WO2023016118A1

WO2023016118A1 - Improved slave-end guidewire/catheter twisting device for interventional surgical robot

Info

Publication number: WO2023016118A1
Application number: PCT/CN2022/102232
Authority: WO
Inventors: 邓海云
Original assignee: 深圳市爱博医疗机器人有限公司
Priority date: 2021-08-10
Filing date: 2022-06-29
Publication date: 2023-02-16
Also published as: CN113749780A; CN113749780B

Abstract

An improved slave-end guidewire/catheter twisting device for an interventional surgical robot is mounted on a slave end of the interventional surgical robot, is configured to clamp and rotate a guidewire/catheter (100), and comprises two clamping sets (30) arranged oppositely, a first driving assembly (40) and a second driving assembly (50). The first driving assembly (40) drives the two clamping sets (30) to be close to or away from each other in a first direction, so that the two clamping sets (30) alternately switch between a clamping position and a non-clamping position in the first direction with respect to the second driving assembly (50). When the two clamping sets (30) are at the clamping position in the first direction, the two clamping sets (30) clamp the guidewire/catheter (100), and the second driving assembly (50) drives the two clamping sets (30) that tightly clamp the guidewire/catheter (100) to move opposite to each other in a second direction different from the first direction, to twist the guidewire/catheter (100) to rotate. The present invention has a good transmission effect and a relatively simple structure, effectively reduces the use cost of products, reduces the economic burden of patients, and is compact in structure, small in occupied space and high in practicability.

Description

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

This application requires a Chinese patent application with an application date of August 10, 2021, an application number of 202110912555.3, and an invention titled "An Improved Interventional Surgery Robot Slave Guide Wire Catheter Rubbing Device", and an application date of August 2021 On March 31, the priority of the Chinese patent application with the application number 202111009818.6 and the title of the invention is "An Improved Interventional Surgery Robot from the Guide Wire Catheter Rubbing Device". The entire contents of these two Chinese patent applications are incorporated by reference in In this application.

technical field

The invention relates to a device in the field of medical equipment and robots, in particular to an improved device for rubbing a guide wire catheter at the slave end of an interventional operation 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 results. 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 an improved device for rubbing the guidewire catheter at the slave end of the interventional surgery robot.

An improved guide wire catheter rubbing device at the slave end of an interventional surgery robot is installed on the slave end of an interventional surgery robot for clamping and rotating the guide wire guide tube. A drive assembly and a second drive assembly, the first drive assembly drives the two clamping groups to approach or move away from each other along the first direction, so that the two clamping groups are clamped and non-clamped relative to the second drive assembly in the first direction alternate between positions, when the two clamping groups are located at the clamping position in the first direction, the two clamping groups clamp the guide wire catheter, and the second drive assembly drives the two clamping devices for clamping the guide wire catheter The groups move in opposite directions relative to each other in a second direction different from the first direction, rubbing the guidewire catheter to rotate.

Further, among the clamping group and the second drive assembly, one of them is provided with a lock slot, and the other is provided with a clip bar, and the clamping position and the non-clamping position in the first direction are located at the lock In the groove, when the first drive assembly drives the two clamping groups to clamp or loosen the guide wire catheter, the clip slides from the non-clamping position of the locking groove to the clamping position or from the clamping position of the locking groove Slide to the non-clamping position.

Further, the locking groove extends along the first direction.

Further, the clamping strip is passed through the locking groove.

Further, the clamping group includes a positioning part and a clamping part connected to the positioning part, and the locking groove is provided on the side of the positioning part close to the other clamping group; the second drive assembly It includes two sliding seats and a driving motor for synchronously moving the two sliding seats in opposite directions along the second direction, and the clip bar is arranged on the outer side of the sliding seats.

Further, the second driving assembly also includes a second interlocking wheel placed between the two sliding seats, the driving motor is connected to the second interlocking wheel, the inner surfaces of the two sliding seats are provided with locking teeth, and the The outer peripheral surface of the second interlocking wheel is provided with locking teeth, and the two sliding seats of the second driving assembly are engaged on the second interlocking wheel at the same time.

Further, the sliding seat is provided with a second guide rod, and the second drive assembly also includes a sliding sleeve, and a guide groove extending along the second direction is provided inside the sliding sleeve, and the second guide rod is connected from the guide of the sliding sleeve to The groove passes through and the sliding sleeve guides the carriage.

Further, the first drive assembly includes two first underframes, a driver for driving the two first underframes to move in the first direction, and a first guide rod installed on the first underframes, the first guide rod Interspersed on the clamping group.

Further, the first driving assembly is further provided with a first guide device on the first guide rod, the first guide device is a bearing, and the bearing is sleeved on the outside of the guide rod installed in cooperation with it.

Further, the improved guide wire guide catheter rubbing device of the interventional surgery robot also includes an inner frame. The inner frame is provided with two opposite splints, and the first guiding device is sandwiched between the two splints of the inner frame. between.

Further, the first drive assembly also includes a first linkage wheel connected to the two first underframes at the same time, the two first underframes are opposite to each other, and the first linkage wheel is placed between the two first underframes. Between the bottom frames, the inner sides of the two first bottom frames are provided with locking teeth, the outer surface of the first linkage wheel is provided with locking teeth, and the first linkage wheel engages with the two clamps at the same time through the locking teeth. on the first chassis of the holding group.

Further, the inner frame is also provided with two sets of bearings corresponding to the two clamping groups, and the two first underframes of the first drive assembly are respectively installed on two sets of guide rails, and the first underframe is mounted on the bearings along the Swipe in the first direction.

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

To sum up, the improved interventional surgery wire introduction device of the present invention is provided with a rubbing mechanism, and the rubbing mechanism includes two opposite clamping groups, a first drive assembly, and a second drive assembly, wherein the first drive assembly Drive the two clamping groups to 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 in opposite directions along the second direction different from the first direction to rub the guide wire catheter to rotate. The invention has good transmission effect, relatively simple structure, effectively reduces the use cost of the product, reduces the economic burden of patients, and has a compact structure, takes up less space, has strong practicability, and has strong promotional significance.

Description of drawings

Fig. 1 is the structure schematic diagram of the guide wire catheter rubbing device from the improved interventional surgery robot of the present invention;

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

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

Fig. 4 is a further exploded view of the guide wire catheter rubbing device at the improved interventional surgery robot shown in Fig. 2;

Fig. 5 is an exploded view from another angle of the guide wire catheter rubbing device of the improved interventional surgery robot shown in Fig. 4;

Figures 6 and 7 are front and rear views after the rubbing mechanism of the present invention is installed in cooperation with the inner frame;

Figures 8 and 9 are structural schematic diagrams after the first drive motor, inner frame and photoelectric sensor are omitted in Figure 7;

Fig. 10 is a structural schematic view of the modified interventional surgery robot of the present invention when the clamping group of the guide wire catheter rubbing device at the slave end is installed in cooperation with the first drive assembly.

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 Fig. 1 to Fig. 10, the present invention provides an improved interventional surgery robot guide wire catheter rubbing device from the end, which is installed on the interventional surgery robot from the end to push the slender medical device (guide wire or catheter) ) 100 performs clamping, forward rotation, and reverse operations, and pushes the slender medical device 100, that is, the forward rotation of the guide wire or catheter refers to the direction in which the guide wire or catheter rotates into the patient's body, and the reverse refers to the direction in which the guide wire or catheter enters the patient's body. The catheter is rotated out of the direction of the surgical patient's body.

The improved interventional surgery robot guide wire catheter rubbing device includes a frame 10, an inner frame 20 and a rubbing mechanism, the rubbing mechanism is installed on the inner frame 20, and the frame 10 is sleeved in the inner frame 20. The outside of frame 20 and rubbing mechanism allows the outside world to be isolated from rubbing mechanism. The rubbing mechanism includes two clamping groups 30, a first drive assembly 40, and a second drive assembly 50 that are arranged oppositely. The first drive assembly 40 drives the two clamping groups 30 to approach or move away from each other along the first direction, so that the two clamping groups The group 30 changes alternately between the clamping position and the non-clamping position in the first direction relative to the second drive assembly 50. When the two clamping groups 30 are located in the clamping position in the first direction, the two clamping groups The group 30 clamps the guide wire catheter, and the second driving assembly 50 drives the two clamping groups 30 clamping the guide wire catheter to move in opposite directions along the second direction different from the first direction, rubbing the guide wire catheter to rotate, so The first direction and the second direction are perpendicular to each other, and the frame 10 supports the guide wire or catheter.

Both clamping groups 30 include a clamping portion 31 and a positioning portion 32, the clamping portion 31 and the positioning portion 32 are distributed in a T shape, and the bottom surface of the clamping portion 31 is provided with a card extending inward. Slot 35, the upper end of the position adjustment part 32 is detachably installed in the card slot 35, a gap is formed between the outer surface of the position adjustment part 32 and the groove wall of the card slot 35, the position adjustment part 32 There are several positioning slots extending inward at the bottom of the bottom of the positioning portion 32 , and a locking slot 321 extending outward along the first direction is provided on the side of the positioning portion 32 close to the other clamping group 30 .

The first driving assembly 40 includes two first underframes 43 installed on the inner frame 20, a first linkage wheel 46 connected to the two first underframes 43 at the same time, and mounted on the two first underframes 43 respectively. The two first guide rods 44 on the top, the driver 41 that drives the two first undercarriages 43 to move along the first direction. The two first underframes 43 are arranged opposite to each other. The first interlocking wheel 46 is disposed between the two first chassis 43 and allows the two first chassis 43 to approach or move away from each other synchronously along a first direction. The inner sides of the two first chassis 43 are provided with locking teeth, and the outer surface of the first linkage wheel 46 is provided with locking teeth, and the first linkage wheel 46 is engaged with the two clamping groups at the same time through the locking teeth. 30 on the first chassis 43. The driver 41 is connected to one of the first chassis 43 , and under the action of the first linkage wheel 46 , the driver 41 simultaneously drives the two first chassis 43 to move oppositely along the first direction. The position adjustment parts 32 of the two clamping groups 30 are installed on the two first guide rods 44 respectively, and drive the two clamping groups 30 to approach or move away from each other along the first direction, and drive the two clamping groups 30 to perform clamping or loosening. Actions. In this embodiment, the driver 41 is an electromagnetic driver.

It can be understood that, in this embodiment, an electromagnetic driver is used to drive the two clamping groups 30 to perform clamping or loosening actions. A second drive motor of opposite motion is used to replace the electromagnetic drive. The second drive motor is directly connected to the first linkage wheel 46 .

The two first underframes 43 of the first driving assembly 40 are installed in cooperation with the two clamping groups 30 through the first guide rods 44 respectively. Specifically, the two first guide rods 44 of the first driving assembly 40 are respectively inserted into the positioning slots at the bottom of the two positioning parts 32, so that the entire clamping group 30 can slide back and forth along the first guide rods 44 in the second direction, Then rub the guide wire or catheter.

The first drive assembly 40 is also provided with a first guide device 45 on each first guide rod 44. In this embodiment, the first guide device 45 is a bearing, and the bearing is sleeved on the first guide rod 44 that is installed in cooperation with it. A guide rod 44 outside. The inner frame 20 is provided with two splints 21 oppositely disposed along the first direction, and the two first guiding devices 45 are sandwiched between the two splints 21 of the inner frame 20, so that the first drive assembly 40 drives the two splints. The holding group 30 is more stable during the movement along the first direction.

The inner frame 20 is also provided with two sets of bearings 22, and the two first underframes 43 of the first driving assembly 40 are installed on the two sets of bearings 22 respectively, and each of the first underframes 43 is corresponding to The set of bearings 22 slides along the first direction.

The improved catheter rubbing device for the guide wire at the slave end of the interventional surgery robot also includes a first stroke detection device 60, which is used to identify the diameter of the guide wire of the catheter. In this embodiment, the first stroke detection device 60 is a grating sensor, the grating sensor includes a grating ruler 62 and a grating reading head 61, the grating ruler 62 is mounted on a first chassis 43, the grating The reading head 61 is arranged above the grating scale 62 and fixedly installed on the splint 21 . The two first chassis 43 move along the first direction until the two clamping groups 30 clamp the catheter guide wire, the grating sensor acquires the displacement of the movement, and transmits the measurement result to the system controller, which is converted into a guide wire. The diameter of the wire or catheter.

The second drive assembly 50 includes two sliding seats 53, a second linkage wheel 52 placed between the two sliding seats 53 and allowing the two sliding seats 53 to move away from or approach each other synchronously along the second direction, connected to the first The first driving motor 51 of the two linkage wheels 52, so that the first driving motor 51 drives the two clamping groups 30 to move away from each other along the second direction to rub the guide wire catheter to rotate. The inner surfaces of the two sliding seats 53 of the second driving assembly 50 are provided with locking teeth, and the outer peripheral surface of the second linkage wheel 52 is provided with locking teeth, and the two sliding seats 53 of the second driving assembly 50 are simultaneously Mesh on the second linkage wheel 52, the first drive motor 51 drives the second linkage wheel 52 to rotate, and under the action of the second linkage wheel 52, the two sliding seats 53 are driven to move in opposite directions, thereby driving the clamping group 30 to rub Move the guidewire or catheter forward or reverse.

The sliding seat 53 is provided with a clip bar 54 on the outer side. When assembling, the clip bar 54 is passed through the locking groove 321, so that the first driving motor 51 can drive the corresponding clip through the two sliding seats 53. The holding group 30 moves in the second direction. Moreover, the clamping position and the non-clamping position in the first direction are located in the locking groove 321, and when the first drive assembly 40 drives the two clamping groups 30 to clamp or loosen the guide wire catheter, the second The second driving assembly 50 extends into the clamping position or the non-clamping position of the clamping group 30 , and the clip bar 54 cooperates with the locking groove 321 at different positions in the first direction for position adjustment. Specifically, when the first driving assembly 40 drives the two clamping groups 30 to clamp or loosen the guide wire catheter, the clip bar 54 slides from the non-clamping position of the locking groove 321 to the clamping position or slides from the locking groove 321 to the clamping position. The clamping position of 321 slides to the non-clamping position.

More preferably, the second drive assembly 50 also includes two sliding sleeves 55, the two sliding sleeves 55 are fixed between the two splints 21, each sliding seat 53 is provided with a second guide rod 56, each sliding sleeve 55 is provided with a guide groove extending along the second direction, and the two second guide rods 56 pass through the guide grooves of the two sliding sleeves 55 to allow the two sliding sleeves 55 to guide the two sliding seats 53 .

The improved interventional surgery robot guide wire catheter rubbing device from the end also includes a second stroke detection device 63, and the second stroke detection device 63 is used to detect whether the stroke of the two clamping groups 30 in the second direction reaches the limit position . In this embodiment, the second stroke detection device 63 is a photoelectric sensor, and the number of photoelectric sensors is two. The two photoelectric sensors are installed on the splint 21, and the two sliding seats 53 are also convex Barriers 57 are provided, and the bars 57 on the two sliding seats 53 correspond to two photoelectric sensors respectively. Since the two clamping groups 30 move in opposite directions along the second direction, only one of the two photoelectric sensors detects its corresponding position. When the clamping group 30 moves to the limit position, then the bar 57 on the corresponding sliding seat 53 moves to the position of the light outlet of the corresponding photoelectric sensor, and the system controller judges the position of the two clamping groups according to the light information change of the photoelectric sensor. 30 reaches the limit position, thereby controlling the second driving assembly 50 to drive the second linkage wheel 52 to drive backward.

In addition, the improved interventional surgery robot guide wire catheter rubbing device also includes a second force detection module 80 and a first force detection module 70, and the first force detection module 70 includes The first load cell of one of the first chassis 43 and the connection plate 42 connecting the driver 41 and the first load cell in the first direction, when the two clamping groups 30 are in the state of loosening the guide wire catheter, The connecting plate 42 causes the first load cell to generate a predetermined pressure. When the two clamping groups 30 clamp the guide wire catheter, the first chassis 43 drives the displacement of the first load cell to allow a predetermined pressure. The pressure changes, and the clamping force of the two clamping groups 30 on the guide wire catheter is measured. The first base frame 43 is provided with a baffle plate 431, and the side of the baffle plate 431 facing away from the driver 41 is provided with an assembly groove, the second load cell is installed in the assembly groove, and the first load cell Protruding from the assembly slot, the connecting plate 42 is provided with an opening on a side close to the first base frame 43 , and the opening is sheathed on the baffle plate 431 and the first load cell. In this embodiment, the first load cell is a pressure sensor.

When the two clamping groups 30 clamp the guide wire catheter, the two first chassis 43 drive the displacement of the second load cell to change the predetermined pressure. The system controller records the change of pressure information and feeds it back to the master terminal operated by the doctor, increasing the doctor's sense of presence.

The improved interventional surgery robot guide wire guide catheter rubbing device also includes an auxiliary module 90, which is used to cooperate with the second force detection module 80 for force detection, which includes a slide rail 91 and a slider 92, The second force detection module 80 includes a first load cell 82 fixed to the bottom of the inner frame 20, an elastic member 83 and a fixing seat 81, and the fixing seat 81 is fixed on the slave end for supporting the improved interventional surgery robot. On the support plate (not shown) of the guide wire catheter rubbing device, the slider 82 is fixed on the bottom of the inner frame 20, and the slide rail 91 is installed on the guide wire catheter rubbing device for supporting the improved interventional surgery robot from the end. on the support plate (not shown) of the moving device, and its installation direction is consistent with the delivery direction of the elongated medical device 100. The slider 92 is installed in cooperation with the slide rail 91. When the delivery resistance (that is, the delivery direction of the elongated medical device 100 ) changes, the slider 92 can slide slightly on the slide rail 91 along a third direction perpendicular to the first direction. The elastic member 83 is a compression spring extending along the advancing direction of the guide wire catheter, and its two ends respectively abut against between the second load cell 82 and the fixing seat 81 . The second load cell 82 and the elastic member 83 are all arranged inside the fixed seat 81, and the second load cell 82 is fixed to the bottom of the inner frame 20, and the second load cell 82 and the elastic member 83 The installation direction inside the fixing seat 81 is consistent with the third direction, and the two ends of the elastic member 83 respectively abut against between the first load cell 82 and the fixing seat 81 . During the delivery process of the guide wire or catheter along the third direction, the delivery resistance suffered by the guide wire or catheter will drive the two clamping groups 30 and the inner frame 20 to move slightly along the slide rail 91. During the movement, the first load cell 82 The position of the elastic member 83 also changes accordingly, and the elastic member 83 changes the extrusion force on the first load cell 82, thereby bringing about a change in pressure detected by the first load cell 82. The system controller records the change in pressure information and feeds it back to The main terminal operated by doctors.

The frame 10 includes a first housing 11, the first housing 11 is arranged in a hollow structure as a whole, and the top surface of the first housing 11 is protruded with two extension cylinders 111, and each of the extension cylinders is A through hole 112 penetrating along the second direction is provided, and a supporting foot 113 protrudes from one side of the first housing 11 .

When assembling, the first driving assembly 40, the second driving assembly 50 and the inner frame 20 of the rubbing mechanism are installed in the first housing 11, and the position adjustment parts 32 of the two clamping groups 30 respectively pass through the first The perforations 112 of the two extension tubes 111 on the housing 11 are installed in cooperation with the corresponding first guide rods 44 of the first drive assembly 40 through their position adjustment grooves, so that the entire clamping group 30 can move along the two first guide rods 44 Sliding reciprocally in the second direction, and the clamping group 30 and the second driving assembly 50 are cooperatingly installed through the locking groove 321 and the clip bar 54 . Since the groove depth of the clamping groove 35 of the clamping part 31 is greater than the length of the extension tube 111, the second drive assembly 50 drives the two clamping groups 30 to slide along the corresponding first guide rod 44, and the clamping parts 31 of the two clamping groups 30 Keep wrapped on the outside of the extension tube 111 to ensure the isolation of the inner space from the outside world.

The frame 10, the inner frame 20 and the rubbing mechanism are non-consumable parts. The present invention also includes a consumable part. The consumable part includes an outer cover 33 and a buffer member 34. When in use, the outer cover 33 is sleeved on the clamping part 31 outside, the buffer member 34 is bonded to the outer cover 33, and the buffer members 34 of the two clamping groups 30 are arranged oppositely. The buffer member 34 has elasticity, which can prevent the clamping group 30 from clamping the catheter or guide wire If the force is too large, the catheter or guide wire will be damaged. In this embodiment, the buffer member 34 is made of silica gel.

The consumable part also includes a second housing 12 and a cover 13 for accommodating the first housing 11, the second housing 12 includes a receiving portion 121 and a docking portion 122 connected to the upper end of the receiving portion 121, the The accommodating portion 121 is hollow, and an opening 123 is provided at the upper end of the docking portion 122, and two guide grooves 124 are arranged opposite to each other at the edge of the opening 123 along the third direction. The guide grooves 124 are V-shaped, and the guide grooves 124 The groove width gradually decreases from the edge to the inside.

During use, the second housing 12 is sheathed on the outside of the first housing 11 along the second direction, the second housing 12 and the first housing 11 are provided with magnets and/or iron blocks, and the second housing 12 1. The first shell 11 is fixed by magnetic attraction to ensure that the first shell 11 and the second shell 12 are not easy to loosen when they are matched, and can be disassembled freely. The height of the groove bottom of the front and rear V-shaped guide grooves 124 is set at At the overlapping position of the movement paths of the two sliding seats 53 , by setting the guide groove 124 , the guidewire catheter can be installed more conveniently, and the guide groove 124 can support the guidewire catheter.

The clamping parts 31 of the two clamping groups 30 and the outer cover 33 and the buffer member 34 sleeved thereon are placed in the opening 123 of the butt joint part 122 on the second housing 12, and their central positions are facing the two V-shaped Guide groove 124; cover the face cover 13 on the docking portion 122, the face cover 13 can be freely disassembled from the second housing 12, the face cover 13 is provided with a clamping plate 131, and the clamping plate 131 cooperates with the guide groove 124 limits the position of the guide wire or catheter, and in order to achieve a better matching effect, the bottom of the clamping plate 131 is provided with an avoidance groove 132 .

Since only the consumable part of the guided wire guide catheter rubbing device of the improved interventional surgery robot after assembly is exposed to the outside, after each use, only the consumable part needs to be replaced directly without replacing the entire guide wire guide from the end. Wire catheter rubbing device reduces operation cost.

In summary, the improved interventional surgery robot of the present invention is provided with a rubbing mechanism from the guide wire catheter rubbing device at the end, and the rubbing mechanism includes two clamping groups 30, a first drive assembly 40, and a second drive assembly 40 that are oppositely arranged. Assembly 50, wherein the first driving assembly 40 drives the two clamping groups 30 to approach each other along a first direction to clamp the guide wire catheter, and the second driving assembly drives the two clamping groups 30 to mutually approach each other along a second direction different from the first direction Reverse movement is used to rub the guide wire catheter to rotate, the transmission effect is good, the structure is relatively simple, and the isolation from the outside world is realized, the use cost of the product is effectively reduced, and the economic burden of the patient is reduced, and the structure is compact, the space occupied is small, and the practicability Strong, with strong promotional significance.

It should be noted that the first direction and the second direction in the present invention are bidirectional. For example, when the first direction is a horizontal direction, it includes both a leftward direction and a rightward movement direction; when the second direction is a vertical direction, it includes both an upward direction and a downward direction.

In addition, both the clamping position and the non-clamping position are variable. For example, if the diameters of the wire catheters clamped between the two clamping groups are different, the clamping position will change, and the clamping position will also slightly change when the clamping force is different at any time.

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, several modifications and improvements can be made without departing from the concept of the invention, 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

An improved 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 for clamping and rotating the guide wire guide tube. It is characterized in that it includes two opposite clamping group, the first driving assembly and the second driving assembly, the first driving assembly drives the two clamping groups to approach or move away from each other in the first direction, so that the clamping positions and the clamping positions of the two clamping groups in the first direction relative to the second driving assembly The non-clamping position changes alternately. When the two clamping groups are located at the clamping position in the first direction, the two clamping groups clamp the guide wire catheter, and the second driving assembly drives the clamping guide wire catheter. The two clamping groups move in opposite directions along the second direction different from the first direction, rubbing the guide wire catheter to rotate.
The improved guide wire guide catheter rubbing device for interventional surgery robot according to claim 1, characterized in that: among the clamping group and the second drive assembly, one of them is provided with a locking groove, and the other is provided with a latch The clamping position and the non-clamping position in the first direction are located in the locking groove, and when the first drive assembly drives the two clamping groups to clamp or loosen the guide wire catheter, the clamping strips respectively move from The non-clamping position of the locking slot slides to the clamping position or slides from the clamping position of the locking slot to the non-clamping position.
The improved guiding wire catheter rubbing device at the slave end of the interventional surgery robot according to claim 2, wherein the locking groove extends along the first direction.
The improved guide wire catheter rubbing device at the slave end of the interventional surgery robot according to claim 2, wherein the clamping strip is installed in the locking groove.
The improved guide wire catheter rubbing device at the slave end of an interventional surgery robot according to claim 2, wherein the clamping group includes a positioning part and a clamping part connected to the positioning part, and the lock The groove is arranged on the side of the position adjustment part close to the other clamping group.
The improved guide wire catheter rubbing device at the slave end of the interventional surgery robot according to claim 5, wherein the clamping portion and the positioning portion are distributed in a T-shape.
The improved guide wire guide catheter rubbing device for interventional surgery robot according to claim 5, characterized in that: the clamping part is provided with an inwardly extending card slot, and the positioning part is detachably installed on the inside the card slot.
The improved guide wire catheter rubbing device at the slave end of the interventional surgery robot according to claim 5, characterized in that: the side of the position adjustment part away from the clamping part is provided with several position adjustment grooves extending inward, The positioning part is installed in cooperation with the first driving assembly through the positioning slot.
The improved guide wire guide catheter rubbing device for interventional surgery robot according to claim 1, characterized in that: the second driving assembly includes two sliding seats, and the two sliding seats are synchronously reversed along the second direction A driving motor for the movement, and the clamping strip is arranged on the outer side of the sliding seat.
The improved guide wire guide catheter rubbing device for interventional surgery robot according to claim 9, characterized in that: the second driving assembly also includes a second linkage wheel placed between the two sliding seats, and the driving motor Connect the second linkage wheel, the inner surface of the two sliding seats are provided with locking teeth, 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 simultaneously engaged on the second on the linkage wheel.
The improved guide wire guide catheter rubbing device for interventional surgery robot according to claim 10, characterized in that: the sliding seat is provided with a second guide rod, and the second driving assembly also includes a sliding sleeve, and the sliding sleeve A guide groove extending along the second direction is provided, the second guide rod passes through the guide groove of the sliding sleeve, and the sliding sleeve guides the sliding seat.
The improved device for rubbing the guidewire catheter at the slave end of the interventional surgery robot according to claim 1, wherein the first drive assembly includes two first chassis, and a device for driving the two first chassis to move along the first direction. The driver and the first guide rod installed on the first chassis, the first guide rod is inserted through the clamping group.
The improved guide wire guide catheter rubbing device for interventional surgery robot according to claim 12, characterized in that: the first driving assembly is also provided with a first guide device on the first guide rod, and the first guide Means are provided for guiding the clamping group in the first direction.
The improved guide wire catheter rubbing device at the slave end of the interventional surgery robot according to claim 13, wherein the first guiding device is a bearing, and the bearing is sleeved on the outside of the guide rod installed in cooperation with it.
The improved guide wire catheter rubbing device for the slave end of the interventional surgery robot according to claim 13, wherein the improved guide wire catheter rubbing device for the slave end of the interventional surgery robot also includes an inner frame on which There are two splints oppositely arranged, and the first guiding device is sandwiched between the two splints of the inner frame.
The improved guide wire guide catheter rubbing device for interventional surgery robot according to claim 12, characterized in that: the first driving assembly also includes a first linkage wheel connected to the two first chassis at the same time, and the two The first underframes are arranged oppositely, the first linkage wheel is placed between the two first underframes, the inner sides of the two first underframes are provided with locking teeth, and the outer sides of the first linkage wheels The 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 improved guide wire guide catheter rubbing device for interventional surgery robot according to claim 12, characterized in that: the inner frame is also provided with two sets of bearings, and the two first bottom frames of the first driving assembly are respectively installed It is arranged on two sets of bearings, and each of the first chassis slides along the first direction on the corresponding set of bearings.
The improved guide wire catheter rubbing device 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 improved guide wire catheter rubbing device at the slave end of the interventional surgery robot according to claim 1, wherein an outer cover is sheathed on the outer side of the clamping part.
The improved guide wire catheter rubbing device at the slave end of an interventional surgery robot according to claim 19, wherein a buffer member is provided on the outer cover of any one of the clamping parts facing the other clamping part .