WO2022258018A1

WO2022258018A1 - Slave end guide wire/catheter twisting apparatus for interventional surgical robot

Info

Publication number: WO2022258018A1
Application number: PCT/CN2022/097916
Authority: WO
Inventors: 邓海云; 姚刚
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2021-06-10
Filing date: 2022-06-09
Publication date: 2022-12-15
Also published as: CN113633389B; CN113633389A

Abstract

A slave end guide wire/catheter twisting apparatus for an interventional surgical robot, said apparatus being arranged on a slave end of an interventional surgical robot and used for implementing grasping and rotating of a guide wire/catheter (100). The apparatus comprises a frame (10) and a twisting mechanism (20); the twisting mechanism (20) comprises two opposing grasping sets (21), a first drive assembly that drives the two grasping sets (21) to approach each other along a first direction, so as to grasp the guide wire/catheter (100), and a second drive assembly (23) that drives the two grasping sets (21) to go away from each other in a second direction different from the first direction, so as to twist the guide wire/catheter (100) to rotate. The present apparatus has a good transmission effect and a relatively simple structure, and use costs of a product are effectively reduced.

Description

An interventional surgery robot guide wire/catheter rubbing device from the end

This application requires a Chinese patent application with an application date of June 10, 2021, an application number of 202110649938.6, and an invention titled "A Device for Interventional Surgery Robot From the End Guidewire/Catheter Rubbing", and an application date of August 2021 On the 31st, the priority of the Chinese patent application with the application number 202111010071.6 and the title of the invention "a device for guiding wire/catheter rubbing from the end of an interventional surgery robot", the entire contents of these two Chinese patent applications are incorporated by reference in this application middle.

technical field

The invention relates to a device in the field of medical equipment robots, in particular to a device for rubbing a guide wire/catheter from the end of an interventional surgery robot.

Background technique

Intervention therapy is a kind of minimally invasive treatment using modern high-tech means—that is, under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.

Intervention therapy uses digital technology to expand the doctor's field of vision. With the help of the catheter, the guide wire extends the doctor's hands. Its incision (puncture point) is only the size of a grain of rice. It can treat many diseases that could not be treated in the past without cutting human tissue. Diseases that require surgical treatment or medical treatment are not effective, such as tumors, hemangiomas, various hemorrhages, etc. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good effect. It is the development trend of future medicine.

In vascular interventional surgery, doctors need to receive X-ray radiation for a long time. For this reason, a master-slave vascular interventional surgery robot with remote operation has been developed. The master-slave vascular interventional surgery robot can work in the environment of strong radiation, and the doctor controls it outside the radiation environment.

In the process of advancing, retreating and rotating the guide wire (or catheter), the surgical robot needs to be driven by a corresponding transmission mechanism. However, for the transmission mechanism of the existing surgical robot, due to the unreasonable structural design, the transmission effect of the entire transmission mechanism is not good. , the structure is relatively complicated, which increases the use cost of the product, which is not conducive to reducing medical costs and increasing the economic burden of patients. Moreover, the overall volume of the transmission mechanism is too large, which is not conducive to the spatial layout of the surgical robot. In the actual use process, it also brings Come various inconveniences, affect the flexibility of use.

Contents of the invention

Based on this, it is necessary to address the deficiencies in the prior art and provide a novel device for rubbing the guide wire/catheter from the end of the interventional surgery robot.

A rubbing device for the guide wire/catheter at the slave end of an interventional surgery robot, which is installed on the slave end of the interventional surgery robot for clamping and rotating the guide wire/catheter. The guide wire/catheter at the slave end of the interventional surgery robot The rubbing device includes a frame and a rubbing mechanism, and the rubbing mechanism includes two oppositely arranged clamping groups, a first driving assembly that drives the two clamping groups to approach along the first direction to clamp the guide wire/catheter, and drives the two clamping groups. The clamping group moves away in a second direction different from the first direction to actuate a second drive assembly for rotating the guidewire/catheter.

Further, the first driving assembly includes a first opener for driving the two clamping groups to clamp or release.

Further, the first switch is an electromagnetic switch.

Further, the first driving assembly includes a first driving motor for driving the two clamping groups to perform clamping or loosening.

Further, the first direction and the second direction are perpendicular to each other.

Further, the two clamping groups include a first base frame, a first guide rod mounted on the first base frame, a rubbing block mounted on the first guide rod and capable of sliding along the first guide rod .

Further, the first bottom frames of the two clamping groups are arranged opposite to each other, and the first driving assembly further includes a structure that is placed between the first bottom frames of the two clamping groups and allows the first bottom frames of the two clamping groups to The frame synchronizes the first linkage wheels approaching or moving away from each other along the first direction.

Further, the inner sides of the first underframes of the two clamping groups are provided with locking teeth, and the outer surface of the first linkage wheel is provided with locking teeth, and the first linkage wheels are simultaneously engaged on the two sides through the locking teeth. on the first chassis of the clamping group.

Further, the second drive assembly includes a second drive motor that drives the two clamping groups to move away from each other along the second direction to rub the guide wire/catheter to rotate.

Further, the second drive assembly also includes two sliding seats, two first connecting rods respectively connecting the two sliding seats and the two rubbing blocks, and placing between the two sliding seats and allowing the two sliding seats to move synchronously along the The second interlocking wheels that are separated from each other in the second direction.

Further, the inner surfaces of the two sliding seats of the second driving assembly are provided with locking teeth, and the outer peripheral surface of the second linkage wheel is provided with locking teeth, and the two sliding seats of the second driving assembly are engaged in the On the second interlocking wheel, the second interlocking wheel is driven by the second driving motor.

Further, the frame is provided with two guide rails, and the two sliding seats of the second driving assembly are respectively slidably installed on the two guide rails.

Further, the guide wire/catheter rubbing device at the slave end of the interventional surgery robot includes two rubbing mechanisms, and the two rubbing mechanisms grip and rub the guide wire/catheter synchronously.

Further, the guide wire/catheter rubbing device at the slave end of the interventional surgery robot includes two rubbing mechanisms, and the two rubbing mechanisms alternately clamp and rub the guide wire/catheter.

Further, the rubbing device for the guide wire/catheter from the interventional surgery robot includes two rubbing mechanisms, one of which grips and rubs the guide wire/catheter, and the other rubbing mechanism One of the rubbing mechanisms loosens the guide wire/catheter and clamps the guide wire/catheter during the reset process.

Further, the guide wire/catheter rubbing device at the slave end of the interventional surgery robot also includes a support device, and the support device fixes the guide wire/catheter during the process of releasing the guide wire/catheter and resetting by the rubbing mechanism.

Further, the support device includes two support groups arranged opposite to each other, and a third drive assembly that drives the two support groups to approach along the first direction to clamp the guide wire/catheter.

Further, the two support groups include a second base frame, a second guide rod installed on the second base frame, a support block mounted on the second guide rod, and the second bases of the two support groups The racks are set relative to each other.

Further, the third driving assembly includes a third linkage wheel placed between the second chassis of the two supporting groups and allowing the second chassis of the two supporting groups to approach or move away from each other synchronously along the first direction , the inner side of the second underframe of the two support groups is provided with locking teeth, the outer surface of the third linkage wheel is provided with locking teeth, and the third linkage wheel is engaged with the two support groups through the locking teeth at the same time. on the second chassis.

Further, the third driving assembly includes a third driving motor for driving the two clamping groups to perform clamping or loosening.

Further, the third drive assembly includes a second shutter that drives the two support groups to clamp or release.

Further, the second switch is an electromagnetic switch.

Further, the frame includes a bottom plate and a shell mounted on the bottom plate, the shell is arranged in a hollow box structure, an opening is provided at the upper end of the shell, the rubbing mechanism is built in the shell, and the two The clamping group clamps the guidewire/catheter through the opening.

Further, two opposite guide grooves are provided at the edge positions on both sides of the opening, the guide grooves are arranged in a V shape, and the size of the opening gradually decreases from top to bottom.

Further, movable grooves are provided on the outer surfaces of the front and rear sides of the frame, and the groove shape of the movable grooves is V-shaped, and the movable grooves and guide grooves are aligned with each other.

Further, the frame also includes a cover installed on the top of the casing and can rotate around the casing, the cover includes a cover body and limit plates connected to both sides of the cover body, the limit plates are pivotally connected to On the groove wall of the movable groove, the face cover can rotate around the shell. When the face cover is completely covered on the opening, a threading hole is formed between the limiting plate and the guide groove to allow the guide wire/catheter to pass through.

Further, the bottom plate is provided with a first chute and a second chute, the horizontal extension direction of the first chute and the second chute is consistent with the first direction, and the space in the first chute is The inside is wide and the outside is narrow, and the space inside the groove of the second chute is also wide inside and narrow outside.

To sum up, the wire introduction device for interventional surgery of the present invention is provided with a rubbing mechanism, and the rubbing mechanism includes two opposite clamping groups, a first driving assembly, and a second driving assembly, wherein the first driving assembly drives two The clamping groups approach each other along the first direction to clamp the guide wire/catheter, and the second drive assembly drives the two clamping groups to move away from each other along the second direction different from the first direction to rub the guide wire/catheter to rotate. The transmission effect is good, the structure is relatively simple, the use cost of the product is effectively reduced, and the economic burden of patients is reduced. Moreover, the structure is compact, the space occupied is small, the practicability is strong, and it has strong promotional significance.

Description of drawings

Fig. 1 is the schematic structural view of the guide wire/catheter rubbing device from the end of the interventional surgery robot of the present invention;

Fig. 2 is an exploded view of the guide wire/catheter rubbing device from the end of the interventional surgery robot shown in Fig. 1;

Fig. 3 is an exploded view from another angle of the end guide wire/catheter rubbing device of the interventional surgery robot shown in Fig. 2 .

Detailed ways

In order to make the purpose, technical solution and advantages of the invention clearer, the invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the invention, not to limit the invention.

As shown in Figures 1 to 3, the present invention provides a guide wire/catheter rubbing device at the slave end of an interventional surgery robot, which is installed on the slave end of an interventional surgery robot to push a slender medical device (guide wire or catheter) 100 performs clamping, forward, backward, forward rotation, and reverse operations, and pushes the slender medical device 100, that is, the forward direction of the guide wire or catheter to allow the guide wire or catheter to move into the direction of the surgical patient's body, and the backward direction to allow the guide wire Or the direction in which the catheter enters and moves out of the patient's body, forward rotation refers to the direction in which the guide wire or catheter rotates into the patient's body, and reverse refers to the direction in which the guide wire or catheter rotates out of the patient's body.

The rubbing device for the slave end guide wire/catheter of the interventional surgery robot includes a frame 10 and a rubbing mechanism 20. The rubbing mechanism 20 includes two oppositely arranged clamping groups 21, and drives the two clamping groups 21 to approach along the first direction. The first drive assembly for clamping the guide wire/catheter, the second drive assembly 23 for driving the two clamping groups 21 to leave along the second direction different from the first direction to rub the guide wire/catheter to rotate, the first direction and The second directions are perpendicular to each other.

Both clamping groups 21 include a first base frame 211, a first guide rod 212 mounted on the first base frame 211, a first guide rod 212 mounted on the first guide rod 212 and capable of sliding along the first guide rod 212. Rub block 213. The first chassis 211 of the two clamping groups 21 are arranged opposite to each other. The first drive assembly includes a first linkage that is placed between the first chassis 211 of the two clamping groups 21 and allows the first chassis 211 of the two clamping groups 21 to approach or move away from each other synchronously along the first direction. Wheel 222. The inner sides of the first underframes 211 of the two clamping groups 21 are provided with locking teeth, and the outer surface of the first linkage wheel 222 is provided with locking teeth, and the first linkage wheel 222 is engaged on both sides through the locking teeth. On the first chassis 211 of the clamping group 21 . The first drive assembly is connected to the clamping group 21, and the first drive assembly includes a first switch 221 that drives the two clamping groups 21 to clamp or loosen. In this embodiment, the first switch 221 The clutch 221 is an electromagnetic clutch.

It can be understood that in this embodiment, the first drive assembly uses the first opener 221 to drive the two clamping groups 21 to perform clamping or loosening actions. In other embodiments, the first drive assembly includes A first driving motor that drives the two clamping groups 21 to clamp or release, and the first driving motor is directly connected to the first linkage wheel 222 .

The second drive assembly 23 includes a second drive motor 234 that drives the two clamping groups 21 to move away from each other along the second direction to rub the guide wire/catheter to rotate, two slide seats 232, and connect the two slide seats 232 and the two rub seats respectively. The two first connecting rods 231 of the block 213 and the second linkage wheel 233 placed between the two sliding seats 232 and allowing the two sliding seats 232 to move away from each other along the second direction synchronously. The inner surfaces of the two sliding seats 232 of the second driving assembly 23 are provided with locking teeth, and the outer peripheral surface of the second linkage wheel 233 is provided with locking teeth, and the two sliding seats 232 of the second driving assembly 23 are simultaneously Engaged with the second linkage wheel 233 , the second linkage wheel 233 is driven to rotate by the second drive motor 234 , and under the action of the second linkage wheel 233 , the sliding seat 232 is driven to move in reverse. More preferably, the frame 10 is also provided with two guide rails 15, and the two slide seats 232 of the second driving assembly 23 are respectively slidably installed on the two guide rails 15, and the guide rails 15 guide the slide seats 232, thereby The slider 232 is moved in the second direction.

The guide wire/catheter rubbing device at the slave end of the interventional surgery robot can also use two sets of rubbing mechanisms 20. During operation, the two rubbing mechanisms 20 clamp and rub the guide wire/catheter synchronously or alternately. When the alternate rubbing structure is adopted, one of the rubbing mechanisms 20 clamps and rubs the guide wire/catheter, and the other rubbing mechanism 20 loosens the guide wire/catheter in one of the rubbing mechanisms 20 And hold the guidewire/catheter during reduction. When the structure of synchronous rubbing is adopted, the two rubbing mechanisms 20 synchronously release or clamp and rub the guide wire/catheter.

The guide wire/catheter rubbing device at the slave end of the interventional robot further includes a support device 30, which fixes the guide wire/catheter during the process of the rubbing mechanism 20 releasing the guide wire/catheter and resetting.

The support device 30 includes two support groups 31 disposed opposite to each other, and a third driving assembly that drives the two support groups 31 to approach each other along a first direction to clamp the guide wire/catheter. The two support groups 31 each include two second base frames 311 , a second guide rod 312 mounted on the second base frame 311 , and a support block 313 mounted on the second guide rod 312 .

The second underframes 311 of the two support groups 31 are arranged oppositely, and the third drive assembly also includes a second underframe 311 placed between the two support groups 31 and allowing the second underframes 31 of the two support groups 31 to 311 to synchronize the third linkage wheels 33 approaching or moving away from each other along the first direction. The inner sides of the second underframes 311 of the two supporting groups 31 are provided with locking teeth, and the outer surface of the third linkage wheel 33 is provided with locking teeth, and the third linkage wheel 33 is engaged with the two gears at the same time through the locking teeth. On the second chassis 311 of the support group 31. The third drive assembly is connected to the support group 31, and the third drive assembly includes a second opener 32 that drives the two support sets 31 to clamp or release. In this embodiment, the second opener 32 32 is an electromagnetic switch.

It can be understood that in this embodiment, the third drive assembly uses the second shutter 32 to drive the two support groups 31 to perform clamping or loosening actions. In other embodiments, the third drive assembly includes a drive The third driving motor for clamping or loosening by the two clamping groups 21, the third driving motor is directly connected to the second linkage wheel 233, and the third driving motor drives the two supporting groups 31 to perform the clamping or loosening action .

The frame 10 includes a base plate 11, a housing 12 mounted on the base plate 11, a mounting plate 14 mounted on the base plate 11 and passing through the housing 12, a mounting plate 14 mounted on the top of the housing 12 and capable of rotating around the housing 12. Cover 13, the shell 12 is set in a hollow box structure, the upper end of the shell 12 is provided with an opening 121, and the edge positions on both sides of the opening 121 are provided with two guide grooves 122 oppositely arranged, and the guide grooves 122 are set in a V shape , the size of the opening 121 gradually decreases from top to bottom. By setting the V-shaped guide groove 122, the guide wire/catheter can be installed more conveniently, and when the rubbing mechanism 20 and the supporting device 30 release the guide wire/catheter, the V-shaped The guide groove can support the guide wire/catheter, and the outer sides of the front and rear sides of the frame 10 are provided with movable grooves 123, and the groove shape of the movable groove 123 is also V-shaped. 122 are aligned with each other.

The face cover 13 includes a cover body and limit plates 131 connected to both sides of the cover body. The limit plate 131 is pivotally connected to the groove wall of the movable groove 123. The face cover 13 can rotate around the shell 12. When the face cover 13 When completely covering the opening 121 , a threading hole is formed between the limiting plate 131 and the guide groove 122 .

The bottom plate 11 is provided with a first chute 111 and a second chute 112, and the first chute 111 and the second chute 112 are respectively arranged on both sides of the mounting plate 14, and the first chute 111 and the second chute 112 are arranged on both sides of the mounting plate 14 respectively. The horizontal extension direction of the second chute 112 is parallel to each other, and the horizontal extension direction of the first chute 111 is consistent with the first direction, the space in the groove of the first chute 111 is wide inside and narrow outside, and the second chute 111 is narrow in the outside. The space in the groove of 112 is also wide inside and narrow outside. The second chassis 311 of the support group 31 is installed on the second chute 112 and can slide along the second chute 112. The first frame of the clamping group 21 The base frame 211 is installed on the first sliding slot 111 and can slide along the first sliding slot 111 .

Initially, first open the cover 13 of the frame 10, the first driving assembly of the rubbing mechanism 20 separates the clamping group 21, and the third driving assembly of the supporting device 30 separates the two supporting groups 31, and then separates the two supporting groups 31. The wire passes through the two guide grooves 122, the support blocks 313 of the two support groups 31, and the rubbing blocks 213 of the two clamping groups 21. The guide grooves 122 can support the wire rod in the vertical direction and cover the top cover 13.

The two rubbing mechanisms 20 clamp and rub the guide wire/catheter synchronously or alternately. When the structure of alternate rubbing is adopted, there is no need to use the supporting device 30. When one of the rubbing mechanisms 20 clamps and rubs the guide wire/catheter, the other rubbing mechanism 20 rubs in one of the rubbing mechanisms. Mechanism 20 releases the guidewire/catheter and clamps the guidewire/catheter during reset.

Specifically, the first drive assembly drives the rubbing blocks 213 of the two clamping groups 21 to approach each other along the first direction to clamp the guide wire/catheter, and the second drive motor 234 of the second drive assembly 23 drives the second linkage wheel 233 to rotate , when the second linkage wheel 233 rotates, it drives the two sliding seats 232 to move in reverse, and the two sliding seats 232 drive the rubbing blocks 213 of the two clamping groups 21 to leave each other along the second direction to rub the guide wire through the first connecting rod 231 When the guide wire/catheter rotates and resets, another rubbing mechanism 20 or the supporting device 30 clamps the guide wire/catheter, and drives the clamping group 21 after the guide wire/catheter is rubbed to perform reset, so that it reciprocates alternately. If at the beginning, the support device 30 does not clamp the guide wire/catheter, when the two clamping groups 21 of the rubbing mechanism 20 clamp the guide wire/catheter, it can be directly driven by the rubbing mechanism 20 Wire/catheter forward or reverse.

In other embodiments, the first driving assembly of the rubbing mechanism 20 can directly drive one clamping group 21 to move to the other clamping group 21 to clamp the guide wire/catheter, while the other clamping group 21 remains unchanged. In other words, one of the rubbing blocks 213 moves closer to the other rubbing block 213 to clamp the guide wire/catheter. At this time, the first drive assembly may not include the first linkage wheel 222 . The third drive assembly of the support device 30 can also directly drive one of the support groups 31 to move to the other support group 31 to clamp the guide wire/catheter, while the other support group 31 remains stationary, that is, one of the support blocks 313 is close to another support block 313 to clamp the guide wire/catheter, at this time, the third drive assembly may not include the third linkage wheel 33 . Similarly, in other embodiments, the second driving assembly 23 can only drive one clamping group 21 away from the other clamping group 21 in the second direction to rotate the guide wire/catheter. At this time, the second driving assembly 23 only includes a second driving motor 234 , a sliding seat 232 and a first connecting rod 231 connecting the sliding seat 232 and the rubbing block 213 .

To sum up, the wire introduction device for interventional surgery of the present invention is provided with a rubbing mechanism 20, and the rubbing mechanism 20 includes two opposite clamping groups 21, a first drive assembly, and a second drive assembly 23, wherein the first The driving assembly drives the two clamping groups 21 to approach each other along a first direction to clamp the guide wire/catheter, and the second drive assembly drives the two clamping groups 21 to move away from each other along a second direction different from the first direction to rub the guide wire / catheter rotation, the invention has good transmission effect, relatively simple structure, effectively reduces the use cost of the product, reduces the economic burden of the patient, and has a compact structure, takes up less space, has strong practicability, and has strong promotional significance.

The above-mentioned embodiment only expresses an implementation mode of the invention, and the description thereof is relatively specific and detailed, but it should not be construed as limiting the patent scope of the invention. It should be noted that for those skilled in the art, without departing from the concept of the invention, some modifications and improvements can be made, and these all belong to the protection scope of the invention. Therefore, the scope of protection of the invention patent shall be subject to the appended claims.

Claims

A guide wire/catheter rubbing device at the slave end of an interventional surgery robot, which is installed on the slave end of the interventional surgery robot for clamping and rotating the guide wire/catheter, characterized in that the slave end of the interventional surgery robot The guide wire/catheter rubbing device includes a frame and a rubbing mechanism, and the rubbing mechanism includes two opposite clamping groups, and a first drive that drives the two clamping groups to approach along the first direction to clamp the guide wire/catheter assembly, and a second drive assembly that drives the two clamping groups away from each other in a second direction different from the first direction to rub the guide wire/catheter to rotate.
The device for rubbing the guide wire/catheter at the slave end of the interventional surgery robot according to claim 1, wherein the first driving assembly includes a first shutter that drives the two clamping groups to clamp or release.
The device for rubbing the guide wire/catheter at the slave end of the interventional surgery robot according to claim 1, wherein the first direction and the second direction are perpendicular to each other.
The guide wire/catheter rubbing device from the end of the interventional surgery robot according to claim 2, characterized in that: both of the clamping groups include a first base frame and a first guide rod installed on the first base frame . A rubbing block mounted on the first guide rod and capable of sliding along the first guide rod.
The device for rubbing the guide wire/catheter from the end of the interventional surgery robot according to claim 4, characterized in that: the first chassis of the two clamping groups are arranged opposite to each other, and the first drive assembly also includes a between the first chassis of the holding group and make the first chassis of the two clamping groups approach or leave each other synchronously along the first direction, and the first driving wheel connected with the first linkage wheel motor.
The device for rubbing the guide wire/catheter from the end of the interventional surgery robot according to claim 5, characterized in that: the inner sides of the first chassis of the two clamping groups are provided with locking teeth, and the inner sides of the first linkage wheels The outer surface is provided with locking teeth, and the first linkage wheel is simultaneously engaged with the first chassis of the two clamping groups through the locking teeth.
The rubbing device for the slave end guide wire/catheter of an interventional surgery robot according to claim 4, wherein the second driving assembly further comprises two sliding seats, two first sliding seats respectively connected to the two rubbing blocks. A connecting rod, a second interlocking wheel placed between the two sliding seats and allowing the two sliding seats to move away from each other synchronously along a second direction, and a second driving motor connected to the second interlocking wheels.
The guide wire/catheter rubbing device from the end of the interventional surgery robot according to claim 7, characterized in that: the inner surfaces of the two sliding seats of the second drive assembly are provided with locking teeth, and the inner surfaces of the second linkage wheel The outer peripheral surface is provided with locking teeth, and the two sliding seats of the second drive assembly are engaged with the second linkage wheel at the same time, and the second linkage wheel is driven by the second drive motor;

The frame is provided with two guide rails, and the two sliding seats of the second driving assembly are respectively slidably installed on the two guide rails.
The device for rubbing the guide wire/catheter from the end of the interventional robot according to any one of claims 1 to 8, wherein the device for rubbing the guide wire/catheter from the end of the interventional robot includes two rubbing devices mechanism, the two rubbing mechanisms synchronously clamp and rub the guide wire/catheter; or

The two rubbing mechanisms grip and rub the guidewire/catheter alternately; or

One of the rubbing mechanisms clamps and rubs the guide wire/catheter, and the other rubbing mechanism clamps the guide wire/catheter during one of the rubbing mechanisms releasing the guide wire/catheter and resetting it.
The device for rubbing the guide wire/catheter from the end of the interventional robot according to any one of claims 1 to 8, characterized in that: the device for rubbing the guide wire/catheter from the end of the interventional robot also includes a support device, During the process of the rubbing mechanism loosening the guide wire/catheter and resetting, the support device fixes the guide wire/catheter.
The guide wire/catheter rubbing device at the slave end of the interventional surgery robot according to claim 10, characterized in that: the support device includes two support groups arranged oppositely, and the two support groups are driven to approach along the first direction to clamp the guide wire / catheter third drive assembly.
The guiding wire/catheter rubbing device from the end of the interventional surgery robot according to claim 11, characterized in that: the two support groups include a second base frame, a second guide rod installed on the second base frame, The support blocks installed on the second guide rods are opposite to the second underframes of the two support groups.
The device for rubbing the guide wire/catheter from the end of the interventional surgery robot according to claim 12, wherein the third drive assembly includes a second chassis placed between the two support groups and allows the two The second chassis of the supporting group synchronizes the third linkage wheels approaching or leaving each other along the first direction, the inner sides of the second chassis of the two supporting groups are provided with locking teeth, and the outer surface of the third linkage wheel is provided with There are locking teeth, and the third linkage wheel is simultaneously engaged with the second chassis of the two supporting groups through the locking teeth.
The device for rubbing the guide wire/catheter at the slave end of the interventional surgery robot according to claim 10, wherein the third driving assembly includes a second shutter that drives the two support groups to clamp or release.
The guide wire/catheter rubbing device from the interventional surgery robot according to claim 1, characterized in that: the frame includes a bottom plate and a shell mounted on the bottom plate, the shell is arranged in a hollow box structure, An opening is provided at the upper end of the housing, the rubbing mechanism is built in the housing, and the two clamping groups clamp the guide wire/catheter through the opening.
The guide wire/catheter rubbing device from the end of the interventional surgery robot according to claim 15, characterized in that: two opposite guide grooves are arranged at the edge positions on both sides of the opening, and the guide grooves are arranged in a V shape. The opening size gradually decreases from top to bottom.
The guide wire/catheter rubbing device from the end of the interventional surgery robot according to claim 16, characterized in that: the outer surfaces of the front and rear sides of the frame are provided with movable grooves, and the groove shape of the movable grooves is V-shaped. , the movable groove and the guide groove are aligned with each other;

The frame also includes a cover mounted on the top of the casing and capable of rotating around the casing. The cover includes a cover body and limit plates connected to both sides of the cover body. The limit plates are pivotally connected to the movable groove. On the groove wall, the face cover can rotate around the shell. When the face cover is completely covered on the opening, a threading hole is formed between the limiting plate and the guide groove to allow the guide wire/catheter to pass through.
The device for rubbing the guide wire/catheter from the end of the interventional surgery robot according to claim 15, wherein a first chute and a second chute are arranged on the base plate, and the first chute and the second chute The horizontal extending direction of the groove is consistent with the first direction, the groove inner space of the first sliding groove is wide on the inside and narrow on the outside, and the groove inner space of the second sliding groove is also wide on the inside and narrow on the outside.
A rubbing device, which is installed on the slave end of an interventional surgery robot, is used to clamp and drive elongated medical instruments, the rubbing device includes a frame and a rubbing mechanism, and the rubbing mechanism includes:

At least one pair of clamping groups, each pair of clamping groups are arranged opposite to the frame, and each pair of clamping groups alternately clamps and/or drives the elongated medical device;

The first driving assembly is used to drive at least one clamping group in the at least one pair of clamping groups to move along the first direction, so as to cooperate with the opposite clamping group to clamp the elongated medical instrument;

The second driving assembly is used to drive at least one clamping group in the at least one pair of clamping groups to move along the second direction, so as to cooperate with the opposite clamping group to rub the elongated medical instrument.
The rubbing device according to claim 19, the two clamping groups in each pair of clamping groups include:

first chassis;

a first guide rod installed on the first chassis;

The rubbing block is installed on the first guide rod;

Wherein, the first chassis of at least one clamping group can slide on the frame, and the rubbing block of at least one clamping group can slide along the first guide rod where it is located.
The rubbing device according to claim 20, the two first chassis in each pair of clamping groups are arranged oppositely, and the first drive assembly includes:

At least one first linkage wheel, a first linkage wheel is arranged between the two first underframes in each pair of clamping groups, which is respectively engaged with the two first underframes, and is used to drive the two first underframes The first chassis moves synchronously and reversely along the first direction.
The rubbing device according to claim 20, said second drive assembly comprising:

at least one pair of sliding seats installed on the first chassis;

At least one pair of first connecting rods, each first connecting rod is respectively connected to a group of sliding seats and rubbing blocks;

At least one second linkage wheel, a second linkage wheel is arranged between each pair of sliding seats, which is respectively engaged with each pair of sliding seats, and is used to drive each pair of sliding seats to synchronously reverse along the second direction. to the movement;

Wherein, at least one sliding seat can slide on the frame.
The rubbing device according to any one of claims 19 to 22, wherein the first drive assembly further comprises a first switch or a first drive motor; and/or

The second drive assembly also includes a second drive motor.
The rubbing device according to any one of claims 19 to 22, said rubbing device further comprising:

A supporting device, which is installed on the frame, is used to fix the elongated medical device during the reset process of the rubbing mechanism.
The rubbing device according to claim 24, said supporting device comprising:

two supporting groups, which are relatively arranged on the frame;

The third driving assembly is used to drive at least one of the two support groups to move along the first direction, so as to cooperate with the opposite support group to clamp the elongated medical instrument.
The rubbing device according to claim 25, both of the supporting groups include:

a second chassis installed on the frame;

a second guide rod installed on the second chassis;

a support block installed on the second guide rod;

Wherein, at least one second chassis of the supporting group can slide on the frame.
The rubbing device according to claim 25, the second chassis of the two supporting groups are arranged oppositely, and the third drive assembly includes:

The third interlocking wheel, which is arranged between the two second underframes and engages with the two second underframes respectively, is used to drive the two second underframes to move synchronously and reversely along the first direction .
The rubbing device according to claim 25, said third drive assembly further comprising:

The second switch or the third driving motor.
The rubbing device according to any one of claims 19 to 22, wherein the first direction and the second direction are perpendicular to each other.
The rubbing device according to any one of claims 19 to 22, said frame comprising:

floor;

The shell, which is installed on the bottom plate, the shell is set in a hollow box structure, the upper end of the shell is provided with an opening, the rubbing mechanism is built in the shell, and the clamping group is at the opening gripping and driving the elongate medical device;

Wherein, the opening is provided with two opposite V-shaped guide grooves on two sides perpendicular to the first direction, which are used to support the elongated medical device.
The rubbing device according to claim 30, wherein the outer surface of the frame is provided with V-shaped movable grooves respectively aligned with the two V-shaped guide grooves;

The rack also includes:

The cover is installed on the top of the shell and can rotate around the shell;

The face cover includes a cover body and a limiting plate connected to both sides of the cover body, the limiting plate is pivotally connected to the groove wall of the V-shaped movable groove, and the distance between the limiting plate and the V-shaped guide groove A threading hole is formed between them for the elongated medical device to pass through.