CN207768503U - A kind of seal wire clamping device of minimally invasive intervention operation robot - Google Patents
A kind of seal wire clamping device of minimally invasive intervention operation robot Download PDFInfo
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- CN207768503U CN207768503U CN201721259851.3U CN201721259851U CN207768503U CN 207768503 U CN207768503 U CN 207768503U CN 201721259851 U CN201721259851 U CN 201721259851U CN 207768503 U CN207768503 U CN 207768503U
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- connecting rod
- seal wire
- clamping device
- jacking block
- hinged
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Abstract
The utility model belongs to field of medical device, and in particular to a kind of seal wire clamping device of minimally invasive intervention operation robot, including：Motor is clamped, sole piece, jacking block, first connecting rod, second connecting rod, third connecting rod and fourth link, one end of output shaft and first connecting rod that motor is clamped is hinged, the other end of first connecting rod is hinged with respectively at one end of second connecting rod and third connecting rod, the other end of second connecting rod is hinged with jacking block, the other end of third connecting rod and one end of fourth link are hinged, the other end of fourth link and a fixed hinge bearing are hinged, first connecting rod, second connecting rod, third connecting rod, fourth link, jacking block and sole piece form planar six-bar linkage, in the driving lower plane six bar mechanism movement of clamping motor, seal wire passes through between sole piece and jacking block, seal wire is clamped when jacking block is held out against on sole piece.The clamping device locking structure of the utility model is simple and clamping is reliable.
Description
Technical field
The utility model belongs to technical field of medical equipment, and in particular to a kind of seal wire folder of minimally invasive intervention operation robot
Hold mechanism.
Background technology
Minimally invasive intervention operation robot includes mainly positioning device, seal wire intervention device, image navigation equipment and monitoring
Equipment etc..Seal wire intervention device realizes the delivering, rotation and measurement resistance of seal wire, needs seal wire clamping machine in seal wire intervention procedure
Structure delivers seal wire seal wire is clamped by intervention device.Intervene operation with seal wire at work since seal wire diameter is smaller, it is more
It is clamped using roller or tablet extruding；Roller clamping, which is that a pair of of roller is close to each other, clamps seal wire, is that point connects with seal wire
It touches, clamping is less reliable and is easily destroyed seal wire surfacing；Tablet squeezes opposed rollers and squeezes contact area increase, but mostly
It realizes and clamps by spring force, reliability is poor, and spring force is more difficult to control, needs often to adjust or replace spring；Separately have by belt
Such that there are two planes of certain elasticity seal wire is clamped, this mode chucking power is not easy to control, especially to thinner seal wire, has
The diameter of seal wire may be had been above due to the elastic surfaces such as the belt flexible deformations of itself causes clamping to be failed；And stiffener plate
Seal wire is clamped, and has to the positioning accuracy of rigid hold assembly and clamping speed and is relatively strict with, positioning pine leads to clamping not
Reliably, too fast or positioning tension, which is clamped, leads to destruction of the rigid surface to seal wire surfacing.
Operation after completing needs that seal wire clamping device is carried out disinfection and cleaned, and is limited by mounting means and is often compared
Trouble does not wash clean clearly.
Utility model content
The utility model overcomes the problems, such as seal wire clamping poor reliability existing in the prior art, and provides a kind of be clamped and lead
The seal wire clamping device of the reliable and stable minimally invasive intervention operation robot of silk.
Technical solution adopted by the utility model to solve its technical problems is：
A kind of seal wire clamping device of minimally invasive intervention operation robot, which is characterized in that including：Motor, sole piece, top is clamped
Block, first connecting rod, second connecting rod, third connecting rod and fourth link, the output shaft and the first connecting rod of the clamping motor
One end is hinged, the other end of the first connecting rod and, second company hinged respectively at one end of second connecting rod and third connecting rod
The other end of bar is hinged with jacking block, and the other end of the third connecting rod and one end of the fourth link are hinged, and the described 4th connects
The other end of bar and a fixed hinge bearing are hinged, the first connecting rod, second connecting rod, third connecting rod, fourth link, jacking block and
Sole piece forms planar six-bar linkage, the planar six-bar linkage movement, the seal wire under the driving of the clamping motor
It passes through between the sole piece and the jacking block, clamps the seal wire when the jacking block is held out against on the sole piece.
Further, the sole piece includes two the first side plates and the second side plate being mutually parallel, first side plate and
There is grip block between two side plates；The both ends of the jacking block have plush copper, have and institute on first side plate and the second side plate
The corresponding the first sliding groove of plush copper and second sliding slot are stated, the plush copper moves along the first sliding groove and the second sliding slot, passes through
Seal wire is unclamped or clamped to separation between the jacking block and grip block with being bonded.
Further, be correspondingly arranged on first side plate and the second side plate the first perforation for making the seal wire pass through and
Second perforation.
Further, the clamping device is fixed on the mobile finger pedestal that can be moved forward and backward by clamping device fixed plate
On.
Further, motor fixing plate and hinge fixing plate, the clamping electricity are fixed in the clamping device fixed plate
The shell of machine is fixed on the motor fixing plate, and the fixed hinge bearing is fixed on the hinge fixing plate.
Further, the outer surface of the jacking block is equipped with one layer of medical grade rubber film.
Further, the jacking block is held out against when on the sole piece, the first connecting rod, the second connecting rod and jacking block
It is in a straight line, the third connecting rod and the fourth link are in a straight line, at the planar six-bar linkage
In dead-centre position.
A kind of advantageous effect of the seal wire clamping device of minimally invasive intervention operation robot of the utility model is：
1, seal wire is clamped by the dead-centre position of planar six-bar linkage, clamping structure is squeezed compared to roller and spring tablet
More simply, processing and manufacturing precision is low, and is clamped reliable.
2, medical grade rubber film is covered in the outer surface of jacking block, certain cushioning effect is played when clamping seal wire, reduced and clamp
Destruction of the impact in the process to seal wire, and influence of the structure mismachining tolerance to clamping effect can be reduced to a certain extent.
3, the first perforation and the second perforation are respectively provided on the first side plate and the second side plate of sole piece, when work, seal wire from
It is passed through in hole, plays the role of Auxiliary support when seal wire unclamps.
Description of the drawings
Utility model will be further described in detail below with reference to the attached drawings and specific embodiments.
Fig. 1 is the structure chart of the seal wire intervention device of the minimally invasive intervention operation robot of the utility model embodiment；
Fig. 2 is the partial enlarged view of part A in Fig. 1；
Fig. 3 is the front perspective view of the seal wire clamping device of the utility model embodiment；
Fig. 4 is the rear perspective view of the preceding mobile finger assembly of the utility model embodiment；
Fig. 5 is the sole piece stereogram of the utility model embodiment；
Fig. 6 is the jacking block stereogram of the utility model embodiment；
Fig. 7 be the jacking block of the clamping device of the utility model embodiment apart from sole piece maximum distance when link mechanism signal
Figure；
Fig. 8 is structural schematic diagram when the clamping device of the utility model embodiment clamps seal wire.
In figure:1, sliding rail, 21, preceding mobile finger assembly, 22, move finger assembly afterwards, 23, it is mobile refer to driving motor, 24, clamping
Mechanism, 241, clamping motor, 242, sole piece, the 2421, first side plate, the 2422, second side plate, 2423, the first sliding groove, 2424, the
Two sliding slots, the 2425, first perforation, the 2426, second perforation, 2427, grip block, 243, jacking block, 2431, plush copper, 244, first connects
Bar, 245, second connecting rod, 246, third connecting rod, 247, fourth link, 248, fixed hinge bearing, 25, it is mobile refer to pedestal, 251,
Rack moves sliding block, and 26, clamping device fixed plate, 27, motor fixing plate, 28, hinge seat fixed plate, 3, rotary components, 31, rotation
Turntable, 32, rotary tray motor, 33, fixing shell, 4, seal wire, 5, pull pressure sensor.
Specific implementation mode
The utility model is described in further detail presently in connection with attached drawing.These attached drawings are simplified schematic diagram,
Only illustrate the basic structure of the utility model in a schematic way, therefore it only shows composition related with the utility model.
It is to be understood that：, it is specified that the direction that seal wire is intervened into blood vessel is in the explanation of the utility model embodiment
" preceding ".
The specific embodiment of the seal wire intervention device of minimally invasive intervention operation robot as Figure 1-Figure 8, including：Sliding rail
1, two moved along sliding rail 1 move finger assembly and rotary components 3；Movement finger assembly mobile finger assembly 21 and rear movement before being divided into
Finger assembly 22, mobile finger assembly include：For drive mobile finger assembly along sliding rail 1 move move refer to driving motor 23, will lead
4 release of silk or the clamping device 24 clamped and movement refer to pedestal 25；Movement refers to pedestal 25 and is moved along sliding rail 1；Rotary components 3 wrap
Include the rotary tray motor 32 that fixing shell 33, rotating disk 31 and driving rotating disk 31 rotate, rotating disk 31 and preceding mobile finger assembly 21
Clamping device 24 be fixedly connected, fixing shell 33 be fixed on movement refers on pedestal 25；Seal wire 4 passes through the clamping of mobile finger assembly
Intravascular, the mobile finger driving motor 23 of preceding mobile finger assembly 21 and rear mobile finger assembly are got involved in after mechanism 24 and rotating disk 31
Mobile 23 rotating speed of finger driving motor it is different.
It realizes that seal wire 4 delivers at a slow speed in main artery in rapid delivery and branch vessel to meet, at least needs seal wire 4
It is delivered with two different speed, that is, moves finger assembly and moved along sliding rail 1 with two different speed, in order to realize above-mentioned need
Ask, and simplify structure as possible, the utility model embodiment uses two mobile finger assemblies, respectively before mobile finger assembly 21 with after
Mobile finger assembly 22.Of course for the delivering realized to the more multiple speed of seal wire 4, can as needed mobile finger assemblies be set more.
In the present embodiment, mobile 23 rotating speed of finger driving motor of preceding mobile finger assembly 21 is slow, and realization is adjusted at a slow speed；Then move finger assembly
22 mobile 23 rotating speed of finger driving motor is fast, realizes rapid delivery.During preceding mobile finger assembly 21 delivers, preceding movement refers to
The clamping device 24 of component 21 clamps seal wire 4, and the clamping device 24 of rear mobile finger assembly 22 unclamps, and is only used as in delivery process
Support；Conversely, afterwards in the delivery process of mobile finger assembly 22, the clamping device 24 of preceding mobile finger assembly 21 unclamps, only conduct
Support in delivery process.Two movement finger assemblies mutually support, and refer to without attachment support, simplify structure to the greatest extent.
Rack sliding rail 1 is used in the present embodiment, as shown in Figure 1, there is rack to move sliding block for the mobile lower part for referring to pedestal 25
251, the mobile driving motor 23 that refers to is moved by band moving gear rotation drive rack movement sliding block 251 along sliding rail 1.
As shown in Figure 1, Figure 2 and Figure 4, in the present embodiment, rotating disk 31 and the clamping device 24 of preceding mobile finger assembly 21 are solid
Fixed connection, 31 component of rotating disk further include the fixing shell 33 being fixed on the base, and rotary tray motor 32 is mounted on fixing shell 33
On, and rotating disk 31 is arranged at 33 center of fixing shell, rotary tray motor 32 drives 31 turns of rotating disk by slowing down with transmission mechanism
Dynamic, rotating disk 31 is fixedly connected with clamping device 24, and clamping device 24 is made to be rotated synchronously with rotating disk 31, and then is realized to seal wire
4 rotation remains the reliability of clamping rotation, only rotates clamping device 24, reduces the component of rotation, reduces rotary course
In vibrations.The clamping device 24 for moving finger assembly 22 afterwards is fixed on mobile refer on pedestal 25 by clamping device fixed plate 26.
As shown in figure 3, in order to measure the resistance that 4 front end of seal wire receives, also installed between rotating disk 31 and clamping device 24
There are hollow pull pressure sensor 5, seal wire 4 preceding when there is resistance in front end in pull pressure sensor 5,4 intervention procedure of seal wire
Mobile finger assembly 21 will be by drag effect on the compression face of pull pressure sensor 5, to realize to end resistance before seal wire 4
It measures, without increasing other auxiliary devices, without changing the principle of delivering and rotation.
Referring to Fig. 2 and Fig. 3, the clamping device 24 of the present embodiment includes：Motor 241, sole piece 242, jacking block 243, the is clamped
The output shaft and first connecting rod of motor 241 is clamped in one connecting rod 244, second connecting rod 245, third connecting rod 246 and fourth link 247
244 one end is hinged, and the other end of first connecting rod 244 is hinged with respectively at one end of second connecting rod 245 and third connecting rod 246,
The other end of second connecting rod 245 is hinged with jacking block 243, and the other end of third connecting rod 246 is hinged with one end of fourth link 247,
The other end of fourth link 247 and a fixed hinge bearing 248 are hinged, first connecting rod 244, second connecting rod 245, third connecting rod
246, fourth link 247, jacking block 243 and sole piece 242 form planar six-bar linkage, in the driving lower plane of clamping motor 241
Six bar mechanism moves, and seal wire 4 is passed through between sole piece 242 and jacking block 243, will be led when jacking block 243 is held out against on sole piece 242
Silk 4 clamps.
After clamping device is fixed on by clamping device fixed plate 26 on the mobile finger pedestal 25 of movement finger assembly, clamping machine
The motor fixing plate 27 and hinge seat fixed plate 28 for installing clamping motor 241, fixed hinge are fixed in structure fixed plate 26
Bearing 248 is fixed in hinge seat fixed plate 28.
Referring to Fig. 5, sole piece 242 includes two the first side plates 2421 and the second side plate 2422 being mutually parallel, the first side plate
2421 and second have grip block 2427 between side plate 2422；There is plush copper 2431, the first side referring to the both ends of Fig. 6 jacking blocks 243
There is the first sliding groove 2423 corresponding with plush copper 2431 and second sliding slot 2424, plush copper 2431 on plate 2421 and the second side plate 2422
It moves along the first sliding groove 2423 and second sliding slot 2424, is unclamped by separation between jacking block 243 and grip block 2427 with being bonded
Or clamp seal wire 4.The first 2425 Hes of perforation for making seal wire 4 pass through are correspondingly arranged on first side plate 2421 and the second side plate 2422
Second perforation 2426.
Referring to Fig. 7 and Fig. 8, clamping device 24 is when being clamped seal wire 4, in order to ensure the reliability of clamping, it is desirable to clamping piece
The contact line of jacking block 243 and grip block 2427 and seal wire 4 is grown as possible to increase contact size, in conjunction with operating robot size,
Situation in the actual operations such as stroke that seal wire 4 delivers, it is 30mm to take clamping segment length, i.e., jacking block 243 and grip block 2427 it
Between contact length be 30mm.
Clamping device when clamping and unclamping two state conversions, be not strict with by the stroke that jacking block 243 is moved, only
It wants that seal wire 4 can be detached from, it is 15mm left artificially to give in the present embodiment and complete the stroke of a holding action jacking block 243
It is right.Mirror 243 size of jacking block in this present embodiment, and 243 stroke of jacking block that primarily determines design this plane six-bar linkage machine
The specific size of structure.Selection 244 length of first connecting rod is 30mm, and 245 length of second connecting rod is 40mm.According to graphical method, it is limited
Jacking block 243 processed generates over-large displacement when unclamping, and so that jacking block 243 is detached from the slideway on the sole piece 242, with 246 He of third connecting rod
The length of fourth link 247 realizes, when so that jacking block 243 is retracted stroke just be 20mm, third connecting rod 246 and fourth link
247 in a conllinear extreme position, and when jacking block 243 clamps seal wire 4, i.e. first connecting rod 244 and second connecting rod 245 collinearly reaches
To when farthest displacement, third connecting rod 246 and fourth link 247 also just reach conllinear highest distance position.Just determine fourth link 247
Hinge joint apart from first connecting rod 244 and the farthest displacement of 245 hinge joint of second connecting rod be 40mm, minimum distance 30mm, then the
246 length of three-link is 10mm, and 247 length of fourth link is 30mm.The swing angle of first connecting rod 244 may be implemented at this time
One extreme position is corresponded to by dead point-supported clamped position (referring to Fig. 7), another extreme position corresponds to two first connecting rods 244
With on the line of the hinge joint of the hinge joint and third connecting rod 246 and fourth link 247 of third connecting rod 246 (referring to Fig. 8).According to
The clamping to seal wire 4 and release can be realized according to the planar six-bar linkage of above-mentioned size design.
The above design size is only a preferred embodiment, and certain the utility model is equally applicable in surgical procedure to conduit
Clamping, in order to adapt to the seal wire or conduit of different-diameter, thus it is possible to vary the thickness of jacking block and stroke size etc., or by jacking block
It changes the adjustable structure of thickness into, the seal wire or conduit of different-diameter is clamped by adjusting the thickness of jacking block.It is set with the utility model
The mechanism of the meter structure conduit that is used for be clamped in interventional procedure similar with principle is equally in the protection model of the utility model
In enclosing.
Referring to Fig. 7, jacking block 243 is held out against when on sole piece 242, and first connecting rod 244, second connecting rod 245 and jacking block 243 are in
On straight line, third connecting rod 246 and fourth link 247 are in a straight line, and planar six-bar linkage is in dead-centre position.
Referring to Fig. 8, when highest distance position of the jacking block 243 far from grip block 2427, first connecting rod 244, third connecting rod 246 and
Double leval jib 247 is on the same line.
The utility model realizes the clamping to seal wire 4 by the dead-centre position of planar six-bar linkage, keeps clamping more reliable
And it is simple in structure.
In the present embodiment, sterilizes and clean for convenience, the sole piece and jacking block that are directly contacted with seal wire are designed to once
Property can throw part, solve the problems, such as surgical instrument difficulty disinfection.
It should be appreciated that specific embodiment described above is only used for explaining the utility model, it is not used to limit this reality
With novel.By the utility model the obvious changes or variations extended out of spirit still in the utility model protection
Among range.
Claims (7)
1. a kind of seal wire clamping device of minimally invasive intervention operation robot, which is characterized in that including：Motor (241), sole piece is clamped
(242), jacking block (243), first connecting rod (244), second connecting rod (245), third connecting rod (246) and fourth link (247), it is described
One end of the output shaft that motor (241) is clamped and the first connecting rod (244) is hinged, the other end of the first connecting rod (244)
It is hinged with respectively at one end of second connecting rod (245) and third connecting rod (246), the other end of the second connecting rod (245) is hinged
There is jacking block (243), the other end of the third connecting rod (246) is hinged with one end of the fourth link (247), and the described 4th connects
The other end of bar (247) and a fixed hinge bearing (248) are hinged, the first connecting rod (244), second connecting rod (245), third
Connecting rod (246), fourth link (247), jacking block (243) and sole piece (242) form planar six-bar linkage, in the clamping motor
(241) planar six-bar linkage movement under driving, the seal wire (4) is from the sole piece (242) and the jacking block (243)
Between pass through, when the jacking block (243) is held out against on the sole piece (242) by the seal wire (4) clamp.
2. a kind of seal wire clamping device of minimally invasive intervention operation robot according to claim 1, which is characterized in that described
Sole piece (242) includes two the first side plates (2421) being mutually parallel and the second side plate (2422), first side plate (2421) and
There is grip block (2427) between second side plate (2422)；The both ends of the jacking block (243) have plush copper (2431), described first
There is the first sliding groove (2423) corresponding with the plush copper (2431) and second to slide on side plate (2421) and the second side plate (2422)
Slot (2424), the plush copper (2431) is mobile along the first sliding groove (2423) and the second sliding slot (2424), by described
Seal wire (4) is unclamped or clamped to separation between jacking block (243) and grip block (2427) with being bonded.
3. a kind of seal wire clamping device of minimally invasive intervention operation robot according to claim 2, which is characterized in that described
Be correspondingly arranged on first side plate (2421) and the second side plate (2422) so that the seal wire (4) is passed through first perforation (2425) and
Second perforation (2426).
4. a kind of seal wire clamping device of minimally invasive intervention operation robot according to claim 1, which is characterized in that described
Clamping device is fixed on by clamping device fixed plate (26) on the mobile finger pedestal (25) that can be moved forward and backward.
5. a kind of seal wire clamping device of minimally invasive intervention operation robot according to claim 4, which is characterized in that described
Motor fixing plate (27) and hinge seat fixed plate (28), the clamping motor (241) are fixed in clamping device fixed plate (26)
Shell be fixed on the motor fixing plate (27), the fixed hinge bearing (248) is fixed on the hinge fixing plate
(28) on.
6. a kind of seal wire clamping device of minimally invasive intervention operation robot according to claim 1, which is characterized in that described
The outer surface of jacking block (243) is equipped with one layer of medical grade rubber film.
7. a kind of seal wire clamping device of minimally invasive intervention operation robot according to claim 1, which is characterized in that described
Jacking block (243) is held out against when on the sole piece (242), the first connecting rod (244), the second connecting rod (245) and the top
Block (243) is in a straight line, and the third connecting rod (246) and the fourth link (247) are in a straight line, described
Planar six-bar linkage is in dead-centre position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721259851.3U CN207768503U (en) | 2017-09-28 | 2017-09-28 | A kind of seal wire clamping device of minimally invasive intervention operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721259851.3U CN207768503U (en) | 2017-09-28 | 2017-09-28 | A kind of seal wire clamping device of minimally invasive intervention operation robot |
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| Publication Number | Publication Date |
|---|---|
| CN207768503U true CN207768503U (en) | 2018-08-28 |
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ID=63219376
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721259851.3U Active CN207768503U (en) | 2017-09-28 | 2017-09-28 | A kind of seal wire clamping device of minimally invasive intervention operation robot |
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| CN (1) | CN207768503U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109821137A (en) * | 2019-01-29 | 2019-05-31 | 燕山大学 | Interventional surgery robotic catheter and seal wire twisting propulsive mechanism |
| CN109939332A (en) * | 2019-03-11 | 2019-06-28 | 南京航空航天大学 | A kind of twisting device of the blood vessel intervention operation with three-dimensional force-sensing ability |
| CN114521968A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Operating system for guide wire and surgical robot |
-
2017
- 2017-09-28 CN CN201721259851.3U patent/CN207768503U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109821137A (en) * | 2019-01-29 | 2019-05-31 | 燕山大学 | Interventional surgery robotic catheter and seal wire twisting propulsive mechanism |
| CN109939332A (en) * | 2019-03-11 | 2019-06-28 | 南京航空航天大学 | A kind of twisting device of the blood vessel intervention operation with three-dimensional force-sensing ability |
| CN114521968A (en) * | 2022-02-24 | 2022-05-24 | 上海神玑医疗科技有限公司 | Operating system for guide wire and surgical robot |
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