the side wall of the bottom shell 3 through a first spring 102, and two ends of the first spring 102 are respectively installed in circular holes on the side walls of the driving installation seat 307 and the bottom shell 3; the shoulder cylindrical gear-A301 and the rubber driving wheel 309 are connected with an output shaft of a motor and rotate under the driving of the motor, the shoulder cylindrical gear-A301 and the shoulder cylindrical gear-B302 are meshed with each other and drive the transmission shaft 306 to rotate, and further drive the synchronous pulley-A303 to rotate, the synchronous pulley-A303 drives the synchronous pulley-B305 through the synchronous belt 304, the synchronous pulley-B305 drives the driven wheel shaft 311 and the rubber driven wheel 310 thereon to rotate, and the outer surfaces of the rubber driving wheel 309 and the rubber driven wheel 310 are wrapped with elastic rubber so as to drive the guide wire/guide pipe 5 to linearly move.
Further, the rubber driving wheel 309 and the rubber driven wheel 310 are replaced by a pair of parallel magnetic driving wheels 601, one of the magnetic driving wheels 601 drives one of the transmission shafts through a motor, and the other magnetic driving wheel 601 rotates in the opposite direction under the action of repulsive force, so that non-contact transmission is realized.
Compared with the prior art, the invention has the following advantages:
(1) The invention provides a catheter guide wire linear driving device for vascular interventional operation, which solves the problem of driving slip and transmission failure caused by insufficient clamping force, and greatly increases transmission stability; meanwhile, deformation of the guide wire catheter or falling of a surface coating caused by overlarge clamping force can be avoided, and the use in the operation is influenced;
(2) The invention has the advantages that the operation is simple and convenient when a doctor installs and replaces the catheter guide wire, the stable pushing, withdrawing and effective fixing and clamping of the catheter guide wires with different specifications and different types can be realized, and the compatibility is strong;
(3) The invention has simple structure, convenient processing and installation, high aggregation degree and strong operability;
(4) The invention can realize the operation of double guide wires with double guide pipes at the same time, so that more complicated interventional operation can be completed without changing the guide pipes or the guide wires in a single operation.
[ description of the drawings ]
FIG. 1 is an overview of a linear motion drive for a catheter guidewire of the present invention;
FIG. 2 is a diagram of a linear motion drive assembly of the present invention;
FIG. 3 is a schematic view of a first drive assembly according to the present invention;
FIG. 4 is a schematic diagram of a second drive assembly according to the present invention;
FIG. 5 is a partial exploded view of the second drive assembly of the present invention;
FIG. 6 is a view of the mounting of the catheter of the linear drive section of the cartridge of the present invention;
FIG. 7 is a schematic view of a linear driving assembly according to a third embodiment of the present invention;
FIG. 8 is a schematic view showing a partial structure of a linear driving assembly according to a fourth embodiment of the present invention;
in the figure: 1. the first driving component 2, the second driving component 3, the bottom shell 4, the limit rail 5, the conduit 401, the first branch 402, the second branch 101, the driven wheel mounting seat one 102, the first spring 105, the driving wheel shaft 105-2, the driving wheel shaft two 107, the cylindrical gear-A107-2, the cylindrical gear two-A108, the cylindrical gear-B108-2, the cylindrical gear-B111, the driving component-A113, the driven wheel component-A114, the driving wheel-A115, the elastic driving body 115-2, the elastic driving body two 116, the rubber sleeve 116-2, the rubber sleeve two 117, the driven wheel-A118, the driven wheel end cover 201, the driven wheel mounting seat two 202, the spring two 203, the driven wheel component-B204, the driving component-B205, the driving wheel-B206, the cylindrical rubber sleeve 207, the driven wheel-B208, the grooved rubber sleeve 301, the shoulder cylindrical gear-A302, the shoulder cylindrical gear-B303, the synchronous pulley-A304, the synchronous belt 305, the synchronous pulley-B306, the transmission shaft 307, the driving mounting seat 308, the end face limit ring 309, the rubber 310, the rubber driven wheel 311, the tensioning wheel 311, the driven wheel shaft 601, the driven wheel 601, the conduit I, -the linear guide wire driving portion III, the conduit III, and the conduit driving portion.
Detailed description of the preferred embodiments
The invention provides a catheter guide wire linear driving device for vascular interventional operation, which comprises: the catheter rotation driving part I, the catheter guide wire linear driving part II and the guide wire rotation driving part III are shown in figure 1. II, a guide wire linear driving part of the guide tube comprises a first driving component 1, a second driving component 2, a bottom shell 3, a limit track 4 and a guide tube 5; the limiting track 4 is provided with a first branch 401 and a second branch 402 for placing the guide wire/catheter 5, wherein the first branch 401 passes through the first driving assembly 1, and the second branch 402 passes through the second driving assembly 2.
The first driving assembly 1 comprises a driven wheel mounting seat I101, a spring I102, a driving wheel shaft 105, a cylindrical gear-A107, a cylindrical gear-B108, a driving wheel assembly-A111, a driven wheel assembly-A113, fixed standard component screws, clamp springs, flat keys and the like. The driving wheel assembly-A111 is divided into an upper driving end and a lower driving end, wherein the upper driving end consists of a driving wheel-A114 and an elastic driving body 115, and the lower driving end consists of the driving wheel-A114 and a rubber sleeve 116, as shown in figure 3. The driven wheel assembly-A113 is also divided into two parts, an upper drive end comprising a driven wheel end cap 118, a driven wheel-A117 and an elastic drive body two 115-2, and a lower drive end comprising a driven wheel-A117 and a rubber sleeve two 116-2, see FIG. 3.
The second driving component 2 comprises a driven wheel mounting seat II 201, a spring II 202, a driven wheel component-B203, a driving wheel component-B204, a driving wheel shaft II, a cylindrical gear II-A, a cylindrical gear II-B, a fixed standard component screw, a clamp spring, a flat key and the like. When the second driving component 2 is used for driving the catheter guide wire, the structure of the main driving wheel component and the structure of the main driving wheel component are approximately the same as those of the first driving component, the driven wheel mounting seat II 201 rotates around the shaft so as to enable the driven wheel component-B203 and the driving wheel component-B204 to be mutually attached or separated, and the description is omitted here; when the second driving component 2 is used for fixing and clamping the catheter guide wire, the structure can be simplified as follows: the driving wheel assembly-B204 comprises a driving wheel-B205 and a cylindrical rubber sleeve 206, the cylindrical rubber sleeve 206 is sleeved on the periphery of the driving wheel-B205, the driven wheel assembly-B203 comprises a driven wheel-B207 and a grooved rubber sleeve 208, the grooved rubber sleeve 208 is sleeved on the periphery of the driven wheel-B207, and an arc groove on the grooved rubber sleeve 208 is used for accommodating a plurality of guide wires/guide pipes 5, as shown in fig. 4 and 5.
The invention is further described below with reference to the accompanying drawings and specific examples:
example 1
Meanwhile, the rapid installation, replacement and clamping fixation of the double guide pipes and the double guide wires are realized, and the guide pipes and the guide wires can be of different types and specifications, as shown in fig. 6. In this embodiment, the catheter and the guide wire are operated in the same manner, and the catheter is described below as an operation object. In the first driving assembly 1, two pairs of main and driven wheel assemblies which are mutually tightly attached in a free state are adopted to realize the fixed clamping of the catheter, and one pair of the main and driven wheel assemblies is taken as an example: the driving wheel assembly-A111 is fixed on the driving wheel shaft 105 through screws, and the driving wheel shaft 105 is arranged on a stepped hole of the base of the bottom shell 3; the driven wheel assembly-A113 is mounted on the driven wheel mounting seat one 101, and the driven wheel assembly-A113 is connected with a shaft protruding from the driven wheel mounting seat one 101 and is relatively fixed through a screw and a driven wheel end cover 118. The side surface of the driven wheel mounting seat I101 is connected with the side wall of the bottom shell 3 through a spring I102, two ends of the spring I102 are respectively arranged in round holes on the driven wheel mounting seat I101 and the side wall of the bottom shell 3, and the initial state of the spring is a compressed state, so that the main driven wheel assembly can be mutually attached; the lower end of the driven wheel mounting seat I101 extends out of a shaft and can be mounted in a hole on the base of the bottom shell 3, so that the driven wheel mounting seat I can rotate around the shaft. When the first guide pipe is installed, a groove is formed in the first driven wheel mounting seat 101, the groove is shifted to enable the first driven wheel mounting seat 101 to rotate anticlockwise around the shaft, the driven wheel assembly-A113 is separated from the driving wheel assembly-A111, and at the moment, the compression amount of the first spring 102 is increased. The catheter is placed on the first branch 401 of the limit track 4, the first driven wheel mounting seat 101 is manually released, the driven wheel assembly-A113 is reset under the action of the resilience force of the first spring 102 and is tightly attached to the driving wheel again, and the catheter is clamped and fixed. After the clamping and fixing of one catheter are completed by the first driving component 1, a second catheter can be clamped and fixed by the second driving component 2: the driven wheel installation seat II 201 is shifted to rotate clockwise around the shaft, the driven wheel assembly-B203 and the driving wheel assembly-B204 can be separated, the guide pipe is arranged on the second branch 402 of the limiting track 4, the driven wheel assembly-B203 is tightly attached to the driving wheel assembly-B204 after the driven wheel installation seat II 201 is released, and the second guide pipe is clamped and fixed. When the catheter is replaced, the driven wheel mounting seat I101 and the driven wheel mounting seat II 201 are shifted, so that the driving and driven wheels in the close state are separated, the old catheter is pulled out, and a new catheter is mounted. Therefore, the quick installation, replacement and clamping fixation of the catheter can be realized only by circularly poking or releasing the driven wheel mounting seat. The outer surface of the driving wheel assembly is provided with a rubber sleeve with the thickness of 2-3mm so as to be suitable for catheters with different specifications and types.
Example 2
Simultaneously realize the advancing and withdrawing movements of the double guide pipes and the double guide wires, and the guide pipes and the guide wires can be of different types and specifications. In this embodiment, the catheter is driven in the same manner as the guide wire, and the following description will be given with respect to the catheter as a driving object. In order to solve the slipping problem possibly existing in the process of the linear motion of the catheter, two pairs of driving wheel assemblies and driven wheel assemblies which are arranged in parallel are adopted in the first driving assembly 1 to realize the advancing and retracting motion of the catheter. The motor is connected with the cylindrical gear-A107 through an output shaft thereof, the cylindrical gear-A107 is meshed with the cylindrical gear-B108, the cylindrical gear-B108 and the driving wheel shaft 105 are relatively fixed and locked through a flat key and a fastening nail, and the driving wheel assembly-A111 is fastened on the driving wheel shaft 105 through a screw and a flat key lock. The motor drives the cylindrical gear-A107, and torque is transmitted to the driving wheel shaft 105 through the cylindrical gear-B108, so that the driving wheel assembly-A111 is driven to rotate. The initial state of the first spring 102 is a compressed state, so that the elastic driving bodies 115 at the driving ends of the driving wheel assembly-A111 and the driven wheel assembly-A113 are mutually tightly attached under the action of the first spring 102, and after the driving wheel assembly-A111 is driven, the driven wheel assembly-B113 is driven to rotate by virtue of the friction performance of the surfaces of the elastic driving bodies 115. After the catheter is installed, the rubber sleeves 116 at the lower driving ends of the driving wheel assembly-A111 and the driven wheel assembly-A113 respectively squeeze and clamp the catheter from two sides, and rub with the outer surface of the catheter to drive the catheter to move, so that the pushing and withdrawing operation of the catheter is realized. Due to the elasticity and friction performance of the rubber surface, the coating and the catheter shape of the catheter surface are not damaged when the rubber is used for clamping and driving the catheter, and meanwhile, the elastic quantity of the rubber can be used for clamping and driving the catheters with different specifications and types. For most interventional procedures, treatment or diagnosis can be completed by only one catheter and guide wire, and the second driving assembly 2 can be used for fixing and clamping the guide wire catheter; however, in a few complex interventional procedures, two or more catheter guidewires may be required, in which case the second drive assembly 2 may be used to drive another catheter or guidewire without changing the cassette. The difference from the first driving unit 1 is that since the second driving unit 2 is only driven when necessary, and is only used for fixed clamping in most cases, only a pair of driving roller units is provided. The driven wheel assembly-B203 is provided with a rubber sleeve 208 with a groove, and the concave space of the circular arc groove can accommodate a plurality of guide wire catheters to be clamped and fixed at the same time without deformation affecting the operation.
Example 3
A modification of the structure of the first driving assembly 1 in embodiment 2 is shown in fig. 7. It comprises the following steps: spring one 102, shoulder cylindrical gear-a 301, shoulder cylindrical gear-B302, synchronous pulley-a 303, synchronous belt 304, synchronous pulley-B305, transmission shaft 306, drive mount 307, end face limit ring 308, rubber driving wheel 309, rubber driven wheel 310, driven wheel shaft 311, tension wheel 312, fixed standard screw, snap spring, flat key, etc. Wherein the shoulder cylindrical gear-B302 and the synchronous pulley-A303 are arranged on the transmission shaft 306 through flat keys and fastening nails; the synchronous pulley-B305 and the rubber driven wheel 310 are mounted on the driven wheel shaft 311 through flat keys and nails; the driving installation seat 307 is used for installing and supporting the rubber driven wheel 310 and the driven wheel shaft 311, the driving installation seat 307 is limited on the bases on the two sides of the bottom shell 3 in the vertical direction through the shaft shoulder and the end surface limiting rings 308 on the upper end of the transmission shaft 306, the side surface of the driving installation seat 307 is connected with the side wall of the bottom shell 3 through the first spring 102, and the two ends of the first spring 102 are respectively installed in the circular holes on the driving installation seat 307 and the side wall of the bottom shell 3. The operation of installing, replacing and securing the clamp catheter is similar to the first embodiment, i.e., toggling or releasing the drive mount 307 counterclockwise. The principle of driving the catheter to advance or withdraw is that the motor drives the shoulder cylindrical gear-A301 and the rubber driving wheel 309 to rotate through the output shaft, the shoulder cylindrical gear-A301 and the shoulder cylindrical gear-B302 are meshed with each other to drive the transmission shaft 306 to rotate, the synchronous pulley-A303 is driven to rotate, the synchronous pulley-A303 drives the synchronous pulley-B305 through the synchronous belt 304, and the synchronous pulley-B305 drives the driven wheel shaft 311 and the rubber driven wheel 310 on the driven wheel shaft to rotate. The outer surfaces of the rubber driving wheel 309 and the rubber driven wheel 310 are covered with elastic rubber to drive the guide pipe to move linearly. The device realizes independent driving of the rubber driving wheel 309 and the rubber driven wheel 310 by only using one driving motor, avoids the slip failure condition, can be compatible with catheters with different specifications and types, and is also suitable for guide wires.
Example 4
For a modification of embodiment 3, see fig. 8, in which the drive motor and the drive axle are omitted. The power is transmitted by a pair of magnetic driving wheels 601 which are arranged in parallel, one driving shaft is driven by a motor, and the other driving wheel rotates in the opposite direction under the action of repulsive force, so that a non-contact driving mode is realized.
The details not described in detail in this specification belong to the prior art known to those skilled in the art, all standard parts used by the standard parts can be purchased from the market, the special-shaped parts can be customized according to the description of the specification and the drawings, the specific connection modes of all parts adopt conventional means such as mature bolts, rivets and welding in the prior art, the machinery, the parts and the equipment adopt conventional models in the prior art, and the circuit connection adopts conventional connection modes in the prior art, which are not described in detail.
The present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications that do not depart from the spirit and principles of the invention are intended to be equivalent substitutes and are included in the scope of the invention.

Claims (8)

1. A catheter guidewire linear drive device for vascular interventional procedures, characterized in that:
the device comprises a first driving assembly (1), a second driving assembly (2), a bottom shell (3) and a limit track (4); a first branch (401) and a second branch (402) for placing a guide wire/catheter (5) are arranged on the limit track (4), the first branch (401) passes through the first driving component (1), and the second branch (402) passes through the second driving component (2);
the first driving assembly (1) comprises a driven wheel mounting seat I (101), a spring I (102), a driving wheel shaft (105), a cylindrical gear-A (107), a cylindrical gear-B (108), a driving wheel assembly-A (111) and a driven wheel assembly-A (113); the driving wheel assembly-A (111) is divided into an upper driving end and a lower driving end, the upper driving end of the driving wheel assembly-A (111) consists of a driving wheel-A (114) and an elastic driving body (115), and the lower driving end of the driving wheel assembly-A (111) consists of a driving wheel-A (114) and a rubber sleeve (116); the driven wheel assembly-A (113) is also divided into an upper driving end and a lower driving end, wherein the upper driving end of the driven wheel assembly-A (113) comprises a driven wheel end cover (118), a driven wheel-A (117) and an elastic driving body II (115-2), and the lower driving end of the driven wheel assembly-A (113) comprises a driven wheel-A (117) and a rubber sleeve II (116-2);
the driving wheel assembly-A (111) is fixed on the driving wheel shaft (105) through screws, and the driving wheel shaft (105) is arranged on a stepped hole of a base of the bottom shell (3); the driven wheel assembly-A (113) is arranged on the driven wheel mounting seat I (101), and is connected with a protruding shaft on the driven wheel mounting seat I (101) through a screw and a driven wheel end cover (118) and is relatively fixed; the side surface of the driven wheel mounting seat I (101) is connected with the side wall of the bottom shell (3) through a spring I (102), and two ends of the spring I (102) are respectively arranged in round holes in the driven wheel mounting seat I (101) and the side wall of the bottom shell (3); the lower end of the driven wheel mounting seat I (101) extends out of a shaft, the shaft extending out of the lower end of the driven wheel mounting seat I (101) is arranged in a hole on the base of the bottom shell (3), and the driven wheel mounting seat I (101) rotates around the shaft so as to enable the driving wheel assembly-A (111) and the driven wheel assembly-A (113) to be mutually attached or separated;
the cylindrical gear-A (107) is connected with an output shaft of the motor and is meshed with the cylindrical gear-B (108), the cylindrical gear-B (108) is fixedly locked with the driving wheel shaft (105), the driving wheel assembly-A (111) is fixedly locked on the driving wheel shaft (105), and the driving wheel assembly-A (111) rotates under the drive of the motor and drives the driven wheel assembly-A (113) to rotate through the surface friction of the elastic driving body (115); the rubber sleeve (116) and the rubber sleeve II (116-2) at the lower driving ends of the driving wheel assembly-A (111) and the driven wheel assembly-A (113) respectively squeeze and clamp the guide wire/catheter (5) from two sides, so that the guide wire/catheter (5) is driven to move.
2. A catheter guidewire linear drive for vascular interventional procedures as defined in claim 1, wherein: the second driving assembly (2) has the same structure as the first driving assembly (1), the second driving assembly (2) comprises a driven wheel mounting seat II (201), a spring II (202), a driving wheel axle II (105-2), a cylindrical gear II-A (107-2), a cylindrical gear II-B (108-2), a driven wheel assembly-B (203) and a driving wheel assembly-B (204), and the driven wheel mounting seat II (201) rotates around a shaft so that the driven wheel assembly-B (203) and the driving wheel assembly-B (204) are mutually attached or separated.
3. A catheter guidewire linear drive for vascular interventional procedures as defined in claim 2, wherein: the driving wheel assembly-B (204) comprises a driving wheel-B (205) and a cylindrical rubber sleeve (206), the cylindrical rubber sleeve (206) is sleeved on the periphery of the driving wheel-B (205), the driven wheel assembly-B (203) comprises a driven wheel-B (207) and a grooved rubber sleeve (208), the grooved rubber sleeve (208) is sleeved on the periphery of the driven wheel-B (207), and an arc groove on the grooved rubber sleeve (208) is used for accommodating a plurality of guide wires/guide pipes (5).
4. A catheter guidewire linear drive for vascular interventional procedures as defined in claim 1, wherein: the driven wheel mounting seat I (101) is provided with a groove, and the groove is used for poking the driven wheel mounting seat I (101) to enable the driven wheel mounting seat I to rotate anticlockwise around the shaft, so that the driven wheel assembly-A (113) is separated from the driving wheel assembly-A (111); after the driven wheel mounting seat I (101) is manually released, the driven wheel assembly-A (113) is reset under the action of the resilience force of the spring I (102) and is tightly attached to the driving wheel assembly-A (111) again.
5. A catheter guidewire linear drive for vascular interventional procedures as defined in claim 1, wherein: the driving wheel assembly-A (111) and the driven wheel assembly-A (113) in the first driving assembly (1) are provided with two pairs and are arranged in parallel.
6. A catheter guidewire linear drive for vascular interventional procedures as defined in claim 1, wherein: the initial state of the first spring (102) of the first driving assembly (1) is a compressed state, the elastic driving bodies (115) of the driving ends of the driving wheel assembly-A (111) and the driven wheel assembly-A (113) and the elastic driving body two (115-2) are mutually tightly attached under the action of the first spring (102), and the driven wheel assembly-A (113) is driven by a motor to rotate by means of surface friction of the elastic driving body (115).
7. A catheter guidewire linear drive device for vascular interventional procedures, characterized in that:
the device comprises a first driving assembly (1), a second driving assembly (2), a bottom shell (3) and a limit track (4); a first branch (401) and a second branch (402) for placing a guide wire/catheter (5) are arranged on the limit track (4), the first branch (401) passes through the first driving component (1), and the second branch (402) passes through the second driving component (2);
the first driving assembly (1) comprises a first spring (102), a shoulder cylindrical gear-A (301), a shoulder cylindrical gear-B (302), a synchronous pulley-A (303), a synchronous belt (304), a synchronous pulley-B (305), a transmission shaft (306), a driving mounting seat (307), an end face limiting ring (308), a rubber driving wheel (309), a rubber driven wheel (310), a driven wheel shaft (311) and a tensioning wheel (312);
the shoulder cylindrical gear-B (302) and the synchronous pulley-A (303) are arranged on a transmission shaft (306), the synchronous pulley-B (305) and a rubber driven wheel (310) are arranged on a driven wheel shaft (311), the driving installation seat (307) is used for installing and supporting the rubber driven wheel (310) and the driven wheel shaft (311), the driving installation seat (307) is limited on bases at two sides of the bottom shell (3) in the vertical direction through a shaft shoulder and an end face limiting ring (308) at the upper end of the transmission shaft (306), the side surface of the driving installation seat (307) is connected with the side wall of the bottom shell (3) through a first spring (102), and two ends of the first spring (102) are respectively arranged in round holes on the side walls of the driving installation seat (307) and the bottom shell (3);
the shoulder cylindrical gear-A (301) and the rubber driving wheel (309) are connected with an output shaft of a motor and rotate under the driving of the motor, the shoulder cylindrical gear-A (301) and the shoulder cylindrical gear-B (302) are meshed with each other and drive a transmission shaft (306) to rotate, and then drive a synchronous pulley-A (303) to rotate, the synchronous pulley-A (303) drives a synchronous pulley-B (305) through a synchronous belt (304), the synchronous pulley-B (305) drives a driven wheel shaft (311) and a rubber driven wheel (310) on the driven wheel shaft to rotate, and elastic rubber is wrapped on the outer surfaces of the rubber driving wheel (309) and the rubber driven wheel (310) to drive a guide wire/guide pipe (5) to linearly move.
8. A catheter guidewire linear drive for vascular interventional procedures as defined in claim 7, wherein: the rubber driving wheel (309) and the rubber driven wheel (310) are replaced by a pair of magnetic driving wheels (601) which are arranged in parallel, one of the magnetic driving wheels (601) drives one of the transmission shafts through a motor, and the other magnetic driving wheel (601) rotates in the opposite direction under the action of repulsive force, so that non-contact transmission is realized.
CN202310577021.9A 2023-05-22 2023-05-22 A pipe seal wire linear drive device for vascular intervention operation Active CN116637271B (en)

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CN103599585A (en) * 2013-11-20 2014-02-26 中国科学院深圳先进技术研究院 Vascular intervention operation guide-wire and catheter operating device and vascular intervention operation guide-wire and catheter operating modules
CN111110989A (en) * 2018-10-31 2020-05-08 博联众科（武汉）科技有限公司 Blood vessel intervention operation guide wire catheter advancing device
CN113893441A (en) * 2021-08-26 2022-01-07 中国科学院自动化研究所 Interventional operation delivery device
CN114569873A (en) * 2022-03-17 2022-06-03 上海睿触科技有限公司 Supplementary thread feeding mechanism of operation is intervene to blood vessel

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CN103083784B (en) * 2013-02-25 2014-09-17 中国科学院自动化研究所 Catheter or guide wire operating device for vessel interventional operation
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Publication number Priority date Publication date Assignee Title
CN103599585A (en) * 2013-11-20 2014-02-26 中国科学院深圳先进技术研究院 Vascular intervention operation guide-wire and catheter operating device and vascular intervention operation guide-wire and catheter operating modules
CN111110989A (en) * 2018-10-31 2020-05-08 博联众科（武汉）科技有限公司 Blood vessel intervention operation guide wire catheter advancing device
CN113893441A (en) * 2021-08-26 2022-01-07 中国科学院自动化研究所 Interventional operation delivery device
CN114569873A (en) * 2022-03-17 2022-06-03 上海睿触科技有限公司 Supplementary thread feeding mechanism of operation is intervene to blood vessel

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