CN107106244A - The conduit twisting device of blood vessel intervention operation robot - Google Patents
The conduit twisting device of blood vessel intervention operation robot Download PDFInfo
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- CN107106244A CN107106244A CN201780000456.XA CN201780000456A CN107106244A CN 107106244 A CN107106244 A CN 107106244A CN 201780000456 A CN201780000456 A CN 201780000456A CN 107106244 A CN107106244 A CN 107106244A
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- blood vessel
- brake pad
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- 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
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- 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
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Heart & Thoracic Surgery (AREA)
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Abstract
The present invention is applied to field of medical device, disclose the conduit twisting device of blood vessel intervention operation robot, it include two block gaps setting brake pad, for regulate and control two brake pads between horizontal range for clamp or unclamp conduit open/close mechanism and for drive two brake pad elevating movements with twist conduit rotation twisting mechanism.The conduit twisting device for the blood vessel intervention operation robot that the present invention is provided, compact conformation, small volume, lightweight, sterilization are convenient, are easy in medically popularization and application；And it can adapt to the conduit of different-diameter, it is more convenient to be removed and placed into conduit, clamps conduit also more reliable.In addition, it is driven twisting mechanism rotates above and below two brake pads by way of relative motion to twist conduit, the problem of being not in Elastic Sliding, and can avoid using motor direct-drive sensor driving the problem of conduit rotating band is come sensor kinking, continuous, the Positive rotational of conduit has finally been effectively ensured.
Description
Technical field
The invention belongs to the conduit twisting device of field of medical device, more particularly to blood vessel intervention operation robot.
Background technology
In recent years, the incidence of disease of angiocardiopathy is raised year by year, has been acknowledged as threatening the important killer of human health
One of.In China, with aging population degree sharp deterioration, threat of the angiocardiopathy to senior health and fitness is more and more tighter
Weight, people are to the attention rate of such disease also more and more higher.The treatment of angiocardiopathy includes drug therapy and insertion type is treated,
Wherein, insertion type treatment is not use large area to operate on come direct exposure focus and the method for the treatment of, specifically, insertion type treatment
Mode of operation be：In a diameter of several millimeters of incision of skin, it is only capable of allowing the minim channel of interposing catheter, in medical imaging device
Guiding under to focus locally detected and treated so that wound is as far as possible small.
In conventional art, insertion type treatment operation is operated by skilled practitioner, when doctor is needed by one section
Between pre-job training could be performed the operation.Because the vascular bending of people is narrow and branch is more, so, in treatment operating process
In, it is desirable to the hand of doctor can not shake too big, so so that doctor is easy to produce fatigue phenomenon, so as to can not ensure operation
Effect and efficiency.In addition, in treatment surgical procedure, in the environment that doctor can be for a long time in operation radiation, i.e. doctor's meeting
Radioactive ray are contacted for a long time, so, even if doctor dresses thick and heavy radiation proof lead clothing, body still inevitably to doctor
Body causes certain harm, has had a strong impact on the healthy of doctor.
The problem of in order to solve in above-mentioned traditional insertion type treatment, prior art is proposed using blood vessel intervention operation machine
People is come the scheme that replaces doctor to be performed the operation.In the propulsive mechanism of blood vessel intervention operation robot, it is desirable to conduit twisting device
Rubbing continuously, reliably can be carried out to conduit.Wherein, in order to realize conduit twisting device to conduit ground continuous rubbing, existing skill
Art typically use integral-rotation mode, at present, the integral-rotation mode that many research institutions use for：Conduit is inserted sensor
In, the method for directly driving sensor to realize rotation with motor, the problem of this method not only can bring sensor kinking, and
The problem of propulsive mechanism is excessively heavy, structure is not compact can be caused to occur；And in order to realize that conduit twisting device can to conduit
By rubbing, prior art is typically using friction conduit rotation mode, at present, the friction conduit rotation side that many research institutions use
Formula is：Using belt or roller friction conduit in the way of driving conduit to rotate, but led using belt or roller friction
, easily there is the phenomenon of Elastic Sliding in pipe, so that the problem of being skidded because clamping is unreliable occurs, has had a strong impact on conduit
Running accuracy, and then have impact on the quality of operation.
The content of the invention
It is an object of the invention at least one weak point for overcoming above-mentioned prior art, there is provided blood vessel intervention operation
The conduit twisting device of robot, which solves the problem of existing conduit twisting device has sensor kinking, Elastic Sliding.
To reach above-mentioned purpose, the technical solution adopted by the present invention is：The conduit twisting dress of blood vessel intervention operation robot
Put, including two block gaps set brake pad, for regulating and controlling the horizontal range described in two between brake pad for clamping or pine
Convince the open/close mechanism of pipe by patient analysis and for driving brake pad elevating movement described in two to twist the twisting mechanism that the conduit rotates.
Alternatively, the twisting mechanism include bottom plate, can be slided on the bottom plate horizontal slide unit, be installed on
For driving the horizontal slide unit to carry out horizontal drive component that horizontal linear moves back and forth and two on the bottom plate
It is connected to the link assembly between brake pad described in two and the horizontal slide unit.
Alternatively, the horizontal drive component includes the first motor being installed on the bottom plate and is connected to described first
The first screw mandrel between motor and the horizontal slide unit, the horizontal slide unit is threadedly coupled institute by the first screw rod bushing
State the first screw mandrel or the horizontal slide unit is provided with the first screwed hole coordinated with first wire rod thread；And/or,
The link assembly includes the vertical rod being slidably connected with the horizontal slide unit and is connected to the vertical rod and institute
The brace between brake pad is stated, the horizontal slide unit is provided with the first arc chute being slidably matched with the vertical rod；And/
Or,
The twisting mechanism is also included located at the first level slide guide knot between the bottom plate and the horizontal slide unit
Structure.
Alternatively, the bottom of the vertical rod is slidably mounted in first arc chute by the first hinge, described vertical
The top of bar is by the bottom of brace described in the second stud connection, and the top of the brace is rubbed by the 3rd stud connection in described
In cleaning block；And/or,
The first level guide sliding structure include first level guide rail on the bottom plate and with the first level
The first level sliding block that guide rail is slidably matched, the horizontal slide unit is installed on the first level sliding block.
Alternatively, the twisting mechanism is also included on the bottom plate and positioned at the horizontal slide unit side
Side plate, one end of first hinge is rotatablely installed on the side plate by clutch shaft bearing, the other end of first hinge
It is installed on by two spaced second bearings on the horizontal slide unit, the bottom of the vertical rod is fixedly connected on institute
State on the first hinge and between second bearing described in two.
Alternatively, the horizontal slide unit is located at the second arc of the first arc chute both sides provided with two respectively
Shape chute, the vertical rod both sides two described in second bearing be slidably mounted on respectively described in two in second arc chute.
Alternatively, one end of second hinge is rotatablely installed on the side plate by 3rd bearing, and described second cuts with scissors
The other end of axle wears the top for connecting the vertical rod and the bottom of the brace；One end of 3rd hinge is fixed on described
On brake pad, the other end of the 3rd hinge wears the top for connecting the brace.
Alternatively, the open/close mechanism include being installed on fixed plate above the twisting mechanism, two be arranged at intervals and
The slide that can be slided in the fixed plate and the adjusting part for adjusting the horizontal range between slide described in described two,
Brake pad described in two is respectively arranged in described in two on slide.
Alternatively, the adjusting part include the first adjustment structure for being connected with a slide and with described in another
Second adjustment structure of slide connection；And/or,
The open/close mechanism is also included located at the second horizontal guide sliding structure between the fixed plate and the slide；And/
Or,
The conduit twisting device also includes two vertical guide sliding structures, wherein, a vertical guide sliding structure is located at
Between one brake pad and a slide, another described vertical guide sliding structure located at another described brake pad with
Between another described slide.
Alternatively, first adjustment structure includes the fixed seat being installed in the fixed plate and is connected to the fixation
Adjusting screw rod between seat and slide described in one, the slide is threadedly coupled the adjusting screw rod or at this by the second screw rod bushing
Slide is provided with the second screwed hole coordinated with the adjusting screw rod screw thread；And/or,
Second adjustment structure includes the second motor being installed in the fixed plate and is connected to second motor
With the second screw mandrel between another slide, the slide is threadedly coupled second screw mandrel or at this by the 3rd screw rod bushing
Slide is provided with the 3rd screwed hole coordinated with second wire rod thread；And/or,
The second horizontal guide sliding structure includes the second horizontal guide rail in the fixed plate and two and described the
The second cross sliding clock that two horizontal guide rails are slidably matched, slide described in two is respectively arranged in described in two on second cross sliding clock；And/
Or,
The vertical guide sliding structure includes the vertical guide on the slide and is slidably matched with the vertical guide
Vertical sliding block, the brake pad is installed on the vertical sliding block.
The conduit twisting device for the blood vessel intervention operation robot that the present invention is provided, compact conformation, small volume, it is lightweight,
Sterilization is convenient, is easy in medically popularization and application.Its by open/close mechanism adjust control two brake pads between horizontal range with
Drive two brake pads to clamp or unclamp conduit, so, may be such that the conduit for the blood vessel intervention operation robot that the present invention is provided is twisted with the fingers
Cyclone can adapt to the conduit of different-diameter, and it is more convenient to be removed and placed into conduit, clamp conduit also more reliable.In addition,
It is driven twisting mechanism rotates above and below two brake pads by way of relative motion to twist conduit, is not in Elastic Sliding
Problem, and can avoid using motor direct-drive sensor to drive the problem of conduit rotating band is come sensor kinking, finally
Continuous, the Positive rotational of conduit has been effectively ensured.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the conduit twisting device of blood vessel intervention operation robot provided in an embodiment of the present invention；
Fig. 2 is the schematic front view of the conduit twisting device of blood vessel intervention operation robot provided in an embodiment of the present invention；
Fig. 3 is the schematic top plan view of the conduit twisting device of blood vessel intervention operation robot provided in an embodiment of the present invention；
Fig. 4 is the left view schematic diagram of the conduit twisting device of blood vessel intervention operation robot provided in an embodiment of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It should be noted that when element is referred to as on " being fixed on " or " being arranged at " another element, it can be direct
On another element or it may be simultaneously present centering elements.When an element is known as " connection " another element, it
Can be directly connected to another element or may be simultaneously present centering elements.
It should also be noted that, the orientation term such as left and right, upper and lower, top, bottom in following examples, is only relative each other
Concept or using the normal operating condition of product as reference, and should not be regarded as restrictive.
As Figure 1-4, the conduit twisting device of blood vessel intervention operation robot provided in an embodiment of the present invention, including two
Brake pad 1 that block gap is set, for regulating and controlling the horizontal range between two brake pads 1 for clamping or unclamp the opening and closing of conduit
Mechanism 2 and for drive the elevating movement of two brake pad 1 with twist conduit rotation twisting mechanism 3.Open/close mechanism 2 can tune up two
Horizontal range between brake pad 1, can also turn the horizontal range between two brake pads 1 down, so as to may be such that two brake pads 1 are pressed from both sides
It is tight or unclamp conduit, and enable to two brake pads 1 to can be used in clamping the conduit of different-diameter, its clamping to conduit also compared with
To be reliable, being removed and placed into for conduit is also more convenient.Twisting mechanism 3 can drive two brake pad relative motions about 1, so that
Conduit can be twisted to be rotated, the problem of using this twisting mode be not in Elastic Sliding, and can avoid using motor
Direct drive sensor be effectively ensured to drive the problem of conduit rotating band carrys out sensor kinking, finally conduit it is continuous, can
By rotating.
Preferably, in the lump shown in reference picture 1-3, the level that twisting mechanism 3 includes bottom plate 31, can slided on bottom plate 31
Slide unit 32, it is installed on bottom plate 31 and carries out the level that horizontal linear moves back and forth for the horizontal slide unit 32 of driving and drive
Dynamic component 33 and two link assemblies 34 being connected between two brake pads 1 and horizontal slide unit 32.Horizontal drive group
When the horizontal slide unit 32 of the driving of part 33 is moved horizontally, two link assemblies 34 being connected with horizontal slide unit 32 can drive two
The oscilaltion campaign of brake pad 1, so as to reach the purpose for twisting conduit rotation.
Preferably, in the lump shown in reference picture 1-3, direction and horizontal drive that the driving brake pad 1 of open/close mechanism 2 is moved horizontally
The direction that the horizontal slide unit 32 of the driving of component 33 is moved horizontally is parallel to each other, and brake pad 1 is located at horizontal slide unit 32
Top.
Preferably, in the lump shown in reference picture 1-3, horizontal drive component 33 includes the first motor being installed on bottom plate 31
331 and the first screw mandrel 332 for being connected between the first motor 331 and horizontal slide unit 32.First motor 331 and the first screw mandrel
Specifically the first reduction box can be also provided between 332.First motor 331 can be with forward and reverse operating, can when the first motor 331 is operated
To drive the first screw mandrel 332 to rotate, the first screw mandrel 332, which is rotated, can drive horizontal slide unit 32 to be moved linearly.
Preferably, in the lump shown in reference picture 1-3, horizontal slide unit 32 is threadedly coupled first by the first screw rod bushing 35
Bar 332, the first screw rod bushing 35 is provided with the internal thread coordinated with the screw thread of the first screw mandrel 332, and the first screw rod bushing 35 is connected by screw
The mode such as connect or be threadedly coupled to be mounted on horizontal slide unit 32.Herein, level is realized by the first screw rod bushing 35
Connection between the screw mandrel 332 of slide unit 32 and first, so, is not required to fabricate helicitic texture on horizontal slide unit 32,
It can be beneficial to reduce the manufacture difficulty of horizontal slide unit 32, and beneficial to the maintenance cost in the future of reduction equipment.Of course, specifically should
In, the first screwed hole coordinated with the screw thread of the first screw mandrel 332, i.e. level also can be directly opened up on horizontal slide unit 32 and is slided
Dynamic component 32 also can directly be set to the screw rodb base being threadedly coupled with the first screw mandrel 332.
Preferably, in the lump shown in reference picture 1, Fig. 2 and Fig. 4, link assembly 34 includes sliding with horizontal slide unit 32 and connected
The vertical rod 341 connect and the brace 342 being connected between vertical rod 341 and brake pad 1, horizontal slide unit 32 are provided with and vertical rod
341 the first arc chutes 321 being slidably matched, the bottom of vertical rod 341 is slidably supported in the first arc chute 321, the first arc
Shape chute 321 has the curved surfaces being slidably matched with vertical rod 341.Vertical rod 341 is the body of rod that is vertically arranged, brace 342 be with
Mode in a certain angle is obliquely installed with vertical direction.When horizontal slide unit 32 is moved horizontally, vertical rod 341 is slided with level
Relative slip can be produced between part 32, the curved surfaces of the first arc chute 321 can drive vertical rod 341 to rise or fall fortune
Dynamic, the elevating movement of vertical rod 341 further can drive brake pad 1 to rise or fall motion by brace 342, pass through so as to reach
Brake pad 1 twists the purpose of conduit rotation.
Preferably, in the lump shown in reference picture 1, Fig. 2 and Fig. 4, the bottom of vertical rod 341 is slidably installed by the first hinge 301
In in the first arc chute 321, the top of vertical rod 341 passes through the bottom of the bracing diagonal 342 of the second hinge 302, the top of brace 342
End is connected on brake pad 1 by the 3rd hinge 303.Connection between the bottom of vertical rod 341 and the first arc chute 321 is cunning
Dynamic connection, the i.e. bottom of vertical rod 341 can be slided in the first arc chute 321.The hinge 301 of vertical rod 341 and first, the second hinge
Connection between 302 is all to be fixedly connected, i.e., vertical rod 341 between the first hinge 301, the second hinge 302 with that cannot occur phase
To rotating；Connection between the hinge 302 of brace 342 and second, the 3rd hinge 303 is connected to rotate, i.e., brace 342 and second is cut with scissors
It can be relatively rotated between axle 302, the 3rd hinge 303.
Preferably, in the lump shown in reference picture 1, Fig. 3 and Fig. 4, twisting mechanism 3 is also included on bottom plate 31 and positioned at water
The side plate 37 of the smooth side of dynamic component 32, one end of the first hinge 301 is rotatablely installed on side plate 37 by clutch shaft bearing, and first
The other end of hinge 301 is installed on horizontal slide unit 32 by two spaced second bearings, the bottom of vertical rod 341
It is fixedly connected on the first hinge 301 and between two second bearings.The setting of second bearing, can both pass through horizontal sliding part
Part 32 realizes the support to the first hinge 301, can be beneficial to prevent the slip of the horizontal slide unit 32 of 301 pairs of the first hinge from producing again
Interference.The bottom of vertical rod 341 can specifically be connected through a screw thread mode or interference fit and connect with the first hinge 301
Connect, can so be beneficial to prevent from relatively rotating between the hinge 301 of vertical rod 341 and first, so as to ensure in horizontal sliding part
When part 32 is moved horizontally, the curved surfaces of horizontal slide unit 32 can effectively drive vertical rod 341 to rise or fall motion.
Preferably, shown referring to Figures 1 and 2 in the lump, horizontal slide unit 32 is located at the first arc respectively provided with two
Second arc chute 322 of the both sides of chute 321, two second bearings of the both sides of vertical rod 341 are slidably mounted on two second arcs respectively
In chute 322.The setting of second arc chute 322, is on the one hand available for second bearing to install positioning, on the other hand can be beneficial to ensure
Second bearing will not be to the mobile generation interference of horizontal slide unit 32 during horizontal slide unit 32 is moved horizontally.
Preferably, in the lump shown in reference picture 1, Fig. 2 and Fig. 4, one end of the second hinge 302 is rotatablely installed by 3rd bearing
In on side plate 37, the other end of the second hinge 302 wears the top of connecting upright pole 341 and the bottom of brace 342；3rd hinge
303 one end is fixed on brake pad 1, and the other end of the 3rd hinge 303 wears the top of bracing diagonal 342.3rd hinge 303
Mode can be specifically connected through a screw thread to be fixed on brake pad 1.The top of vertical rod 341 is connected through a screw thread mode or really up to the mark matched somebody with somebody
Conjunction mode is fixedly connected on the second hinge 302, and the bottom of brace 342 is installed on the second hinge 302 by fourth bearing, tiltedly
The top of bar 342 is installed on the 3rd hinge 303 by 5th bearing.
Preferably, in the lump shown in reference picture 1, Fig. 2 and Fig. 3, twisting mechanism 3 is also included located at bottom plate 31 and horizontal sliding part
First level guide sliding structure 36 between part 32.The setting of first level guide sliding structure 36, can be beneficial to cunning of further improving the standard
Reliability and smoothness that dynamic component 32 is moved horizontally.
Preferably, in the lump shown in reference picture 1, Fig. 2 and Fig. 3, first level guide sliding structure 36 is included on bottom plate 31
First level guide rail 361 and the first level sliding block 362 being slidably matched with first level guide rail 361, horizontal slide unit 32 are pacified
Loaded on first level sliding block 362.First level guide rail 361 can be integrally formed setting, i.e. first level guide rail 361 with bottom plate 31
It can be a part for bottom plate 31；Or, first level guide rail 361 is connected by screw again after being also manufactured with the split of bottom plate 31
The connected mode such as connect to be installed on bottom plate 31.Horizontal slide unit 32 is specifically preferably installed on the first water by screw connection mode
Smooth block 362, it fastens reliable, convenient disassembly.The setting of first level guide rail 361 and first level sliding block 362, on the one hand may be used
Play a part of support to horizontal slide unit 32, on the other hand moved horizontally beneficial to the horizontal slide unit 32 of reduction again during
The frictional resistance being subject to.
Preferably, in the lump shown in reference picture 1-3, open/close mechanism 2 include being installed on the fixed plate 21 of the top of twisting mechanism 3,
Two are arranged at intervals and the slide 22 that can be slided in fixed plate 21 and for adjusting the horizontal range between two slides 22
Adjusting part 23, two brake pads 1 are respectively arranged on two slides 22.Fixed plate 21 is located at the top of side plate 37, and fixed plate 21 can
To be formed in one structure with side plate 37, or fixed plate 21 can also be manufactured with the split of side plate 37 after be assembled in one again
Rise.In concrete application, it be can adjust by adjusting part 23 between the horizontal range between two slides 22, the brake pad 1 of controllable two
Horizontal range, so as to realize clamping or release of two brake pads 1 to conduit, and can be realized by the regulation and control of adjusting part 23 pair
The clamping of the conduit of different-diameter.
Preferably, in the lump shown in reference picture 1-3, adjusting part 23 includes the first adjustment structure being connected with a slide 22
231 and the second adjustment structure 232 for being connected with another slide 22.Herein, two different tune are respectively adopted in two slides 22
Nodule structure is driven movement, and it regulates and controls convenient, and the clamping beneficial to realization to the conduit of different-diameter.
For the ease of description, herein, the slide 22 being connected with the first adjustment structure 231 is described as first slide, will be with
The slide 22 of second adjustment structure 232 connection is described as second slide.
Preferably, in the lump shown in reference picture 1-3, the first adjustment structure 231 includes the fixed seat being installed in fixed plate 21
2311 and the adjusting screw rod 2312 that is connected between fixed seat 2311 and first slide.In concrete application, by rotating regulation spiral shell
Bar 2312, can drive first slide to be moved towards or away from second slide, so that the clamping to the conduit of different-diameter can be realized.
Preferably, in the lump shown in reference picture 1-3, first slide is threadedly coupled adjusting screw rod by the second screw rod bushing 25
2312, the second screw rod bushing 25 is provided with the internal thread coordinated with the screw thread of adjusting screw rod 2312, and the second screw rod bushing 25 is connected by screw
The mode such as connect or be threadedly coupled to be mounted in first slide.Herein, by the second screw rod bushing 25 realize first slide with
Connection between adjusting screw rod 2312, so, in first slide is not required to fabricate helicitic texture, can be beneficial to reduction first slide
Manufacture difficulty, and beneficial to reduction equipment maintenance cost in the future.Of course, also can be directly in first slide in concrete application
On open up the second screwed hole coordinated with the screw thread of adjusting screw rod 2312, i.e. first slide also can directly be set to and adjusting screw rod 2312
The screw rodb base of threaded connection.
Preferably, in the lump shown in reference picture 1-3, the second adjustment structure 232 includes the second electricity being installed in fixed plate 21
Machine 2321 and the second screw mandrel 2322 being connected between the second motor 2321 and second slide.Second motor 2321 and the second screw mandrel
Specifically the second reduction box can be also provided between 2322.Second motor 2321 can be operated with forward and reverse operating, the second motor 2321
When, the second screw mandrel 2322 can be driven to rotate, the second screw mandrel 2322, which is rotated, to drive second slide to be moved linearly.
Preferably, in the lump shown in reference picture 1-3, second slide is threadedly coupled the second screw mandrel by the 3rd screw rod bushing 26
2322, the 3rd screw rod bushing 26 is provided with the internal thread coordinated with the screw thread of the second screw mandrel 2322, and the 3rd screw rod bushing 26 is connected by screw
The mode such as connect or be threadedly coupled to be mounted in second slide.Herein, by the 3rd screw rod bushing 26 realize second slide with
Connection between second screw mandrel 2322, so, in second slide is not required to fabricate helicitic texture, can be beneficial to reduction second slide
Manufacture difficulty, and beneficial to reduction equipment maintenance cost in the future.Of course, also can be directly in second slide in concrete application
On open up the second screwed hole coordinated with the screw thread of the second screw mandrel 2322, i.e. second slide also can directly be set to and the second screw mandrel 2322
The screw rodb base of threaded connection.
Preferably, in the lump shown in reference picture 1-3, open/close mechanism 2 is also included located at the between fixed plate 21 and slide 22
Two horizontal guide sliding structures 24.The setting of second horizontal guide sliding structure 24, what can be moved horizontally beneficial to further raising slide 22 is steady
Determine reliability and smoothness.
Preferably, in the lump shown in reference picture 1-3, the second horizontal guide sliding structure 24 includes the second water in fixed plate 21
The second cross sliding clock 242 that level gauge 241 and two are slidably matched with the second horizontal guide rail 241, two slides 22 are respectively arranged in
On two second cross sliding clocks 242.Second horizontal guide rail 241 can be integrally formed setting, i.e. the second horizontal guide rail 241 with fixed plate 21
For a part for fixed plate 21；Or, the second horizontal guide rail 241 can be also manufactured with the split of fixed plate 21 after again by screw
The connected modes such as connection are installed in fixed plate 21, and screw connection fastening is reliable, convenient disassembly, is easy to dismounting to sterilize.Slide 22
It can be specifically installed on by screw on the second cross sliding clock 242, it fastens reliable, convenient disassembly, be easy to dismounting to sterilize.Second water
The setting of the cross sliding clock 242 of level gauge 241 and second, on the one hand can play a part of support positioning, on the other hand to slide 22
It is beneficial to reduce the frictional resistance being subject to during slide 22 is moved horizontally again.
Preferably, in the lump shown in reference picture 1-3, the conduit of blood vessel intervention operation robot provided in an embodiment of the present invention is twisted with the fingers
Cyclone, in addition to two vertical guide sliding structures 4, wherein, a vertical guide sliding structure 4 is located at a brake pad 1 and a cunning
Between seat 22, another vertical guide sliding structure 4 is located between another brake pad 1 and another slide 22.Vertical guide sliding structure 4
Setting, can be beneficial to further improve the reliability that move horizontally of brake pad 1 and smoothness.
Preferably, in the lump shown in reference picture 1-3, vertical guide sliding structure 4 includes the He of vertical guide 41 on slide 22
The vertical sliding block 42 being slidably matched with vertical guide 41, brake pad 1 is installed on vertical sliding block 42.Vertical guide 41 can be with slide
22 are integrally formed the part that setting, i.e. vertical guide 41 are slide 22；Or, vertical guide 41 also can be with the split system of slide 22
Cause to be installed on slide 22 by connected modes such as screw connections again after type, screw connection fastening is reliable, convenient disassembly, is easy to
Dismounting sterilization.Brake pad 1 can be specifically installed on vertical sliding block 42 by screw, and it fastens reliable, convenient disassembly, be easy to dismounting
Sterilization.Vertical guide 41 and the setting of vertical sliding block 42, on the one hand can play a part of support positioning, the opposing party to brake pad 1
Face is beneficial to reduce the frictional resistance being subject to during the elevating movement of brake pad 1 again.
Preferably, brake pad 1 include friction block body and be arranged at friction block body on sheet rubber, friction block body with
Opening and closing structure 2, twisting mechanism 3 are connected.Sheet rubber has preferably elasticity, wearability, will not damage conduit by pressure, and can increase friction
Power, improves the reliability that brake pad 1 clamps conduit.
Preferably, sheet rubber is fixed on friction block body by bonding way, and its convenient disassembly, installation are solid and reliable,
And can avoid causing the fastener when clamping or twisting conduit rotation to damage conduit by pressure using other fasteners installation sheet rubber.
The embodiment of the present invention can clamp the conduit of different-diameter by open/close mechanism 2, by twisting mechanism 3 can rubbing want
The conduit of conveying moves in a circle.The conduit twisting device of blood vessel intervention operation robot provided in an embodiment of the present invention, is used as
The end effector of interventional surgery robot, it has light weight, compact conformation, small volume, assembly and disassembly sterilization convenient
The characteristics of, it is easy to medically popularization and application, and it is by the way of two brake pads 1 compress rubbing conduit, is not in elasticity
Continuous, the Positive rotational of conduit has been effectively ensured in the problem of slip, the problem of being also not in kinking.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
Any modification, equivalent substitution or improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. the conduit twisting device of blood vessel intervention operation robot, it is characterised in that：Brake pad including the setting of two block gaps, use
In the horizontal range described in regulation and control two between brake pad for clamping or unclamp the open/close mechanism of conduit and for driving two institutes
Brake pad elevating movement is stated to twist the twisting mechanism of the conduit rotation.
2. the conduit twisting device of blood vessel intervention operation robot as claimed in claim 1, it is characterised in that：The twisting machine
Structure includes bottom plate, can be slided on the bottom plate horizontal slide unit, be installed on the bottom plate it is described for driving
Horizontal slide unit carry out the horizontal drive component that horizontal linear moves back and forth and two be connected to brake pad described in two with
Link assembly between the horizontal slide unit.
3. the conduit twisting device of blood vessel intervention operation robot as claimed in claim 2, it is characterised in that：The level is driven
Dynamic component include the first motor being installed on the bottom plate and be connected to first motor and the horizontal slide unit it
Between the first screw mandrel, the horizontal slide unit, which passes through the first screw rod bushing and is threadedly coupled first screw mandrel or the level, to be slided
Dynamic component is provided with the first screwed hole coordinated with first wire rod thread；And/or,
The link assembly includes the vertical rod that is slidably connected with the horizontal slide unit and is connected to the vertical rod rubbing with described
Brace between cleaning block, the horizontal slide unit is provided with the first arc chute being slidably matched with the vertical rod；And/or,
The twisting mechanism is also included located at the first level guide sliding structure between the bottom plate and the horizontal slide unit.
4. the conduit twisting device of blood vessel intervention operation robot as claimed in claim 3, it is characterised in that：The vertical rod
Bottom is slidably mounted in first arc chute by the first hinge, and the top of the vertical rod passes through the second stud connection institute
State the bottom of brace, the top of the brace is by the 3rd stud connection on the brake pad；And/or,
The first level guide sliding structure include first level guide rail on the bottom plate and with the first level guide rail
The first level sliding block being slidably matched, the horizontal slide unit is installed on the first level sliding block.
5. the conduit twisting device of blood vessel intervention operation robot as claimed in claim 4, it is characterised in that：The twisting machine
Structure is also included on the bottom plate and positioned at the side plate of the horizontal slide unit side, and one end of first hinge leads to
Cross clutch shaft bearing to be rotatablely installed on the side plate, the other end of first hinge passes through two spaced second bearings
It is installed on the horizontal slide unit, the bottom of the vertical rod is fixedly connected on first hinge and the described in two
Between two bearings.
6. the conduit twisting device of blood vessel intervention operation robot as claimed in claim 5, it is characterised in that：The level is slided
Dynamic component is located at the second arc chute of the first arc chute both sides, two institutes of the vertical rod both sides provided with two respectively
Second bearing is stated to be slidably mounted on respectively described in two in second arc chute.
7. the conduit twisting device of the blood vessel intervention operation robot as described in claim 5 or 6, it is characterised in that：Described
One end of two hinges is rotatablely installed on the side plate by 3rd bearing, and the other end of second hinge is worn described in connection
The top of vertical rod and the bottom of the brace；One end of 3rd hinge is fixed on the brake pad, the 3rd hinge
The other end wear the top for connecting the brace.
8. the conduit twisting device of the blood vessel intervention operation robot as described in any one of claim 1 to 5, it is characterised in that：
The open/close mechanism include being installed on fixed plate above the twisting mechanism, two be arranged at intervals and can be in the fixed plate
The slide of upper slip and the adjusting part for adjusting the horizontal range between slide described in described two, brake pad described in two are distinguished
It is installed on described in two on slide.
9. the conduit twisting device of blood vessel intervention operation robot as claimed in claim 8, it is characterised in that：The regulation group
Part includes the first adjustment structure being connected with a slide and the second adjustment structure being connected with slide another described；
And/or,
The open/close mechanism is also included located at the second horizontal guide sliding structure between the fixed plate and the slide；And/or,
The conduit twisting device also includes two vertical guide sliding structures, wherein, a vertical guide sliding structure is located at one
Between the brake pad and a slide, another described vertical guide sliding structure located at another described brake pad with it is another
Between the individual slide.
10. the conduit twisting device of blood vessel intervention operation robot as claimed in claim 9, it is characterised in that：Described first
Adjustment structure includes the fixed seat being installed in the fixed plate and the tune being connected between slide described in the fixed seat and one
Screw rod is saved, the slide is threadedly coupled the adjusting screw rod by the second screw rod bushing or is provided with and the regulation spiral shell on the slide
The second screwed hole that bar screw thread coordinates；And/or,
Second adjustment structure includes the second motor being installed in the fixed plate and is connected to second motor and another
The second screw mandrel between slide described in one, the slide is threadedly coupled second screw mandrel or in the slide by the 3rd screw rod bushing
It is provided with the 3rd screwed hole coordinated with second wire rod thread；And/or,
The second horizontal guide sliding structure includes the second horizontal guide rail and two and second water in the fixed plate
The second cross sliding clock that level gauge is slidably matched, slide described in two is respectively arranged in described in two on second cross sliding clock；And/or,
The vertical guide sliding structure include vertical guide on the slide and with the vertical guide be slidably matched it is perpendicular
To sliding block, the brake pad is installed on the vertical sliding block.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/079268 WO2018176457A1 (en) | 2017-04-01 | 2017-04-01 | Catheter twisting device for vessel interventional surgery robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107106244A true CN107106244A (en) | 2017-08-29 |
| CN107106244B CN107106244B (en) | 2020-06-12 |
Family
ID=59664197
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780000456.XA Active CN107106244B (en) | 2017-04-01 | 2017-04-01 | Catheter twisting device of vascular intervention surgical robot |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN107106244B (en) |
| WO (1) | WO2018176457A1 (en) |
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| WO2018176457A1 (en) * | 2017-04-01 | 2018-10-04 | 中国科学院深圳先进技术研究院 | Catheter twisting device for vessel interventional surgery robot |
| CN113633389A (en) * | 2021-06-10 | 2021-11-12 | 深圳市爱博医疗机器人有限公司 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
| CN113633382A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter conveying device of vascular intervention surgical robot and vascular intervention surgical robot |
| CN113712668A (en) * | 2021-09-01 | 2021-11-30 | 深圳睿心智能医疗科技有限公司 | Finger module, delivery device and interventional surgical robot |
| CN113749774A (en) * | 2021-08-10 | 2021-12-07 | 深圳市爱博医疗机器人有限公司 | Interventional operation robot driving device with function of identifying diameter of guide wire of catheter |
| CN113749780A (en) * | 2021-08-10 | 2021-12-07 | 深圳市爱博医疗机器人有限公司 | Improved slave end guide wire catheter twisting device of interventional operation robot |
| CN114343853A (en) * | 2022-02-07 | 2022-04-15 | 深圳睿心智能医疗科技有限公司 | Clamping and rotating twisting device, delivery device and interventional operation robot |
| CN114343850A (en) * | 2022-01-13 | 2022-04-15 | 深圳睿心智能医疗科技有限公司 | Clamping and rotating twisting device, delivery device and interventional operation robot |
| WO2023016121A1 (en) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot slave end driving device with protective isolation function |
| CN116617536A (en) * | 2023-06-02 | 2023-08-22 | 郑州大学 | Vascular intervention operation guide wire catheter operation device and operation method |
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| FR3118407B1 (en) * | 2020-12-29 | 2023-04-21 | Robocath | CATHETER ROBOT STRETCH SOFT MEDICAL DEVICE DRIVER MODULE |
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| WO2018176457A1 (en) * | 2017-04-01 | 2018-10-04 | 中国科学院深圳先进技术研究院 | Catheter twisting device for vessel interventional surgery robot |
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| CN113633389A (en) * | 2021-06-10 | 2021-11-12 | 深圳市爱博医疗机器人有限公司 | Auxiliary end guide wire/catheter twisting device of interventional operation robot |
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| CN113749774A (en) * | 2021-08-10 | 2021-12-07 | 深圳市爱博医疗机器人有限公司 | Interventional operation robot driving device with function of identifying diameter of guide wire of catheter |
| CN113749780A (en) * | 2021-08-10 | 2021-12-07 | 深圳市爱博医疗机器人有限公司 | Improved slave end guide wire catheter twisting device of interventional operation robot |
| WO2023016118A1 (en) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | Improved slave-end guidewire/catheter twisting device for interventional surgical robot |
| WO2023016121A1 (en) * | 2021-08-10 | 2023-02-16 | 深圳市爱博医疗机器人有限公司 | Interventional surgical robot slave end driving device with protective isolation function |
| CN113712668A (en) * | 2021-09-01 | 2021-11-30 | 深圳睿心智能医疗科技有限公司 | Finger module, delivery device and interventional surgical robot |
| CN114343850A (en) * | 2022-01-13 | 2022-04-15 | 深圳睿心智能医疗科技有限公司 | Clamping and rotating twisting device, delivery device and interventional operation robot |
| CN114343850B (en) * | 2022-01-13 | 2024-01-26 | 深圳睿心智能医疗科技有限公司 | Clamping and twisting device, delivery device and interventional operation robot |
| CN114343853A (en) * | 2022-02-07 | 2022-04-15 | 深圳睿心智能医疗科技有限公司 | Clamping and rotating twisting device, delivery device and interventional operation robot |
| CN114343853B (en) * | 2022-02-07 | 2024-01-26 | 深圳睿心智能医疗科技有限公司 | Clamping and twisting device, delivery device and interventional operation robot |
| CN116617536A (en) * | 2023-06-02 | 2023-08-22 | 郑州大学 | Vascular intervention operation guide wire catheter operation device and operation method |
| CN116617536B (en) * | 2023-06-02 | 2023-11-03 | 郑州大学 | Vascular intervention operation guide wire catheter operation device and operation method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2018176457A1 (en) | 2018-10-04 |
| CN107106244B (en) | 2020-06-12 |
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