WO2023274260A1 - 导管控制器和输送装置 - Google Patents

导管控制器和输送装置 Download PDF

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Publication number
WO2023274260A1
WO2023274260A1 PCT/CN2022/102092 CN2022102092W WO2023274260A1 WO 2023274260 A1 WO2023274260 A1 WO 2023274260A1 CN 2022102092 W CN2022102092 W CN 2022102092W WO 2023274260 A1 WO2023274260 A1 WO 2023274260A1
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WO
WIPO (PCT)
Prior art keywords
catheter
groove
turntable
gear
delivery
Prior art date
Application number
PCT/CN2022/102092
Other languages
English (en)
French (fr)
Inventor
赵柏湖
程舒宇
王永胜
Original Assignee
杭州德诺脑神经医疗科技有限公司
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.)
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Publication date
Application filed by 杭州德诺脑神经医疗科技有限公司 filed Critical 杭州德诺脑神经医疗科技有限公司
Publication of WO2023274260A1 publication Critical patent/WO2023274260A1/zh

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    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical 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
    • A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
    • A61M39/10—Tube connectors; Tube couplings
    • 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
    • A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
    • A61M39/22—Valves or arrangement of valves
    • A61M39/223—Multiway valves
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
    • B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
    • B65H75/00—Storing webs, tapes, or filamentary material, e.g. on reels
    • B65H75/02—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks
    • B65H75/34—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables
    • B65H75/38—Cores, formers, supports, or holders for coiled, wound, or folded material, e.g. reels, spindles, bobbins, cop tubes, cans, mandrels or chucks specially adapted or mounted for storing and repeatedly paying-out and re-storing lengths of material provided for particular purposes, e.g. anchored hoses, power cables involving the use of a core or former internal to, and supporting, a stored package of material
    • B65H75/44—Constructional details
    • B65H75/4481—Arrangements or adaptations for driving the reel or the material
    • B65H75/4486—Electric motors
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A61M2025/0177—Introducing, guiding, advancing, emplacing or holding catheters having external means for receiving guide wires, wires or stiffening members, e.g. loops, clamps or lateral tubes
    • 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
    • A61M39/00—Tubes, tube connectors, tube couplings, valves, access sites or the like, specially adapted for medical use
    • A61M39/10—Tube connectors; Tube couplings
    • A61M2039/1038—Union screw connectors, e.g. hollow screw or sleeve having external threads

Definitions

  • the invention relates to the technical field of medical instruments, in particular to a catheter controller and a delivery device.
  • the storage and delivery of catheters in surgical robots usually use a circular turntable.
  • the catheter is released from the spiral groove, enters the blood vessel of the human body, and moves axially in the blood vessel under external push.
  • the catheter Because the movement mode of the catheter is relatively simple, when the front end of the catheter is blocked, the catheter is easy to retreat a certain distance in the opposite direction under the action of resistance, and then a more serious retraction phenomenon occurs along the spiral groove, so that the catheter actually reaches The position is misplaced, resulting in imprecise placement of the catheter in the patient.
  • the purpose of the present invention is to provide a catheter controller to solve the problem in the prior art that the catheter of the surgical robot is blocked and easy to retreat during delivery.
  • a catheter controller characterized in that it includes: a base body, including a base and a delivery carousel rotatably arranged on the base; the peripheral wall of the delivery carousel is provided with grooves extending helically in the circumferential direction , the groove is used for coiling the catheter; the catheter clamping device is arranged above the delivery carousel and is used to clamp the proximal end of the catheter; the catheter rotation driving device is used to drive the catheter clamping device to rotate, to drive the proximal end of the catheter to rotate.
  • the rotation direction of the proximal end of the catheter is perpendicular to the extension direction of the proximal end of the catheter.
  • the catheter clamping device includes a sleeve joint and a Luer joint; the Luer joint is connected to the catheter, and the sleeve joint is used to clamp the Luer joint to Clamp the catheter.
  • the proximal end of the catheter is passed through the sleeve joint and connected to the Luer joint, and the sleeve joint is sleeved on the Luer joint.
  • the sleeve joint is rotatably mounted on the delivery carousel, and the catheter rotation driving device is used to drive the sleeve joint to rotate to drive the Luer joint and the The proximal end of the catheter is rotated.
  • the catheter rotation driving device includes a first motor and a drive shaft connected to the sleeve joint, the first motor is used to drive the drive shaft to rotate to drive the sleeve The joint turns.
  • the catheter rotation driving device includes a first gear and a second gear meshed with the first gear, the first gear is sheathed on the driving shaft, and the second gear is engaged with the first gear.
  • the gear is sleeved on the sleeve joint; the output end of the first motor is connected to the driving shaft to drive the first gear to rotate, and the rotation of the first gear drives the rotation of the second gear, so that The driving shaft rotates synchronously with the sleeve joint.
  • the driving shaft and the sleeve joint are located on the same side of the correspondingly connected first gear and the second gear.
  • the driving shaft and the sleeve joint are arranged side by side, and the extending direction of the driving shaft is parallel to the extending direction of the sleeve joint.
  • the catheter controller further includes a bearing seat provided on the delivery carousel for supporting the driving shaft and the sleeve joint, and the driving shaft and the sleeve joint are Rotate the bearing seat.
  • the base body further includes a turntable cover; the turntable cover is arranged on the upper surface of the delivery turntable away from the base; the catheter clamping device and the catheter rotation driving device are both provided on the upper surface of the turntable cover.
  • the turntable cover is provided with a wire hole for passing through the conduit.
  • the catheter controller further includes a turntable drive part; the turntable drive part is connected to the turntable cover, and is used to drive the delivery turntable to rotate forward and reverse, so as to push out the delivery turntable from the delivery turntable. the catheter or retrieve the catheter to the delivery carousel.
  • the turntable driving part includes a second motor fixed on the turntable cover, the output shaft of the second motor is connected with the turntable cover and the conveying turntable to drive the The carousel cover and the delivery carousel rotate.
  • the turntable drive part further includes a third gear and a fourth gear meshed with the third gear, the third gear is connected to the output shaft of the second motor, so The fourth gear is fixed on the base, and the second motor drives the third gear through the output shaft to drive the fourth gear to rotate, so that the turntable cover and the delivery turntable rotate synchronously.
  • the base is protrudingly provided with a vertical shaft;
  • the turntable driving part further includes a support sleeve and a tapered roller bearing, and the tapered roller bearing is sleeved on the outer periphery of the vertical shaft;
  • the support sleeve is rotatably sleeved on the outer circumference of the tapered roller bearing, and the support sleeve is accommodated in the central through hole of the fourth gear, and the conveying turntable is fixed on the support The top end of the shaft sleeve; the conveying turntable can rotate around the vertical axis under the support of the support shaft sleeve.
  • the base includes a chassis and a cover; the delivery carousel is rotatably arranged on the chassis; the cover is connected to the chassis and surrounds the delivery turntable; the cover and The grooves jointly define an accommodating space for accommodating the catheter.
  • the outer cover includes a first shell and a second shell that are symmetrical to each other; each of the first shell and the second shell includes a main body and a side along the main body.
  • a bottom plate extending radially outward from the wall; the accommodating space is defined by the main body part and the groove, and the bottom plate is detachably connected with the chassis.
  • the base body further includes a guide part, the guide part is arranged on the side of the first housing or the second housing away from the chassis, and the distal end of the conduit passes through The guide part leads out of the accommodating space, and moves linearly on the guide part.
  • the guide part includes a first guide piece and a second guide piece; the first guide piece and the second guide piece are simultaneously arranged on the first housing or the second Housing; the first guide protrudes from the first housing and is connected to the main body of the first housing, and communicates with the interior of the first housing; the first guide is used for the conduit passing through; the second guide piece is arranged on the first housing and spaced apart from the first guide piece, and the second guide piece and the first guide piece are located on the same axis.
  • the present application also provides a delivery device.
  • the conveying device includes a first drive assembly, the first drive assembly includes a storage device and a first drive device, wherein: the first drive device is connected to the storage device, and drives the storage device to rotate around a first axis , and then drive the first end of the target object to move along the target direction; and the storage device includes an accommodating space configured to accommodate part or all of the target object, wherein the accommodating space
  • the axis of the target is helical, wherein the first axis includes the axis of rotation of the helix.
  • the conveying device further includes a second driving assembly
  • the second driving assembly includes: a clamping part, which clamps the second end of the target object when working, and when the target object When the second end is clamped, the clamping part allows the second end of the target to rotate around the second axis; a second driving device drives the clamping part to rotate around the second axis; and a support part , rigidly connected with the storage device.
  • the accommodating space includes: a first groove including a first section, and the first section is in the shape of the helix.
  • the storage device includes a first surface, and the first groove is disposed on the first surface, wherein the first surface includes a plane or a curved surface.
  • the curved surface includes at least one of a cylinder, a cone, and a hyperboloid.
  • the storage device is disc-shaped and includes: an outer edge portion in an annular shape, wherein the first groove is disposed on the upper surface of the outer edge portion or on the lower surface opposite to the upper surface a surface; and a web portion connected to the outer edge portion.
  • the storage device is in the shape of a terrace, and the first surface includes the outer side wall or the inner side wall of the storage device; or the storage device is columnar, and the first surface includes the storage device outer or inner wall.
  • the cross-sections of any two positions on the first section are the same.
  • the first groove includes: a groove bottom, the cross section of the groove bottom includes an arc; a first side wall, connected with one end of the groove bottom, extends toward the groove of the first groove The mouth extends; and the second side wall is connected with the other end of the groove bottom, is opposite to the first side wall, and extends toward the opening of the first groove.
  • the diameter of the arc is not greater than 4mm.
  • the cross-section of the first side wall includes a first straight line; and the cross-section of the second side wall includes a second straight line, wherein the first straight line and the second straight line are parallel, Or the first straight line and the second straight line form a preset angle.
  • the first groove further includes a second section, the second section includes: a first end, the groove width of the first end is the same as the groove width of the first section the second end, the groove width of the second end is greater than the groove width of the first section, wherein the groove width of the second section gradually increases from the first end to the second end.
  • the storage device further includes: a second groove, at one end of the first groove, communicating with the first groove, wherein: the groove width of the second groove is larger than the The groove width of the first groove; and the groove depth of the second groove is greater than the groove depth of the first groove.
  • the helix comprises an Archimedes helix, a Fermat helix, an equiangular helix, a hyperbolic helix, a circular inner helix, a chain helix, a Conuu helix, a cylindrical helix , and at least one of a conical helix.
  • the accommodating space includes: at least 2 first clamping parts, the at least 2 first clamping parts are discretely arranged at different positions of the helix, wherein each The first clamping part includes a guide channel, and the guide channel extends along the helix, wherein the guide channel constitutes part or all of the accommodating space.
  • the number of turns of the spiral is not more than 10; the distance D1 between any two adjacent turns of the spiral is not greater than 10mm; the distance D1 between any two adjacent turns of the spiral is not less than 0.01mm; or the The distance D2 between the outermost circle of the first groove and the screw axis is not greater than 250mm.
  • the catheter controller includes a delivery carousel, a catheter clamping device and a catheter rotation driving device.
  • the conveying carousel is provided with grooves that extend spirally along the circumferential direction. Since the conduits are coiled and stored on the spiral grooves, this storage method can effectively save the storage volume of the conduits and effectively simplify the controller. the whole frame.
  • the delivery carousel rotates forward and reverse to release the delivery or receive the catheter.
  • the catheter clamping device is used to clamp the proximal end of the catheter
  • the catheter rotation driving device is used to drive the catheter clamping device to rotate, thereby driving the catheter whose proximal end is fixed to rotate, and the circumferential rotation of the proximal end of the catheter is transmitted to the catheter the far end.
  • the catheter is transported in the axial direction and at the same time cooperates with its own circumferential rotation, the thrust can be increased, and the resistance can be overcome.
  • the advance and retreat delivery control accuracy of the catheter ensures the precise position of the catheter in the patient's body.
  • Fig. 1 is a schematic structural diagram of a catheter controller in an embodiment of the present invention.
  • Fig. 2 is a schematic diagram of connection between the catheter clamping device and the catheter rotation driving device in Fig. 1 .
  • FIG. 3 is an exploded schematic diagram of the conduit clamping device and the conduit rotation driving device in FIG. 1 .
  • Fig. 4 is a schematic diagram of the assembly of the base body and the conveying carousel in the embodiment of the present invention.
  • FIG. 5 is an exploded schematic view of the matrix in FIG. 4 .
  • Fig. 6 is a schematic diagram of the separation of the chassis and the outer cover in the embodiment of the present invention.
  • Fig. 7 is an exploded schematic view of the turntable driving part in the embodiment of the present invention.
  • Fig. 8 is a schematic diagram of the assembly of the turntable driving part and the base in the embodiment of the present invention.
  • FIG. 9 is an axial cross-sectional view of the base body of FIG. 8 .
  • Fig. 10 is a schematic structural diagram of the conveying carousel in the embodiment of the present invention.
  • Fig. 11 is an axial sectional view of the conveying carousel in Fig. 10 .
  • FIG. 12 is an enlarged view of A in FIG. 11 .
  • Fig. 13 shows a schematic structural diagram of a delivery device provided according to an embodiment of the present application.
  • Fig. 14 shows an exploded schematic diagram of part of the structure of the delivery device described in Fig. 13;
  • Figure 15 shows a partial cross-sectional view of the delivery device of Figure 13;
  • FIG. 16 shows a schematic structural diagram of a storage device provided according to an embodiment of the present application.
  • Figure 17 shows a partial cross-sectional view of the memory device described in Figure 16.
  • Figure 18 shows a partial enlarged view of area A in Figure 17;
  • Fig. 19 shows a schematic diagram of the delivery principle of a delivery device provided according to an embodiment of the present application.
  • Fig. 20 shows a schematic structural diagram of another delivery device provided according to an embodiment of the present application.
  • Fig. 21 shows a schematic structural diagram of a second driving module provided according to an embodiment of the present application.
  • Fig. 22 shows an exploded schematic diagram of a second driving module provided according to an embodiment of the present application.
  • FIG. 23 shows a schematic structural diagram of another storage device provided according to an embodiment of the present application.
  • Figure 24 shows a cross-sectional view of the C-C section of the storage device described in Figure 23;
  • Figure 25 shows an enlarged view of area B in Figure 24
  • FIG. 26 shows an enlarged view of area C in FIG. 23 .
  • This embodiment provides a catheter controller, which can be applied to a surgical robot to implement vascular interventional surgery, and to control the delivery of the catheter in the human body.
  • FIG. 1 shows a specific structure of a catheter controller 100 provided in this embodiment.
  • the catheter controller 100 includes a base body 1 , and a catheter clamping device 3 and a catheter rotation driving device 5 arranged on the base body 1 .
  • the base body 1 includes a base 11 and a delivery turntable 13 rotatably arranged on the base 11 , and the delivery turntable 13 is provided with grooves extending helically along the circumferential direction for the catheter 300 to coil.
  • the groove 103 has an inlet end 102 near the proximal end of the catheter 300 and an outlet end 104 through which the distal end of the catheter 300 passes (the specific structure of the delivery carousel 13 will be described in detail in FIG. 11 below).
  • the aforementioned proximal end refers to the end close to the operator's heart, and the distal end refers to the end far away from the heart.
  • the catheter clamping device 3 is arranged above the delivery carousel 13, and clamps the proximal end of the catheter 300; the catheter rotation driving device 5 drives the catheter clamping device 3 to rotate, thereby driving the proximal end of the catheter 300 to rotate synchronously, so that the catheter 300 is close to The circumferential rotation of the distal end is transmitted to the distal end to improve the advancement effect of the catheter 300.
  • the rotation direction of the proximal end of the catheter 300 is perpendicular to the extension direction of the proximal end of the catheter 300, that is, the catheter 300 can be pushed in the axial direction while rotating in the circumferential direction, so that the thrust can be increased, and the catheter 300 can It can be advanced more smoothly inside the human body, and the distal end of the catheter 300 will not easily retreat when encountering obstacles, thereby improving the control accuracy of the advance and retreat of the catheter 300 and ensuring the precise position of the catheter in the patient's body.
  • the conduit controller 100 further includes a bearing seat 6 .
  • the bearing seat 6 is vertically arranged on the upper surface of the conveying carousel 13 to provide installation space for the conduit clamping device 3 and the conduit rotation driving device 5 .
  • the catheter clamping device 3 includes a sleeve connector 31 and a Luer connector 33 for connecting the catheter 300 .
  • the sleeve connector 31 is used to clamp the Luer connector 33 to clamp the catheter 300 .
  • the proximal end of the catheter 300 passes through the sleeve joint 31 and is connected to the Luer joint 33 , and the sleeve joint 31 is sleeved on the Luer joint 33 .
  • the proximal end of the catheter 300 is passed through an end of the sleeve joint 31 away from the Luer joint 33, and extends out of the sleeve joint 31 near the end of the Luer joint 33 to be connected with the Luer joint.
  • the sleeve joint 31 is a hollow cylindrical structure, and the sleeve joint 31 is rotatably mounted on the bearing seat 6 through the bearing 56 as a whole.
  • the two ends along the axial direction of the sleeve joint 31 are respectively defined as the front end and the rear end; in FIG.
  • the left end of the object is the front end.
  • the diameter of the rear end of the sleeve joint 31 ie the end away from the Luer joint 33
  • the diameter of the front end of the sleeve joint 31 ie the end close to the Luer joint 33
  • the rear end of the sleeve joint 31 protrudes from the bearing seat 6 backward.
  • the Luer connector 33 also has a front end and a rear end along its own axial direction.
  • the rear end of the Luer connector 33 extends into the interior of the sleeve connector 31 through the front end of the sleeve connector 31 and is clamped by the sleeve connector 31 .
  • the sleeve joint 31 is configured as a hollow structure.
  • the inner channel of the Luer connector 33 communicates with the inner cavity of the sleeve connector 31 .
  • the rear end of the luer connector 33 is used to connect the proximal end of the catheter 300 , and the rear end of the luer connector 33 is inserted into the hub connector 31 , so that the proximal end of the catheter 300 can pass through the hub connector 31 .
  • the proximal end of catheter 300 is clamped between luer connector 33 and hub connector 31 .
  • the sleeve joint 31 can clamp the rear end of the Luer joint 33 , so as to achieve the purpose of clamping the proximal end of the catheter 300 .
  • the cooperation between the Luer connector 33 and the sleeve connector 31 is in the form of conical surface locking, and the two can make the connecting parts of the two contract radially through the mutual conic surface cooperation.
  • This method not only makes Luer The entire circumference of the rear end of the Luer connector 33 is subjected to clamping force, and the clamping area is large, the clamping is reliable, and the damage to the Luer connector 33 is small.
  • the sleeve connector 31 can be adapted to different specifications of the Luer connector 33 with the catheter 300, making the installation more convenient.
  • the Luer connector 33 is equipped with a three-way valve 34 , a three-way valve fixing seat 35 , a rotating wheel 36 and a shaft sleeve 37 .
  • the three-way valve fixing seat 35 is fixedly arranged to provide support for the three-way valve 34 .
  • the three-way valve 34 has a cylindrical pipe body 341 for liquid flow and a branch pipe 342 connected to the side wall of the pipe body 341 and communicated with the pipe body 341 to form three pipelines.
  • the main part of the pipe body 341 is arranged on the three-way valve fixing seat 35 , and the two ends of the pipe body 341 along its axial direction respectively exceed the two sides of the three-way valve fixing seat 35 .
  • the two ends of the pipe body 341 can be respectively defined as the front end and the rear end of the three-way valve 34;
  • the front end of the joint 33 is connected, so the Luer joint 33 can rotate relative to the three-way valve 34 .
  • the three-way valve 34 can facilitate the doctor to inject the medicine, transport the guide wire or transport the stent into the catheter 300, which provides convenience for the operation process and saves operation space.
  • the rotating wheel 36 is rotatably disposed on the front end of the three-way valve 34 , and the rotating wheel 36 is located on a side of the three-way valve fixing seat 35 away from the Luer connector 33 .
  • the rotating wheel 36 is used to close and open the port at the front end of the three-way valve 34.
  • the closing and opening mode of the rotating wheel 36 is realized by connecting and cooperating with the three-way valve 34 by adopting a joint in the form of conical locking.
  • the hub connector 31 is rotatably mounted on the delivery carousel 13 , and the catheter rotation driving device 5 is used to drive the hub connector 31 to rotate, so as to drive the proximal end of the Luer connector 33 and the catheter 300 to rotate.
  • the catheter rotation driving device 5 includes a first motor 51 and a driving shaft 52 connected with a hub joint.
  • the first motor 51 is used to drive the driving shaft 52 to rotate, so as to drive the sleeve joint 31 to rotate.
  • the drive shaft 52 is arranged side by side with the sleeve joint 31 , and the extension direction of the drive shaft 52 is parallel to the extension direction of the sleeve joint 31 .
  • the catheter rotation driving device 5 further includes a first gear 53 and a second gear 54 meshing with the first gear 53 .
  • the first gear 53 is connected to the driving shaft 52
  • the second gear 54 is connected to the sleeve joint 31 .
  • the output end of the first motor 51 is connected to the driving shaft 52 to drive the first gear 53 to rotate, and the rotation of the first gear 51 drives the second gear 54 to rotate, so that the driving shaft 52 and the sleeve joint 31 rotate synchronously.
  • the driving shaft 52 and the sleeve joint 31 are located on the same side of the correspondingly connected first gear 53 and second gear 54 .
  • the first motor 51, the drive shaft 52 and the first gear 53 are linearly driven along the first direction
  • the second gear 54, the sleeve connector 31 and the Luer connector 33 are driven along the second direction opposite to the first direction.
  • the linear transmission in two directions makes the overall structure of the catheter controller 100 more compact.
  • the driving shaft 52 and the sleeve joint 31 are located on different sides of the correspondingly connected first gear 53 and second gear 54 .
  • the driving shaft 52 is located on the left side of the first gear 53, and the sleeve joint 31 is located on the right side of the second gear 54; or, the driving shaft 52 is located on the right side of the first gear 53, and the sleeve joint 31 is located on the second gear 54 on the left side.
  • the catheter rotation driving device 5 can omit the first gear 53 and the first gear 53 , that is, the catheter rotation driving device 5 only includes the first motor 51 and the drive shaft 52 fixedly connected to the sleeve joint 31 .
  • the driving shaft 52 is arranged coaxially with the sleeve joint 31 .
  • the first motor 51 drives the driving shaft 52 to rotate, and the rotating driving shaft 52 drives the sleeve joint 31 to rotate, thereby realizing the circumferential rotation of the Luer joint 33 and the catheter 300 .
  • the catheter controller 100 further includes a bearing seat 6 disposed on the delivery carousel 13 for supporting the driving shaft 52 and the sleeve joint 31 .
  • the drive shaft 52 and the sleeve joint 31 are rotatably connected to the bearing housing 6 .
  • the driving shaft 52 and the sleeve joint 31 are all rotatably mounted on the bearing housing 6 through the bearing 56.
  • the driving shaft 52 also has a front end and a rear end along its own axial direction, and the rear end of the driving shaft 52 protrudes from the bearing housing backward. 6.
  • the driving shaft 52 and the sleeve connector 31 are installed in holes at different positions on the bearing housing 6 respectively, and are horizontally arranged side by side.
  • the first gear 53 is sleeved on the rear end of the driving shaft 52, and the second gear 54 is sleeved on the rear end of the sleeve joint 31. Therefore, the first gear 53 and the second gear 54 are located on the same side of the bearing seat 6 and Mesh with each other.
  • the catheter rotation driving device 5 also includes a first motor base 55 on which the first motor 51 is installed, and the output end of the first motor 51 is coaxially connected with the front end of the drive shaft 52 through a coupling 57 .
  • the first motor 51 When the first motor 51 is working, its output end drives the first gear 53 to rotate, so that through the meshing transmission of the first gear 53 and the second gear 54, the sleeve connector 31 and the Luer connector 33 are driven to rotate synchronously, realizing the catheter 300
  • the rotating operation ensures that the catheter 300 can be smoothly advanced to a predetermined position in the blood vessel.
  • the rotation speed of the catheter 300 can be adjusted by adjusting the transmission ratio of the first gear 53 and the second gear 54 .
  • the advancement and circumferential rotation of the catheter 300 can be simultaneously controlled by the catheter clamping device 3 and the catheter rotation driving device 5 described above.
  • the catheter 300 cooperates with its own circumferential rotation during transportation, which is equivalent to increasing the thrust, and the catheter 300 can be advanced more smoothly inside the human body.
  • the catheter structure with threads on the outer surface when the catheter 300 is rotated in the blood vessel, the outer thread of the catheter 300 can be threadedly combined with the blood vessel wall to be rotated and propelled, which has a better propulsion effect.
  • the base body 1 includes a base 11 , a transport turntable 13 rotatably mounted on the base 11 , and a turntable cover 15 disposed above the transport turntable 13 .
  • the delivery carousel 13 rotates forward and reverse to release the delivery or storage catheter 300 .
  • the turntable cover 15 is disposed on the upper surface of the transport turntable 13 away from the base 11 .
  • Both the conduit clamping device 3 and the conduit rotation driving device 5 are arranged on the upper surface of the turntable cover 15 .
  • the bearing seat 6 is fixed on the turntable cover 15 .
  • the base 11 includes a chassis 10 and a cover 16 .
  • the chassis 10 has a rectangular shape.
  • a ring-shaped sidewall 111 protrudes from the outer periphery of the chassis 10 .
  • the annular sidewall 111 has a rectangular outline, and the annular sidewall 111 encloses and forms a receiving groove with an upward opening, and the receiving groove is used for accommodating the conveying carousel 13 .
  • a vertical axis 112 protrudes from the base 11 .
  • the chassis 10 is provided with a vertical shaft 112 protruding vertically upward at the bottom of the storage tank, and the conveying turntable 13 can rotate around the vertical shaft 112 .
  • a plurality of connecting holes 101 are respectively provided on opposite sides of the annular sidewall 111 .
  • the outer cover 16 is connected to the chassis 10 and is arranged around the outer periphery of the conveying carousel 13 .
  • the housing 16 may be attached to the periphery of the chassis 10 .
  • the outer cover 16 is detachably disposed on the periphery of the chassis 10 through the connecting hole 101 .
  • the outer cover 16 is an annular structure, and has a shape adapted to the shape of the conveying carousel 13 .
  • the outer cover 16 and the groove 103 jointly define an accommodating space for accommodating the catheter 300 , thereby limiting the catheter 300 on the delivery carousel 13 .
  • the housing 16 includes a first shell 161 and a second shell 162 that are symmetrical to each other.
  • Both the first housing 161 and the second housing 162 are semi-open arc structures.
  • the first housing 161 is installed on the left half of the chassis 10, and the second housing 162 is installed on the right half of the chassis 10.
  • the two housings can be enclosed to form a complete ring structure, and the installation and disassembly are more convenient.
  • both the first housing 161 and the second housing 162 include a main body 1611 and a bottom plate 1613 extending radially outward from a sidewall of the main body 1611 .
  • the main body 1611 and the groove 103 define an accommodating space, and the bottom plate 1613 is detachably connected to the chassis 10 .
  • the main parts 1611 of the two housings are spliced to form a complete ring structure, which is arranged concentrically with the chassis 10 .
  • the main body 1611 is roughly semi-circular in shape.
  • the bottom plate 1613 is detachably connected with the chassis 10 to cover the chassis 10 . Specifically, one side of the bottom plate 1613 is opposite to the side with the connecting hole 101 of the annular side wall 111, and the side of the bottom plate 1613 is bent downwards to form a connecting portion 1615. matching through holes 106 .
  • the bottom plate 1613 When installing, the bottom plate 1613 is placed flat on the upper end surface of the annular side wall 111 of the chassis 10, and the connecting part 1615 is attached to the outer wall of the annular side wall 111; the connecting holes 101 and the through holes 106 correspond one by one for adaptation.
  • Fasteners such as bolts form a bolted connection to realize the detachable connection between the outer cover and the chassis 10 .
  • the base body 1 also includes a guide 19 .
  • the guide part 19 is disposed on the side of the first housing 161 or the second housing 162 facing away from the chassis 10 .
  • the distal end of the guide tube 300 leads out of the accommodation space through the guide part 19 and moves linearly on the guide part 19 .
  • the guide part 19 includes a first guide piece 17 and a second guide piece 18 both of which are hollow cylindrical.
  • the first guide piece 17 and the second guide piece 18 are simultaneously provided on the first casing 161 ; of course, the first guide piece 17 and the second guide piece 18 may also be provided on the second casing 162 at the same time.
  • the first guide member 17 protrudes and is connected to the main body portion 1611 of the first housing 161 , and communicates with the interior of the first housing 161 .
  • the first guide piece 17 is used for the conduit to pass through;
  • the second guide piece 18 is arranged on the first housing 161 and spaced apart from the first guide piece 17 , and the second guide piece 18 and the first guide piece 17 are located on the same axis.
  • the first guide member 17 protrudes radially and is connected to the outer wall of the main body portion 1611 of the first casing 161 , and communicates with the interior of the first casing 161 .
  • the first guide 17 is passed through by the distal end of the catheter 300 .
  • the second guiding member 18 is disposed on the bottom plate 1613 of the first casing 161 and is spaced opposite to the first guiding member 17 .
  • the two guides are located on the same axis to function to guide the catheter 300 .
  • the distal end of the catheter 300 is pushed outwards through the first guide 17, at this time, the distal end of the catheter 300 is exposed to the first guide 17; then, as the catheter 300 is further Pushed, the distal end of the catheter 300 passes through the second guide 18 and finally enters the patient.
  • the design of the above-mentioned first guide 17 and second guide 18 plans and constrains the moving path of the catheter 300, so that the catheter 300 can move axially and linearly in the same direction, so that the positioning of the catheter 300 in the patient's body is more accurate, ensuring that the catheter 300 The reliability and real-time performance of the 300 in the process of advancing and retreating.
  • the turntable cover 15 covers the conveying turntable 13 , and the periphery of the turntable cover 15 exceeds the periphery of the conveying turntable 13 .
  • the carousel cover 15 and the base 11 are enclosed together, so that the delivery carousel 13 located between them is in a relatively sealed space, preventing the catheter 300 from being polluted by the outside, and greatly increasing the reliability of the aseptic operation.
  • the turntable cover 15 is circular.
  • the turntable cover 15 is fixed horizontally on the upper surface of the turntable support 133 of the transport turntable 13 (the structure of the turntable support 133 will be described in detail in FIG. 11 below).
  • the turntable cover 15 is arranged concentrically with the delivery turntable 13 .
  • Bolt holes are correspondingly opened on the turntable cover 15 and the turntable bracket 133 to form a bolt connection.
  • the turntable cover 15 rotates together with the delivery turntable 13 .
  • the turntable cover 15 is provided with a wire passing hole 105 for passing through the catheter 300, so that the proximal end of the catheter 300 passes through the turntable cover 15 through the wire passing hole 105 and is connected with the Luer connector 33, thereby reducing the distance between the catheter 300 and the turntable cover. 15, as well as avoiding damage to the catheter 300 due to excessive bending, thereby ensuring the safety of the catheter.
  • the conduit clamping device 3 and the conduit rotation driving device 5 are integrally installed on the upper surface of the turntable cover 15 through the bearing seat 6, so that the overall structure is more compact.
  • the catheter clamping device 3 is closer to the wire passing hole 105 than the catheter rotating driving device 5 , so as to facilitate clamping the proximal end of the catheter 300 passing through the wire hole 105 .
  • a mounting hole 107 is formed through the turntable cover 15 .
  • the catheter controller 100 also includes a turntable drive part 14;
  • the conduit 300 or the conduit 300 is retrieved to the delivery carousel 13 . .
  • the turntable driving part 14 includes a second motor 142 fixed on the turntable cover 15 .
  • the output shaft of the second motor 142 is connected with the turntable cover 15 and the delivery turntable 13 to drive the turntable cover 15 and delivery turntable 13 to rotate.
  • the turntable drive unit 14 further includes a third gear 143 and a fourth gear 144 meshing with the third gear 143 .
  • the third gear 143 is connected on the output shaft of the second motor 142, the fourth gear 144 is fixedly arranged on the base 11, and the second motor 142 drives the third gear 143 through the output shaft to drive the fourth gear 144 to rotate, so that the turntable cover 15 and delivery carousel 13 rotate synchronously.
  • the third gear 143 and the fourth gear 144 are accommodated in the accommodation groove of the chassis 10 .
  • the fourth gear 144 is fixedly arranged in the middle of the chassis 10 and arranged around the vertical axis 112 .
  • the third gear 143 meshes with the outer periphery of the fourth gear 144 .
  • the diameter of the fourth gear 144 is larger than the diameter of the third gear 143 to achieve deceleration.
  • the second motor 142 is equipped with a second motor base 146, and the second motor 142 is integrated and fixed on the turntable cover 15 through the second motor base 146, so that the overall structure is more compact, the volume is smaller, and the environment adaptability is high.
  • the second motor 142 includes a main body 1421 disposed above the turntable cover 15 and an output shaft 1422 protruding from the main body 1421 , and the output shaft 1422 passes through the installation hole 107 downward. The end of the output shaft 1422 is accommodated in the third gear 143 .
  • the second motor 142 starts, and the output shaft 1422 rotates, and then, the output shaft 1422 drives the third gear 143 to rotate together; thereupon, the third gear 143 begins to rotate around the periphery of the fourth gear 144, thereby driving the third gear 143 in reverse.
  • the turntable cover 15 connected with the gear 143 rotates together with the delivery turntable 13 to realize the forward and backward delivery operation of the catheter 300 .
  • the turntable driving part 14 further includes a tapered roller bearing 141 and a support sleeve 145 to realize a smoother rotation of the turntable cover 15 and the conveying turntable 13 .
  • the tapered roller bearing 141 and the support sleeve 145 are located in the central through hole of the fourth gear 144 .
  • the tapered roller bearing 141 is a hollow cylindrical structure, and the tapered roller bearing 141 is rotatably sleeved on the vertical shaft 112 of the chassis 10 .
  • the support sleeve 145 is also a hollow cylindrical structure, and its diameter is larger than that of the tapered roller bearing 141 .
  • the supporting sleeve 145 is rotatably sleeved on the outer circumference of the tapered roller bearing 141 , and the supporting sleeve 145 extends upward beyond the tapered roller bearing 141 and is connected to the bottom of the conveying turntable 13 to support the conveying turntable 13 .
  • the rolling fit formed by the tapered roller bearing 141 and the support sleeve 145 can reduce the frictional resistance to be overcome when the conveying turntable 13 rotates, making the turntable 13 more stable and smooth.
  • the conveying carousel 13 includes a circular carousel body 131 and a carousel bracket 133 disposed inside the carousel body.
  • the turntable body 131 is arranged concentrically with the chassis 10 , and the axis of the turntable body 131 is consistent with the axis where the vertical shaft 112 is located. Meanwhile, the thickness direction of the turntable body 131 is also consistent with its axial direction.
  • the axis of the turntable body 131 is identified as L in FIG. 11 .
  • the turntable bracket 133 protrudes upwards from the turntable body 131 to allow the turntable cover 15 to be mounted and fixed.
  • the turntable bracket 133 has a plurality of radial struts 1331 arranged in the circumferential direction; the plurality of radial struts 1331 are radially distributed along the center of the turntable body 131 and radially connected to the inner wall of the turntable body 131 .
  • the diameter of the turntable main body 131 gradually increases from top to bottom, and the side walls of the turntable main body 131 are inclined in the up and down direction, so that the shape of the turntable is not a common cylindrical shape, but is biased upward. Small trapezoids under big ones.
  • the groove 103 is provided on a part of the outer periphery of the turntable main body 131 in a circumferential spiral shape.
  • Groove 103 has an inlet end 102 near the proximal end of catheter 300 and an outlet end 104 through which the distal end of catheter 300 exits.
  • the groove 103 includes a first section along its extending direction, and the radial distances between any two positions of the first section are not equal.
  • the radial distance here refers to the distance between the position on the first section and the axis L of the turntable main body 131 .
  • the groove 103 in this embodiment forms a first section from its inlet end 102 to its outlet end 104 .
  • the radial distance of the first section gradually increases from top to bottom along the axial direction of the conveying carousel 13 .
  • the two positions are respectively defined as a first position P1 and a second position P2.
  • the first position P1 is located below the second position P2 on the conveying carousel 13 , obviously, the radial distance of the first position P1 is greater than the radial distance of the second position P2 .
  • the first position P1 and the second position P2 included in the groove 103 have different helical radii (curvatures) of the coils. It is worth noting that curvature is equal to the reciprocal of radius and indicates how curved a curve is at a particular point. Therefore, the curvature of the small circle is greater than that of the large circle, that is, the small circle is more curved than the large circle.
  • the catheter 300 As the catheter 300 is wound round and round in the groove 103 , the catheter 300 will come into frictional contact with the groove 103 .
  • the catheter 300 When winding down from a small circle with a large curvature to a large circle with a small curvature, the catheter 300 will be more compactly coiled in the groove 103 due to the curvature of the coil. Due to the different extension of the curvature, the winding length of the catheter 300 on each circle is different. The closer to the bottom of the turntable, the larger the diameter of the circle, the longer the winding length of the catheter 300 on the larger circle, and the larger the contact area. As the frictional resistance of the catheter 300 in the groove 103 increases, the catheter 300 is less likely to "slip".
  • the resistance that the conduit needs to overcome to retreat relative to the delivery turntable is relatively large due to the large curvature, so that the conduit 300 does not It is easy to retreat, which ensures the stability of the delivery of the catheter 300 in the released state, thereby ensuring the precise positioning of the catheter 300 in the patient's body and reducing the difficulty of control.
  • the depth of the groove 103 on each coil is consistent, and the depth considers that the groove 103 matches the diameter size of the catheter 300, and the catheter 300 can be properly accommodated in the groove 103, neither If the catheter 300 is buried too deeply in the groove 103 , it will not be easily detached from the groove 103 .
  • the groove 103 has a semicircular storage tank 1031 and two sidewalls 1033 respectively extending upward from both sides of the semicircular storage tank 1031 in the circumferential direction, and the two sidewalls 1033 are opposite and parallel.
  • the semicircular storage tank 1031 is designed to conform to the general diameter of the catheter 300 , and the two side walls 1033 are tilted upwards and extend outward according to the curvature of the semicircular tank wall 1031 , and the outward direction is away from the axis L. It is shown that the opening of the groove 103 faces outwards and slopes upwards. The purpose is that the inclined groove 103 can limit the radial direction of the conduit 300 so that the conduit 300 is not easy to protrude from the groove 103 or even come out.
  • the design of the groove 103 can reduce the circumferential gap of the conduit 300 in the spiral groove compared with the traditional semicircular groove or U-shaped groove design, so that the conduit 300 will not move and the conduit 300 can be stored more stably.
  • the catheter 300 will not protrude easily and cause cross knotting. Since the gap between the groove 103 and the catheter 300 is small, when the front end of the catheter 300 is blocked, the space for the catheter 300 to retreat is smaller, thereby improving the accuracy of the catheter 300 in advancing and retreating, and reducing the difficulty of control.
  • the above catheter controller has a simple overall structure, adopts a modular structure design, is easy to disassemble and assemble, and has a compact structure, and most of it can be made of plastic.
  • the overall weight is light, easy to sterilize, and the manufacturing cost is relatively low. Low.
  • doctors need to advance the catheter (or guide wire) forward, or withdraw the catheter (or guide wire) backward.
  • a doctor's usual practice is to hold one part of the catheter (or guide wire) with the thumb and forefinger of one hand, and another part of the catheter (or guide wire) with the thumb and forefinger of the other hand.
  • the catheter (or guide wire) is delivered forward, the doctor holds the catheter (or guide wire) forward with one hand, and releases the fingers of the other hand; after one delivery action, the other hand
  • the catheter (or guidewire) is clamped and the delivering hand is reset. Reciprocating in this way, the catheter (or guide wire) is delivered forward or withdrawn backward.
  • the doctor also needs to twist the guidewire/catheter with the thumb and forefinger.
  • the doctor needs to twist the catheter (or guide wire) so that the distal end of the catheter (or guide wire) enters the target branch blood vessel.
  • the doctor will twist the catheter (or guide wire) to facilitate forward advancement while delivering the catheter (or guide wire) forward.
  • the present application provides a delivery device.
  • the delivery device can replace the doctor's hand movements, and can move the target object along the target direction.
  • the target includes an elongated object.
  • the target may include a catheter or guide wire used in vascular interventional procedures.
  • catheter is taken as an example to introduce the target object and the delivery device in the present application.
  • other elongated objects are also suitable for the delivery device introduced in this application.
  • FIG. 13 shows a schematic structural diagram of a delivery device 001 provided according to an embodiment of the present application.
  • FIG. 14 shows an exploded schematic view of a part of the delivery device 001 .
  • FIG. 15 shows a partial cross-sectional view of the delivery device 001 .
  • the delivery device 001 may include a storage device 800 and a first driving module 600 .
  • FIG. 16 shows a schematic structural diagram of a storage device 800 provided according to an embodiment of the present application.
  • the storage device 800 may include an accommodating space configured to accommodate part or all of an object.
  • the target object may include a guide wire or a catheter, and the accommodating space may be used for winding the catheter or guide wire.
  • the accommodating space makes the axis of the target in a helical shape.
  • the accommodating space may include a first groove 810 .
  • the first groove 810 may include a first section 811 , and the first section 811 may be helical, so that the catheter accommodated in the first section 811 is helical.
  • the storage device 800 may include an outer edge portion 830 and a connection portion 840 .
  • the outer edge portion 830 provides a grooved base for the first groove 810 .
  • the first groove 810 may be disposed on the outer edge portion 830 and extend helically along the circumferential direction.
  • FIG. 17 shows a partial cross-sectional view of the memory device 800 described in FIG. 16 .
  • FIG. 18 shows a partially enlarged view of area A in FIG. 17 .
  • the first groove 810 may be provided on the outer peripheral wall surface of the outer edge portion 830 and extend helically along the circumferential direction, as shown in FIGS. 17 and 18 , for example.
  • first groove 810 can also be provided on other surfaces of the storage device 800 or the outer edge portion 830 without departing from the core spirit of the present application.
  • first groove 810 can also be arranged on the upper surface of the outer edge portion 830; for another example, the first groove 810 can also be arranged on the lower surface of the outer edge portion 830; The inner peripheral wall surface of the portion 830, and the like.
  • the aforementioned "upper surface” and “lower surface” are a set of related concepts.
  • the upper surface and the lower surface may include two mutually parallel surfaces perpendicular to the helical axis L1. If one of the surfaces is defined as the upper surface, the other plane is the lower surface.
  • the outer contour of the outer edge portion 830 may be in the shape of a ring.
  • the outer contour of the outer edge portion 830 is circular, which can minimize the space occupied by the storage device 800 and reduce the volume of the storage device 800 on the premise of ensuring that the storage device 800 realizes its functions. With this design, on the one hand, the cost is saved, and on the other hand, the user experience is improved.
  • the outer contour of the outer edge portion 830 can also be in other shapes (such as square) without departing from the core spirit of the present application.
  • the first groove 810 can be processed by mold opening, or by machining. In some embodiments, the processing method of the first groove 810 may be determined according to the material of the outer edge portion 830 . As an example, when the material of the outer edge portion 830 includes plastic, the first groove 810 may be processed by mold opening. As an example, when the material of the outer edge portion 830 includes a metal material, the first groove 810 may be machined.
  • the plastic may include, but not limited to, ABS, PP, PC. The use of plastic materials such as ABS/PP/PC can reduce costs and reduce processing difficulty on the premise of ensuring biocompatibility.
  • the metal material may include stainless steel. As an example, the stainless steel may include, but not limited to, medical 304 stainless steel and medical 316 stainless steel. The use of stainless steel materials such as medical 304 stainless steel/medical 316 stainless steel has better biocompatibility.
  • the connecting portion 840 is connected to the outer edge portion 830 .
  • the connection may be a rigid connection.
  • the connection part 840 can provide support for the outer edge part 830 .
  • the connection part 840 can connect the outer edge part 830 with the first driving module 600 .
  • the connection part 840 and the outer edge part 830 may be an integrated structure, such as shown in FIG. 16 .
  • the connecting part 840 and the outer edge part 830 can also be connected together by a connecting piece, for example, a threaded connecting piece can be used to connect the connecting part 840 and the outer edge part 830 .
  • a connecting piece for example, a threaded connecting piece can be used to connect the connecting part 840 and the outer edge part 830 .
  • connection between the connection part 840 and the outer edge part 830 may be implemented in an interference fit manner.
  • connection between the connecting portion 840 and the outer edge portion 830 may also be achieved by gluing.
  • connection between the connection part 840 and the outer edge part 830 may also be realized by means of a mechanical buckle.
  • the connecting portion 840 may include a web 842 .
  • the number of webs 842 may be two or more.
  • the number of webs 842 is four. Adopting the web design can greatly reduce the weight of the storage device 800 on the basis of realizing the connection function.
  • connection part 840 may include a through hole 841 .
  • the direction of the depth of the through hole 841 is consistent with the direction of the rotation axis L1 of the helix.
  • the through hole 841 can provide installation space for components such as bearings or shafts.
  • the storage device 800 may rotate around a rotation axis L1.
  • the delivery device 001 may further include a positioning part 400 .
  • the positioning part 400 is used to fix the delivery device 001 at a target position in the operating room space of the interventional operation.
  • the target position is determined according to specific conditions of the patient.
  • the target location is close to a wound site of the patient. For example, if the patient's brain is being operated on via the femoral artery, the target location may be somewhere close to the patient's femoral artery.
  • the target position can be determined by the operating doctor based on experience and habits.
  • the delivery device 001 provided in the present application may further include a guide part 200 .
  • the guide part 200 may include an outlet channel 210 .
  • the distal end of the outlet channel 210 extends in direction F.
  • the exit channel 210 may guide the conduit G contained in the storage device 800 into the target channel N.
  • the target channel N includes a channel that has been established and communicates with blood vessels.
  • direction F may be a straight line.
  • the distal end of the outlet channel 210 extends along a straight line, so that the distal end of the catheter G is pushed along its axis, so that the stability of the distal end of the catheter G entering the target channel N can be improved.
  • the doctor may determine the specific position of the direction F according to the actual situation of the operation site.
  • the guiding part 200 is rigidly connected with the positioning part 400 .
  • the doctor can adjust the position and direction of the outlet channel 210 by adjusting the position and posture of the positioning part 400 in the space. After the position and direction of the outlet channel 210 are determined, the position and posture of the positioning part 400 are also determined.
  • the guiding part 200 and the positioning part 400 may be an integrated structure.
  • the outlet channel 210 can be directly disposed on the positioning part 400, as shown in FIG. 16 .
  • the guiding part 200 and the positioning part 400 can also be connected together by using a connecting piece, for example, a threaded connecting piece can be used to connect the guiding part 200 and the positioning part 400 .
  • the connection between the guide part 200 and the positioning part 400 can be implemented in an interference fit manner.
  • the connection between the guide part 200 and the positioning part 400 may also be realized by means of glue.
  • the connection between the guide part 200 and the positioning part 400 may also be realized by means of mechanical buckle.
  • the position of the positioning part 400 relative to the patient can be fixed to ensure the safety of the patient during the operation.
  • the positioning part 400 can be connected to other supporting components.
  • the positioning part 400 can be connected with a mechanical arm.
  • the mechanical arm can provide support for the delivery device 001 , and the mechanical arm can also stabilize the position and posture of the guiding part 200 and the positioning part 400 relative to the patient.
  • FIG. 19 shows a schematic diagram of a delivery principle of a delivery device 800 provided according to an embodiment of the present application.
  • the guide part 200 may further include an entry channel 220 .
  • the first end 221 of the inlet channel 220 is close to the first groove 810 .
  • the conduit G exits the first groove 810 and enters the inlet channel 220 through the first end 221 .
  • the second end 222 of the inlet channel 220 communicates with the outlet channel 210 .
  • the conduit G located in the inlet channel 220 enters the target channel N via said outlet channel 210 .
  • the storage device 800 and the guiding part 200 work together to establish a pathway 90 for the action of the catheter or guide wire.
  • the passage includes a first portion 91 with an arc-shaped axis and a second portion 92 with a straight-line axis.
  • the storage device 800 may be driven by the first driving module 600 to rotate in the direction P around the screw axis L1.
  • the movement of the specific position of the catheter G in the operating room space is converted from "rotational movement around the rotation axis L1" to "axial movement along the straight line F". In this way, the goal of delivering the catheter or guidewire along the lumen axis of the vessel can be achieved.
  • the lengths of catheters or guide wires used are relatively long.
  • the catheter or the guide wire is helically coiled in the accommodating cavity of the storage device 800 , which greatly reduces the volume of the delivery device.
  • the catheter or guide wire is constrained in the passage.
  • the delivery device provided by this application does not need to design clamps, which greatly reduces the delivery time. The volume of the device is reduced, and at the same time, the problem of wearing the catheter or clamp slippage caused by the method of clamping the clamp to transport the catheter is avoided.
  • the first drive module 600 is connected to the storage device 800 .
  • the first driving module 600 can drive the storage device 800 to rotate around the first axis, and then drive the first end of the target to move along the target direction.
  • the first axis may comprise the axis of rotation L1 of the helix and the target direction may comprise the direction F.
  • the direction F may be perpendicular to said axis of rotation L1.
  • the first driving module 600 may include a first driving device 610 .
  • the first driving device 610 may include a driving motor.
  • the first drive device 610 may output torque.
  • the first drive module 600 may also be a first transmission system.
  • the first transmission system may include at least 2 transmission members.
  • the transmission member may include gears.
  • the gears include at least one of spur gears and bevel gears.
  • the at least two transmission members can transmit the torque output by the first driving device 610 to the storage device 800 .
  • the transmission level of the first transmission system may include, but is not limited to, a 1st transmission, a 2nd transmission, a 3rd transmission, a 4th transmission, a 5th transmission, and so on.
  • the first transmission system may include a first transmission member 621 and a second transmission member 622 .
  • the first transmission member 621 may be a spur gear, and the spur gear is connected with the output shaft of the first driving device 610 , and the first transmission member 621 can rotate under the driving of the first driving device 610 .
  • the second transmission member 622 may be a spur gear, and the second transmission member 622 may serve as a driven wheel meshing with the first transmission member 621 .
  • the radial dimension of the second transmission member 622 is larger than the radial dimension of the first transmission gear 621 so as to realize the function of deceleration.
  • the second transmission member 622 is connected with the storage device 800 .
  • a limiting portion may be used to limit the circumferential displacement between the second transmission member 622 and the storage device 800 .
  • splines may be employed to limit circumferential displacement between the first transmission member 622 and the storage device 800 .
  • the second transmission member 622 can drive the storage device 800 to rotate synchronously.
  • the first driving support module 500 can provide support for the first driving module 600 .
  • the first driving support module 500 may include a first mount 510 .
  • the first driving device 610 (such as a motor) can be installed on the first mounting base 510 .
  • the first driving device 610 may be mounted to the first mounting base 510 by using a screw connection.
  • the first mounting seat 510 may be in the shape of a plate.
  • the first mount 510 may be disposed above the storage device 800 .
  • the first mounting base 510 can cooperate with the positioning part 400 to form a relatively closed space for accommodating the storage device 800 , thereby isolating the storage device 800 from the external space and reducing the probability of contamination of the catheter contained in the storage device 800 .
  • the first driving support module 500 may further include a bearing 530 .
  • the bearing 530 can provide support for the transmission part on the one hand, and can reduce the frictional resistance when the transmission part rotates on the other hand.
  • bearing 530 may include an inner ring and an outer ring.
  • the inner ring of the bearing 530 is connected with the support shaft 411
  • the outer ring of the bearing 530 is connected with the second transmission member 622 .
  • the first driving support module 500 may include a sleeve 650 .
  • the shaft sleeve 650 can be arranged between the outer ring of the bearing 530 and the second transmission member 622 to reduce wear on the outer ring of the bearing 530 when the second transmission member 622 is installed or removed.
  • the storage device 800 can rotate together with the second transmission member 622 .
  • the first installation seat 510 and the storage device 800 or the second transmission member 622 may also be limited in a circumferential direction through a circumferential limit design. Therefore, the storage device 800 and the first mounting base 510 rotate synchronously under the drive of the second transmission member 622 .
  • the transmission system transmits the torque of the output shaft of the first driving device 610 to the second transmission member 622 .
  • the second transmission member 622 drives the storage device 800 and the first mounting base 510 to rotate around the axis of the support shaft 411 (ie, the screw axis L1 ).
  • the output axis of the first driving device 610 is not on a straight line with the screw axis L1.
  • the first driving device 610 Since the first driving device 610 is rigidly connected with the first mounting base 510 through a threaded connection, and the output shaft of the first driving device 610 is not on a straight line with the screw axis L1, the first driving device 610 follows the The first mounting base 510 rotates together around the helical axis L1.
  • the output shaft of the first driving device 610 and the screw shaft L1 can also be arranged on a straight line without affecting the core spirit of the present application.
  • the positioning part 400 may include a base 410 .
  • the base 410 may include a support shaft 411 .
  • the axis of the support shaft 411 may coincide with the screw axis L1.
  • positioning 400 may also include guard 420 .
  • the protective device 420 may include an accommodating cavity 450 .
  • the accommodating cavity 450 is configured to accommodate part or all of the storage device 800 .
  • part or all of the second transmission member 622 , the bearing 530 , the shaft sleeve 650 and the like may also be accommodated in the accommodating cavity 450 .
  • the accommodating cavity 450 may include a first opening 451 .
  • the first opening 451 may provide access for installation operations of the storage device 800, the bearing 530, and the like.
  • the first mount 510 is close to the first opening 451 .
  • the radial dimension of the first mounting seat 510 is larger than the radial dimension of the first opening 451 .
  • the first mounting base 510 can cover the first opening 451 to seal the accommodating cavity 450 , so that the storage device 800 accommodated in the accommodating cavity 450 can be protected from contamination.
  • the protective device 420 may include a first protective cover 421 and a second protective cover 422 , as shown in FIG. 14 , for example.
  • the first protective cover 421 and the second protective cover 422 are connected to form the accommodating cavity 450 .
  • at least one of the first protective cover 421 and the second protective cover 422 can be removed to provide more operating space for the operator.
  • the guide part 200 may be disposed on the protective device 420 .
  • the guide part 200 is disposed on the first protective cover 421 .
  • the guide part 200 may also be disposed on the base 410 .
  • the guide part 200 can be designed integrally with the positioning part 400, such as shown in FIG. 14 .
  • the guiding part 200 and the positioning part 400 can be independently designed and connected together through a connection design. Those skilled in the art can understand that the connection method between the guide part 200 and the positioning part 400 does not affect the core spirit of the present application, and at the same time, which part of the positioning part 400 the guide part 200 is specifically arranged on does not affect the core spirit of the present application.
  • FIG. 20 shows a schematic structural diagram of another delivery device 002 provided according to an embodiment of the present application.
  • the delivery device 002 may include a storage device 800 and a first drive module 600 .
  • the delivery device 002 may further include one or more of the first driving support module 500 , the positioning part 400 and the guiding part 200 .
  • the functions and structures of the storage device 800 , the first driving module 600 , the first driving support module 500 , the positioning unit 400 or the guiding unit 200 reference can be made to the introduction in this article, and for the sake of brevity, details are not repeated here.
  • the delivery device 001 may further include a second driving module 700 .
  • FIG. 21 shows a schematic structural diagram of a second driving module 700 provided according to an embodiment of the present application.
  • the second driving module 700 is configured to drive the second end G2 of the target to rotate around the second axis L2.
  • the object of interest may include a catheter.
  • the second driving module 700 may include a second driving device 710 and a clamping part 720 .
  • FIG. 22 shows an exploded schematic diagram of a second driving module 700 provided according to an embodiment of the present application.
  • the clamping portion 720 may include a hub joint 721 and a luer joint 722 .
  • the sleeve connector 721 and the luer connector 722 clamp the second end G2 of the catheter G together.
  • the second driving device 710 can be used as a power source to drive the clamping part 720 to rotate around the second axis L2.
  • the second driving device 710 may include a motor.
  • the motor can output torque to drive the clamping part 720 to rotate around the second axis L2.
  • the second driving module 700 may further include a second transmission system 730 .
  • the second transmission system 730 can transmit the torque output by the second driving device 710 to the clamping part 720.
  • the second transmission system 730 may include at least two transmission elements.
  • the transmission member may include gears.
  • the gears include at least one of spur gears and bevel gears.
  • the at least two transmission members can transmit the torque output by the second driving device 710 to the clamping part 720 .
  • the transmission levels of the second transmission system 730 may include, but are not limited to, 1st transmission, 2nd transmission, 3rd transmission, 4th transmission, 5th transmission, and so on.
  • the second transmission system 730 may include a transmission member 731 and a transmission member 732 .
  • the transmission member 731 can be a spur gear, and the spur gear is connected with the output shaft of the second driving device 710 , and the transmission member 731 can rotate under the driving of the second driving device 710 .
  • the transmission member 732 may be a spur gear, and the transmission member 732 may be engaged with the transmission member 731 as a driven wheel.
  • the radial dimension of the transmission member 732 is larger than that of the transmission member 731 so as to realize the function of deceleration.
  • the transmission member 732 is connected with the clamping part 720 .
  • the circumferential displacement between the transmission member 732 and the clamping portion 720 may be limited by using a circumferential limit design.
  • splines may be used to limit the circumferential displacement between the transmission member 732 and the clamping portion 720 .
  • the transmission member 732 can drive the clamping part 720 to rotate synchronously.
  • the second driving module 700 may further include a second supporting part 740 .
  • the second supporting part 740 can provide support for the second driving module 700 .
  • the second supporting part 740 may include at least one second mounting seat 741 and at least one bearing 742 .
  • the bearing 742 can provide support for the transmission part on the one hand, and can reduce the friction resistance when the transmission part rotates on the other hand.
  • one of the outer ring and the inner ring of each bearing 742 in the at least one bearing may be connected with the second mounting seat 741 , and the other be connected with the transmission member.
  • the support portion 740 is rigidly connected to the storage device.
  • the support part 740 may be mounted to the first mounting seat 510 in the first driving support module 500 by using a screw connection.
  • the circumferential displacement and the axial displacement between the first mounting seat 510 and the storage device 800 are limited by adopting the circumferential limiting design and the axial limiting design respectively. Without considering the circumferential play and axial play of each component in the transmission system, it can be considered that the connection between the storage device 800 and the first mounting seat 510 is a rigid connection. Therefore, it can be considered that the supporting part 740 is rigidly connected with the storage device 800 .
  • the first driving module 600 drives the storage device 800 to rotate around the helical axis L1 so as to drive the first end G1 of the catheter G to move along the target direction F.
  • the support part 740 is rigidly connected with the storage device 800 , so the support part 740 and the second driving module 700 rotate around the screw axis L1 together with the storage device 800 .
  • the second driving module 700 clamps the second end G2 of the conduit G to rotate around the second axis L2.
  • the delivery device can make the first end G1 of the catheter rotate around its axis while moving along the target direction F, which can meet the needs of doctors to rotate the catheter while delivering the catheter.
  • the second axis L2 is perpendicular to the first axis L1 .
  • the connecting surface of the support portion 740 and the first mounting seat 510 is perpendicular to the screw axis L1.
  • the second axis L2 is parallel to the connecting surface, therefore, the second axis L2 is perpendicular to the first axis L1.
  • the second axis L2 may also have other positional relationships with the first axis L1 without affecting the core spirit of the present application.
  • the second axis L2 is not parallel to the connecting surface without affecting the core spirit of the present application.
  • the distance between the second axis L2 and the first axis L1 is not zero, and the distance between the second axis L2 and the first axis L1 may also be non-zero without affecting the application. core spirit.
  • FIG. 23 shows a schematic structural diagram of another storage device 800 provided according to an embodiment of the present application.
  • the storage device 800 may include an accommodating space configured to accommodate part or all of the conduit G, wherein the accommodating space makes the axis of the conduit G helical.
  • the helix comprises an Archimedes helix, a Fermat helix, an equiangular helix, a hyperbolic helix, a circular inner helix, a chain helix, a Conuu helix, a cylindrical helix , and at least one of a conical helix.
  • the accommodating space includes a first groove 810 .
  • the accommodating space may further include a second groove 820 .
  • the first groove 810 may include a first section 811 , and the first section 811 is in the shape of the helix.
  • the number of turns of the helix is not greater than any of the following values or the range between any two values: 10, 9, 8, 7, 6, 5, 4, 3.
  • the distance D1 between any two adjacent spiral turns is not greater than any of the following values or the range between any two values: 10mm, 9mm, 8mm, 7mm, 6mm, 5mm, 4mm.
  • the distance D1 between any two adjacent helices is not less than any of the following values or the range between any two values: 0.01mm, 0.02mm, 0.03mm, 0.04mm, 0.05mm, 0.06mm, 0.07 mm, 0.08mm, 0.09mm, 0.10mm.
  • the size of the outermost turn of the spiral has a great influence on the external dimensions of the storage device 800 . If the radial dimension of the outermost circle of the spiral is too large, the radial dimension of the storage device 800 will be too large, thereby affecting the doctor's operating space.
  • the distance D2 between the outermost circle of the first groove 810 and the helical axis L1 is not greater than any of the following values or the range between any two values: 250mm, 240mm, 230mm, 220mm, 210mm, 200mm, 190mm, 180mm, 170mm, 160mm, 150mm.
  • FIG. 24 shows a cross-sectional view of the C-C section of the storage device 800 in FIG. 23 .
  • FIG. 25 shows an enlarged view of area B in FIG. 24 .
  • the sections of any two positions on the first section 811 are the same.
  • the cross-section refers to a cross-section formed by cutting the first section 811 on a plane passing through the helical axis L1 as a cross-section.
  • FIG. 25 is a cross-section formed by cutting the first segment 811 with a plane C-C passing through the helical axis L1 as a section.
  • the first full section 811 is in a spiral shape, and the cross sections of any two parts on the first section 811 are the same, which can reduce the processing difficulty of the first section 811 .
  • the first groove 810 includes a first sidewall 811-1, a second sidewall 811-2 and a groove bottom 811-3.
  • the section of the groove bottom 811-3 may be an arc.
  • the arc may be a circular arc.
  • the diameter of the arc is not larger than any of the following values or the range between any two values: 4mm, 3.5mm, 3mm, 2.5mm, 2mm, 1.5mm, 1mm.
  • the surface roughness Ra value of the groove bottom 811-3 is not greater than any of the following values: 12.5, 6.3, 3.2, 1.6.
  • the first side wall 811 - 1 is connected to one end of the groove bottom 811 - 3 , and extends toward the notch 810 - 9 of the first groove 810 .
  • the second side wall 811-2 is connected with the other end of the groove bottom 811-3.
  • the second side wall 811 - 2 is opposite to the first side wall 811 - 1 and extends toward the notch 810 - 9 of the first groove 810 .
  • the section of the first sidewall 811-1 includes a first straight line X1
  • the section of the second sidewall 811-2 includes a second straight line X2.
  • the first straight line X1 and the second straight line X2 are parallel.
  • the first straight line X1 and the second straight line X2 form a preset angle a. The setting of the included angle a can facilitate the installation of the conduit, but if the value of the included angle a is too large, the conduit will easily come out of the groove.
  • the angle a between the first straight line X1 and the second straight line X2 is not greater than any of the following values or any two Range between values: 60°, 55°, 50°, 45°, 40°, 35°, 30°, 25°, 20°, 15°, 10°, 5°.
  • the first groove 810 may further include a second section 812 .
  • FIG. 26 shows an enlarged view of area C in FIG. 23 .
  • the second section 812 may include a first end 812-1 and a second end 812-2.
  • the groove width of the first end 812 - 1 is the same as the groove width of the first section 811 .
  • the slot width of the second end 812 - 2 is greater than the slot width of the first section 811 .
  • the slot width of the second section 812 continuously increases from the first end 812-1 to the second end 812-2.
  • the groove width of the second section 812 adopts a gradual design to make it easier for the conduit G to enter the first section 811 from the second end 812 - 2 .
  • the catheter Since the catheter has a certain degree of softness, if the groove width of the second end 812-2 is too large, the catheter is easily bent when entering from the second end 812-2, which is not conducive to the transmission of axial force.
  • the 812-2 groove width of the second end is not greater than any of the following values or the range between any two values: 8mm, 7.5mm, 7mm, 6.5mm, 6mm, 5.5mm, 5mm, 4.5mm , 4mm, 3.5mm, 3mm, 2.5mm, 2mm.
  • the storage device 800 may further include a second groove 820 .
  • the second groove 820 is at one end of the first groove 810 and communicates with the first groove 810 .
  • the width of the second groove 820 is greater than the width of the first groove 810 .
  • the depth of the second groove 820 is greater than the depth of the first groove 810 .
  • the storage device 800 may include a first surface 801, and the first groove 810 is disposed on the first surface 801. It can also be said that the first groove 810 is opened on the first surface 801 .
  • the first surface 801 may include a plane.
  • the first surface 801 is a plane.
  • the first surface 801 may also be a curved surface.
  • the curved surface includes at least one of a cylinder, a cone, and a hyperboloid. Making the first groove 810 on a plane, a cylinder, or a cone can reduce the difficulty of processing. For example, in the embodiment shown in FIG.
  • the first surface 801 is a tapered surface.
  • the first surface 801 can be a surface of various shapes without affecting the core spirit of the present application.
  • the storage device 800 is disk-shaped.
  • the storage device 800 may include a rim portion 830 and a web portion 840 .
  • the outer edge portion 830 may have a ring shape.
  • the first groove 810 is disposed on the upper surface of the outer edge portion 830 or the lower surface opposite to the upper surface.
  • the web portion 840 is connected to the outer edge portion 830 .
  • the storage device 800 is in the shape of a terrace.
  • the first surface 801 may include an outer sidewall or an inner sidewall of the storage device 800 .
  • the storage device 800 may be columnar, and the first surface 801 may include an outer sidewall or an inner sidewall of the storage device 800 .
  • the accommodating space may further include at least two first clamping parts, and the at least two first clamping parts are discretely arranged at different positions of the helix, wherein each of the first clamping parts A clamping part includes a guiding channel, and the guiding channel extends along the helical line, wherein the guiding channel constitutes part or all of the accommodating space.
  • the distance D1 between any two adjacent turns of the helix refers to: in the section formed by cutting the helical groove with a plane passing through the helical axis L1, any The thickness of the rib Q between two adjacent turns of the helix is shown in Figure 18 and Figure 25, for example.
  • the distance D2 between the outermost circle of the first groove 810 and the helical axis L1 refers to: the helical groove is carried out on a plane passing through the helical axis L1 In the cross-section formed by cutting, the distance between the outer edge of the outermost helix and the helix axis L1 is as shown in FIG. 17 and FIG. 24 .

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Abstract

一种导管控制器(100)和输送装置(001)，导管控制器(100)包括：基座(11)和可转动地设于基座(11)上的输送转盘(13)；输送转盘(13)的周壁上设有沿着周向螺旋延伸的凹槽(103)，凹槽(103)供导管(300)盘绕；导管夹紧装置(3)，设于输送转盘(13)的上方，用于夹紧导管(300)的近端；导管旋转驱动装置(5)，用于驱动导管夹紧装置(3)转动，以带动导管(300)转动，使得导管(300)近端的周向旋转传递到远端，将导管(300)在人体内部更加顺利地推进，导管(300)的前端在遇阻时不会轻易回退，保证导管(300)在病人体内位置的精准。

Description

导管控制器和输送装置
本申请要求于2021年06月29日提交中国专利局、申请号为202110729408.2、申请名称为“导管控制器”的中国专利申请的优先权，其全部内容通过引用结合在本申请中。
技术领域
本发明涉及医疗器械技术领域，特别涉及一种导管控制器和一种输送装置。
背景技术
近年来，血管介入手术以其微创伤、低风险，并发症少等优点得到了广泛的临床应用。但是由于其手术过程中，医生需要在射线环境下进行手术，长时间在射线环境下工作会对人体造成不良的影响和伤害。同时，此手术需要丰富的临床经验和高超的手术手法，对医生的要求高，容易出现误操作，且费时较长。手术机器人能有效降低放射线对医生的伤害，并进而提高手术的效率，降低手术的风险。
目前，手术机器人中导管(软式的导管长度在1～3米之间)的存列和输送通常采用圆形转盘。圆形转盘上设有直筒螺旋形的槽以实现导管的存列。由于直筒螺旋形的槽为开放式，会使导管存列后的槽位中还留有一定的空间。在使用时，导管从螺旋槽中释放出来，进入人体血管内，并在外界的推动下在血管内进行轴向运动。由于导管的运动方式较为单一，因此当导管的前端受阻时，在阻力的作用下，导管容易反方向回退一定距离，并进而顺着螺旋槽发生较严重的回退现象，使导管实际到达的位置产生了偏差，导致导管在病人体内的位置不精准。
发明内容
本发明的目的在于提供一种导管控制器，以解决现有技术中手术机器人的导管在输送时受阻易回退的问题。
为解决上述技术问题，本发明采用如下技术方案：
一种导管控制器，其特征在于，包括：基体，包括基座和可转动地设于所述基座上的输送转盘；所述输送转盘的周壁上设有沿着周向螺旋延伸的凹槽，所述凹槽供导管盘绕；导管夹紧装置，设于所述输送转盘的上方，用于夹紧所述导管的近端；导管旋转驱动装置，用于驱动所述导管夹紧装置转动，以带动所述导管的近端转动。
根据本发明的一个实施例，所述导管的近端的转动方向垂直于所述导管的近端的延伸方向。
根据本发明的一个实施例，所述导管夹紧装置包括轴套接头和鲁尔接头；所述鲁尔接头与所述导管连接，所述轴套接头用于夹紧所述鲁尔接头，以夹紧所述导管。
根据本发明的一个实施例，所述导管的近端穿设于所述轴套接头，并且与所述鲁尔接头连接，所述轴套接头套接于所述鲁尔接头。
根据本发明的一个实施例，所述轴套接头可转动地安装于所述输送转盘上，所述导管旋转驱动装置用于驱动所述轴套接头转动，以带动所述鲁尔接头和所述导管的近端转动。
根据本发明的一个实施例，所述导管旋转驱动装置包括第一电机和与所述轴套接头连接的主动轴，所述第一电机用于驱动所述主动轴转动，以带动所述轴套接头转动。
根据本发明的一个实施例，所述导管旋转驱动装置包括第一齿轮和与所述第一齿轮相啮合的第二齿轮，所述第一齿轮套设于所述主动轴上，所述第二齿轮套设于所述轴套接头上；所述第一电机的输出端连接所述主动轴以驱动所述第一齿轮转动，所述第一齿轮的转动带动所述第二齿轮转动，以使得所述主动轴与所述轴套接头同步转动。
根据本发明的一个实施例，所述主动轴和所述轴套接头位于对应连接的所述第一齿轮和所述第二齿轮的同一侧。
根据本发明的一个实施例，所述主动轴和所述轴套接头并排设置，所述主动轴的延伸方向与所述轴套接头的延伸方向相平行。
根据本发明的一个实施例，所述导管控制器还包括设置于所述输送转盘上的用于支撑所述主动轴和所述轴套接头的轴承座，所述主动轴和所述轴套接头转动连接所述轴承座。
根据本发明的一个实施例，所述基体还包括转盘盖；所述转盘盖设于所述输送转盘背离所述基座的上表面；所述导管夹紧装置和所述导管旋转驱动装置均设于所述转盘盖的上表面。
根据本发明的一个实施例，所述转盘盖上设有用于穿设所述导管的过线孔。
根据本发明的一个实施例，所述导管控制器还包括转盘驱动部；所述转盘驱动部连接所述转盘盖，并用于驱动所述输送转盘正反向转动，以从所述输送转盘推出所述导管或者向所述输送转盘回收所述导管。
根据本发明的一个实施例，所述转盘驱动部包括固定在所述转盘盖上的第二电机，所述第二电机的输出轴与所述转盘盖和所述输送转盘连接，以驱动所述转盘盖和所述输送转盘转动。
根据本发明的一个实施例，所述转盘驱动部还包括第三齿轮和与所述第三齿轮相啮合的第四齿轮，所 述第三齿轮连接于所述第二电机的输出轴上，所述第四齿轮固定设于所述基座上，所述第二电机通过所述输出轴驱动第三齿轮带动所述第四齿轮转动，以使所述转盘盖和所述输送转盘同步转动。根据本发明的一个实施例，所述基座突出设有竖轴；所述转盘驱动部还包括支撑轴套和圆锥滚子轴承，所述圆锥滚子轴承套设于所述竖轴的外周；所述支撑轴套可转动地套设于所述圆锥滚子轴承的外周，且所述支撑轴套容置于所述第四齿轮的中心通孔中，所述输送转盘固定设于所述支撑轴套的顶端；所述输送转盘在所述支撑轴套的支撑下可绕所述竖轴转动。
根据本发明的一个实施例，所述基座包括底盘和外罩；所述输送转盘可转动地设于所述底盘上；所述外罩连接所述底盘，并围绕所述输送转盘；所述外罩和所述凹槽共同限定出用以收容导管的容置空间。
根据本发明的一个实施例，所述外罩包括相互对称的第一壳体和第二壳体；所述第一壳体和所述第二壳体均包括主体部和沿所述主体部的侧壁径向向外延伸出的底板；所述主体部与所述凹槽限定出所述容置空间，所述底板与所述底盘可拆地连接。
根据本发明的一个实施例，所述基体还包括导向部，所述导向部设置于所述第一壳体或所述第二壳体背离所述底盘的一侧，所述导管的远端通过所述导向部引出所述容置空间，且在所述导向部上做直线运动。
根据本发明的一个实施例，所述导向部包括第一导向件和第二导向件；所述第一导向件和所述第二导向件同时设于所述第一壳体或所述第二壳体；所述第一导向件突出所述第一壳体并连接于所述第一壳体的主体部，并与所述第一壳体的内部相通；所述第一导向件供导管的穿过；所述第二导向件设于所述第一壳体上并与所述第一导向件间隔设置，所述第二导向件和所述第一导向件位于同一轴线上。
本申请还提供过一种输送装置。所述输送装置包括第一驱动组件，所述第一驱动组件包括存储装置和第一驱动装置，其中：所述第一驱动装置同所述存储装置连接，驱动所述存储装置绕第一轴线旋转，进而驱动所述目标物的第一端沿目标方向移动；以及所述存储装置包括容置空间，所述容置空间被配置为容置目标物的部分或全部，其中，所述容置空间使所述目标物的轴线呈螺旋线状，其中所述第一轴线包括所述螺旋线的旋转轴。
在一些实施例中，所述的输送装置，还包括第二驱动组件，所述第二驱动组件包括：夹紧部，工作时夹紧所述目标物的第二端，当所述目标物的第二端被夹紧时，所述夹紧部允许所述目标物的第二端绕第二轴线旋转；第二驱动装置，驱动所述夹紧部绕所述第二轴线旋转；以及支撑部，同所述存储装置刚性连接。
在一些实施例中，所述容置空间包括：第一凹槽，包括第一区段，所述第一区段呈所述螺旋线状。
在一些实施例中，所述存储装置包括第一表面，所述第一凹槽设置在所述第一表面上，其中，所述第一表面包括平面或曲面。
在一些实施例中，所述曲面包括柱面、锥面、以及双曲面中的至少一种。
在一些实施例中，所述存储装置呈盘状，包括：外缘部，呈环形，其中，所述第一凹槽设置在所述外缘部的上表面或同所述上表面相对的下表面；以及辐板部，同所述外缘部连接。
在一些实施例中，所述存储装置呈梯台状，所述第一表面包括所述存储装置的外侧壁或内侧壁；或所述存储装置呈柱状，所述第一表面包括所述存储装置的外侧壁或内侧壁。
在一些实施例中，所述第一区段上任意2个部位的截面相同。
在一些实施例中，所述第一凹槽包括：槽底，所述槽底的截面包括弧线；第一侧壁，同所述槽底的一端连接，向所述第一凹槽的槽口延伸；以及第二侧壁，同所述槽底的另一端连接，同所述第一侧壁相对，向所述第一凹槽的槽口延伸。
在一些实施例中，其中：所述弧线的直径不大于4mm。
在一些实施例中，所述第一侧壁的截面包括第一直线；以及所述第二侧壁的截面包括第二直线，其中，所述第一直线和所述第二直线平行、或所述第一直线和所述第二直线呈预设夹角。
在一些实施例中，所述第一凹槽还包括第二区段，所述第二区段包括：第一端，所述第一端的槽宽同所述第一区段的槽宽相同；第二端，所述第二端的槽宽大于所述第一区段的槽宽，其中，所述第二区段的槽宽自所述第一端至所述第二端逐渐增大。
在一些实施例中，所述存储装置还包括：第二凹槽，在所述第一凹槽的一端，同所述第一凹槽连通，其中：所述第二凹槽的槽宽大于所述第一凹槽的槽宽；并且所述第二凹槽的槽深大于所述第一凹槽的槽深。
在一些实施例中，所述螺旋线包括阿基米德螺旋线、费马螺旋线、等角螺旋线、双曲螺旋线、圆内螺旋线、连锁螺旋线、柯奴螺旋线、圆柱螺旋线、以及圆锥螺旋线中的至少一种。
在一些实施例中，其中，所述容置空间包括：至少2个第一装夹部，所述至少2个第一装夹部离散的设置在所述螺旋线的不同部位，其中，每个第一装夹部包括引导通道，所述引导通道沿所述螺旋线延伸，其中所述引导通道构成所述容置空间的部分或全部。
在一些实施例中，所述螺旋的圈数不大于10；任意相邻两圈螺旋之间的间距D1不大于10mm；任意相邻两圈螺旋之间的间距D1不小于0.01mm；或者所述第一凹槽的最外圈同螺旋轴的距离D2不大于250mm。
由上述技术方案可知，本发明提供的一种导管控制器至少具有如下优点和积极效果：
该导管控制器包括输送转盘、导管夹紧装置和导管旋转驱动装置。其中，输送转盘上设有沿周向螺旋延伸的凹槽，由于导管盘绕并存列在螺旋形的凹槽上，这样的存列方式可有效的节省导管的存列体积，有效地简化了控制器整体结构。在使用时，输送转盘通过正反向转动，以释放输送或者收纳导管。进一步地， 导管夹紧装置用以夹紧导管的近端，导管旋转驱动装置用以驱动导管夹紧装置转动，从而带动近端被固定的导管转动，导管近端的周向旋转得以传递到导管的远端。如此，导管在轴向输送的同时还配合自身的周向旋转，推力得以增加，能够克服阻力，导管的前端在遇阻时不会轻易回退，保证导管在人体内部更加顺利地前进，提高了导管的进退输送控制精度，保证导管在病人体内位置的精准。
附图说明
图1为本发明实施例中导管控制器的结构示意图。
图2为图1中的导管夹紧装置和导管旋转驱动装置的连接示意图。
图3为图1中的导管夹紧装置和导管旋转驱动装置的爆炸示意图。
图4为本发明实施例中基体和输送转盘的装配示意图。
图5为图4中的基体的爆炸示意图。
图6为本发明实施例中的底盘和外罩的分离示意图。
图7为本发明实施例中的转盘驱动部的爆炸示意图。
图8为本发明实施例中的转盘驱动部和基体的装配示意图。
图9为图8的基体的轴向剖视图。
图10为本发明实施例中的输送转盘的结构示意图。
图11为图10中的输送转盘的轴向剖视图。
图12为图11中的A处放大图。
图13示出了根据本申请实施例提供的一种输送装置的结构示意图；
图14示出了图13所述输送装置的部分结构的爆炸示意图；
图15示出了图13所述输送装置的局部剖视图；
图16示出了根据本申请实施例提供的一种存储装置的结构示意图；
图17示出了图16中所述的存储装置的局部剖视图；
图18示出了图17中A区的局部放大图；
图19示出了根据本申请实施例提供的一种输送装置的输送原理示意图；
图20示出了根据本申请实施例提供的另一种输送装置的结构示意图；
图21示出了根据本申请实施例提供的一种第二驱动模块的结构示意图；
图22示出了根据本申请实施例提供的一种第二驱动模块的爆炸示意图；
图23示出了根据本申请实施例提供的另一种存储装置的结构示意图；
图24示出了图23中所述存储装置的C-C截面的剖视图；
图25示出了图24中的B区的放大视图；
图26示出了图23中的C区的放大视图。
具体实施方式
体现本发明特征与优点的典型实施方式将在以下的说明中详细叙述。应理解的是本发明能够在不同的实施方式上具有各种的变化，其皆不脱离本发明的范围，且其中的说明及图示在本质上是当作说明之用，而非用以限制本发明。
本实施例提供一种导管控制器，可应用于手术机器人上以实现血管介入手术，用以控制导管在人体内的输送。
请参照图1，图1示出了本实施例提供的一种导管控制器100的具体结构。该导管控制器100包括基体1，以及设于基体1上的导管夹紧装置3和导管旋转驱动装置5。其中，基体1上包括基座11和可转动地设于基座11上的输送转盘13，输送转盘13上设有沿周向螺旋延伸以供导管300盘绕的凹槽。凹槽103具有靠近导管300近端的进口端102，以及供导管300的远端穿出的出口端104(输送转盘13的具体结构会在下文的附图11中详细说明)。上述的近端是指靠近操作者的心脏位置的一端，远端为远离该心脏位置的一端。导管夹紧装置3设于输送转盘13的上方，并夹紧导管300的近端；导管旋转驱动装置5驱动导管夹紧装置3转动，从而带动导管300的近端同步转动，从而使得导管300近端的周向旋转传递到远端，以提高导管300的推进效果。
在一可选实施例中，导管300的近端的转动方向垂直于导管300的近端的延伸方向，即导管300能够沿轴向推进，同时沿周向转动，从而推力得以增加，进而导管300能够在人体内部更加顺利地推进，导管300的远端在遇阻时不会轻易回退，从而提高导管300的进退输送控制精度，保证导管在病人体内位置的精准。
请一并参照图1至图3，导管控制器100还包括轴承座6。轴承座6立式设置于输送转盘13的上表面，用于为导管夹紧装置3和导管旋转驱动装置5提供安装空间。
导管夹紧装置3包括轴套接头31和用以连接导管300的鲁尔接头33。轴套接头31用于夹紧鲁尔接头33，以夹紧导管300。导管300的近端穿设于轴套接头31，并且与鲁尔接头33连接，轴套接头31套接于鲁尔接头33。具体地，导管300的近端穿设进入轴套接头31远离鲁尔接头33的一端，并且伸出轴套接头 31靠近鲁尔接头33的一端而与鲁尔接头连接。
轴套接头31为中空筒状结构，轴套接头31整体通过轴承56可转动地安装在轴承座6上。为了更清楚地描述，将沿轴套接头31自身轴向的两端分别定义为前端和后端；在图3中，描述某物件的前端或后端时，该物件的右端为后端，该物件的左端为前端。其中，轴套接头31的后端(即远离鲁尔接头33的一端)的直径尺寸小于轴套接头31的前端(即靠近鲁尔接头33的一端)的直径尺寸。并且，轴套接头31的后端向后伸出轴承座6。
同理，鲁尔接头33同样具有沿自身轴向的前端和后端。鲁尔接头33的后端经轴套接头31的前端伸入轴套接头31的内部并被轴套接头31夹紧。轴套接头31构造为中空结构。鲁尔接头33的内部通道和轴套接头31的内腔相通。在使用时，鲁尔接头33的后端用以连接导管300的近端，将鲁尔接头33的后端伸入轴套接头31内，使得导管300的近端能够穿过轴套接头31。例如，导管300的近端夹持于鲁尔接头33和轴套接头31之间。进一步地，轴套接头31能够夹紧鲁尔接头33的后端，从而实现夹紧导管300的近端的目的。具体地，鲁尔接头33与轴套接头31之间的配合为锥面锁止形式，两者通过相互之间的锥面配合可使两者的连接部位径向收缩，这种方式不仅使鲁尔接头33的后端的整个圆周上都受到夹持力，而且夹持面积大、夹持可靠以及对鲁尔接头33的损伤小。此外，轴套接头31可以适应不同规格的带有导管300的鲁尔接头33，使安装更加便捷。
鲁尔接头33配设有三通阀34、三通阀固定座35、旋转轮36和轴套37。
三通阀固定座35固定设置，以为三通阀34提供支撑。三通阀34具有供液体流动的筒状的管体341和连接在管体341侧壁上并与管体341相通的支管342，以形成三条管路。管体341的主体部分设于三通阀固定座35上，管体341沿自身轴向的两端分别超出三通阀固定座35的两侧。在使用时，管体341的两端可以分别定义为三通阀34的前端和后端；三通阀34的后端设有可旋转的轴套37，该后端通过轴套37与鲁尔接头33的前端连接相通，因此鲁尔接头33可相对于三通阀34转动。其中，三通阀34可以便于医生注射药液、输送导丝或输送支架进入导管300中，为手术操作过程提供便捷，也节省了手术操作空间。旋转轮36可转动地设于三通阀34的前端上，且旋转轮36位于三通阀固定座35远离鲁尔接头33的一侧上。旋转轮36用于关闭和开通三通阀34前端的通口，旋转轮36的关闭开通方式为采用锥面锁止形式的接头与三通阀34连接配合实现。
轴套接头31可转动地安装于输送转盘13上，导管旋转驱动装置5用于驱动轴套接头31转动，以带动鲁尔接头33和导管300的近端转动。导管旋转驱动装置5包括第一电机51和与轴套接头连接的主动轴52。第一电机51用于驱动主动轴52转动，以带动轴套接头31转动。
在一些实施例中，主动轴52与轴套接头31并排设置，且主动轴52的延伸方向与轴套接头31的延伸方向相平行。具体地，导管旋转驱动装置5还包括第一齿轮53和与第一齿轮53相啮合的第二齿轮54。第一齿轮53连接主动轴52，第二齿轮54连接轴套接头31。第一电机51的输出端连接主动轴52以驱动第一齿轮53转动，第一齿轮51的转动带动第二齿轮54转动，以使得主动轴52与轴套接头31同步转动。主动轴52和轴套接头31位于对应连接的第一齿轮53和第二齿轮54的同一侧。如此，在传动方向上，第一电机51、主动轴52和第一齿轮53沿第一方向直线传动，而第二齿轮54、轴套接头31和鲁尔接头33沿与第一方向相反的第二方向直线传动，以使得导管控制器100的整体结构更紧凑。
在另一些实施例中，主动轴52和轴套接头31位于对应连接的第一齿轮53和第二齿轮54的不同侧。例如，主动轴52位于第一齿轮53的左侧，轴套接头31位于第二齿轮54的右侧；或者，主动轴52位于第一齿轮53的右侧，轴套接头31位于第二齿轮54的左侧。在其它一些实施例中，导管旋转驱动装置5可以省略第一齿轮53和与第一齿轮53，即导管旋转驱动装置5仅包括第一电机51和与轴套接头31固定连接的主动轴52。主动轴52与轴套接头31同轴设置。第一电机51驱动主动轴52转动，转动的主动轴52带动轴套接头31转动，从而实现鲁尔接头33与导管300沿周向转动。
在本实施例中，导管控制器100还包括设置于输送转盘13上的用于支撑主动轴52和轴套接头31的轴承座6。主动轴52和轴套接头31转动连接轴承座6。主动轴52和轴套接头31均是通过轴承56可转动地安装在轴承座6上，主动轴52亦具有沿自身轴向的前端和后端，主动轴52的后端向后伸出轴承座6。主动轴52与轴套接头31分别安装在轴承座6上的不同位置的孔中，并呈水平并排设置。第一齿轮53套设于主动轴52的后端上，第二齿轮54套设于轴套接头31的后端上，因此，第一齿轮53和第二齿轮54位于轴承座6的同一侧并相互啮合。导管旋转驱动装置5还包括第一电机座55，第一电机51安装在第一电机座55上，第一电机51的输出端通过联轴器57与主动轴52的前端同轴连接。
当第一电机51工作时，其输出端驱动第一齿轮53转动，从而通过第一齿轮53和第二齿轮54的啮合传动，带动轴套接头31与鲁尔接头33同步转动，实现对导管300的旋转操作，保证导管300在血管内能够顺利向预定位置推进。此外，可通过调整第一齿轮53和第二齿轮54的传动比，以调整导管300的转动速度。
本实施例能够通过上述的导管夹紧装置3和导管旋转驱动装置5同时控制导管300推进和周向旋转。如此，导管300在输送时通过配合自身的周向旋转，相当于增加了推力，导管300能够在人体内部更加顺利地推进，导管300的远端在遇阻时不会轻易回退，从而提高导管300的进退输送控制精度，保证导管在病人体内位置的精准。另外，对于外表面具有螺纹的导管结构而言，当导管300在血管内旋转，可以借助导管300的外螺纹与血管壁形成螺纹结合而旋转推进，具有更好的推进效果。
请参照图4，基体1包括基座11、可转动设于基座11上的输送转盘13和设于输送转盘13上方的转盘盖15。其中，输送转盘13通过正反向转动，以释放输送或者收纳导管300。转盘盖15设于输送转盘13背离基座11的上表面。导管夹紧装置3和导管旋转驱动装置5均设于转盘盖15的上表面。在本实施例中，轴承座6固定于转盘盖15上。
请参照图5，基座11包括底盘10和外罩16。
底盘10呈矩形状。底盘10的外周缘突出设有一圈环状侧壁111。该环状侧壁111的轮廓呈矩形，环状侧壁111围合形成一开口向上的收容槽，该收容槽用以安置输送转盘13。基座11突出设有竖轴112。具体地，底盘10在收容槽的底部设有一向上竖直突伸的竖轴112，输送转盘13可绕竖轴112转动。并且，环状侧壁111的相对两侧上还分别设有多个连接孔101。
外罩16连接底盘10，并围绕输送转盘13的外周设置。例如，外罩16可以连接于底盘10的周缘上。外罩16通过连接孔101可拆地设于底盘10的周缘上。
具体为，外罩16为环状结构，具有与输送转盘13的外形轮廓相适配的外形。外罩16和凹槽103共同限定出用以收容导管300的容置空间，从而将导管300限位在输送转盘13上。
外罩16包括相互对称的第一壳体161和第二壳体162。
第一壳体161和第二壳体162均为半开放的弧形结构。第一壳体161安装在底盘10的左半边，第二壳体162安装在底盘10的右半边，两个壳体可围合形成一个完整的环形结构，且安装拆卸较为方便。
请参照图6，第一壳体161和第二壳体162均包括主体部1611和从主体部1611的侧壁径向向外延伸出的底板1613。主体部1611与凹槽103限定出容置空间，底板1613与底盘10可拆地连接。
其中，两个壳体的主体部1611拼接以形成完整的环状结构，并与底盘10呈同心布置。主体部1611大致呈半圆环状。底板1613与底盘10可拆地连接，以覆盖于底盘10上。具体为，底板1613的一侧与环状侧壁111具有连接孔101的一侧边相对，底板1613的该侧向下折弯延伸形成连接部1615，该连接部1615上开设有与连接孔101相适配的通孔106。在安装时，底板1613平放在底盘10的环状侧壁111的上端面，连接部1615与环状侧壁111的外壁贴合；连接孔101和通孔106一一对应，以供适配的螺栓等紧固件形成螺栓连接，实现外罩和底盘10的可拆卸连接。
基体1还包括导向部19。导向部19设置于第一壳体161或第二壳体162背离底盘10的一侧，导管300的远端通过导向部19引出容置空间，且在导向部19上做直线运动。导向部19包括均呈中空筒状的第一导向件17和第二导向件18。
第一导向件17和第二导向件18同时设于第一壳体161上；当然，第一导向件17和第二导向件18还可以同时设于第二壳体162上。
其中，第一导向件17突出并连接于第一壳体161的主体部1611，并与第一壳体161的内部相通。第一导向件17供导管的穿过；第二导向件18设于第一壳体161上并与第一导向件17间隔设置，第二导向件18和第一导向件17位于同一轴线上。在本实施例中，第一导向件17径向突出并连接于第一壳体161的主体部1611的外壁上，并与第一壳体161的内部相通。第一导向件17供导管300的远端穿过。第二导向件18设于第一壳体161的底板1613上并与第一导向件17间隔相对。两个导向件位于同一轴线上，以起到引导导管300的作用。
在使用时，通过转动输送转盘13，推动导管300的远端向外穿过第一导向件17，此时，导管300的远端外露于第一导向件17；然后，随着导管300的进一步推动，导管300的远端穿过第二导向件18，最后进入到病人体内。
上述第一导向件17和第二导向件18的设计规划和约束了导管300的移动路径，使导管300朝同一方向进行轴向直线运动，使导管300在病人体内的定位更加精准，保证了导管300在进退输送过程中的可靠性和实时性。
请参照图7，转盘盖15覆盖于输送转盘13的上方，且转盘盖15的周缘超出输送转盘13的周缘。转盘盖15和基座11共同围合，使得位于两者之间的输送转盘13处于一个相对密封的空间，避免导管300被外界污染，大大增加了无菌操作的可靠性。
具体地，转盘盖15呈圆形。转盘盖15呈水平状固定设于输送转盘13的转盘支架133(转盘支架133的结构在下文的附图11中会具体介绍)的上表面。转盘盖15与输送转盘13同心布置。转盘盖15上和转盘支架133上相应开设有螺栓孔，以形成螺栓连接。转盘盖15随着输送转盘13一起转动。
转盘盖15上设有用于穿设导管300的过线孔105，以实现导管300的近端通过过线孔105穿过转盘盖15并与鲁尔接头33连接，从而减小导管300与转盘盖15之间的摩擦力，以及避免导管300过度弯折而出现损坏的问题，进而保证导管的使用安全性。
在本实施例中，导管夹紧装置3和导管旋转驱动装置5通过轴承座6集成安装在转盘盖15的上表面，使得整体结构更为紧凑。其中，导管夹紧装置3相较于导管旋转驱动装置5更靠近过线孔105，从而方便夹紧经过线孔105穿出的导管300的近端。
转盘盖15还贯穿设有一安装孔107。
请一并参照图1、图8和图9，导管控制器100还包括转盘驱动部14；转盘驱动部14连接转盘盖15，并用于驱动输送转盘13正反向转动，以从输送转盘13推出导管300或者向输送转盘13回收导管300。。
转盘驱动部14包括固定在转盘盖15上的第二电机142。第二电机142的输出轴与转盘盖15和输送转 盘13连接，以驱动转盘盖15和输送转盘13转动。转盘驱动部14还包括第三齿轮143和与第三齿轮143相啮合的第四齿轮144。第三齿轮143连接于第二电机142的输出轴上，第四齿轮144固定设于基座11上，第二电机142通过输出轴驱动第三齿轮143带动第四齿轮144转动，以使转盘盖15和输送转盘13同步转动。
如图8所示，第三齿轮143和第四齿轮144收容在底盘10的收容槽中。其中，第四齿轮144固定设置底盘10的中部，并围绕竖轴112设置。第三齿轮143与第四齿轮144的外周啮合。第四齿轮144的直径尺寸大于第三齿轮143的直径尺寸，实现减速。
第二电机142配置有第二电机座146，第二电机142通过第二电机座146集成固定在转盘盖15上，使得整体结构更加紧凑，体积更小，环境适应性高。第二电机142包括设于转盘盖15上方的主体部1421和从主体部1421上突伸出的输出轴1422，输出轴1422向下穿过安装孔107。输出轴1422的末端容置在第三齿轮143中。第二电机142启动，输出轴1422转动，进而，输出轴1422带动第三齿轮143一起转动；随之，第三齿轮143开始围绕第四齿轮144的外周转动，从而反向地带动了与第三齿轮143相连的转盘盖15和输送转盘13一起转动，实现了导管300的进退输送操作。通过调整第三齿轮143和第四齿轮144的传动比，可调整导管300进退输送的速度。
如图9所示，转盘驱动部14还包括圆锥滚子轴承141和支撑轴套145，以实现转盘盖15和输送转盘13更为顺滑的转动。
圆锥滚子轴承141和支撑轴套145位于第四齿轮144的中心通孔中。其中，圆锥滚子轴承141为中空筒状结构，圆锥滚子轴承141可转动地套设在底盘10的竖轴112上。支撑轴套145也为中空筒状结构，且其直径大于圆锥滚子轴承141的直径。支撑轴套145可转动地套设于圆锥滚子轴承141的外周上，且支撑轴套145向上超出圆锥滚子轴承141，并连接于输送转盘13的底部，实现支撑输送转盘13的目的。圆锥滚子轴承141和支撑轴套145形成的滚动配合可以减少输送转盘13旋转时需要克服的摩擦阻力，使得输送转盘13转动更加平稳、顺滑。
请一并参照图10和图11，输送转盘13包括呈圆环状的转盘主体131和设于转盘本体的内部的转盘支架133。
转盘主体131与底盘10呈同心布置，转盘主体131的轴线和竖轴112所在的轴线一致。同时，转盘主体131的厚度方向也是与其轴向方向一致。转盘主体131的轴线在图11中标识为L。
如图11所示，转盘支架133向上突出于转盘主体131，从而供转盘盖15安装固定。转盘支架133具有多个周向布置的径向支杆1331；多个径向支杆1331沿转盘主体131的圆心呈辐射状分布，并径向连接于转盘主体131的内壁。
在本实施例中，转盘主体131的直径尺寸从上至下逐渐增大，转盘主体131的侧壁在上下方向上呈倾斜状，使得转盘的外形不用于常见的圆柱形，而是偏向于上小下大的梯形。
凹槽103呈周向螺旋形的设在转盘主体131的部分外周上。
凹槽103具有靠近导管300近端的进口端102，以及供导管300的远端穿出的出口端104。
凹槽103沿自身的延伸方向上包括第一区段，第一区段的任意两个位置的径向距离不等。这里的径向距离表示的是第一区段上的位置与转盘主体131的轴线L之间的距离。
本实施例中的凹槽103从自身的进口端102至出口端104的区域形成第一区段。
第一区段的径向距离沿输送转盘13的轴向由上至下逐渐增大。
为了方便描述，两个位置分别定义为第一位置P1和第二位置P2。其中，第一位置P1在输送转盘13上位于第二位置P2的下方，显然，第一位置P1的径向距离大于第二位置P2的径向距离。
在本实施例中，凹槽103包括的第一位置P1和第二位置P2所在的螺圈的螺旋半径(曲率)不同。值得说明的是，曲率等于半径的倒数，表示一条曲线在特定一点上的弯曲程度。因此小圆的曲率大于大圆的曲率，即小圆相较于大圆更弯。
当导管300一圈一圈地缠绕在凹槽103中时，导管300会与凹槽103产生摩擦接触。在缠绕时，从曲率较大的小圈向下顺延到曲率较小的大圈的时候，由于盘绕曲率的原因，导管300会更加紧凑、紧密地盘绕在凹槽103中。由于曲率不同的顺延，导管300在每一圈上的缠绕长度不同，越靠近转盘的下方，圈的直径尺寸越大，导管300在大圈上的缠绕长度就越长，接触面积越大，导管300在凹槽103内的摩擦阻力增大，导管300越不易“打滑”。
因此导管300从凹槽103的出口端104穿出的远端在进入人体遇到障碍物时，由于曲率变大，使导管需要克服的相对于输送转盘回退的阻力较大，使导管300不容易回退，保证了导管300在释放状态时输送的稳定性，从而确保了导管300在病人体内位置的定位精准，减小了控制难度。
请进一步地参照图12，凹槽103在各个螺圈上的深度一致，该深度考虑到凹槽103与导管300的直径尺寸相匹配，导管300能够恰好地容纳在凹槽103中，既不会让导管300过于深埋于凹槽103中，也不会轻易地从凹槽103中脱离。
具体地，凹槽103具有半圆储槽1031以及分别从半圆储槽1031沿周向的两侧向上延伸出的两个侧壁1033，两个侧壁1033相对且平行。
其中，半圆储槽1031是贴合导管300的通用直径进行设计，两个侧壁1033根据半圆槽壁1031的曲率往上翘起向外延伸，向外为远离轴线L的方向。表现为，凹槽103的开口向外，倾斜向上。其目的在于， 倾斜的凹槽103能够起到对于导管300在径向上的限定作用，使得导管300不易从凹槽103中突出甚至脱离出来。
该凹槽103的设计相比于传统的半圆槽位或者U型槽位设计，可降低导管300在螺旋槽内的周向间隙，使导管300不会窜动，使得导管300存放得更加稳固，导管300不会轻易往外突起而造成的交叉打结现象。由于凹槽103与导管300贴合时，两者的间隙较小，当导管300前端受阻时，导管300进行回退的空间更小，从而提高导管300进退输送精度，降低控制难度。
同时，基于上述径向直径向上逐渐减小的螺旋形凹槽103，当导管300盘绕存列在凹槽103中时，可以充分地利用立体空间，节省高度上的空间，以节省了导管300的存列体积，进而减少了整个手术机器人的体积。
在本实施例中，上述导管控制器的整体结构简单，采用模块化结构设计，拆装组合简便，结构紧凑，且大部分可采用塑料制成，整体重量轻便，易于灭菌消毒，制造成本较低。
在进行血管介入手术时，在一些情况下，医生需要向前推进导管(或导丝)，或者向后撤回导管(或导丝)。医生的通常做法是：用一只手的大拇指和食指夹持导管(或导丝)的一个部位，用另一只手的大拇指和食指夹持导管(或导丝)的另一个部位。将导管(或导丝)向前递送的时候，医生的一只手夹持着导管(或导丝)向前递送，另一只手的手指松开；一个递送动作结束后，另一只手夹紧导管(或导丝)，递送的手复位。如此往复，实现导管(或导丝)向前递送或者向后撤回。
在一些情况下，医生还需要用拇指和食指捻旋导丝/导管。比如，当遇到分叉血管时，医生需要捻旋导管(或导丝)以使导管(或导丝)的远端进入目标分支血管。又比如，当导管(或导丝)前进遇到较大阻力时，医生在向前递送导管(或导丝)的同时会捻旋导管(或导丝)以便于向前推进。
本申请提供一种输送装置。所述输送装置可以替代医生的手部动作，可以使目标物沿目标方向移动。作为示例，所述目标物包括细长状的物体。作为示例，所述目标物可以包括血管介入手术中用到的导管或导丝。为了便于描述，在本申请下面的描述中，以“导管”为例对本申请所述目标物及所述输送装置进行介绍。然而，本领域技术人员可以理解，其他细长状的目标物也适用于本申请所介绍的输送装置。
作为示例，图13示出了根据本申请实施例提供的一种输送装置001的结构示意图。图14示出了输送装置001的部分结构的爆炸示意图。图15示出了输送装置001的局部剖视图。参考图13和图14，输送装置001可以包括存储装置800和第一驱动模块600。
作为示例，图16示出了根据本申请实施例提供的一种存储装置800的结构示意图。存储装置800可以包括容置空间，所述容置空间被配置为容置目标物的部分或全部。作为示例，所述目标物可以包括导丝或导管，所述容置空间可以供所述导管或导丝缠绕。所述容置空间使所述目标物的轴线呈螺旋线状。参考图16，在一些实施例中，所述容置空间可以包括第一凹槽810。参考图16，第一凹槽810可以包括第一区段811，第一区段811可以呈螺旋状，从而使得容置在第一区段811内的导管呈螺旋状。
继续参考图16，作为示例，存储装置800可以包括外缘部830和连接部840。
外缘部830为第一凹槽810提供了开槽基底。换句话说，第一凹槽810可以设置在所述外缘部830上并沿着周向螺旋延伸。作为示例，图17示出了图16中所述的存储装置800的局部剖视图。图18示出了图17中A区的局部放大图。作为示例，第一凹槽810可以设置在外缘部830的外周壁表面上并沿着周向螺旋延伸，例如图17和图18所示。除了外周壁表面，本领域技术人员可以理解，第一凹槽810也可以设置在存储装置800或者外缘部830的其他表面而不背离本申请所述的核心精神。比如，第一凹槽810还可以设置在外缘部830的上表面；又比如，第一凹槽810还可以设置在外缘部830的下表面；又比如，第一凹槽810还可以设置在外缘部830的内周壁表面，等等。需要说明的是，前述“上表面”和“下表面”是一组关联的概念。所述上表面和所述下表面可以包括同螺旋轴L1垂直的两个相互平行的表面。如果将其中一个表面定义为上表面，则另一个平面即为下表面。
继续参考图16，作为示例，外缘部830的外轮廓可以呈圆环状。外缘部830的外轮廓呈圆环状，可以在保证存储装置800实现其功能的前提下最大程度的减小存储装置800所占用的空间、减小存储装置800的体积。采用此设计，一方面节省了成本，另一方面，提高了用户使用的体验。然而，本领域技术人员可以理解，外缘部830的外轮廓也可以呈其他形状(比如方形)而不背离本申请的核心精神。
第一凹槽810可以采用开模的方式加工，也可以采用机加工的方式加工。在一些实施例中，第一凹槽810的加工方式可以根据外缘部830的材料确定。作为示例，当所述外缘部830的材料包括塑料时，可以采用开模的方式加工第一凹槽810。作为示例，当所述外缘部830的材料包括金属材料时，可以采用机加工的方式加工第一凹槽810。作为示例，所述塑料可以包括但不限于，ABS，PP，PC。采用ABS/PP/PC等塑料材料可以在保证生物相容性的前提下降低成本降低加工难度。作为示例，所述金属材料可以包括不锈钢。作为示例，所述不锈钢可以包括，但不限于，医用304不锈钢，医用316不锈钢。采用医用304不锈钢/医用316不锈钢等不锈钢材料具有更好的生物相容性。
连接部840同外缘部830连接。所述连接可以是刚性连接。连接部840可以为外缘部830提供支撑。同时，连接部840可以将外缘部830同第一驱动模块600连接起来。连接部840同外缘部830可以是一体化的结构，比如图16所示。连接部840同外缘部830也可以采用连接件连接在一起，比如，可以采用螺纹连接件将连接部840和外缘部830连接起来。本领域技术人员可以理解，也可以采用其他的连接方式实现连接部840和外缘部830之间的连接而不背离本申请的核心精神。作为示例，连接部840和外缘部830 之间可以采用过盈配合的方式实现连接。作为示例，连接部840和外缘部830之间还可以采用胶粘的方式实现连接。作为示例，连接部840和外缘部830之间还可以采用机械卡扣的方式实现连接。
继续参考图16，在一些实施例中，连接部840可以包括腹板842。腹板842的数量可以是2个以上。比如，在图16所示的实施例中，腹板842的数量为4个。采用腹板设计，在实现连接功能的基础上，可以大大减少存储装置800的重量。
在一些实施例中，连接部840可以包括通孔841。通孔841的孔深方向同所述螺旋的旋转轴L1方向一致。通孔841可以为轴承或轴等零件提供安装空间。存储装置800可以绕旋转轴L1旋转。
参考图13，在一些实施例中，输送装置001还可以包括定位部400。定位部400用于将输送装置001固定在介入手术的手术室内空间的目标位置。作为示例，所述目标位置根据患者的具体情况确定。作为示例，所述目标位置靠近患者的创口部位。比如，如果是经股动脉对患者的脑部进行手术，所述目标位置可以是靠近患者股动脉的某处。所述目标位置可以由操作医生根据经验和习惯等确定。
在一些实施例中，本申请提供的输送装置001还可以包括导引部200。
导引部200可以包括出口通道210。出口通道210的远端沿方向F延伸。出口通道210可以将存储装置800内容置的导管G引导到目标通道N内。作为示例，所述目标通道N包括已经建立并同血管连通的通道。作为示例，方向F可以是直线。出口通道210的远端沿着直线方向延伸，使得导管G的远端受到沿其轴线的推力，从而可以提高导管G的远端进入到目标通道N的稳定性。
作为示例，医生可以根据手术现场的实际情况来确定方向F具体的位置。作为示例，导引部200同定位部400刚性连接在一起。医生可以通过调节定位部400在空间内的位置和姿态来调节出口通道210的位置和方向。出口通道210的位置和方向确定后，定位部400的位置和姿态也就确定了。在一些实施例中，导引部200同定位部400可以是一体化的结构。比如，出口通道210可以直接设置在定位部400上，比如图16所示。本领域技术人员可以理解，也可以采用其他的方式实现导引部200同定位部400的刚性连接而不背离本申请的核心精神。比如，导引部200同定位部400也可以采用连接件连接在一起，比如，可以采用螺纹连接件将导引部200同定位部400连接起来。作为示例，导引部200同定位部400之间可以采用过盈配合的方式实现连接。作为示例，导引部200同定位部400之间还可以采用胶粘的方式实现连接。作为示例，导引部200同定位部400之间还可以采用机械卡扣的方式实现连接。
当医生确定好导引部200的位置和姿态、并离开手术室后，定位部400相对患者的位置可以被固定，以保证手术过程中患者的安全。定位部400可以连接在其他用于支撑的零部件上。比如，定位部400可以同机械臂连接在一起。机械臂可以为输送装置001提供支撑，机械臂还可以使导引部200和定位部400相对于患者的位置和姿态保持稳定。
作为示例，图19示出了根据本申请实施例提供的输送装置800的输送原理示意图。导引部200还可以包括入口通道220。所述入口通道220的第一端221靠近第一凹槽810。导管G离开第一凹槽810后经由第一端221进入所述入口通道220。所述入口通道220的第二端222同出口通道210连通。位于入口通道220内的导管G经由所述出口通道210进入目标通道N内。
由此，存储装置800和导引部200共同作用建立起了一个可供导管或导丝动作的通路90。该通路包括轴线呈弧形的第一部分91和轴线呈直线的第二部分92。
结合前文的描述，导引部200在手术室内的位置和姿态被固定。存储装置800可以在第一驱动模块600的驱动下绕螺旋轴L1沿方向P旋转。在前述通路的约束下，导管G的特定位置在手术室空间内的运动便由“绕旋转轴L1的旋转运动”转换到了“沿直线F的轴向运动”。这样，就可以实现沿着血管腔轴线输送导管或导丝的目标。在血管介入手术中，使用的导管或导丝的长度都较长。本申请提供的输送装置，导管或导丝呈螺旋状盘绕在存储装置800的容置腔内，大大减小了输送装置的体积。同时，本申请提供的输送装置，导管或导丝被约束在该通路内，相较于采用夹持装置夹持导管的输送方式，本申请提供的输送装置，不需要设计夹具，大大降低了输送装置的体积，同时也避免了采用夹具夹持的方法输送导管造成的磨损导管或夹具打滑的问题。
参考图13，第一驱动模块600同所述存储装置800连接。第一驱动模块600可以驱动所述存储装置800绕第一轴线旋转，进而驱动所述目标物的第一端沿目标方向移动。作为示例，所述第一轴线可以包括所述螺旋线的旋转轴L1，所述目标方向可以包括所述方向F。作为示例，方向F可以同所述旋转轴L1垂直。
参考图14和图15，第一驱动模块600可以包括第一驱动装置610。作为示例，所述第一驱动装置610可以包括驱动电机。作为示例，所述第一驱动装置610可以输出转矩。
在一些实施例中，第一驱动模块600还可以第一传动系统。所述第一传动系统可以包括至少2个传动件。作为示例，所述传动件可以包括齿轮。作为示例，所述齿轮包括直齿轮和锥齿轮中的至少一种。所述至少2个传动件可以将第一驱动装置610输出的转矩传递至所述存储装置800。作为示例，所述第一传动系统的传动等级可以包括，但不限于，1级传动，2级传动，3级传动，4级传动，5级传动，等等。作为示例，所述第一传动系统可以包括第一传动件621和第二传动件622。所述第一传动件621可以是直齿轮，所述直齿轮同所述第一驱动装置610的输出轴连接，所述第一传动件621可以在所述第一驱动装置610的驱动下转动。作为示例，所述第二传动件622可以是直齿轮，所述第二传动件622可以作为从动轮与所述第一传动件621啮合。作为示例，所述第二传动件622的径向尺寸大于所述第一传动齿轮621的径向尺寸 从而实现减速的功能。第二传动件622同存储装置800连接。作为示例，可以采用限位部限制第二传动件622同存储装置800相互之间的周向位移。作为示例，可以采用花键来限制第一传动件622同存储装置800之间的周向移位。本领域技术人员可以理解，第二传动件622可以带动存储装置800同步转动。
继续参考图13，第一驱动支撑模块500可以为所述第一驱动模块600提供支撑。
参考图14，作为示例，第一驱动支撑模块500可以包括第一安装座510。第一驱动装置610(比如电机)可以安装在第一安装座510上。作为示例，可以采用螺纹连接件将第一驱动装置610安装至第一安装座510。第一安装座510可以呈板状。第一安装座510可以设置在存储装置800的上方。第一安装座510可以和定位部400配合形成一个相对封闭的空间用于容置存储装置800，从而将存储装置800同外部空间隔绝开，减小存储装置800内容置的导管被污染的概率。
作为示例，第一驱动支撑模块500还可以包括轴承530。轴承530一方面可以为传动件提供支撑，另一方面可以减少传动件转动时的摩擦阻力。作为示例，轴承530可以包括内圈和外圈。作为示例，轴承530的内圈同支撑轴411连接，轴承530的外圈同第二传动件622连接。作为示例，第一驱动支撑模块500可以包括轴套650。轴套650可以设置在轴承530的外圈和第二传动件622之间，以减小第二传动件622安装或拆卸时对轴承530外圈的磨损。
根据前文的描述，在周向限位部的作用下，存储装置800可以随第二传动件622一起转动。作为示例，第一安装座510同存储装置800或者第二传动件622之间也可以通过周向限位设计进行周向限位。故而，存储装置800和第一安装座510在第二传动件622的带动下同步转动。
参考图13和图14，传动系统将第一驱动装置610输出轴的转矩传递至第二传动件622。第二传动件622带动存储装置800和第一安装座510共同围绕支撑轴411的轴线(也就是螺旋轴L1)旋转。作为示例，第一驱动装置610的输出轴同螺旋轴L1不在一条直线上。由于第一驱动装置610同第一安装座510之间通过螺纹连接件刚性连接在一起，并且第一驱动装置610的输出轴同螺旋轴L1并不在一条直线上，故第一驱动装置610随着第一安装座510一起绕螺旋轴L1旋转。当然，在一些实施例中，第一驱动装置610的输出轴和螺旋轴L1也可以设置在一条直线上而不影响本申请的核心精神。
参考图15，定位部400可以包括基座410。基座410可以包括支撑轴411。支撑轴411的轴线可以同螺旋轴L1一致。
在一些实施例中，定位400还可以包括防护装置420。所述防护装置420可以包括容置腔450。所述容置腔450被配置为容置存储装置800的部分或者全部。除了存储装置800，第二传动件622、轴承530、轴套650等的部分或者全部也可以容置在所述容置腔450内。所述容置腔450可以包括第一开口451。所述第一开口451可以为存储装置800、轴承530等的安装操作提供入口。作为示例，第一安装座510靠近所述第一开口451。所述第一安装座510的径向尺寸大于所述第一开口451的径向尺寸。第一安装座510可以遮盖住所述第一开口451，从而将所述容置腔450封闭，由此，容置在容置腔450内的存储装置800可以免受污染。
在一些实施例中，所述防护装置420可以包括第一防护罩421和第二防护罩422，例如图14所示。所述第一防护罩421和所述第二防护罩422连接起来围合形成所述容置腔450。在安装或者拆卸传动系统或者存储装置800的时候，可以将所述第一防护罩421和第二防护罩422中的至少一个拆卸下来以为操作人员提供更多操作空间。
作为示例，导引部200可以设置在所述防护装置420上。比如，在图14中，导引部200设置在所述第一防护罩421上。作为示例，导引部200还可以设置在基座410上。作为示例，导引部200可以同定位部400一体设计，比如图14所示。作为示例，导引部200可以同定位部400各自独立设计，并通过连接设计连接到一起。本领域技术人员可以理解，导引部200同定位部400的连接方式不影响本申请的核心精神，同时，导引部200具体设置在定位部400的哪个部分也不影响本申请的核心精神。
作为示例，图20示出了根据本申请实施例提供的另一种输送装置002的结构示意图。参考图20，输送装置002可以包括存储装置800和第一驱动模块600。在一些实施例中，输送装置002还可以包括第一驱动支撑模块500、定位部400以及导引部200中的一个或者多个。存储装置800、第一驱动模块600、第一驱动支撑模块500、定位部400或导引部200的功能和结构可以参照本文前面的介绍，为了简洁，这里不再赘述。
参考图20，在一些实施例中，输送装置001还可以包括第二驱动模块700。作为示例，图21示出了根据本申请实施例提供的一种第二驱动模块700的结构示意图。第二驱动模块700被配置为驱动目标物的第二端G2绕第二轴线L2旋转。作为示例，所述目标物可以包括导管。作为示例，所述第二驱动模块700可以包括第二驱动装置710和夹紧部720。
夹紧部720工作时夹紧所述目标物G的第二端G2，当所述目标物G的第二端G2被夹紧时，所述夹紧部720允许所述目标物G的第二端G2绕第二轴线L2旋转。作为示例，图22示出了根据本申请实施例提供的一种第二驱动模块700的爆炸示意图。参考图22，夹紧部720可以包括轴套接头721和鲁尔接头722。轴套接头721和鲁尔接头722共同将导管G的第二端G2夹紧。
第二驱动装置710可以作为动力源驱动所述夹紧部720绕所述第二轴线L2旋转。作为示例，所述第二驱动装置710可以包括电机。所述电机可以输出转矩从而驱动所述夹紧部720绕第二轴线L2旋转。
在一些实施例中，第二驱动模块700还可以包括第二传动系统730。所述第二传动系统730可以将所 述第二驱动装置710输出的转矩传递给夹紧部720。作为示例，所述第二传动系统730可以包括至少2个传动件。作为示例，所述传动件可以包括齿轮。作为示例，所述齿轮包括直齿轮和锥齿轮中的至少一种。所述至少2个传动件可以将第二驱动装置710输出的转矩传递至所述夹紧部720。作为示例，所述第二传动系统730的传动等级可以包括，但不限于，1级传动，2级传动，3级传动，4级传动，5级传动，等等。作为示例，所述第二传动系统730可以包括传动件731和传动件732。所述传动件731可以是直齿轮，所述直齿轮同所述第二驱动装置710的输出轴连接，传动件731可以在第二驱动装置710的驱动下转动。作为示例，传动件732可以是直齿轮，传动件732可以作为从动轮与传动件731啮合。作为示例，传动件732的径向尺寸大于传动件731的径向尺寸从而实现减速的功能。传动件732同夹紧部720连接。作为示例，可以采用周向限位设计限制传动件732同夹紧部720相互之间的周向位移。作为示例，可以采用花键来限制传动件732同夹紧部720间的周向移位。本领域技术人员可以理解，传动件732可以带动夹紧部720同步转动。
在一些实施例中，第二驱动模块700还可以包括第二支撑部740。第二支撑部740可以为第二驱动模块700提供支撑。作为示例，第二支撑部740可以包括至少一个第二安装座741和至少一个轴承742。轴承742一方面可以为传动件提供支撑，另一方面可以减少传动件转动时的摩擦阻力。作为示例，所述至少一个轴承中的每个轴承742的外圈和内圈中的一个可以同第二安装座741连接、另一个同传动件连接。
在一些实施例中，支撑部740同所述存储装置刚性连接。参考图20，可以采用螺纹连接件将支撑部740安装至第一驱动支撑模块500中的第一安装座510。结合前文的描述，分别采用周向限位设计和轴向限位设计限制了第一安装座510和存储装置800之间的周向位移和轴向位移。在不考虑传动系统中各零部组件的周向游隙和轴向游隙的情况下，可认为存储装置800同第一安装座510之间的连接是刚性连接。故而，可认为支撑部740同存储装置800刚性连接。
参考图20，第一驱动模块600驱动存储装置800围绕着螺旋轴L1旋转从而驱动导管G的第一端G1沿目标方向F移动。支撑部740同存储装置800刚性连接，故而，支撑部740以及第二驱动模块700随存储装置800一起围绕螺旋轴L1旋转。同时，第二驱动模块700夹紧导管G的第二端G2绕第二轴线L2旋转。由于导管的第一端G1的周向没有被约束，因为，第二端G2r绕其轴线的回转运动可以传递至第一端G1，也就是，第一端G1也可以绕其轴线旋转。综上，本申请提供的输送装置，可以使导管的第一端G1沿目标方向F移动的同时绕其轴线旋转，可以满足医生在递送导管的同时旋转导管的需求。
参考图20，作为示例，所述第二轴线L2同所述第一轴线L1垂直。作为示例，支撑部740同第一安装座510的连接面同螺旋轴L1垂直。作为示例，所述第二轴线L2同所述连接面平行，故而，所述第二轴线L2同所述第一轴线L1垂直。然而，第二轴线L2也可以同第一轴线L1呈其他的位置关系而不影响本申请的核心精神。例如，第二轴线L2同所述连接面不平行而不影响本申请的核心精神。在图20所示的实施例中，第二轴线L2同第一轴线L1之间的距离不为零，第二轴线L2同第一轴线L1之间的距离也可以不是零而不影响本申请的核心精神。
作为示例，图23示出了根据本申请实施例提供的另一种存储装置800的结构示意图。
所述存储装置800可以包括容置空间，所述容置空间被配置为容置导管G的部分或全部，其中，所述容置空间使导管G的轴线呈螺旋线状。在一些实施例中，所述螺旋线包括阿基米德螺旋线、费马螺旋线、等角螺旋线、双曲螺旋线、圆内螺旋线、连锁螺旋线、柯奴螺旋线、圆柱螺旋线、以及圆锥螺旋线中的至少一种。
参考图23，在一些实施例中，所述容置空间包括第一凹槽810。在一些实施例中，所述容置空间还可以包括第二凹槽820。
参考图23，所述第一凹槽810可以包括第一区段811，所述第一区段811呈所述螺旋线状。
当所述螺旋的圈数过多时，最外圈的螺旋和最内圈的螺旋之间的间距过大，会增大导管的速度控制和导管旋转的难度。在一些实施例中，所述螺旋的圈数不大于以下任意值或者任意两个值之间的范围:10、9、8、7、6、5、4、3。
任意相邻两圈螺旋之间的间距D1过大会使存储装置800的径向尺寸过大，影响医生的操作。在一些实施例中，任意相邻两圈螺旋之间的间距D1不大于以下任意值或者任意两个值之间的范围:10mm，9mm，8mm，7mm，6mm，5mm，4mm。
任意相邻两圈螺旋之间的间距D1过小会增大凹槽加工的难度。在一些实施例中，任意相邻两圈螺旋之间的距离D1不小于以下任意值或者任意两个值之间的范围0.01mm，0.02mm，0.03mm，0.04mm，0.05mm，0.06mm，0.07mm，0.08mm，0.09mm，0.10mm。
所述螺旋的最外圈的尺寸对存储装置800的外形尺寸有很大影响。如果所述螺旋的最外圈的径向尺寸过大，会造成存储装置800的径向尺寸过大，进而影响医生的操作空间。为保证医生的操作空间，在一些实施例中，所述第一凹槽810的最外圈同螺旋轴L1的距离D2不大于以下任意值或者任意两个值之间的范围:250mm，240mm，230mm，220mm，210mm，200mm，190mm，180mm，170mm，160mm，150mm。
作为示例，图24示出了图23中所述存储装置800的C-C截面的剖视图。图25示出了图24中的B区的放大视图。参考图25，在一些实施例中，所述第一区段811上任意2个部位的截面相同。其中，所述截面指的是以通过螺旋轴L1的平面为截面切割第一区段811形成的横断面。比如，图25所示的为以通过螺旋轴L1的平面C-C为截面切割第一区段811所形成的横断面。结合前文的描述，第一全段811呈螺旋状， 所述第一区段811上任意2个部位的截面相同，可以降低第一区段811的加工难度。
参考图25，在一些实施例中，所述第一凹槽810包括第一侧壁811-1、第二侧壁811-2以及槽底811-3。
槽底811-3的截面可以是弧线。作为示例，所述弧线可以是圆弧。
由于导管具有一定的软度，如果所述弧线的直径过大，将不利于轴向推力的传递。在一些实施例中，所述弧线的直径不大于以下任意值或者任意两个值之间的范围:4mm，3.5mm，3mm，2.5mm，2mm，1.5mm，1mm。
当槽底811-3的粗糙度过大时，不但容易对导管造成磨损，还会增大导管旋转的困难。在一些实施例中，所述槽底811-3的表面粗糙度Ra值不大于以下任意值:12.5，6.3，3.2，1.6。
第一侧壁811-1同所述槽底811-3的一端连接，向所述第一凹槽810的槽口810-9延伸。
第二侧壁811-2同所述槽底811-3的另一端连接。第二侧壁811-2同所述第一侧壁811-1相对，向所述第一凹槽810的槽口810-9延伸。
参考图25，在一些实施例中，所述第一侧壁811-1的截面包括第一直线X1,所述第二侧壁811-2的截面包括第二直线X2。在一些实施例中，所述第一直线X1和所述第二直线X2平行。在一些实施例中，第一直线X1和第二直线X2呈预设夹角a。夹角a的设置可以为导管的安装提供便捷，但是，如果夹角a的值过大，导管就容易从凹槽中出来。为了保证导管不从凹槽中出来并且保持较好的安装便捷性，在一些实施例中，所述第一直线X1和所述第二直线X2的夹角a不大于以下任意值或者任意两个值之间的范围:60°，55°，50°，45°，40°，35°，30°，25°，20°，15°，10°，5°。
继续参考图23，在一些实施例中，所述第一凹槽810还可以包括第二区段812。作为示例，图26示出了图23中C区的放大视图。参考图26，所述第二区段812可以包括第一端812-1和第二端812-2。
在一些实施例中，所述第一端812-1的槽宽同所述第一区段811的槽宽相同。在一些实施例中，所述第二端812-2的槽宽大于所述第一区段811的槽宽。在一些实施例中，所述第二区段812的槽宽自所述第一端812-1至所述第二端812-2连续增大。第二区段812的槽宽采用渐变的设计可以使导管G更容易的从第二端812-2进入到第一区段811。
由于导管具有一定的软度，如果第二端812-2的槽宽过大，导管从第二端812-2进入时容易弯折进而不利于轴向力的传递。在一些实施例中，所述第二端的812-2槽宽不大于以下任意值或者任意两个值之间的范围:8mm，7.5mm，7mm，6.5mm，6mm，5.5mm，5mm，4.5mm，4mm，3.5mm，3mm，2.5mm，2mm。
继续参考图23，在一些实施例中，存储装置800还可以还包括第二凹槽820。作为示例，第二凹槽820在所述第一凹槽810的一端，同所述第一凹槽810连通。在一些实施例中，所述第二凹槽820的槽宽大于所述第一凹槽810的槽宽。在一些实施例中，所述第二凹槽820的槽深大于所述第一凹槽810的槽深。
继续参考图23，在一些实施例中，所述存储装置800可以包括第一表面801，所述第一凹槽810设置在所述第一表面801上，也可以说，第一凹槽810开在第一表面801上。作为示例，所述第一表面801可以包括平面。比如，在图24所示的实施例中，第一表面801即为平面。作为示例，第一表面801还可以是曲面。在一些实施例中，所述曲面包括柱面、锥面、以及双曲面中的至少一种。将第一凹槽810开在平面、柱面、或者锥面上可以降低加工的难度。比如，在图17所示的实施例中，第一表面801为锥面。本领域技术人员可以理解，根据本申请实施例提供的输送装置和存储装置，所述第一表面801可以是各种形状的表面而不影响本申请的核心精神。
在一些实施例中，所述存储装置800呈盘状。存储装置800可以包括外缘部830和腹板部840。外缘部830可以呈环形。作为示例，所述第一凹槽810设置在所述外缘部830的上表面或同所述上表面相对的下表面。辐板部840同所述外缘部830连接。
在一些实施例中，所述存储装置800呈梯台状。参考图17和图18，所述第一表面801可以包括所述存储装置800的外侧壁或内侧壁。作为示例，所述存储装置800可以呈柱状，所述第一表面801可以包括所述存储装置800的外侧壁或内侧壁。
在一些实施例中，所述容置空间还可以包括至少2个第一装夹部，所述至少2个第一装夹部离散的设置在所述螺旋线的不同部位，其中，每个第一装夹部包括引导通道，所述引导通道沿所述螺旋线延伸，其中所述引导通道构成所述容置空间的部分或全部。
需要说明的是，根据本申请提供的输送装置和存储装置，任意相邻两圈螺旋之间的间距D1指的是：在以通过螺旋轴L1的平面对螺旋槽进行切割形成的截面中，任意相邻的两圈螺旋之间的肋Q的厚度，比如图18和图25所示。
需要说明的是，根据本申请提供的输送装置和存储装置，所述第一凹槽810的最外圈同螺旋轴L1的距离D2指的是：在以通过螺旋轴L1的平面对螺旋槽进行切割形成的截面中，最外圈螺旋的外缘同螺旋轴L1之间的距离，比如图17和图24所示。
需要说明的是，所述螺旋的旋向、存储装置旋转的方向、以及导管的移动方向是相关联的。这些方向的具体设定不影响本申请的核心精神。
虽然已参照几个典型实施方式描述了本发明，但应当理解，所用的术语是说明和示例性、而非限制性的术语。由于本发明能够以多种形式具体实施而不脱离发明的精神或实质，所以应当理解，上述实施方式不限于任何前述的细节，而应在随附权利要求所限定的精神和范围内广泛地解释，因此落入权利要求或其等效范围内的全部变化和改型都应为随附权利要求所涵盖。

Claims (36)

  1. 一种导管控制器，其特征在于，包括：
    基体，包括基座和可转动地设于所述基座上的输送转盘；所述输送转盘的周壁上设有沿着周向螺旋延伸的凹槽，所述凹槽供导管盘绕；
    导管夹紧装置，设于所述输送转盘的上方，用于夹紧所述导管的近端；
    导管旋转驱动装置，用于驱动所述导管夹紧装置转动，以带动所述导管的近端转动。
  2. 根据权利要求1所述的导管控制器，其特征在于，所述导管的近端的转动方向垂直于所述导管的近端的延伸方向。
  3. 根据权利要求1所述的导管控制器，其特征在于，所述导管夹紧装置包括轴套接头和鲁尔接头；所述鲁尔接头与所述导管连接，所述轴套接头用于夹紧所述鲁尔接头，以夹紧所述导管。
  4. 根据权利要求3所述的导管控制器，其特征在于，所述导管的近端穿设于所述轴套接头，并且与所述鲁尔接头连接，所述轴套接头套接于所述鲁尔接头。
  5. 根据权利要求3所述的导管控制器，其特征在于，所述轴套接头可转动地安装于所述输送转盘上，所述导管旋转驱动装置用于驱动所述轴套接头转动，以带动所述鲁尔接头和所述导管的近端转动。
  6. 根据权利要求3所述的导管控制器，其特征在于，所述导管旋转驱动装置包括第一电机和与所述轴套接头连接的主动轴，所述第一电机用于驱动所述主动轴转动，以带动所述轴套接头转动。
  7. 根据权利要求6所述的导管控制器，其特征在于，所述导管旋转驱动装置包括第一齿轮和与所述第一齿轮相啮合的第二齿轮，所述第一齿轮连接所述主动轴，所述第二齿轮连接所述轴套接头；所述第一电机的输出端连接所述主动轴以驱动所述第一齿轮转动，所述第一齿轮的转动带动所述第二齿轮转动，以使得所述主动轴与所述轴套接头同步转动。
  8. 根据权利要求7所述的导管控制器，其特征在于，所述主动轴和所述轴套接头位于对应连接的所述第一齿轮和所述第二齿轮的同一侧。
  9. 根据权利要求7所述的导管控制器，其特征在于，所述主动轴和所述轴套接头并排设置，且所述主动轴的延伸方向与所述轴套接头的延伸方向相平行。
  10. 根据权利要求6所述的导管控制器，其特征在于，所述导管控制器还包括设置于所述输送转盘上的用于支撑所述主动轴和所述轴套接头的轴承座，所述主动轴和所述轴套接头转动连接所述轴承座。
  11. 根据权利要求1-10任一项所述的导管控制器，其特征在于，所述基体还包括转盘盖；所述转盘盖设于所述输送转盘背离所述基座的上表面；所述导管夹紧装置和所述导管旋转驱动装置均设于所述转盘盖的上表面。
  12. 根据权利要求11所述的导管控制器，其特征在于，所述转盘盖上设有用于穿设所述导管的过线孔。
  13. 根据权利要求11所述的导管控制器，其特征在于，所述导管控制器还包括转盘驱动部；所述转盘驱动部连接所述转盘盖，并用于驱动所述输送转盘正反向转动，以从所述输送转盘推出所述导管或者向所述输送转盘回收所述导管。
  14. 根据权利要求13所述的导管控制器，其特征在于，所述转盘驱动部包括固定在所述转盘盖上的第二电机，所述第二电机的输出轴与所述转盘盖和所述输送转盘连接，以驱动所述转盘盖和所述输送转盘转动。
  15. 根据权利要求14所述的导管控制器，其特征在于，所述转盘驱动部还包括第三齿轮和与所述第三齿轮相啮合的第四齿轮，所述第三齿轮连接于所述第二电机的输出轴上，所述第四齿轮固定设于所述基座上，所述第二电机通过所述输出轴驱动第三齿轮带动所述第四齿轮转动，以使所述转盘盖和所述输送转盘同步转动。
  16. 根据权利要求15所述的导管控制器，其特征在于，所述基座突出设有竖轴；所述转盘驱动部还包括支撑轴套和圆锥滚子轴承，所述圆锥滚子轴承套设于所述竖轴的外周；所述支撑轴套可转动地套设于所述圆锥滚子轴承的外周，且所述支撑轴套容置于所述第四齿轮的中心通孔中，所述输送转盘固定设于所述支撑轴套的顶端；所述输送转盘在所述支撑轴套的支撑下可绕所述竖轴转动。
  17. 根据权利要求1所述的导管控制器，其特征在于，所述基座包括底盘和外罩；所述输送转盘可转动地设于所述底盘上；所述外罩连接所述底盘，并围绕所述输送转盘；所述外罩和所述凹槽共同限定出用以收容导管的容置空间。
  18. 根据权利要求17所述的导管控制器，其特征在于，所述外罩包括相互对称的第一壳体和第二壳体；所述第一壳体和所述第二壳体均包括主体部和沿所述主体部的侧壁径向向外延伸出的底板；所述主体部与所述凹槽限定出所述容置空间，所述底板与所述底盘可拆地连接。
  19. 根据权利要求18所述的导管控制器，其特征在于，所述基体还包括导向部，所述导向部设置于所述第一壳体或所述第二壳体背离所述底盘的一侧，所述导管的远端通过所述导向部引出所述容置空间，且在所述导向部上做直线运动。
  20. 根据权利要求19所述的导管控制器，其特征在于，所述导向部包括第一导向件和第二导向件；
    所述第一导向件和所述第二导向件同时设于所述第一壳体或所述第二壳体；所述第一导向件突出所述第一壳体并连接于所述第一壳体的主体部，并与所述第一壳体的内部相通；所述第一导向件供导管的穿过；所述第二导向件设于所述第一壳体上并与所述第一导向件间隔设置，所述第二导向件和所述第一导向件位 于同一轴线上。
  21. 一种输送装置，其特征在于，包括第一驱动组件，所述第一驱动组件包括存储装置和第一驱动装置，其中：
    所述第一驱动装置同所述存储装置连接，驱动所述存储装置绕第一轴线旋转，进而驱动所述目标物的第一端沿目标方向移动；以及
    所述存储装置包括容置空间，所述容置空间被配置为容置目标物的部分或全部，其中，所述容置空间使所述目标物的轴线呈螺旋线状，其中所述第一轴线包括所述螺旋线的旋转轴。
  22. 如权利要求21所述的输送装置，其特征在于，还包括第二驱动组件，所述第二驱动组件包括：
    夹紧部，工作时夹紧所述目标物的第二端，当所述目标物的第二端被夹紧时，所述夹紧部允许所述目标物的第二端绕第二轴线旋转；
    第二驱动装置，驱动所述夹紧部绕所述第二轴线旋转；以及
    支撑部，同所述存储装置刚性连接。
  23. 如权利要求21所述的输送装置，其特征在于，其中，所述容置空间包括：
    第一凹槽，包括第一区段，所述第一区段呈所述螺旋线状。
  24. 如权利要求23所述的输送装置，其特征在于，所述存储装置包括第一表面，所述第一凹槽设置在所述第一表面上，其中，所述第一表面包括平面或曲面。
  25. 如权利要求24所述的输送装置，其特征在于，所述曲面包括柱面、锥面、以及双曲面中的至少一种。
  26. 如权利要求23所述的输送装置，其特征在于，所述存储装置呈盘状，包括：
    外缘部，呈环形，其中，所述第一凹槽设置在所述外缘部的上表面或同所述上表面相对的下表面；以及
    辐板部，同所述外缘部连接。
  27. 如权利要求23所述的输送装置，其特征在于，
    所述存储装置呈梯台状，所述第一表面包括所述存储装置的外侧壁或内侧壁；或
    所述存储装置呈柱状，所述第一表面包括所述存储装置的外侧壁或内侧壁。
  28. 如权利要求23所述的输送装置，其特征在于，所述第一区段上任意2个部位的截面相同。
  29. 如权利要求23所述的输送装置，其特征在于，所述第一凹槽包括：
    槽底，所述槽底的截面包括弧线；
    第一侧壁，同所述槽底的一端连接，向所述第一凹槽的槽口延伸；以及
    第二侧壁，同所述槽底的另一端连接，同所述第一侧壁相对，向所述第一凹槽的槽口延伸。
  30. 如权利要求29所述的输送装置，其特征在于，其中：
    所述弧线的直径不大于4mm。
  31. 如权利要求29所述的输送装置，其特征在于：
    所述第一侧壁的截面包括第一直线；以及
    所述第二侧壁的截面包括第二直线，其中，
    所述第一直线和所述第二直线平行、或
    所述第一直线和所述第二直线呈预设夹角。
  32. 如权利要求23所述的输送装置，其特征在于，所述第一凹槽还包括第二区段，所述第二区段包括：
    第一端，所述第一端的槽宽同所述第一区段的槽宽相同；
    第二端，所述第二端的槽宽大于所述第一区段的槽宽，其中，
    所述第二区段的槽宽自所述第一端至所述第二端逐渐增大。
  33. 如权利要求23所述的输送装置，其特征在于，所述存储装置还包括：
    第二凹槽，在所述第一凹槽的一端，同所述第一凹槽连通，其中：
    所述第二凹槽的槽宽大于所述第一凹槽的槽宽；并且
    所述第二凹槽的槽深大于所述第一凹槽的槽深。
  34. 如权利要求21所述的输送装置，其特征在于，所述螺旋线包括阿基米德螺旋线、费马螺旋线、等角螺旋线、双曲螺旋线、圆内螺旋线、连锁螺旋线、柯奴螺旋线、圆柱螺旋线、以及圆锥螺旋线中的至少一种。
  35. 如权利要求21所述的输送装置，其特征在于，其中，所述容置空间包括：
    至少2个第一装夹部，所述至少2个第一装夹部离散的设置在所述螺旋线的不同部位，其中，每个第一装夹部包括引导通道，所述引导通道沿所述螺旋线延伸，其中所述引导通道构成所述容置空间的部分或全部。
  36. 如权利要求21所述的输送装置，其特征在于：
    所述螺旋的圈数不大于10；
    任意相邻两圈螺旋之间的间距D1不大于10mm；
    任意相邻两圈螺旋之间的间距D1不小于0.01mm；或者
    所述第一凹槽的最外圈同螺旋轴的距离D2不大于250mm。
PCT/CN2022/102092 2021-06-29 2022-06-28 导管控制器和输送装置 WO2023274260A1 (zh)

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