CN220193781U - Coaxial rotatable wire guiding robot - Google Patents

Abstract

The utility model belongs to the technical field of medical robots, and particularly provides a coaxial rotatable wire guiding robot which comprises an axial movement mechanism, a spool, a tendon driving mechanism, a wire guiding driving mechanism, a rotary movement mechanism, a main shaft, a connecting frame, a support and a base, wherein the two supports are symmetrically assembled on the left side and the right side of the upper surface of the base, the main shaft is fixedly arranged between the two supports, the axial movement mechanism is fixedly arranged on the base, the axial movement mechanism is parallel to the main shaft, the spool is of a cylindrical structure, a partition plate is arranged at the middle part of the spool, and the inner cavity of the spool is divided into a first assembly groove and a second assembly groove by the partition plate. The coaxial rotatable guide wire robot can distribute guide wires with the length of up to 150 cm; the spiral groove is used for coiling the guide wire and the guide pipe, so that the phenomenon of guide wire stacking in the coiling process can be avoided; the guide wire driving mechanism is matched with the tendon driving mechanism to realize the traction of the guide wire in the spool, so that the whole structure is compact and the occupied space is small.

Description

Coaxial rotatable wire guiding robot

Technical Field

The utility model belongs to the technical field of medical robots, and particularly provides a coaxial rotatable guide wire robot.

Background

Peripheral vascular intervention remains a challenging procedure, mainly due to the bending of the vessels through which the guidewire and catheter need to pass. In addition, manipulating a long guidewire in a tortuous vasculature requires a significant amount of time and skill from the surgeon. However, conventional guidewires are often difficult to manually traverse through tortuous vessels and arteries, requiring specialized knowledge to select and manipulate each guidewire. The operator must translate and rotate the lead from outside the patient's body, often with limited use of 2D visual feedback by X-ray fluoroscopy, to avoid overexposure to radiation.

Recent advances in robotic guidewires are beneficial for Minimally Invasive Surgery (MIS). The steerability of the robotic guidewire is achieved by various types of mechanisms, such as pre-curved concentric tubes, magnetically actuated or tendon driven robots; in the current work, tendon driven guidewires are used. Tendon driven guidewires are typically composed of catheters that use wires or "tendons" to drive, when pulled, to bend a flexible region near the distal end of the catheter, allowing for steering capability of the tip. Tendon driven guidewires are typically constrained by a bending joint, the curvature and bending angle of which are coupled. This limitation makes it challenging to traverse the vasculature at high angles without causing trauma to the vessel wall.

Coaxial steering wires have been developed to enable varying the length of the curved segment to navigate in phantom vasculature having different curvatures. Using this mechanism, the robotic guidewire may perform a follow-up guide (FTL) motion by maintaining a constant curvature along the curved section of the guidewire.

At present, most of guide wire robots in the market are driven linearly, guide wires need to be tightened linearly in the driving process, and driving mechanisms and guiding mechanisms are distributed along the straight lines. The guide wire robot with the structure has the problems that the distribution of each structure is loose, the occupied space of the whole machine is large, and the maximum length of the guide wire which can be fed or retracted by the guide wire robot with the linear driving structure is about 100cm, so that the working requirement of conveying longer guide wires can not be met.

Disclosure of Invention

In order to solve the problems, the utility model adopts the following technical scheme: the utility model provides a coaxial rotatable wire guiding robot, including axial motion mechanism, the spool, tendon actuating mechanism, the wire guiding actuating mechanism, rotary motion mechanism, the main shaft, the link, support and base, two supports symmetrical assembly are in the left and right sides of base upper surface, main shaft fixed mounting is between two supports, axial motion mechanism fixed mounting is on the base, and axial motion mechanism is parallel with the main shaft, link slidable mounting is on the main shaft, and one side and the output fixed connection of axial motion mechanism of link, rotary motion mechanism fixed mounting is on the link, and the spool passes through rotary motion mechanism and rotates and install on the link, tendon actuating mechanism and wire guiding actuating mechanism assemble in the inside of spool;

the spool is tubular structure, the middle part is provided with the baffle, the inner chamber of spool is cut apart into first assembly groove and second assembly groove by the baffle, tendon actuating mechanism and seal wire actuating mechanism are located first assembly inslot, rotary motion mechanism is located the second assembly inslot, the inside of spool is provided with tendon actuating mechanism assembly jig, main gear locating rack and leading truck, spiral groove has been seted up to the surface of spool, and the perforation has been offered tangentially on the lateral wall of spool, the terminal butt joint of fenestrated external port and spiral groove, fenestrated internal port and leading truck butt joint.

Further, tendon actuating mechanism includes first motor, roller frame, pinion, running gear and pivot, the roller frame is the L type, the roller frame passes through the rotation round pin and rotates to be installed on tendon actuating mechanism assembly jig, first motor fixed mounting is in the second assembly inslot, and the output of first motor runs through baffle and tendon actuating mechanism assembly jig and extends to main gear locating rack department, pinion fixed mounting is in the output of first motor, the running gear is rotated and is installed in the terminal of roller frame, pivot fixed mounting is in the inflection point department of roller frame, pinion fixed mounting is on the pivot, pinion and pinion mesh mutually.

Further, the guide wire driving mechanism comprises a second motor and a driving wheel, the second motor is fixedly arranged in the second assembly groove, the output end of the second motor penetrates through the partition plate and extends into the first assembly groove, and the driving wheel is assembled on the output end of the second motor.

Further, the rotary motion mechanism comprises a short linear bearing, a long linear bearing, a main large gear, a main small gear and a third motor, wherein the long linear bearing is slidably arranged outside the main shaft, the long linear bearing penetrates through the partition plate of the spool from the center and is fixedly connected with the partition plate, the main large gear is fixedly arranged at the shaft sleeve, the third motor is assembled on the connecting frame, the main small gear is assembled at the output end of the third motor, and the main large gear is meshed with the main small gear.

Further, the rotary motion mechanism further comprises two short linear bearings which are slidably arranged outside the main shaft, and the two short linear bearings are respectively assembled at two ends of the long linear bearing through shaft sleeves;

the two sides of the connecting frame are provided with bearing assembly grooves, the upper fixing frame is buckled on the bearing assembly grooves, the short linear bearing is clamped between the bearing assembly grooves and the upper fixing frame, the upper surface of the bearing assembly grooves is provided with a motor assembly seat, a third motor is fixedly arranged on the motor assembly seat, the bottom of the connecting frame is provided with a connecting piece, and the connecting frame is fixedly connected with the movable end of the axial movement mechanism through the connecting piece.

The beneficial effects of using the utility model are as follows:

1. the coaxial rotatable guide wire robot can distribute guide wires with the length of up to 150 cm;

2. the spiral groove is used for coiling the guide wire and the guide pipe, so that the phenomenon of guide wire stacking in the coiling process can be avoided;

3. the guide wire driving mechanism is matched with the tendon driving mechanism to realize the traction of the guide wire in the spool, so that the whole structure is compact and the occupied space is small.

Drawings

FIG. 1 is a schematic diagram of the structure of the present utility model;

FIG. 2 is a top view of the present utility model;

FIG. 3 is an exploded view of the axial motion mechanism, spool and rotary motion mechanism;

FIG. 4 is an exploded view of the rotary motion mechanism;

FIG. 5 is an exploded view of the spool, tendon drive mechanism and guidewire drive mechanism;

FIG. 6 is an exploded view of the connector;

FIG. 7 is a schematic view of the distribution of guide wires during operation of the present utility model;

the reference numerals include: 1-an axial movement mechanism; 2-a spool; 201-tendon driving mechanism assembly frame; 202-a main gear positioning frame; 203-helical grooves; 204-perforating; 205—a guide frame; 3-tendon driving mechanism; 301-a first motor; 302-roller frame; 303-a pinion; 304-a pinion gear; 305-a roller; 4-a guidewire drive mechanism; 401-a second motor; 402-a drive wheel; 5-a rotary motion mechanism; 501-short linear bearings; 502-long linear bearings; 503-main gearwheel; 504-main pinion; 505-a third motor; 6-a main shaft; 7-connecting frames; 701-a bearing assembly groove; 702-upper mount; 703-a motor mount; 704-a connector; 8-a bracket; 9-a base;

Detailed Description

The present utility model will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1 to 6, a coaxial rotatable wire guiding robot comprises an axial movement mechanism 1, a spool 2, a tendon driving mechanism 3, a wire guiding driving mechanism 4, a rotation movement mechanism 5, a main shaft 6, a connecting frame 7, a bracket 8 and a base 9, wherein the two brackets 8 are symmetrically assembled on the left and right sides of the upper surface of the base 9, the main shaft 6 is fixedly arranged between the two brackets 8, the axial movement mechanism 1 is fixedly arranged on the base 9, the axial movement mechanism 1 is parallel to the main shaft 6, the connecting frame 7 is slidably arranged on the main shaft 6, one side of the connecting frame 7 is fixedly connected with the output end of the axial movement mechanism 1, the rotation movement mechanism 5 is fixedly arranged on the connecting frame 7, the spool 2 is rotatably arranged on the connecting frame 7 through the rotation movement mechanism 5, and the tendon driving mechanism 3 and the wire guiding driving mechanism 4 are assembled inside the spool 2;

the spool 2 is tubular structure, the middle part is provided with the baffle, the inner chamber of spool 2 is cut apart into first assembly groove and second assembly groove by the baffle, tendon actuating mechanism 3 and seal wire actuating mechanism 4 are located first assembly inslot, rotary motion mechanism 5 is located the second assembly inslot, the inside of spool 2 is provided with tendon actuating mechanism assembly jig 201, main gear locating rack 202 and leading truck 205, spiral groove 203 has been seted up to the surface of spool 2, and perforation 204 has been tangentially seted up on the lateral wall of spool 2, the outside port of perforation 204 is docked with the end of spiral groove 203, the inside port of perforation 204 is docked with leading truck 205.

Preferably, the spool 2 is manufactured using 3D printing techniques.

The use of the spiral groove 203 to coil the guide wire and the catheter can avoid the phenomenon of stacking the guide wire during the coiling process (if the coiling process has the condition of stacking the guide wire, the problem of shaking the guide wire may occur during the process of releasing the guide wire).

Referring to fig. 7, the guide wire is wrapped with a guide tube, the operator winds the entire guide wire and guide tube around the spiral groove 203 of the spool 2 and passes through the perforation 204 to enter the spool 2, the end of the guide tube is fixed at the guide frame 205, the guide wire continues to extend, tangentially bypasses the driving wheel 402 and the roller 305, and finally is fixed on the shaft pin 306.

When the device is in operation, the axial movement mechanism 1 can drive the spool 2 to slide on the main shaft 6 through the connecting frame 7, so that the spool 2 can ensure that the output position of the guide wire from the spiral groove 203 is stable and unchanged in the process of releasing the guide wire (if the spool 2 is fixed in position, the guide wire can deviate along with the spiral groove 203 in the process of releasing the guide wire);

when the direction of the tip of the catheter needs to be adjusted, the tendon driving mechanism 3 and the guide wire driving mechanism 4 are matched to draw the guide wire.

The tendon driving mechanism 3 comprises a first motor 301, a roller frame 302, a pinion 303, a pinion gear 304, a roller 305 and a shaft pin 306, wherein the roller frame 302 is L-shaped, the roller frame 302 is rotatably installed on the tendon driving mechanism assembly frame 201 through a rotating pin, the first motor 301 is fixedly installed in a second assembly groove, the output end of the first motor 301 penetrates through a partition plate and the tendon driving mechanism assembly frame 201 to extend to the main gear positioning frame 202, the pinion 303 is fixedly installed at the output end of the first motor 301, the roller 305 is rotatably installed at the tail end of the roller frame 302, the shaft pin 306 is fixedly installed at the inflection point of the roller frame 302, the pinion gear 304 is fixedly installed on the shaft pin 306, and the pinion 303 is meshed with the pinion gear 304.

The first motor 301 drives the roller frame 302 to swing through the pinion 303 and the pinion 304, and when the roller frame 302 swings outward, the roller 305 pulls the guide wire, and when the roller frame 302 swings inward, the roller 305 releases the guide wire.

The guide wire driving mechanism 4 comprises a second motor 401 and a driving wheel 402, the second motor 401 is fixedly arranged in the second assembly groove, the output end of the second motor 401 penetrates through the partition plate and extends into the first assembly groove, and the driving wheel 402 is assembled on the output end of the second motor 401.

The second motor 401 drives the driving wheel 402 to rotate, and can apply auxiliary power to the guide wire passing through the driving wheel 402, and the traction work of the guide wire is completed by matching with the tendon driving mechanism 3.

The rotary motion mechanism 5 comprises a short linear bearing 501, a long linear bearing 502, a main large gear 503, a main small gear 504 and a third motor 505, wherein the long linear bearing 502 is slidably arranged outside the main shaft 6, the long linear bearing 502 penetrates through the partition plate of the spool 2 from the center and is fixedly connected with the partition plate, the main large gear 503 is fixedly arranged at a shaft sleeve, the third motor 505 is assembled on the connecting frame 7, the main small gear 504 is assembled at the output end of the third motor 505, and the main large gear 503 is meshed with the main small gear 504.

The third motor 505 can drive the spool 2 to rotate around the spindle 6 by the main large gear 503 and the main small gear 504.

The rotary motion mechanism 5 further comprises two short linear bearings 501 slidably mounted on the outside of the main shaft 6, and the two short linear bearings 501 are respectively assembled at two ends of the long linear bearing 502 through shaft sleeves;

the both sides of link 7 are provided with bearing assembly groove 701, and upper bracket 702 lock is on bearing assembly groove 701, and short linear bearing 501 joint is between bearing assembly groove 701 and upper bracket 702, and the upper surface of bearing assembly groove 701 is provided with motor assembly seat 703, and third motor 505 fixed mounting is on motor assembly seat 703, and link 7's bottom is equipped with connecting piece 704, and link 7 passes through connecting piece 704 and axial movement mechanism 1's active end fixed connection.

The foregoing is merely exemplary of the present utility model, and many variations may be made in the specific embodiments and application scope of the utility model by those skilled in the art based on the spirit of the utility model, as long as the variations do not depart from the gist of the utility model.

Claims (5)

1. A coaxial rotatable guidewire robot, characterized in that: the device comprises an axial movement mechanism, a spool, a tendon driving mechanism, a guide wire driving mechanism, a rotary movement mechanism, a main shaft, a connecting frame, brackets and a base, wherein the two brackets are symmetrically assembled on the left side and the right side of the upper surface of the base;

the spool is tubular structure, the middle part is provided with the baffle, the inner chamber of spool is cut apart into first assembly groove and second assembly groove by the baffle, tendon actuating mechanism and seal wire actuating mechanism are located first assembly inslot, rotary motion mechanism is located the second assembly inslot, the inside of spool is provided with tendon actuating mechanism assembly jig, main gear locating rack and leading truck, spiral groove has been seted up to the surface of spool, and the perforation has been offered tangentially on the lateral wall of spool, the terminal butt joint of fenestrated external port and spiral groove, fenestrated internal port and leading truck butt joint.

2. A coaxial rotatable guidewire robot as set forth in claim 1, wherein: the tendon driving mechanism comprises a first motor, a roller frame, a pinion gear, a roller and a shaft pin, wherein the roller frame is L-shaped, the roller frame is rotatably installed on the tendon driving mechanism assembly frame through a rotating pin, the first motor is fixedly installed in a second assembly groove, the output end of the first motor penetrates through a partition plate and the tendon driving mechanism assembly frame to extend to a main gear positioning frame, the pinion gear is fixedly installed at the output end of the first motor, the roller is rotatably installed at the tail end of the roller frame, the shaft pin is fixedly installed at an inflection point of the roller frame, the pinion gear is fixedly installed on the shaft pin, and the pinion gear is meshed with the pinion gear.

3. A coaxial rotatable guidewire robot as set forth in claim 1, wherein: the guide wire driving mechanism comprises a second motor and a driving wheel, the second motor is fixedly arranged in the second assembly groove, the output end of the second motor penetrates through the partition plate and extends into the first assembly groove, and the driving wheel is assembled on the output end of the second motor.

4. A coaxial rotatable guidewire robot as set forth in claim 1, wherein: the rotary motion mechanism comprises a short linear bearing, a long linear bearing, a main pinion, a main motor and a third motor, wherein the long linear bearing is slidably arranged outside the main shaft, the long linear bearing penetrates through the partition plate of the spool from the center and is fixedly connected with the partition plate, the main pinion is fixedly arranged at the shaft sleeve, the third motor is assembled on the connecting frame, the main pinion is assembled at the output end of the third motor, and the main pinion is meshed with the main pinion.

5. A coaxial rotatable guidewire robot as set forth in claim 1, wherein: the rotary motion mechanism further comprises two short linear bearings which are slidably arranged outside the main shaft, and the two short linear bearings are respectively assembled at two ends of the long linear bearing through shaft sleeves;

the two sides of the connecting frame are provided with bearing assembly grooves, the upper fixing frame is buckled on the bearing assembly grooves, the short linear bearing is clamped between the bearing assembly grooves and the upper fixing frame, the upper surface of the bearing assembly grooves is provided with a motor assembly seat, a third motor is fixedly arranged on the motor assembly seat, the bottom of the connecting frame is provided with a connecting piece, and the connecting frame is fixedly connected with the movable end of the axial movement mechanism through the connecting piece.