WO2023066367A1 - Appareil et procédé de torsion d'instrument d'intervention vasculaire - Google Patents

Appareil et procédé de torsion d'instrument d'intervention vasculaire Download PDF

Info

Publication number
WO2023066367A1
WO2023066367A1 PCT/CN2022/126625 CN2022126625W WO2023066367A1 WO 2023066367 A1 WO2023066367 A1 WO 2023066367A1 CN 2022126625 W CN2022126625 W CN 2022126625W WO 2023066367 A1 WO2023066367 A1 WO 2023066367A1
Authority
WO
WIPO (PCT)
Prior art keywords
conveyor belt
assembly
driving
driven
lifting
Prior art date
Application number
PCT/CN2022/126625
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
张林森
Original Assignee
中国科学院自动化研究所
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 中国科学院自动化研究所 filed Critical 中国科学院自动化研究所
Publication of WO2023066367A1 publication Critical patent/WO2023066367A1/fr

Links

Images

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B17/34—Trocars; Puncturing needles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H51/00—Forwarding filamentary material
    • B65H51/02—Rotary devices, e.g. with helical forwarding surfaces
    • B65H51/04—Rollers, pulleys, capstans, or intermeshing rotary elements
    • B65H51/08—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements
    • B65H51/10—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements with opposed coacting surfaces, e.g. providing nips
    • B65H51/105—Rollers, pulleys, capstans, or intermeshing rotary elements arranged to operate in groups or in co-operation with other elements with opposed coacting surfaces, e.g. providing nips one of which is an endless belt
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
    • A61B2017/00743—Type of operation; Specification of treatment sites
    • A61B2017/00778—Operations on blood vessels

Definitions

  • the present application relates to the technical field of surgical robots, in particular to a twisting device and method for 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 has insufficient clamping force and slips during the wire feeding process, resulting in long operation time for patients and exposure to radiation environment. problems such as long exposure time.
  • This application provides a twisting device and method for vascular interventional devices, which are used to solve the defects of weak clamping force and easy slipping of guide wires in vascular minimally invasive interventional surgery robots in the prior art, and realize stable clamping of guide wires , and then prevent slipping during the twisting process, improve twisting efficiency, reduce operation time, and improve safety.
  • the application provides a twisting device for vascular interventional instruments, including:
  • a support platform the support platform is provided with two first guide rails arranged in parallel;
  • An active wire feeding mechanism includes a first bracket assembly, a driving conveyor belt and a driving idler pulley, the first bracket assembly is slidably arranged on the first guide rail, and the active idler belt
  • the pulley is set on the first bracket assembly, and the driving conveyor belt is tensioned and adapted to the pulley of the driving idler;
  • a pressing mechanism the pressing mechanism includes a second bracket assembly, an adjustment assembly and a pressing plate, the second bracket assembly is arranged on the support platform, the adjustment assembly is arranged on the second bracket assembly, The pressing plate is connected with the adjustment assembly;
  • the driven wire feeding mechanism includes a driven conveyor belt and a driven roller pulley, the driven conveyor belt and the driven roller pulley are tension fit, and the driven roller The pulley is arranged on the side of the pressing plate away from the adjusting assembly, and the driven conveyor belt is located above the driving conveyor belt for clamping the guide wire.
  • the second bracket assembly includes a support frame, a vertical beam and a cross beam, the support frame is set on the support platform, and the vertical beam is set on the support frame Above, the end of the cross beam is connected to the top end of the vertical beam, and the adjustment assembly is arranged on the cross beam.
  • 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 cushion A block 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 column
  • the pressing plate is provided with a guide hole adapted to guide the guide column
  • the guide column is sleeved with a tensioning A spring, the tension spring is located between the support frame and the pressing plate.
  • the first bracket assembly includes a second guide rail and an idler bracket, the second guide rail is arranged perpendicular to the first guide rail, and the second guide rail
  • the two ends are respectively slidably assembled on the first guide rail through free sliders, and a slidable locking slider is provided on the second guide rail, and the idler bracket is connected with the locking slider.
  • the pulley of the driving idler is connected with the support of the idler.
  • a twisting device for vascular interventional instruments also includes a mecanum power mechanism, the mecanum power mechanism includes a mecanum wheel, a motor and a controller, and the controller 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.
  • a twisting device for vascular interventional instruments also includes a lifting mechanism, the lifting mechanism includes a lifting plate, a lifting assembly and a driving assembly, and the driving assembly and the lifting assembly are both arranged on the support table , 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 is supported and adapted to the mecanum wheel.
  • the driving assembly includes a lead screw, a first base, an active slider and a transmission beam, and the two ends of the lead screw are respectively installed on the first base through the first base.
  • 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 active slider The end of the block is drivingly connected to the lifting assembly.
  • the lifting assembly includes a light rod, a second base, a driven slider and an X-shaped articulated frame, and the two ends of the light rod are respectively installed on the On the support platform, the driven slider is slidably sleeved 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 They are respectively hinged to the driven slider and the second base on the corresponding side.
  • the present application also provides a method for twisting a vascular interventional device, comprising the following steps:
  • Adjusting the position of the pressing plate through the adjustment assembly realizing the adjustment of the gap between the driven conveyor belt and the driving conveyor belt, and clamping the guide wire;
  • the twisting device and method for vascular interventional instruments include a support platform, on which two first guide rails arranged in parallel are arranged; an active wire feeding mechanism, and the active wire feeding mechanism includes a first bracket assembly, The driving conveyor belt and the driving roller pulley, the first bracket assembly is slidably arranged on the first guide rail, the driving roller pulley is arranged on the first bracket assembly, the driving conveyor belt and the The pulley of the driving idler is tensioned and adapted;
  • the pressing mechanism includes a second support assembly, an adjustment assembly and a pressing plate, the second support assembly is arranged on the support platform, and the adjustment The assembly is arranged on the second bracket assembly, the pressing plate is connected with the adjustment assembly;
  • the driven wire feeding mechanism, the driven wire feeding mechanism includes a driven conveyor belt and a driven idler pulley, the The driven conveyor belt is tension-adapted to the driven idler pulley, the driven idler pulley is set on the side of the pressing plate away from the adjustment assembly, and the driven conveyor belt is located on the
  • the gap between the driven conveyor belt and the driving conveyor belt can be adjusted by adjusting the assembly to realize the adjustment of the clamping force of the guide wire, preventing slipping during the twisting process, and ensuring the driving conveyor belt and the driven conveyor belt.
  • the relative movement between the moving conveyor belts produces effective twisting force on the guide wire, improving twisting efficiency, operation efficiency and safety.
  • Fig. 1 is the structural representation of the twisting device of the vascular interventional instrument provided by the present application
  • Fig. 2 is a schematic structural view of the active wire feeding mechanism in the twisting device for vascular interventional instruments provided by the present application;
  • Fig. 3 is a schematic structural view of the compression mechanism in the twisting device for vascular interventional instruments provided by the present application;
  • Fig. 5 is a schematic structural view of the lifting mechanism in the twisting device for vascular interventional instruments 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 twisting 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 located on the second bracket assembly and is connected with the pressing plate 16, and the vertical position of the pressing plate 16 is adjusted by 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 to the guide wire, prevent the slipping phenomenon from occurring in the twisting process, and then when the driving conveyor belt 7 moves along the first guide rail 12, the driving conveyor belt 7 and the driven conveyor belt Relative sliding occurs between the conveyor belts 13 (without moving), forming an effective twisting force on the guide wire, improving twisting efficiency, 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, and the vertical beam 37 is arranged on the support frame 35, The end of the beam 38 is connected to the top of the vertical beam 37 , and the adjusting assembly is arranged on the 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 beam 38 is provided with a perforation that is adapted to the adjustment bolt 39, and the cushion block 40 is located on the The bottom side of the crossbeam 38 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 perpendicular to the first guide rail 12, and the two ends of the second guide rail are respectively passed through free sliding
  • the block 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 to the locking slider 11, and the driving idler pulley 8 is connected to the idler bracket 9 connections.
  • 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.
  • a twisting device for vascular interventional instruments 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 connection, 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 the motor 18 is connected with the mecanum wheel 17 to drive the mecanum wheel 17 to rotate forward or reversely.
  • 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.
  • a twisting device for vascular interventional instruments 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 all arranged on the support table 6.
  • the driving assembly The output end is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with 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.
  • 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 through the first base 24.
  • 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 driven by the lifting assembly. connect.
  • 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 pass through the second base 27 respectively.
  • 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 and the second base 27 are hinged. 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.
  • 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 twisting a vascular interventional device provided in the present application is described below, and the method for twisting a vascular interventional device described below and the device for twisting a vascular interventional device described above can be referred to in correspondence.
  • the present application also provides a method for twisting a vascular interventional device, comprising the following steps:
  • a method for twisting a vascular interventional device 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 twisting device and method for vascular interventional instruments include a support platform, on which two first guide rails are arranged in parallel; an active wire feeding mechanism, which includes a first bracket assembly, an active conveyor belt and an active wire feeding mechanism.
  • the idler pulley, the first bracket assembly is slidably arranged on the first guide rail, the driving idler pulley is arranged on the first bracket assembly, the driving conveyor belt and the driving idler pulley are tensioned and adapted;
  • the pressing mechanism, pressing The tightening mechanism includes a second support assembly, an adjustment assembly and a pressing plate, the second support assembly is arranged on the support platform, the adjustment assembly is arranged on the second support assembly, the pressing plate is connected with the adjustment assembly;
  • the driven wire feeding mechanism from The driven wire feeding mechanism includes a driven conveyor belt and a driven idler pulley, the driven conveyor belt and the driven idler pulley are tensioned and adapted, and the driven idler pulley is set on the side of the pressing plate away from the adjustment assembly.
  • the moving conveyor belt is located above the driving conveyor belt to clamp the guide wire.
  • the gap between the driven conveyor belt and the driving conveyor belt can be adjusted by adjusting the assembly to realize the adjustment of the clamping force of the guide wire to prevent slipping during the twisting process and ensure
  • the relative movement between the driving conveyor belt and the driven conveyor belt produces effective twisting force on the guide wire, improving twisting efficiency, operation efficiency and safety. .

Landscapes

  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Biomedical Technology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Engineering & Computer Science (AREA)
  • Pathology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Surgical Instruments (AREA)

Abstract

Un appareil et un procédé de torsion d'instrument d'intervention vasculaire, se rapportant au domaine technique des robots chirurgicaux. L'appareil de torsion d'instrument d'intervention vasculaire comprend : une plateforme de support (6), deux premiers rails de guidage parallèles (12) étant disposées sur la plate-forme de support (6) ; un mécanisme d'alimentation en fil d'entraînement (1) comprenant un premier ensemble support, une courroie transporteuse d'entraînement (7), et une poulie de rouleau de support d'entraînement (8), le premier ensemble de support étant disposé de manière coulissante sur les premiers rails de guidage (12), et la courroie transporteuse d'entraînement (7) étant tendue et adaptée à la poulie de rouleau de support d'entraînement (8) ; un mécanisme de pressage (5) comprenant un second ensemble support, un ensemble de réglage et une plaque de pression (16) ; et un mécanisme d'alimentation en fil entraîné (2) comprenant une courroie transporteuse entraînée (13) et une poulie de rouleau porteur entraînée (14). Un espace entre la courroie transporteuse entraînée et la courroie transporteuse d'entraînement est ajusté par l'ensemble de réglage, de telle sorte que la force de serrage sur un fil de guidage est ajustée, le glissement pendant le processus de torsion est empêché, le mouvement relatif de la courroie transporteuse d'entraînement et de la courroie transporteuse entraînée est assuré, une force de torsion efficace sur le fil de guidage est produite, et l'efficacité de torsion, l'efficacité chirurgicale et la sécurité sont améliorées.
PCT/CN2022/126625 2021-10-22 2022-10-21 Appareil et procédé de torsion d'instrument d'intervention vasculaire WO2023066367A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111235746.7A CN113974787B (zh) 2021-10-22 2021-10-22 血管介入器械搓捻装置及方法
CN202111235746.7 2021-10-22

Publications (1)

Publication Number Publication Date
WO2023066367A1 true WO2023066367A1 (fr) 2023-04-27

Family

ID=79740622

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2022/126625 WO2023066367A1 (fr) 2021-10-22 2022-10-21 Appareil et procédé de torsion d'instrument d'intervention vasculaire

Country Status (2)

Country Link
CN (1) CN113974787B (fr)
WO (1) WO2023066367A1 (fr)

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113974787B (zh) * 2021-10-22 2022-09-27 中国科学院自动化研究所 血管介入器械搓捻装置及方法
CN113951946B (zh) * 2021-10-22 2023-11-17 中国科学院自动化研究所 血管介入器械推送装置及方法
CN114522325B (zh) * 2022-02-24 2023-11-28 上海神玑医疗科技有限公司 一种用于导丝的运动控制装置以及手术机器人

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103599585A (zh) * 2013-11-20 2014-02-26 中国科学院深圳先进技术研究院 血管介入手术导丝导管操作装置及其操作模块
WO2016204437A1 (fr) * 2015-06-16 2016-12-22 한양대학교에리카산학협력단 Robot d'intervention vasculaire et système d'intervention vasculaire
CN108514448A (zh) * 2017-12-14 2018-09-11 深圳先进技术研究院 血管介入手术机器人导丝、导管操控装置
WO2019113867A1 (fr) * 2017-12-14 2019-06-20 深圳先进技术研究院 Fil-guide de robot chirurgical d'intervention sur vaisseau sanguin et appareil d'actionnement de cathéter
CN110664489A (zh) * 2019-10-26 2020-01-10 宜昌市中心人民医院 一种介入血管微手术机器人
CN110840566A (zh) * 2019-11-07 2020-02-28 北京唯迈医疗设备有限公司 介入手术机器人导丝夹紧和搓动装置
CN111588471A (zh) * 2020-06-23 2020-08-28 四川大学 血管介入手术机器人
CN113951946A (zh) * 2021-10-22 2022-01-21 中国科学院自动化研究所 血管介入器械推送装置及方法
CN113974787A (zh) * 2021-10-22 2022-01-28 中国科学院自动化研究所 血管介入器械搓捻装置及方法

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101879346B (zh) * 2010-07-03 2013-12-18 燕山大学 微创血管介入手术机器人导管捻旋装置
CN204057059U (zh) * 2014-07-14 2014-12-31 深圳市欧铠机器人有限公司 全向搬运机器人
US10625062B2 (en) * 2016-03-08 2020-04-21 Acclarent, Inc. Dilation catheter assembly with rapid change components
CN111110989B (zh) * 2018-10-31 2023-08-04 博联众科（武汉）科技有限公司 一种血管介入手术导丝导管推进装置

Patent Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103599585A (zh) * 2013-11-20 2014-02-26 中国科学院深圳先进技术研究院 血管介入手术导丝导管操作装置及其操作模块
WO2016204437A1 (fr) * 2015-06-16 2016-12-22 한양대학교에리카산학협력단 Robot d'intervention vasculaire et système d'intervention vasculaire
CN108514448A (zh) * 2017-12-14 2018-09-11 深圳先进技术研究院 血管介入手术机器人导丝、导管操控装置
WO2019113867A1 (fr) * 2017-12-14 2019-06-20 深圳先进技术研究院 Fil-guide de robot chirurgical d'intervention sur vaisseau sanguin et appareil d'actionnement de cathéter
CN110664489A (zh) * 2019-10-26 2020-01-10 宜昌市中心人民医院 一种介入血管微手术机器人
CN110840566A (zh) * 2019-11-07 2020-02-28 北京唯迈医疗设备有限公司 介入手术机器人导丝夹紧和搓动装置
CN111588471A (zh) * 2020-06-23 2020-08-28 四川大学 血管介入手术机器人
CN113951946A (zh) * 2021-10-22 2022-01-21 中国科学院自动化研究所 血管介入器械推送装置及方法
CN113974787A (zh) * 2021-10-22 2022-01-28 中国科学院自动化研究所 血管介入器械搓捻装置及方法

Also Published As

Publication number Publication date
CN113974787B (zh) 2022-09-27
CN113974787A (zh) 2022-01-28

Similar Documents

Publication Publication Date Title
WO2023066367A1 (fr) Appareil et procédé de torsion d'instrument d'intervention vasculaire
WO2023066362A1 (fr) Dispositif et méthode de poussée d'instrument d'intervention vasculaire
CN107080592B (zh) 一种神经介入头颈部固定装置
JP3123649B2 (ja) 手術台システム
US20210378902A1 (en) Adjustable cervical traction assemblies for person support apparatuses
US20160250494A1 (en) Link mechanism for arm portion
CN109528172A (zh) 一种畜牧兽医专用检查装置
CN106821671B (zh) 一种神经外科头部支撑定位装置
CN1698554A (zh) 滑动式下肢皮肤牵引多功能牵引架
CN114177480B (zh) 适用于血管介入手术的导丝导管同轴驱动设备及控制方法
CN211356493U (zh) 一种心血管造影术后护理用按压止血装置
CN108577981A (zh) 一种用于骨科和普外科的牵引架
CN216495693U (zh) 一种神经外科临床手术用头部支撑固定装置
CN108904200A (zh) 一种x射线导管床
CN111631739B (zh) 一种用于c形臂的水平滑动机构、c形臂及具有其的设备
CN111773017A (zh) 一种pci手术上肢自动托板架
CN214104509U (zh) 一种心内科导管介入手术压迫护理装置
CN212369245U (zh) 一种pci手术上肢自动托板架
CN220142087U (zh) 一种术后护理架
CN108433765A (zh) 一种稳定耐用的肌肉牵开装置
CN212522238U (zh) 一种心内介入术后重症患者翻身装置
CN114391952B (zh) 一种适用临床的血管介入手术机器人双位驱动及反馈装置
CN115137581B (zh) 一种面部整形术后护理装置
US10602999B2 (en) X-ray system and method for operating an X-ray system
CN113749743A (zh) 动静脉探测仪

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 22882972

Country of ref document: EP

Kind code of ref document: A1