CN211271130U

CN211271130U - Intervene operation robot from end advancing device

Info

Publication number: CN211271130U
Application number: CN201921073834.XU
Authority: CN
Inventors: 黄韬; 解菁
Original assignee: Beijing Wemed Medical Equipment Co Ltd
Current assignee: Beijing Wemed Medical Equipment Co Ltd
Priority date: 2019-07-10
Filing date: 2019-07-10
Publication date: 2020-08-18
Anticipated expiration: 2029-07-10

Abstract

The utility model discloses an intervene operation robot from end advancing device: the twisting part, the clamping part, the conduit rotating part and the mobile stepping motor part are fixedly arranged on the shell; the transmission part is used for transmitting the torque force of the moving stepping motor part to the sliding part and the pushing part, the sliding part is used for driving the guide wire to reciprocate, and the pushing part is matched with the clamping part and used for clamping and opening the guide wire; the twisting part is used for driving the guide wire to rotate; the catheter rotating part is used for clamping the catheter and pushing the catheter into the blood vessel or withdrawing the catheter from the blood vessel. The utility model can realize the pushing and withdrawing of the catheter and the guide wire in the blood vessel interventional operation, simultaneously rotate the guide wire and realize continuous action through the reciprocating structure; the operation is simple, and the control is accurate; the operation of a doctor on the guide wire in the blood vessel interventional operation can be met, the remote control robot can complete the operation, the risk of receiving more X rays is greatly reduced, and the body of the doctor is protected.

Description

Intervene operation robot from end advancing device

Technical Field

The utility model relates to a minimally invasive blood vessel intervenes operation technical field, more specifically the control technology that robot advanced well pipe seal wire from the end in involving the operation that says so, promptly an intervene operation robot from end advancing device.

Background

Nearly 3000 million people die of cardiovascular and cerebrovascular diseases every year around 30% of all diseases, wherein the number of people suffering from cardiovascular and cerebrovascular diseases in China is nearly 3 hundred million. Cardiovascular and cerebrovascular diseases become one of three main causes of human disease death, and seriously affect national health and normal life of people.

The minimally invasive interventional therapy of the cardiovascular and cerebrovascular diseases is a main treatment means aiming at the cardiovascular and cerebrovascular diseases. Compared with the traditional surgical operation, has the obvious advantages of small incision, short postoperative recovery time and the like. The cardiovascular and cerebrovascular interventional operation is a process in which a doctor manually sends a catheter, a guide wire, a stent and other instruments into a patient to finish treatment.

The interventional operation has the following two problems that firstly, in the operation process, because DSA can emit X-rays, the physical strength of a doctor is reduced quickly, the attention and the stability are also reduced, the operation precision is reduced, and accidents such as endangium injury, perforation and rupture of blood vessels and the like caused by improper pushing force are easy to happen, so that the life risk of a patient is caused. Second, the cumulative damage of long-term ionizing radiation can greatly increase the probability of doctors suffering from leukemia, cancer and acute cataract. The phenomenon that doctors accumulate rays continuously because of interventional operation becomes a problem that the occupational lives of the doctors are damaged and the development of the interventional operation is restricted to be neglected.

The problem can be effectively solved by the operation method of teleoperation of the catheter and the guide wire by means of the robot technology, the precision and the stability of the operation can be greatly improved, meanwhile, the injury of radiation to an interventional doctor can be effectively reduced, and the occurrence probability of accidents in the operation is reduced. Therefore, the assisted robot for cardiovascular and cerebrovascular interventional surgery is more and more concerned by people and gradually becomes a key research and development object in the field of medical robots in all the science and technology strong countries at present.

Foreign vascular intervention surgical robots are relatively early studied, but have not yet fully realized clinical applications. The related research in China is started late, and mainly comprises Beijing university of justice, Tianjin university of justice, Beijing university of aerospace, Harbin university of industry and the like.

At present, the vascular interventional surgical robot mainly adopts a master-slave end operation structure to isolate a doctor from radioactivity, for example, the application number of Tianjin theory university is as follows: 201410206956.7, publication date is: 9 month 17's of 2014 utility model patent discloses a principal and subordinate's minimal access blood vessel intervenes operation auxiliary system from operating means, and it includes axial push unit, rotary unit, presss from both sides and gets unit, operation pipe, operating force detecting element and the adjustable base in inclination, and its working method includes signal detection, transmission, processing, action. The device has the advantages that the device can simulate the intervention operation action of a doctor, is high in operation precision, effectively improves the operation safety, can adjust the angle of the intervention position, adopts aluminum alloy materials, and is small in size and light in weight. The utility model discloses a propelling movement of completion seal wire that can be fine to adopt magnetorheological suspensions to realize force feedback. For another example, the application numbers of the Beijing university of aerospace applications are: 201210510169.2, publication date is: patent literature 9/17/2014 discloses a master-slave teleoperation vascular interventional surgical robot, which comprises a master end control mechanism, a slave end propulsion mechanism and a PMAC controller; the main end control mechanism is an operation end of a doctor; the slave end propelling mechanism is used as an actuating mechanism of the robot to complete the motion function of the catheter; the PMAC control box is used for realizing information transmission between the master end control mechanism and the slave end propelling mechanism, the master end control mechanism and the slave end propelling mechanism adopt a master-slave teleoperation mode to assist a doctor to carry out an operation, and the slave end propelling mechanism realizes axial feeding and circumferential rotating motion of a catheter.

However, the above solution still has the following problems: (1) the robot is complicated to disinfect and does not meet the actual operation requirement; (2) the structure is relatively overstaffed, complicated, large in volume, inconvenient to install and inflexible and convenient; (3) the catheter guide wire is inconvenient to disassemble and assemble and is not easy to replace in an operation; (4) the guide wire can not be pushed and rotated simultaneously, and the operation is very practical in the actual operation; and (5) the device is easy to slip during the advancing of the guide wire, so that the operation effect is influenced.

Therefore, how to provide a slave-end advancing device of an interventional surgical robot for facilitating the control of the movement and rotation of a catheter and a guide wire is a problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a from end advancing device of intervention operation robot is convenient for to the removal and the rotation control of pipe and seal wire.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

an interventional surgical robotic slave-end advancement device, comprising: the device comprises a transmission part, a sliding part, a pushing part, a twisting part, a clamping part, a catheter rotating part and a mobile stepping motor part;

the twisting part, the clamping part, the conduit rotating part and the moving stepping motor part are fixedly arranged on the shell;

the transmission part is used for transmitting the torque force of the mobile stepper motor part to the sliding part and the pushing part, the sliding part is used for driving the guide wire to reciprocate, and the pushing part is matched with the clamping part and used for clamping and opening the guide wire;

the twisting part is used for driving the guide wire to rotate;

the catheter rotating part is used for clamping the catheter and pushing the catheter into the blood vessel or withdrawing the catheter from the blood vessel.

Through the technical scheme, the utility model provides an intervene operation robot from holding advancing device can realize that the blood vessel intervenes in the operation to the propulsion and withdrawal of pipe and seal wire to and rotatory seal wire simultaneously, and can realize continuous action through reciprocating motion's structure. The operation is simple, and the control is accurate. The operation of a doctor on the guide wire in the blood vessel interventional operation can be met, the remote control robot can complete the operation, the risk of receiving more X rays is greatly reduced, and the body of the doctor is protected.

Preferably, in the above slave end propulsion device for an interventional surgical robot, the specific structure of the transmission part is: the long-handle umbrella-shaped gear and the long-handle straight gear with the boss are assembled and fixed and are coaxially arranged on the connecting piece; the long-handle bevel gear is meshed with the bevel gear; the short-handle straight gear with the boss is arranged on the connecting piece through the first miniature bearing; the boss parts of the long-handle straight gear with the boss and the short-handle straight gear with the boss are respectively connected and fixed with the crank connecting rod and the linear connecting rod; the umbrella-shaped gear and the cam group are fixed through a retainer ring combination; the through hole umbrella-shaped gear is arranged on the connecting piece; the through hole umbrella-shaped gear is meshed with the umbrella-shaped gear. When the long-handle umbrella-shaped gear rotates, the umbrella-shaped gear can be driven to synchronously rotate. The long-handle straight gear with the boss and the short-handle straight gear with the boss are respectively connected with the crank connecting rod and the linear connecting rod, when the gears rotate, the eccentric boss can drive the two connecting rods to do propelling movement, and once reciprocating movement can be realized after the gears rotate for one circle. When the bevel gear rotates, the cam group can synchronously move along with the bevel gear. The bevel gear with the through hole rotates to further drive the bevel gear to rotate along with the bevel gear; the rotational force can be transmitted to a desired place through a series of gear combinations.

Preferably, in the above-described slave-end propelling device for an interventional surgical robot, the slide part has a specific structure of: the crank connecting rod and the linear connecting rod are respectively connected with the near-end connecting piece of the far-end connecting piece; the second linear guide rail is fixed on the reference surface of the shell; the micro sliding block is matched with the second linear guide rail and is fixedly connected with the far-end connecting piece and the near-end connecting piece; the slide block on the first linear guide rail moves on the micro slide block; the far-end small slide block connecting piece is fixedly connected with the small slide block on the first linear guide rail, and the upper end of the far-end small slide block connecting piece is connected with the narrow slide block; a push rod penetrates into the narrow slide block; the groove part of the push rod is attached to the cam surface of the cam group; the electromagnet is connected with the narrow sliding block. The electromagnet is connected with the narrow sliding block, and the electromagnet is electrified and can adsorb the matched medical rubber block with the iron shell outside, so that the medical rubber block can be contacted with the guide wire; the electromagnet loses power and magnetism, and the medical rubber block can be separated, so that the effect of quick separation is achieved.

Preferably, in the above-mentioned slave end propulsion device for an interventional surgical robot, the specific structure of the propulsion unit is: the left end support and the right end support are fixed on the datum plane of the shell; and the second miniature bearing and the miniature small bearing respectively penetrate through the cam group and are fixed on the left end support and the right end support. For reducing friction during rotation; the cam set can rotate and is matched with the push rod for use in clamping and expanding the guide wire.

Preferably, in the above slave end propulsion device for an interventional surgical robot, the specific structure of the twisting part is: the third linear guide rail and the first motor support are fixed on the shell, and the right-angle connecting plate is connected with the sliding block of the third linear guide rail and is connected with the threaded nut; the first stepping motor penetrates through the threaded nut; the two miniature linear guide rails and the first sliding block are arranged on a right-angle connecting plate, the clamping connecting piece is arranged on the first sliding block, and the pinion is rotationally connected to the right-angle connecting plate; the stepping motor penetrates through the small gear, and the small gear is meshed with the clamping connecting piece. The first stepping motor is controlled to rotate positively to drive the two clamping connecting pieces to move relatively, so that the clamping part can be opened, the first stepping motor is controlled to rotate negatively, and the effect of clamping components in the disinfection box can be achieved. The extension shaft can be realized in the vertical motion of the right-angle connecting plate, and the shaft of the first stepping motor is always in the pinion.

Preferably, in the above-described slave-end propelling device for an interventional surgical robot, the specific structure of the clamping portion is: the fourth linear guide rail is fixed on the shell, and the sliding block connecting piece is arranged on the second sliding block; the second stepping motor penetrates through the slider lead screw connecting piece; the second motor support is fixed with the shell and connected with the second stepping motor. The second stepping motor is controlled to rotate forwards, the integral component can be pushed to move forwards, the position of the other plate for fixing the guide wire is relatively fixed, so that the guide wire is clamped, and the clamping force can be adjusted by adjusting the number of rotating turns of the second stepping motor; the second stepping motor is controlled to rotate reversely, so that the whole body can be pushed to move backwards in a stepping mode, the effect of loosening the guide wire can be achieved, and a doctor can take out the guide wire conveniently.

Preferably, in the above-described slave-end propelling device for an interventional surgical robot, the catheter rotating unit has a specific structure including: the square bracket connecting piece is fixed on the shell and connected with the third stepping motor, and the upper end of the square bracket connecting piece is connected with the fifth linear guide rail; the third sliding block is arranged on the fifth linear guide rail, and the upper end of the third sliding block is connected with the third motor bracket; and the nut is connected with the third motor bracket and penetrates through the third stepping motor. The motor can be pushed to move forwards by controlling the forward rotation of the third stepping motor, so that the function of clamping the catheter is achieved; by controlling the third stepping motor to rotate reversely, the motor can be pushed to move backwards, the function of loosening the catheter is achieved, and the catheter can be taken out. The step motor is controlled to rotate forwards, a disinfection box is required to be matched, the disinfection box is provided with two friction wheel structures, and the two friction forces clamp the catheter and can push the catheter to move forwards to enter a blood vessel; the motor rotates reversely, so that the catheter can be pushed to move backwards and exit the blood vessel, and the requirement in the operation is met.

Preferably, in the above-mentioned slave-end propelling device for an interventional surgical robot, a sixth linear guide is fixed on the housing, and a fourth slider is engaged with the sixth linear guide; the support column and the connecting plate are fastened and connected through a nut; the connecting plate is fixed with a plurality of fourth stepping motors, one of the fourth stepping motors is matched with a lead screw and penetrates through a nut on the reference surface of the shell, and the other fourth stepping motor penetrates through a through hole umbrella-shaped gear on the reference surface of the shell. The fourth stepping motor is controlled to rotate forwards, so that the umbrella-shaped gear can rotate, and the two sliding blocks are matched with the medical rubber block, so that the guide wire can be alternately pushed forwards by the two parts, and the guide wire can be continuously pushed forwards to enter a blood vessel. And controlling the fourth stepping motor to rotate reversely, so that the guide wire can be continuously pushed backwards to leave the blood vessel. Controlling a third stepping motor to rotate forwards to drive a screw rod to move, and controlling the two groups of plate surfaces to move relatively by matching with the movement of the other side of the twisting part so as to realize upward twisting of the guide wire; and controlling the third stepping motor to rotate reversely to realize downward twisting of the guide wire.

The utility model also provides a control method who intervenes operation robot from end advancing device:

the torsion of the moving stepping motor part is transmitted to the sliding part and the pushing part through the transmission part, the sliding part drives the guide wire to reciprocate, and the clamping and the opening of the guide wire are realized through the matching of the pushing part and the clamping part, so that the guide wire is driven to move;

the twisting part and the pushing part and the clamping part reciprocate up and down to drive the guide wire to rotate;

the catheter rotating part clamps the catheter and pushes or withdraws the catheter into or out of the blood vessel through rotation.

Preferably, in the above method for controlling the slave-end pusher of the interventional surgical robot, the sliding portion clamps the guide wire by electrifying the electromagnet. The operation is simple, and the control is stable.

Known through foretell technical scheme, compare with prior art, the utility model discloses an intervene operation robot from end advancing device has following beneficial effect:

1. the utility model discloses intervene operation robot from end advancing device, the innovative mechanical structure design who adopts reciprocating motion has reduced the volume of device greatly.

2. The utility model discloses intervene operation robot from end device, overall structure is simple, adopts the modular structure design, and the dismouting combination is simple and convenient, compact structure, and the score can all adopt plastics to make greatly, and whole light in weight, and manufacturing cost is lower.

3. The utility model discloses intervene surgical robot reciprocating motion device realizes that the seal wire presss from both sides the structural style that adopts cam group to drive the crank connecting rod innovatively, and the reverse acting force of spring can make the push rod tightly attached on the cam surface, realizes pressing from both sides tightly in turn and opens the seal wire through step motor's rotation to supplementary completion reciprocating motion's process.

4. The utility model discloses intervene surgical robot's reciprocating motion device control method, through operating the device can realize the clamp of seal wire, relax, propelling movement and back, can continuous operation, and need not switch over operations such as midway, and is simple and convenient, can satisfy all demands of blood vessel intervention operation to the seal wire.

5. The utility model discloses a bionics thread rolling structure, accord with doctor's actual operation custom, also can realize advancing the seal wire simultaneously and accomplish with rotatory seal wire, satisfied the operation demand in the actual operation.

6. The guide wire and the catheter can be controlled to move simultaneously, the movement is accurate, the function of installing the support can be realized, and the operation requirement in an actual operation is met.

7. The closed structure has better protection to the internal motor and other parts.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required to be used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.

FIG. 1 is a schematic perspective view of a propelling device of an interventional surgical robot according to the present invention;

FIG. 2 is a schematic view of the structure of the transmission part of the propelling device at the slave end of the interventional operation robot according to the present invention;

FIG. 3 is a schematic view of a sliding part of the propelling device at the slave end of the interventional operation robot according to the present invention;

FIG. 4 is an exploded view of the pushing portion of the propelling device of the interventional surgical robot according to the present invention;

FIG. 5 is a schematic view of the structure of the twisting part of the propelling device of the interventional surgical robot of the present invention;

FIG. 6 is a schematic view of the structure of the clamping portion of the propelling device at the slave end of the interventional surgical robot according to the present invention;

FIG. 7 is a schematic view of a catheter rotating part of the propelling device at the slave end of the interventional surgical robot according to the present invention;

FIG. 8 is a schematic view of the stepping motor moving in the slave propulsion device of the interventional surgical robot according to the present invention;

FIG. 9 is a schematic view of the structure of the present invention showing the engagement of the driving part, the sliding part and the pushing part in the pushing device at the slave end of the interventional operation robot;

wherein:

1-a transmission part;

101-a connector; 102-long handle bevel gear; 103-bevel gear; 104-long handle straight gear with boss; 105-short handle straight gear with boss; 106-through hole bevel gear; 107-a first micro-bearing; 108-a retaining ring;

2-a sliding part;

201-crank connecting rod; 202-linear link; 203-a push rod; 204-narrow slider; 205-micro slider; 206-distal connector; 207-proximal connector; 208-a proximal small slider link; 209-distal small slider connection; 210-a first linear guide; 211-a second linear guide; 212-an electromagnet;

3-a pushing part;

301-left end bracket; 302-a second micro-bearing; 303-cam group; 304-miniature small bearings; 305-a right end support;

4-a twisting part;

401-a first stepper motor; 402-a first motor mount; 403-a third linear guide; 404-a first slider; 405-a right angle connection plate; 406-an elongate shaft; 407-clamping connection; 408-a threaded nut; 409-a first lead screw; 410-pinion gear;

5-a clamping part;

501-a fourth linear guide rail; 502-datum baseplate; 503-a second stepper motor; 504-a second motor mount; 505 — a slider connection; 506-a second slider; 507 slider lead screw connection; 508-a second lead screw;

6-a conduit turning part;

601-a third stepper motor; 602-a fifth linear guide; 603-square bracket connection; 604-a third slider; 605-a third motor mount; 606-a nut;

7-moving the stepper motor part;

701-a sixth linear guide; 702-a fourth slider; 703-a fourth stepper motor; 704-a pillar; 705-connecting plate; 706-third lead screw; 707-nut.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Example 1:

referring to fig. 1 to 9, an embodiment of the present invention discloses a slave propulsion device for an interventional surgical robot, including: the device comprises a transmission part 1, a sliding part 2, a pushing part 3, a twisting part 4, a clamping part 5, a conduit rotating part 6 and a mobile stepping motor part 7;

the twisting part 4, the clamping part 5, the conduit rotating part 6 and the mobile stepping motor part 7 are fixedly arranged on the shell;

the transmission part 1 is used for transmitting the torque force of the moving stepping motor part 7 to the sliding part 2 and the pushing part 3, the sliding part 2 is used for driving the guide wire to reciprocate, and the pushing part 3 is matched with the clamping part 5 and used for clamping and opening the guide wire;

the twisting part 4 is used for driving the guide wire to rotate;

the catheter rotating portion 6 is used to grip and advance or withdraw the catheter into or from the blood vessel.

In order to further optimize the above technical solution, the specific structure of the transmission part 1 is as follows: a plurality of first micro bearings 107 are arranged on the connecting piece 101, and the long-handle umbrella-shaped gear 102 and the long-handle straight gear 104 with the boss are assembled and fixed and coaxially arranged on the connecting piece 101; the long-handle bevel gear 102 is meshed with the bevel gear 103; the short-handle straight gear 105 with the boss is arranged on the connecting piece 101 through a first miniature bearing 107; the boss parts of the long-handle boss straight gear 104 and the short-handle boss straight gear 105 are respectively connected and fixed with the crank connecting rod 201 and the linear connecting rod 202; the bevel gear 103 and the cam group 303 are combined and fixed through a retaining ring 108; the through-hole bevel gear 106 is mounted on the connecting member 101; the through-hole bevel gear 106 meshes with the bevel gear 103.

In order to further optimize the above technical solution, the specific structure of the sliding part 2 is as follows: the crank connecting rod 201 and the straight connecting rod 202 are respectively connected with the near end connecting piece 207 of the far end connecting piece 206; the second linear guide 211 is fixed on the reference surface of the housing; the micro slider 205 is matched with the second linear guide rail 211 and is fixedly connected with the far-end connector 206 and the near-end connector 207; the slider on the first linear guide 210 moves on the micro slider 205; the far-end small slide block connecting piece 209 is fixedly connected with the small slide block on the first linear guide rail 210, and the upper end of the far-end small slide block connecting piece is connected with the narrow slide block 204; the push rod 203 penetrates into the narrow slide block 204; the groove part of the push rod 203 is attached to the cam surface of the cam group 303; the electromagnet 212 is connected to the narrow slider 204.

In order to further optimize the above technical solution, the specific structure of the pushing part 3 is as follows: the left end bracket 301 and the right end bracket 305 are fixed on the reference surface of the shell; the second micro bearing 302 and the micro small bearing 304 respectively pass through the cam group 303 and are fixed on the left end bracket 301 and the right end bracket 305.

In order to further optimize the above technical solution, the specific structure of the twisting part 4 is as follows: the third linear guide rail 403 and the first motor bracket 402 are fixed on the shell, and the right-angle connecting plate 405 is connected with the slide block of the third linear guide rail 403 and is connected with the screw nut 408; the stepping motor 401 passes through a threaded nut 408; two miniature linear guide rails and a first slider 404 are arranged on a right-angle connecting plate 405, a clamping connecting piece 407 is arranged on the first slider 404, and a pinion 410 is rotationally connected on the right-angle connecting plate 405; the first stepping motor 401 passes through the pinion 410, and the pinion 410 is engaged with the clamp link 407.

In order to further optimize the above technical solution, the specific structure of the clamping portion 5 is: the fourth linear guide 501 is fixed on the housing, and the slider connector 505 is mounted on the second slider 506; the second stepper motor 503 passes through the slider lead screw connector 507; the second motor support 504 is fixed to the housing and connected to the second stepping motor 503.

In order to further optimize the above technical solution, the specific structure of the duct rotating part 6 is as follows: a square bracket connecting piece 603 is fixed on the shell and connected with the third stepping motor 601, and the upper end of the square bracket connecting piece 603 is connected with the fifth linear guide rail 602; the third sliding block 604 is installed on the fifth linear guide 602, and the upper end thereof is connected with the third motor bracket 605; the nut 606 is coupled to the third motor supporter 605 and passes through the third stepping motor 601.

In order to further optimize the above technical solution, the sixth linear guide 701 is fixed on the housing, and the fourth slider 702 is engaged with the sixth linear guide 701; the support post 704 and the connecting plate 705 are tightly connected through a nut 707; the connecting plate 705 is fixed to a plurality of fourth stepping motors 703, one of which is fitted with a lead screw 706 passing through a nut on the reference surface of the housing, and the other of the fourth stepping motors 703 passes through the through-hole bevel gear 106 on the reference surface of the housing.

Example 2:

the embodiment of the utility model discloses intervene operation robot from end advancing device's control method, its characterized in that:

the torsion of the moving stepping motor part 7 is transmitted to the sliding part 2 and the pushing part 3 through the transmission part 1, the sliding part 2 drives the guide wire to reciprocate, and the guide wire is clamped and opened through the matching of the pushing part 3 and the clamping part 5, so that the guide wire is driven to move;

the twisting part 4 drives the pushing part 3 and the clamping part 5 to reciprocate up and down so as to drive the guide wire to rotate;

the catheter rotating section 6 holds the catheter and advances or withdraws the catheter into or from the blood vessel by rotation.

In order to further optimize the above technical solution, the sliding part 2 clamps the guide wire by electrifying the electromagnet 212.

The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A surgical robotic end-pusher device, comprising: a transmission part (1), a sliding part (2), a pushing part (3), a twisting part (4), a clamping part (5), a catheter rotating part (6) and a mobile stepping motor part (7);

the twisting part (4), the clamping part (5), the conduit rotating part (6) and the mobile stepping motor part (7) are fixedly arranged on the shell;

the transmission part (1) is used for transmitting the torsion of the moving stepping motor part (7) to the sliding part (2) and the pushing part (3), the sliding part (2) is used for driving the guide wire to reciprocate, and the pushing part (3) is matched with the clamping part (5) and used for clamping and opening the guide wire;

the twisting part (4) is used for driving the guide wire to rotate;

the catheter rotating part (6) is used for clamping the catheter and pushing the catheter into the blood vessel or withdrawing the catheter from the blood vessel.

2. The interventional surgical robot slave end advancing device according to claim 1, characterized in that the specific structure of the transmission part (1) is as follows: a plurality of first micro bearings (107) are arranged on the connecting piece (101), and the long-handle umbrella-shaped gear (102) and the long-handle straight gear (104) with the boss are assembled and fixed and are coaxially arranged on the connecting piece (101); the long-handle umbrella-shaped gear (102) is meshed with the umbrella-shaped gear (103); the short-handle straight gear (105) with the boss is arranged on the connecting piece (101) through the first miniature bearing (107); the boss parts of the long-handle boss straight gear (104) and the short-handle boss straight gear (105) are respectively connected and fixed with a crank connecting rod (201) and a linear connecting rod (202); the umbrella-shaped gear (103) and the cam group (303) are combined and fixed through a retaining ring (108); the through hole umbrella-shaped gear (106) is arranged on the connecting piece (101); the through-hole bevel gear (106) is meshed with the bevel gear (103).

3. The interventional surgical robot slave end advancing device according to claim 2, characterized in that the specific structure of the sliding part (2) is as follows: the crank connecting rod (201) and the linear connecting rod (202) are respectively connected with a near end connecting piece (207) of a far end connecting piece (206); a second linear guide rail (211) is fixed on the reference surface of the shell; the micro sliding block (205) is matched with the second linear guide rail (211) and is fixedly connected with the far-end connecting piece (206) and the near-end connecting piece (207); -the slider on the first linear guide (210) moves on the micro slider (205); the far-end small sliding block connecting piece (209) is fixedly connected with the small sliding block on the first linear guide rail (210), and the upper end of the far-end small sliding block connecting piece is connected with the narrow sliding block (204); a push rod (203) penetrates into the narrow slide block (204); the groove part of the push rod (203) is attached to the cam surface of the cam group (303); an electromagnet (212) is connected to the narrow slider (204).

4. The interventional surgical robot slave end advancing device according to claim 3, characterized in that the pushing part (3) is specifically structured as follows: a left end bracket (301) and a right end bracket (305) are fixed on the datum plane of the shell; and a second micro bearing (302) and a micro small bearing (304) respectively penetrate through the cam group (303) and are fixed on the left end bracket (301) and the right end bracket (305).

5. The interventional surgical robot slave end propelling device according to claim 1, characterized in that the specific structure of the twisting part (4) is as follows: a third linear guide rail (403) and a first motor bracket (402) are fixed on the shell, and a right-angle connecting plate (405) is connected with a sliding block of the third linear guide rail (403) and is connected with a threaded nut (408); a stepping motor (401) penetrates through the threaded nut (408); two miniature linear guide rails and a first sliding block (404) are arranged on a right-angle connecting plate (405), a clamping connecting piece (407) is arranged on the first sliding block (404), and a pinion (410) is rotationally connected to the right-angle connecting plate (405); the first stepping motor (401) penetrates through the pinion (410), and the pinion (410) is meshed with the clamping connecting piece (407).

6. The interventional surgical robot slave end advancing device according to claim 1, characterized in that the specific structure of the clamping part (5) is as follows: a fourth linear guide rail (501) is fixed on the shell, and a sliding block connecting piece (505) is arranged on a second sliding block (506); the second stepping motor (503) penetrates through the slide block lead screw connecting piece (507); a second motor support (504) is fixed to the housing and connected to the second stepping motor (503).

7. The interventional surgical robot slave-end propelling device according to claim 1, characterized in that the catheter rotating part (6) is specifically structured as follows: a square bracket connecting piece (603) is fixed on the shell and is connected with a third stepping motor (601), and the upper end of the square bracket connecting piece (603) is connected with a fifth linear guide rail (602); the third sliding block (604) is arranged on the fifth linear guide rail (602), and the upper end of the third sliding block is connected with the third motor bracket (605); the nut (606) is connected with the third motor bracket (605) and penetrates through the third stepping motor (601).

8. A surgical robotic end-pusher according to claim 2, characterized in that a sixth linear guide (701) is fixed to said housing, a fourth slider (702) cooperating with said sixth linear guide (701); the support column (704) and the connecting plate (705) are tightly connected through a nut (707); the connecting plate (705) is fixed with a plurality of fourth stepping motors (703), one of the fourth stepping motors is matched with a lead screw (706) which penetrates through a nut on the reference surface of the shell, and the other fourth stepping motor (703) penetrates through a through-hole bevel gear (106) on the reference surface of the shell.