WO2018176457A1 - 血管介入手术机器人的导管捻旋装置 - Google Patents

血管介入手术机器人的导管捻旋装置 Download PDF

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Publication number
WO2018176457A1
WO2018176457A1 PCT/CN2017/079268 CN2017079268W WO2018176457A1 WO 2018176457 A1 WO2018176457 A1 WO 2018176457A1 CN 2017079268 W CN2017079268 W CN 2017079268W WO 2018176457 A1 WO2018176457 A1 WO 2018176457A1
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WO
WIPO (PCT)
Prior art keywords
horizontal
catheter
sliding
hinge shaft
screw
Prior art date
Application number
PCT/CN2017/079268
Other languages
English (en)
French (fr)
Inventor
任岭雪
张一�
严伟玮
奥米索尔
王磊
Original Assignee
中国科学院深圳先进技术研究院
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to PCT/CN2017/079268 priority Critical patent/WO2018176457A1/zh
Priority to CN201780000456.XA priority patent/CN107106244B/zh
Publication of WO2018176457A1 publication Critical patent/WO2018176457A1/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the present invention belongs to the field of medical devices, and more particularly to a catheterizing device for a vascular interventional surgery robot.
  • cardiovascular diseases are becoming more and more serious to the health of the elderly, and people are paying more and more attention to such diseases.
  • the treatment of cardiovascular diseases includes drug therapy and interventional therapy.
  • interventional therapy is a method of directly exposing the lesion and treatment without using a large area file.
  • the operation mode of the interventional therapy is: For a few millimeters, only tiny channels that can be inserted into the catheter, the lesions are locally examined and treated under the guidance of medical imaging equipment to minimize trauma.
  • the interventional treatment is performed by a skilled doctor, and the doctor needs to undergo a pre-job training before surgery. Since the blood vessels of the human body are narrow and have many branches, it is required that the doctor's hand cannot be shaken too much during the treatment operation, so that the doctor is prone to fatigue, and the effect and efficiency of the surgery cannot be guaranteed. In addition, during the treatment, the doctor will be in the environment of surgery radiation, that is, the doctor will contact the radiation during the long period of time, so even if the doctor wears a thick radiation-proof lead, it will inevitably affect the doctor's body. Caused certain harm, seriously affecting the health of the doctor.
  • the prior art proposes a scheme in which a vascular interventional surgery robot is used instead of a doctor for surgery.
  • the catheter convolution device is required to continuously and reliably sway the catheter.
  • the prior art In order to realize the continuous tumbling of the catheter to the catheter to the catheter, the prior art generally adopts an overall rotation mode.
  • the overall rotation mode adopted by many research institutions is: inserting the catheter into the sensor, and directly driving the sensor to realize the rotation by the motor Method, this method not only brings the problem of the sensor entanglement, but also causes the problem that the propulsion mechanism is too bulky and the structure is not compact; and in order to realize the reliable turbulence of the catheter to the catheter to the catheter, the prior art generally adopts friction.
  • Catheter rotation mode currently, many research institutes use friction tube rotation The method is as follows: the belt or the roller is used to rub the conduit to drive the rotation of the conduit. However, the belt or roller is used to rub the conduit, which is prone to elastic sliding, which may cause slippage due to unreliable clamping, which seriously affects the rotation of the conduit. Accuracy, which in turn affects the quality of the procedure.
  • the object of the present invention is to overcome at least one of the deficiencies of the prior art described above, and provide a catheter rotation device for a vascular interventional surgery robot, which solves the problem that the existing catheter rotation device has a sensor entanglement and elastic sliding. .
  • a catheter rotation device of a vascular interventional surgery robot comprising two spaced friction blocks for regulating the horizontal distance between the two friction blocks for use a tensioning mechanism for clamping or loosening the conduit and a spinning mechanism for driving the two friction blocks to move up and down to sway the conduit.
  • the spinning mechanism includes a bottom plate, a horizontal sliding member slidable on the bottom plate, and a horizontal driving mounted on the bottom plate for driving the horizontal sliding member to perform horizontal linear reciprocating movement
  • the horizontal driving assembly includes a first motor mounted on the bottom plate and a first screw connected between the first motor and the horizontal sliding member, the horizontal sliding member Threading the first lead screw through the first screw sleeve or the first sliding hole is provided with a first threaded hole threadedly engaged with the first threaded rod; and/or
  • the link assembly includes a vertical rod slidably coupled to the horizontal sliding member and a diagonal rod connected between the vertical rod and the friction block, and the horizontal sliding member is provided with the vertical rod a first curved chute in which the rod is slidably engaged; and/or
  • the spinning mechanism further includes a first horizontal guide structure disposed between the bottom plate and the horizontal sliding member.
  • the bottom end of the vertical rod is slidably mounted in the first curved chute through a first hinge shaft, and the top end of the vertical rod is connected to the bottom of the inclined rod through a second hinge shaft
  • the top end of the diagonal rod is connected to the friction block by a third hinge shaft;
  • the first horizontal sliding structure includes a first horizontal rail disposed on the bottom plate and a first horizontal slider slidingly engaged with the first horizontal rail, and the horizontal sliding member is mounted on the first horizontal sliding member On a horizontal slider
  • the spinning mechanism further includes a side plate disposed on the bottom plate and located beside the horizontal sliding member, and one end of the first hinge shaft is rotatably mounted on the first bearing The other end of the first hinge shaft is mounted on the horizontal sliding member by two spaced second bearings, and the bottom end of the vertical rod is fixedly connected to the first hinge shaft and Located between the two second bearings.
  • the horizontal sliding component is provided with two second curved chutes respectively located on two sides of the first curved chute, and the two second bearings on both sides of the vertical pole They are slidably mounted in the two second curved chutes respectively.
  • one end of the second hinge shaft is rotatably mounted on the side plate by a third bearing, and the other end of the second hinge shaft is connected to a top end of the vertical rod and the oblique line a bottom end of the rod; one end of the third hinge shaft is fixed to the friction block, and the other end of the third hinge shaft is connected to a top end of the diagonal rod.
  • the tensioning mechanism includes a fixing plate mounted above the spinning mechanism, two sliding seats spaced apart and slidable on the fixing plate, and for adjusting the two An adjustment assembly for the horizontal distance between the carriages, wherein the two friction blocks are respectively mounted on the two sliding seats.
  • the adjustment assembly includes a first adjustment structure coupled to one of the carriages and a second adjustment structure coupled to the other of the carriages; and/or,
  • the stretching mechanism further includes a second horizontal sliding structure disposed between the fixing plate and the sliding seat; and/or,
  • the conduit orbiting device further includes two vertical guide sliding structures, wherein one of the vertical sliding structures is disposed between one of the friction blocks and one of the sliding blocks, and the other of the vertical guiding slides The structure is disposed between the other of the friction blocks and the other of the sliders.
  • the first adjustment structure comprises a fixing seat mounted on the fixing plate and an adjusting screw connected between the fixing seat and a sliding seat, and the sliding seat passes the second wire
  • the sleeve is threadedly coupled to the adjustment screw or provided with a second threaded hole threadedly engaged with the adjustment screw
  • the second adjustment structure includes mounting on the fixed plate a second motor and a second screw coupled between the second motor and the other of the carriages, the carriage being threadedly coupled to the second wire by a third screw sleeve a rod or a third threaded hole threadedly engaged with the second threaded rod;
  • the second horizontal sliding structure comprises a second horizontal rail disposed on the fixing plate and two second horizontal sliding blocks slidably engaged with the second horizontal rail, and the two sliding seats are respectively installed On the two second horizontal sliders; and/or,
  • the vertical sliding structure includes a vertical rail disposed on the sliding seat and a vertical sliding block slidably engaged with the vertical rail, and the friction block is mounted on the vertical sliding block.
  • the catheter rotation device of the vascular interventional surgery robot provided by the invention has the advantages of compact structure, small volume, light weight, convenient disinfection, and convenient application in medical treatment.
  • the crucible mechanism drives the two friction blocks to move up and down relative to each other to sway the rotation of the catheter without the problem of elastic sliding, and the problem that the motor directly drives the sensor to drive the rotation of the catheter to entangle the sensor is avoided. Ultimately, the continuous and reliable rotation of the catheter is guaranteed.
  • FIG. 1 is a schematic perspective view of a catheter rotation device of a vascular interventional surgery robot according to an embodiment of the present invention.
  • FIG. 2 is a front view of a catheter rotation device of a vascular interventional surgery robot according to an embodiment of the present invention
  • FIG. 3 is a top plan view of a catheter tunic device of a vascular interventional surgery robot according to an embodiment of the present invention.
  • FIG. 4 is a left side view of a catheter convolute device of a vascular interventional surgery robot according to an embodiment of the present invention.
  • a catheter rotation device of a vascular interventional surgery robot includes two spaced-apart friction blocks 1 for regulating a horizontal distance between two friction blocks 1
  • the tensioning mechanism 2 can increase the horizontal distance between the two friction blocks 1, and can also reduce the horizontal distance between the two friction blocks 1, so that the two friction blocks 1 can clamp or loosen the catheter, and can make the two frictions Block 1 can be used to clamp conduits of different diameters, which are also more reliable for the clamping of the conduits, and the removal and placement of the conduits is also convenient.
  • the rotation mechanism 3 can drive the two friction blocks 1 to move up and down, so that the catheter can be rotated, and the problem of elastic sliding does not occur by using the rotation method, and the motor can be prevented from directly driving the sensor to drive the rotation of the catheter.
  • the problem of the entanglement of the sensor ultimately ensures a continuous, reliable rotation of the catheter.
  • the spinning mechanism 3 includes a bottom plate 31, a horizontal sliding member 32 slidable on the bottom plate 31, and is mounted on the bottom plate 31 for driving the horizontal sliding member 32.
  • the horizontal drive assembly 33 drives the horizontal slide member 32 to move horizontally, and the two-link assembly 34 coupled to the horizontal slide member 32 is capable of driving the two friction blocks 1 up and down to move up and down, thereby achieving the purpose of pivoting the catheter.
  • the direction in which the stretching mechanism 2 drives the friction block 1 to move horizontally is parallel to the direction in which the horizontal driving assembly 33 drives the horizontal sliding member 32 to horizontally move, and the friction block 1 is located. Level Above the sliding member 32.
  • the horizontal driving assembly 33 includes a first motor 331 mounted on the bottom plate 31 and a first screw connected between the first motor 331 and the horizontal sliding member 32. 332.
  • a first reduction gear box may be further disposed between the first motor 33 1 and the first lead screw 332.
  • the first motor 331 can be operated in forward and reverse directions.
  • the first motor 331 operates ⁇ to drive the first screw 332 to rotate, and the first screw 332 rotates to drive the horizontal sliding member 32 to move linearly.
  • the horizontal sliding member 32 is screwed to the first screw rod 332 through the first screw sleeve 35, and the first screw sleeve 35 is provided with the first screw rod 332.
  • the threaded internal thread, the first screw sleeve 35 is fixedly attached to the horizontal sliding member 32 by screwing or screwing.
  • the connection between the horizontal sliding member 32 and the first screw 332 is realized by the first screw sleeve 35, so that the threaded structure is not required to be processed on the horizontal sliding member 32, which can reduce the manufacturing difficulty of the horizontal sliding member 32. And it will help reduce the future maintenance cost of the equipment.
  • the first threaded hole which is screwed with the first screw rod 332 can be directly disposed on the horizontal sliding member 32, that is, the horizontal sliding member 32 can also be directly screwed to the first screw rod 332. Screw seat.
  • the link assembly 34 includes a vertical rod 341 slidably coupled to the horizontal sliding member 32 and an oblique connection between the vertical rod 341 and the friction block 1.
  • the rod 342, the horizontal sliding member 32 is provided with a first curved sliding slot 321 which is slidably engaged with the vertical rod 341.
  • the bottom end of the vertical rod 341 is slidably supported in the first curved sliding slot 321 , and the first curved sliding slot 321
  • the uprights 34 1 are vertically disposed rods, and the inclined rods 342 are inclined so as to be at an angle to the vertical direction.
  • the bottom end of the upright 341 is slidably mounted in the first curved chute 321 through the first hinge shaft 301, and the top end of the upright rod 341 passes.
  • the second hinge shaft 302 is coupled to the bottom end of the diagonal rod 342, and the top end of the diagonal rod 342 is coupled to the friction block 1 via the third hinge shaft 303.
  • the connection between the bottom end of the upright 341 and the first curved chute 321 is a sliding connection, that is, the bottom end of the upright 341 can slide in the first curved chute 321 .
  • connection between the upright 341 and the first hinge shaft 301 and the second hinge shaft 302 is a fixed connection, that is, a pole 341 is not rotatable relative to the first hinge shaft 301 and the second hinge shaft 302;
  • connection between the diagonal rod 342 and the second hinge shaft 302 and the third hinge shaft 303 is a rotational connection, that is, the diagonal rod 342 and the Relative rotation between the two hinge shafts 302 and the third hinge shaft 303 can occur.
  • the spinning mechanism 3 further includes a side plate 37 disposed on the bottom plate 31 and located on the side of the horizontal sliding member 32, and the first hinge shaft 301
  • One end of the first hinge shaft 301 is rotatably mounted on the side plate 37, and the other end of the first hinge shaft 301 is mounted on the horizontal sliding member 32 via two spaced second bearings.
  • the bottom end of the vertical rod 341 is fixedly connected to the first end.
  • the hinge shaft 301 is located between the two second bearings.
  • the second bearing is provided to support the first hinge shaft 301 by the horizontal sliding member 32, and to prevent the first hinge shaft 301 from interfering with the sliding of the horizontal sliding member 32.
  • the bottom end of the upright 341 can be connected to the first hinge shaft 301 by screwing or interference fit, which can prevent the relative rotation between the vertical rod 341 and the first hinge shaft 301, thereby ensuring horizontal sliding. After the member 32 is moved horizontally, the curved surface of the horizontal sliding member 32 can effectively drive the up or down movement of the upright 341.
  • the horizontal sliding member 32 is provided with two second curved sliding grooves 322 respectively located on opposite sides of the first curved sliding groove 321 .
  • the two second bearings on the side are slidably mounted in the two second curved chutes 322, respectively.
  • the arrangement of the second curved chute 322 can be used to position the second bearing on the one hand, and to ensure that the second bearing does not interfere with the movement of the horizontal sliding member 32 during horizontal movement of the horizontal sliding member 32 on the other hand.
  • one end of the second hinge shaft 302 is rotatably mounted on the side plate 37 through the third bearing, and the other end of the second hinge shaft 302 is connected through the connection.
  • the top end of the vertical rod 341 and the bottom end of the diagonal rod 342; one end of the third hinge shaft 303 is fixed to the friction block 1, and the other end of the third hinge shaft 303 is passed through the top end of the connecting diagonal rod 342.
  • the third hinge shaft 303 is specifically fixed to the friction block 1 by a screw connection.
  • the top end of the vertical rod 341 is fixedly connected to the second hinge shaft 302 by a screw connection or an over-tight fit.
  • the bottom end of the diagonal rod 34 2 is mounted on the second hinge shaft 302 through the fourth bearing, and the top end of the diagonal rod 342 passes through the first
  • the five bearings are mounted on the third hinge shaft 303.
  • the spinning mechanism 3 further includes a first horizontal guide structure 36 disposed between the bottom plate 31 and the horizontal sliding member 32.
  • the arrangement of the first horizontal guide structure 36 can further improve the stability and smoothness of the horizontal movement of the horizontal sliding member 32.
  • the first horizontal sliding structure 36 is disposed on the bottom plate 31.
  • the upper horizontal rail 361 and the first horizontal slider 362 slidably engaged with the first horizontal rail 361 are mounted on the first horizontal slider 362.
  • the first horizontal rail 361 can be integrally formed with the bottom plate 31, that is, the first horizontal rail 361 can be a part of the bottom plate 31.
  • the first horizontal rail 361 can also be separately formed from the bottom plate 31 and then connected by screw connection or the like.
  • the method is mounted on the bottom plate 31.
  • the horizontal sliding member 32 is specifically preferably mounted to the first horizontal slider 362 by screw connection, which is reliable in fastening and convenient to disassemble.
  • the arrangement of the first horizontal rail 361 and the first horizontal slider 362 can support the horizontal sliding member 32 on the one hand, and reduce the frictional resistance received during the horizontal movement of the horizontal sliding member 32 on the other hand.
  • the stretching mechanism 2 includes a fixing plate 2 1 mounted above the spinning mechanism 3, and two sliding seats 22 which are spaced apart and are slidable on the fixing plate 21. And an adjustment assembly 23 for adjusting the horizontal distance between the two carriages 22, the two friction blocks 1 are respectively mounted on the two carriages 22.
  • the fixing plate 21 is provided at the top end of the side plate 37, and the fixing plate 21 may be integrally formed with the side plate 37, or the fixing plate 21 may be separately formed and assembled with the side plate 37.
  • the horizontal distance between the two sliding seats 22 can be adjusted by the adjusting component 23, and the horizontal distance between the two friction blocks 1 can be adjusted, thereby realizing the clamping or loosening of the two friction blocks 1 to the catheter, and the The adjustment of the adjustment assembly 23 enables clamping of conduits of different diameters.
  • the adjustment assembly 23 includes a first adjustment structure 231 coupled to one of the carriages 22 and a second adjustment structure 232 coupled to the other carriage 22.
  • the two carriages 22 are driven by two different adjustment structures, which are convenient to adjust and facilitate the clamping of the conduits of different diameters.
  • the carriage 22 connected to the first adjustment structure 231 is described as a first carriage
  • the carriage 22 connected to the second adjustment structure 232 is described as a second carriage.
  • the first adjusting structure 231 includes a fixing base 2311 mounted on the fixing plate 21 and an adjusting screw 2312 connected between the fixing seat 2311 and the first sliding seat.
  • the adjustment screw 2312 by rotating the adjustment screw 2312, the first carriage can be driven to move toward or away from the second carriage, so that clamping of the conduits of different diameters can be achieved.
  • the first sliding seat is screwed to the adjusting screw 2 through the second screw sleeve 25
  • the second screw sleeve 25 is provided with an internal thread threadedly engaged with the adjusting screw 2312, and the second screw sleeve 25 is connected It is fixed to the first sliding seat by means of screw connection or screw connection.
  • the connection between the first sliding seat and the adjusting screw 2312 is realized by the second screw sleeve 25, so that the threaded structure is not required to be processed on the first sliding seat, which can reduce the manufacturing difficulty of the first sliding seat, and Helps reduce the cost of future maintenance of the equipment.
  • the second threaded hole which is screwed with the adjusting screw 2312 can be directly disposed on the first sliding seat, that is, the first sliding seat can also be directly set as the screw seat which is screwed to the adjusting screw 2312.
  • the second adjusting structure 232 includes a second motor 2321 mounted on the fixed plate 21 and a second connected between the second motor 2321 and the second sliding seat. Screw 2322. Specifically, a second reduction gear box may be further disposed between the second motor 232 1 and the second screw rod 2322.
  • the second motor 2321 can be operated in forward and reverse directions. When the second motor 2321 is operated, the second screw 2322 can be driven to rotate, and the second screw 2322 can be rotated to drive the second slider to move linearly.
  • the second sliding seat is screwed to the second screw rod 2 322 through the third screw sleeve 26, and the third screw sleeve 26 is provided with the second screw rod.
  • 2322 threaded internal thread the third screw sleeve 26 is fixed to the second sliding seat by screwing or screwing.
  • the connection between the second sliding seat and the second screw rod 2322 is realized by the third screw sleeve 26, so that the second sliding seat does not need to be processed to manufacture a thread structure, which can reduce the manufacturing difficulty of the second sliding seat. And it will help reduce the future maintenance cost of the equipment.
  • the second threaded hole which is screwed with the second screw rod 2322 can be directly disposed on the second sliding seat, that is, the second sliding seat can also be directly screwed to the second screw rod 2322.
  • the tensioning mechanism 2 further includes a second horizontal sliding structure 24 disposed between the fixed plate 21 and the carriage 22.
  • the arrangement of the second horizontal guide structure 24 can further improve the stability and smoothness of the horizontal movement of the carriage 22.
  • the second horizontal sliding structure 24 includes a second horizontal rail 241 disposed on the fixing plate 21 and two second sliding joints with the second horizontal rail 241.
  • the horizontal slider 242 and the two sliding seats 22 are respectively mounted on the two second horizontal sliders 242.
  • the second horizontal guide rail 241 can be integrally formed with the fixed plate 21, that is, the second horizontal guide rail 241 is a part of the fixed plate 21; or the second horizontal guide rail 241 can also be separately formed from the fixed plate 21 and then screwed.
  • the connection method is mounted on the fixing plate 21, the screw connection is reliable, the disassembly and assembly is convenient, and the disassembly and disinfection is convenient.
  • the sliding seat 22 can be specifically installed by screws
  • the two horizontal sliders 242 are reliable in fastening, convenient to disassemble and assemble, and convenient for disassembly and disinfection.
  • the arrangement of the second horizontal rail 241 and the second horizontal slider 242 can support the positioning of the slider 22 on the one hand, and reduce the frictional resistance during the horizontal movement of the slider 22 on the other hand.
  • the catheter tug device of the vascular interventional surgery robot provided by the embodiment of the present invention further includes two vertical guide sliding structures 4, wherein one vertical guide sliding structure 4 is shown in FIG. It is disposed between one friction block 1 and one slide 22, and the other vertical guide structure 4 is disposed between the other friction block 1 and the other slide 22.
  • the setting of the vertical guide sliding structure 4 can further improve the stability reliability and smoothness of the horizontal movement of the friction block 1.
  • the vertical guide structure 4 includes a vertical rail 41 disposed on the carriage 22 and a vertical slider 42 slidably engaged with the vertical rail 41, the friction block 1 is mounted on the vertical slider 42.
  • the vertical guide rail 41 can be integrally formed with the sliding seat 22, that is, the vertical guide rail 41 is a part of the sliding seat 22; or the vertical guiding rail 41 can be separately formed and formed by the sliding seat 22, and then connected by screws or the like. Installed on the sliding seat 22, the screw connection is reliable, easy to disassemble and assemble, and easy to disassemble and disinfect.
  • the friction block 1 can be mounted on the vertical slider 42 by screws, which is reliable in fastening, convenient to disassemble and assemble, and convenient for disassembly and disinfection.
  • the arrangement of the vertical guide rail 41 and the vertical slider 42 can support the positioning of the friction block 1 on the one hand, and reduce the frictional resistance during the lifting and lowering movement of the friction block 1 on the other hand.
  • the friction block 1 includes a friction block body and a rubber sheet disposed on the friction block body, and the friction block body is coupled to the tension structure 2 and the rotation mechanism 3.
  • the rubber sheet has good elasticity and wear resistance, does not crush the duct, and can increase the friction and improve the reliability of the friction block 1 clamping the duct.
  • the rubber sheet is fixed to the friction block body by bonding, the disassembly and assembly is convenient, the installation is stable and reliable, and the rubber piece can be prevented from being mounted by using other fasteners to cause the clamping or the rotation of the catheter to be tightly tightened.
  • the firmware crushes the conduit.
  • the catheters of different diameters can be clamped by the tensioning mechanism 2, and the catheter to be transported can be moved by the rotation mechanism 3 to perform circular motion.
  • the catheter rotation device of the vascular interventional surgery robot provided by the embodiment of the invention is used as an end effector of a minimally invasive vascular interventional operation robot, and has the characteristics of light weight, compact structure, small volume, convenient assembly, disassembly and disinfection, and is convenient for medical treatment. It is popularized and applied, and it adopts two friction blocks 1 to press the swaying catheter. There is no problem of elastic sliding, and there is no problem of entanglement, which effectively ensures the continuous and reliable rotation of the catheter.
  • the above is only the preferred embodiment of the present invention, and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. Within the scope.

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Abstract

一种适用于医疗设备领域的血管介入手术机器人的导管捻旋装置，其包括两块间隔设置的摩擦块（1）、用于调控两摩擦块（1）之间之水平距离以用于夹持或松开导管的张合机构（2）和用于驱动两摩擦块（1）升降运动以捻动导管旋转的捻旋机构（3）。该导管捻旋装置，结构紧凑、体积小、重量轻、消毒方便，便于在医疗上推广应用；且其能够适应不同直径的导管，取出和放入导管较为方便，夹紧导管也较为可靠。此外，其通过捻旋机构驱动两摩擦块上下相对运动的方式来捻动导管旋转，不会出现弹性滑动的问题，且能够避免采用电机直接驱动传感器以带动导管旋转带来传感器缠线的问题，最终有效保证了导管的连续、可靠转动。

Description

血管介入手术机器人的导管捻旋装置 技术领域
[0001] 本发明属于医疗设备领域， 尤其涉及血管介入手术机器人的导管捻旋装置。
背景技术
[0002] 近年来， 心血管疾病的发病率逐年升高， 已被公认为是威胁人类健康的重要杀 手之一。 在我国， 随着人口老齢化程度急剧加重， 心血管疾病对老年人健康的 威胁越来越严重， 人们对该类疾病的关注度也越来越高。 心血管疾病的治疗包 括药物治疗和介入式治疗， 其中， 介入式治疗是不采用大面积幵刀来直接暴露 病灶和治疗的方法， 具体地， 介入式治疗的操作方式为： 在皮肤切幵直径为几 毫米、 仅能允许介入导管的微小通道， 在医学影像设备的引导下对病灶局部进 行检测和治疗， 以使创伤尽量小。
[0003] 传统技术中， 介入式治疗手术都是由熟练的医生进行操作， 医生需要经过一段 吋间的岗前培训才能进行手术。 由于人的血管弯曲狭窄且分支较多， 所以， 在 治疗操作过程中， 要求医生的手不能抖动太大， 这样， 使得医生很容易产生疲 劳现象， 从而无法保证手术的效果和效率。 此外， 在治疗手术过程中， 医生会 长吋间处于手术辐射的环境中， 即医生会长吋间接触放射线， 这样， 即便医生 穿戴厚重的防辐射铅衣， 仍然不可避免地会对医生的身体造成一定的危害， 严 重影响了医生的身体健康。
[0004] 为了解决上述传统介入式治疗中的问题， 现有技术提出了采用血管介入手术机 器人来代替医生进行手术的方案。 在血管介入手术机器人的推进机构中， 要求 导管捻旋装置能够连续、 可靠对导管进行搓动。 其中， 为了实现导管捻旋装置 对导管地连续搓动， 现有技术一般采用整体旋转方式， 目前， 很多研究机构采 用的整体旋转方式为： 把导管插入传感器中， 用电机直接带动传感器实现旋转 的方法， 这种方法不仅会带来传感器缠线的问题， 而且会造成推进机构过于笨 重、 结构不紧凑的问题出现； 而为了实现导管捻旋装置对导管地可靠搓动， 现 有技术一般采用摩擦导管旋转方式， 目前， 很多研究机构采用的摩擦导管旋转 方式为： 使用皮带或者滚轮摩擦导管以驱动导管旋转的方式， 然而使用皮带或 者滚轮摩擦导管， 容易出现弹性滑动的现象， 从而会出现由于夹紧不可靠而打 滑的问题， 严重影响了导管的旋转精度， 进而影响了手术的质量。
技术问题
[0005] 本发明的目的在于克服上述现有技术的至少一个不足之处， 提供了血管介入手 术机器人的导管捻旋装置， 其解决了现有导管捻旋装置存在传感器缠线、 弹性 滑动的问题。
问题的解决方案
技术解决方案
[0006] 为达到上述目的， 本发明采用的技术方案是： 血管介入手术机器人的导管捻旋 装置， 包括两块间隔设置的摩擦块、 用于调控两所述摩擦块之间之水平距离以 用于夹持或松幵导管的张合机构和用于驱动两所述摩擦块升降运动以捻动所述 导管旋转的捻旋机构。
[0007] 可选地， 所述捻旋机构包括底板、 能够在所述底板上滑动的水平滑动部件、 安 装于所述底板上以用于驱动所述水平滑动部件进行水平直线往复移动的水平驱 动组件和两个分别连接于两所述摩擦块与所述水平滑动部件之间的连杆组件。
[0008] 可选地， 所述水平驱动组件包括安装于所述底板上的第一电机和连接于所述第 一电机与所述水平滑动部件之间的第一丝杆， 所述水平滑动部件通过第一丝杆 套螺纹连接所述第一丝杆或者所述水平滑动部件上设有与所述第一丝杆螺纹配 合的第一螺纹孔； 且 /或，
[0009] 所述连杆组件包括与所述水平滑动部件滑动连接的立杆和连接于所述立杆与所 述摩擦块之间的斜杆， 所述水平滑动部件上设有与所述立杆滑动配合的第一弧 形滑槽； 且 /或，
[0010] 所述捻旋机构还包括设于所述底板与所述水平滑动部件之间的第一水平导滑结 构。
[0011] 可选地， 所述立杆的底端通过第一铰轴滑动安装于所述第一弧形滑槽内， 所述 立杆的顶端通过第二铰轴连接所述斜杆的底端， 所述斜杆的顶端通过第三铰轴 连接于所述摩擦块上； 且 /或， [0012] 所述第一水平导滑结构包括设于所述底板上的第一水平导轨和与所述第一水平 导轨滑动配合的第一水平滑块， 所述水平滑动部件安装于所述第一水平滑块上
[0013] 可选地， 所述捻旋机构还包括设于所述底板上、 且位于所述水平滑动部件旁侧 的侧板， 所述第一铰轴的一端通过第一轴承转动安装于所述侧板上， 所述第一 铰轴的另一端通过两个间隔设置的第二轴承安装于所述水平滑动部件上， 所述 立杆的底端固定连接于所述第一铰轴上且位于两所述第二轴承之间。
[0014] 可选地， 所述水平滑动部件上设有两个分别位于所述第一弧形滑槽两侧的第二 弧形滑槽， 所述立杆两侧的两所述第二轴承分别滑动安装于两所述第二弧形滑 槽内。
[0015] 可选地， 所述第二铰轴的一端通过第三轴承转动安装于所述侧板上， 所述第二 铰轴的另一端穿设连接所述立杆的顶端和所述斜杆的底端； 所述第三铰轴的一 端固定于所述摩擦块上， 所述第三铰轴的另一端穿设连接所述斜杆的顶端。
[0016] 可选地， 所述张合机构包括安装于所述捻旋机构上方的固定板、 两个间隔设置 且能够在所述固定板上滑动的滑座和用于调节所述两所述滑座之间之水平距离 的调节组件， 两所述摩擦块分别安装于两所述滑座上。
[0017] 可选地， 所述调节组件包括与一个所述滑座连接的第一调节结构和与另一个所 述滑座连接的第二调节结构； 且 /或，
[0018] 所述张合机构还包括设于所述固定板与所述滑座之间的第二水平导滑结构； 且 /或，
[0019] 所述导管捻旋装置还包括两个竖向导滑结构， 其中， 一个所述竖向导滑结构设 于一个所述摩擦块与一个所述滑座之间， 另一个所述竖向导滑结构设于另一个 所述摩擦块与另一个所述滑座之间。
[0020] 可选地， 所述第一调节结构包括安装于所述固定板上的固定座和连接于所述固 定座与一所述滑座之间的调节螺杆， 该滑座通过第二丝杆套螺纹连接所述调节 螺杆或者在该滑座上设有与所述调节螺杆螺纹配合的第二螺纹孔； 且 /或， [0021] 所述第二调节结构包括安装于所述固定板上的第二电机和连接于所述第二电机 与另一所述滑座之间的第二丝杆， 该滑座通过第三丝杆套螺纹连接所述第二丝 杆或者在该滑座上设有与所述第二丝杆螺纹配合的第三螺纹孔； 且 /或，
[0022] 所述第二水平导滑结构包括设于所述固定板上的第二水平导轨和两个与所述第 二水平导轨滑动配合的第二水平滑块， 两所述滑座分别安装于两所述第二水平 滑块上； 且 /或，
[0023] 所述竖向导滑结构包括设于所述滑座上的竖向导轨和与所述竖向导轨滑动配合 的竖向滑块， 所述摩擦块安装于所述竖向滑块上。
发明的有益效果
有益效果
[0024] 本发明提供的血管介入手术机器人的导管捻旋装置， 结构紧凑、 体积小、 重量 轻、 消毒方便， 便于在医疗上推广应用。 其通过张合机构调节控制两摩擦块之 间的水平距离以驱动两摩擦块夹紧或松幵导管， 这样， 可使得本发明提供的血 管介入手术机器人的导管捻旋装置能够适应不同直径的导管， 取出和放入导管 较为方便， 夹紧导管也较为可靠。 此外， 其通过捻旋机构驱动两摩擦块上下相 对运动的方式来捻动导管旋转， 不会出现弹性滑动的问题， 且能够避免采用电 机直接驱动传感器以带动导管旋转带来传感器缠线的问题， 最终有效保证了导 管的连续、 可靠转动。
对附图的简要说明
附图说明
[0025] 图 1是本发明实施例提供的血管介入手术机器人的导管捻旋装置的立体示意图 [0026] 图 2是本发明实施例提供的血管介入手术机器人的导管捻旋装置的主视示意图 [0027] 图 3是本发明实施例提供的血管介入手术机器人的导管捻旋装置的俯视示意图 [0028] 图 4是本发明实施例提供的血管介入手术机器人的导管捻旋装置的左视示意图 本发明的实施方式
[0029] 为了使本发明的目的、 技术方案及优点更加清楚明白， 以下结合附图及实施例 ， 对本发明进行进一步详细说明。 应当理解， 此处所描述的具体实施例仅仅用 以解释本发明， 并不用于限定本发明。
[0030] 需要说明的是， 当元件被称为 "固定于"或"设置于 "另一个元件上吋， 它可以直 接在另一个元件上或者可能同吋存在居中元件。 当一个元件被称为是 "连接 "另一 个元件， 它可以是直接连接另一个元件或者可能同吋存在居中元件。
[0031] 还需要说明的是， 以下实施例中的左、 右、 上、 下、 顶、 底等方位用语， 仅是 互为相对概念或是以产品的正常使用状态为参考的， 而不应该认为是具有限制 性的。
[0032] 如图 1-4所示， 本发明实施例提供的血管介入手术机器人的导管捻旋装置， 包 括两块间隔设置的摩擦块 1、 用于调控两摩擦块 1之间之水平距离以用于夹持或 松幵导管的张合机构 2和用于驱动两摩擦块 1升降运动以捻动导管旋转的捻旋机 构 3。 张合机构 2能够调大两摩擦块 1之间的水平距离， 也能够调小两摩擦块 1之 间的水平距离， 从而可使得两摩擦块 1夹紧或松幵导管， 且能够使得两摩擦块 1 能够用于夹紧不同直径的导管， 其对导管的夹紧也较为可靠， 导管的取出和放 入也较为方便。 捻旋机构 3能够驱动两摩擦块 1上下相对运动， 从而可捻动导管 进行旋转， 采用这种捻旋方式不会出现弹性滑动的问题， 且能够避免采用电机 直接驱动传感器以带动导管旋转带来传感器缠线的问题， 最终有效保证了导管 的连续、 可靠转动。
[0033] 优选地， 一并参照图 1-3所示， 捻旋机构 3包括底板 31、 能够在底板 31上滑动的 水平滑动部件 32、 安装于底板 31上以用于驱动水平滑动部件 32进行水平直线往 复移动的水平驱动组件 33和两个分别连接于两摩擦块 1与水平滑动部件 32之间的 连杆组件 34。 水平驱动组件 33驱动水平滑动部件 32水平移动吋， 与水平滑动部 件 32连接的两连杆组件 34能够驱动两摩擦块 1上下升降运动， 从而达到捻动导管 旋转的目的。
[0034] 优选地， 一并参照图 1-3所示， 张合机构 2驱动摩擦块 1水平移动的方向与水平 驱动组件 33驱动水平滑动部件 32水平移动的方向相互平行， 且摩擦块 1位于水平 滑动部件 32的上方。
[0035] 优选地， 一并参照图 1-3所示， 水平驱动组件 33包括安装于底板 31上的第一电 机 331和连接于第一电机 331与水平滑动部件 32之间的第一丝杆 332。 第一电机 33 1与第一丝杆 332之间具体还可设有第一减速箱。 第一电机 331可以正、 反向运转 ， 第一电机 331运转吋， 可以驱动第一丝杆 332转动， 第一丝杆 332转动可以驱动 水平滑动部件 32进行直线移动。
[0036] 优选地， 一并参照图 1-3所示， 水平滑动部件 32通过第一丝杆套 35螺纹连接第 一丝杆 332， 第一丝杆套 35上设有与第一丝杆 332螺纹配合的内螺纹， 第一丝杆 套 35通过螺丝连接或者螺纹连接等方式安装固定于水平滑动部件 32上。 此处， 通过第一丝杆套 35实现水平滑动部件 32与第一丝杆 332之间的连接， 这样， 水平 滑动部件 32上不需加工制造螺纹结构， 可利于降低水平滑动部件 32的制造难度 ， 且利于降低设备的日后维护成本。 当然了， 具体应用中， 也可直接在水平滑 动部件 32上幵设与第一丝杆 332螺纹配合的第一螺纹孔， 即水平滑动部件 32也可 直接设为与第一丝杆 332螺纹连接的丝杆座。
[0037] 优选地， 一并参照图 1、 图 2和图 4所示， 连杆组件 34包括与水平滑动部件 32滑 动连接的立杆 341和连接于立杆 341与摩擦块 1之间的斜杆 342， 水平滑动部件 32 上设有与立杆 341滑动配合的第一弧形滑槽 321， 立杆 341的底端滑动支撑于第一 弧形滑槽 321内， 第一弧形滑槽 321具有与立杆 341滑动配合的弧形表面。 立杆 34 1为竖直设置的杆体， 斜杆 342为以与竖直方向呈一定夹角的方式倾斜设置。 水 平滑动部件 32水平移动吋， 立杆 341与水平滑动部件 32之间会产生相对滑动， 第 一弧形滑槽 321的弧形表面会驱动立杆 341上升或下降运动， 立杆 341的升降运动 会进一步通过斜杆 342驱动摩擦块 1上升或下降运动， 从而达到通过摩擦块 1捻动 导管旋转的目的。
[0038] 优选地， 一并参照图 1、 图 2和图 4所示， 立杆 341的底端通过第一铰轴 301滑动 安装于第一弧形滑槽 321内， 立杆 341的顶端通过第二铰轴 302连接斜杆 342的底 端， 斜杆 342的顶端通过第三铰轴 303连接于摩擦块 1上。 立杆 341的底端与第一 弧形滑槽 321之间的连接为滑动连接， 即立杆 341的底端可在第一弧形滑槽 321内 滑动。 立杆 341与第一铰轴 301、 第二铰轴 302之间的连接都为固定连接， 即立杆 341与第一铰轴 301、 第二铰轴 302之间不可以发生相对转动； 斜杆 342与第二铰 轴 302、 第三铰轴 303之间的连接为转动连接， 即斜杆 342与第二铰轴 302、 第三 铰轴 303之间可以发生相对转动。
[0039] 优选地， 一并参照图 1、 图 3和图 4所示， 捻旋机构 3还包括设于底板 31上、 且位 于水平滑动部件 32旁侧的侧板 37， 第一铰轴 301的一端通过第一轴承转动安装于 侧板 37上， 第一铰轴 301的另一端通过两个间隔设置的第二轴承安装于水平滑动 部件 32上， 立杆 341的底端固定连接于第一铰轴 301上且位于两第二轴承之间。 第二轴承的设置， 既可通过水平滑动部件 32实现对第一铰轴 301的支撑， 又可利 于防止第一铰轴 301对水平滑动部件 32的滑动产生干涉现象。 立杆 341的底端具 体可通过螺纹连接方式或者过盈配合方式与第一铰轴 301连接， 这样可利于防止 立杆 341与第一铰轴 301之间发生相对转动， 从而可保证在水平滑动部件 32水平 移动吋， 水平滑动部件 32的弧形表面能够有效驱动立杆 341上升或下降运动。
[0040] 优选地， 一并参照图 1和图 2所示， 水平滑动部件 32上设有两个分别位于第一弧 形滑槽 321两侧的第二弧形滑槽 322， 立杆 341两侧的两第二轴承分别滑动安装于 两第二弧形滑槽 322内。 第二弧形滑槽 322的设置， 一方面可供第二轴承安装定 位， 另一方面可利于保证水平滑动部件 32水平移动过程中第二轴承不会对水平 滑动部件 32的移动产生干涉现象。
[0041] 优选地， 一并参照图 1、 图 2和图 4所示， 第二铰轴 302的一端通过第三轴承转动 安装于侧板 37上， 第二铰轴 302的另一端穿设连接立杆 341的顶端和斜杆 342的底 端； 第三铰轴 303的一端固定于摩擦块 1上， 第三铰轴 303的另一端穿设连接斜杆 342的顶端。 第三铰轴 303具体可通过螺纹连接方式固定于摩擦块 1上。 立杆 341 的顶端通过螺纹连接方式或者过硬配合方式固定连接于第二铰轴 302上， 斜杆 34 2的底端通过第四轴承安装于第二铰轴 302上， 斜杆 342的顶端通过第五轴承安装 于第三铰轴 303上。
[0042] 优选地， 一并参照图 1、 图 2和图 3所示， 捻旋机构 3还包括设于底板 31与水平滑 动部件 32之间的第一水平导滑结构 36。 第一水平导滑结构 36的设置， 可利于进 一步提高水平滑动部件 32水平移动的稳定可靠性和顺畅性。
[0043] 优选地， 一并参照图 1、 图 2和图 3所示， 第一水平导滑结构 36包括设于底板 31 上的第一水平导轨 361和与第一水平导轨 361滑动配合的第一水平滑块 362， 水平 滑动部件 32安装于第一水平滑块 362上。 第一水平导轨 361可与底板 31—体成型 设置， 即第一水平导轨 361可为底板 31的一部分； 或者， 第一水平导轨 361也可 与底板 31分体制造成型后再通过螺丝连接等连接方式安装于底板 31上。 水平滑 动部件 32具体优选通过螺丝连接方式安装于第一水平滑块 362， 其紧固可靠、 拆 装方便。 第一水平导轨 361与第一水平滑块 362的设置， 一方面可对水平滑动部 件 32起到支撑的作用， 另一方面又利于减小水平滑动部件 32水平移动过程中受 到的摩擦阻力。
[0044] 优选地， 一并参照图 1-3所示， 张合机构 2包括安装于捻旋机构 3上方的固定板 2 1、 两个间隔设置且能够在固定板 21上滑动的滑座 22和用于调节两滑座 22之间之 水平距离的调节组件 23， 两摩擦块 1分别安装于两滑座 22上。 固定板 21设于侧板 37的顶端， 固定板 21可以与侧板 37为一体成型结构， 或者固定板 21也可以与侧 板 37分体制造成型后再组装在一起。 具体应用中， 通过调节组件 23可调节两滑 座 22之间的水平距离， 可调控两摩擦块 1之间的水平距离， 从而实现两摩擦块 1 对导管的夹紧或松幵， 且可通过调节组件 23的调控实现对不同直径的导管的夹 紧。
[0045] 优选地， 一并参照图 1-3所示， 调节组件 23包括与一个滑座 22连接的第一调节 结构 231和与另一个滑座 22连接的第二调节结构 232。 此处， 两个滑座 22分别采 用两个不同的调节结构进行驱动移动， 其调控方便， 且利于实现对不同直径的 导管的夹紧。
[0046] 为了便于描述， 此处， 将与第一调节结构 231连接的滑座 22描述为第一滑座， 将与第二调节结构 232连接的滑座 22描述为第二滑座。
[0047] 优选地， 一并参照图 1-3所示， 第一调节结构 231包括安装于固定板 21上的固定 座 2311和连接于固定座 2311与第一滑座之间的调节螺杆 2312。 具体应用中， 通 过旋转调节螺杆 2312， 可驱动第一滑座朝向或远离第二滑座移动， 从而可实现 对不同直径之导管的夹紧。
[0048] 优选地， 一并参照图 1-3所示， 第一滑座通过第二丝杆套 25螺纹连接调节螺杆 2
312， 第二丝杆套 25上设有与调节螺杆 2312螺纹配合的内螺纹， 第二丝杆套 25通 过螺丝连接或者螺纹连接等方式安装固定于第一滑座上。 此处， 通过第二丝杆 套 25实现第一滑座与调节螺杆 2312之间的连接， 这样， 第一滑座上不需加工制 造螺纹结构， 可利于降低第一滑座的制造难度， 且利于降低设备的日后维护成 本。 当然了， 具体应用中， 也可直接在第一滑座上幵设与调节螺杆 2312螺纹配 合的第二螺纹孔， 即第一滑座也可直接设为与调节螺杆 2312螺纹连接的丝杆座
[0049] 优选地， 一并参照图 1-3所示， 第二调节结构 232包括安装于固定板 21上的第二 电机 2321和连接于第二电机 2321与第二滑座之间的第二丝杆 2322。 第二电机 232 1与第二丝杆 2322之间具体还可设有第二减速箱。 第二电机 2321可以正、 反向运 转， 第二电机 2321运转吋， 可以驱动第二丝杆 2322转动， 第二丝杆 2322转动可 以驱动第二滑座进行直线移动。
[0050] 优选地， 一并参照图 1-3所示， 第二滑座通过第三丝杆套 26螺纹连接第二丝杆 2 322， 第三丝杆套 26上设有与第二丝杆 2322螺纹配合的内螺纹， 第三丝杆套 26通 过螺丝连接或者螺纹连接等方式安装固定于第二滑座上。 此处， 通过第三丝杆 套 26实现第二滑座与第二丝杆 2322之间的连接， 这样， 第二滑座上不需加工制 造螺纹结构， 可利于降低第二滑座的制造难度， 且利于降低设备的日后维护成 本。 当然了， 具体应用中， 也可直接在第二滑座上幵设与第二丝杆 2322螺纹配 合的第二螺纹孔， 即第二滑座也可直接设为与第二丝杆 2322螺纹连接的丝杆座
[0051] 优选地， 一并参照图 1-3所示， 张合机构 2还包括设于固定板 21与滑座 22之间的 第二水平导滑结构 24。 第二水平导滑结构 24的设置， 可利于进一步提高滑座 22 水平移动的稳定可靠性和顺畅性。
[0052] 优选地， 一并参照图 1-3所示， 第二水平导滑结构 24包括设于固定板 21上的第 二水平导轨 241和两个与第二水平导轨 241滑动配合的第二水平滑块 242， 两滑座 22分别安装于两第二水平滑块 242上。 第二水平导轨 241可与固定板 21—体成型 设置， 即第二水平导轨 241为固定板 21的一部分； 或者， 第二水平导轨 241也可 与固定板 21分体制造成型后再通过螺丝连接等连接方式安装于固定板 21上， 螺 丝连接紧固可靠、 拆装方便， 便于拆装消毒。 滑座 22具体可通过螺丝安装于第 二水平滑块 242上， 其紧固可靠、 拆装方便， 便于拆装消毒。 第二水平导轨 241 和第二水平滑块 242的设置， 一方面可对滑座 22起到支撑定位的作用， 另一方面 又利于减小滑座 22水平移动过程中受到的摩擦阻力。
[0053] 优选地， 一并参照图 1-3所示， 本发明实施例提供的血管介入手术机器人的导 管捻旋装置， 还包括两个竖向导滑结构 4， 其中， 一个竖向导滑结构 4设于一个 摩擦块 1与一个滑座 22之间， 另一个竖向导滑结构 4设于另一个摩擦块 1与另一个 滑座 22之间。 竖向导滑结构 4的设置， 可利于进一步提高摩擦块 1水平移动的稳 定可靠性和顺畅性。
[0054] 优选地， 一并参照图 1-3所示， 竖向导滑结构 4包括设于滑座 22上的竖向导轨 41 和与竖向导轨 41滑动配合的竖向滑块 42， 摩擦块 1安装于竖向滑块 42上。 竖向导 轨 41可与滑座 22—体成型设置， 即竖向导轨 41为滑座 22的一部分； 或者， 竖向 导轨 41也可与滑座 22分体制造成型后再通过螺丝连接等连接方式安装于滑座 22 上， 螺丝连接紧固可靠、 拆装方便， 便于拆装消毒。 摩擦块 1具体可通过螺丝安 装于竖向滑块 42上， 其紧固可靠、 拆装方便， 便于拆装消毒。 竖向导轨 41与竖 向滑块 42的设置， 一方面可对摩擦块 1起到支撑定位的作用， 另一方面又利于减 小摩擦块 1升降运动过程中受到的摩擦阻力。
[0055] 优选地， 摩擦块 1包括摩擦块本体和设置于摩擦块本体上的橡胶片， 摩擦块本 体与张合结构 2、 捻旋机构 3连接。 橡胶片具有较好的弹性、 耐磨性， 不会压坏 导管， 且可增大摩擦力， 提高摩擦块 1夹紧导管的可靠性。
[0056] 优选地， 橡胶片通过粘接方式固定于摩擦块本体上， 其拆装方便、 安装稳固可 靠， 且可避免采用其它紧固件安装橡胶片造成在夹紧或者捻动导管旋转吋紧固 件压坏导管。
[0057] 本发明实施例通过张合机构 2可夹持不同直径的导管， 通过捻旋机构 3可搓动所 要输送的导管做圆周运动。 本发明实施例提供的血管介入手术机器人的导管捻 旋装置， 用作微创血管介入手术机器人的末端执行器， 其具有质量轻、 结构紧 凑、 体积小、 装拆消毒方便的特点， 便于医疗上推广应用， 且其采用两个摩擦 块 1压紧搓动导管的方式， 不会出现弹性滑动的问题， 也不会出现缠线的问题， 有效保证了导管的连续、 可靠转动。 以上所述仅为本发明的较佳实施例而已， 并不用以限制本发明， 凡在本发明的 精神和原则之内所作的任何修改、 等同替换或改进等， 均应包含在本发明的保 护范围之内。

Claims

权利要求书
[权利要求 1] 血管介入手术机器人的导管捻旋装置， 其特征在于： 包括两块间隔设 置的摩擦块、 用于调控两所述摩擦块之间之水平距离以用于夹持或松 幵导管的张合机构和用于驱动两所述摩擦块升降运动以捻动所述导管 旋转的捻旋机构。
[权利要求 2] 如权利要求 1所述的血管介入手术机器人的导管捻旋装置， 其特征在 于： 所述捻旋机构包括底板、 能够在所述底板上滑动的水平滑动部件 、 安装于所述底板上以用于驱动所述水平滑动部件进行水平直线往复 移动的水平驱动组件和两个分别连接于两所述摩擦块与所述水平滑动 部件之间的连杆组件。
[权利要求 3] 如权利要求 2所述的血管介入手术机器人的导管捻旋装置， 其特征在 于： 所述水平驱动组件包括安装于所述底板上的第一电机和连接于所 述第一电机与所述水平滑动部件之间的第一丝杆， 所述水平滑动部件 通过第一丝杆套螺纹连接所述第一丝杆或者所述水平滑动部件上设有 与所述第一丝杆螺纹配合的第一螺纹孔； 且 /或， 所述连杆组件包括与所述水平滑动部件滑动连接的立杆和连接于所述 立杆与所述摩擦块之间的斜杆， 所述水平滑动部件上设有与所述立杆 滑动配合的第一弧形滑槽； 且 /或，
所述捻旋机构还包括设于所述底板与所述水平滑动部件之间的第一水 平导滑结构。
[权利要求 4] 如权利要求 3所述的血管介入手术机器人的导管捻旋装置， 其特征在 于： 所述立杆的底端通过第一铰轴滑动安装于所述第一弧形滑槽内， 所述立杆的顶端通过第二铰轴连接所述斜杆的底端， 所述斜杆的顶端 通过第三铰轴连接于所述摩擦块上； 且 /或，
所述第一水平导滑结构包括设于所述底板上的第一水平导轨和与所述 第一水平导轨滑动配合的第一水平滑块， 所述水平滑动部件安装于所 述第一水平滑块上。
[权利要求 5] 如权利要求 4所述的血管介入手术机器人的导管捻旋装置， 其特征在 于： 所述捻旋机构还包括设于所述底板上、 且位于所述水平滑动部件 旁侧的侧板， 所述第一铰轴的一端通过第一轴承转动安装于所述侧板 上， 所述第一铰轴的另一端通过两个间隔设置的第二轴承安装于所述 水平滑动部件上， 所述立杆的底端固定连接于所述第一铰轴上且位于 两所述第二轴承之间。
如权利要求 5所述的血管介入手术机器人的导管捻旋装置， 其特征在 于： 所述水平滑动部件上设有两个分别位于所述第一弧形滑槽两侧的 第二弧形滑槽， 所述立杆两侧的两所述第二轴承分别滑动安装于两所 述第二弧形滑槽内。
如权利要求 5或 6所述的血管介入手术机器人的导管捻旋装置， 其特征 在于： 所述第二铰轴的一端通过第三轴承转动安装于所述侧板上， 所 述第二铰轴的另一端穿设连接所述立杆的顶端和所述斜杆的底端； 所 述第三铰轴的一端固定于所述摩擦块上， 所述第三铰轴的另一端穿设 连接所述斜杆的顶端。
如权利要求 1至 5任一项所述的血管介入手术机器人的导管捻旋装置， 其特征在于： 所述张合机构包括安装于所述捻旋机构上方的固定板、 两个间隔设置且能够在所述固定板上滑动的滑座和用于调节所述两所 述滑座之间之水平距离的调节组件， 两所述摩擦块分别安装于两所述 滑座上。
如权利要求 8所述的血管介入手术机器人的导管捻旋装置， 其特征在 于： 所述调节组件包括与一个所述滑座连接的第一调节结构和与另一 个所述滑座连接的第二调节结构； 且 /或，
所述张合机构还包括设于所述固定板与所述滑座之间的第二水平导滑 结构； 且 /或，
所述导管捻旋装置还包括两个竖向导滑结构， 其中， 一个所述竖向导 滑结构设于一个所述摩擦块与一个所述滑座之间， 另一个所述竖向导 滑结构设于另一个所述摩擦块与另一个所述滑座之间。 于： 所述第一调节结构包括安装于所述固定板上的固定座和连接于所 述固定座与一所述滑座之间的调节螺杆， 该滑座通过第二丝杆套螺纹 连接所述调节螺杆或者在该滑座上设有与所述调节螺杆螺纹配合的第 二螺纹孔； 且 /或，
所述第二调节结构包括安装于所述固定板上的第二电机和连接于所述 第二电机与另一所述滑座之间的第二丝杆， 该滑座通过第三丝杆套螺 纹连接所述第二丝杆或者在该滑座上设有与所述第二丝杆螺纹配合的 第三螺纹孔； 且 /或，
所述第二水平导滑结构包括设于所述固定板上的第二水平导轨和两个 与所述第二水平导轨滑动配合的第二水平滑块， 两所述滑座分别安装 于两所述第二水平滑块上； 且 /或，
所述竖向导滑结构包括设于所述滑座上的竖向导轨和与所述竖向导轨 滑动配合的竖向滑块， 所述摩擦块安装于所述竖向滑块上。
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CN113633382B (zh) * 2021-07-28 2023-07-21 上海卓昕医疗科技有限公司 血管介入手术机器人的导丝/导管输送装置及血管介入手术机器人
CN113749780B (zh) * 2021-08-10 2023-06-16 深圳市爱博医疗机器人有限公司 一种改进型介入手术机器人从端导丝导管搓动装置
CN113749782B (zh) * 2021-08-10 2023-05-16 深圳市爱博医疗机器人有限公司 一种具有防护隔离功能的介入手术机器人从端驱动装置
CN113749774B (zh) * 2021-08-10 2023-05-16 深圳市爱博医疗机器人有限公司 具有识别导管导丝直径功能的介入手术机器人驱动装置
CN113712668B (zh) * 2021-09-01 2023-03-21 深圳睿心智能医疗科技有限公司 手指模块、递送装置及介入手术机器人
CN114343850B (zh) * 2022-01-13 2024-01-26 深圳睿心智能医疗科技有限公司 夹持旋捻装置、递送装置及介入手术机器人
CN114343853B (zh) * 2022-02-07 2024-01-26 深圳睿心智能医疗科技有限公司 夹持旋捻装置、递送装置、介入手术机器人
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