WO2024050966A1 - Appareil d'entraînement d'instrument médical mince - Google Patents

Appareil d'entraînement d'instrument médical mince Download PDF

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Publication number
WO2024050966A1
WO2024050966A1 PCT/CN2022/132208 CN2022132208W WO2024050966A1 WO 2024050966 A1 WO2024050966 A1 WO 2024050966A1 CN 2022132208 W CN2022132208 W CN 2022132208W WO 2024050966 A1 WO2024050966 A1 WO 2024050966A1
Authority
WO
WIPO (PCT)
Prior art keywords
gear
sub
driving
delivery
medical device
Prior art date
Application number
PCT/CN2022/132208
Other languages
English (en)
Chinese (zh)
Inventor
张桂林
Original Assignee
深圳市爱博医疗机器人有限公司
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.)
Filing date
Publication date
Application filed by 深圳市爱博医疗机器人有限公司 filed Critical 深圳市爱博医疗机器人有限公司
Publication of WO2024050966A1 publication Critical patent/WO2024050966A1/fr

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Classifications

    • 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
    • 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
    • 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

Definitions

  • the present disclosure relates to the technical field of medical devices, and more specifically, to an elongated medical device driving device.
  • Interventional surgery uses real-time radiation to image the patient's internal tissues and organs, thereby completing the purpose of minimally invasive surgery. Operators need to be exposed to radiation for a long time. Doctors who have been engaged in interventional surgery for a long time have a greater chance of suffering from radiation-related diseases and endangering their health. Since the interventional surgery environment is a harmful environment with radiation, it is necessary to reduce the exposure time of surgical operators to the radiation environment as much as possible. Existing interventional surgical robots can isolate the surgical operator from the harmful environment and enable remote-controlled surgery.
  • An existing delivery device includes a delivery mechanism, a first motor, a second motor, and a first transmission. Gears and planetary gear trains.
  • This kind of driving device requires the first motor and the second motor to perform angle compensation.
  • the main reason is that when the entire delivery mechanism rotates, it will drive the second transmission gear to rotate. If the second motor does not run at this time, it will drive the second transmission gear to do the corresponding
  • the overall rotational movement of the delivery mechanism will cause the transmission shaft to drive the drive wheel train to drive the delivery mechanism to advance or retract the slender medical device. Without compensation of the second motor angle, the slender medical device will not be able to be used. It only rotates but does not move forward or backward.
  • the purpose of the present invention is to at least solve the problem that slender medical instruments cannot be rotated and delivered individually.
  • a first aspect of the invention proposes an elongated medical instrument driving device.
  • the slender medical device driving device includes: a mounting box, a mounting plate is provided in the mounting box; and a driving wheel.
  • the driving wheel includes a first driving wheel and a first driven wheel.
  • the first driving wheel The wheel and the first driven wheel are rotatably disposed on the mounting plate, and the first driving wheel and the first driven wheel are disposed opposite to each other; a support portion, the support portion is rotatably disposed on the mounting plate.
  • On the mounting plate an elongated medical device is provided in the support portion. The elongated medical device is placed between the first driving wheel and the first driven wheel.
  • the first driving wheel and the first driven wheel are The first driven wheel clamps the slender medical instrument; a first driving component is provided in the installation box, and the first driving component is used to drive the support part and the The mounting plate rotates together with the second driving component.
  • the second driving component is arranged in the mounting box. The second driving component is used to drive the first driving wheel to rotate.
  • a rotation hole is provided on the side wall of the installation box, the support portion is rotatably disposed in the rotation hole, and the installation plate is rotatably located in the installation box.
  • the support part includes a first sub-part and a second sub-part connected to each other, the first sub-part is rotatably disposed in the rotation hole, and the second sub-part is The second sub-portion connects the first sub-portion and the mounting plate, and the diameter of the second sub-portion is larger than the diameter of the rotation hole.
  • notches are provided on the circumferential surfaces of the first driving wheel and the first driven wheel.
  • the slender medical device driving device further includes: an elastic member; one end of the elastic member is provided on the mounting plate, and the other end of the elastic member is provided on the On the first driven wheel, the elastic member drives the first driven wheel to abut the first driving wheel.
  • the first driving component includes: a rotating motor and a rotating gear; the rotating gear is arranged inside the mounting box, and the rotating motor is arranged outside the mounting box; The gear is sleeved on the support part, and the rotating motor can drive the support part and the mounting plate to rotate.
  • the support part and the mounting plate drive the slender medical instrument to rotate.
  • the second driving component includes: a delivery motor, a delivery gear, a delivery shaft, a transmission gear sleeved on the delivery shaft, and a first bevel gear;
  • the delivery gear is disposed on the In the installation box, the delivery motor is arranged outside the installation box;
  • the delivery gear is rotatably sleeved on the support part, and the delivery motor can drive the delivery gear to rotate;
  • the transmission gear and The delivery gear is meshed, the first bevel gear is meshed with the first driving wheel, and the first bevel gear is used to drive the first driving wheel to rotate.
  • the second driving assembly further includes a second bevel gear; the second bevel gear is disposed on the first driving wheel, and the second bevel gear is connected to the first bevel gear. Gear mesh.
  • first driving wheels there are multiple first driving wheels, first driven wheels, second bevel gears and first bevel gears; multiple first driving wheels and The plurality of first driven wheels are symmetrically arranged on both sides of the slender medical instrument along the length direction of the slender medical instrument; the plurality of second bevel gears and the plurality of first active wheels The wheels are arranged in one-to-one correspondence, and the plurality of first bevel gears and the plurality of second bevel gears are arranged in one-to-one correspondence.
  • the elongated medical instrument driving device is characterized in that it further includes: a rotation transmission assembly, the rotation transmission assembly includes a first sub-gear, a second sub-gear and a third sub-gear. gear, the first sub-gear is provided on the rotating motor, the second sub-gear is provided on the delivery motor, and the third sub-gear is provided between the first sub-gear and the second sub-gear. between the gears, and the third sub-gear meshes with the first sub-gear and the second sub-gear respectively.
  • a rotation transmission assembly includes a first sub-gear, a second sub-gear and a third sub-gear. gear, the first sub-gear is provided on the rotating motor, the second sub-gear is provided on the delivery motor, and the third sub-gear is provided between the first sub-gear and the second sub-gear. between the gears, and the third sub-gear meshes with the first sub-gear and the second sub-gear respectively.
  • the rotation transmission assembly further includes a fourth sub-gear, and the third sub-gear and the fourth sub-gear are both disposed between the first sub-gear and the second sub-gear. In between, the first sub-gear, the third sub-gear, the fourth sub-gear and the second sub-gear mesh in sequence.
  • the elongated medical instrument driving device further includes: a first bearing seat and a second bearing seat, the first bearing seat and the second bearing seat being arranged opposite to each other. Both ends of the delivery motor.
  • the elongated medical instrument driving device further includes: an electric slip ring, the electric slip ring is sleeved on the wire of the delivery motor; and/or further includes: a torque sensor. , the torque sensor is arranged on the rotation transmission component.
  • the elongated medical device driving device further includes: a transmission belt connecting the rotating motor and the delivery motor; or a transmission rack connecting the the rotating motor and the delivery motor.
  • the support part and the mounting plate can drive the slender medical device to rotate, and the first driving wheel and the first driven wheel can drive the slender medical device to be delivered.
  • Figure 1 schematically shows a perspective view of an elongated medical instrument driving device according to an embodiment of the present invention.
  • Figure 2 schematically shows another perspective view of an elongated medical instrument driving device according to an embodiment of the present invention.
  • Figure 3 schematically shows a top view of an elongated medical instrument driving device according to an embodiment of the present invention.
  • Figure 4 schematically shows a bottom view of an elongated medical instrument driving device according to an embodiment of the present invention.
  • Figure 5 schematically shows a side view of an elongated medical instrument drive device according to an embodiment of the invention.
  • Slender medical device driving device 100 Slender medical device driving device 100.
  • Installation box 10 Installation plate 11, first bearing seat 12, second bearing seat 13, electric slip ring 14, torque sensor 15.
  • Driving wheel 20 first driving wheel 21, first driven wheel 22.
  • Support part 30, elongated medical device 31 Support part 30, elongated medical device 31.
  • the first driving assembly 40 The rotating motor 41 , the first output gear 411 , and the rotating gear 42 .
  • the second drive assembly 50 The second drive assembly 50 , the delivery motor 51 , the second output gear 511 , the delivery gear 52 , the delivery shaft 53 , the transmission gear 54 , the first bevel gear 55 , and the second bevel gear 56 .
  • the rotation transmission assembly 60 includes a first sub-gear 61 , a second sub-gear 62 , a third sub-gear 63 and a fourth sub-gear 64 .
  • first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections shall not be referred to as restricted by these terms. These terms are only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments.
  • spatially relative terms may be used herein to describe the relationship of one element or feature to another element or feature as shown in the figures. These relative terms, such as “inner”, “outer”, “inner” ”, “outside”, “below”, “below”, “above”, “above”, etc. Such spatially relative terms are intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” or “beneath” the other elements or features. Features above”. Thus, the example term “below” may include an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly.
  • a slender medical device driving device 100 including a mounting box 10 , a driving wheel 20 , a support part 30 , a first driving assembly 40 and a second driving device. Component 50.
  • a mounting plate 11 is provided inside the mounting box 10 .
  • the installation box 10 is generally square, and the installation box 10 can be divided into an upper box body (not shown) and a lower box body.
  • the mounting plate 11 is rotatably arranged in the mounting box 10, and the mounting plate 11 has a flat structure.
  • the driving wheel 20 includes a first driving wheel 21 and a first driven wheel 22 .
  • the first driving wheel 21 and the first driven wheel 22 are rotatably disposed on the mounting plate 11 , and the first driving wheel 21 and the first driven wheel 22 are disposed opposite to each other.
  • the first driving wheel 21 and the first driven wheel 22 are both disposed on the upper surface of the mounting plate 11 , and the first driving wheel 21 and the first driven wheel 22 are relative to the mounting plate. 11 free spins. At the same time, in the width direction of the mounting plate 11, the first driving wheel 21 and the first driven wheel 22 are arranged opposite to each other and adjacent to each other.
  • the elongated medical instrument 31 is placed between the first driving wheel 21 and the first driven wheel 22 , and the first driving wheel 21 and the first driven wheel 22 clamp the elongated medical instrument 31 .
  • the support portion 30 is fixedly provided on the upper surface of the mounting plate 11 , that is, the mounting plate 11 and the support portion 30 are integrally provided.
  • the support part 30 is provided with a through lumen for the elongated medical device 31 to pass through.
  • the elongated medical device 31 is placed on the first driving wheel 21 and the first driven wheel 22 after passing through the through lumen of the support part 30 .
  • the elongated medical instrument 31 passes through the through-lumen of the support part 30 , and the first driving wheel 21 and the first driven wheel 22 clamp the elongated medical instrument 31 . Therefore, there is friction between the elongated medical instrument 31 and the first driving wheel 21 and the first driven wheel 22 .
  • the first driving wheel 21 and the first driven wheel 22 are provided with notches along the thickness direction to increase the friction between the first driving wheel 21 and the first driven wheel 22 .
  • the first driving component 40 is disposed in the installation box 10 , and is used to drive the support part 30 and the mounting plate 11 to rotate together.
  • the second driving assembly 50 is disposed in the installation box 10 , and is used to drive the first driving wheel 21 to rotate.
  • the mounting plate 11 and the supporting part 30 are integrally provided, the mounting plate 11 rotates together with the supporting part 30 .
  • first driving wheel 21 and the first driven wheel 22 on the mounting plate 11 clamp the slender medical device 31, so the mounting plate 11 can drive the slender medical device 31 to rotate accordingly.
  • the first driving wheel 21 can drive the elongated medical instrument 31 to move.
  • a rotation hole (not shown) is provided on the side wall of the installation box 10 , the support portion 30 is rotatably disposed in the rotation hole, and the mounting plate 11 is rotatably located in the installation box 10 .
  • the installation box 10 is generally square, and the installation box 10 can be divided into an upper box body (not shown) and a lower box body.
  • Arc-shaped grooves can be provided on both the upper box body and the lower box body of the installation box 10 , and the arc-shaped grooves of the upper box body and the lower box body are arranged opposite to each other. Therefore, the support portion 30 can be clamped in the installation box 10 through the two arc-shaped grooves, which together form a rotation hole.
  • the support part 30 is fixedly connected to the installation plate 11 , so that the installation plate 11 can be suspended in the installation box 10 through the support part 30 .
  • the support portion 30 can freely rotate within the two arc-shaped grooves, thereby realizing the rotation function of the mounting plate 11 .
  • At least two supporting parts 30 that is, one supporting part 30 is provided at both ends of the mounting plate 11 . This is beneficial to improving the stability of the mounting plate 11 during rotation.
  • the support part 30 includes a first sub-part and a second sub-part connected to each other.
  • the first sub-part is rotatably disposed in the rotation hole
  • the second sub-part is rotatably disposed in the rotation hole.
  • the two sub-parts connect the first sub-part and the mounting plate 11, and the diameter of the second sub-part is larger than the diameter of the rotation hole.
  • the support part 30 is divided into a first sub-part and a second sub-part, and the diameter of the second sub-part is larger than the diameter of the first sub-part.
  • the diameter of the rotation hole is larger than the diameter of the first sub-part.
  • the first driving wheel and the first driven wheel are provided with notches on their circumferential surfaces.
  • notches can also be provided on the circumferential surfaces of the first driven wheel 22 and the first driving wheel 21 , which is beneficial to further improving the connection between the first driven wheel 22 and the first driving wheel 21 and the slender medical instrument 31 . friction between them.
  • the elongated medical instrument driving device 100 further includes: an elastic member (not shown). One end of the elastic member is arranged on the mounting plate 11 , and the other end of the elastic member is arranged on the first driven wheel 22 . The elastic member drives the first driven wheel 22 to abut against the first driving wheel 21 .
  • the mounting plate 11 is a flat plate structure, and the upper surface of the mounting plate 11 is a horizontal plane.
  • the first driving wheel 21 and the first driven wheel 22 are arranged vertically on the mounting plate 11 , that is, the axes of the first driving wheel 21 and the first driven wheel 22 are perpendicular to the upper surface of the mounting plate 11 .
  • an elastic member is provided on the side of the first driven wheel 22 .
  • the elastic member can push the first driven wheel 22 to move toward the first driving wheel 21 so that the first driven wheel 22 abuts the first driving wheel 21 .
  • the first driven wheel 22 abuts the first driving wheel 21 .
  • the first driving component 40 includes: a rotating motor 41 and a rotating gear 42 .
  • the rotating gear 42 is arranged inside the installation box 10 , and the rotating motor 41 is arranged outside the installation box 10 .
  • the rotating gear 42 is sleeved on the supporting part 30.
  • the rotating motor 41 can drive the supporting part 30 and the mounting plate 11 to rotate.
  • the mounting plate 11 and the supporting part 30 drive the slender medical instrument 31 to rotate.
  • the rotating gear 42 is disposed in the installation box 10 , thereby providing a dust-free and pollution-free working environment for the rotating gear 42 , effectively improving the efficiency of the slender medical device driving device. 100% security.
  • the rotating electrical machine 41 is provided with an output end, and the output end is provided with a first output gear 411 .
  • the first output gear 411 meshes with the rotating gear 42 , whereby the rotating motor 41 can drive the rotating gear 42 to rotate through the first output gear 411 .
  • the second driving assembly 50 includes: a delivery motor 51, a delivery gear 52, a delivery shaft 53, a transmission gear 54 sleeved on the delivery shaft 53, and a third One bevel gear 55.
  • the delivery gear 52 is provided inside the installation box 10 , and the delivery motor 51 is provided outside the installation box 10 .
  • the delivery gear 52 is rotatably sleeved on the support part 30 , and the delivery motor 51 can drive the delivery gear 52 to rotate.
  • the delivery gear 52 is disposed in the installation box 10 , thereby providing a dust-free and pollution-free working environment for the delivery gear 52 , effectively improving the efficiency of the slender medical device driving device. 100% security.
  • the delivery motor 51 is provided with an output end, and the output end is provided with a second output gear 511 .
  • the second output gear 511 meshes with the delivery gear 52 , whereby the delivery motor 51 can drive the delivery gear 52 to rotate through the second output gear 511 .
  • the delivery gear 52 is rotatably sleeved on the outer shell of the support part 30 , whereby free rotation can occur between the delivery gear 52 and the support part 30 , that is, the rotation motor 41 can drive the support part 30 through the rotation gear 42 While rotating, the delivery gear 52 may be stationary.
  • the transmission gear 54 meshes with the delivery gear 52
  • the first bevel gear 55 meshes with the first driving wheel 21
  • the first bevel gear 55 is used to drive the first driving wheel 21 to rotate.
  • the delivery shaft 53 is arranged along the delivery direction of the support part 30 , the transmission gear 54 is sleeved on one end of the delivery shaft 53 , and the transmission gear 54 meshes with the delivery gear 52 .
  • the first bevel gear 55 is sleeved on the delivery shaft 53 , the first driving wheel 21 cooperates with the first bevel gear 55 , the first bevel gear 55 can drive the first driving wheel 21 to rotate, and the support part 30 is thin.
  • the long medical instrument 31 is laid adjacent to the first driving wheel 21 . Therefore, when the first driving wheel 21 rotates, it can be used to drive the elongated medical instrument 31 in the support part 30 to move forward or backward.
  • the second drive assembly 50 further includes a second bevel gear 56 .
  • the second bevel gear 56 is provided on the first driving wheel 21 , and the second bevel gear 56 meshes with the first bevel gear 55 .
  • the second bevel gear 56 is disposed on the lower surface of the mounting plate 11
  • the first driving wheel 21 is disposed on the upper surface of the mounting plate 11 .
  • the second bevel gear 56 is connected to the first driving wheel 21 , and the second bevel gear 56 meshes with the first bevel gear 55 . Therefore, when the first bevel gear 55 rotates, it can drive the second bevel gear 56 to rotate, and the second bevel gear 56 can drive the first driving wheel 21 to rotate around its axis.
  • the support part 30 is generally in the shape of a circular tube
  • the rotation gear 42 is sleeved on the support part 30
  • the delivery gear 52 is rotatably sleeved on the support part 30 .
  • first driving wheels 21 there are multiple first driving wheels 21 , first driven wheels 22 , second bevel gears 56 and first bevel gears 55 .
  • the plurality of first driving wheels 21 and the plurality of first driven wheels 22 are symmetrically arranged on both sides of the slender medical instrument 31 along the length direction of the slender medical instrument 31 .
  • the plurality of second bevel gears 56 are arranged in one-to-one correspondence with the plurality of first driving wheels 21
  • the plurality of first bevel gears 55 are arranged in one-to-one correspondence with the plurality of second bevel gears 56 .
  • first bevel gears 55 there are two first bevel gears 55 and two second bevel gears 56 .
  • Two first bevel gears 55 are sleeved on the delivery shaft 53 along the length direction of the delivery shaft 53 , and two second bevel gears 56 are provided on the lower surface of the second driving assembly 50 .
  • At least two first driving wheels 21 can be disposed above the mounting plate 11 , and the two first driving wheels 21 are rotatably disposed on the mounting plate 11 , wherein A second bevel gear 56 is provided below a first driving wheel 21 , and the second bevel gear 56 meshes with the first bevel gear 55 . Therefore, the delivery motor 51 can sequentially drive the elongated medical instrument 31 to move through the delivery gear 52 , the transmission gear 54 , the first bevel gear 55 and the second bevel gear 56 .
  • the elongated medical instrument driving device 100 further includes a rotation transmission assembly 60 , and the rotation transmission assembly 60 includes a first sub-gear 61 , a second sub-gear 62 and The third sub-gear 63 , the first sub-gear 61 is provided on the rotating motor 41 , the second sub-gear 62 is provided on the delivery motor 51 , and the third sub-gear 63 is provided between the first sub-gear 61 and the second sub-gear 62 , and the third sub-gear 63 meshes with the first sub-gear 61 and the second sub-gear 62 respectively.
  • a first sub-gear 61 is provided at one end of the rotating electric machine 41 .
  • the first sub-gear 61 rotates synchronously.
  • One side of the third sub-gear 63 meshes with the first sub-gear 61 , whereby the first sub-gear 61 can drive the third sub-gear 63 to rotate.
  • the other side of the third sub-gear 63 meshes with the second sub-gear 62, and the second sub-gear 62 is connected to the delivery motor 51. Therefore, the third sub-gear 63 can drive the second sub-gear 62 to rotate, and the second sub-gear 62 rotates. 62 then drives the delivery motor 51 to rotate.
  • the rotating transmission assembly 60 can drive the delivery motor 51 to rotate.
  • the angle of rotation of the delivery motor 51 is transmitted by the rotating transmission assembly 60. This angle is the rotation of the rotating motor 41.
  • the delivery motor 51 needs to compensate for the angle.
  • the rotation transmission assembly 60 further includes a fourth sub-gear 64 .
  • the third sub-gear 63 and the fourth sub-gear 64 are both disposed between the first sub-gear 61 and the second sub-gear 64 .
  • Between the gears 62, the first sub-gear 61, the third sub-gear 63, the fourth sub-gear 64 and the second sub-gear 62 mesh in sequence.
  • a plurality of sub-gears may be provided between the first sub-gear 61 and the second sub-gear 62 .
  • a third sub-gear 63 and a fourth sub-gear 64 are provided between the first sub-gear 61 and the second sub-gear 62 , thereby effectively reducing the number of individual sub-gears in the rotation transmission assembly 60 .
  • the volume of the gear is beneficial to reducing the processing cost of the rotating transmission assembly 60 .
  • the elongated medical device driving device 100 further includes a first bearing seat 12 and a second bearing seat 13.
  • the first bearing seat 12 and the second bearing seat 13 are provided at both ends of the delivery motor 51 opposite to each other.
  • a first bearing seat 12 and a second bearing seat 13 are respectively provided at both ends of the delivery motor 51.
  • the delivery motor 51 can be mounted on the first bearing seat 12 and the second bearing seat 13.
  • the second bearing seat 13 is free to rotate.
  • the elongated medical device driving device 100 further includes an electric slip ring 14 , which is sleeved on the wire of the delivery motor 51 .
  • the electric slip ring 14 is installed at the rear end of the delivery motor 51, and when the delivery motor 51 itself rotates, the electric slip ring 14 ensures that the motor wire of the delivery motor 51 will not be entangled. Thus, the safety of the slender medical instrument driving device 100 is effectively improved.
  • the elongated medical instrument driving device 100 further includes a torque sensor 15 , and the torque sensor 15 is disposed on the rotation transmission assembly 60 .
  • the torque sensor 15 can be installed on any sub-gear in the rotation transmission assembly 60 , for example, the torque sensor 15 can be installed on the third sub-gear 63 , and the torque sensor 15 can monitor the third sub-gear at all times.
  • the torque of the sub-gear 63 rotates. It is helpful for the operator to monitor the operation of the slender medical device driving device 100 at all times, which effectively improves the safety of the slender medical device driving device 100 .
  • the elongated medical device driving device 100 further includes a transmission belt (not shown) or a transmission rack (not shown).
  • the transmission belt connects the rotating motor 41 and the delivery motor 51
  • the transmission rack connects the rotating motor 41 and the delivery motor 51 .
  • the rotating motor 41 can drive the delivery motor 51 to rotate through a variety of transmission structures, which effectively reduces energy consumption and saves the operating cost of the slender medical device driving device 100 .
  • a specific implementation process of the elongated medical instrument driving device 100 according to the present disclosure is as follows.
  • the rotating motor 41 is started, the first output gear 411 rotates, the first output gear 411 can drive the rotating gear 42 to rotate, and the rotating gear 42 drives the supporting part 30 to rotate.
  • the first sub-gear 61 located at the rear end of the rotating electrical machine 41 rotates, causing the first sub-gear 61, the third sub-gear 63, the fourth sub-gear 64 and the second sub-gear 62 to rotate in sequence.
  • the second sub-gear 62 is disposed on the delivery motor 51, whereby when the rotating motor 41 is started, the rotating motor 41 can cause the delivery motor 51 to rotate.
  • the rotating transmission assembly 60 can drive the delivery motor 51 to rotate, and the rotation angle of the delivery motor 51 is transmitted by the rotating transmission assembly 60.
  • This angle is the angle at which the delivery motor 51 rotates when the rotating motor 41 rotates. Angle that needs to be compensated.
  • the delivery motor 51 can drive the second output gear 511 to rotate
  • the second output gear 511 can drive the delivery gear 52 to rotate
  • the delivery gear 52 can drive the transmission gear 54 to rotate
  • the transmission gear 54 can drive the first bevel gear 55
  • the first bevel gear 55 can drive the second bevel gear 56 to rotate
  • the second bevel gear 56 can drive the first driving wheel 21 to rotate.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Veterinary Medicine (AREA)
  • General Health & Medical Sciences (AREA)
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  • Molecular Biology (AREA)
  • Transmission Devices (AREA)

Abstract

L'invention concerne un appareil d'entraînement d'instrument médical mince (100), comprenant une boîte de montage (10), des roues d'entraînement (20), une partie de support (30), un premier ensemble d'entraînement (40) et un second ensemble d'entraînement (50). Une plaque de montage (11) est disposée à l'intérieur de la boîte de montage (10). Les roues d'entraînement (20) comprennent des premières roues motrices (21) et des premières roues entraînées (22). Les premières roues motrices (21) et les premières roues entraînées (22) sont disposées de manière rotative sur la plaque de montage (11). La partie de support (30) est disposée sur la plaque de montage (11), et un instrument médical mince (31) est disposé à l'intérieur de la partie de support (30). L'instrument médical mince (31) est placé entre les premières roues motrices (21) et les premières roues entraînées (22). Le premier ensemble d'entraînement (40) est disposé à l'intérieur de la boîte de montage (10) et est utilisé pour entraîner la rotation de la partie de support (30) et de la plaque de montage (11) ensemble, entraînant ainsi la rotation de l'instrument médical mince (31). Le second ensemble d'entraînement (50) est disposé à l'intérieur de la boîte de montage (10) et est utilisé pour entraîner la rotation des premières roues motrices (21), entraînant ainsi la distribution de l'instrument médical mince (31).
PCT/CN2022/132208 2022-09-05 2022-11-16 Appareil d'entraînement d'instrument médical mince WO2024050966A1 (fr)

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