CN114177481A - Catheter traction robot for vascular intervention operation - Google Patents
Catheter traction robot for vascular intervention operation Download PDFInfo
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- CN114177481A CN114177481A CN202111351938.4A CN202111351938A CN114177481A CN 114177481 A CN114177481 A CN 114177481A CN 202111351938 A CN202111351938 A CN 202111351938A CN 114177481 A CN114177481 A CN 114177481A
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- arm
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/70—Manipulators specially adapted for use in surgery
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A50/00—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE in human health protection, e.g. against extreme weather
- Y02A50/30—Against vector-borne diseases, e.g. mosquito-borne, fly-borne, tick-borne or waterborne diseases whose impact is exacerbated by climate change
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Abstract
The invention discloses a catheter traction robot for vascular intervention surgery, which comprises a base; the upper part of the base is provided with a rotating arm, and the base is provided with a first driving assembly for controlling the rotating arm to rotate around a vertical shaft; the rotating arm is matched with a mechanical arm in a sliding mode in the vertical direction, and a second driving assembly used for controlling the mechanical arm to move in the vertical direction is arranged on the rotating arm; the end part of the mechanical arm is provided with a catheter traction mechanical arm, and the catheter traction mechanical arm comprises a catheter moving assembly used for guiding the catheter to move along the self axial direction and a catheter rotating assembly used for guiding the catheter to rotate along the self axial line. According to the invention, the rotating arm, the mechanical arm and the catheter traction manipulator cooperate to finally realize spatial movement, spatial positioning and aerial posture adjustment of the catheter, so that the catheter is accurately dragged to a treatment position, the catheter can be further replaced by manual traction of medical personnel, and the injury of radiation to the medical personnel and the influence of unstable manual traction operation on an operation are avoided.
Description
Technical Field
The invention belongs to the technical field of medical auxiliary robots, and particularly relates to a catheter traction robot for a vascular interventional operation.
Background
The vascular intervention operation is a part of modern medical operations, and is widely applied to clinic to treat various vascular diseases of human beings, and the vascular intervention operation refers to that a doctor operates a catheter to be drawn to an injured part of a patient under the guidance of a Digital Subtraction Angiography (DSA), and places related medicines or medical consumables for treatment at a specified position by virtue of the catheter, so as to take medicines according to symptoms. Compared with the traditional open surgery, the vascular interventional operation has the advantages of small wound, safety, accuracy and reduced dependence on operation medicine. The most important part of the vascular interventional procedure is to pull the catheter to the treatment site, so whether the catheter can be accurately pulled to the treatment site directly affects the success of the procedure and the health of the patient.
At present, in the vascular interventional operation, a catheter is usually pulled to a treatment position of a patient by medical staff, however, the vascular interventional operation needs to be performed under guidance of a DSA, which causes that the medical staff needs to work in a radiation area for a long time and causes harm to the health of doctors; in addition, the medical staff has unstable factors to the manual traction operation of the catheter, thereby affecting the operation quality.
Based on above problem, this application provides a can replace artifical pipe of drawing of medical personnel's pipe for vascular intervention operation pipe traction robot.
Disclosure of Invention
The invention aims to overcome the defects of the prior art and provides a catheter traction robot for vascular intervention operation.
In order to achieve the purpose, the invention adopts the following technical scheme:
a catheter traction robot for vascular intervention surgery comprises a base;
the upper part of the base is provided with a rotating arm extending vertically upwards, and the base is provided with a first driving assembly used for controlling the rotating arm to rotate around a vertical shaft;
the rotating arm is matched with a mechanical arm in a sliding mode in the vertical direction, and a second driving assembly used for controlling the mechanical arm to move in the vertical direction is arranged on the rotating arm;
the end part of the mechanical arm is provided with a catheter traction mechanical arm, and the catheter traction mechanical arm comprises a catheter moving assembly used for guiding the catheter to move along the self axial direction and a catheter rotating assembly used for guiding the catheter to rotate along the self axial line.
Preferably, the first driving assembly comprises a first motor, a small belt wheel and a large belt wheel;
the first motor is fixedly arranged at the bottom of the base, and an output shaft of the first motor penetrates through the base upwards and then is coaxially and fixedly connected with the small belt pulley;
the large belt wheel is positioned at the upper part of the base and is in running fit with the base;
the small belt wheel and the large belt wheel are in transmission connection through a synchronous belt;
the top of the large belt wheel is fixedly connected with the rotating arm.
Preferably, the second driving assembly comprises a lifting screw rod, a lifting slider and a lifting guide rail;
the lifting screw rod extends along the vertical direction, two ends of the lifting screw rod are rotatably connected with the rotating arms, and the lower part of the lifting screw rod is connected with a lifting driving assembly used for controlling the lifting screw rod to rotate; the lifting driving assembly is arranged on the rotating arm;
the lifting guide rail is fixedly arranged on the rotating arm and extends along the vertical direction; the lifting slide block is in sliding fit with the lifting guide rail in the vertical direction;
a lifting nut in threaded fit with the lifting screw rod is arranged on the lifting slide block;
the lifting slide block is fixedly connected with one end of the mechanical arm.
Preferably, the mechanical arm comprises a connecting frame, a first joint arm, a second joint arm, a third joint arm and a fourth connecting arm;
the connecting frame is fixedly connected with the lifting slide block;
one end of the first joint arm is hinged with the connecting frame through a first hinge shaft, the other end of the first joint arm is hinged with one end of the second joint arm through a second hinge shaft, the other end of the second joint arm is fixedly connected with one end of a third joint arm, and the other end of the third joint arm is hinged with one end of a fourth joint arm through a third hinge shaft;
the other end of the fourth joint arm is connected with the catheter traction manipulator;
the first articulated shaft and the second articulated shaft are parallel and vertical to the lifting screw rod;
the third hinge shaft is perpendicular to the first hinge shaft.
Preferably, a first bending driving piece for controlling the first joint arm to rotate around the first hinge shaft is arranged between the first joint arm and the connecting frame;
a second bending driving piece for controlling the second joint arm to rotate around a second hinge shaft is arranged between the second joint arm and the first joint arm;
and a third bending driving piece for controlling the fourth joint arm to rotate around the third hinge shaft is arranged between the fourth joint arm and the third joint arm.
Preferably, the first hinge shaft is fixedly arranged on the connecting frame, and one end of the first joint arm is hinged with the first hinge shaft;
the first bending driving piece comprises a third motor, a first driving gear and a first fixed gear;
the third motor is fixedly arranged on the first joint arm, and the first driving gear is coaxially fixed at the end part of an output shaft of the third motor; the first fixed gear is coaxially fixed at the end part of the first hinge shaft;
the first driving gear and the first fixed gear are meshed and connected.
Preferably, the second hinge shaft is fixedly arranged on the first joint arm, and one end of the second joint arm is hinged with the second hinge shaft;
the second bending driving piece comprises a fourth motor, a second driving gear and a second fixed gear;
the fourth motor is fixedly arranged on the second joint arm, and the second driving gear is coaxially fixed at the end part of an output shaft of the fourth motor; the second fixed gear is coaxially fixed at the end part of a second hinge shaft;
and the second driving gear and the second fixed gear are meshed and connected.
Preferably, the third hinge shaft is fixedly arranged at one end of a fourth joint arm, and the third joint arm is hinged with the third hinge shaft;
the third bending driving piece comprises a fifth motor, a third driving gear and a driven gear;
the fifth motor is fixedly arranged on the third joint arm, and the third driving gear is coaxially fixed at the end part of an output shaft of the fifth motor; the driven gear is coaxially fixed on the third hinge shaft;
and the third driving gear and the driven gear are in meshed connection.
Preferably, the guide pipe traction manipulator comprises a manipulator base, and one end of the manipulator base is fixedly connected with the fourth joint arm;
the guide pipe moving assembly comprises a sixth motor, a concave wheel and a roller;
the sixth motor is fixedly arranged on the motor support frame, and the bottom end of the motor support frame is fixedly connected with the manipulator base; an output shaft of the sixth motor is coaxially and fixedly connected with the concave wheel through a coupler; an annular groove is formed in the outer end face of the concave wheel in the radial direction, and the roller is supported below the concave wheel through a roller supporting frame; an area of a rolling conveying conduit is formed between the annular groove and the roller;
the guide pipe rotating assembly comprises a seventh motor, a lead screw and a guide rail;
the seventh motor is fixedly arranged on the manipulator base; an output shaft of the seventh motor is coaxially and fixedly connected with one end of a lead screw, and the other end of the lead screw is rotatably connected with the manipulator base; the motor support frame is provided with a through hole for a screw rod to pass through, and the roller support frame is provided with a nut for threaded matching with the screw rod; the guide rail is fixedly arranged on the manipulator base and extends along the axis direction of the lead screw, and a sliding block which is in sliding fit with the guide rail is arranged at the bottom of the roller wheel supporting frame;
the central axis of the concave wheel, the central axis of the roller, the central axis of the lead screw and the central axis of the third hinge shaft are parallel.
Preferably, the motor support frame comprises a lower bracket and an upper bracket for fixedly arranging a sixth motor;
the lower support is fixedly arranged on the manipulator base, and two support columns extending upwards are arranged at the top of the lower support;
the upper bracket is provided with two sliding holes which are used for sliding matching with the corresponding supporting columns;
a nut is matched with the top end of the supporting column in a threaded manner;
the support column between the lower support and the upper support is sleeved with an extension spring, and two ends of the extension spring are fixedly connected with the lower support and the upper support respectively.
The invention has the beneficial effects that:
according to the invention, the rotating arm, the mechanical arm and the catheter traction manipulator act in a coordinated manner, the mechanical arm and the catheter traction manipulator are driven by the rotating arm to rotate around the vertical central axis of the large belt wheel, the first joint arm rotates around the first articulated shaft, the second joint arm rotates around the second articulated shaft, the fourth joint arm rotates around the third articulated shaft, the catheter moving assembly performs rolling conveying on the axial direction of the catheter, the catheter rotating assembly controls the catheter to rotate along the axis of the catheter, and finally, the spatial movement, spatial positioning and aerial posture adjustment of the catheter can be realized, so that the catheter is accurately dragged to a treatment position, the catheter can be further replaced by a medical worker to manually pull the catheter, and the injury of radiation to the medical worker and the influence of unstable manual traction operation on the operation are avoided.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is a schematic perspective view of a catheter traction robot for vascular interventional procedures according to the present invention;
FIG. 2 is a schematic front view of the catheter traction robot for vascular interventional surgery according to the present invention;
FIG. 3 is a schematic left side view of the catheter traction robot for vascular interventional surgery according to the present invention;
FIG. 4 is a schematic perspective view of the construction of the catheter traction robot of the present invention;
FIG. 5 is a schematic view of the engagement of the elevator slide with the elevator guide of the present invention;
wherein:
0-a catheter;
1-a base, 2-a first motor, 3-a small pulley, 4-a large pulley, 5-a synchronous belt, 6-a first bearing block, 7-a second motor, 8-a lifting screw, 9-a lifting slider, 10-a rotating arm, 11-a lifting guide rail, 12-a support shaft, 13-a lifting screw nut, 14-a first articulated arm, 15-a third motor, 16-a first articulated shaft, 17-a first driving gear, 18-a first fixed gear, 19-a connecting frame, 20-a second articulated arm, 21-a fourth motor, 22-a second articulated shaft, 23-a second driving gear, 24-a second fixed gear, 25-a third articulated arm, 26-a fifth motor, 27-a third articulated shaft, 28-a third driving gear, 29-driven gear, 30-fourth joint arm, 31-annular groove, 32-sixth motor, 33-motor support frame, 331-lower support frame, 332-upper support frame, 333-support column, 334-nut, 34-coupler, 35-concave wheel, 36-roller, 37-seventh motor, 38-lead screw, 39-guide rail, 40-slide block, 41-roller support frame, 42-manipulator base, 43-spring and 44-nut.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof, unless the context clearly indicates otherwise.
In the present invention, terms such as "upper", "lower", "bottom", "top", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only terms of relationships determined for convenience in describing structural relationships of the components or elements of the present invention, and do not particularly indicate any components or elements of the present invention, and are not to be construed as limiting the present invention.
In the present invention, terms such as "connected" and "connecting" should be interpreted broadly, and mean either a fixed connection or an integral connection or a detachable connection; may be directly connected or indirectly connected through an intermediate. The specific meanings of the above terms in the present invention can be determined according to specific situations by persons skilled in the relevant scientific or technical field, and are not to be construed as limiting the present invention.
The invention is further illustrated with reference to the following figures and examples.
As shown in fig. 1-2, a catheter traction robot for vascular intervention surgery comprises a base 1;
a rotating arm 10 extending vertically and upwards is arranged at the upper part of the base 1, and a first driving assembly for controlling the rotating arm 10 to rotate around a vertical shaft is arranged on the base 1;
a mechanical arm is matched on the rotating arm 10 in a sliding mode along the vertical direction, and a second driving assembly used for controlling the mechanical arm to move in the vertical direction is arranged on the rotating arm 10;
the end of the mechanical arm is provided with a catheter traction mechanical arm, and the catheter traction mechanical arm comprises a catheter moving assembly used for guiding the catheter 0 to move along the self axial direction and a catheter rotating assembly used for guiding the catheter 0 to rotate along the self axial line.
Preferably, the first driving assembly comprises a first motor 2, a small belt pulley 3 and a large belt pulley 4;
as shown in fig. 3, the first motor 2 is fixedly arranged at the bottom of the base 1, and an output shaft of the first motor 2 penetrates through the base 1 upwards and then is coaxially and fixedly connected with the small pulley 3;
the large belt wheel 4 is positioned at the upper part of the base 1 and is in running fit with the base 1;
the small belt wheel 3 and the large belt wheel 4 are in transmission connection through a synchronous belt 5;
the top of the large belt wheel 4 is fixedly connected with a rotating arm 10.
Specifically, as shown in fig. 2, a support shaft 12 extending upwards is arranged at the top of the base 1, and the support shaft 12 passes upwards through the large pulley 4 and then is fixedly connected with an inner ring of a bearing inside the first bearing seat 6; the bottom end of the outer shell of the first bearing seat 6 is fixedly connected with the top end of the large belt wheel 4, and the top end of the outer shell of the first bearing seat 6 is fixedly connected with the bottom end of the rotating arm 10.
The first motor 2 drives the rotating arm 10 to rotate around the vertical central axis of the large belt wheel 4 through the small belt wheel 3 and the synchronous belt 5, and the rotating arm 10 drives the mechanical arm, the guide pipe traction mechanical arm and the guide pipe traction mechanical arm to grab to rotate while rotating.
Preferably, as shown in fig. 5, the second driving assembly includes a lifting screw 8, a lifting slider 9, and a lifting rail 11;
the lifting screw 8 extends along the vertical direction, two ends of the lifting screw 8 are rotatably connected with the rotating arms 10, and the lower part of the lifting screw 8 is connected with a lifting driving assembly for controlling the lifting screw 8 to rotate; the lifting driving assembly is arranged on the rotating arm 10;
the lifting guide rail 11 is fixedly arranged on the rotating arm 10 and extends along the vertical direction; the lifting slide block 9 is in sliding fit with the lifting guide rail 11 in the vertical direction;
a lifting screw 13 in threaded fit with the lifting screw 8 is arranged on the lifting slide block 9;
and the lifting slide block 9 is fixedly connected with one end of the mechanical arm.
Specifically, the lifting driving assembly comprises a second motor 7 fixedly arranged on the rotating arm 10, an output shaft of the second motor 7 is downwards coaxially and fixedly connected with a lifting main gear, and the lifting main gear is meshed with a lifting slave gear coaxially and fixedly arranged at the lower part of the lifting screw 8.
The second motor 7 drives the lifting screw 8 to rotate through the lifting main gear and the lifting slave gear, and under the sliding limit fit of the lifting slide block 9 and the lifting guide rail 11 and the thread fit of the lifting screw 8 and the lifting screw 13, when the lifting screw 8 rotates, the lifting screw 13 drives the lifting slide block 9, the mechanical arm, the conduit traction mechanical arm and the conduit grabbed by the conduit traction mechanical arm to perform lifting motion in the vertical direction.
It should be noted that the second driving assembly may also adopt other structural combinations, for example, a hydraulic cylinder or an air cylinder or a linear motor is adopted to directly drive the mechanical arm, so that the mechanical arm performs lifting motion along the vertical direction, as long as the requirement for driving the mechanical arm to lift along the vertical direction is met.
Preferably, as shown in fig. 1-2, the robot arm includes a connecting frame 19, a first joint arm 14, a second joint arm 20, a third joint arm 25, and a fourth connecting arm 30;
the connecting frame 19 is fixedly connected with the lifting slide block 9;
one end of the first articulated arm 14 is articulated with the connecting frame 19 through a first articulated shaft 16, the other end of the first articulated arm is articulated with one end of a second articulated arm 20 through a second articulated shaft 22, the other end of the second articulated arm 20 is fixedly connected with one end of a third articulated arm 25, and the other end of the third articulated arm 25 is articulated with one end of a fourth articulated arm 30 through a third articulated shaft 27;
the other end of the fourth articulated arm 30 is connected with a catheter traction manipulator;
the first articulated shaft 16 and the second articulated shaft 22 are parallel and vertical to the lifting screw rod 8;
the third hinge shaft 27 is perpendicular to the first hinge shaft 16.
Preferably, a first bending driving member for controlling the first articulated arm 14 to rotate around the first articulated shaft 16 is arranged between the first articulated arm 14 and the connecting frame 19;
a second bending driving piece for controlling the second joint arm 20 to rotate around a second joint shaft 22 is arranged between the second joint arm 20 and the first joint arm 14;
a third bending driving element for controlling the fourth joint arm 30 to rotate around the third hinge shaft 27 is arranged between the fourth joint arm 30 and the third joint arm 25.
Preferably, as shown in fig. 1-2, the first hinge shaft 16 is fixedly disposed on the connecting frame 19, and one end of the first articulated arm 14 is in hinged connection with the first hinge shaft 16;
the first bending driving piece comprises a third motor 15, a first driving gear 17 and a first fixed gear 18;
the third motor 15 is fixedly arranged on the first articulated arm 14, and the first driving gear 17 is coaxially fixed at the end part of an output shaft of the third motor 15; the first fixed gear 18 is coaxially fixed at the end of the first hinge shaft 16;
the first driving gear 17 and the first fixed gear 18 are meshed and connected.
The third motor 15 drives the first driving gear 17 to rotate on the first fixed gear 18 in a meshing manner, so that the first articulated arm 14 is driven to rotate around the first articulated shaft 16 through the meshing between the gears.
Preferably, as shown in fig. 1-2, the second hinge shaft 22 is fixedly disposed on the first joint arm 14, one end of the second joint arm 20 is hinged to the second hinge shaft 22, and specifically, the second joint arm 20 is connected to the second hinge shaft 22 through a bearing;
the second bending driving member comprises a fourth motor 21, a second driving gear 23 and a second fixed gear 24;
the fourth motor 21 is fixedly arranged on the second articulated arm 20, and the second driving gear 23 is coaxially fixed at the end of an output shaft of the fourth motor 21; the second fixed gear 24 is coaxially fixed at the end of the second hinge shaft 22;
the second driving gear 23 and the second fixed gear 24 are meshed and connected.
The fourth motor 21 drives the second driving gear 23 to rotate in mesh on the second fixed gear 24, so that the second articulated arm 20 is rotated around the second articulated shaft 22 by the meshing between the gears.
Preferably, as shown in fig. 1-2, the third joint shaft 27 is fixedly disposed at one end of the fourth joint arm 30, the third joint arm 25 is connected to the third joint shaft 27 in an articulated manner, and specifically, the third joint arm 25 is connected to the third joint shaft 27 through a bearing;
the third bending driving piece comprises a fifth motor 26, a third driving gear 28 and a driven gear 29;
the fifth motor 26 is fixedly arranged on the third joint arm 25, and the third driving gear 28 is coaxially fixed at the end of the output shaft of the fifth motor 26; the driven gear 29 is coaxially fixed on the third hinge shaft 27;
the third driving gear 28 and the driven gear 29 are engaged with each other.
The fifth motor 26 drives the third driving gear 28 to rotate, so that the driven gear 29 rotates, and the driven gear 29 drives the third hinge shaft 27 and the fourth joint arm 30 and the catheter traction robot connected to the third hinge shaft 27 to rotate.
Preferably, as shown in fig. 4, the catheter traction robot includes a robot base 42, and one end of the robot base 42 is fixedly connected to the fourth articulated arm 30;
the catheter moving assembly comprises a sixth motor 32, a concave wheel 35 and a roller 36;
the sixth motor 32 is fixedly arranged on the motor support frame 33, and the bottom end of the motor support frame 33 is fixedly connected with the manipulator base 42; an output shaft of the sixth motor 32 is coaxially and fixedly connected with a concave wheel 35 through a coupler 34; the radial outer end face of the concave wheel 35 is provided with an annular groove 31, the roller 36 is supported below the concave wheel 35 through a roller support frame 41, and specifically, two ends of the roller 36 are connected with the roller support frame 41 through deep groove ball bearings; the annular groove 31 and the roller 36 form a region for rolling the conveying conduit 0;
the guide pipe rotating assembly comprises a seventh motor 37, a lead screw 38 and a guide rail 39;
the seventh motor 37 is fixedly arranged on the manipulator base 42; an output shaft of the seventh motor 37 is coaxially and fixedly connected with one end of a lead screw 38, the other end of the lead screw 38 is rotatably connected with a manipulator base 42, and specifically, the lead screw 38 is connected with the manipulator base 42 through a deep groove ball bearing; a through hole for the lead screw 38 to pass through is formed in the motor support frame 33, and a nut 44 for threaded matching with the lead screw 38 is arranged on the roller support frame 41; the guide rail 39 is fixedly arranged on the manipulator base 42 and extends along the axial direction of the lead screw 38, and the bottom of the roller support 41 is provided with a slide block 40 which is used for sliding fit with the guide rail 39;
the central axis of the concave wheel 35, the central axis of the roller 36, the central axis of the lead screw 38 and the central axis of the third hinge shaft 27 are parallel.
When the output shaft of the sixth motor 32 rotates, the concave wheel 35 is driven to rotate under the action of the coupling 34, so that the guide pipe 0 positioned between the annular groove 31 and the roller 36 is moved along the axial direction of the guide pipe 0 through rolling conveying.
When the seventh motor 37 drives the lead screw 38 to rotate, under the threaded fit of the lead screw 38 and the nut 44 and the sliding limit fit of the slider 40 and the guide rail 39, the roller support frame 41 moves along the guide rail 39, so that the roller 36 moves axially, and in the axial movement process of the roller 36, the rotation of the conduit 0 along the axis thereof is realized under the fit of the annular groove 31.
Preferably, as shown in fig. 4, the motor support frame 33 includes a lower frame 331 and an upper frame 332 for fixedly arranging the sixth motor 32;
the lower support 331 is fixedly arranged on the manipulator base 42, and two support columns 333 extending upwards are arranged at the top of the lower support 331;
the upper bracket 332 is provided with two sliding holes for sliding fit with the corresponding supporting columns 333;
a nut 334 is screwed at the top end of the supporting column 333 to prevent the upper bracket 332 from being pulled out upwards;
an extension spring 43 is sleeved on the support column 333 between the lower support 331 and the upper support 332, and two ends of the extension spring 43 are respectively fixedly connected with the lower support 331 and the upper support 332.
The sliding fit of the support column 333 with the sliding hole and the arrangement of the extension spring 43 are to pull the upper bracket 332 downward, so that the concave wheel 35 presses the conduit 0 downward, and further the conduit 0 is tightly attached to the annular groove 31 and the roller 36, so as to increase the surface friction force, and facilitate the movement and rotation of the conduit 0.
In this application, the rotor arm, the arm, pipe traction manipulator synergism, drive arm and pipe traction manipulator through rotor arm 10 and rotate around the vertical central axis of big band pulley 4, first articulated arm 14 is around the rotation of first articulated shaft 16, the rotation of second articulated arm 20 around second articulated shaft 22, the rotation of fourth articulated arm around third articulated shaft 27, the pipe removes the roll of subassembly to 0 axial direction of pipe and carries, pipe rotating assembly is to pipe 0 along self axis pivoted control, finally can realize the space motion of pipe 0, the regulation of space location and aerial gesture, thereby with accurate the drawing to the treatment position of pipe 0, and then can replace medical personnel's manual traction pipe, the influence of radiation to medical personnel's injury and manual traction operation unstability to the operation has been avoided.
It should be noted that the motors involved in the present application are all servo motors, and each motor is an integrated structure with a speed reducer, and in addition, each motor is controlled by a computer, thereby realizing the spatial movement, positioning and aerial posture adjustment of the catheter traction manipulator.
Parts which are not described in the invention can be realized by adopting or referring to the prior art.
Although the embodiments of the present invention have been described with reference to the accompanying drawings, it is not intended to limit the present invention, and it should be understood by those skilled in the art that various modifications and changes may be made without inventive efforts based on the technical solutions of the present invention.
Claims (10)
1. A catheter traction robot for vascular intervention surgery is characterized by comprising a base;
the upper part of the base is provided with a rotating arm extending vertically upwards, and the base is provided with a first driving assembly used for controlling the rotating arm to rotate around a vertical shaft;
the rotating arm is matched with a mechanical arm in a sliding mode in the vertical direction, and a second driving assembly used for controlling the mechanical arm to move in the vertical direction is arranged on the rotating arm;
the end part of the mechanical arm is provided with a catheter traction mechanical arm, and the catheter traction mechanical arm comprises a catheter moving assembly used for guiding the catheter to move along the self axial direction and a catheter rotating assembly used for guiding the catheter to rotate along the self axial line.
2. The catheter traction robot for vascular interventional procedures as defined in claim 1, wherein the first driving assembly includes a first motor, a small pulley, a large pulley;
the first motor is fixedly arranged at the bottom of the base, and an output shaft of the first motor penetrates through the base upwards and then is coaxially and fixedly connected with the small belt pulley;
the large belt wheel is positioned at the upper part of the base and is in running fit with the base;
the small belt wheel and the large belt wheel are in transmission connection through a synchronous belt;
the top of the large belt wheel is fixedly connected with the rotating arm.
3. The catheter traction robot for vascular interventional procedures as defined in claim 1, wherein the second driving assembly comprises a lifting screw, a lifting slider, a lifting guide rail;
the lifting screw rod extends along the vertical direction, two ends of the lifting screw rod are rotatably connected with the rotating arms, and the lower part of the lifting screw rod is connected with a lifting driving assembly used for controlling the lifting screw rod to rotate; the lifting driving assembly is arranged on the rotating arm;
the lifting guide rail is fixedly arranged on the rotating arm and extends along the vertical direction; the lifting slide block is in sliding fit with the lifting guide rail in the vertical direction;
a lifting nut in threaded fit with the lifting screw rod is arranged on the lifting slide block;
the lifting slide block is fixedly connected with one end of the mechanical arm.
4. The catheter traction robot for vascular interventional surgery as defined in claim 1, wherein the robot arm includes a link frame, a first joint arm, a second joint arm, a third joint arm, a fourth link arm;
the connecting frame is fixedly connected with the lifting slide block;
one end of the first joint arm is hinged with the connecting frame through a first hinge shaft, the other end of the first joint arm is hinged with one end of the second joint arm through a second hinge shaft, the other end of the second joint arm is fixedly connected with one end of a third joint arm, and the other end of the third joint arm is hinged with one end of a fourth joint arm through a third hinge shaft;
the other end of the fourth joint arm is connected with the catheter traction manipulator;
the first articulated shaft and the second articulated shaft are parallel and vertical to the lifting screw rod;
the third hinge shaft is perpendicular to the first hinge shaft.
5. The catheter traction robot for vascular interventional procedures as defined in claim 4, wherein a first bending driving member for controlling the first joint arm to rotate around the first hinge axis is arranged between the first joint arm and the connecting frame;
a second bending driving piece for controlling the second joint arm to rotate around a second hinge shaft is arranged between the second joint arm and the first joint arm;
and a third bending driving piece for controlling the fourth joint arm to rotate around the third hinge shaft is arranged between the fourth joint arm and the third joint arm.
6. The catheter traction robot for vascular interventional surgery as defined in claim 5, wherein the first articulated shaft is fixedly provided to the link frame, and one end of the first articulated arm is hingedly connected to the first articulated shaft;
the first bending driving piece comprises a third motor, a first driving gear and a first fixed gear;
the third motor is fixedly arranged on the first joint arm, and the first driving gear is coaxially fixed at the end part of an output shaft of the third motor; the first fixed gear is coaxially fixed at the end part of the first hinge shaft;
the first driving gear and the first fixed gear are meshed and connected.
7. The catheter traction robot for vascular interventional procedures as defined in claim 5, wherein the second articulated shaft is fixedly provided on the first articulated arm, and one end of the second articulated arm is in articulated connection with the second articulated shaft;
the second bending driving piece comprises a fourth motor, a second driving gear and a second fixed gear;
the fourth motor is fixedly arranged on the second joint arm, and the second driving gear is coaxially fixed at the end part of an output shaft of the fourth motor; the second fixed gear is coaxially fixed at the end part of a second hinge shaft;
and the second driving gear and the second fixed gear are meshed and connected.
8. The catheter traction robot for vascular interventional surgery as defined in claim 5, wherein the third articulation shaft is fixedly disposed at one end of a fourth articulation arm, and the third articulation arm is in articulated connection with the third articulation shaft;
the third bending driving piece comprises a fifth motor, a third driving gear and a driven gear;
the fifth motor is fixedly arranged on the third joint arm, and the third driving gear is coaxially fixed at the end part of an output shaft of the fifth motor; the driven gear is coaxially fixed on the third hinge shaft;
and the third driving gear and the driven gear are in meshed connection.
9. The catheter traction robot for vascular interventional surgery as defined in claim 4, wherein the catheter traction robot comprises a robot base, one end of which is fixedly connected with the fourth articulated arm;
the guide pipe moving assembly comprises a sixth motor, a concave wheel and a roller;
the sixth motor is fixedly arranged on the motor support frame, and the bottom end of the motor support frame is fixedly connected with the manipulator base; an output shaft of the sixth motor is coaxially and fixedly connected with the concave wheel through a coupler; an annular groove is formed in the outer end face of the concave wheel in the radial direction, and the roller is supported below the concave wheel through a roller supporting frame; an area of a rolling conveying conduit is formed between the annular groove and the roller;
the guide pipe rotating assembly comprises a seventh motor, a lead screw and a guide rail;
the seventh motor is fixedly arranged on the manipulator base; an output shaft of the seventh motor is coaxially and fixedly connected with one end of a lead screw, and the other end of the lead screw is rotatably connected with the manipulator base; the motor support frame is provided with a through hole for a screw rod to pass through, and the roller support frame is provided with a nut for threaded matching with the screw rod; the guide rail is fixedly arranged on the manipulator base and extends along the axis direction of the lead screw, and a sliding block which is in sliding fit with the guide rail is arranged at the bottom of the roller wheel supporting frame;
the central axis of the concave wheel, the central axis of the roller, the central axis of the lead screw and the central axis of the third hinge shaft are parallel.
10. The catheter traction robot for vascular interventional surgery as defined in claim 9, wherein the motor support frame includes a lower frame and an upper frame for fixedly disposing a sixth motor;
the lower support is fixedly arranged on the manipulator base, and two support columns extending upwards are arranged at the top of the lower support;
the upper bracket is provided with two sliding holes which are used for sliding matching with the corresponding supporting columns;
a nut is matched with the top end of the supporting column in a threaded manner;
the support column between the lower support and the upper support is sleeved with an extension spring, and two ends of the extension spring are fixedly connected with the lower support and the upper support respectively.
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| CN202111351938.4A CN114177481B (en) | 2021-11-16 | 2021-11-16 | Catheter traction robot for vascular intervention operation |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202111351938.4A CN114177481B (en) | 2021-11-16 | 2021-11-16 | Catheter traction robot for vascular intervention operation |
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| CN114177481B CN114177481B (en) | 2023-10-13 |
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| CN114177481B (en) | 2023-10-13 |
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