CN113951946A - Vascular intervention instrument pushing device and method - Google Patents
Vascular intervention instrument pushing device and method Download PDFInfo
- Publication number
- CN113951946A CN113951946A CN202111234034.3A CN202111234034A CN113951946A CN 113951946 A CN113951946 A CN 113951946A CN 202111234034 A CN202111234034 A CN 202111234034A CN 113951946 A CN113951946 A CN 113951946A
- Authority
- CN
- China
- Prior art keywords
- driving
- driven
- lifting
- conveying belt
- assembly
- 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.)
- Granted
Links
- 230000002792 vascular Effects 0.000 title claims abstract description 50
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 52
- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 238000010586 diagram Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 208000024172 Cardiovascular disease Diseases 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 3
- 210000004204 blood vessel Anatomy 0.000 description 3
- 230000003028 elevating effect Effects 0.000 description 3
- 230000005855 radiation Effects 0.000 description 3
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 201000010099 disease Diseases 0.000 description 2
- 208000037265 diseases, disorders, signs and symptoms Diseases 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000000149 penetrating effect Effects 0.000 description 2
- 238000001356 surgical procedure Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000002583 angiography Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 208000026106 cerebrovascular disease Diseases 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000002526 effect on cardiovascular system Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 210000001105 femoral artery Anatomy 0.000 description 1
- 238000003384 imaging method Methods 0.000 description 1
- 230000003902 lesion Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 231100000915 pathological change Toxicity 0.000 description 1
- 230000036285 pathological change Effects 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 210000002321 radial artery Anatomy 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 238000002560 therapeutic procedure Methods 0.000 description 1
Images
Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
-
- 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
- A61M25/0113—Mechanical advancing means, e.g. catheter dispensers
-
- 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
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B17/00234—Surgical instruments, devices or methods, e.g. tourniquets for minimally invasive surgery
- A61B2017/00238—Type of minimally invasive operation
- A61B2017/00243—Type of minimally invasive operation cardiac
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B17/00—Surgical instruments, devices or methods, e.g. tourniquets
- A61B2017/00367—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like
- A61B2017/00398—Details of actuation of instruments, e.g. relations between pushing buttons, or the like, and activation of the tool, working tip, or the like using powered actuators, e.g. stepper motors, solenoids
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Engineering & Computer Science (AREA)
- Animal Behavior & Ethology (AREA)
- Veterinary Medicine (AREA)
- Public Health (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- General Health & Medical Sciences (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Pulmonology (AREA)
- Biophysics (AREA)
- Surgery (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Robotics (AREA)
- Apparatus For Radiation Diagnosis (AREA)
- Surgical Instruments (AREA)
Abstract
The invention relates to the technical field of surgical robots, and provides a pushing device and a pushing method for a vascular intervention instrument, wherein the pushing device for the vascular intervention instrument comprises a driving wire feeding mechanism, a first support assembly, a driving conveying belt and a driving carrier roller belt wheel; the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, and the Mecanum wheels are in transmission connection with the driving conveyor belt; the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, and the lifting plate is matched with the Mecanum wheel support; and the driven wire feeding mechanism comprises a driven conveying belt and a driven carrier roller belt wheel, and the driven conveying belt is positioned above the driving conveying belt and used for clamping the guide wire. According to the invention, the Mecanum wheel and the driving conveying belt are tightly pressed through the lifting mechanism, and the driving conveying belt is driven to rotate, so that the phenomenon of slipping between the Mecanum wheel and the driving conveying belt is effectively prevented, further, the guide wire clamped by the driven conveying belt and the driving conveying belt is stably pushed, and the operation efficiency and safety are improved.
Description
Technical Field
The invention relates to the technical field of surgical robots, in particular to a pushing device and method for a vascular interventional instrument.
Background
At present, the number of people suffering from cardiovascular diseases is continuously increased, so that various medical burdens are increased, and the cardiovascular diseases become the first diseases threatening the life and health of the people gradually. At present, the mainstream mode for treating the cardiovascular and cerebrovascular diseases is interventional therapy, namely, firstly, puncture is carried out on a radial artery or a femoral artery, and then an interventional device is delivered to a lesion area through a human blood vessel, so that the purposes of expanding a narrow blood vessel, embolizing a malformed blood vessel and the like are achieved. The guidance of the interventional operation needs to be performed by means of a digital subtraction angiography imaging (DSA) system, so that an operator needs to be exposed to a radiation environment for a long time by wearing a heavy protective clothing, the effect and the precision of the operation are affected, and the health of the operator is also negatively affected.
In recent years, a robot for vascular intervention surgery has been increasingly used to assist a doctor in performing vascular intervention surgery. The operator controls the slave mechanism to perform the operation through the master control lever or the operating handle of the vascular intervention operation robot, thereby avoiding the influence of radiation and enabling the remote operation to be possible. Aiming at the disease, the vascular stent is mainly used for treating the pathological changes clinically, however, the existing vascular minimally invasive interventional operation robot delivery mechanism often slips in the wire feeding process and cannot smoothly deliver guide wires or guide pipes, so that the problems of long operation time of a patient, long exposure time in a radiation environment and the like are caused.
Disclosure of Invention
The invention provides a pushing device and a pushing method for a vascular intervention instrument, which are used for solving the defects that a minimally invasive vascular intervention operation robot in the prior art is easy to slip and cannot transmit a guide wire, realizing stable pushing of the guide wire, reducing operation time and improving safety.
The invention provides a pushing device of a vascular interventional instrument, which comprises:
the driving wire feeding mechanism comprises a first bracket component, a driving conveying belt and a driving carrier roller belt wheel, the driving carrier roller belt wheel is arranged on the first bracket component, and the driving conveying belt is in tension fit with the driving carrier roller belt wheel;
the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, the controller is electrically connected with the motor, the output end of the motor is connected with the Mecanum wheels, and the Mecanum wheels are in transmission connection with the driving conveyor belt;
the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate is matched with the Mecanum wheel in support;
the driven wire feeding mechanism comprises a driven conveying belt and a driven carrier roller belt wheel, the driven conveying belt is in tensioning fit with the driven carrier roller belt wheel, and the driven conveying belt is located above the driving conveying belt and used for clamping a guide wire.
According to the pushing device for the vascular intervention instrument, the first support frame assembly comprises a second guide rail and a carrier roller support, a slidable locking sliding block is arranged on the second guide rail, the carrier roller support is connected with the locking sliding block, and the driving carrier roller belt wheel is connected with the carrier roller support.
According to the pushing device for the vascular intervention instrument, the driving assembly comprises a lead screw, a first base, a driving sliding block and a transmission beam, the first base is arranged at two ends of the lead screw respectively, the lead screw can rotate relative to the first base, the driving sliding block is sleeved on the lead screw, the transmission beam is connected with the driving sliding block, and the end part of the driving sliding block is in transmission connection with the lifting assembly.
According to the pushing device for the vascular intervention instrument, the lifting assembly comprises a light bar, a second base, a driven sliding block and an X-shaped hinge frame, the second base is arranged at each of two ends of the light bar, the driven sliding block is slidably sleeved on the light bar, the lifting end of the X-shaped hinge frame is hinged to the lifting plate, and the driven end of the X-shaped hinge frame is hinged to the driven sliding block and the second base on the corresponding side.
The pushing device for the vascular intervention instrument further comprises a pressing mechanism, wherein the pressing mechanism comprises a second bracket component, an adjusting component and a pressing plate, the adjusting component is arranged on the second bracket component, and the pressing plate is connected with the adjusting component.
According to the pushing device for the vascular intervention instrument, provided by the invention, the second support assembly comprises a support frame, a vertical beam and a cross beam, the vertical beam is arranged on the support frame, the end part of the cross beam is connected with the top end of the vertical beam, and the adjusting assembly is arranged on the cross beam.
According to the pushing device for the vascular intervention instrument, provided by the invention, the adjusting assembly comprises an adjusting bolt, a buffer cushion block and a connecting plate, the cross beam is provided with a through hole which is matched with the adjusting bolt in a penetrating way, the buffer cushion block is arranged on the bottom side of the cross beam and is connected with the connecting end of the adjusting bolt, and the connecting plate is used for connecting the buffer cushion block and the pressing plate.
According to the pushing device for the vascular intervention instrument, provided by the invention, the supporting frame is provided with the guide post, the pressing plate is provided with the guide hole matched with the guide of the guide post in a guiding manner, the guide post is sleeved with the tensioning spring, and the tensioning spring is positioned between the supporting frame and the pressing plate.
The vascular intervention instrument pushing device further comprises a supporting table, wherein two first guide rails which are arranged in parallel are arranged on the supporting table, two ends of each first guide rail are respectively lapped on the base plates on the corresponding sides, and the two base plates are arranged in parallel and arranged on the supporting table; the first bracket component is slidably arranged on the first guide rail.
The invention also provides a pushing method of the vascular interventional instrument, which comprises the following steps:
placing a guide wire on the driving conveying belt, wherein the driven conveying belt is matched with the driving conveying belt to clamp the guide wire;
the lifting assembly is driven to lift through the driving assembly, the position of the lifting plate in the vertical direction is adjusted, and the Mecanum wheels are tightly pressed against the driving conveyor belt;
the controller controls the motor to rotate, the motor drives the Mecanum wheel to rotate, the driving conveying belt is driven to rotate, and the guide wire is conveyed.
The invention provides a pushing device and a pushing method for a vascular intervention instrument, which comprise a driving wire feeding mechanism, wherein the driving wire feeding mechanism comprises a first bracket component, a driving conveying belt and a driving carrier roller belt wheel, the driving carrier roller belt wheel is arranged on the first bracket component, and the driving conveying belt is in tension fit with the driving carrier roller belt wheel; the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, the controller is electrically connected with the motor, the output end of the motor is connected with the Mecanum wheels, and the Mecanum wheels are in transmission connection with the driving conveyor belt; the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate is matched with the Mecanum wheel in support; driven wire drive feed mechanism, driven wire drive feed mechanism includes driven conveyer belt and driven bearing roller band pulley, driven conveyer belt with driven bearing roller band pulley tensioning adaptation, driven conveyer belt is located the top of initiative conveyer belt is used for pressing from both sides tight seal wire, and it is tight with mecanum wheel and initiative conveyer belt top through elevating system to drive the initiative conveyer belt and rotate, effectively prevent the phenomenon of skidding to appear between mecanum wheel and the initiative conveyer belt, and then realize the stable propelling movement to the seal wire of driven conveyer belt and initiative conveyer belt centre gripping, improve operation efficiency and security.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a vascular interventional instrument pushing device provided by the invention;
FIG. 2 is a schematic structural diagram of an active wire feeding mechanism in a pushing device of a vascular interventional instrument provided by the invention;
FIG. 3 is a schematic structural diagram of a pressing mechanism in the pushing device of the interventional vascular device provided by the present invention;
FIG. 4 is a schematic structural diagram of a Mecanum power mechanism in a pushing device of a vascular interventional instrument provided by the invention;
FIG. 5 is a schematic structural diagram of a lifting mechanism in the pushing device of the interventional vascular device provided by the present invention;
reference numerals:
1. an active wire feeding mechanism; 2. a driven wire feeder; 3. a Mecanum power mechanism; 4. a lifting mechanism; 5. a hold-down mechanism; 6. a support table; 7. an active conveyor belt; 8. a driving carrier roller belt wheel; 9. a carrier roller bracket; 10. a free slider; 11. a locking slide block; 12. a first guide rail; 13. a driven conveyor belt; 14. a driven idler pulley; 15. a suspension bracket; 16. a compression plate; 17. a Mecanum wheel; 18. a motor; 19. mounting a bracket; 20. a mounting seat; 21. a controller; 22. a support plate; 23. a lead screw; 24. a first base; 25. an active slider; 26. a polished rod; 27. a second base; 28. a driven slider; 29. rotating a hand wheel; 30. a drive beam; 31. a hinge plate; 32. an X-shaped hinged frame; 33. a lifting plate; 34. a guide post; 35. a support frame; 36. tensioning the spring; 37. erecting a beam; 38. a cross beam; 39. adjusting the bolt; 40. cushion the cushion.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings and examples. The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
In the description of the embodiments of the present invention, it should be noted that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the embodiments of the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
In the description of the embodiments of the present invention, it should be noted that, unless explicitly stated or limited otherwise, the terms "connected" and "connected" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; may be directly connected or indirectly connected through an intermediate. Specific meanings of the above terms in the embodiments of the present invention can be understood in specific cases by those of ordinary skill in the art.
In embodiments of the invention, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through intervening media. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of an embodiment of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
A vascular access device pushing apparatus of the present invention is described below with reference to fig. 1 to 5, and includes:
the supporting platform 6 is provided with two first guide rails 12 which are arranged in parallel;
the driving wire feeding mechanism 1 comprises a first bracket component, a driving conveying belt 7 and a driving carrier roller belt wheel 8, wherein the first bracket component is slidably arranged on a first guide rail 12, the driving carrier roller belt wheel 8 is arranged on the first bracket component, and the driving conveying belt 7 is in tension fit with the driving carrier roller belt wheel 8;
the pressing mechanism 5 comprises a second support assembly, an adjusting assembly and a pressing plate 16, the second support assembly is arranged on the supporting table 6, the adjusting assembly is arranged on the second support assembly, and the pressing plate 16 is connected with the adjusting assembly;
driven wire feeder 2, driven wire feeder 2 include driven conveyer belt 13 and driven bearing roller band pulley 14, and driven conveyer belt 13 and the adaptation of driven bearing roller band pulley 14 tensioning, driven bearing roller band pulley 14 locate the pressure strip 16 and deviate from one side of adjusting part, and driven conveyer belt 13 is located the top of initiative conveyer belt 7 for press from both sides tight seal wire. It will be appreciated that a support stand 6 is provided at the bottom side for stably supporting the driven wire feeder 2, the hold-down mechanism 5 and the driven wire feeder 2. The supporting surface of the supporting table 6 is provided with two parallel backing plates, and two ends of the first guide rail 12 are respectively lapped on the backing plates. Wherein, first guide rail 12 sets up two, and parallel arrangement, and the length direction of first guide rail 12 sets up perpendicularly with the length direction of backing plate promptly, guarantees under the prerequisite of the stability of first guide rail 12, reserves operating space for operating elevating system 4.
Further, the driving wire feeding mechanism 1 includes a first bracket assembly, a driving conveyor belt 7 and a driving idler pulley 8, and the first bracket assembly is configured to stably support the driving conveyor belt 7 and the driving idler pulley 8, and simultaneously drive the driving conveyor belt 7 and the driving idler pulley 8 to move along the length direction of the first track. The driving conveyor belt 7 is in tension fit with the driving carrier roller belt wheel 8, so that the driving conveyor belt 7 is always in a tension state in the twisting process.
Wherein, hold-down mechanism 5 includes second bracket component, adjustment subassembly and pressure strip 16, and the second bracket component is located on a supporting bench 6, and specifically, the second bracket component sets up in the upside of backing plate. The adjusting component is arranged on the second bracket component and is connected with the pressing plate 16, and the position of the pressing plate 16 in the vertical direction is adjusted through the adjusting component.
Further, the driven wire feeding mechanism 2 comprises a driven conveyor belt 13 and a driven idler pulley 14, and the driven idler pulley 14 is used for adjusting the tension degree of the driven conveyor belt 13, so that the driven conveyor belt 13 is always kept in a tension state in the twisting process. Driven bearing roller band pulley 14 passes through hanging support 15 and installs in the bottom side of pressure strip 16, and hanging support 15 fixed mounting to set up two, be located driven bearing roller band pulley 14 both ends respectively, guarantee that driven bearing roller band pulley 14 and driven conveyer belt 13 all can rotate relative hanging support 15.
Wherein, driven conveyer belt 13 is located initiative conveyer belt 7 directly over, adjusts the position of the vertical direction of driven conveyer belt 13 through the adjustment subassembly, that is to say, the distance between driven conveyer belt 13 and the initiative conveyer belt 7, and the seal wire is placed on initiative conveyer belt 7, and then realizes the adjustment of driven conveyer belt 13 and initiative conveyer belt 7 to the clamp force of seal wire, prevents to send the silk process to take place the phenomenon of skidding, improves operation efficiency and security.
According to the pushing device of the vascular interventional instrument provided by the invention, the second bracket component comprises a support frame 35, a vertical beam 37 and a cross beam 38, the support frame 35 is arranged on the support table 6, the vertical beam 37 is arranged on the support frame 35, the end part of the cross beam 38 is connected with the top end of the vertical beam 37, and the adjusting component is arranged on the cross beam 38. It is understood that the second bracket assembly includes two support frames 35, and the two support frames 35 are oppositely disposed on the backing plate. Each support frame 35 is correspondingly provided with a vertical beam 37 for branch arrangement. The two ends of the cross beam 38 are fixedly connected with the top ends of the vertical beams 37 respectively. The adjustment assembly is mounted in a central position on the cross beam 38 with the hold-down plate 16 on the underside of the cross beam 38.
According to the pushing device of the vascular interventional instrument provided by the invention, the adjusting assembly comprises an adjusting bolt 39, a cushion block 40 and a connecting plate, the cross beam 38 is provided with a through hole which is matched with the adjusting bolt 39 in a penetrating way, the cushion block 40 is arranged at the bottom side of the cross beam 38 and is connected with the connecting end of the adjusting bolt 39, and the connecting plate is used for connecting the cushion block 40 and the pressing plate 16. It will be appreciated that the adjustment assembly includes an adjustment bolt 39, with a through hole provided in the middle of the cross beam 38, and the adjustment bolt 39 being vertically disposed through the through hole. The lower end of the adjusting bolt 39 is a connecting end and is fixedly connected with the cushion block 40, and the bottom side of the cushion block 40 is provided with a connecting plate which is fixedly connected with the pressure plate 16. It should be noted that the adjusting bolt 39 includes a stud and a nut, the lower end of the stud is fixedly connected with the cushion block 40, the nut is sleeved on the stud and located on the upper side of the cross beam 38, and the diameter of the through hole is larger than that of the stud and smaller than that of the nut. By screwing the nut, the stud moves up and down in the through hole, and the position of the compression plate 16 in the vertical direction is adjusted.
It should be further noted that the length of the connecting plate is greater than the length of the cushion block 40, so that the connecting area between the connecting plate and the pressing plate 16 is increased, the connecting strength is improved, and meanwhile, the moving stability of the pressing plate 16 in the adjusting process is ensured, and the deviation is prevented.
According to the pushing device for the vascular intervention instrument, the supporting frame 35 is provided with the guide post 34, the pressing plate 16 is provided with the guide hole matched with the guide post 34 in a guiding mode, the guide post 34 is sleeved with the tensioning spring 36, and the tensioning spring 36 is located between the supporting frame 35 and the pressing plate 16. It can be understood that the support frame 35 is provided with the guide posts 34 which are vertically arranged, the pressing plate 16 is provided with the guide holes, the guide holes are sleeved on the guide posts 34, the pressing plate 16 can move along the axial direction of the guide posts 34, and the guide posts 34 play a role in guiding.
Wherein, the guide post 34 is sleeved with the tension spring 36, the tension spring 36 is positioned between the support frame 35 and the pressure strip 16, the tension spring 36 and the adjusting bolt 39 generate opposite acting force to the pressure strip 16, thereby realizing effective adjustment of the position of the pressure strip 16 and controllable adjustment of clamping force.
According to the pushing device for the vascular intervention instrument, the first support assembly comprises a second guide rail and a carrier roller support 9, the second guide rail is perpendicular to the first guide rail 12, two ends of the second guide rail are slidably assembled on the first guide rail 12 through free sliding blocks 10 respectively, a slidable locking sliding block 11 is arranged on the second guide rail, the carrier roller support 9 is connected with the locking sliding block 11, and a driving carrier roller belt wheel 8 is connected with the carrier roller support 9. It can be understood that the first bracket component comprises two corresponding second rails which are arranged in parallel. The second track is perpendicular to the first track. The free sliding blocks 10 are arranged on the first track, two ends of the second track are fixedly connected with the free sliding blocks 10 on the corresponding sides respectively, and the second track slides along the length direction of the first track through the free sliding blocks 10.
The second guide rail is provided with a locking slide block 11, and the locking slide block 11 can slide along the length direction of the second guide rail and has a locking function. The locking slide block 11 is provided with a carrier roller bracket 9, the end part of the driving carrier roller belt wheel 8 is connected with the carrier roller bracket 9, and the driving carrier roller belt wheel 8 can rotate relative to the carrier roller bracket 9. That is to say, the driving carrier roller belt wheel 8 is driven to move by moving the locking slide block 11, so that the tensioning adjustment of the driving conveyor belt 7 is realized, and the locking slide block 11 is locked, so that the driving conveyor belt 7 is in a tensioning state. And then the free slide block 10 is moved, so that the driving conveyor belt 7 moves back and forth along the first guide rail 12 relative to the driven conveyor belt 13, and the twisting of the guide wires clamped between the driving conveyor belt 7 and the driven conveyor belt 13 is realized.
The pushing device for the vascular interventional instrument further comprises a Mecanum power mechanism 3, wherein the Mecanum power mechanism 3 comprises a Mecanum wheel 17, a motor 18 and a controller 21, the controller 21 is electrically connected with the motor 18, the output end of the motor 18 is connected with the Mecanum wheel 17, and the Mecanum wheel 17 is in transmission connection with the driving conveyor belt 7. It is understood that the mecanum power mechanism 3 is used to power the active wire feeder 1, and specifically includes a mecanum wheel 17, a motor 18, and a controller 21. The controller 21 is electrically connected to the motor 18 to control the forward rotation and the reverse rotation of the motor 18. The output end of the motor 18 is connected with the Mecanum wheel 17 to drive the Mecanum wheel 17 to rotate forwards or backwards. The mecanum wheel 17 is in transmission connection with the driving conveyor belt 7, that is, the controller 21 sends a starting instruction to the motor 18, the motor 18 drives the mecanum wheel 17 to rotate forwards or backwards, the mecanum wheel 17 is in close contact with the driving conveyor belt 7 to generate friction, and then the driving conveyor belt 7 is driven to rotate, and the guide wires are conveyed or recovered.
The controller 21 is fixedly mounted on the supporting plate 22, the mecanum wheel 17 is mounted on the supporting plate 22 through the mounting bracket 19, and the motor 18 is mounted on the supporting plate 22 through the mounting base 20, so that stable mounting of the controller 21, the mecanum wheel 17 and the motor 18 is ensured.
The pushing device for the vascular intervention instrument further comprises a lifting mechanism 4, the lifting mechanism 4 comprises a lifting plate 33, a lifting assembly and a driving assembly, the driving assembly and the lifting assembly are arranged on the supporting table 6, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate 33, and the lifting plate 33 is in supporting fit with the Mecanum wheel 17. It can be understood that the lifting mechanism 4 is used to drive the mecanum power mechanism 3 to lift and lower, so as to adjust the tightness between the mecanum wheel 17 and the driving conveyor belt 7, and prevent the slippage between the mecanum wheel 17 and the driving conveyor belt 7. Specifically, including lifter plate 33, lifting unit and drive assembly, lifter plate 33 level sets up, and drive assembly and lifting unit all fixed mounting are on a supporting bench 6, and lifter plate 33 is located the bottom side of layer board 22. The output end of the driving assembly is in transmission connection with the lifting assembly, power is provided for the lifting assembly through the driving assembly, and the lifting assembly drives the lifting plate 33 to be lifted and adjusted, so that the Mecanum wheel 17 is supported to be close to or far away from the driving conveyor belt 7.
According to the pushing device for the vascular intervention instrument, the driving assembly comprises a lead screw 23, a first base 24, a driving sliding block 25 and a transmission beam 30, two ends of the lead screw 23 are respectively installed on the supporting table 6 through the first base 24, the lead screw 23 can rotate relative to the first base 24, the driving sliding block 25 is sleeved on the lead screw 23, the transmission beam 30 is connected with the driving sliding block 25, and the end part of the driving sliding block 25 is in transmission connection with the lifting assembly. It can be understood that both ends of the screw 23 are respectively mounted on the supporting platform 6 through the first base 24, that is, the first base 24 is fixedly mounted on the supporting platform 6, and both ends of the screw 23 are rotatably assembled on the first base 24. The driving sliding block 25 is sleeved on the lead screw 23, a rotating hand wheel 29 is arranged at one end of the lead screw 23, and the lead screw 23 is driven to rotate by rotating the rotating hand wheel 29, so that the driving sliding block 25 moves along the length direction of the lead screw 23.
Further, the middle part of the transmission beam 30 is fixedly installed on the driving slider 25, so that the transmission beam 30 and the driving slider 25 can move synchronously. Two ends of the transmission beam 30 are respectively in transmission connection with the lifting assemblies on the corresponding sides, so that power transmission is realized.
According to the pushing device for the vascular interventional instrument provided by the invention, the lifting assembly comprises a light bar 26, a second base 27, a driven slide block 28 and an X-shaped hinge frame 32, two ends of the light bar 26 are respectively installed on the supporting platform 6 through the second base 27, the driven slide block 28 is slidably sleeved on the light bar 26, the lifting end of the X-shaped hinge frame 32 is hinged with a lifting plate 33, and the driven end of the X-shaped hinge frame 32 is respectively hinged with the driven slide block 28 and the second base 27 on the corresponding side. It will be appreciated that the lifting assembly comprises two bars 26, the bars 26 being arranged parallel to the screw 23. Both ends of the light bar 26 are respectively installed on the supporting platform 6 through the second base 27, and the light bar 26 is fixedly assembled to play a role in guiding. The light bar 26 is sleeved with a driven slide block 28, and the driven slide block 28 can slide along the length direction of the light bar 26. The upper end of the X-shaped hinge frame 32 is a lifting end and is hinged with the lifting plate 33, and the lower end of the X-shaped hinge frame 32 is a driven end and is hinged with the driven slide block 28 and the second base 27 on the corresponding side respectively.
Specifically, the X-shaped hinge frame 32 includes a first hinge rod and a second hinge rod which are arranged in an X-shaped intersecting manner, the middle part of the first hinge rod is hinged to the middle part of the second hinge rod, the bottom side of the lifting plate 33 and the support platform 6 are respectively provided with two second bases 27 and a light bar 26 which are opposite up and down, and the two light bars 26 are respectively provided with a driven slide block 28; the upper end of the first hinge rod is hinged with a driven slide block 28 at the bottom side of the lifting plate 33, and the lower end of the first hinge rod is hinged with a hinge plate 31 of a second base 27 of the support table 6; the upper end of the second hinge rod is hinged with the hinge plate 31 of the second base 27 at the bottom side of the lifting plate 33, the lower end of the second hinge rod is hinged with the driven slide block 28 on the support table 6, and the first hinge rod and the second hinge rod are obliquely and crosswise arranged.
That is, the transmission beam 30 drives the driven slider 28 on the support table 6 to move along the length direction of the polished rod 26, the lower end of the second hinge rod slides synchronously with the driven slider 28, the upper end of the second hinge rod does not move in the horizontal direction, and moves in the vertical direction; the upper end of the first hinge rod moves with the driven slide block 28 at the bottom side of the lifting plate 33, the lower end of the first hinge rod does not move in the horizontal direction, and moves in the vertical direction, so that the lifting driving of the lifting plate 33 is realized.
The following describes a method for pushing a vascular interventional instrument provided by the present invention, and the method for pushing a vascular interventional instrument described below and the device for pushing a vascular interventional instrument described above may be referred to in correspondence.
The invention also provides a pushing method of the vascular interventional instrument, which comprises the following steps:
placing the guide wire on the driving conveyor belt 7, and matching the driven conveyor belt 13 with the driving conveyor belt 7 to clamp the guide wire;
the lifting assembly is driven to lift through the driving assembly, the position of the lifting plate 33 in the vertical direction is adjusted, and then the Mecanum wheel 17 and the driving conveyor belt 7 are tightly pressed;
the controller 21 controls the motor 18 to rotate, and the motor 18 drives the Mecanum wheel 17 to rotate, so as to drive the driving conveyor belt 7 to rotate, thereby realizing the conveying of the guide wires.
The invention provides a pushing method of a vascular interventional instrument, which specifically comprises the following steps:
placing a guide wire on the driving conveyor belt 7, moving the locking sliding block 11 to enable the driving carrier roller belt wheel 8 to move along the opposite direction, tensioning the driving conveyor belt 7, and locking the locking sliding block 11 to keep the driving carrier roller belt wheel immovable;
screwing the adjusting bolt 39, moving the pressing plate 16 downwards, so that the driven conveyor belt 13 tensioned by the driven carrier roller belt wheel 14 moves downwards, and the driven conveyor belt 13 and the driving conveyor belt 7 stably clamp the guide wire;
the rotating hand wheel 29 is rotated, the lead screw 23 is rotated, the driving slide block 25 moves along the length direction of the lead screw 23, the lead screw 23 is vertical to the first track, the transmission beam 30 and the driving slide block 25 move synchronously, the driven slide block 28 is further driven to move along the light bar 26, the upper end of the X-shaped hinge frame 32 carries out lifting motion, and lifting driving of the lifting plate 33 is realized;
the lifting plate 33 rises to tightly push the supporting plate 22, so that the Mecanum wheel 17 is tightly contacted with the driving conveyor belt 7, the controller 21 controls the motor 18 to be normally installed or reversely rotated, the motor 18 drives the Mecanum wheel 17 to rotate, the Mecanum wheel 17 drives the driving conveyor belt 7 to rotate, slipping is prevented, and the guide wire is conveyed;
the free slide block 10 is driven to slide back and forth along the length direction of the first guide rail 12, the driving conveyor belt 7 and the free slide block 10 move synchronously, and the driven conveyor belt 13 does not displace, so that the driving conveyor belt 7 and the driven conveyor belt 13 have opposite movement trends, twisting force is generated on the guide wire, and twisting of the guide wire is completed.
It should be noted that the action object in the embodiment of the present invention may also be a catheter.
The invention provides a pushing device and a pushing method for a vascular intervention instrument, which comprise a driving wire feeding mechanism, wherein the driving wire feeding mechanism comprises a first bracket component, a driving conveying belt and a driving carrier roller belt wheel, the driving carrier roller belt wheel is arranged on the first bracket component, and the driving conveying belt is in tension fit with the driving carrier roller belt wheel; the Mecanum power mechanism comprises a Mecanum wheel, a motor and a controller, the controller is electrically connected with the motor, the output end of the motor is connected with the Mecanum wheel, and the Mecanum wheel is in transmission connection with the driving conveying belt; the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate is matched with the Mecanum wheel support; driven wire drive feed mechanism, driven wire drive feed mechanism includes driven conveyer belt and driven bearing roller band pulley, driven conveyer belt and driven bearing roller band pulley tensioning adaptation, driven conveyer belt is located the top of initiative conveyer belt, be used for pressing from both sides tight seal wire, it is tight with mecanum wheel and initiative conveyer belt top through elevating system, and drive the initiative conveyer belt and rotate, effectively prevent the phenomenon of skidding to appear between mecanum wheel and the initiative conveyer belt, and then realize the stable propelling movement to the seal wire of driven conveyer belt and initiative conveyer belt centre gripping, operation efficiency and security are improved.
Finally, it should be noted that: the above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. A vascular interventional instrument pushing device is characterized by comprising:
the driving wire feeding mechanism comprises a first bracket component, a driving conveying belt and a driving carrier roller belt wheel, the driving carrier roller belt wheel is arranged on the first bracket component, and the driving conveying belt is in tension fit with the driving carrier roller belt wheel;
the Mecanum power mechanism comprises Mecanum wheels, a motor and a controller, the controller is electrically connected with the motor, the output end of the motor is connected with the Mecanum wheels, and the Mecanum wheels are in transmission connection with the driving conveyor belt;
the lifting mechanism comprises a lifting plate, a lifting assembly and a driving assembly, the output end of the driving assembly is in transmission connection with the lifting assembly, the lifting end of the lifting assembly is connected with the lifting plate, and the lifting plate is matched with the Mecanum wheel in support;
the driven wire feeding mechanism comprises a driven conveying belt and a driven carrier roller belt wheel, the driven conveying belt is in tensioning fit with the driven carrier roller belt wheel, and the driven conveying belt is located above the driving conveying belt and used for clamping a guide wire.
2. The advancing device for the vascular interventional instrument as defined in claim 1, wherein the first bracket assembly comprises a second guide rail and a roller bracket, the second guide rail is provided with a slidable locking slide block, the roller bracket is connected with the locking slide block, and the driving roller pulley is connected with the roller bracket.
3. The advancing device of vascular interventional instrument as defined in claim 1, wherein the driving assembly comprises a lead screw, a first base, a driving slider and a transmission beam, the first base is disposed at each end of the lead screw, the lead screw can rotate relative to the first base, the driving slider is sleeved on the lead screw, the transmission beam is connected with the driving slider, and the end of the driving slider is in transmission connection with the lifting assembly.
4. The advancing device for vessel intervention instruments as claimed in claim 3, wherein the lifting assembly comprises a light bar, a second base, a driven slider, and an X-shaped hinge frame, the second base is respectively disposed at two ends of the light bar, the driven slider is slidably sleeved on the light bar, the lifting end of the X-shaped hinge frame is hinged to the lifting plate, and the driven end of the X-shaped hinge frame is hinged to the driven slider and the second base at the corresponding side.
5. The advancing device for the vascular interventional instrument as defined in claim 1, further comprising a compressing mechanism, wherein the compressing mechanism comprises a second bracket component, an adjusting component and a compressing plate, the adjusting component is arranged on the second bracket component, and the compressing plate is connected with the adjusting component.
6. The advancing device for vessel intervention instruments as claimed in claim 5, wherein the second support assembly comprises a support frame, a vertical beam and a cross beam, the vertical beam is disposed on the support frame, an end of the cross beam is connected with a top end of the vertical beam, and the adjusting assembly is disposed on the cross beam.
7. The advancing device for vascular interventional instruments according to claim 6, wherein the adjusting assembly comprises an adjusting bolt, a cushion block and a connecting plate, the cross beam is provided with a through hole adapted to the adjusting bolt, the cushion block is arranged on the bottom side of the cross beam and connected with the connecting end of the adjusting bolt, and the connecting plate is used for connecting the cushion block and the pressing plate.
8. The advancing device for vessel intervention instruments as claimed in claim 6, wherein the supporting frame is provided with a guiding post, the pressing plate is provided with a guiding hole matched with the guiding post in a guiding manner, and a tension spring is sleeved on the guiding post and located between the supporting frame and the pressing plate.
9. The vascular interventional instrument pushing device according to claim 1, further comprising a support platform, wherein two first guide rails are arranged in parallel on the support platform, two ends of each first guide rail are respectively lapped on the backing plates on the corresponding sides, and the two backing plates are arranged in parallel and arranged on the support platform; the first bracket component is slidably arranged on the first guide rail.
10. The pushing method of the vascular intervention instrument pushing device according to any one of claims 1 to 9, comprising the following steps:
placing a guide wire on the driving conveying belt, wherein the driven conveying belt is matched with the driving conveying belt to clamp the guide wire;
the lifting assembly is driven to lift through the driving assembly, the position of the lifting plate in the vertical direction is adjusted, and the Mecanum wheels are tightly pressed against the driving conveyor belt;
the controller controls the motor to rotate, the motor drives the Mecanum wheel to rotate, the driving conveying belt is driven to rotate, and the guide wire is conveyed.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111234034.3A CN113951946B (en) | 2021-10-22 | 2021-10-22 | Vascular interventional instrument pushing device and method |
| PCT/CN2022/126610 WO2023066362A1 (en) | 2021-10-22 | 2022-10-21 | Vascular interventional instrument pushing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111234034.3A CN113951946B (en) | 2021-10-22 | 2021-10-22 | Vascular interventional instrument pushing device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113951946A true CN113951946A (en) | 2022-01-21 |
| CN113951946B CN113951946B (en) | 2023-11-17 |
Family
ID=79466498
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111234034.3A Active CN113951946B (en) | 2021-10-22 | 2021-10-22 | Vascular interventional instrument pushing device and method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN113951946B (en) |
| WO (1) | WO2023066362A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114560284A (en) * | 2022-03-30 | 2022-05-31 | 四川大川合颐生物科技有限公司 | Cell culture apparatus production equipment, intelligent control system and production method thereof |
| WO2023066367A1 (en) * | 2021-10-22 | 2023-04-27 | 中国科学院自动化研究所 | Vascular intervention instrument twisting apparatus and method |
| WO2023066362A1 (en) * | 2021-10-22 | 2023-04-27 | 中国科学院自动化研究所 | Vascular interventional instrument pushing device and method |
Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6695813B1 (en) * | 1999-12-30 | 2004-02-24 | Advanced Cardiovascular Systems, Inc. | Embolic protection devices |
| WO2010124520A1 (en) * | 2009-05-01 | 2010-11-04 | 常州高新技术产业开发区三维工业技术研究所有限公司 | Pharmaceutical composition for treating abnormal energy metabolism and use thereof |
| CN103083783A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Clamping-based catheter or clamping-based guide wire operating device for vessel interventional operation |
| CN105769343A (en) * | 2016-04-26 | 2016-07-20 | 中国科学院自动化研究所 | Vascular intervention operation collection device and vascular intervention operation collection method |
| CN107106155A (en) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot |
| CN108514448A (en) * | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN109109989A (en) * | 2018-09-10 | 2019-01-01 | 华南理工大学 | A kind of full landform chassis based on crawler belt and Mecanum wheel |
| CN208389162U (en) * | 2017-11-01 | 2019-01-18 | 青岛市市立医院 | A kind of control device for the hydrophilic seal wire of superslide |
| US20190099879A1 (en) * | 2016-03-08 | 2019-04-04 | KBee AG | Robot system, method for controlling a robot system, and processing system |
| CN110182632A (en) * | 2019-06-04 | 2019-08-30 | 安徽富贵服饰有限公司 | A kind of lift is at roll cloth Intelligent feeding machine device people |
| CN211985654U (en) * | 2019-10-26 | 2020-11-24 | 宜昌市中心人民医院 | Intervene blood vessel micro-operation robot |
| WO2021004255A1 (en) * | 2019-07-10 | 2021-01-14 | 北京唯迈医疗设备有限公司 | Interventional surgical robot slave-end propelling apparatus and control method therefor |
| WO2021008076A1 (en) * | 2019-07-12 | 2021-01-21 | 中国科学院深圳先进技术研究院 | Vascular interventional surgical device |
| KR102274498B1 (en) * | 2020-01-31 | 2021-07-07 | (주)퓨전이엔씨 | Lift type Omni-directional Robot |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20110024779A (en) * | 2009-09-03 | 2011-03-09 | 에버테크노 주식회사 | Mecanum diverter and glass panel transferring apparatus using the same |
| CN101879346B (en) * | 2010-07-03 | 2013-12-18 | 燕山大学 | Catheter screw device for minimally invasive vascular interventional surgical robot |
| US10376672B2 (en) * | 2013-03-15 | 2019-08-13 | Auris Health, Inc. | Catheter insertion system and method of fabrication |
| WO2020058736A1 (en) * | 2018-09-19 | 2020-03-26 | Gebo Cermex Canada Inc. | Device and method for conveying products |
| CN110141364A (en) * | 2019-06-18 | 2019-08-20 | 李羿贤 | A kind of interventional procedure system |
| CN110668142B (en) * | 2019-09-18 | 2021-12-24 | 兰剑智能科技股份有限公司 | Sorting device |
| CN112107775A (en) * | 2020-10-14 | 2020-12-22 | 上海睿触科技有限公司 | Automatic conveying system for blood vessel interventional operation guide wire |
| CN112827054A (en) * | 2021-01-07 | 2021-05-25 | 冯俊波 | Intubation propulsion device suitable for large blood vessel operation |
| CN113951946B (en) * | 2021-10-22 | 2023-11-17 | 中国科学院自动化研究所 | Vascular interventional instrument pushing device and method |
| CN113974787B (en) * | 2021-10-22 | 2022-09-27 | 中国科学院自动化研究所 | Twisting device and method for vascular interventional instrument |
-
2021
- 2021-10-22 CN CN202111234034.3A patent/CN113951946B/en active Active
-
2022
- 2022-10-21 WO PCT/CN2022/126610 patent/WO2023066362A1/en unknown
Patent Citations (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6695813B1 (en) * | 1999-12-30 | 2004-02-24 | Advanced Cardiovascular Systems, Inc. | Embolic protection devices |
| WO2010124520A1 (en) * | 2009-05-01 | 2010-11-04 | 常州高新技术产业开发区三维工业技术研究所有限公司 | Pharmaceutical composition for treating abnormal energy metabolism and use thereof |
| CN103083783A (en) * | 2013-02-25 | 2013-05-08 | 中国科学院自动化研究所 | Clamping-based catheter or clamping-based guide wire operating device for vessel interventional operation |
| US20190099879A1 (en) * | 2016-03-08 | 2019-04-04 | KBee AG | Robot system, method for controlling a robot system, and processing system |
| CN105769343A (en) * | 2016-04-26 | 2016-07-20 | 中国科学院自动化研究所 | Vascular intervention operation collection device and vascular intervention operation collection method |
| CN107106155A (en) * | 2017-04-01 | 2017-08-29 | 中国科学院深圳先进技术研究院 | The catheter propelling control method and catheter propelling equipment of blood vessel intervention operation robot |
| CN208389162U (en) * | 2017-11-01 | 2019-01-18 | 青岛市市立医院 | A kind of control device for the hydrophilic seal wire of superslide |
| CN108514448A (en) * | 2017-12-14 | 2018-09-11 | 深圳先进技术研究院 | Blood vessel intervention operation robot guide wire, conduit control device |
| CN109109989A (en) * | 2018-09-10 | 2019-01-01 | 华南理工大学 | A kind of full landform chassis based on crawler belt and Mecanum wheel |
| CN110182632A (en) * | 2019-06-04 | 2019-08-30 | 安徽富贵服饰有限公司 | A kind of lift is at roll cloth Intelligent feeding machine device people |
| WO2021004255A1 (en) * | 2019-07-10 | 2021-01-14 | 北京唯迈医疗设备有限公司 | Interventional surgical robot slave-end propelling apparatus and control method therefor |
| WO2021008076A1 (en) * | 2019-07-12 | 2021-01-21 | 中国科学院深圳先进技术研究院 | Vascular interventional surgical device |
| CN211985654U (en) * | 2019-10-26 | 2020-11-24 | 宜昌市中心人民医院 | Intervene blood vessel micro-operation robot |
| KR102274498B1 (en) * | 2020-01-31 | 2021-07-07 | (주)퓨전이엔씨 | Lift type Omni-directional Robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023066367A1 (en) * | 2021-10-22 | 2023-04-27 | 中国科学院自动化研究所 | Vascular intervention instrument twisting apparatus and method |
| WO2023066362A1 (en) * | 2021-10-22 | 2023-04-27 | 中国科学院自动化研究所 | Vascular interventional instrument pushing device and method |
| CN114560284A (en) * | 2022-03-30 | 2022-05-31 | 四川大川合颐生物科技有限公司 | Cell culture apparatus production equipment, intelligent control system and production method thereof |
| CN114560284B (en) * | 2022-03-30 | 2024-04-16 | 四川大川合颐生物科技有限公司 | Cell culture apparatus production equipment, intelligent control system and production method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2023066362A1 (en) | 2023-04-27 |
| CN113951946B (en) | 2023-11-17 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN113974787B (en) | Twisting device and method for vascular interventional instrument | |
| CN113951946A (en) | Vascular intervention instrument pushing device and method | |
| CN108704214A (en) | Interventional surgery robotic catheter/seal wire rotating mechanism and propulsion device | |
| KR101531431B1 (en) | Table and slide assemblies for patient transfer device | |
| JP2014516734A (en) | Lifting and transporting device for wheeled objects including hospital beds | |
| EP3000453A1 (en) | Automatic loading stretcher system | |
| CN206482769U (en) | A kind of medical transfer robot | |
| WO2022179617A1 (en) | Interventional procedure delivery device and delivery system | |
| CN114177480A (en) | Guide wire and guide tube coaxial driving device suitable for vascular interventional operation and control method | |
| CN109199777B (en) | Limb fixing device for kidney transplantation operation | |
| CN111035436A (en) | Treatment device for cardiovascular interventional operation | |
| CN211356493U (en) | Angiocardiography postoperative care is with pressing hemostasis device | |
| CN211188037U (en) | Intelligent noninvasive calcaneus reduction auxiliary robot | |
| US9700467B2 (en) | Intrahospital vehicle for transport and transfer of obese patients | |
| CN111674810A (en) | High-efficient type medical instrument storage logistics platform | |
| CN213552457U (en) | Patient limb fixing frame for operating room nursing | |
| CN109893374B (en) | Medical rotating bed robot | |
| CN213465845U (en) | Obstetrical power-assisted operating table | |
| CN114392102A (en) | Image interventional operation bed | |
| CN110623811B (en) | Intelligent noninvasive calcaneus reduction auxiliary robot | |
| CN111407530A (en) | Medical intelligent transfer bed | |
| CN219921438U (en) | Nursing tray | |
| CN212369245U (en) | Automatic bracket frame for PCI (peripheral component interconnect) operation upper limb | |
| CN114733085B (en) | Laser hand tool for human skin treatment | |
| CN213372472U (en) | A rotatable main part bracket of angle for precision instrument platform truck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |