WO2023066362A1

WO2023066362A1 - Vascular interventional instrument pushing device and method

Info

Publication number: WO2023066362A1
Application number: PCT/CN2022/126610
Authority: WO
Inventors: 周小虎; 刘市祺; 谢晓亮; 侯增广; 王晋利; 桂美将; 李�浩; 奉振球; 孟令武; 赵含霖
Original assignee: 中国科学院自动化研究所
Priority date: 2021-10-22
Filing date: 2022-10-21
Publication date: 2023-04-27
Also published as: CN113951946A; CN113951946B

Abstract

A vascular interventional instrument pushing device and method. The vascular interventional instrument pushing device comprises: a driving wire-feeding mechanism (1) comprising a first bracket assembly, a driving conveying belt (7) and a driving roller belt wheel (8); a Mecanum power mechanism (3) comprising a Mecanum wheel (17), an electric motor (18) and a controller (21), the Mecanum wheel (17) being connected to the driving conveying belt (7) in a transmission manner; a lifting mechanism (4) comprising a lifting plate (33), a lifting assembly and a drive assembly, the lifting plate (33) supporting and being adapted to the Mecanum wheel (17); and a driven wire-feeding mechanism (2) comprising a driven conveying belt (13) and a driven roller belt wheel (14), the driven conveying belt (13) being located above the driving conveying belt (7) and used for clamping a guide wire. The Mecanum wheel (17) is pushed against the driving conveying belt (7) by means of the lifting mechanism (4), and the driving conveying belt (7) is driven to rotate, which can effectively prevent slippage between the Mecanum wheel (17) and the driving conveying belt (7), and thus stably push the guide wire clamped by the driven conveying belt (13) and the driving conveying belt (7), thereby improving the surgical efficiency and safety.

Description

Vascular intervention device pushing device and method

Cross References to Related Applications

This application claims the priority of the Chinese patent application with the application number 202111234034.3 and the title of invention "Vascular interventional device pushing device and method" submitted on October 22, 2021, which is incorporated herein by reference in its entirety.

technical field

The present application relates to the technical field of surgical robots, in particular to a device and method for pushing vascular interventional instruments.

Background technique

At present, the number of cardiovascular diseases continues to increase, leading to increased medical burdens, and has gradually become the number one disease that threatens the lives and health of the people. At present, the mainstream way to treat such cardiovascular and cerebrovascular diseases is interventional therapy, that is, firstly, the radial artery or femoral artery is punctured, and then the interventional device is delivered to the lesion area through the human blood vessel, so as to achieve the purpose of dilating narrowed blood vessels and embolizing malformed blood vessels. Interventional surgery needs to be guided by the digital subtraction angiography (DSA) system, so that the operator needs to wear heavy protective clothing and be exposed to the radiation environment for a long time, which affects the effect and accuracy of the operation, and also affects the operator's safety. Health has had a negative impact.

In recent years, vascular interventional surgery robots have gradually been used to assist doctors in vascular interventional surgery. The operator controls the slave end mechanism to perform surgery through the master end joystick or operating handle of the vascular interventional surgery robot, thereby avoiding the influence of radiation and making remote surgery possible. For this disease, vascular stents are mainly used clinically to treat lesions. However, the existing robot delivery mechanism for minimally invasive interventional surgery often slips during the wire feeding process, making it impossible to smoothly deliver the guide wire or catheter, causing patients The operation time is long, and the exposure time in the radiation environment is long.

Contents of the invention

The application provides a device and method for pushing a vascular interventional device, which is used to solve the defect that the minimally invasive interventional surgery robot in the prior art is prone to slipping and cannot drive the guide wire, so as to realize stable push of the guide wire and reduce the operation time , improve security.

The present application provides a device for pushing a vascular interventional device, including:

Active wire feeding mechanism, the active wire feeding mechanism includes a first bracket assembly, a driving conveyor belt and a driving roller pulley, the driving roller pulley is arranged on the first bracket assembly, the driving conveyor belt and the Active pulley pulley tension adaptation;

Mecanum power mechanism, the mecanum power mechanism includes a mecanum wheel, a motor and a controller, the controller is electrically connected to the motor, the output end of the motor is connected to the mecanum wheel, The mecanum wheel is connected to the driving conveyor belt;

A lifting mechanism, the lifting mechanism includes a lifting plate, a lifting assembly and a driving assembly, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate Adapted to said mecanum wheel support;

The driven wire feeding mechanism, the driven wire feeding mechanism includes a driven conveyor belt and a driven idler pulley, the driven conveyor belt is tension-fitted with the driven idler pulley, and the driven conveyor belt is located at The upper part of the driving conveyor belt is used for clamping the guide wire.

According to a vascular intervention device pushing device provided in the present application, the first bracket assembly includes a second guide rail and a roller bracket, and a slidable locking slider is provided on the second guide rail, and the idler bracket and the idler bracket The locking slide block is connected, and the driving idler pulley is connected with the idler bracket.

According to a vascular intervention device pushing device provided in the present application, the driving assembly includes a lead screw, a first base, an active slider and a transmission beam, the first bases are respectively provided at both ends of the lead screw, and the The lead screw can rotate relative to the first base, the active slider is sleeved on the lead screw, the transmission beam is connected with the active slider, and the end of the active slider is connected to the Lifting assembly transmission connection.

According to a vascular intervention device pushing device provided by the present application, the lifting assembly includes a light rod, a second base, a driven slider and an X-shaped hinged frame, and the two ends of the light rod are respectively provided with the second base , the driven slider is slidably set on the light bar, the lifting end of the X-shaped hinged frame is hinged with the lifting plate, and the driven end of the X-shaped hinged frame is respectively connected to the corresponding side The driven slider is hinged to the second base.

According to a vascular interventional device pushing device provided in the present application, it also includes a pressing mechanism, the pressing mechanism includes a second bracket assembly, an adjustment assembly and a pressing plate, and the adjustment assembly is arranged on the second bracket assembly , the pressing plate is connected with the adjusting assembly.

According to a vascular intervention device pushing device provided in the present application, the second bracket assembly includes a support frame, a vertical beam and a cross beam, the vertical beam is arranged on the support frame, and the end of the cross beam is connected to the vertical beam. The top ends of the beams are connected, and the adjustment assembly is arranged on the cross beams.

According to a vascular intervention device pushing device provided by the present application, the adjustment assembly includes an adjustment bolt, a cushion block and a connecting plate, the beam is provided with a perforation adapted to pass through the adjustment bolt, and the cushion block It is arranged on the bottom side of the crossbeam and is connected with the connecting end of the adjusting bolt, and the connecting plate is used for connecting the cushion block and the pressing plate.

According to a pushing device for vascular interventional instruments provided by the present application, the support frame is provided with a guide post, the pressing plate is provided with a guide hole adapted to guide the guide post, and a tension spring is sleeved on the guide post , the tension spring is located between the support frame and the pressing plate.

According to the present application, a vascular interventional device pushing device further includes a support platform, on which two first guide rails are arranged in parallel, and the two ends of the first guide rails are respectively lapped on the pads on the corresponding sides. Two plates are arranged in parallel, and are set on the support platform; the first bracket component is slidably set on the first guide rail.

The present application also provides a method for pushing a vascular interventional device, comprising the following steps:

placing the guide wire on the driving conveyor belt, and the driven conveyor belt cooperates with the driving conveyor belt to clamp the guide wire;

Driving the lifting assembly up and down through the driving assembly, adjusting the vertical position of the lifting plate, and then tightening the mecanum wheel and the driving conveyor belt;

The motor is controlled by the controller to rotate, and the motor drives the mecanum wheel to rotate to drive the active conveyor belt to rotate to realize the delivery of the guide wire.

The vascular interventional device pushing device and method provided by the present application include an active wire feeding mechanism, the active wire feeding mechanism includes a first bracket assembly, a driving conveyor belt, and a driving idler pulley, and the active idler pulley is arranged on the On the first support assembly, the driving conveyor belt is tension-fitted with the driving idler pulley; the Mecanum power mechanism, the Mecanum power mechanism includes a Mecanum wheel, a motor and a controller, and the control The device is electrically connected to the motor, the output end of the motor is connected to the mecanum wheel, and the mecanum wheel is connected to the driving conveyor belt; the lifting mechanism includes a lifting plate and a lifting assembly and a drive assembly, the output end of the drive assembly is connected to the lifting assembly, the lifting end of the lifting assembly is connected to the lifting plate, and the lifting plate is adapted to the support of the mecanum wheel; the driven A wire feeding mechanism, the driven wire feeding mechanism includes a driven conveyor belt and a driven idler pulley, the driven conveyor belt is tension-fit to the driven idler pulley, and the driven conveyor belt is located on the The top of the driving conveyor belt is used to clamp the guide wire, and the mecanum wheel and the driving conveyor belt are tightened by the lifting mechanism, and the driving conveyor belt is driven to rotate, which effectively prevents slipping between the mecanum wheel and the driving conveyor belt, and then realizes alignment. The stable push of the guide wire clamped by the driven conveyor belt and the active conveyor belt improves the efficiency and safety of the operation.

Description of drawings

In order to more clearly illustrate the technical solutions in the present application or the prior art, the following will briefly introduce the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are the For some embodiments of the present invention, those of ordinary skill in the art can also obtain other drawings based on these drawings on the premise of not paying creative efforts.

Fig. 1 is a schematic structural view of a vascular interventional device pushing device provided by the present application;

Fig. 2 is a schematic structural diagram of the active wire feeding mechanism in the vascular interventional device pushing device provided by the present application;

Fig. 3 is a schematic structural view of the pressing mechanism in the vascular intervention device pushing device provided by the present application;

Fig. 4 is a structural schematic diagram of the Mecanum power mechanism in the vascular interventional device pushing device provided by the present application;

Fig. 5 is a schematic structural view of the lifting mechanism in the vascular intervention device pushing device provided by the present application;

Reference signs:

1. Active wire feeding mechanism; 2. Driven wire feeding mechanism; 3. Mecanum power mechanism; 4. Lifting mechanism; 9. Roller bracket; 10. Free slider; 11. Lock slider; 12. First guide rail; 13. Driven conveyor belt; 14. Driven roller pulley; 15. Suspension bracket; 16. Pressure Tightening plate; 17, Mecanum wheel; 18, motor; 19, mounting bracket; 20, mounting seat; 21, controller; 22, pallet; 23, lead screw; 24, first base; 25, active slider ; Column; 35, support frame; 36, tension spring; 37, vertical beam; 38, beam; 39, adjusting bolt; 40, buffer block.

Detailed ways

In order to make the purpose, technical solutions and advantages of the application clearer, the implementation of the application will be described in further detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present application, but cannot be used to limit the scope of the present application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "vertical", "transverse", "upper", "lower", "front", "rear", "left", "right" , "vertical", "horizontal", "top", "bottom", "inner", "outer" and other indicated orientations or positional relationships are based on the orientations or positional relationships shown in the drawings, and are only for the convenience of describing this The application embodiments and simplified descriptions do not indicate or imply that the devices or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as limiting the embodiments of the application. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and should not be construed as indicating or implying relative importance.

In the description of the embodiments of this application, it should be noted that unless otherwise specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary. Those of ordinary skill in the art can understand the specific meanings of the above terms in the embodiments of the present application in specific situations.

In the embodiment of the present application, unless otherwise clearly specified and limited, the first feature may be in direct contact with the first feature or the first feature and the second feature may pass through the middle of the second feature. Media indirect contact. Moreover, "above", "above" and "above" the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. "Below", "beneath" and "beneath" the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.

In the description of this specification, descriptions referring to the terms "one embodiment", "some embodiments", "example", "specific examples", or "some examples" mean that specific features described in connection with the embodiment or example , structures, materials or features are included in at least one embodiment or example of the embodiments of the present application. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples and features of different embodiments or examples described in this specification without conflicting with each other.

A vascular intervention device pushing device of the present application is described below in conjunction with FIGS. 1 to 5, including:

The support platform 6 is provided with two first guide rails 12 arranged in parallel on the support platform 6;

The active wire feeding mechanism 1, the active wire feeding mechanism 1 includes a first bracket assembly, a driving conveyor belt 7 and a driving idler pulley 8, the first bracket assembly is slidably arranged on the first guide rail 12, and the driving idler pulley 8 is set On the first bracket assembly, the driving conveyor belt 7 is tightly adapted to the driving idler pulley 8;

Compression mechanism 5, compression mechanism 5 comprises the second support assembly, adjustment assembly and pressing plate 16, and the second support assembly is located on the support platform 6, and adjustment assembly is located on the second support assembly, and compression plate 16 and adjustment component connection;

Driven wire feeding mechanism 2, driven wire feeding mechanism 2 includes driven conveyor belt 13 and driven idler pulley 14, driven conveyor belt 13 and driven idler pulley 14 are tension fit, driven idler pulley 14 is located on the side of the pressing plate 16 away from the adjustment assembly, and the driven conveyor belt 13 is located above the driving conveyor belt 7 for clamping the guide wire. It can be understood that the supporting platform 6 is provided on the bottom side to stably support the driven wire feeding mechanism 2 , the pressing mechanism 5 and the driven wire feeding mechanism 2 . The support surface of the support platform 6 is provided with two parallel backing plates, and the two ends of the first guide rail 12 are respectively lapped on the backing plates. Wherein, two first guide rails 12 are provided, and are arranged in parallel, that is, the length direction of the first guide rail 12 is perpendicular to the length direction of the backing plate, and under the premise of ensuring the stability of the first guide rail 12, it is reserved for the operation of the lifting mechanism 4. operating space.

Further, the active wire feeding mechanism 1 includes a first bracket assembly, a driving conveyor belt 7 and a driving roller pulley 8, the first bracket assembly is used to stably support the driving conveyor belt 7 and the driving roller pulley 8, and simultaneously drive the driving conveyor belt 7 and The driving idler pulley 8 moves along the length direction of the first track. The active conveyor belt 7 and the active idler pulley 8 are tensioned and adapted to ensure that the active conveyor belt 7 is always in a tensioned state during the twisting process.

Wherein, the pressing mechanism 5 includes a second bracket assembly, an adjustment assembly and a pressing plate 16, and the second bracket assembly is arranged on the supporting platform 6, specifically, the second bracket assembly is arranged on the upper side of the backing plate. The adjustment assembly is arranged on the second bracket assembly and is connected with the pressing plate 16, and the vertical position of the pressing plate 16 is adjusted through the adjustment assembly.

Further, the driven wire feeding mechanism 2 includes a driven conveyor belt 13 and a driven idler pulley 14, and the driven idler pulley 14 is used to adjust the tension of the driven conveyor belt 13 to ensure that the driven conveyor belt 13 is rubbing Always maintain tension during twisting. The driven roller pulley 14 is installed on the bottom side of the pressure plate 16 through the suspension bracket 15, the suspension bracket 15 is fixedly installed, and two are arranged, respectively located at the two ends of the driven roller pulley 14, to ensure that the driven roller Both the pulley 14 and the driven conveyor belt 13 can rotate relative to the suspension bracket 15 .

Wherein, the driven conveyor belt 13 is positioned directly above the driving conveyor belt 7, and the vertical position of the driven conveyor belt 13 is adjusted by the adjustment assembly, that is, the distance between the driven conveyor belt 13 and the driving conveyor belt 7, and the guide wire is placed on the driving conveyor belt. 7, and then realize the adjustment of the clamping force of the driven conveyor belt 13 and the driving conveyor belt 7 on the guide wire, prevent the slipping phenomenon in the wire feeding process, and improve the operation efficiency and safety.

According to a vascular intervention device pushing device provided by the present application, the second bracket assembly includes a support frame 35, a vertical beam 37 and a cross beam 38, the support frame 35 is arranged on the support platform 6, the vertical beam 37 is arranged on the support frame 35, and the cross beam The end of 38 is connected with the top of the vertical beam 37, and the adjusting assembly is arranged on the cross beam 38. It can be understood that, the second support assembly includes a support frame 35, and there are two support frames 35, which are oppositely arranged on the backing plate. Each supporting frame 35 is correspondingly provided with a vertical beam 37 provided with branches. Both ends of the beam 38 are respectively fixedly connected to the top of the vertical beam 37 . The adjustment assembly is assembled at the middle position of the beam 38 , and the pressing plate 16 is located at the bottom side of the beam 38 .

According to a vascular intervention device pushing device provided by the present application, the adjustment assembly includes an adjustment bolt 39, a cushion block 40 and a connecting plate, the crossbeam 38 is provided with a perforation adapted to the adjustment bolt 39, and the cushion block 40 is arranged on the crossbeam 38, and is connected with the connecting end of the adjusting bolt 39, and the connecting plate is used to connect the cushion block 40 and the pressing plate 16. It can be understood that the adjustment assembly includes an adjustment bolt 39, a through hole is formed in the middle of the beam 38, and the adjustment bolt 39 is vertically passed through the through hole. The lower end of the adjustment bolt 39 is a connection end, and is fixedly connected with the cushion block 40 , the bottom side of the cushion block 40 is provided with a connecting plate, and the connecting plate is fixedly connected with the pressing plate 16 . It is worth noting that the adjusting bolt 39 includes a stud and a nut, the lower end of the stud is fixedly connected with the cushion block 40, the nut is sleeved on the stud, and is located on the upper side of the beam 38, and the diameter of the perforated hole is greater than the diameter of the stud , which is smaller than the diameter of the nut. By screwing the nuts, the studs move up and down in the perforations, so as to adjust the vertical position of the pressing plate 16 .

It should also be noted that the length of the connecting plate is greater than the length of the cushion block 40, which increases the connection area between the connecting plate and the pressing plate 16, improves the connection strength, and at the same time ensures the stability of the moving of the pressing plate 16 in the adjustment process, preventing Offset occurs.

According to a pushing device for vascular interventional instruments provided in the present application, the support frame 35 is provided with a guide column 34, the pressing plate 16 is provided with a guide hole adapted to guide the guide column 34, and a tension spring 36 is sleeved on the guide column 34, The tension spring 36 is located between the support frame 35 and the pressing plate 16 . It can be understood that the support frame 35 is provided with a vertically arranged guide column 34, the pressing plate 16 is provided with a guide hole, and the guide hole is sleeved on the guide column 34, so that the pressing plate 16 can move along the axial direction of the guide column 34 , The guide column 34 plays a guiding role.

Wherein, the tension spring 36 is sheathed on the guide column 34, the tension spring 36 is located between the support frame 35 and the pressing plate 16, and the tension spring 36 and the adjusting bolt 39 produce an opposite force to the pressing plate 16, thereby realizing the opposite force on the pressing plate 16. Effective adjustment of the position of the pressing plate 16 enables controllable adjustment of the clamping force.

According to a device for pushing vascular interventional instruments provided by the present application, the first bracket assembly includes a second guide rail and an idler bracket 9, the second guide rail is vertically arranged to the first guide rail 12, and the two ends of the second guide rail respectively pass through free sliders 10 is slidably assembled on the first guide rail 12, the second guide rail is provided with a slidable locking slider 11, the idler bracket 9 is connected with the locking slider 11, the driving idler pulley 8 is connected with the idler bracket 9 connect. It can be understood that, the first bracket assembly includes a second rail, and two second rails are provided correspondingly and arranged in parallel. The second track is perpendicular to the first track. The first rail is provided with a free slider 10, and the two ends of the second rail are respectively fixedly connected with the free slider 10 on the corresponding side, so that the second rail slides along the length direction of the first rail through the free slider 10.

Wherein, a locking slider 11 is provided on the second guide rail, and the locking slider 11 can slide along the length direction of the second guide rail and has a locking function. The locking slider 11 is provided with an idler bracket 9 , the end of the driving idler pulley 8 is connected with the idler bracket 9 , and the driving idler pulley 8 can rotate relative to the idler bracket 9 . That is to say, by moving the locking slider 11, the driving idler pulley 8 is driven to move, and the tension adjustment of the driving conveyor belt 7 is realized, and the locking slider 11 is locked, so that the driving conveyor belt 7 is in a tensioned state. Then move the free slider 10 to realize the reciprocating movement of the driving conveyor belt 7 along the first guide rail 12 relative to the driven conveyor belt 13, and twist the guide wire clamped between the driving conveyor belt 7 and the driven conveyor belt 13.

According to a kind of vascular intervention device pushing device provided by the present application, it also includes a mecanum power mechanism 3, the mecanum power mechanism 3 includes a mecanum wheel 17, a motor 18 and a controller 21, and the controller 21 is electrically connected to the motor 18 , the output end of the motor 18 is connected with the mecanum wheel 17, and the mecanum wheel 17 is connected with the driving conveyor belt 7 in transmission. It can be understood that the mecanum power mechanism 3 is used to provide power for the active wire feeding mechanism 1 , and specifically includes a mecanum wheel 17 , a motor 18 and a controller 21 . The controller 21 is electrically connected to the motor 18 for controlling the forward rotation and reverse rotation of the motor 18 . The output end of motor 18 is connected with mecanum wheel 17, realizes driving mecanum wheel 17 forward rotation or reverse. The mecanum wheel 17 is connected to the driving conveyor belt 7 through transmission, that is to say, the controller 21 sends a starting command to the motor 18, and the motor 18 drives the mecanum wheel 17 to rotate forward or reversely, and the connection between the mecanum wheel 17 and the driving conveyor belt 7 Close contact between them generates frictional force, and then realizes driving the rotation of the active conveyor belt 7, and realizes the delivery or recovery of the guide wire.

It should be noted that the controller 21 is fixedly installed on the supporting board 22, the Mecanum wheel 17 is arranged on the supporting board 22 through the mounting bracket 19, and the motor 18 is installed on the supporting board 22 through the mounting seat 20, ensuring that the controller 21, Stable installation of mecanum wheel 17 and motor 18.

According to a kind of vascular intervention device pushing device provided by the present application, it also includes a lifting mechanism 4. The lifting mechanism 4 includes a lifting plate 33, a lifting assembly and a driving assembly. The driving assembly and the lifting assembly are both arranged on the support table 6. The output of the driving assembly The end is connected to the lifting assembly in transmission, the lifting end of the lifting assembly is connected to the lifting plate 33, and the lifting plate 33 is supported and adapted to the mecanum wheel 17. It can be understood that the lifting mechanism 4 is used to drive the mecanum power mechanism 3 to go up and down, and then adjust the tightness between the mecanum wheel 17 and the driving conveyor belt 7 to prevent slippage between the mecanum wheel 17 and the driving conveyor belt 7 Phenomenon. Specifically, it includes a lifting plate 33 , a lifting assembly and a driving assembly. The lifting plate 33 is arranged horizontally. Both the driving assembly and the lifting assembly are fixedly assembled on the support platform 6 . The output end of the driving assembly is connected with the lifting assembly, and the driving assembly provides power for the lifting assembly. The lifting assembly drives the lifting plate 33 to lift and adjust, and then supports the mecanum wheel 17 to approach or move away from the driving conveyor belt 7 .

According to a pushing device for vascular interventional instruments provided by the present application, the driving assembly includes a lead screw 23, a first base 24, an active slider 25 and a transmission beam 30, and the two ends of the lead screw 23 are respectively installed on the support platform through the first base 24 6, and the lead screw 23 can rotate relative to the first base 24, the active slider 25 is sleeved on the lead screw 23, the transmission beam 30 is connected with the active slider 25, and the end of the active slider 25 is connected with the lifting assembly . It can be understood that the two ends of the lead screw 23 are respectively installed on the support platform 6 through the first base 24, that is to say, the first base 24 is fixedly installed on the support platform 6, and the two ends of the lead screw 23 are rotatably assembled. on the first base 24 . The active slider 25 is sleeved on the lead screw 23, and one end of the lead screw 23 is provided with a rotating hand wheel 29. By rotating the rotating hand wheel 29, the lead screw 23 is driven to rotate, and the active slider 25 is moved along the length direction of the lead screw 23. .

Furthermore, the middle part of the transmission beam 30 is fixedly installed on the driving slider 25 to realize the synchronous movement of the transmission beam 30 and the driving slider 25 . The two ends of the transmission beam 30 are respectively connected to the lifting components on the corresponding sides by transmission, so as to realize power transmission.

According to a vascular intervention device pushing device provided by the present application, the lifting assembly includes a light rod 26, a second base 27, a driven slider 28 and an X-shaped hinged frame 32, and the two ends of the light rod 26 are respectively installed through the second base 27. On the support platform 6, the driven slider 28 is slidably sleeved on the light rod 26, the lifting end of the X-shaped hinged frame 32 is hinged with the lifting plate 33, and the driven end of the X-shaped hinged frame 32 is connected to the corresponding side respectively. The driven slider 28 is hinged to the second base 27 . It can be understood that the lifting assembly includes light rods 26 , and there are two light rods 26 parallel to the lead screw 23 . Both ends of the light rod 26 are respectively installed on the support platform 6 through the second base 27, and the light rod 26 is fixedly assembled to play a guiding role. The light rod 26 is sleeved with a driven slider 28 , and the driven slider 28 can slide along the length direction of the light rod 26 . The upper end of the X-shaped articulated frame 32 is a lifting end, which is hinged with the lifting plate 33, and the lower end of the X-shaped articulated frame 32 is a driven end, which is respectively articulated with the driven slider 28 and the second base 27 on the corresponding side.

Specifically, the X-shaped articulated frame 32 includes a first articulated rod and a second articulated rod arranged in an X-shaped cross, the middle part of the first articulated rod is hinged with the middle part of the second articulated rod, and the bottom side of the lifting plate 33 and the supporting platform 6 Two second bases 27 and a light bar 26 opposite up and down are respectively arranged on the upper and lower sides, and a driven slider 28 is provided on the two light bars 26; The movable slider 28 is hinged, and the lower end of the first hinged rod is hinged with the hinged plate 31 of a second base 27 of the support platform 6; Hinged, the lower end of the second hinged rod is hinged with the driven slider 28 on the support table 6, and the first hinged rod and the second hinged rod are obliquely arranged to cross.

That is to say, the transmission beam 30 drives the driven slider 28 on the supporting platform 6 to move along the length direction of the light rod 26, the lower end of the second hinged rod slides synchronously with the driven slider 28, and the upper end of the second hinged rod moves horizontally. Do not move, move vertically; The upper end of the first articulated rod moves with the driven slider 28 on the bottom side of the lifting plate 33, the lower end of the first articulated rod does not move horizontally, but moves vertically, and then realizes lifting plate 33 lift drive.

The method for pushing a vascular interventional device provided in the present application is described below, and the method for pushing a vascular interventional device described below and the device for pushing a vascular interventional device described above can be referred to in correspondence.

Place the guide wire on the driving conveyor belt 7, and the driven conveyor belt 13 cooperates with the driving conveyor belt 7 to clamp the guide wire;

Drive the lifting assembly up and down through the driving assembly, adjust the vertical position of the lifting plate 33, and then tighten the mecanum wheel 17 and the driving conveyor belt 7;

The motor 18 is controlled by the controller 21 to rotate, and the motor 18 drives the mecanum wheel 17 to rotate, drives the active conveyor belt 7 to rotate, and realizes the delivery of the guide wire.

The application provides a method for pushing a vascular interventional device, which specifically includes the following steps:

Place the guide wire on the driving conveyor belt 7, move the locking slider 11 so that the driving idler pulley 8 moves in the opposite direction, realize the tension on the driving conveyor belt 7, lock the locking slider 11, and keep it still ;

Screw the adjustment bolt 39, and move down the pressing plate 16, so that the driven conveyor belt 13 under the tension of the driven roller pulley 14 moves down, and the driven conveyor belt 13 and the driving conveyor belt 7 stably clamp the guide wire;

Rotate the rotating hand wheel 29, turn the lead screw 23, the driving slider 25 moves along the length direction of the lead screw 23, the lead screw 23 is perpendicular to the first track, the transmission beam 30 and the driving slider 25 move synchronously, and then drive the driven slider 28 moves along the light rod 26, and the upper end of the X-shaped hinged frame 32 performs lifting motion to realize the lifting drive of the lifting plate 33;

The lifting plate 33 rises and presses against the supporting plate 22, so that the mecanum wheel 17 is in close contact with the driving conveyor belt 7. The controller 21 controls the motor 18 to install or reverse, and the motor 18 drives the mecanum wheel 17 to rotate to realize the mecanum wheel. 17 drives the active conveyor belt 7 to rotate, prevents slipping, and realizes the delivery of the guide wire;

Drive the free slider 10 to reciprocate and slide along the length direction of the first guide rail 12, and the driving conveyor belt 7 and the free slider 10 move synchronously. Since the driven conveyor belt 13 does not shift, the driving trend of the driving conveyor belt 7 and the driven conveyor belt 13 is opposite. Generate twisting force on the guide wire, and then complete the twisting of the guide wire.

It is worth noting that in the embodiments of the present application, the target may also be a catheter.

The device and method for pushing vascular interventional instruments provided by the present application include an active wire feeding mechanism, the active wire feeding mechanism includes a first bracket assembly, an active conveyor belt and an active idler pulley, and the active idler pulley is arranged on the first bracket assembly, The active conveyor belt and the active roller pulley are tensioned and adapted; the mecanum power mechanism, the mecanum power mechanism includes the mecanum wheel, the motor and the controller, the controller is electrically connected to the motor, and the output end of the motor is connected to the mecanum Wheel connection, the mecanum wheel is connected to the driving conveyor belt; the lifting mechanism, the lifting mechanism includes a lifting plate, a lifting component and a driving component, the output end of the driving component is connected to the lifting component, the lifting end of the lifting component is connected to the lifting plate, and the lifting The plate is adapted to the support of the mecanum wheel; the driven wire feeding mechanism, the driven wire feeding mechanism includes a driven conveyor belt and a driven idler pulley, the driven conveyor belt is tightly adapted to the driven idler pulley, and the driven The conveyor belt is located above the driving conveyor belt to clamp the guide wire. The mecanum wheel and the driving conveyor belt are tightened by the lifting mechanism, and the driving conveyor belt is driven to rotate, which effectively prevents slipping between the mecanum wheel and the driving conveyor belt, and then Realize the stable push of the guide wire clamped by the driven conveyor belt and the driving conveyor belt, and improve the operation efficiency and safety.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, rather than limiting them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still Modifications are made to the technical solutions described in the foregoing embodiments, or equivalent replacements are made to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the various embodiments of the present application.

Claims

A vascular intervention device pushing device, comprising:

Active wire feeding mechanism, the active wire feeding mechanism includes a first bracket assembly, a driving conveyor belt and a driving roller pulley, the driving roller pulley is arranged on the first bracket assembly, the driving conveyor belt and the Active pulley pulley tension adaptation;

Mecanum power mechanism, the mecanum power mechanism includes a mecanum wheel, a motor and a controller, the controller is electrically connected to the motor, the output end of the motor is connected to the mecanum wheel, The mecanum wheel is connected to the driving conveyor belt;

A lifting mechanism, the lifting mechanism includes a lifting plate, a lifting assembly and a driving assembly, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate Adapted to said mecanum wheel support;

The driven wire feeding mechanism, the driven wire feeding mechanism includes a driven conveyor belt and a driven idler pulley, the driven conveyor belt is tension-fitted with the driven idler pulley, and the driven conveyor belt is located at The upper part of the driving conveyor belt is used for clamping the guide wire.
The device for pushing vascular interventional instruments according to claim 1, wherein the first bracket assembly includes a second guide rail and a roller bracket, the second guide rail is provided with a slidable locking slider, and the idler roller The bracket is connected with the locking slider, and the driving idler pulley is connected with the idler bracket.
The device for pushing vascular interventional instruments according to claim 1, wherein the driving assembly includes a screw, a first base, an active slider and a transmission beam, and the two ends of the screw are respectively provided with the first base, And the screw can rotate relative to the first base, the active slider is sleeved on the screw, the transmission beam is connected with the active slider, and the end of the active slider is connected to the The lifting assembly is connected in transmission.
The device for pushing vascular interventional instruments according to claim 3, wherein the lifting assembly includes an optical rod, a second base, a driven slider and an X-shaped hinged frame, and the two ends of the optical rod are respectively provided with the first Two bases, the driven slider is slidably set on the light rod, the lifting end of the X-shaped hinged frame is hinged with the lifting plate, and the driven end of the X-shaped hinged frame is respectively connected to the corresponding The driven slider on the side is hinged to the second base.
The device for pushing vascular interventional instruments according to claim 1, further comprising a compression mechanism, the compression mechanism comprising a second bracket assembly, an adjustment assembly and a compression plate, the adjustment assembly is arranged on the second bracket On the assembly, the pressing plate is connected with the adjustment assembly.
The device for pushing vascular interventional instruments according to claim 5, wherein the second bracket assembly includes a support frame, a vertical beam and a cross beam, the vertical beam is arranged on the support frame, and the end of the cross beam is connected to the cross beam. The top end of the vertical beam is connected, and the adjustment assembly is arranged on the cross beam.
The device for pushing vascular interventional instruments according to claim 6, wherein the adjustment assembly includes an adjustment bolt, a cushion block and a connecting plate, the beam is provided with a perforation adapted to pass through the adjustment bolt, and the cushion The spacer is arranged on the bottom side of the beam and is connected with the connecting end of the adjusting bolt, and the connecting plate is used for connecting the buffer spacer and the pressing plate.
The device for pushing vascular interventional instruments according to claim 6, wherein the support frame is provided with a guide post, the pressing plate is provided with a guide hole that is compatible with the guide post, and a tension member is sleeved on the guide post. a tension spring, and the tension spring is located between the support frame and the pressing plate.
The device for pushing vascular interventional instruments according to claim 1, further comprising a support platform, on which two first guide rails arranged in parallel are arranged, and the two ends of the first guide rails are respectively overlapped on the corresponding sides Two backing plates are arranged in parallel and are set on the support table; the first bracket assembly is slidably set on the first guide rail.
A pushing method based on the vascular interventional device pushing device according to any one of claims 1 to 9, comprising the following steps:

placing the guide wire on the driving conveyor belt, and the driven conveyor belt cooperates with the driving conveyor belt to clamp the guide wire;

Driving the lifting assembly up and down through the driving assembly, adjusting the vertical position of the lifting plate, and then tightening the mecanum wheel and the driving conveyor belt;

The motor is controlled by the controller to rotate, and the motor drives the mecanum wheel to rotate to drive the active conveyor belt to rotate to realize the delivery of the guide wire.