CN116999677A - Interventional robot hybrid guide wire catheter pushing system - Google Patents

Interventional robot hybrid guide wire catheter pushing system Download PDF

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Publication number
CN116999677A
CN116999677A CN202311138254.5A CN202311138254A CN116999677A CN 116999677 A CN116999677 A CN 116999677A CN 202311138254 A CN202311138254 A CN 202311138254A CN 116999677 A CN116999677 A CN 116999677A
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CN
China
Prior art keywords
passive
driving
motor
plate
gear
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Pending
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CN202311138254.5A
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Chinese (zh)
Inventor
黄韬
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Beijing Wemed Medical Equipment Co Ltd
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Beijing Wemed Medical Equipment Co Ltd
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Application filed by Beijing Wemed Medical Equipment Co Ltd filed Critical Beijing Wemed Medical Equipment Co Ltd
Priority to CN202311138254.5A priority Critical patent/CN116999677A/en
Publication of CN116999677A publication Critical patent/CN116999677A/en
Pending legal-status Critical Current

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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
    • A61B34/37—Master-slave robots

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

Abstract

The utility model provides an intervention robot hybrid wire pipe pushing system, its first circular boss and the corresponding hole of drive end rotor plate bottom surface are installed, drive end rotor plate bottom surface is provided with first circular gear, the gear engagement of first circular gear and drive end first gear motor, drive end friction wheel installs the extension position at the connecting axle, the gear of connecting axle lower extreme is installed in the circular hole on the drive end rotor plate through drive end first bearing, the gear engagement of connecting axle and drive end second gear motor; the second round boss and the corresponding hole on the bottom surface of the driven end rotating plate are arranged; the bottom surface of the driven end rotating plate is provided with a second circular gear which is meshed with a gear of the driven end gear motor; the driven end friction wheel is arranged on the round hole of the driven end rotating plate through the driven end first bearing. The invention can accurately control the moving position of the surgical consumable, accurately measure the resistance in the pushing process in real time and ensure the use safety.

Description

Interventional robot hybrid guide wire catheter pushing system
Technical Field
The invention belongs to the technical field of medical instruments, and particularly relates to a hybrid guide wire catheter pushing system of an interventional robot.
Background
The cardiovascular and cerebrovascular intervention operation is a treatment process by a doctor manually sending the catheter, the guide wire, the bracket and other instruments into a patient. In the operation process, as the DSA can emit X-rays, the physical strength of doctors is reduced rapidly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as vascular intima injury, vascular perforation rupture and the like caused by improper pushing force are easy to occur, so that the life of patients is dangerous. Second, the cumulative damage of long-term ionizing radiation can greatly increase the probability of a doctor suffering from leukemia, cancer, and acute cataract. The phenomenon that doctors continuously accumulate rays due to interventional operations has become a non-negligible problem for damaging the professional lives of doctors and restricting the development of interventional operations.
The problem can be effectively solved by means of the robot technology, the accuracy and stability of operation can be greatly improved, meanwhile, the damage of radioactive rays to interventional doctors can be effectively reduced, and the occurrence probability of accidents in operation is reduced. The auxiliary robots for cardiovascular and cerebrovascular intervention operation are more and more focused by people, and become the key research and development objects of the medical robots in the field of the medical robots in the scientific and technological countries at present.
At present, there are several problems with interventional surgical robots: (1) In interventional operations, different requirements are made on the pushing speed of various surgical consumables in blood vessels, some places require quick passing, some places require slow moving, and the range of the pushing speed of the existing interventional robots is not enough; (2) In the slow pushing process, simultaneous and accurate control cannot be achieved, pushing resistance is accurately measured, and real-time protection when the resistance is overlarge is lacking; (3) In a safer area, the pushing speed is not high, so that the efficiency in operation is not high, and the operation time is longer; (4) The interventional operation robot has larger volume, occupies larger space of an operation catheter bed and is inconvenient to operate; (5) The simultaneous pushing and rotating actions of the surgical consumables cannot be achieved.
Disclosure of Invention
Therefore, the invention provides a hybrid guide wire catheter pushing system of an interventional robot, which solves the problems that the interventional operation robot in the prior art has a small speed range, low pushing efficiency, low pushing speed in a safe area, can not accurately control and accurately measure pushing resistance at the same time, lacks real-time protection of overlarge resistance, can not push and rotate at the same time and the like.
In order to achieve the above object, the present invention provides the following technical solutions: the hybrid guide wire catheter pushing system of the interventional robot comprises a mounting bottom plate, wherein an active end assembly and a passive end assembly are arranged on the mounting bottom plate;
The driving end assembly comprises a driving end first motor bracket, a driving end first screw motor, a driving plate, a driving end first linear guide rail, a driving end second linear guide rail, a driving end first bearing, a driving end second bearing, a driving end rotating plate, a driving end first gear motor, a driving end second motor bracket, a driving end friction wheel, a connecting shaft and a driving end second gear motor;
the first motor bracket of the driving end is fixedly connected with the mounting bottom plate, and the first screw motor of the driving end is mounted on the first motor bracket of the driving end; the first screw rod motor at the driving end is matched with the threaded hole of the driving plate; the first linear guide rail of the driving end is connected with the driving plate, and the second linear guide rail of the driving end is connected with the mounting bottom plate; a first round boss is formed in the middle of the driving plate, the first round boss is connected with the driving end second bearing, the first round boss is installed in a corresponding hole in the bottom surface of the driving end rotating plate, a first round gear is arranged on the bottom surface of the driving end rotating plate, the first round gear is meshed with a gear of the driving end first gear motor, and the driving end first gear motor is fixed on the driving end rotating plate through the driving end second motor bracket; the driving end friction wheel is arranged at the extension part of the connecting shaft, a gear at the lower end of the connecting shaft is arranged in a circular hole on the driving end rotating plate through the driving end first bearing, and the gear of the connecting shaft is meshed with a gear of the driving end second gear motor;
The passive end assembly comprises a passive end second motor bracket, a passive end first screw motor, a passive plate, a passive end first linear guide rail, a passive end second bearing, a passive end first bearing, a passive end rotating plate, a passive end gear motor, a passive end third motor bracket and a passive end friction wheel;
the driven end second motor bracket is fixedly connected with the mounting bottom plate, the driven end first screw motor is mounted on the driven end second motor bracket, and the driven end first screw motor is matched with the threaded hole of the driven plate; the first linear guide rail of the driven end is connected with the mounting bottom plate, the first linear guide rail of the driven end is also connected with the driven plate, a second circular boss is formed in the middle of the driven plate, the second circular boss is connected with the second bearing of the driven end, and the second circular boss is mounted with a corresponding hole in the bottom surface of the rotating plate of the driven end; the bottom surface of the driven end rotating plate is provided with a second circular gear, and the second circular gear is meshed with the gear of the driven end gear motor; the driven end gear motor is fixed on the driven end rotating plate through the driven end third motor bracket; the driven end friction wheel is arranged on the round hole of the driven end rotating plate through the driven end first bearing.
As a preferred scheme of the interventional robot hybrid guide wire catheter pushing system, the driving end assembly further comprises an encoder, and a gear of the driving end second gear motor is meshed with a gear of the encoder;
the driving end assembly further comprises a driving end fourth motor bracket, and the encoder is fixed on the driving end fourth motor bracket; the encoder is used for detecting the rotation angle and the rotation speed of the friction wheel at the driving end.
As the preferable scheme of the hybrid wire guide catheter pushing system of the interventional robot, the driving end first linear guide rail is arranged on the driving end rotating plate, and the driving end adapter plate is arranged on a sliding block of the driving end first linear guide rail;
the driving end assembly further comprises a driving end second screw motor, a driving end third motor bracket and a driving end adapter plate, and the driving end second screw motor is arranged on the driving end rotating plate through the driving end third motor bracket;
and the driving end second screw rod motor is connected with the threaded hole of the driving end adapter plate.
As an optimized scheme of the interventional robot hybrid guide wire catheter pushing system, the driving end assembly further comprises a grid containing sensor, the grid containing sensor is arranged on the driving end rotating plate, and a sliding plate at the upper end of the grid containing sensor is connected with the driving end adapter plate; the capacitive grating sensor is used for measuring the moving distance of the driving end adapter plate.
As the optimized scheme of the interventional robot hybrid guide wire catheter pushing system, the driving end assembly further comprises a driving end pressure sensor, a driving end connecting plate, a driving end electromagnet and a driving end connecting sheet; one end of the driving end pressure sensor is arranged on the driving end adapter plate, and the other end of the driving end pressure sensor is arranged on the driving end connecting plate; the upper part of the driving end connecting plate is fixedly connected with the driving end electromagnet, and the driving end electromagnet is connected with the driving end connecting plate.
As the optimized scheme of the interventional robot hybrid guide wire catheter pushing system, one side of the driving end connecting sheet is an iron sheet, the other side of the driving end connecting sheet is silica gel, and the driving end connecting sheet is used for directly contacting a catheter and a guide wire.
As the preferable scheme of the interventional robot hybrid guide wire catheter pushing system, the passive end component further comprises a passive end third linear guide rail, a passive end first motor bracket, a passive end third screw motor, a passive end fourth motor bracket and a passive end fourth motor bracket; the driven end third linear guide rail is arranged on the driven end rotating plate, the driven end first motor support is arranged on the driven end third linear guide rail, the driven end third screw motor is arranged on the driven end rotating plate through the driven end fourth motor support, and the driven end third screw motor is connected with a threaded hole of the driven end first motor support.
As the preferable scheme of the interventional robot hybrid guide wire catheter pushing system, the passive end assembly further comprises a passive end second screw motor, a passive end connecting piece and a passive end second linear guide rail, wherein the passive end second screw motor is arranged on the side face of the passive end first motor bracket, and threads of the passive end second screw motor and the passive end connecting piece are matched; the driven end connecting piece is arranged on the sliding block of the second linear guide rail of the driven end; the second linear guide rail at the passive end is arranged on the first motor bracket at the passive end.
As the optimized scheme of the interventional robot hybrid guide wire catheter pushing system, the passive end component further comprises a passive end pressure sensor, a passive end connecting plate, a passive end electromagnet and a passive end connecting sheet; the passive end pressure sensor one end is installed on the passive end connecting piece, the passive end pressure sensor other end is installed on the passive end connecting plate, the upper end of the passive end connecting plate with the passive end electromagnet is fixed, the passive end electromagnet with the passive end connecting piece is connected.
As the optimized scheme of the interventional robot hybrid guide wire catheter pushing system, one side of the passive end connecting sheet is an iron sheet, the other side of the passive end connecting sheet is silica gel, and the passive end connecting sheet is used for directly contacting a catheter and a guide wire.
The invention has the beneficial effects that the installation bottom plate is provided with the driving end component and the driven end component; the drive end assembly comprises a drive end first motor bracket, a drive end first screw motor, a drive plate, a drive end first linear guide rail, a drive end second linear guide rail, a drive end first bearing, a drive end second bearing, a drive end rotating plate, a drive end first gear motor, a drive end second motor bracket, a drive end friction wheel, a connecting shaft and a drive end second gear motor; the driving end first motor bracket is fixedly connected with the mounting bottom plate, and the driving end first screw rod motor is mounted on the driving end first motor bracket; the first screw rod motor at the driving end is matched with the threaded hole of the driving plate; the first linear guide rail of the driving end is connected with the driving plate, and the second linear guide rail of the driving end is connected with the mounting bottom plate; a first round boss is formed in the middle of the driving plate and is connected with a driving end second bearing, the first round boss is installed in a corresponding hole in the bottom surface of the driving end rotating plate, a first round gear is arranged in the bottom surface of the driving end rotating plate, the first round gear is meshed with a gear of a driving end first gear motor, and the driving end first gear motor is fixed on the driving end rotating plate through a driving end second motor bracket; the friction wheel at the driving end is arranged at the extension part of the connecting shaft, the gear at the lower end of the connecting shaft is arranged in a circular hole on the rotating plate at the driving end through a first bearing at the driving end, and the gear of the connecting shaft is meshed with the gear of a second gear motor at the driving end; the passive end assembly comprises a passive end second motor bracket, a passive end first screw motor, a passive plate, a passive end first linear guide rail, a passive end second bearing, a passive end first bearing, a passive end rotating plate, a passive end gear motor, a passive end third motor bracket and a passive end friction wheel; the driven end second motor bracket is fixedly connected with the mounting bottom plate, the driven end first screw motor is arranged on the driven end second motor bracket, and the driven end first screw motor is matched with the threaded hole of the driven plate; the first linear guide rail of the driven end is connected with the mounting bottom plate, the first linear guide rail of the driven end is also connected with the driven plate, a second circular boss is formed in the middle of the driven plate, the second circular boss is connected with a second bearing of the driven end, and the second circular boss is mounted with a corresponding hole on the bottom surface of the rotating plate of the driven end; the bottom surface of the driven end rotating plate is provided with a second circular gear which is meshed with a gear of the driven end gear motor; the driven end gear motor is fixed on the driven end rotating plate through a driven end third motor bracket; the driven end friction wheel is arranged on the round hole of the driven end rotating plate through the driven end first bearing. The invention can avoid the risk of X-ray injury to doctors and complete the operation process; the operation speed is higher and the operation efficiency is higher according to different positions of the guide wire catheter and the like in the blood vessel; the moving position of the surgical consumable can be accurately and precisely controlled, the resistance in the pushing process can be accurately measured in real time, and the use safety is ensured.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below. It will be apparent to those skilled in the art from this disclosure that the drawings described below are merely exemplary and that other embodiments may be derived from the drawings provided without undue effort.
The structures, proportions, sizes, etc. shown in the present specification are shown only for the purposes of illustration and description, and are not intended to limit the scope of the invention, which is defined by the claims, so that any structural modifications, changes in proportions, or adjustments of sizes, which do not affect the efficacy or the achievement of the present invention, should fall within the scope of the invention.
Fig. 1 is a schematic front perspective view of a hybrid guidewire catheter pushing system of an interventional robot according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a back-side perspective structure of a hybrid guidewire catheter pushing system of an interventional robot according to an embodiment of the present invention;
Fig. 3 is a schematic perspective view of a driving end assembly of a hybrid guidewire catheter pushing system of an interventional robot according to an embodiment of the present invention;
fig. 4 is an exploded schematic view of a driving end component of a hybrid guidewire catheter pushing system of an interventional robot according to an embodiment of the present invention;
FIG. 5 is a partially exploded schematic illustration of a drive end assembly of a hybrid guidewire catheter pusher system for an interventional robot provided by an embodiment of the present invention;
fig. 6 is a schematic perspective view of a passive end assembly of a hybrid guidewire catheter pushing system of an interventional robot according to an embodiment of the present invention;
fig. 7 is an exploded schematic view of a passive end component of a hybrid guidewire catheter push system of an interventional robot according to an embodiment of the present invention;
fig. 8 is a partially exploded schematic view of a passive end component of a hybrid guidewire catheter pushing system of an interventional robot according to an embodiment of the present invention;
fig. 9 is a schematic illustration of a hybrid guidewire catheter pushing system of an interventional robot according to an embodiment of the present invention.
In the figure, 101, a first motor bracket at the driving end; 102. a first screw motor at the driving end; 103. the driving end is provided with a second motor bracket; 104. a first gear motor at the driving end; 105. a driving end friction wheel; 106. a connecting shaft; 107. a drive end first bearing; 108. a first linear guide rail at the driving end; 109. a second linear guide rail at the driving end; 110. a third motor bracket at the driving end; 111. a second screw motor at the driving end; 112. a drive end connecting plate; 113. a driving end electromagnet; 114. a drive end connecting sheet; 115. an active end pressure sensor; 116. a drive end adapter plate; 117. a capacitive grating sensor; 118. a driving end fourth motor bracket; 119. an encoder; 120. a drive end second gear motor; 121. a first circular gear; 122. a first circular boss;
201. A driving end rotating plate; 202. an active plate; 203. a drive end second bearing;
301. a first motor bracket at the passive end; 302. a passive end first linear guide rail; 303. the second motor bracket at the passive end; 304. a first screw motor at the passive end; 305. a passive end gear motor; 306. a third motor bracket at the passive end; 307. a second screw motor at the passive end; 308. a passive end friction wheel; 309. a passive end first bearing; 310. the second linear guide rail of the passive end; 311. a passive end connecting plate; 312. a passive end electromagnet; 313. a passive end connection piece; 314. a passive end pressure sensor; 315. a passive end connector; 316. a fourth motor bracket at the passive end; 317. a third screw motor at the driven end; 318. a third linear guide rail at the passive end; 319. a second circular gear; 320. a second circular boss;
401. a passive plate; 402. a passive end second bearing; 403. a passive end rotating plate;
I. a drive end assembly; II. A passive end assembly; III, mounting a bottom plate.
Detailed Description
Other advantages and advantages of the present invention will become apparent to those skilled in the art from the following detailed description, which, by way of illustration, is to be read in connection with certain specific embodiments, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
Referring to fig. 1, fig. 2, fig. 3, fig. 4, fig. 5, fig. 6, fig. 7 and fig. 8, an embodiment of the present invention provides a hybrid guidewire catheter pushing system of an interventional robot, which includes a mounting base plate III, on which an active end component I and a passive end component II are disposed;
the driving end assembly I comprises a driving end first motor bracket 101, a driving end first screw motor 102, a driving plate 202, a driving end first linear guide rail 108, a driving end second linear guide rail 109, a driving end first bearing 107, a driving end second bearing 203, a driving end rotating plate 201, a driving end first gear motor 104, a driving end second motor bracket 103, a driving end friction wheel 105, a connecting shaft 106 and a driving end second gear motor 120;
the driving end first motor bracket 101 is fixedly connected with the mounting bottom plate III, and the driving end first screw motor 102 is mounted on the driving end first motor bracket 101; the first screw motor 102 at the driving end is matched with the threaded hole of the driving plate 202; the first linear guide rail 108 of the driving end is connected with the driving plate 202, and the second linear guide rail 109 of the driving end is connected with the mounting bottom plate III; a first circular boss 122 is formed in the middle of the driving plate 202, the first circular boss 122 is connected with a driving end second bearing 203, the first circular boss 122 is installed in a corresponding hole on the bottom surface of the driving end rotating plate 201, a first circular gear 121 is arranged on the bottom surface of the driving end rotating plate 201, the first circular gear 121 is meshed with a gear of a driving end first gear motor 104, and the driving end first gear motor 104 is fixed on the driving end rotating plate 201 through a driving end second motor bracket 103; the driving end friction wheel 105 is arranged at the extension part of the connecting shaft 106, a gear at the lower end of the connecting shaft 106 is arranged in a circular hole on the driving end rotating plate 201 through the driving end first bearing 107, and the gear of the connecting shaft 106 is meshed with a gear of the driving end second gear motor 120;
The passive end component II comprises a passive end second motor bracket 303, a passive end first screw motor 304, a passive plate 401, a passive end first linear guide rail 302, a passive end second bearing 402, a passive end first bearing 309, a passive end rotating plate 403, a passive end gear motor 305, a passive end third motor bracket 306 and a passive end friction wheel 308;
the passive end second motor bracket 303 is fixedly connected with the mounting bottom plate III, the passive end first screw motor 304 is arranged on the passive end second motor bracket 303, and the passive end first screw motor 304 is matched with a threaded hole of the passive plate 401; the first linear guide rail 302 of the passive end is connected with the mounting bottom plate III, the first linear guide rail 302 of the passive end is also connected with the passive plate 401, a second round boss 320 is formed in the middle of the passive plate 401, the second round boss 320 is connected with the second bearing 402 of the passive end, and the second round boss 320 is mounted with a corresponding hole on the bottom surface of the rotating plate 403 of the passive end; the bottom surface of the driven end rotating plate 403 is provided with a second circular gear 319, and the second circular gear 319 is meshed with the gear of the driven end gear motor 305; the driven end gear motor 305 is fixed on the driven end rotating plate 403 through the driven end third motor bracket 306; the passive-end friction wheel 308 is mounted on the circular hole of the passive-end rotating plate 403 through a passive-end first bearing 309.
In this embodiment, the driving end assembly I further includes an encoder 119, and the gear of the driving end second gear motor 120 is meshed with the gear of the encoder 119; the drive end assembly I further comprises a drive end fourth motor bracket 118, and an encoder 119 is fixed on the drive end fourth motor bracket 118; the encoder 119 is used for detecting the rotation angle and speed of the driving end friction wheel 105; the driving end first linear guide rail 108 is mounted on the driving end rotating plate 201, and the driving end adapter plate 116 is mounted on a sliding block of the driving end first linear guide rail 108; the drive end assembly I further comprises a drive end second screw motor 111, a drive end third motor bracket 110 and a drive end adapter plate 116, wherein the drive end second screw motor 111 is arranged on the drive end rotating plate 201 through the drive end third motor bracket 110; the drive end second lead screw motor 111 is connected with a threaded hole of the drive end adapter plate 116.
In this embodiment, the driving end assembly I further includes a capacitive grating sensor 117, where the capacitive grating sensor 117 is mounted on the driving end rotating plate 201, and a slider at the upper end of the capacitive grating sensor 117 is connected to the driving end adapter plate 116; the capacitive grating sensor 117 is used for measuring the moving distance of the driving end adapter plate 116; the drive end assembly I further comprises a drive end pressure sensor 115, a drive end connecting plate 112, a drive end electromagnet 113 and a drive end connecting sheet 114; one end of the active end pressure sensor 115 is arranged on the active end adapter plate 116, and the other end of the active end pressure sensor 115 is arranged on the active end connecting plate 112; the upper part of the driving end connecting plate 112 is fixedly connected with the driving end electromagnet 113, and the driving end electromagnet 113 is connected with the driving end connecting plate 114; one side of the active end connecting piece 114 is an iron sheet, the other side of the active end connecting piece 114 is silica gel, and the active end connecting piece 114 is used for directly contacting a catheter and a guide wire.
Specifically, in the driving end assembly I, a driving end first motor bracket 101 is fixed on a mounting bottom plate III, a driving end first screw motor 102 is mounted on the driving end first motor bracket 101, and the driving end first screw motor 102 is matched with a threaded hole of a driving plate 202; the first linear guide rail 108 of the driving end is installed on the driving plate 202, the second linear guide rail 109 of the driving end is connected with the driving plate 202, a first circular boss 122 is arranged in the middle of the driving plate 202, the first circular boss 122 is provided with a second bearing 203 of the driving end and then is installed with a corresponding hole on the bottom surface of the rotating plate 201 of the driving end, a first circular gear 121 is arranged on the bottom surface of the rotating plate 201 of the driving end, the first circular gear 121 is meshed with a gear of the first gear motor 104 of the driving end, and the first circular gear is fixed on the rotating plate 201 of the driving end through the second motor bracket 103 of the driving end.
Specifically, the friction wheel 105 at the driving end is a disposable consumable, the inside of the friction wheel is hexagonal and is installed on an extension rod of the connecting shaft 106, the gear at the lower end of the connecting shaft 106 is installed in a circular hole on the rotating plate 201 at the driving end through the first bearing 107 at the driving end, the gear of the connecting shaft 106 is meshed with the gear of the second gear motor 120 at the driving end, and the friction wheel is fixed through the fourth motor bracket 118 at the driving end and a boss of the rotating plate 201 at the driving end. The gear of the drive end second gear motor 120 is engaged with the gear of the encoder 119, and the encoder 119 is fixed to the drive end fourth motor bracket 118. The second gear motor 120 at the driving end rotates to drive the friction wheel 105 at the driving end to rotate, and the rotation angle and speed can be detected by the encoder 119.
Specifically, the driving-end first linear guide rail 108 is mounted on the driving-end rotating plate 201, the driving-end adapter plate 116 is mounted on a slider of the driving-end first linear guide rail 108, the driving-end second screw motor 111 is mounted on the driving-end rotating plate 201 through the driving-end third motor bracket 110, and the driving-end second screw motor 111 is connected with a threaded hole of the driving-end adapter plate 116. The capacitive grating sensor 117 is mounted on the driving-end rotating plate 201, and a sliding plate at the upper end of the capacitive grating sensor 117 is connected with the driving-end adapter plate 116. When the driving end adapter plate 116 moves, the sliding plate is driven to move on the grid containing sensor 117, so that the moving distance can be measured.
Specifically, the active-end pressure sensor 115 is mounted on the active-end adapter plate 116 at one end, and mounted on the active-end connecting plate 112 at the other end, the upper end of the active-end connecting plate 112 is fixed to the active-end electromagnet 113, and the active-end electromagnet 113 may be connected to the active-end connecting plate 114. The active end connecting piece 114 is a disposable consumable material of the interventional robot, one surface of the active end connecting piece 114 is an iron sheet, and the other surface is silica gel and is used for being directly connected with a catheter and a guide wire. Thus, the rotation of the first screw motor 102 at the driving end can drive the whole driving end to move up and down, so that the twisting effect on the guide wire and the guide wire can be achieved, and the rotation action on the guide wire and the guide wire can be realized. The rotation of the first gear motor 104 at the driving end can drive the rotating plate 201 at the driving end to rotate, so as to realize the switching of the control modes. The rotation of the drive end second lead screw motor 111 can achieve the forward and backward movement of the parallel grippers.
In this embodiment, the passive end assembly II further includes a passive end third linear guide 318, a passive end first motor bracket 301, a passive end third screw motor 317, a passive end fourth motor bracket 316, and; the driven end third linear guide rail 318 is mounted on the driven end rotating plate 403, the driven end first motor bracket 301 is mounted on the driven end third linear guide rail 318, the driven end third screw motor 317 is mounted on the driven end rotating plate 403 through the driven end fourth motor bracket 316, and the driven end third screw motor 317 is connected with the threaded hole of the driven end first motor bracket 301; the passive end assembly II further comprises a passive end second screw motor 307, a passive end connecting piece 315 and a passive end second linear guide rail 310, wherein the passive end second screw motor 307 is arranged on the side surface of the passive end first motor bracket 301, and threads of the passive end second screw motor 307 and the passive end connecting piece 315 are matched; the passive end connecting piece 315 is mounted on the slider of the passive end second linear guide rail 310; the passive end second linear guide rail 310 is mounted on the passive end first motor bracket 301; the passive end assembly II further includes a passive end pressure sensor 314, a passive end connection plate 311, a passive end electromagnet 312, and a passive end connection plate 313; one end of a passive end pressure sensor 314 is arranged on a passive end connecting piece 315, the other end of the passive end pressure sensor 314 is arranged on a passive end connecting plate 311, the upper end of the passive end connecting plate 311 is fixed with a passive end electromagnet 312, and the passive end electromagnet 312 is connected with a passive end connecting piece 313; one side of the passive end connecting piece 313 is an iron sheet, the other side of the passive end connecting piece 313 is silica gel, and the passive end connecting piece 313 is used for directly contacting a catheter and a guide wire.
Specifically, in the passive end assembly II, the passive end second motor bracket 303 is fixed on the mounting base plate III, the passive end first lead screw motor 304 is mounted on the passive end second motor bracket 303, the passive end first lead screw motor 304 is matched with a threaded hole of the passive plate 401, the passive end first linear guide 302 is fixed on the mounting base plate III, the passive end first linear guide 302 is connected with the passive plate 401, a second circular boss 320 is arranged in the middle of the passive plate 401, a passive end second bearing 402 is mounted on the second circular boss 320, then the second circular boss 319 is mounted in a corresponding hole in the bottom surface of the passive end rotating plate 403, a second circular gear 319 is arranged in the bottom surface of the passive end rotating plate 403, the second circular gear 319 is meshed with a gear of the passive end gear motor 305, and the second circular gear 319 is fixed on the passive end rotating plate 403 through the passive end third motor bracket 306. The passive end friction wheel 308 is a disposable consumable and is mounted on the circular hole of the passive end rotating plate 403 through the passive end first bearing 309.
Specifically, the passive end third linear guide rail 318 is mounted on the passive end rotating plate 403, the passive end first motor bracket 301 is mounted on the passive end third linear guide rail 318, the passive end third screw motor 317 is mounted on the passive end rotating plate 403 through the passive end fourth motor bracket 316, and the passive end third screw motor 317 is connected with the threaded hole of the passive end first motor bracket 301. The passive end second screw motor 307 is mounted on the side surface of the passive end first motor bracket 301, and the passive end second screw motor 307 is matched with the threads of the passive end connecting piece 315. The passive end connector 315 is mounted on the slider of the passive end second linear guide 310. The passive end second linear guide 310 is mounted on the passive end first motor bracket 301.
Specifically, the passive end pressure sensor 314 has one end mounted on the passive end connector 315 and the other end mounted on the passive end connector 311, the upper end of the passive end connector 311 is fixed to the passive end electromagnet 312, and the passive end electromagnet 312 can be connected to the passive end connector 313. The passive end connecting piece 313 is a disposable consumable material of the interventional robot, one surface of the passive end connecting piece 313 is an iron sheet, and the other surface is silica gel and is used for being directly connected with a catheter and a guide wire. Thus, the rotation of the first screw motor 304 at the driven end can drive the whole driven end assembly II to move up and down, so that the twisting effect on the guide tube and the guide wire can be achieved, and the rotation action on the guide wire and the guide tube can be realized. The rotation of the driven end gear motor 305 can drive the driven end rotating plate 403 to rotate, so as to realize the switching of the control modes. The rotation of the third lead screw motor 317 at the passive end can realize the forward and backward movement of the parallel grippers. Rotation of the passive end second lead screw motor 307 may effect opening and closing actions of the parallel grippers.
Referring to fig. 9, in this embodiment, consumable materials for interventional operation, such as a guide wire, a catheter, etc., are placed between the active end component I and the passive end component II, and the two components need to cooperate with each other to perform movement control on the consumable materials for operation. In motion control, the system is provided with two control modes, friction wheel pushing and parallel gripper pushing. The friction wheel pushing is used for rapidly pushing consumable materials, pushing accuracy is low, the speed is high, parallel gripper pushing is used for precise control, and actual resistance measurement in pushing can be completed. The system can indicate that the guide wire is in the guide catheter, i.e. in a safe area, according to the real-time position relation of the surgical consumable such as the guide wire, the catheter and the like in the blood vessel image, such as when the guide wire is not present in the DSA image. When the guide wire is in a safety area, the system automatically selects a friction wheel pushing mode when controlling the guide wire, and can realize rapid movement of the guide wire. When the guide wire is positioned outside the guide catheter, the guide wire is required to be accurately controlled in advance, namely, the guide wire is positioned in an unsafe area, the system automatically selects a parallel gripper pushing mode when controlling the guide wire, the guide wire can be accurately controlled to move, and meanwhile, the pushing resistance can be measured in real time.
In the friction wheel control mode, the driving end friction wheel 105 and the driven friction wheel are clamped with each other, and the guide tube and the guide wire can be driven to move forwards or backwards through rotation of the driving end friction wheel 105. Because the motor can rotate at a fast speed, the movement of the surgical consumable will be fast in this control mode. By the simultaneous rotation of the driving-side first gear motor 104 and the driven-side gear motor 305, the driving-side rotating plate 201 and the driven-side rotating plate 403 can be simultaneously rotated, thereby realizing the switching of the control modes. In the parallel grip control mode, the control principle is similar to the actual operation process of doctors, and the control principle is realized by grasping a guide wire catheter, then moving, loosening and returning, thus the operation is sequentially circulated. In the moving process, the system calculates the stress change in the moving process by detecting the pressure sensors at two sides, so that the pushing resistance can be obtained.
In summary, the installation bottom plate III of the present invention is provided with the active end component I and the passive end component II; the driving end assembly I comprises a driving end first motor bracket 101, a driving end first screw motor 102, a driving plate 202, a driving end first linear guide rail 108, a driving end second linear guide rail 109, a driving end first bearing 107, a driving end second bearing 203, a driving end rotating plate 201, a driving end first gear motor 104, a driving end second motor bracket 103, a driving end friction wheel 105, a connecting shaft 106 and a driving end second gear motor 120; the driving end first motor bracket 101 is fixedly connected with the mounting bottom plate III, and the driving end first screw motor 102 is mounted on the driving end first motor bracket 101; the first screw motor 102 at the driving end is matched with the threaded hole of the driving plate 202; the first linear guide rail 108 of the driving end is connected with the driving plate 202, and the second linear guide rail 109 of the driving end is connected with the mounting bottom plate III; a first circular boss 122 is formed in the middle of the driving plate 202, the first circular boss 122 is connected with a driving end second bearing 203, the first circular boss 122 is installed in a corresponding hole on the bottom surface of the driving end rotating plate 201, a first circular gear 121 is arranged on the bottom surface of the driving end rotating plate 201, the first circular gear 121 is meshed with a gear of a driving end first gear motor 104, and the driving end first gear motor 104 is fixed on the driving end rotating plate 201 through a driving end second motor bracket 103; the driving end friction wheel 105 is arranged at the extension part of the connecting shaft 106, a gear at the lower end of the connecting shaft 106 is arranged in a circular hole on the driving end rotating plate 201 through the driving end first bearing 107, and the gear of the connecting shaft 106 is meshed with a gear of the driving end second gear motor 120; the passive end component II comprises a passive end second motor bracket 303, a passive end first screw motor 304, a passive plate 401, a passive end first linear guide rail 302, a passive end second bearing 402, a passive end first bearing 309, a passive end rotating plate 403, a passive end gear motor 305, a passive end third motor bracket 306 and a passive end friction wheel 308; the passive end second motor bracket 303 is fixedly connected with the mounting bottom plate III, the passive end first screw motor 304 is arranged on the passive end second motor bracket 303, and the passive end first screw motor 304 is matched with a threaded hole of the passive plate 401; the first linear guide rail 302 of the passive end is connected with the mounting bottom plate III, the first linear guide rail 302 of the passive end is also connected with the passive plate 401, a second round boss 320 is formed in the middle of the passive plate 401, the second round boss 320 is connected with the second bearing 402 of the passive end, and the second round boss 320 is mounted with a corresponding hole on the bottom surface of the rotating plate 403 of the passive end; the bottom surface of the driven end rotating plate 403 is provided with a second circular gear 319, and the second circular gear 319 is meshed with the gear of the driven end gear motor 305; the driven end gear motor 305 is fixed on the driven end rotating plate 403 through the driven end third motor bracket 306; the passive-end friction wheel 308 is mounted on the circular hole of the passive-end rotating plate 403 through a passive-end first bearing 309. Consumable materials for interventional operation, such as a guide wire, a catheter and the like, are placed between the active end component I and the passive end component II, and the active end component I and the passive end component II need to cooperate with each other to complete movement control of the consumable materials for the operation. In motion control, the system is provided with two control modes, friction wheel pushing and parallel gripper pushing. The friction wheel pushing is used for rapidly pushing consumable materials, pushing accuracy is low, the speed is high, parallel gripper pushing is used for precise control, and actual resistance measurement in pushing can be completed. The system can indicate that the guide wire is in the guide catheter, i.e. in a safe area, according to the real-time position relation of the surgical consumable such as the guide wire, the catheter and the like in the blood vessel image, such as when the guide wire is not present in the DSA image. When the guide wire is in a safety area, the system automatically selects a friction wheel pushing mode when controlling the guide wire, and can realize rapid movement of the guide wire. When the guide wire is positioned outside the guide catheter, the guide wire is required to be accurately controlled in advance, namely, the guide wire is positioned in an unsafe area, the system automatically selects a parallel gripper pushing mode when controlling the guide wire, the guide wire can be accurately controlled to move, and meanwhile, the pushing resistance can be measured in real time. In the friction wheel control mode, the driving end friction wheel 105 and the driven friction wheel are clamped with each other, and the guide tube and the guide wire can be driven to move forwards or backwards through rotation of the driving end friction wheel 105. Because the motor can rotate at a fast speed, the movement of the surgical consumable will be fast in this control mode. By the simultaneous rotation of the driving-side first gear motor 104 and the driven-side gear motor 305, the driving-side rotating plate 201 and the driven-side rotating plate 403 can be simultaneously rotated, thereby realizing the switching of the control modes. In the parallel grip control mode, the control principle is similar to the actual operation process of doctors, and the control principle is realized by grasping a guide wire catheter, then moving, loosening and returning, thus the operation is sequentially circulated. In the moving process, the system calculates the stress change in the moving process by detecting the pressure sensors at two sides, so that the pushing resistance can be obtained. The invention can avoid the risk of X-ray injury to doctors and complete the operation process; the operation speed is higher and the operation efficiency is higher according to different positions of the guide wire catheter and the like in the blood vessel; the moving position of the surgical consumable can be accurately and precisely controlled, the resistance in the pushing process can be accurately measured in real time, and the use safety is ensured.
While the invention has been described in detail in the foregoing general description and specific examples, it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, such modifications or improvements may be made without departing from the spirit of the invention and are intended to be within the scope of the invention as claimed.

Claims (10)

1. The interventional robot hybrid guide wire catheter pushing system is characterized by comprising a mounting bottom plate (III), wherein an active end assembly (I) and a passive end assembly (II) are arranged on the mounting bottom plate (III);
the driving end assembly (I) comprises a driving end first motor bracket (101), a driving end first screw motor (102), a driving plate (202), a driving end first linear guide rail (108), a driving end second linear guide rail (109), a driving end first bearing (107), a driving end second bearing (203), a driving end rotating plate (201), a driving end first gear motor (104), a driving end second motor bracket (103), a driving end friction wheel (105), a connecting shaft (106) and a driving end second gear motor (120);
the driving end first motor bracket (101) is fixedly connected with the mounting bottom plate (III), and the driving end first screw motor (102) is mounted on the driving end first motor bracket (101); the first screw motor (102) at the driving end is matched with the threaded hole of the driving plate (202); the driving end first linear guide rail (108) is connected with the driving plate (202), and the driving end second linear guide rail (109) is connected with the mounting bottom plate (III); a first circular boss (122) is formed in the middle of the driving plate (202), the first circular boss (122) is connected with the driving end second bearing (203), the first circular boss (122) is installed in a corresponding hole in the bottom surface of the driving end rotating plate (201), a first circular gear (121) is arranged in the bottom surface of the driving end rotating plate (201), the first circular gear (121) is meshed with a gear of the driving end first gear motor (104), and the driving end first gear motor (104) is fixed on the driving end rotating plate (201) through the driving end second motor bracket (103); the driving end friction wheel (105) is arranged at the extension part of the connecting shaft (106), a gear at the lower end of the connecting shaft (106) is arranged in a circular hole on the driving end rotating plate (201) through the driving end first bearing (107), and the gear of the connecting shaft (106) is meshed with a gear of the driving end second gear motor (120);
The passive end assembly (II) comprises a passive end second motor bracket (303), a passive end first screw motor (304), a passive plate (401), a passive end first linear guide rail (302), a passive end second bearing (402), a passive end first bearing (309), a passive end rotating plate (403), a passive end gear motor (305), a passive end third motor bracket (306) and a passive end friction wheel (308);
the passive end second motor bracket (303) is fixedly connected with the mounting bottom plate (III), the passive end first screw motor (304) is mounted on the passive end second motor bracket (303), and the passive end first screw motor (304) is matched with a threaded hole of the passive plate (401); the passive end first linear guide rail (302) is connected with the mounting bottom plate (III), the passive end first linear guide rail (302) is also connected with the passive plate (401), a second circular boss (320) is formed in the middle of the passive plate (401), the second circular boss (320) is connected with the passive end second bearing (402), and the second circular boss (320) is mounted with a corresponding hole on the bottom surface of the passive end rotating plate (403); the bottom surface of the driven end rotating plate (403) is provided with a second circular gear (319), and the second circular gear (319) is meshed with the gear of the driven end gear motor (305); the driven end gear motor (305) is fixed on the driven end rotating plate (403) through the driven end third motor bracket (306); the passive end friction wheel (308) is arranged on a round hole of the passive end rotary plate (403) through the passive end first bearing (309).
2. The interventional robot hybrid guidewire catheter advancement system according to claim 1, wherein the drive end assembly (I) further comprises an encoder (119), the gear of the drive end second gear motor (120) being meshed with the gear of the encoder (119);
the driving end assembly (I) further comprises a driving end fourth motor bracket (118), and the encoder (119) is fixed on the driving end fourth motor bracket (118); the encoder (119) is used to detect the angle and speed of rotation of the drive end friction wheel (105).
3. The interventional robot hybrid guidewire catheter pushing system according to claim 2, wherein the drive end first linear guide rail (108) is mounted on the drive end rotating plate (201), the drive end adapter plate (116) being mounted on a slider of the drive end first linear guide rail (108);
the driving end assembly (I) further comprises a driving end second screw motor (111), a driving end third motor bracket (110) and a driving end adapter plate (116), wherein the driving end second screw motor (111) is arranged on the driving end rotating plate (201) through the driving end third motor bracket (110);
the driving end second screw rod motor (111) is connected with a threaded hole of the driving end adapter plate (116).
4. A hybrid guidewire catheter push system of an interventional robot according to claim 3, wherein the drive end assembly (I) further comprises a grid sensor (117), the grid sensor (117) being mounted on the drive end swivel plate (201), a slide at the upper end of the grid sensor (117) being connected to the drive end adapter plate (116); the capacitive grating sensor (117) is used for measuring the moving distance of the driving end adapter plate (116).
5. The interventional robotic hybrid guidewire catheter delivery system of claim 4, wherein the drive end assembly (I) further comprises a drive end pressure sensor (115), a drive end connection plate (112), a drive end electromagnet (113) and a drive end connection tab (114); one end of the active end pressure sensor (115) is arranged on the active end adapter plate (116), and the other end of the active end pressure sensor (115) is arranged on the active end connecting plate (112); the upper part of the driving end connecting plate (112) is fixedly connected with the driving end electromagnet (113), and the driving end electromagnet (113) is connected with the driving end connecting sheet (114).
6. The interventional robot hybrid guidewire catheter delivery system of claim 5, wherein one side of the active end connection piece (114) is an iron piece, the other side of the active end connection piece (114) is silica gel, and the active end connection piece (114) is used for directly contacting a catheter or a guidewire.
7. The interventional robot hybrid guidewire catheter pushing system according to claim 1, wherein the passive end assembly (II) further comprises a passive end third linear guide rail (318), a passive end first motor support (301), a passive end third lead screw motor (317), a passive end fourth motor support (316) and; the driven end third linear guide rail (318) is installed on the driven end rotating plate (403), the driven end first motor support (301) is installed on the driven end third linear guide rail (318), the driven end third screw motor (317) is installed on the driven end rotating plate (403) through the driven end fourth motor support (316), and the driven end third screw motor (317) is connected with threaded holes of the driven end first motor support (301).
8. The interventional robot hybrid guidewire catheter pushing system according to claim 7, wherein the passive end assembly (II) further comprises a passive end second lead screw motor (307), a passive end connector (315) and a passive end second linear guide rail (310), the passive end second lead screw motor (307) being mounted on a side of the passive end first motor support (301), the passive end second lead screw motor (307) and threads of the passive end connector (315) being mated; the passive end connecting piece (315) is arranged on the sliding block of the passive end second linear guide rail (310); the second linear guide rail (310) at the passive end is arranged on the first motor bracket (301) at the passive end.
9. The interventional robot hybrid guidewire catheter pushing system according to claim 8, wherein the passive end assembly (II) further comprises a passive end pressure sensor (314), a passive end connection plate (311), a passive end electromagnet (312) and a passive end connection plate (313); the passive end pressure sensor (314) one end is installed on passive end connecting piece (315), passive end pressure sensor (314) other end is installed on passive end connecting plate (311), the upper end of passive end connecting plate (311) with passive end electro-magnet (312) is fixed, passive end electro-magnet (312) with passive end connection piece (313) are connected.
10. The interventional robot hybrid guidewire catheter pushing system according to claim 9, wherein one side of the passive end connection piece (313) is an iron piece, the other side of the passive end connection piece (313) is silica gel, and the passive end connection piece (313) is used for directly contacting a catheter and a guidewire.
CN202311138254.5A 2023-09-05 2023-09-05 Interventional robot hybrid guide wire catheter pushing system Pending CN116999677A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311138254.5A CN116999677A (en) 2023-09-05 2023-09-05 Interventional robot hybrid guide wire catheter pushing system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311138254.5A CN116999677A (en) 2023-09-05 2023-09-05 Interventional robot hybrid guide wire catheter pushing system

Publications (1)

Publication Number Publication Date
CN116999677A true CN116999677A (en) 2023-11-07

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311138254.5A Pending CN116999677A (en) 2023-09-05 2023-09-05 Interventional robot hybrid guide wire catheter pushing system

Country Status (1)

Country Link
CN (1) CN116999677A (en)

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