CN117563077A - Contrast agent pushing device and vascular intervention robot thereof - Google Patents

Contrast agent pushing device and vascular intervention robot thereof Download PDF

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Publication number
CN117563077A
CN117563077A CN202311558074.2A CN202311558074A CN117563077A CN 117563077 A CN117563077 A CN 117563077A CN 202311558074 A CN202311558074 A CN 202311558074A CN 117563077 A CN117563077 A CN 117563077A
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CN
China
Prior art keywords
contrast agent
contrast
screw rod
syringe
pushing device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202311558074.2A
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Chinese (zh)
Inventor
王澄
李新华
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Zhuhai Hengle Medical Technology Co ltd
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Zhuhai Hengle Medical Technology Co ltd
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Application filed by Zhuhai Hengle Medical Technology Co ltd filed Critical Zhuhai Hengle Medical Technology Co ltd
Priority to CN202311558074.2A priority Critical patent/CN117563077A/en
Publication of CN117563077A publication Critical patent/CN117563077A/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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/142—Pressure infusion, e.g. using pumps
    • A61M5/14212—Pumping with an aspiration and an expulsion action
    • A61M5/14216—Reciprocating piston type
    • 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
    • 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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/007—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests for contrast media
    • 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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16804—Flow controllers
    • 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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16831—Monitoring, detecting, signalling or eliminating infusion flow anomalies
    • 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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/14—Infusion devices, e.g. infusing by gravity; Blood infusion; Accessories therefor
    • A61M5/168—Means for controlling media flow to the body or for metering media to the body, e.g. drip meters, counters ; Monitoring media flow to the body
    • A61M5/16877—Adjusting flow; Devices for setting a flow rate
    • 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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/48—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for varying, regulating, indicating or limiting injection pressure
    • A61M5/484—Regulating injection pressure
    • 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
    • A61M5/00—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests
    • A61M5/48—Devices for bringing media into the body in a subcutaneous, intra-vascular or intramuscular way; Accessories therefor, e.g. filling or cleaning devices, arm-rests having means for varying, regulating, indicating or limiting injection pressure
    • A61M5/486—Indicating injection pressure
    • 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
    • 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
    • A61M2205/10—General characteristics of the apparatus with powered movement mechanisms
    • 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
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3306—Optical measuring 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
    • A61M2205/00—General characteristics of the apparatus
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3327—Measuring
    • 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
    • A61M2205/33—Controlling, regulating or measuring
    • A61M2205/3331—Pressure; Flow
    • 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

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Veterinary Medicine (AREA)
  • Hematology (AREA)
  • Anesthesiology (AREA)
  • Vascular Medicine (AREA)
  • Surgery (AREA)
  • Fluid Mechanics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
  • Physics & Mathematics (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Infusion, Injection, And Reservoir Apparatuses (AREA)

Abstract

The application provides a contrast agent pushing device and a vascular intervention robot thereof, wherein the device comprises a contrast agent needle cylinder sleeved with a contrast agent needle cylinder; a syringe mount removably coupled to the contrast syringe; the device comprises a pressure sensor and a telescopic component of a telescopic column, wherein one end of the telescopic column is connected with the pressure sensor, and one end of the telescopic component, which is close to the pressure sensor, is abutted with one end of a contrast agent needle cylinder, which is far away from the contrast agent needle cylinder; a driving device; the screw rod assembly comprises a screw rod and a nut, one end of the screw rod is connected with the driving device, the other end of the screw rod is connected with the nut, and the nut is connected with the telescopic column; a photoelectric sensor positioned below the screw. Compare large-scale contrast agent pusher, this application has reduced contrast agent pusher's volume and integrated in vascular intervention robot, and integrated with pressure sensor, the thrust of control cylinder in the propelling movement contrast agent in-process, avoid meetting the phenomenon of excessively pushing the medicament when the obstruction, and then promote the precision of quantitative control medicament propelling movement.

Description

Contrast agent pushing device and vascular intervention robot thereof
Technical Field
The invention relates to the technical field of medical instruments, in particular to a contrast agent pushing device and a vascular intervention robot thereof.
Background
In the vascular interventional operation, an interventional doctor establishes a body surface passage outside a patient body through puncture, and sends instruments such as a guide wire catheter and the like into a focus from the passage to perform therapeutic operation such as blood vessel formation or stent release. By means of an X-ray image generated by an angiography machine, an interventional doctor observes the image to judge the position of the instrument in the patient, however, blood vessels and the instrument in the image are unclear and difficult to judge. Therefore, when the state of the blood vessel needs to be observed more clearly, a contrast medium needs to be injected into the blood vessel of the patient, and the blood vessel filled with the contrast medium can be clearly developed under X-rays. The existing method is to inject the contrast agent into the blood vessel of the patient through the contrast agent pushing device, but the existing contrast agent pushing device is large in size and can only be placed beside an operating bed independently, cannot be integrated into the vascular intervention robot body, cannot avoid excessive pushing of the medicament when the patient encounters obstruction, and affects the accuracy of quantitative control medicament pushing.
Disclosure of Invention
The following is a summary of the subject matter described in detail herein. This summary is not intended to limit the scope of the claims.
The embodiment of the invention provides a contrast agent pushing device and a vascular intervention robot thereof, which can effectively improve the accuracy of quantitatively controlling the pushing of a medicament.
In a first aspect, an embodiment of the present invention provides a contrast agent pushing device, including:
a contrast agent syringe, the contrast agent syringe having a contrast agent syringe column sleeved therein, the contrast agent syringe column reciprocally moving within the contrast agent syringe lumen;
the contrast medium needle cylinder is detachably connected to the needle cylinder fixing piece;
the telescopic component comprises a pressure sensor and a telescopic column, one end of the telescopic column is connected with the pressure sensor, and one end of the telescopic component, which is close to the pressure sensor, is abutted against one end of the contrast agent needle cylinder, which is far away from the contrast agent needle cylinder;
a driving device;
the screw rod assembly comprises a screw rod and a nut, one end of the screw rod is connected with the driving device, the other end of the screw rod is connected with the nut, the nut is connected with the telescopic column, and the nut is close to or far away from the driving device under the condition that the driving device drives the screw rod to rotate;
and the photoelectric sensor is positioned below the screw rod.
In some embodiments, the telescopic column is further provided with a first connector, the driving device is provided with a first connector ring, and the contrast agent pushing device further comprises: the telescopic column comprises a first guide shaft, wherein one end of the first guide shaft is fixedly connected with the telescopic column through a first connecting piece, and the other end of the first guide shaft is connected with the first connecting ring in a penetrating mode.
In some embodiments, the telescopic column is further provided with a second connector, the driving device is provided with a second connector ring, and the contrast agent pushing device further comprises: the second guide shaft, one end of second guide shaft pass through the second connecting piece with flexible post fixed connection, the other end of second guide shaft through connection in the second go-between.
In some embodiments, the device further comprises a first linear bearing and a second linear bearing, wherein the first linear bearing is sleeved on the first guide shaft through a first clamp spring, and the second linear bearing is sleeved on the second guide shaft through a second clamp spring.
In some embodiments, further comprising: the anti-collision pad is sleeved on the screw rod and is positioned between the driving device and the nut.
In some embodiments, the telescoping assembly is provided with a cushion near one end of the contrast syringe column.
In some embodiments, the drive device is coupled to the screw via a coupling.
In some embodiments, the syringe mount is provided with a limit slot, a first limit slider, a second limit slider, a first slide slot, and a second slide slot, wherein the limit slot is mated with the contrast syringe, the first limit slider slides reciprocally in the first slide slot, and the second limit slider slides reciprocally in the second slide slot.
In some embodiments, the first limit slider is provided with a first tab and the second limit slider is provided with a second tab.
In a second aspect, the present application further provides a vascular intervention robot, comprising the contrast agent pushing device of any one of the embodiments of the first aspect.
The application provides a contrast agent pushing device and a vascular intervention robot thereof, wherein the contrast agent pushing device comprises a contrast agent needle cylinder, the contrast agent needle cylinder is sleeved with a contrast agent needle cylinder, and the contrast agent needle cylinder moves back and forth in an inner cavity of the contrast agent needle cylinder; the contrast medium needle cylinder is detachably connected to the needle cylinder fixing piece; the telescopic component comprises a pressure sensor and a telescopic column, one end of the telescopic column is connected with the pressure sensor, and one end of the telescopic component, which is close to the pressure sensor, is abutted against one end of the contrast agent needle cylinder, which is far away from the contrast agent needle cylinder; a driving device; the screw rod assembly comprises a screw rod and a nut, one end of the screw rod is connected with the driving device, the other end of the screw rod is connected with the nut, the nut is connected with the telescopic column, and the nut is close to or far away from the driving device under the condition that the driving device drives the screw rod to rotate; and the photoelectric sensor is positioned below the screw rod. Compared with the existing large-scale contrast agent pushing equipment, the contrast agent pushing device reduces the volume of the contrast agent pushing device, can be integrated in a vascular intervention robot body, is integrated with a pressure sensor, can monitor the thrust of a needle cylinder in the process of pushing the contrast agent, effectively avoids the phenomenon of excessively pushing the medicament when encountering obstruction, and further improves the accuracy of quantitatively controlling medicament pushing.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention will be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and do not limit the invention.
Fig. 1 is a schematic structural view of a contrast agent pushing device according to an embodiment of the present invention;
fig. 2 is an exploded view of a contrast agent pushing device according to another embodiment of the present invention.
Reference numerals illustrate:
a contrast medium cylinder 1; a cylinder fixing member 2; a limit groove 21; a first tab 22; a second tab 23; a contrast syringe column 3; a cushion 4; a compression column housing 5; a pressure sensor 6; a telescopic column 7; a connecting member 71; a screw 8; a photoelectric sensor 9; installing a sheet metal part 10; a first linear bearing 11; a first clamping spring 12; a first guide shaft 13; a driving device 14; a connection ring 141; a driving device fixing member 142; a coupling 15; a crash pad 16; and a nut 17.
Detailed Description
Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.
In the description of the present invention, it should be understood that references to orientation descriptions such as upper, lower, front, rear, left, right, etc. are based on the orientation or positional relationship shown in the drawings, are merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the present invention.
In the description of the present invention, the description of the first and second is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implying the number of technical features indicated or the precedence of the technical features indicated.
In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.
It should be noted that, the embodiments of the present application are not limited to any method modification, and the functions that can be implemented by the device or apparatus are implemented only based on the hardware architecture of the device or apparatus itself.
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
Referring to fig. 1, the present application provides a contrast agent pushing device, including:
a contrast agent needle cylinder 1, wherein the contrast agent needle cylinder 1 is sleeved with a contrast agent needle cylinder 3, and the contrast agent needle cylinder 3 reciprocates in the inner cavity of the contrast agent needle cylinder 1;
a syringe fixing member 2, the contrast medium syringe 1 being detachably connected to the syringe fixing member 2;
the telescopic assembly 5 comprises a pressure sensor 6 and a telescopic column 7, one end of the telescopic column 7 is connected with the pressure sensor 6, and one end of the telescopic assembly 5 close to the pressure sensor 6 is abutted with one end of the contrast agent syringe column 3 far away from the contrast agent syringe 1;
a driving device 14;
the screw rod assembly comprises a screw rod 8 and a nut 17, one end of the screw rod 8 is connected with the driving device 14, the other end of the screw rod 8 is connected with the nut 17, the nut 17 is connected with the telescopic column 7, and the nut 17 is close to or far away from the driving device 14 under the condition that the driving device 14 drives the screw rod 8 to rotate;
a photoelectric sensor 9, wherein the photoelectric sensor 9 is positioned below the screw 8.
It should be noted that the specific structure of the driving device 14 is not limited in this embodiment, and may be a stepper motor, a dc motor or an ac motor, which may be selected by those skilled in the art according to actual requirements.
It will be appreciated that the function of the photoelectric sensor 9 in the contrast agent propulsion device of this embodiment is to trigger the driving device 14 to switch from reverse start to forward start, since the photoelectric sensor 9 is located below the screw 8, the nut 17 can approach to abut against the photoelectric sensor 9 or be far away from the photoelectric sensor 9 when the driving device 14 drives the screw 8 to rotate, and in the state that the driving device 14 is in reverse start, the screw 8 is driven to rotate, so that the nut 17 and the telescopic column 7 connected with the nut 17 move in the direction approaching the driving device 14, when the nut 17 touches the photoelectric sensor 9 in the moving process, the driving device 14 is triggered to switch from reverse start to forward start so as to control the screw 8 to reversely rotate, and the nut 17 is driven to move in the direction far away from the driving device 14. The present embodiment is not limited to the mounting method of the photoelectric sensor 9, and may be mounted on the mounting sheet metal member 10.
It will be appreciated that during vascular interventional procedures, the location of the corresponding contrast syringe column 3 within the contrast syringe 1 is uncertain due to the different amounts of contrast that are drawn in by the contrast syringe 1, which may not allow for accurate metering of the injected contrast. According to the contrast agent pushing device provided by the embodiment, under the condition that the contrast agent needle cylinder 1 is filled with contrast agent, the driving device 14 is started to rotate the screw rod 8 of the screw rod assembly, the nut 17 is driven to move towards the direction close to the driving device 14, and as the nut 17 is connected with the telescopic column 7, the telescopic column 7 is driven to move towards the direction close to the driving device 14 until the nut 17 touches the photoelectric sensor 9, the nut 17 touches the photoelectric sensor 9 as a sign that the contrast agent pushing device reaches a standby position, at the moment, the driving device 14 is started again to rotate the screw rod 8 of the screw rod assembly, the nut 17 and the telescopic column 7 are driven to move towards the direction far away from the driving device 14, when a pressure signal of the pressure sensor 6 is increased, the telescopic assembly 5 is in contact with the contrast agent needle cylinder 3, namely, the injection starting point is reached, and at the moment, the speed of the rotating screw rod 8 is controlled by the driving device 14, so that the pushing distance of the contrast agent cylinder 3 in the contrast agent 1 is controlled, namely, compared with the existing large-scale contrast agent pushing equipment, the contrast agent pushing device has the volume of the contrast agent pushing device, the volume of the contrast agent pushing device can be reduced, the volume of the contrast agent can be monitored, the contrast agent can be pushed by a human body, and the contrast agent can be prevented from being integrated in the process, and the high-level contrast agent can be pushed by the integrated in the process, and the contrast agent can be prevented from being pushed by the integrated in the process.
In addition, in some embodiments, referring to fig. 1 and 2, the telescopic column 7 is further provided with a first connection 71, the driving device 14 is provided with a first connection ring 141, and the contrast agent pushing device further comprises: the first guiding shaft 13, one end of the first guiding shaft 13 is fixedly connected with the telescopic column 7 through the first connecting piece 71, and the other end of the first guiding shaft 13 is connected with the first connecting ring 141 in a penetrating way.
It can be understood that, according to the structure of the present embodiment, when the telescopic column 7 reciprocates under the driving of the driving device 14, the telescopic column 7 drives the first guide shaft 13 to reciprocate in the first connection ring 141, so that the straightness of the telescopic column 7 in the moving process can be ensured.
In addition, in some embodiments, the telescopic column 7 is further provided with a second connection, the driving device 14 is provided with a second connection ring, and the contrast agent pushing device further comprises: and one end of the second guide shaft is fixedly connected with the telescopic column 7 through a second connecting piece, and the other end of the second guide shaft is connected with the second connecting ring in a penetrating way.
It should be noted that, in this embodiment of the present application, the specific number of the guide shafts is not limited, the contrast agent propulsion device of this embodiment further includes a second guide shaft, and the installation positions of the first guide shaft 13 and the second guide shaft are not limited, and the first guide shaft 13 and the second guide shaft of this embodiment may be disposed on opposite sides, based on this structure, when the telescopic column 7 reciprocates under the driving of the driving device 14, the telescopic column 7 drives the first guide shaft 13 to reciprocate in the first connection ring 141, and simultaneously drives the second guide shaft to reciprocate in the second connection ring, so as to further ensure the straightness of the telescopic column 7 in the moving process.
In addition, in some embodiments, the contrast agent pushing device further includes a first linear bearing 11 and a second linear bearing, where the first linear bearing 11 is sleeved on the first guide shaft 13 through a first clamp spring 12, and the second linear bearing is sleeved on the second guide shaft through a second clamp spring.
It can be understood that, since the first linear bearing 11 is sleeved and fixed on the first guide shaft 13 through the first clamp spring 12, and the second linear bearing is sleeved and fixed on the second guide shaft through the second clamp spring, when the telescopic column 7 reciprocates under the driving of the driving device 14, the telescopic column 7 drives the first guide shaft 13 to reciprocate in the first linear bearing 11, and simultaneously drives the second guide shaft to reciprocate in the second linear bearing, so that smoothness of the guide shaft moving is ensured.
In addition, in some embodiments, the contrast agent pushing device further comprises a bump pad 16, the bump pad 16 is sleeved on the screw 8, and the bump pad 16 is located between the driving device 14 and the nut 17.
It can be appreciated that the anti-collision pad 16 arranged between the driving device 14 and the nut 17 can effectively prevent the nut 17 from colliding with the driving device 14 when reciprocating on the screw rod 8, thereby playing a role in protecting, avoiding damage caused by collision of components in the contrast agent pushing device, and effectively guaranteeing the service life of the contrast agent pushing device.
Additionally, in some embodiments, referring to fig. 2, a telescoping assembly 5 is provided with a cushion 4 near one end of the contrast media syringe column 3.
It can be understood that the telescopic assembly 5 can push the contrast agent syringe column 3 under the driving of the driving device 14 so as to inject the contrast agent, and the cushion 4 is arranged at one end of the telescopic assembly 5, which is close to the contrast agent syringe column 3, so that the telescopic assembly 5 can push the contrast agent syringe column 3 through the cushion 4, thereby protecting the contact end between the telescopic assembly 5 and the contrast agent syringe column 3, effectively guaranteeing the service life of the contrast agent pushing device, and playing a certain buffering role in the pushing process.
In addition, in some embodiments, referring to fig. 1 and 2, the drive device 14 is connected to the screw 8 by a coupling 15.
It can be understood that the two ends of the coupling 15 are respectively provided with the screw rod 8 and the driving device 14, and in the running process of the driving device 14, the coupling 15 can effectively avoid being subjected to excessive load by a coupling part, namely the screw rod 8, so as to play a role in protecting the screw rod 8 from buffering impact.
In addition, in some embodiments, referring to fig. 1 and 2, the syringe mount 2 is provided with a limit groove 21, a first limit slider, a second limit slider, a first slide groove, and a second slide groove, wherein the limit groove 21 is matched with the contrast media syringe 1, the first limit slider slides reciprocally in the first slide groove, and the second limit slider slides reciprocally in the second slide groove.
It can be understood that the specific mode of detachable installation of the syringe fixing member 2 and the contrast medium syringe 1 is not limited in this embodiment, the edges of the limit groove 21 of this embodiment extend to two sides to form a stepped platform, the contrast medium syringe 1 is matched with the concave portion of the limit groove 21, the positions of the first limit slider and the second limit slider are opposite, the contrast medium syringe 1 can be placed into the limit groove 21 by sliding the first limit slider and the second limit slider in a direction away from the limit groove 21, after the syringe fixing member 2 places the contrast medium syringe 1, the first limit slider and the second limit slider slide in a direction close to the limit groove 21, and the first limit slider and the second limit slider can slide to the stepped platform at two sides of the limit groove 21 and clamp the contrast medium syringe 1, that is, the detachable installation of the syringe fixing member 2 and the contrast medium syringe 1 is realized by sliding the first limit slider and the second limit slider; but also by means of a snap connection.
In addition, referring to fig. 1 and 2, the first limit slider of the present embodiment is provided with a first tab 22, and the second limit slider is provided with a second tab 23.
It can be appreciated that the convenience of manually disassembling and assembling the syringe fixing piece 2 and the contrast medium syringe 1 can be effectively improved by arranging the pull ring on the limit sliding block.
In addition, the embodiment also provides a vascular intervention robot, which comprises the contrast agent pushing device of any one of the embodiments.
It can be appreciated that the vascular intervention robot integrated with the contrast agent pushing device of the embodiment can monitor the thrust of the needle cylinder in the process of pushing the contrast agent, effectively avoid the phenomenon of excessively pushing the medicament when encountering obstruction, and further improve the accuracy of quantitatively controlling medicament pushing.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the above embodiment, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.

Claims (10)

1. A contrast agent pushing device, comprising:
a contrast agent syringe, the contrast agent syringe having a contrast agent syringe column sleeved therein, the contrast agent syringe column reciprocally moving within the contrast agent syringe lumen;
the contrast medium needle cylinder is detachably connected to the needle cylinder fixing piece;
the telescopic component comprises a pressure sensor and a telescopic column, one end of the telescopic column is connected with the pressure sensor, and one end of the telescopic component, which is close to the pressure sensor, is abutted against one end of the contrast agent needle cylinder, which is far away from the contrast agent needle cylinder;
a driving device;
the screw rod assembly comprises a screw rod and a nut, one end of the screw rod is connected with the driving device, the other end of the screw rod is connected with the nut, the nut is connected with the telescopic column, and the nut is close to or far away from the driving device under the condition that the driving device drives the screw rod to rotate;
and the photoelectric sensor is positioned below the screw rod.
2. The contrast media pushing device of claim 1, wherein the telescoping post is further provided with a first connector, the drive device is provided with a first connector ring, the contrast media pushing device further comprising: the telescopic column comprises a first guide shaft, wherein one end of the first guide shaft is fixedly connected with the telescopic column through a first connecting piece, and the other end of the first guide shaft is connected with the first connecting ring in a penetrating mode.
3. The contrast media pushing device of claim 2, the telescoping post further provided with a second connector, the drive device provided with a second connector ring, the contrast media pushing device further comprising: the second guide shaft, one end of second guide shaft pass through the second connecting piece with flexible post fixed connection, the other end of second guide shaft through connection in the second go-between.
4. The contrast media pushing device of claim 3, further comprising a first linear bearing and a second linear bearing, wherein the first linear bearing is sleeved on the first guide shaft by a first snap spring, and the second linear bearing is sleeved on the second guide shaft by a second snap spring.
5. The contrast media pushing device of claim 1, further comprising:
the anti-collision pad is sleeved on the screw rod and is positioned between the driving device and the nut.
6. The contrast media injector of claim 1, wherein said retraction assembly is provided with a cushion adjacent an end of said contrast syringe column.
7. The contrast media pushing device of claim 1, wherein the drive device is coupled to the screw via a coupling.
8. The contrast media injector of claim 1, wherein the syringe mount is provided with a limit slot, a first limit slider, a second limit slider, a first slide slot, and a second slide slot, wherein the limit slot is mated with the contrast media syringe, the first limit slider slides reciprocally in the first slide slot, and the second limit slider slides reciprocally in the second slide slot.
9. The contrast media pushing device of claim 1, wherein the first limit slider is provided with a first pull tab and the second limit slider is provided with a second pull tab.
10. A vascular interventional robot comprising a contrast agent pushing device according to any one of claims 1 to 9.
CN202311558074.2A 2023-11-21 2023-11-21 Contrast agent pushing device and vascular intervention robot thereof Pending CN117563077A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202311558074.2A CN117563077A (en) 2023-11-21 2023-11-21 Contrast agent pushing device and vascular intervention robot thereof

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202311558074.2A CN117563077A (en) 2023-11-21 2023-11-21 Contrast agent pushing device and vascular intervention robot thereof

Publications (1)

Publication Number Publication Date
CN117563077A true CN117563077A (en) 2024-02-20

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN202311558074.2A Pending CN117563077A (en) 2023-11-21 2023-11-21 Contrast agent pushing device and vascular intervention robot thereof

Country Status (1)

Country Link
CN (1) CN117563077A (en)

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