CN217660134U - Clamping and propelling mechanism and vascular intervention surgical robot - Google Patents
Clamping and propelling mechanism and vascular intervention surgical robot Download PDFInfo
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- CN217660134U CN217660134U CN202221397104.7U CN202221397104U CN217660134U CN 217660134 U CN217660134 U CN 217660134U CN 202221397104 U CN202221397104 U CN 202221397104U CN 217660134 U CN217660134 U CN 217660134U
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Abstract
The utility model provides a press from both sides tight advancing mechanism and blood vessel and intervene operation robot relates to medical instrument technical field. The clamping and propelling mechanism comprises a base, a guide device, a propelling device and a clamping device. The first guide groove and the second guide groove define a first guide channel; the balloon catheter is arranged in the second guide channel and is respectively in sliding butt joint with the driving component and the transmission component, and the driving component rotates to drive the balloon catheter to slide along the second guide channel and drive the transmission component to rotate; the clamping device comprises a clamping rod, a rod shaft and a return spring, the transmission assembly is fixedly connected with the clamping rod, the rod shaft and the return spring are both fixedly connected with the shell, one end of the clamping rod is rotatably connected onto the rod shaft, and the other end of the clamping rod is abutted against the return spring, so that the transmission assembly clamps the balloon catheter. The utility model provides a press from both sides tight advancing mechanism has improved compatibility, can press from both sides tight sacculus pipe fast, reduces the operation time.
Description
Technical Field
The utility model relates to the technical field of medical equipment, especially, relate to a press from both sides tight advancing mechanism and vascular intervention operation robot.
Background
Percutaneous Coronary Intervention (PCI) refers to a treatment method for improving the perfusion of the blood flow of the cardiac muscle by opening the narrow or even occluded Coronary artery lumen through the cardiac catheter technique. The treatment method has the advantages of short treatment course, small wound, remarkable curative effect and the like, and is developed rapidly in recent years. The vascular interventional surgical robot combines robot technology and minimally invasive surgery, and a surgeon can control interventional instruments such as guide wires, catheters and the like to quickly and accurately reach a target blood vessel in a non-radiation safe environment to complete PCI surgery. The traditional saccule support is divided into a Rapid Exchange (RX) type and an integrated Exchange (OTW) type, and different types of saccule supports are needed to be adopted by different doctors and under different operation conditions. However, the vascular intervention surgical robot in the prior art can only use one type of saccule support, and has the problems that the clamping of the saccule support is inconvenient, the surgical compatibility is not high, and the surgical time is increased.
SUMMERY OF THE UTILITY MODEL
In view of this, the utility model aims at overcoming the not enough among the prior art, this application provides a press from both sides tight advancing mechanism to solve the blood vessel among the prior art and intervene surgical robot and can only use a sacculus support, and it is inconvenient to have to press from both sides tight sacculus support, leads to its operation compatibility not high and increases the technical problem of operation time.
The utility model provides a following technical scheme:
a clamp advancement mechanism for advancing a balloon catheter, comprising:
the device comprises a base, a first positioning device and a second positioning device, wherein the base is provided with the first positioning device and the second positioning device;
the guide device is arranged on the first placement position and comprises a guide box and a guide cover, the guide box is provided with a placement groove for placing the guide cover, the top surface of the guide box is provided with a first guide groove, the guide cover is provided with a second guide groove corresponding to the first guide groove, the first guide groove and the second guide groove define a first guide channel, and the first guide channel is used for guiding the balloon catheter;
the propelling device is arranged on the second placement position and comprises a shell, a driving component and a transmission component, a second guide channel is formed in the shell, the driving component and the transmission component are both arranged in the shell, the balloon catheter is arranged in the second guide channel and is positioned between the driving component and the transmission component, the balloon catheter is respectively in sliding butt joint with the driving component and the transmission component, and the driving component rotates to drive the balloon catheter to slide along the second guide channel and drive the transmission component to rotate;
the clamping device is arranged in the shell and comprises a clamping rod, a rod shaft and a return spring, the transmission assembly is fixedly connected with the clamping rod, the rod shaft and the return spring are fixedly connected with the shell, one end of the clamping rod is rotatably connected onto the rod shaft, and the other end of the clamping rod is abutted against the return spring, so that the transmission assembly clamps the balloon catheter.
In some embodiments of the present application, a third placing position is provided on the base, the third placing position is provided in the bottom of the guiding cover, for placing the propelling device and the clamping device, the third placing position is provided with a first avoiding hole for avoiding the driving assembly.
In some embodiments of this application, the casing includes top cap, well cover and bottom plate, well cover is located the top cap with between the bottom plate, the top cap with the top circumference edge of well cover is articulated, well cover seted up the spacing groove with second direction passageway, the spacing groove is located the top of second direction passageway, the top cap be provided with the stopper of spacing groove looks adaptation.
In some embodiments of the present application, the clamping rod is provided with a hand-pulling position, and the middle cover is provided with an avoiding groove corresponding to the hand-pulling position.
In some embodiments of the present application, a sliding groove is formed in the bottom plate, a through hole is formed in the clamping rod, and the transmission assembly is arranged in the through hole in a penetrating manner and is in sliding abutting contact with the sliding groove.
In some embodiments of this application, drive assembly includes driving piece, drive shaft and drive wheel, drive wheel fixed connection in the drive shaft, the second is placed the position and has been seted up the second and dodge the hole, the drive shaft is worn to locate the second dodge the hole with the output shaft of driving piece.
In some embodiments of the application, a clamping groove is formed in one end, away from the driving wheel, of the driving shaft, and a clamping block connected with the clamping groove in a clamped mode is arranged on an output shaft of the driving piece.
In some embodiments of the present application, the transmission assembly includes a transmission shaft and a transmission wheel, the transmission wheel is rotatably connected to the transmission shaft, and the transmission shaft is fixedly connected to the clamping rod.
In some embodiments of the present application, the clamping rod is provided with an insertion slot, and the return spring is inserted into the insertion slot and abuts against the clamping rod, so that the driving wheel clamps the balloon catheter.
The application also provides a vascular intervention surgical robot, which comprises the clamping and pushing mechanism.
The embodiment of the utility model has the following advantage:
the application provides a press from both sides tight advancing mechanism, guider set up on the first position of placing of base, and first guide way and second guide way have been seted up respectively to the top surface of direction box and direction lid, through laying the direction lid on the standing groove of direction box in order to form first direction passageway to the realization leads to quick-exchange type sacculus pipe. The propelling device and the clamping device are arranged on a second placing position, and a second guide channel is formed in the shell so as to guide the overall exchange type balloon catheter. The balloon catheter is positioned between the driving component and the transmission component and is in sliding abutting contact with the driving component and the transmission component respectively. The driving assembly rotates to drive the balloon catheter to slide along the second guide channel and drive the transmission assembly to rotate, so that the balloon catheter is pushed. The clamping device is used for providing pressing force to enable the transmission assembly to press the balloon catheter, so that the balloon catheter is respectively in abutting contact with the transmission assembly and the driving assembly to provide friction force, and the balloon catheter is pushed under the action of rotation of the driving assembly and the friction force. The transmission assembly is fixedly connected with the clamping rod, the rod shaft and the reset spring are fixedly connected with the shell, one end of the clamping rod is rotatably connected onto the rod shaft, and the other end of the clamping rod is abutted to the reset spring.
In the use process, the clamping rod is driven to have the trend of swinging clockwise along the rod shaft by the spring force of the return spring in the initial state, so that the transmission assembly on the clamping rod is abutted to the driving assembly. When the balloon catheter needs to be clamped, the clamping rod is shifted by hand, so that the clamping rod swings anticlockwise along the rod shaft, the return spring is further compressed, the transmission assembly is separated from the driving assembly, the position for placing the balloon catheter is left between the transmission assembly and the driving assembly, and the balloon catheter is placed between the transmission assembly and the driving assembly. Then the clamping rod is loosened, the clamping rod drives the clamping rod to swing clockwise along the rod shaft by means of the reset spring force of the reset spring, so that the balloon catheter is respectively abutted against the transmission assembly and the driving assembly, and the balloon catheter is clamped and provides friction force required by propulsion. Through setting up first direction passageway and second direction passageway, compatible quick exchange type sacculus pipe and whole exchange type sacculus pipe have improved compatibility simultaneously. Through setting up clamping device and advancing device, can the quick clamp and advance sacculus pipe, reduced operation time. The technical problems that in the prior art, a blood vessel interventional operation robot only can use one saccule support, and the saccule support is inconvenient to clamp, so that the operation compatibility is not high and the operation time is prolonged are solved.
In order to make the aforementioned and other objects, features and advantages of the present invention more comprehensible, preferred embodiments accompanied with figures are described in detail below.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention, and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on these drawings without inventive efforts.
FIG. 1 illustrates a perspective view of a clamp propulsion mechanism according to some embodiments of the present application;
FIG. 2 illustrates a perspective exploded view of a grip advancing mechanism according to some embodiments of the present application;
FIG. 3 illustrates another perspective view of a grip advancing mechanism according to some embodiments of the present application;
FIG. 4 illustrates a further perspective, perspective view of a grip advancing mechanism according to some embodiments of the present application;
FIG. 5 is another exploded perspective view of a grip advancement mechanism according to some embodiments of the present application;
figure 6 illustrates a schematic cross-sectional view of a clamp propulsion mechanism in some embodiments of the present application.
Description of the main element symbols:
100-a clamping and pushing mechanism; 10-a base; 101-a first set bit; 102-a second set bit; 1021-a second avoidance hole; 103-a third set bit; 1031-a first avoidance hole; 20-a guide means; 201-a guide box; 2011-standing groove; 2012-a first guide channel; 202-a guide cover; 2021-second guide groove; 203-a first guide channel; 30-a propulsion device; 301-a housing; 3011-a second guide channel; 3012-a top cover; 30121-a stop block; 3013-middle cover; 30131-a limiting groove; 30132-avoidance slot; 3014-a backplane; 30141-a chute; 302-a drive assembly; 3021-a drive shaft; 30211-card slot; 3022-driving wheels; 303-a transmission assembly; 3031-a drive shaft; 3032-a transmission wheel; 40-a clamping device; 401-a clamping bar; 4011-hand dialing; 4012-a via; 4013-slot; 402-a shaft; 403-a return spring; 500-vascular interventional surgical robot.
Detailed Description
Reference will now be made in detail to the embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. In contrast, when an element is referred to as being "directly on" another element, there are no intervening elements present. The terms "vertical," "horizontal," "left," "right," and the like are used herein for purposes of illustration only.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or to implicitly indicate the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the templates is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
As shown in fig. 1 to 5, the present application provides a clamping and pushing mechanism 100, which is mainly used for pushing a balloon catheter. The clamping propulsion mechanism 100 comprises a base 10, a guide 20, a propulsion unit 30 and a clamping unit 40.
Wherein, a first placing position 101 and a second placing position 102 are arranged on the base 10. The guide device 20 is disposed on the first placement position 101, the guide device 20 includes a guide box 201 and a guide cover 202, the guide box 201 is provided with a placement groove 2011 for placing the guide cover 202, a first guide groove 2012 is formed on a top surface of the guide box 201, the guide cover 202 is provided with a second guide groove 2021 corresponding to the first guide groove 2012, the first guide groove 2012 and the second guide groove 2021 define a first guide channel 203, and the first guide channel 203 is used for guiding the balloon catheter.
The propulsion device 30 is arranged on the second placement position 102, the propulsion device 30 comprises a shell 301, a driving component 302 and a transmission component 303, a second guide channel 3011 is formed in the shell 301, the driving component 302 and the transmission component 303 are both arranged in the shell 301, the balloon catheter is arranged in the second guide channel 3011 and located between the driving component 302 and the transmission component 303, the balloon catheter is respectively in sliding butt joint with the driving component 302 and the transmission component 303, and the driving component 302 rotates to drive the balloon catheter to slide along the second guide channel 3011 and drive the transmission component 303 to rotate.
The clamping device 40 is disposed in the housing 301, the clamping device 40 includes a clamping rod 401, a rod shaft 402 and a return spring 403, the transmission assembly 303 is fixedly connected to the clamping rod 401, both the rod shaft 402 and the return spring 403 are fixedly connected to the housing 301, one end of the clamping rod 401 is rotatably connected to the rod shaft 402, and the other end of the clamping rod is abutted against the return spring 403, so that the transmission assembly 303 clamps the balloon catheter.
In the clamping and pushing mechanism 100 provided in the embodiment of the present application, the base 10 is provided with a first placing position 101 and a second placing position 102. Wherein, guider 20 sets up on the first position 101 of placing of base 10, and first guide way 2012 and second guide way 2021 have been seted up respectively to the top surface of direction box 201 and direction lid 202, through laying direction lid 202 on the standing groove 2011 of direction box 201 in order to form first direction passageway 203 to realize leading quick-witted exchange type sacculus pipe. The propelling device 30 and the clamping device 40 are arranged on the second placing position 102, and the shell 301 is provided with a second guide channel 3011 so as to guide the overall exchange type balloon catheter.
Referring to fig. 6, in particular, the balloon catheter is disposed in the second guiding channel 3011 and located between the driving component 302 and the transmission component 303, and the balloon catheter is in sliding abutting contact with the driving component 302 and the transmission component 303 respectively. The driving component 302 rotates to drive the balloon catheter to slide along the second guide channel 3011 and drive the transmission component 303 to rotate, so that the balloon catheter is pushed. The clamping device 40 is used for providing pressing force to press the transmission assembly 303 to the balloon catheter, so that the balloon catheter is respectively in contact with the transmission assembly 303 and the driving assembly 302 in an abutting mode to provide friction force, and the propelling action of the balloon catheter is realized under the rotation of the driving assembly 302 and the action of the friction force. The transmission assembly 303 is fixedly connected with the clamping rod 401, the rod shaft 402 and the return spring 403 are both fixedly connected with the shell 301, one end of the clamping rod 401 is rotatably connected to the rod shaft 402, and the other end of the clamping rod is abutted to the return spring 403.
In use, the clamping rod 401 is driven to swing clockwise along the rod shaft 402 by the spring force of the return spring 403 in the initial state, so that the transmission assembly 303 on the clamping rod 401 abuts against the driving assembly 302. When the balloon catheter needs to be clamped, the clamping rod 401 is pulled by hand, so that the clamping rod 401 swings anticlockwise along the rod shaft 402, the return spring 403 is further compressed, the transmission assembly 303 is separated from the driving assembly 302, the position for placing the balloon catheter is left between the transmission assembly 303 and the driving assembly 302, and the balloon catheter is placed between the transmission assembly 303 and the driving assembly 302 and is located in the second guide channel 3011. Then, the clamping rod 401 is released, and the clamping rod 401 drives the clamping rod 401 to swing clockwise along the rod shaft 402 by virtue of the force of the return spring 403, so that the balloon catheter abuts against the transmission assembly 303 and the driving assembly 302 respectively, and the friction force required for clamping the balloon catheter and providing propulsion is realized. Through setting up first direction passageway 203 and second direction passageway 3011, can compatible quick exchange type sacculus pipe and whole exchange type sacculus pipe simultaneously, improved compatibility. By arranging the clamping device 40 and the propelling device 30, the balloon catheter can be quickly clamped and propelled, the operation is convenient, the operation time is reduced, and the balloon catheter is convenient to assemble and disassemble. The technical problems that in the prior art, a blood vessel interventional operation robot only can use one saccule support, and the saccule support is inconvenient to clamp, so that the operation compatibility is not high and the operation time is prolonged are solved.
As shown in fig. 1 and fig. 2, in an embodiment of the present application, optionally, a third placing position 103 is provided on the base 10, the third placing position 103 is provided at the bottom of the guide cover 202, and is used for placing the propelling device 30 and the clamping device 40, and the third placing position 103 is provided with a first avoiding hole 1031 for avoiding the driving component 302.
In this embodiment, the third placing position 103 is provided on the base 10. The third placement position 103 is disposed at the bottom of the guide cover 202, and the third placement position 103 is provided with a first avoidance hole 1031 for avoiding the driving assembly 302, so as to place the propelling device 30 and the clamping device 40.
Specifically, the mechanism is arranged at the corresponding position according to the requirements of doctors and the types of balloon catheters used during work. When the rapid exchange type balloon catheter is used, the pushing device 30 and the clamping device 40 are not needed to be used, at this time, the pushing device 30 and the clamping device 40 are integrally placed on the third placing position 103, and the guide cover 202 is placed on the placing groove 2011 of the guide box 201, so that the pushing device 30 and the clamping device 40 are integrally placed at the bottom of the guide device 20, a layered design is realized, and a sterile effect is achieved.
When the integrally exchanging type balloon catheter is used, the guide cover 202 is removed, and the pushing device 30 and the clamping device 40 are integrally mounted on the second placing position 102, so as to realize the clamping and pushing function of the balloon catheter. The clamping and pushing mechanism 100 is designed to be quick-release, so that a doctor can select an installation mechanism conveniently according to the type of the balloon catheter. Illustratively, the base 10 may be a disposable sterilization case, which achieves a sterile effect and improves the safety of the operation.
As shown in fig. 2, fig. 3, and fig. 6, in an embodiment of the present application, optionally, the housing 301 includes a top cover 3012, a middle cover 3013, and a bottom plate 3014, the middle cover 3013 is located between the top cover 3012 and the bottom plate 3014, the top cover 3012 is hinged to a top circumferential edge of the middle cover 3013, the middle cover 3013 is provided with a limiting groove 30131 and the second guide channel 3011, the limiting groove 30131 is located at the top of the second guide channel 3011, and the top cover 3012 is provided with a limiting block 30121 adapted to the limiting groove 30131.
In this embodiment, the housing 301 includes a top cover 3012, a middle cover 3013, and a bottom plate 3014. Wherein, the middle cover 3013 is installed between top cap 3012 and bottom plate 3014. Specifically, top cap 3012 is articulated with the top circumference edge of well cover 3013, makes top cap 3012 open and closed like this, and top cap 3012 opens in order to realize installing the sacculus pipe, and top cap 3012 is closed can reduce bacterial contamination's probability, reaches aseptic effect, improves the security of operation. The middle cover 3013 is provided with a limiting groove 30131 and a second guide channel 3011, the limiting groove 30131 is located at the top of the second guide channel 3011, and the top cover 3012 is provided with a limiting block 30121 matched with the limiting groove 30131, so that the limiting block 30121 is matched with the limiting groove 30131 when the top cover 3012 is closed, limiting is performed on the balloon catheter in the second guide channel 3011, the balloon catheter is prevented from being loosened from the second guide channel 3011 when being pushed, and pushing efficiency is improved.
As shown in fig. 3 and fig. 5, in the above embodiment of the present application, optionally, the clamping rod 401 is provided with a hand-dialing position 4011, and the middle cover 3013 is provided with an avoidance groove 30132 corresponding to the hand-dialing position 4011.
In this embodiment, the clamp rod 401 is provided with a hand-pulling portion 4011, and the middle cover 3013 is provided with an escape slot 30132 corresponding to the hand-pulling portion 4011. This facilitates the physician or operator to manually pull on the clamping rod 401 to swing the clamping rod 401 in a counterclockwise direction along the rod shaft 402, so that the driving assembly 303 is separated from the driving assembly 302 and the balloon catheter is positioned to be placed, thereby allowing the balloon catheter to be placed quickly. Then, the hand-poking position 4011 of the clamping rod 401 is released, the force of the return spring 403 drives the clamping rod 401 to swing clockwise along the rod shaft 402, so that the balloon catheter is abutted to the transmission assembly 303 and the driving assembly 302 respectively, the balloon catheter is clamped and friction force required by propulsion is provided, rapid clamping is realized, operation is convenient, and operation time is reduced.
As shown in fig. 2, 5 and 6, in the above embodiment of the present application, optionally, a sliding groove 30141 is formed on the bottom plate 3014, a through hole 4012 is formed on the clamping rod 401, and the transmission assembly 303 is inserted into the through hole 4012 and slidably abuts against the sliding groove 30141.
In this embodiment, the bottom plate 3014 is provided with a slide slot 30141, and the clamp rod 401 is provided with a through hole 4012. The transmission assembly 303 penetrates through the through hole 4012 and is in sliding abutting contact with the chute 30141. Specifically, the transmission assembly 303 is inserted into the through hole 4012 and fixedly connected to the clamping rod 401, and slidably abuts against and contacts the sliding groove 30141. Through setting up spout 30141, play the effect of direction and reduction friction power, be convenient for clamp rod 401 along axle 402 clockwise or anticlockwise swing.
As shown in fig. 2, 4, 5 and 6, in an embodiment of the present application, optionally, the driving assembly 302 includes a driving member (not shown), a driving shaft 3021 and a driving wheel 3022, the driving wheel 3022 is fixedly connected to the driving shaft 3021, the second placing position 102 is provided with a second avoidance hole 1021, and the driving shaft 3021 is disposed through the second avoidance hole 1021 and connected to an output shaft of the driving member.
In the present embodiment, the drive assembly 302 includes a drive member (not shown), a drive shaft 3021 and a drive wheel 3022. Wherein, drive wheel 3022 fixed connection is on drive shaft 3021, and fixed connection's mode can be for the key-type connection, joint or integrated into one piece make to realize firm the connection, improved the stability of connecting. Specifically, the second placing position 102 is provided with a second avoiding hole 1021, and the driving shaft 3021 penetrates through the second avoiding hole 1021 and is connected with the output shaft of the driving member. The pushing device 30 and the clamping device 40 are integrally placed through the second avoidance hole 1021, the driving shaft 3021 is connected with the output shaft of the driving piece, the driving shaft 3021 and the driving wheel 3022 are driven to synchronously rotate through the rotation of the driving piece, and the balloon catheter is pushed. Exemplarily, the driving part can be a driving motor, the driving wheel 3022 can be a roller, the adopted material can be elastic medical rubber, and the balloon catheter can be extruded after being clamped to form deformation and generate large friction force.
As shown in fig. 4 and fig. 6, in the above embodiment of the present application, optionally, a snap groove 30211 is formed at an end of the driving shaft 3021 away from the driving wheel 3022, and the output shaft of the driving element is provided with a snap block that is in snap connection with the snap groove 30211.
In this embodiment, draw-in groove 30211 has been seted up to the one end that drive shaft 3021 kept away from drive wheel 3022, and the output shaft of driving piece is provided with the fixture block of being connected with draw-in groove 30211 block, makes the output shaft of driving piece and drive shaft 3021 firm connection like this, has improved the stability of connecting, realizes synchronous rotation.
As shown in fig. 5 and 6, in an embodiment of the present application, optionally, the transmission assembly 303 includes a transmission shaft 3031 and a transmission wheel 3032, the transmission wheel 3032 is rotatably connected to the transmission shaft 3031, and the transmission shaft 3031 is fixedly connected to the clamping rod 401.
In this embodiment, the transmission assembly 303 includes a transmission shaft 3031 and a transmission wheel 3032. The driving wheel 3032 is rotatably connected to the driving shaft 3031, and the rotating connection mode can be bearing connection, so that the driving wheel 3032 is convenient to rotate, the rotating stability is improved, the balloon catheter is respectively in sliding butt joint with the driving wheel 3032 and the driving wheel 3022, and the clamping and propelling functions of the balloon catheter are realized. The transmission shaft 3031 is fixedly connected with the clamping rod 401, so that the transmission shaft 3031 and the transmission wheel 3032 can swing along with the clamping rod 401, thereby realizing the functions of placing and clamping the propelling balloon catheter. For example, the driving wheel 3032 may be a roller, and the adopted material may be elastic medical rubber, and the balloon catheter may be squeezed after being clamped, so as to form deformation and generate a large friction force.
As shown in fig. 5, in the above embodiment of the present application, optionally, the clamping rod 401 is provided with an insertion slot 4013, and the return spring 403 is inserted into the insertion slot 4013 to abut against the clamping rod 401, so that the transmission wheel 3032 clamps the balloon catheter.
In this embodiment, the clamping rod 401 is provided with an insertion slot 4013, and the return spring 403 is inserted into the insertion slot 4013 to abut against the clamping rod 401 so as to drive the transmission wheel 3032 to clamp the balloon catheter. Through setting up the slot 4013 that is used for supplying reset spring 403 to insert to make reset spring 403 and the stable butt of clamp bar 401, prevent reset spring 403 and loosen and cause the clamping function inefficacy, improved stability.
The embodiment of the present application further provides a vascular interventional surgical robot 500, which includes the clamping and advancing mechanism 100 in the above embodiment.
The robot 500 for vascular intervention operation has the clamping and advancing mechanism 100 in any of the above embodiments, so that all the advantages of the clamping and advancing mechanism 100 are provided, and the details thereof are not repeated herein.
To sum up, the tight advancing mechanism of clamp that this application provided, guider set up on the first position of putting of base, and first guide way and second guide way have been seted up respectively to the top surface of direction box and direction lid, through laying the direction lid on the standing groove of direction box in order to form first direction passageway to the realization leads to quick-exchange type sacculus pipe. The propelling device and the clamping device are arranged on the second placing position, and the shell is provided with a second guide channel so as to guide the overall exchange type balloon catheter. The balloon catheter is positioned between the driving component and the transmission component and is in sliding abutting contact with the driving component and the transmission component respectively. The driving assembly rotates to drive the balloon catheter to slide along the second guide channel and drive the transmission assembly to rotate, so that the balloon catheter is pushed. The clamping device is used for providing pressing force to enable the transmission assembly to press the balloon catheter, so that the balloon catheter is respectively in abutting contact with the transmission assembly and the driving assembly to provide friction force, and the propelling action of the balloon catheter is realized under the rotation of the driving assembly and the action of the friction force. The transmission assembly is fixedly connected with the clamping rod, the rod shaft and the reset spring are fixedly connected with the shell, one end of the clamping rod is rotatably connected onto the rod shaft, and the other end of the clamping rod is abutted against the reset spring.
In the use process, the clamping rod is driven to have the trend of swinging clockwise along the rod shaft by the spring force of the return spring in the initial state, so that the transmission assembly on the clamping rod is abutted to the driving assembly. When the balloon catheter needs to be clamped, the clamping rod is pulled by hand, so that the clamping rod swings anticlockwise along the rod shaft, the return spring is further compressed, the transmission assembly is separated from the driving assembly, the position for placing the balloon catheter is reserved between the transmission assembly and the driving assembly, and the balloon catheter is placed between the transmission assembly and the driving assembly. Then the clamping rod is loosened, the clamping rod drives the clamping rod to swing clockwise along the rod shaft by means of the reset spring force of the reset spring, so that the balloon catheter is respectively abutted against the transmission assembly and the driving assembly, and the balloon catheter is clamped and friction force required by propulsion is provided. Through setting up first direction passageway and second direction passageway, compatible quick exchange type sacculus pipe and whole exchange type sacculus pipe have improved compatibility simultaneously. Through setting up clamping device and advancing device, can press from both sides tightly fast and advance sacculus pipe, reduced the operation time. The technical problems that the blood vessel interventional operation robot in the prior art can only use one saccule support, and the operation compatibility is not high and the operation time is prolonged due to the fact that the saccule support is not convenient to clamp are solved.
In all examples shown and described herein, any particular value should be construed as exemplary only and not as a limitation, and thus other examples of example embodiments may have different values.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined or explained in subsequent figures.
The above-mentioned embodiments only represent several embodiments of the present invention, and the description thereof is more specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for those skilled in the art, without departing from the concept of the present invention, several variations and modifications can be made, which all fall within the scope of the present invention.
Claims (10)
1. A clamping and pushing mechanism for pushing a balloon catheter, comprising:
the device comprises a base, a first positioning device and a second positioning device, wherein the base is provided with the first positioning device and the second positioning device;
the guide device is arranged on the first placement position and comprises a guide box and a guide cover, the guide box is provided with a placement groove for placing the guide cover, the top surface of the guide box is provided with a first guide groove, the guide cover is provided with a second guide groove corresponding to the first guide groove, the first guide groove and the second guide groove define a first guide channel, and the first guide channel is used for guiding the balloon catheter;
the propelling device is arranged on the second placing position and comprises a shell, a driving component and a transmission component, a second guide channel is formed in the shell, the driving component and the transmission component are arranged in the shell, the balloon catheter is arranged in the second guide channel and is positioned between the driving component and the transmission component, the balloon catheter is respectively in sliding butt joint with the driving component and the transmission component, and the driving component rotates to drive the balloon catheter to slide along the second guide channel and drive the transmission component to rotate;
the clamping device is arranged in the shell and comprises a clamping rod, a rod shaft and a return spring, the transmission assembly is fixedly connected with the clamping rod, the rod shaft and the return spring are fixedly connected with the shell, one end of the clamping rod is rotatably connected onto the rod shaft, and the other end of the clamping rod is abutted against the return spring, so that the transmission assembly clamps the balloon catheter.
2. The clamping and advancing mechanism according to claim 1, wherein a third placement position is provided on the base, the third placement position is provided at the bottom of the guide cover for placing the advancing device and the clamping device, and a first avoidance hole for avoiding the driving assembly is provided at the third placement position.
3. The clamping propulsion mechanism according to claim 1, wherein the housing comprises a top cover, a middle cover and a bottom plate, the middle cover is located between the top cover and the bottom plate, the top cover is hinged to the top circumferential edge of the middle cover, the middle cover is provided with a limiting groove and the second guide channel, the limiting groove is located at the top of the second guide channel, and the top cover is provided with a limiting block matched with the limiting groove.
4. The clamping and advancing mechanism according to claim 3, wherein the clamping rod is provided with a hand-pulling position, and the middle cover is provided with an avoiding groove corresponding to the hand-pulling position.
5. The clamping and advancing mechanism according to claim 3, wherein the bottom plate is provided with a sliding groove, the clamping rod is provided with a through hole, and the transmission assembly is arranged in the through hole in a penetrating manner and is in sliding abutting contact with the sliding groove.
6. The clamping propulsion mechanism according to claim 1, wherein the driving assembly includes a driving member, a driving shaft and a driving wheel, the driving wheel is fixedly connected to the driving shaft, the second placing position is provided with a second avoiding hole, and the driving shaft is inserted into the second avoiding hole and connected to the output shaft of the driving member.
7. The clamping and advancing mechanism according to claim 6, wherein a locking slot is formed at an end of the driving shaft away from the driving wheel, and a locking block which is locked with the locking slot is disposed on the output shaft of the driving member.
8. The clamping propulsion mechanism of claim 1, wherein said drive assembly includes a drive shaft and a drive wheel, said drive wheel being rotatably coupled to said drive shaft, said drive shaft being fixedly coupled to said clamping bar.
9. The clamping propulsion mechanism according to claim 8, wherein the clamping rod is provided with an insertion slot, and the return spring is inserted into the insertion slot and abuts against the clamping rod, so that the driving wheel clamps the balloon catheter.
10. A vascular interventional surgical robot comprising a clamp advancing mechanism according to any one of claims 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221397104.7U CN217660134U (en) | 2022-06-01 | 2022-06-01 | Clamping and propelling mechanism and vascular intervention surgical robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221397104.7U CN217660134U (en) | 2022-06-01 | 2022-06-01 | Clamping and propelling mechanism and vascular intervention surgical robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217660134U true CN217660134U (en) | 2022-10-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221397104.7U Active CN217660134U (en) | 2022-06-01 | 2022-06-01 | Clamping and propelling mechanism and vascular intervention surgical robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217660134U (en) |
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2022
- 2022-06-01 CN CN202221397104.7U patent/CN217660134U/en active Active
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