CN219271072U - Room septum puncture manipulator assembly and room septum puncture equipment - Google Patents
Room septum puncture manipulator assembly and room septum puncture equipment Download PDFInfo
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- CN219271072U CN219271072U CN202222699348.7U CN202222699348U CN219271072U CN 219271072 U CN219271072 U CN 219271072U CN 202222699348 U CN202222699348 U CN 202222699348U CN 219271072 U CN219271072 U CN 219271072U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The utility model discloses a room septum puncture manipulator assembly and room septum puncture equipment, the room septum puncture manipulator assembly comprises: the puncture needle comprises a sheath tube, a puncture needle and a guide wire, wherein the guide wire penetrates through the sheath tube and the puncture needle, and the sheath tube and the puncture needle are coaxial; the sheath tube comprises a first gear and a second gear which are arranged around the axial direction at intervals and are sleeved on the sheath tube, and the second gear is fixedly connected with a rotating button for controlling the bending of the sheath tube; the front end manipulator comprises a third gear meshed with the first gear and controls the sheath tube to axially rotate; a fourth gear meshed with the second gear for controlling the rotation of the rotary knob; the first driving device drives the front manipulator to move axially along the sheath tube; a fifth gear sleeved outside the puncture needle; the rear end manipulator comprises a sixth gear meshed with the fifth gear and controls the puncture needle to axially rotate; a rotation shaft for controlling the axial movement of the guide wire along the puncture needle; the second driving device drives the rear end manipulator to move along the axial direction of the puncture needle. By adopting the scheme, the operation precision is improved.
Description
Technical Field
The utility model relates to the field of medical equipment, in particular to a room septum puncture manipulator assembly and room septum puncture equipment.
Background
The atrial septum puncture is a minimally invasive operation conducted under the guidance of an imaging device, and in the process of performing the atrial septum puncture by a clinical operator, as the operator is required to manually control the puncture needle to perform the operation, the puncture depth and the puncture force of the head end of the puncture needle are usually controlled by the experience and the hand feeling of the operator, so that the condition that the puncture depth is too deep or insufficient is easily caused, and the puncture depth is possibly directly inserted into or even punctures the atrial wall to cause cardiac perforation. The manual operation cannot accurately and precisely judge the direction of the puncture needle and the position in the heart, and cannot determine whether the puncture needle is positioned in the oval fossa or not when the puncture needle is too far forward, the puncture needle possibly punctures the aorta, the puncture needle is too far forward, the free wall of the right atrium can be perforated after the puncture is too far, and the cardiac perforation and the cardiac tamponade are the most serious complications of the atrial septum puncture operation, so that the manual operation still has hidden danger in terms of safety.
Disclosure of Invention
The utility model provides a room septum puncture manipulator assembly and room septum puncture equipment, which are used for at least solving the problem that the puncture depth is too deep or insufficient due to manual operation puncture action in the prior art.
An embodiment of a first aspect of the present utility model provides a atrial septum piercing manipulator assembly, including:
the puncture needle comprises a sheath tube, a puncture needle and a guide wire, wherein the guide wire penetrates through the sheath tube and the puncture needle, one end of the guide wire is exposed out of the head end of the sheath tube, the other end of the guide wire is exposed out of the tail end of the puncture needle, and the sheath tube and the puncture needle are coaxial;
the sheath tube comprises a first gear and a second gear which are arranged at intervals around the axial direction and are sleeved on the sheath tube, and the second gear is fixedly connected with a rotating button for controlling the sheath tube to bend;
the front end manipulator comprises a third gear meshed with the first gear so as to control the sheath tube to axially rotate; a fourth gear engaged with the second gear to control the rotation of the rotation knob;
the first driving device is used for driving the front end manipulator to move along the axial direction of the sheath;
a fifth gear sleeved outside the puncture needle;
the rear end manipulator comprises a sixth gear meshed with the fifth gear so as to control the puncture needle to axially rotate; a rotating shaft for controlling the axial movement of the guide wire along the puncture needle;
and the second driving device is used for driving the rear end manipulator to move along the axial direction of the puncture needle.
According to some embodiments of the utility model, the rotating shaft is a driving shaft of a servo motor, the driving shaft is arranged on one side of the guide wire, and a friction part is arranged on the driving shaft and is attached to the guide wire.
According to some embodiments of the utility model, the back end robot further comprises:
and the limiting device is arranged on the other side of the guide wire so as to press the guide wire on the friction part.
According to some embodiments of the utility model, the limiting device comprises:
the mounting seat is arranged at the rear end manipulator;
one end of the mounting arm is rotationally connected with the mounting seat, the other end of the mounting arm is provided with a limiting wheel, and a groove matched with the guide wire is formed along the peripheral wall of the limiting wheel;
and one end of the spring piece is connected with the mounting seat, the other end of the spring piece is connected with the mounting arm, and the spring piece is used for enabling the limit wheel to press the guide wire to the friction part when no external force acts.
According to some embodiments of the utility model, the atrial septum piercing manipulator assembly further comprises:
the first driving device and the second driving device are both arranged on the base.
According to some embodiments of the utility model, the first driving means comprises:
the first transmission shaft is in threaded connection with the base and is in rotary connection with the front manipulator, and a seventh gear is arranged at one end of the first transmission shaft;
and the driving shaft of the first driving motor is provided with an eighth gear meshed with the seventh gear so as to drive the first transmission shaft to rotate, so that the front end manipulator moves along the axial direction of the sheath tube.
According to some embodiments of the utility model, the second driving device comprises:
the second transmission shaft is in threaded connection with the base and is in rotary connection with the rear end manipulator, and a ninth gear is arranged at one end of the second transmission shaft;
and a tenth gear meshed with the ninth gear is arranged on the driving shaft of the second driving motor so as to drive the second transmission shaft to rotate, so that the rear end manipulator moves along the axial direction of the puncture needle.
According to some embodiments of the utility model, the front end manipulator is provided with a front end support base, and the front end support base is provided with a first groove matched with the sheath handle for fixing the sheath; the rear end manipulator is provided with a rear end supporting seat, and the rear end supporting seat is provided with a second groove matched with the puncture handle and used for fixing the puncture needle.
According to some embodiments of the utility model, the front end manipulator is provided with a front end limiting block for limiting the axial movement distance of the front end manipulator; the rear end manipulator is provided with a rear end limiting block for limiting the axial movement distance of the rear end manipulator.
An embodiment of a second aspect of the present utility model provides an atrial septal puncturing device comprising an atrial septal puncturing manipulator assembly as in any one of the embodiments of the first aspect;
the control system is used for sending corresponding control instructions to the atrial septum puncture manipulator assembly so as to realize that the atrial septum puncture manipulator assembly is utilized to execute operation actions;
and the control end is provided with a control key corresponding to the operation actions of the front end manipulator and the rear end manipulator, and the control command is issued to the control system.
According to the embodiment of the utility model, the front end manipulator and the rear end manipulator are used for respectively controlling the axial rotation and the movement of the sheath tube and the puncture needle, so that the linkage can be realized, and the operation can be independently performed.
The foregoing description is only an overview of the present utility model, and is intended to be implemented in accordance with the teachings of the present utility model in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present utility model more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the utility model. In the drawings:
FIG. 1 is a schematic view of a atrial septum piercing manipulator assembly according to an embodiment of the utility model;
FIG. 2 is a schematic view of a limiting device according to an embodiment of the present utility model;
FIG. 3 is a schematic view of the structure of the atrial septum piercing device in accordance with an embodiment of the present utility model.
Detailed Description
Exemplary embodiments of the present utility model will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present utility model are shown in the drawings, it should be understood that the present utility model may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the utility model to those skilled in the art.
An embodiment of a first aspect of the present utility model provides a atrial septum piercing manipulator assembly, referring to fig. 1, comprising:
The sheath tube 2 comprises a first gear 4 and a second gear 5 which are arranged around the axial direction at intervals and are sleeved on the sheath tube 2, and the second gear 5 is fixedly connected with a rotating button for controlling the bending of the sheath tube 2.
The front end manipulator 7 comprises a third gear 71 meshed with the first gear 4, and drives the first gear 4 to rotate by driving the rotation of the third gear 71 so as to control the sheath tube 2 to axially rotate. The sheath tube 2 is controlled to bend by driving the fourth gear 72 to rotate so as to drive the second gear 5 to rotate, and further comprising a fourth gear 72 meshed with the second gear 5. The driving sources of the third gear 71 and the fourth gear 72 may be motors.
A first driving device for driving the front end manipulator 7 to move along the axial direction of the sheath tube 2.
And a fifth gear 6 is sleeved outside the puncture needle 3.
The rear manipulator 8 comprises a sixth gear 81 meshed with the fifth gear 6, and the fifth gear is driven to rotate 6 by driving the sixth gear 81 to rotate, so that the puncture needle 3 can be controlled to axially rotate. The driving source of the sixth gear 81 may be a motor. A rotation shaft 82 for controlling the axial movement of the guide wire 1 along the puncture needle 3. For example, the rotation shaft 82 rotates to rub against the guide wire 1, thereby moving the guide wire 1 by friction.
And the second driving device is used for driving the rear end manipulator 8 to move along the axial direction of the puncture needle 3.
According to the embodiment of the utility model, the front end manipulator and the rear end manipulator are used for respectively controlling the axial rotation of the sheath tube, the puncture needle and the guide wire, and the first driving device and the second driving device are used for respectively controlling the movement of the front end manipulator and the rear end manipulator, so that the axial movement of the sheath tube and the puncture needle is realized, the linkage can be realized, the operation can be independently performed, and compared with the manual operation, the movement precision is further improved, and the operation safety is improved.
On the basis of the above-described embodiments, various modified embodiments are further proposed, and it is to be noted here that only the differences from the above-described embodiments are described in the various modified embodiments for the sake of brevity of description.
According to some embodiments of the present utility model, the rotating shaft 82 is a driving shaft of a servo motor, the driving shaft is disposed on one side of the guide wire 1, and a friction portion is disposed on the driving shaft, and the friction portion is attached to the guide wire 1. The friction part for increasing friction force is arranged, so that the guide wire 1 is better driven to move when the driving shaft rotates.
According to some embodiments of the utility model, the back end robot further comprises:
and a limiting device 9 arranged on the other side of the guide wire 1 so as to press the guide wire 1 on the friction part.
According to some embodiments of the utility model, referring to fig. 2, the limiting device 9 comprises:
the mounting seat 91 is provided on the rear end robot 8.
And one end of the mounting arm 92 is rotatably connected with the mounting seat 91, and the other end of the mounting arm is provided with a limiting wheel 93. A groove matched with the guide wire 1 is arranged along the peripheral wall of the limit wheel 93.
And one end of the spring member is connected with the mounting seat 91, and the other end is connected with the mounting arm 92. The spring member is used for enabling the limiting wheel 93 to press the guide wire 1 to the friction portion when no external force acts, so that the rotation shaft can better drive the guide wire 1 to move when rotating.
According to some embodiments of the utility model, referring to fig. 1, the atrial septum penetration manipulator assembly further comprises:
the base 10, the first driving device and the second driving device are both disposed on the base 10.
According to some embodiments of the utility model, the first driving means comprises:
the first transmission shaft 11 is in threaded connection with the base 10 and is in rotary connection with the front end manipulator 7, and a seventh gear is arranged at one end of the first transmission shaft 11.
The first driving motor is provided with an eighth gear meshed with the seventh gear on a driving shaft, and the seventh gear is driven to rotate by driving the rotation of the eighth gear so as to drive the first transmission shaft 11 to rotate, so that the front end manipulator 7 moves along the axial direction of the sheath tube 2.
According to some embodiments of the utility model, the second driving device comprises:
the second transmission shaft 12 is in threaded connection with the base 10 and is in rotational connection with the rear end manipulator 8, and a ninth gear is arranged at one end of the second transmission shaft 12.
And a tenth gear meshed with the ninth gear is arranged on a driving shaft of the second driving motor, and the ninth gear is driven to rotate by driving the rotation of the tenth gear so as to drive the second transmission shaft 12 to rotate, so that the rear end manipulator 8 moves along the axial direction of the puncture needle 3.
According to some embodiments of the present utility model, the front end manipulator 7 is provided with a front end support seat, the front end support seat is provided with a first groove adapted to the sheath handle, so as to fix the sheath 2, and the sheath 2 can rotate in the front end support seat. The rear end manipulator 8 is provided with a rear end supporting seat, and the rear end supporting seat is provided with a second groove matched with the puncture handle, so as to fix the puncture needle 3 and enable the puncture needle to rotate in the rear end supporting seat.
According to some embodiments of the present utility model, referring to fig. 1, the front end robot 7 is provided with a front end stopper 13 for limiting an axial movement distance of the front end robot 7. For example, the front end stopper 13 may be disposed at one side of the first transmission shaft 11. The rear end manipulator 8 is provided with a rear end limiting block 14 for limiting the axial movement distance of the rear end manipulator 8. For example, the rear end stopper 14 may be disposed at one side of the second transmission shaft 12.
An embodiment of a second aspect of the present utility model is directed to an atrial septal puncturing device, referring to fig. 3, comprising an atrial septal puncturing manipulator assembly as described in any of the embodiments of the first aspect.
And the control system is used for sending corresponding control instructions to the atrial septum puncture manipulator assembly so as to realize that the atrial septum puncture manipulator assembly is utilized to execute operation actions.
And the control end is provided with a control key corresponding to the operation actions of the front end manipulator and the rear end manipulator, and the control command is issued to the control system.
An atrial septum piercing device is described in detail below in one particular embodiment. It is to be understood that the following description is exemplary only and is not intended to limit the utility model in any way. All similar structures and similar variations of the utility model are included in the scope of the utility model.
In this embodiment, the atrial septal puncturing device includes a control end, a control system, and an atrial septal puncturing manipulator assembly. The control end is in communication connection with the atrial septum puncture manipulator assembly through the control system, a doctor sends a control instruction to the control system through a control key corresponding to the control end operation, and the control system controls the atrial septum puncture manipulator assembly to make corresponding operation actions according to the corresponding instruction.
Wherein, room separates puncture manipulator subassembly includes:
the sheath tube 2 and the puncture needle 3 are sequentially penetrated by the guide wire 1, and the sheath tube 2 and the puncture needle 3 are coaxial. One end of the guide wire 1 is exposed from the head end of the sheath tube 2, and the other end is exposed from the tail end of the puncture needle 3. The handle of the sheath tube 2 is sleeved with a first gear 4 and a second gear 5 which are wound in the axial direction at intervals, and the second gear 5 is fixedly connected with a rotating button for controlling the bending of the sheath tube 2. A fifth gear 6 is sleeved at the handle of the puncture needle 3.
The front end manipulator 7 is provided with a front end supporting seat, and a first groove matched with the sheath handle is arranged in the front end supporting seat and used for installing the sheath 2, so that the sheath 2 can axially rotate in the front end supporting seat. The front manipulator 7 is further provided with a third gear 71 meshing with the first gear 4 and a fourth gear 72 meshing with the second gear 5. The third gear 71 and the fourth gear 72 are driven by motors, and the rotation of the third gear 71 and the fourth gear 72 respectively drive the rotation of the first gear 4 and the second gear 5, so that the axial rotation and the bending of the sheath tube 2 are realized.
The rear manipulator 8 is provided with a rear supporting seat, and a second groove matched with the puncture needle handle is arranged in the rear supporting seat and used for installing the puncture needle 3, so that the puncture needle 3 can axially rotate in the rear supporting seat. A sixth gear 81 meshed with the fifth gear 6 is further arranged in the rear end manipulator 8, and the sixth gear 81 is driven by a motor. The fifth gear 6 is driven to rotate by the sixth gear 81, thereby realizing the axial rotation of the puncture needle 3. A rotating shaft 82 is further arranged on one side of the guide wire 1 in the rear end supporting seat, a friction part is arranged around the rotating shaft 82, and the friction part is attached to the guide wire 1. The rotating shaft 82 is driven by a motor, and when the rotating shaft 82 rotates, the friction part rubs with the guide wire 1 to drive the guide wire 1 to move along the axis 3 of the puncture needle. The other side of the rotating shaft 82 opposite to the guide wire 1 is also provided with a limiting device 9, which comprises a mounting seat 91, a mounting arm 92 and a spring. The mount pad 91 sets up in the rear end supporting seat, and installation arm 92 one end is connected with mount pad 93 rotation, and the other end is provided with spacing wheel 93, is provided with the recess with seal wire 1 adaptation at the periphery wall of spacing wheel 93. One end of the spring is connected to the mount 91, and the other end is connected to the mount arm 92, so that the stopper wheel 93 presses the guide wire 1 against the friction portion of the rotation shaft 82 when no external force acts.
The base 10, the front end manipulator 7 and the rear end manipulator 8 are both arranged on the base 10. The distal manipulator 7 is controlled by the first driving device to perform movement in the sheath axial direction. The rear manipulator 8 is controlled by the second driving device to move in the axial direction of the puncture needle. The first driving device comprises a first transmission shaft 11 and a first driving motor, the first transmission shaft 11 is in threaded connection with the base 10 and is in rotary connection with the front end manipulator 7, a seventh gear is arranged at one end of the first transmission shaft 11, an eighth gear meshed with the seventh gear is arranged on a driving shaft of the first driving motor, and the first driving shaft 11 is driven to rotate by driving the eighth gear to rotate, so that the front end manipulator 7 can move along the axial direction of the sheath tube 2 relative to the base 10. The second driving device comprises a second transmission shaft 12 and a second driving motor, the second transmission shaft 12 is in threaded connection with the base 10 and is in rotary connection with the rear end manipulator 8, a ninth gear is arranged at one end of the second transmission shaft 12, a tenth gear meshed with the ninth gear is arranged on a driving shaft of the second driving motor, and the second driving shaft 12 is driven to rotate by driving the tenth gear to rotate, so that the rear end manipulator 8 can move along the axial direction of the puncture needle 3 relative to the base 10.
When using the atrial septum puncture device for operation, three phases of the heart are shot before operation so as to observe the shape of the atrium, the size and running direction of the ascending aorta, and the presence or absence of deformity of the chest and the spine. Heart ultrasound examination was performed to determine the size of the aorta and heart, morphology of the atrial septum, except for left atrial thrombosis. The needle was used with a diameter of 0.032 inch and a length of 145cm for the guide wire, sheath and dilator tube. Check if the needle angle and sheath match. When the operation starts, firstly, the atrial septum puncture manipulator assembly is adjusted to a proper position, the expansion pipe is inserted from the tail end of the sheath pipe 2 until the conical head end of the expansion pipe extends out of the head end of the sheath pipe 2 and is clamped with the sheath pipe 2, so that the expansion pipe and the sheath pipe 2 synchronously move. The guide wire 1 is percutaneously punctured into the superior vena cava, the sheath 2 and the expansion tube are fed into the superior vena cava along the guide wire 1, the tail end of the guide wire 1 is inserted into a guide wire channel in the puncture needle 3, and is penetrated out of the tail of the puncture needle 3, and the puncture needle 3 passes through the guide wire and enters the expansion tube in the sheath 2. The space septum puncture manipulator assembly is adjusted and reset, the sheath tube 2 and the expansion tube are installed into the front end manipulator, the puncture needle 3 is conveyed forwards in the sheath tube 2 along the guide wire 1 until the puncture needle handle can be installed into the rear end manipulator (as the lengths of the puncture needle 3 and the sheath tube 2 are known, the distance between the two manipulators in the reset state is also known, and the sum of the length of the sheath tube 2 and the distance between the two manipulators in the initial position is larger than the length of the puncture needle 3, so that the head end of the puncture needle 3 can not extend out of the head end of the sheath tube 2 in the reset state can be ensured). The guide wire 1 extending out of the tail end of the puncture needle 3 is mounted between the limit wheel 93 and the friction part of the rotating shaft 82, and the forward and backward movement of the guide wire is controlled by rotating the rotating shaft. Under the guidance of X-ray, the front end manipulator controls the sheath tube to bend to a specific angle, the puncture needle 3 and the sheath tube 2 are synchronously rotated clockwise, the head end of the expansion tube is contacted with the inner wall of the heart, the sheath tube 2 and the puncture needle 3 are synchronously retracted, when the expansion tube is retracted to the oval fossa, a beating image of the expansion tube can be observed under the X-ray, and the position is the puncture point of preliminary positioning. On the basis of preliminarily determining the puncture point position, the sheath tube 2 is properly rotated under the perspective of 45 degrees at the right front oblique position, so that the radian of the puncture needle 3 and the head end image of the sheath tube 2 disappears to be in a straight line or nearly in a straight line, and the head end position of the sheath tube 2 is the accurate position of the puncture point. The doctor controls the atrial septum puncture manipulator assembly through the control end, controls the rear manipulator 8 to drive the puncture needle 3 to slowly move forwards to extend out of the head end of the expansion tube, controls the rotation shaft 82 to rotate so that the guide wire 1 is withdrawn into the puncture needle 3, and continuously controls the rear manipulator 8 to slowly push forwards so that the puncture needle 3 punctures the oval fossa and enters the left atrium. The steering shaft 82 controls the advancement of the guidewire 1 into the left atrium. The puncture needle 3 and the sheath tube 2 are integrally and synchronously rotated at a small angle (the oval fossa has certain elasticity and can support the rotation at a small angle), so that the head end of the guide wire 1 is aligned with the pulmonary vein opening of the left atrium. Continued manipulation of the rotating shaft 82 controls advancement of the guidewire 1 until the guidewire tip reaches the ostium of the pulmonary vein in the left atrium. The puncture needle 3 and the sheath tube 2 are pushed for a short distance, the head end of the expansion tube and the head end of the sheath tube penetrate through the atrial septum to enter the left atrium, and the sheath tube 2 can meet larger resistance through the atrial septum, so that the pushing speed is slowed down. After the sheath tube 2 enters the left atrium, the sheath tube is kept still, the puncture needle 3, the guide wire 1 and the expansion tube are slowly pulled out, and the atrial septum puncture operation is completed. Other surgical instruments may be passed through the passageway created by the sheath 2 from the femoral vein, through the right atrium, and into the left atrium for surgical procedures.
According to the technical scheme, the front end manipulator and the rear end manipulator in the atrial septum puncture manipulator assembly are used for respectively controlling the axial rotation and movement of the sheath tube and the puncture needle, the integral movement of the front end manipulator and the rear end manipulator is used for controlling the movement of the sheath tube, the puncture needle and the guide wire, the movement precision and the safety of an operation are improved, the front and rear movement of the guide wire can be independently controlled, the guide wire can be retracted into the puncture needle during puncture, and the guide wire can be extended out of the puncture needle and enter the left atrium after the puncture is completed, so that whether the puncture needle is punctured is completed is verified. The doctor can remotely control and complete the operation outside the operating room, and the influence of rays on the doctor in the operation process is avoided.
It should be noted that the foregoing description is only a preferred embodiment of the present utility model, and is not intended to limit the present utility model, and various modifications and changes may be made to the present utility model by those skilled in the art, and various combinations of the embodiments may be freely combined. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
In the description of the present specification, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Claims (10)
1. A atrial septum piercing manipulator assembly, comprising:
the puncture needle comprises a sheath tube, a puncture needle and a guide wire, wherein the guide wire penetrates through the sheath tube and the puncture needle, one end of the guide wire is exposed out of the head end of the sheath tube, the other end of the guide wire is exposed out of the tail end of the puncture needle, and the sheath tube and the puncture needle are coaxial;
the sheath tube comprises a first gear and a second gear which are arranged at intervals around the axial direction and are sleeved on the sheath tube, and the second gear is fixedly connected with a rotating button for controlling the sheath tube to bend;
the front end manipulator comprises a third gear meshed with the first gear so as to control the sheath tube to axially rotate; a fourth gear engaged with the second gear to control the rotation of the rotation knob;
the first driving device is used for driving the front end manipulator to move along the axial direction of the sheath;
a fifth gear sleeved outside the puncture needle;
the rear end manipulator comprises a sixth gear meshed with the fifth gear so as to control the puncture needle to axially rotate; a rotating shaft for controlling the axial movement of the guide wire along the puncture needle;
and the second driving device is used for driving the rear end manipulator to move along the axial direction of the puncture needle.
2. The atrial septum penetration manipulator assembly of claim 1, wherein the rotating shaft is a drive shaft of a servo motor, the drive shaft is disposed on one side of the guide wire, and a friction portion is disposed on the drive shaft and is attached to the guide wire.
3. The atrial septal puncture robot assembly of claim 2, wherein the backend robot further comprises:
and the limiting device is arranged on the other side of the guide wire so as to press the guide wire on the friction part.
4. The atrial septal penetration manipulator assembly of claim 3, wherein the stop device comprises:
the mounting seat is arranged at the rear end manipulator;
one end of the mounting arm is rotationally connected with the mounting seat, the other end of the mounting arm is provided with a limiting wheel, and a groove matched with the guide wire is formed along the peripheral wall of the limiting wheel;
and one end of the spring piece is connected with the mounting seat, the other end of the spring piece is connected with the mounting arm, and the spring piece is used for enabling the limit wheel to press the guide wire to the friction part when no external force acts.
5. The atrial septal puncturing manipulator assembly of claim 1, further comprising:
the first driving device and the second driving device are both arranged on the base.
6. The atrial septal penetration manipulator assembly of claim 5, wherein the first drive apparatus comprises:
the first transmission shaft is in threaded connection with the base and is in rotary connection with the front manipulator, and a seventh gear is arranged at one end of the first transmission shaft;
and the driving shaft of the first driving motor is provided with an eighth gear meshed with the seventh gear so as to drive the first transmission shaft to rotate, so that the front end manipulator moves along the axial direction of the sheath tube.
7. The atrial septal penetration manipulator assembly of claim 5, wherein the second drive apparatus comprises:
the second transmission shaft is in threaded connection with the base and is in rotary connection with the rear end manipulator, and a ninth gear is arranged at one end of the second transmission shaft;
and a tenth gear meshed with the ninth gear is arranged on the driving shaft of the second driving motor so as to drive the second transmission shaft to rotate, so that the rear end manipulator moves along the axial direction of the puncture needle.
8. The atrial septum penetration manipulator assembly of claim 1, wherein the front end manipulator is provided with a front end support provided with a first groove adapted to the handle of the sheath for securing the sheath; the rear end manipulator is provided with a rear end supporting seat, and the rear end supporting seat is provided with a second groove matched with the handle of the puncture needle for fixing the puncture needle.
9. The atrial septum penetration manipulator assembly of claim 1, wherein the front end manipulator is provided with a front end stop for limiting an axial travel distance of the front end manipulator; the rear end manipulator is provided with a rear end limiting block for limiting the axial movement distance of the rear end manipulator.
10. An atrial septal puncturing device comprising the atrial septal puncturing manipulator assembly of any one of claims 1-9;
the control system is used for sending corresponding control instructions to the atrial septum puncture manipulator assembly so as to realize that the atrial septum puncture manipulator assembly is utilized to execute operation actions;
and the control end is provided with a control key corresponding to the operation actions of the front end manipulator and the rear end manipulator, and the control command is issued to the control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222699348.7U CN219271072U (en) | 2022-10-13 | 2022-10-13 | Room septum puncture manipulator assembly and room septum puncture equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222699348.7U CN219271072U (en) | 2022-10-13 | 2022-10-13 | Room septum puncture manipulator assembly and room septum puncture equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219271072U true CN219271072U (en) | 2023-06-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222699348.7U Active CN219271072U (en) | 2022-10-13 | 2022-10-13 | Room septum puncture manipulator assembly and room septum puncture equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219271072U (en) |
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2022
- 2022-10-13 CN CN202222699348.7U patent/CN219271072U/en active Active
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