WO2023066362A1 - Dispositif et méthode de poussée d'instrument d'intervention vasculaire - Google Patents

Dispositif et méthode de poussée d'instrument d'intervention vasculaire Download PDF

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Publication number
WO2023066362A1
WO2023066362A1 PCT/CN2022/126610 CN2022126610W WO2023066362A1 WO 2023066362 A1 WO2023066362 A1 WO 2023066362A1 CN 2022126610 W CN2022126610 W CN 2022126610W WO 2023066362 A1 WO2023066362 A1 WO 2023066362A1
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WO
WIPO (PCT)
Prior art keywords
driving
driven
conveyor belt
assembly
lifting
Prior art date
Application number
PCT/CN2022/126610
Other languages
English (en)
Chinese (zh)
Inventor
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
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Application filed by 中国科学院自动化研究所 filed Critical 中国科学院自动化研究所
Publication of WO2023066362A1 publication Critical patent/WO2023066362A1/fr

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
    • A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A61B2017/00243—Type of minimally invasive operation cardiac
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
    • A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids

Definitions

  • the present application relates to the technical field of surgical robots, in particular to a device and method for pushing vascular interventional instruments.
  • 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.
  • 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.
  • DSA digital subtraction angiography
  • 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.
  • vascular stents are mainly used clinically to treat lesions.
  • 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.
  • 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:
  • 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;
  • 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 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the support frame is provided with a guide post
  • the pressing plate is provided with a guide hole adapted to guide the guide post
  • a tension spring is sleeved on the guide post , the tension spring is located between the support frame and the pressing plate.
  • 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:
  • 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 pulle
  • 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.
  • connection 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.
  • connection 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.
  • 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.
  • FIGS. 1 to 5 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 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 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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 .
  • 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 .
  • 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.
  • 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
  • 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 .
  • the support frame 35 is provided with a vertically arranged guide column 34
  • the pressing plate 16 is provided with a guide hole
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • 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 .
  • 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. .
  • 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.
  • 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.
  • 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 .
  • 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.
  • 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.
  • 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.
  • the present application also provides a method for pushing a vascular interventional device, comprising the following steps:
  • 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:
  • 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;
  • the target may also be a catheter.
  • the device and method for pushing vascular interventional instruments 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
  • 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.

Abstract

L'invention concerne un dispositif et une méthode de poussée d'instrument d'intervention vasculaire. Le dispositif de poussée d'instrument d'intervention vasculaire comprend : un mécanisme d'alimentation de fil d'entraînement (1) comprenant un premier ensemble support, une courroie transporteuse d'entraînement (7) et une roue de courroie de rouleau d'entraînement (8) ; un mécanisme de puissance Mecanum (3) comprenant une roue Mecanum (17), un moteur électrique (18) et un dispositif de contrôle (21), la roue Mecanum (17) étant reliée à la courroie transporteuse d'entraînement (7) d'une manière de transmission ; un mécanisme de levage (4) comprenant une plaque de levage (33), un ensemble de levage et un ensemble d'entraînement, la plaque de levage (33) supportant et étant adaptée à la roue Mecanum (17) ; et un mécanisme d'alimentation de fil entraîné (2) comprenant une courroie transporteuse entraînée (13) et une roue de courroie de rouleau entraînée (14), la courroie transporteuse entraînée (13) étant située au-dessus de la courroie transporteuse d'entraînement (7) et utilisée pour serrer un fil de guidage. La roue Mecanum (17) est poussée contre la courroie transporteuse d'entraînement (7) au moyen du mécanisme de levage (4), et la courroie transporteuse d'entraînement (7) est entraînée en rotation, ce qui permet d'empêcher efficacement le glissement entre la roue Mecanum (17) et la courroie transporteuse d'entraînement (7), et ainsi pousser de façon stable le fil de guidage serré par la courroie transporteuse entraînée (13) et la courroie transporteuse d'entraînement (7), ce qui permet d'améliorer l'efficacité et la sécurité chirurgicales.
PCT/CN2022/126610 2021-10-22 2022-10-21 Dispositif et méthode de poussée d'instrument d'intervention vasculaire WO2023066362A1 (fr)

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