CN108114360A - Blood vessel intervention operation seal wire/catheter delivery device - Google Patents
Blood vessel intervention operation seal wire/catheter delivery device Download PDFInfo
- Publication number
- CN108114360A CN108114360A CN201711373182.7A CN201711373182A CN108114360A CN 108114360 A CN108114360 A CN 108114360A CN 201711373182 A CN201711373182 A CN 201711373182A CN 108114360 A CN108114360 A CN 108114360A
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- China
- Prior art keywords
- seal wire
- synchronous pulley
- fixed
- synchronous
- synchronous belt
- Prior art date
- Legal status (The legal status 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 status listed.)
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0133—Tip steering devices
Abstract
A kind of blood vessel intervention operation seal wire/catheter delivery device, including：Clamping device, for driving the propulsion assembly and guiding mechanism for being guided seal wire or catheter movement path that clamping device moves.The slide clamp of clamping device to fixed rack type clip it is close when, seal wire or conduit are compressed to clamp seal wire or conduit by the first antiskid elastic block and the second antiskid elastic block；Propulsion assembly, boss synchronous belt and synchronous pulley motion and synchronous pulley strainer including drive clamping device movement, for being tensioned synchronous pulley, so as to adjust the tightness of the boss synchronous belt.Above-mentioned blood vessel intervention operation seal wire/catheter delivery device build is smaller and transmission precision is higher.
Description
Technical field
The invention belongs to blood vessel intervention operation technical field of auxiliary equipment, more particularly to a kind of blood vessel intervention operation seal wire/
Catheter delivery device.
Background technology
Angiocardiopathy is one of highest disease of current world death rate.Conventional needle is to the therapeutic modality of angiocardiopathy
The operative treatment of drug therapy and surgery including internal medicine, but the drug therapy of internal medicine there are therapeutic effect it is poor, it is costly and
It the problems such as can not effect a radical cure；A kind of his mode for being treated by cutting people's vitro tissue of the operative treatment of surgery, still
There is the problems such as patient's pain is larger, recovery time of being hospitalized is longer for which.With the development of medical technology, blood vessel intervention hand
Art becomes the effective ways for the treatment of angiocardiopathy at present.
Traditional blood vessel intervention operation needs doctor by digital subtraction angiography machine, CT, ultrasound and magnetic resonance etc.
Under the guiding and monitoring of image documentation equipment, seal wire or conduit are sent into human vas and reach lesion to treat disease, in this process
In, doctor can be subject to X-ray to radiate, so as to cause actual bodily harm.
Currently used blood vessel intervention operation still carries out in a manner that performer directly manipulates seal wire or conduit, exists
The drawbacks of larger：1) performer wears lead clothing and works in the environment of X-radiation for a long time, and lead clothing can not shield all X-rays, often
Year, accumulative radiating can generate the body of performer huge injury；2) since operating time is longer, seal wire or conduit and
For hand delivery, the accuracy of operation is poor, can exert an adverse impact to the effect of operation, the presence of these problems to lead to
Robot is crossed to aid in the delivering that doctor carries out seal wire or conduit particularly important.
In view of the above problems, a variety of seal wires or conduit has been proposed in scientist and scientific research institution both at home and abroad at present
The mode of delivering.The Wang Tian seedlings team of BJ University of Aeronautics ＆ Astronautics proposes drives friction pulley using motor, utilizes friction pulley
The blood vessel for pushing seal wire or conduit forward in friction intervenes robot；Wang Lei groups of Shenzhen Institutes of Advanced Technology, Chinese Academy of Science
Team proposes the blood in the case where seal wire or conduit are clamped, delivered seal wire or conduit forward using Precision Lead-Screw
Pipe intervenes robot；Corindus companies develop 200 blood vessels of the CorPath intervention robot system for being exclusively used in blood vessel intervention,
Purpose that seal wire or conduit deliver forward is realized using a pair of of friction pulley.
Seal wire/catheter delivery device of existing blood vessel intervention robot most of at present can be divided mainly into friction-driven
With two kinds of sliding platform type, the wherein robotically-driven mode of friction-driven blood vessel intervention is simple, and mechanism overall volume is smaller, knot
Structure is compact, but there are too small seal wire or the intubation intervention processes of being easy to cause of friction pulley clamping force to skid, clamping force too it is big easily
The problem of causing to damage seal wire or conduit so that the precision of integrated model transmission is poor；Sliding platform type blood vessel intervenes robot
It solves the problems such as transmission precision existing for current friction-driven is poor using lead screw transmission, but exists simultaneously robot entirety
The problems such as volume is larger, and robot noise is larger, and propulsion electric machine need to often carry out rotating etc., and procedure efficiency is relatively low.
The content of the invention
Based on this, it is necessary to provide that a kind of build is smaller and transmission blood vessel intervention operation seal wire/catheter delivery with high accuracy
Device.
A kind of blood vessel intervention operation seal wire/catheter delivery device, including：
Clamping device, the clamping device include the fixed rack type clip being oppositely arranged and slide clamp, are fixed on institute
The first antiskid elastic block on fixed rack type clip is stated, the second antiskid elastic block for being fixed in the slide clamp and is set
Put the clip springs between the fixed rack type clip and the slide clamp, the first antiskid elastic block and described
Two antiskid elastic blocks are oppositely arranged, and the slide clamp is compared with the fixed rack type clip or so translation, when the slip
Clip to the fixed rack type clip it is close when, the first antiskid elastic block and the second antiskid elastic block by seal wire or
Conduit compresses to clamp seal wire or conduit；
Propulsion assembly, including driving the boss synchronous belt of clamping device movement and synchronous pulley motion and same
Belt wheel tensioning mechanism is walked, the synchronous pulley motion includes push-and-pull motor fixing frame, push-and-pull motor, synchronous pulley installation
Plate, synchronous pulley, synchronous belt installation axle and bearing, the push-and-pull motor is fixed on the push-and-pull motor fixing frame, described to push away
The output shaft of motor is drawn to be connected with the synchronous pulley, the synchronous pulley, the synchronous belt installation axle and the coaxial bearing
On the synchronous pulley installing plate, the boss synchronous belt is stretched on the synchronous pulley, and the clamping device is consolidated
It is scheduled on the boss synchronous belt, the synchronous pulley strainer is for being tensioned the synchronous pulley, so as to adjust described convex
The tightness of platform synchronous belt；
Guiding mechanism, for guiding seal wire or catheter movement path, the guiding mechanism is fixed including guide plate
Plate, guide plate, the guide plate fixed plate are located at the synchronous pulley installing plate upper end, and the guide plate is fixed on the guiding
In plate fixed plate, the guide plate provides the gripper mechanism grips seal wire/lead by squeezing the fixed rack type clip
Clamping force needed for pipe.
In one of the embodiments, the clamping device includes the first guide finger, the second guide finger and the 3rd guide finger,
First guide finger and second guide finger are separately fixed on the fixed rack type clip, the 3rd guide finger peace
Loaded in the slide clamp, the clip springs coaxial sleeve is arranged on the 3rd guide finger, and the slide clamp is along institute
It states and is translated along first guide finger, second guide finger and the 3rd guide finger compared with the fixed rack type clip
It slides.
In one of the embodiments, the synchronous pulley includes active synchronization belt wheel and driven synchronous pulley, described same
Step band installation axle includes the first synchronous belt installation axle and the second synchronous belt installation axle, and the bearing includes clutch shaft bearing and the second axis
It holds, the clutch shaft bearing is mounted in synchronous pulley installation plate hole, and the first synchronous belt installation axle is set in described the
It is interference fitted on one bearing and with the clutch shaft bearing inner ring, the active synchronization belt wheel is fixed on the first synchronous belt installation
On axis, the second bearing is mounted in synchronous pulley installation plate hole, and the second synchronous belt installation axle is set in described
It is interference fitted in second bearing and with second bearing inner ring, the driven synchronous pulley is fixed on the second synchronous belt installation axle
On.
In one of the embodiments, the synchronous pulley strainer includes synchronous pulley adjustable plate, adjustment seat and tune
Bolt is saved, the synchronous pulley adjustable plate and the adjustment seat are installed on the synchronous pulley installing plate, and the synchronization
Belt wheel adjustable plate is connected with the adjustment seat by adjusting bolt.
In one of the embodiments, one end of the first synchronous belt installation axle passes through bolt and the first synchronous belt catch
Plate is fixed, and the other end is fixed by the first locking nut and end ring, and one end of the second synchronous belt installation axle passes through spiral shell
Bolt is fixed with the second synchronous pulley baffle, and the other end is fixed by the second locking nut and synchronous pulley adjustable plate.
In one of the embodiments, the synchronous pulley motion further includes the identical bevel gear of a pair of of modulus, institute
State bevel-gear sett connection push-and-pull motor and synchronous pulley.
In one of the embodiments, the first synchronous belt installation axle is equipped with first gear, described to push and pull the defeated of motor
Second gear is equipped on shaft, the first gear is engaged with the second gear.
In one of the embodiments, the guiding mechanism further includes first support, second support, mounted on described first
First guide pipe of cantilever tip and the second guide pipe mounted on the second support top, the first support and described
Two stents are respectively symmetrically installed on the both ends of the synchronous pulley installing plate.
In one of the embodiments, the material of the boss synchronous belt is polyurethane, equidistant on the boss synchronous belt
From being equipped with multiple clamping devices.
In one of the embodiments, the first antiskid elastic block and the second antiskid elastic block are rubber block, institute
It states the first antiskid elastic block to be removably attached on the fixed rack type clip, the second antiskid elastic block is removably
It is fixed in the slide clamp.
Above-mentioned blood vessel intervention operation seal wire/catheter delivery device includes clamping device, for clamping device to be driven to move
Propulsion assembly and for seal wire or conduit clamping motion path guide guiding mechanism.Above-mentioned blood vessel intervention operation seal wire/
Catheter delivery device can imitate doctor and seal wire/conduit is delivered, and motor is without carrying out frequently positive decommuntation
Seal wire or conduit continuation are delivered forward, and can be adapted to by guiding mechanism in the case where being changed without any part more
The delivering requirement of kind seal wire/conduit, conduit, and the clamping force of clamping device can be adjusted simultaneously, and Guiding machine can replaced
In structure in the case of guide plate, change the distance of single seal wire or catheter delivery.In addition, the apparatus structure is more compact, transmission
Succinct and overall weight is lighter, the clamping and convenient disassembly of seal wire or conduit, carries out industrialization afterwards for it and has saved cost.It is above-mentioned
Blood vessel intervention operation seal wire/catheter delivery device can be realized in the environment of X-ray instead of doctor and seal wire/conduit is passed
It send, improves the precision of seal wire or catheter delivery, reduce the working strength of doctor, improve the reliability of operation, while
The somatic damage caused by doctor is chronically in radiation environment is avoided, ensures the successful of operation.
Description of the drawings
Fig. 1 is blood vessel intervention operation seal wire/catheter delivery device positive structure schematic of embodiment party examination；
Fig. 2 is blood vessel intervention operation seal wire/catheter delivery device structure schematic diagram of embodiment party examination；
Fig. 3 is the clamping device structure diagram of blood vessel intervention operation seal wire/catheter delivery device of embodiment party examination；
Fig. 4 is that the first synchronous belt of blood vessel intervention operation seal wire/catheter delivery device of embodiment party examination installs axle construction
Schematic diagram；
Fig. 5 is that the second synchronous belt of blood vessel intervention operation seal wire/catheter delivery device of embodiment party examination installs axle construction
Schematic diagram；And
Fig. 6 is the guide board structure schematic diagram of blood vessel intervention operation seal wire/catheter delivery device of embodiment party examination.
Specific embodiment
With reference to embodiment and attached drawing, a kind of blood vessel intervention operation seal wire/catheter delivery device is made further
It is described in detail.
It please refers to Fig.1 with 2, an embodiment blood vessel intervention operation seal wire/catheter delivery device 100, including clamping device
10th, for driving the propulsion assembly 20 and guiding for being guided seal wire or catheter movement path that clamping device moves
Mechanism 30.
Referring to Fig. 3, in one embodiment, clamping device 10 includes 110 He of fixed rack type clip being oppositely arranged
Slide clamp 120, the first antiskid elastic block 130 being fixed on fixed rack type clip 110, is fixed in slide clamp 120
The second antiskid elastic block 140 and the clip springs 150 that are arranged between fixed rack type clip 110 and slide clamp 120,
First antiskid elastic block 130 and the second antiskid elastic block 140 are oppositely arranged, and slide clamp 120 is compared with fixed rack type clip
110 or so translations, when slide clamp 120 is sufficiently closed to fixed rack type clip 110, the first antiskid elastic block 130 and
Two antiskid elastic blocks 140 are adjacent to and compress to clamp seal wire or conduit by seal wire or conduit using its elasticity.Specifically, exist
In one embodiment, the first antiskid elastic block 130 and the second antiskid elastic block 140 are rubber block, in other embodiments, also may be used
Think elastomer block made of other flexible materials, it, can be by seal wire or conduit pressure as long as can realize that two elastomer blocks mutually squeeze
Tightly so as to clamping seal wire or conduit, it is preferable that the first antiskid elastic block 130 is removably attached to fixed rack type folder
On son 110, the second antiskid elastic block 140 is removably attached in slide clamp, can disposably be thrown, so as to avoid asking for disinfection
Topic.Specifically, in one embodiment, one end of clip springs 150 is fixed on fixed rack type clip 110, and the other end is solid
It is scheduled in slide clamp 120, the first antiskid elastic block 130 and 140 lower end of the second antiskid elastic block offer the slot of arc, to receive
Hold clip springs 150, clip springs 150 through the first antiskid elastic block 130 and the second antiskid elastic block 140 and respectively with fixation
Slide type clip 110 and slide clamp 120 connect.
Referring to Fig. 3, in one embodiment, clamping device 10 further includes the first guide finger 160, the second guide finger 170,
First guide finger 160, the second guide finger 170 are mounted in the hole at 110 both ends of fixed rack type clip, the 3rd guide finger 180
It is installed on slide clamp 120, fixed rack type clip 110 and slide clamp 120 are oriented to pin connection by above three.
In other embodiment, fixed rack type clip 110 can also be connected with slide clamp 120 using other modes.Clip springs
150 coaxial sleeves are arranged on the 3rd guide finger 180, and slide clamp 120 is installed on through the first guide finger 160, the second guide finger 170
On fixed rack type clip 110.
As illustrated in fig. 1 and 2, in one embodiment, it is same to include the boss that clamping device 10 is driven to move for propulsion assembly 20
Walk band 210 and synchronous pulley motion 220 and synchronous pulley strainer 230.In one embodiment, boss synchronous belt
210 material is polyurethane, and in other embodiments, boss synchronous belt 210 is replaced by other materials.Synchronous pulley fitness machine
Structure 220 includes push-and-pull motor fixing frame 221, push-and-pull motor 222, synchronous pulley installing plate 223, synchronous pulley 224, synchronous belt peace
Fill axis 225, bearing 226.Synchronized belt wheel 224 includes active synchronization belt wheel 2241 and driven synchronous pulley 2242, synchronous belt
Installation axle 225 includes the first synchronous belt installation axle 2251 and the second synchronous belt installation axle 2252 (referring to Figure 4 and 5).Bearing 226 wraps
Include clutch shaft bearing 2261 and second bearing 2262.First synchronous belt installation axle 2251 is equipped with first gear 2253, pushes and pulls motor 222
Output shaft be equipped with second gear 2254, first gear 2253 engages with second gear 2254.In one embodiment, first
Gear 2253 and second gear 2254 are bevel gear, and the number of teeth 20, modulus 1, pressure angle is 20 °.In other embodiments,
One gear 2253 and second gear 2254 or straight tooth column type gear, helical teeth cylindrical type gear etc., modulus and the number of teeth can
To adjust as needed.Push-and-pull motor 222 is fixed on push-and-pull motor fixing frame 221, synchronous pulley 224 and synchronous belt installation axle
225 are mounted on synchronous pulley installing plate 223.Clamping device 10 is fixed on boss synchronous belt 210, synchronous pulley strainer
230 carry out for being tensioned synchronous pulley 224, so as to adjust the tightness of boss synchronous belt 210.In the present embodiment, clamping device
10 quantity is 4, is equidistantly distributed on boss synchronous belt 210, in other embodiments, the quantity of clamping device 10 also may be used
To adjust as needed.Specifically, in one embodiment, clutch shaft bearing 2261 is installed on the hole of synchronous pulley installing plate 223
Interior, the first synchronous belt installation axle 2251 passes through clutch shaft bearing 2261, is interference fitted with 2261 inner ring of clutch shaft bearing, active synchronization band
Wheel 2241 is installed on the first synchronous belt installation axle 2251, and 2251 front end of the first synchronous belt installation axle is same by bolt and first
Step belt wheel baffle 2271 is fixed, and rear end is realized by the first locking nut 2272 and end ring 2273 and fixed, first gear
2253 are fixed on the first synchronous belt installation axle 2251, and second bearing 2262 is installed in the hole of synchronous pulley installing plate 223, and second
Synchronous belt installation axle 2252 passes through second bearing 2262, is interference fitted with 2262 inner ring of second bearing, driven synchronous pulley 2242
It is installed on the second synchronous belt installation axle 2252,2252 front end of the second synchronous belt installation axle passes through bolt and the second synchronous pulley
Baffle 2281 is fixed, and rear end is fixed by the second locking nut 2282 with synchronous pulley adjustable plate, and push-and-pull motor fixing frame 221 is pacified
Loaded on 223 rear side of synchronous pulley installing plate, push-and-pull motor 222 is fixed on push-and-pull motor fixing frame 221, first gear 2253
It is fixed on push-and-pull 222 output shaft of motor, realization first gear 2253 is engaged with second gear 2254.
Synchronous pulley strainer 230 includes synchronous pulley adjustable plate 232, adjustment seat 234, adjusting bolt 236, wherein together
It walks belt wheel adjustable plate 232 to be mounted on synchronous pulley installing plate 223 by bolt, adjustment seat 234 is installed on synchronous pulley peace
On loading board 223, connected between synchronous pulley adjustable plate 232 and adjustment seat 234 by adjusting bolt 236.In an embodiment
In, synchronous pulley strainer 230 is for being tensioned driven synchronous pulley 2242, so as to adjust boss synchronous belt 210
Tightness.
When driven synchronous pulley 2242 is tensioned, synchronous pulley adjustable plate 232 and synchronous pulley are unclamped first
Bolt between installing plate 223 adjusts adjusting bolt 236 so that between synchronous pulley adjustable plate 232 and adjustment seat 234 afterwards
Relative distance reduces, and finally synchronous pulley adjustable plate 232 is fixed on synchronous pulley installing plate 223 with bolt and is completed once
The tensioning action of driven synchronous pulley 2242.
With reference to Fig. 1 and Fig. 6, in one embodiment, guiding mechanism 30 is oriented to for guiding seal wire or catheter movement path
Mechanism 30 includes guide plate fixed plate 310, guide plate 320, first support 330, second support 340, mounted on first support 330
First guide pipe 350 on top and the second guide pipe 360 mounted on 340 top of second support, first support 330 and second
Frame 340 is respectively symmetrically installed on the both ends of synchronous pulley installing plate 223.Guide plate fixed plate 310 is located at synchronous pulley installing plate
223 upper ends, guide plate 320 are fixed in guide plate fixed plate 310.In one embodiment, the first guide pipe 350 and second is led
It is spindle shape to pipe 360, in other embodiments, the first guide pipe 350 and the second guide pipe 360 or other shapes
Shape.
In one embodiment, the length of guide plate 320 is 60mm, in other embodiment, is replaced by other length
Guide plate 320.
When seal wire or conduit need to push forward, push-and-pull motor 222 starts to rotate in the forward direction, by first gear 2253 and the
The engagement of two gears 2254 delivers power to active synchronization belt wheel 2241, and active synchronization belt wheel 2241 drives boss synchronous belt 210
It synchronously travels forward, after clamping device 10 starts contact with guide plate 320, due to the squeezing action of guide plate 320, clamping machine
The slide clamp 120 of structure 10 starts along the first guide finger 160, the second guide finger 170 and the 3rd guide finger 180 to fixed rack
110 1 Slideslip of type clip so that the first antiskid elastic block 130 and the second antiskid elastic block 140 and seal wire or catheter contact, and
It is compressed, at this time under the action of boss synchronous belt 210, clamping device 10 drives seal wire or conduit advanced in unison, works as clamping
Mechanism 10 starts with guide plate 320 after disengaging, due to the screen resilience of the clip springs 150 of clamping device 10, clamping device
10 slide clamp 120 starts along the first guide finger 160, the second guide finger 170 and the 3rd guide finger 180 to fixed rack type
110 another Slideslip of clip so that the first antiskid elastic block 130 and the second antiskid elastic block 140 depart from seal wire or conduit, will
It is unclamped, and completes the action of push forward of a seal wire or conduit.
When seal wire or conduit need to pull back, push-and-pull motor 222 starts to reversely rotate, by first gear 2253 and the
The engagement of two gears 2254 delivers power to active synchronization belt wheel 2241, and active synchronization belt wheel 2241 drives boss synchronous belt 210
It is synchronous to move backward, after clamping device 10 starts contact with guide plate 320, due to the squeezing action of guide plate 320, clamping machine
The slide clamp 120 of structure 10 starts along the first guide finger 160, the second guide finger 170 and the 3rd guide finger 180 to fixed rack
110 1 Slideslip of type clip so that the first antiskid elastic block 130 and the second antiskid elastic block 140 and seal wire or catheter contact, and
It is compressed, at this time under the action of boss synchronous belt 210, clamping device 10 drives seal wire or conduit advanced in unison, works as clamping
Mechanism 10 starts with guide plate 320 after disengaging, due to the screen resilience of the clip springs 150 of clamping device 10, clamping device
10 slide clamp 120 starts along the first guide finger 160, the second guide finger 170 and the 3rd guide finger 180 to fixed rack type
110 another Slideslip of clip so that the first antiskid elastic block 130 and the second antiskid elastic block 140 depart from seal wire or conduit, will
It is unclamped, and is completed a seal wire/conduit and is pulled back action.
Above-mentioned blood vessel intervention operation seal wire/catheter delivery device includes clamping device, for clamping device to be driven to move
Propulsion assembly and for seal wire or conduit clamping motion path guide guiding mechanism.Above-mentioned blood vessel intervention operation seal wire/
Catheter delivery device can imitate doctor and seal wire or conduit are delivered, and motor is without carrying out frequently positive decommuntation
Seal wire or conduit continuation are delivered forward, and can be adapted to by guiding mechanism in the case where being changed without any part more
The delivering requirement of kind seal wire or conduit, and the clamping force of clamping device can be adjusted simultaneously, and can be in guiding mechanism is replaced
In the case of guide plate, change the distance of single seal wire or catheter delivery.The present apparatus is in the portion with seal wire or catheter contact simultaneously
Part is designed as elastic medical material that is soft, quick detachable and can disposably throwing, the problem of avoiding disinfection.In addition, the device knot
Structure is more compact, and transmission is succinct and overall weight is lighter, and the clamping and convenient disassembly of seal wire or conduit carry out industrialization afterwards for it
Cost is saved.Above-mentioned blood vessel intervention operation seal wire/catheter delivery device can be realized pair instead of doctor in the environment of X-ray
The delivering of seal wire or conduit improves the precision of seal wire or catheter delivery, reduces the working strength of doctor, improves operation
Reliability, while the somatic damage caused by doctor is chronically in radiation environment is also avoided, ensure the successful of operation.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
1. a kind of blood vessel intervention operation seal wire/catheter delivery device, which is characterized in that including：
Clamping device, the clamping device include the fixed rack type clip being oppositely arranged and slide clamp, are fixed on described solid
Determine the first antiskid elastic block on slide type clip, the second antiskid elastic block for being fixed in the slide clamp and be arranged on
Clip springs between the fixed rack type clip and the slide clamp, the first antiskid elastic block and described second are prevented
Sliding elastomer block is oppositely arranged, and the slide clamp is compared with the fixed rack type clip or so translation, when the slide clamp
To the fixed rack type clip it is close when, the first antiskid elastic block and the second antiskid elastic block are by seal wire or conduit
It compresses to clamp seal wire or conduit；
Propulsion assembly, boss synchronous belt and synchronous pulley motion and synchronous belt including the drive clamping device movement
Take turns strainer, the synchronous pulley motion includes push-and-pull motor fixing frame, push-and-pull motor, synchronous pulley installing plate, same
Belt wheel, synchronous belt installation axle and bearing are walked, the push-and-pull motor is fixed on the push-and-pull motor fixing frame, the push-and-pull motor
Output shaft be connected with the synchronous pulley, the synchronous pulley, the synchronous belt installation axle and the coaxial bearing are mounted on
On the synchronous pulley installing plate, the boss synchronous belt is stretched on the synchronous pulley, and the clamping device is fixed on institute
It states on boss synchronous belt, the synchronous pulley strainer is synchronous so as to adjust the boss for being tensioned the synchronous pulley
The tightness of band；
Guiding mechanism, for guiding seal wire or catheter movement path, the guiding mechanism includes guide plate fixed plate, leads
To plate, the guide plate fixed plate is located at the synchronous pulley installing plate upper end, and the guide plate is fixed on the guide plate and consolidates
On fixed board, the guide plate is by squeezing the fixed rack type clip to provide the gripper mechanism grips seal wire/conduit
Clamping force.
2. blood vessel intervention operation seal wire/catheter delivery device according to claim 1, which is characterized in that the clamping machine
Structure includes the first guide finger, the second guide finger and the 3rd guide finger, and first guide finger and second guide finger are fixed
On the fixed rack type clip, the 3rd guide finger is installed in the slide clamp, the clip springs coaxial sleeve
On the 3rd guide finger, the slide clamp is along described along first guide finger, second guide finger and institute
The 3rd guide finger is stated compared with the fixed rack type clip translation gliding.
3. blood vessel intervention operation seal wire/catheter delivery device according to claim 1, which is characterized in that the synchronous belt
Wheel includes active synchronization belt wheel and driven synchronous pulley, and the synchronous belt installation axle includes the first synchronous belt installation axle and second together
Step band installation axle, the bearing include clutch shaft bearing and second bearing, and the clutch shaft bearing is installed mounted on the synchronous pulley
In plate hole, the first synchronous belt installation axle is set on the clutch shaft bearing and is interference fitted with the clutch shaft bearing inner ring,
The active synchronization belt wheel is fixed in the first synchronous belt installation axle, and the second bearing is pacified mounted on the synchronous pulley
In loading board hole, the second synchronous belt installation axle is set in the second bearing and is interference fitted with second bearing inner ring, institute
Driven synchronous pulley is stated to be fixed on the second synchronous belt installation axle.
4. blood vessel intervention operation seal wire/catheter delivery device according to claim 3, which is characterized in that the synchronous belt
Taking turns strainer includes synchronous pulley adjustable plate, adjustment seat and adjusting bolt, the synchronous pulley adjustable plate and the adjustment seat
It is installed on the synchronous pulley installing plate, and the synchronous pulley adjustable plate is connected with the adjustment seat by adjusting bolt
It connects.
5. blood vessel intervention operation seal wire/catheter delivery device according to claim 4, which is characterized in that described first is same
The one end of step with installation axle is fixed by bolt and the first synchronous pulley baffle, and the other end passes through the first locking nut and bearing rib
Circle is fixed, and one end of the second synchronous belt installation axle fixed by bolt and the second synchronous pulley baffle, and the other end passes through the
Two locking nuts are fixed with synchronous pulley adjustable plate.
6. blood vessel intervention operation seal wire/catheter delivery device according to claim 1, which is characterized in that the synchronous belt
Wheel motion further includes the identical bevel gear of a pair of of modulus, the pair of bevel gear connection push-and-pull motor and synchronous pulley.
7. blood vessel intervention operation seal wire/catheter delivery device according to claim 5, which is characterized in that described first is same
Step band installation axle is equipped with first gear, and second gear, the first gear and institute are equipped on the output shaft of the push-and-pull motor
State second gear engagement.
8. blood vessel intervention operation seal wire/catheter delivery device according to claim 1, which is characterized in that the Guiding machine
Structure further includes first support, second support, mounted on first guide pipe on the first support top and mounted on described second
Second guide pipe of cantilever tip, the first support and the second support are respectively symmetrically installed on the synchronous pulley installation
The both ends of plate.
9. blood vessel intervention operation seal wire/catheter delivery device according to claim 1, which is characterized in that the boss is same
The material of band is walked as polyurethane, it is equidistant on the boss synchronous belt that multiple clamping devices are installed.
10. blood vessel intervention operation seal wire/catheter delivery device according to claim 1, which is characterized in that described first is anti-
Sliding elastomer block and the second antiskid elastic block are rubber block, and the first antiskid elastic block is removably attached to the fixation
On slide type clip, the second antiskid elastic block is removably attached in the slide clamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373182.7A CN108114360B (en) | 2017-12-19 | 2017-12-19 | Vascular interventional surgical guidewire/catheter delivery device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711373182.7A CN108114360B (en) | 2017-12-19 | 2017-12-19 | Vascular interventional surgical guidewire/catheter delivery device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108114360A true CN108114360A (en) | 2018-06-05 |
| CN108114360B CN108114360B (en) | 2020-06-16 |
Family
ID=62230265
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711373182.7A Active CN108114360B (en) | 2017-12-19 | 2017-12-19 | Vascular interventional surgical guidewire/catheter delivery device |
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| CN109157325A (en) * | 2018-09-05 | 2019-01-08 | 中国科学院自动化研究所 | A kind of conduit driving mechanism for gluing small Tuboplasty for glaucoma |
| CN109157729A (en) * | 2018-07-23 | 2019-01-08 | 郑州大学第附属医院 | A kind of blood vessel intervention operation seal wire delivery apparatus |
| CN109568767A (en) * | 2018-11-23 | 2019-04-05 | 田文静 | A kind of surgical nursing conduit auxiliary intubation machine |
| WO2019119259A1 (en) * | 2017-12-19 | 2019-06-27 | 深圳先进技术研究院 | Guidewire/catheter delivery device for vascular interventional operation |
| CN109999320A (en) * | 2019-04-30 | 2019-07-12 | 清华大学 | Catheter propelling device and method for blood vessel intervention operation |
| CN110236684A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot is from end propulsion device and its control method |
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| WO2021135385A1 (en) * | 2019-12-30 | 2021-07-08 | 杭州唯强医疗科技有限公司 | Catheter and guidewire coordinated pushing apparatus and catheter and guidewire coordinated pushing system |
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| CN114159673A (en) * | 2021-12-08 | 2022-03-11 | 上海神玑医疗科技有限公司 | Vessel catheter intervention device |
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| WO2019119259A1 (en) * | 2017-12-19 | 2019-06-27 | 深圳先进技术研究院 | Guidewire/catheter delivery device for vascular interventional operation |
| CN109157729B (en) * | 2018-07-23 | 2020-11-06 | 郑州大学第一附属医院 | Guide wire delivery device for vascular intervention operation |
| CN109157729A (en) * | 2018-07-23 | 2019-01-08 | 郑州大学第附属医院 | A kind of blood vessel intervention operation seal wire delivery apparatus |
| CN109157325A (en) * | 2018-09-05 | 2019-01-08 | 中国科学院自动化研究所 | A kind of conduit driving mechanism for gluing small Tuboplasty for glaucoma |
| CN109568767A (en) * | 2018-11-23 | 2019-04-05 | 田文静 | A kind of surgical nursing conduit auxiliary intubation machine |
| CN109568767B (en) * | 2018-11-23 | 2021-05-18 | 田文静 | Supplementary intubate machine of surgical nursing pipe |
| CN109999320A (en) * | 2019-04-30 | 2019-07-12 | 清华大学 | Catheter propelling device and method for blood vessel intervention operation |
| CN110236680B (en) * | 2019-07-10 | 2020-07-21 | 北京唯迈医疗设备有限公司 | Reciprocating motion device of interventional operation robot |
| CN110236680A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot reciprocator |
| CN110236684A (en) * | 2019-07-10 | 2019-09-17 | 北京唯迈医疗设备有限公司 | A kind of intervention operation robot is from end propulsion device and its control method |
| CN110236684B (en) * | 2019-07-10 | 2024-02-27 | 北京唯迈医疗设备有限公司 | Slave-end propelling device of interventional operation robot and control method thereof |
| WO2021135385A1 (en) * | 2019-12-30 | 2021-07-08 | 杭州唯强医疗科技有限公司 | Catheter and guidewire coordinated pushing apparatus and catheter and guidewire coordinated pushing system |
| CN113995941A (en) * | 2020-07-28 | 2022-02-01 | 复旦大学 | Catheter and guide wire cooperative execution device of minimally invasive vascular interventional surgery robot |
| CN113995941B (en) * | 2020-07-28 | 2023-12-05 | 复旦大学 | Minimally invasive vascular interventional surgery robot catheter guide wire cooperative execution device |
| CN113633383A (en) * | 2021-07-28 | 2021-11-12 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
| CN114159673A (en) * | 2021-12-08 | 2022-03-11 | 上海神玑医疗科技有限公司 | Vessel catheter intervention device |
| CN114159673B (en) * | 2021-12-08 | 2023-11-07 | 上海神玑医疗科技有限公司 | Vascular catheter interventional device |
| CN114983573A (en) * | 2022-05-24 | 2022-09-02 | 河北工业大学 | Clamping interval adjustable intervenes operation with delivering robot in succession |
| CN114983573B (en) * | 2022-05-24 | 2024-03-22 | 河北工业大学 | Continuous delivery robot with adjustable clamping distance for interventional operation |
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