CN114177481B - Catheter traction robot for vascular intervention operation - Google Patents
Catheter traction robot for vascular intervention operation Download PDFInfo
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- CN114177481B CN114177481B CN202111351938.4A CN202111351938A CN114177481B CN 114177481 B CN114177481 B CN 114177481B CN 202111351938 A CN202111351938 A CN 202111351938A CN 114177481 B CN114177481 B CN 114177481B
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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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- Life Sciences & Earth Sciences (AREA)
- Surgery (AREA)
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- General Health & Medical Sciences (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The application discloses a catheter traction robot for vascular intervention operation, which comprises a base, wherein the base is provided with a plurality of guide wheels; the upper part of the base is provided with a rotating arm, and the base is provided with a first driving component for controlling the rotating arm to rotate around a vertical shaft; the rotating arm is provided with a mechanical arm in sliding fit along the vertical direction, and a second driving assembly for controlling the mechanical arm to move along the vertical direction is arranged on the rotating arm; 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 to move along the axial direction of the catheter and a catheter rotating assembly used for guiding the catheter to rotate along the axis of the catheter. According to the application, the rotation arm, the mechanical arm and the catheter traction mechanical arm cooperate, and finally, the spatial movement, the spatial positioning and the air posture adjustment of the catheter can be realized, so that the catheter is accurately drawn to a treatment position, and further, the manual catheter traction device can replace medical staff, and the damage of radiation to the medical staff and the influence of unstable manual traction operation on operation are avoided.
Description
Technical Field
The application belongs to the technical field of medical auxiliary robots, and particularly relates to a catheter traction robot for vascular intervention operation.
Background
Vascular intervention, which is a part of modern medical operations and is widely used in clinic to treat various vascular diseases of human beings, is performed by a doctor under the guidance of a Digital Subtraction Angiography (DSA) to control a catheter to be pulled to an injured part of a patient, and the related medicine or medical consumable for treatment is placed at a designated position by means of the catheter so as to remedy the disease. Compared with the traditional open surgery, the vascular intervention surgery has the advantages of small trauma, safety and accuracy and lessening the dependence of patients on surgical medicines. The most important part of vascular intervention is the pulling of 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 vascular intervention operation, a medical staff usually pulls a catheter to a treatment position of a patient, however, the vascular intervention operation needs to be performed under the guidance of DSA, which causes that the medical staff needs to work in a radiation area for a long time, and the health of doctors is hurt; in addition, medical personnel have unstable factors for manual traction operation of the catheter, thereby affecting the quality of the operation.
Based on the problems, the application provides a catheter traction robot for vascular intervention operation, which can replace medical staff to manually traction a catheter.
Disclosure of Invention
The application aims to overcome the defects of the prior art and provide a catheter traction robot for vascular intervention operation.
In order to achieve the above purpose, the application adopts the following technical scheme:
a catheter traction robot for vascular intervention operation 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 component for controlling the rotating arm to rotate around a vertical shaft;
the mechanical arm is matched with the rotating arm in a sliding manner along the vertical direction, and a second driving assembly for controlling the mechanical arm to move along the vertical direction is arranged on the rotating arm;
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 a catheter to move along the axial direction of the catheter and a catheter rotating assembly used for guiding the catheter to rotate along the axis of the catheter.
Preferably, the first driving assembly comprises a first motor, a small belt pulley and a large belt pulley;
the first motor is fixedly arranged at the bottom of the base, and an output shaft of the first motor passes through the base upwards and is coaxially and fixedly connected with the small belt wheel;
the large belt wheel is positioned at the upper part of the base and is in running fit with the base;
the small belt wheels and the large belt wheels 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 sliding block and a lifting guide rail;
the lifting screw rod extends along the vertical direction, two ends of the lifting screw rod are rotationally connected with the rotating arm, and the lower part of the lifting screw rod is connected with the lifting driving assembly for controlling the rotation of the lifting screw rod; the lifting driving component 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 sliding block is in vertical sliding fit with the lifting guide rail;
the lifting sliding block is provided with a lifting screw nut in threaded fit with the lifting screw rod;
and the lifting sliding 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 sliding 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 the third joint arm, and the other end of the third joint arm is hinged with one end of the fourth joint arm through a third hinge shaft;
the other end of the fourth joint arm is connected with a catheter traction manipulator;
the first hinge shaft and the second hinge shaft are parallel and perpendicular 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 used for controlling the fourth joint arm to rotate around a 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 in meshed connection.
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 the second hinge shaft;
the second driving gear and the second fixed gear are in meshed connection.
Preferably, the third hinge shaft is fixedly arranged at one end of the 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 catheter traction manipulator comprises a manipulator base, and one end of the manipulator base is fixedly connected with the fourth joint arm;
the catheter 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 radial outer end face of the concave wheel, and the roller is supported below the concave wheel through a roller support frame; a region of a rolling conveying conduit is formed between the annular groove and the roller;
the guide tube rotating assembly comprises a seventh motor, a lead screw and a guide rail;
the seventh motor is fixedly arranged on the manipulator base; the output shaft of the seventh motor is coaxially and fixedly connected with one end of a screw rod, and the other end of the screw rod is rotationally connected with the manipulator base; the motor support frame is provided with a through hole for the screw rod to pass through, and the roller support frame is provided with a nut for being in threaded fit with the screw rod; the guide rail is fixedly arranged on the manipulator base and extends along the axial direction of the screw rod, and a sliding block which is used for being in sliding fit with the guide rail is arranged at the bottom of the roller support frame;
the central axis of the concave wheel, the central axis of the roller, the central axis of the screw rod 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 for sliding fit with the corresponding support columns;
nuts are matched with the top end of the supporting column in a threaded mode;
and the support columns between the lower support and the upper support are sleeved with extension springs, and two ends of each extension spring are fixedly connected with the lower support and the upper support respectively.
The beneficial effects of the application are as follows:
according to the application, the rotating arm, the mechanical arm and the catheter traction mechanical arm are cooperated, the mechanical arm and the catheter traction mechanical arm 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 joint shaft, the second joint arm rotates around the second joint shaft, the fourth joint arm rotates around the third joint shaft, the catheter moving assembly carries out rolling conveying on the axial direction of the catheter, and the catheter rotating assembly carries out control on the rotation of the catheter along the axis of the catheter, so that the spatial movement, the spatial positioning and the air posture adjustment of the catheter can be finally realized, the catheter is accurately drawn to a treatment position, the manual traction of the catheter by medical staff can be replaced, and the injury of radiation to the medical staff and the influence of unstable manual traction operation on operation are avoided.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the application.
FIG. 1 is a schematic perspective view of a catheter traction robot for vascular intervention according to the present application;
FIG. 2 is a schematic front view of the catheter-pulling robot for vascular intervention of the present application;
FIG. 3 is a schematic left side view of the catheter traction robot for vascular intervention of the present application;
FIG. 4 is a schematic perspective view of a catheter pulling manipulator according to the present application;
FIG. 5 is a schematic diagram showing the cooperation of the lifting slider and the lifting rail in the present application;
wherein:
0-conduit;
the hand-held robot comprises a base, a first motor, a 3-small belt wheel, a 4-large belt wheel, a 5-synchronous belt, a 6-first bearing seat, a 7-second motor, an 8-lifting screw, a 9-lifting slider, a 10-rotating arm, an 11-lifting guide rail, a 12-supporting shaft, a 13-lifting screw, a 14-first joint arm, a 15-third motor, a 16-first hinge shaft, a 17-first driving gear, a 18-first fixed gear, a 19-connecting frame, a 20-second joint arm, a 21-fourth motor, a 22-second hinge shaft, a 23-second driving gear, a 24-second fixed gear, a 25-third joint arm, a 26-fifth motor, a 27-third hinge shaft, a 28-third driving gear, a 29-driven gear, a 30-fourth joint arm, a 31-annular groove, a 32-sixth motor, a 33-motor support frame, a 331-lower support frame, a 332-upper support frame, 333-support frame, a 334-nut, a 34-coupling, a 35-concave wheel, a 36-motor, a seventh motor, a 37-38-39-third driving gear, a 29-driven gear, a 30-fourth joint arm, a 31-annular groove, a 31-sixth motor, a 36-seventh motor, a 37-38-fourth motor, a 38-40, a spring frame, a 38-40, a guide rail, a 43-third screw, a 43, a guide rail, a 43 and a 43.
Detailed Description
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the application. 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 exemplary embodiments according to the present application. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
In the present application, the terms such as "upper", "lower", "bottom", "top", and the like refer to the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely relational terms used for convenience in describing the structural relationships of the various components or elements of the present application, and are not meant to designate any one component or element of the present application, and are not to be construed as limiting the present application.
In the present application, terms such as "connected," "connected," and the like are to be construed broadly and mean either fixedly connected or integrally connected or detachably connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the terms in the present application can be determined according to circumstances by a person skilled in the relevant art or the art, and is not to be construed as limiting the present application.
The application will be further described with reference to the drawings and examples.
As shown in fig. 1-2, a catheter traction robot for vascular interventional operation comprises a base 1;
the upper part of the base 1 is provided with a rotating arm 10 extending vertically upwards, and the base 1 is provided with a first driving component for controlling the rotating arm 10 to rotate around a vertical shaft;
the rotating arm 10 is slidably matched with a mechanical arm along the vertical direction, and a second driving assembly for controlling the mechanical arm to move along 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 axial direction of the catheter and a catheter rotating assembly used for guiding the catheter 0 to rotate along the axis of the catheter.
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 passes through the base 1 upwards and is coaxially and fixedly connected with the small belt pulley 3;
the large belt pulley 4 is positioned at the upper part of the base 1 and is in running fit with the base 1;
the small belt pulley 3 and the large belt pulley 4 are in transmission connection through a synchronous belt 5;
the top of the large belt wheel 4 is fixedly connected with the rotating arm 10.
Specifically, as shown in fig. 2, a supporting shaft 12 extending upwards is arranged at the top of the base 1, and the supporting shaft 12 passes through the large belt wheel 4 upwards and is fixedly connected with an inner ring of a bearing in the first bearing seat 6; the bottom end of the 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 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 pulley 4 through the small belt pulley 3 and the synchronous belt 5, and the rotating arm 10 drives the mechanical arm, the catheter traction mechanical arm and the catheter grabbed by the catheter traction mechanical arm to rotate while rotating.
Preferably, as shown in fig. 5, the second driving assembly comprises a lifting screw rod 8, a lifting sliding block 9 and a lifting guide rail 11;
the lifting screw rod 8 extends along the vertical direction, two ends of the lifting screw rod 8 are both in rotary connection with the rotating arm 10, and the lower part of the lifting screw rod 8 is connected with a lifting driving assembly for controlling the lifting screw rod 8 to rotate; the lifting driving component 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 vertical sliding fit with the lifting guide rail 11;
the lifting sliding block 9 is provided with a lifting screw 13 in threaded fit with the lifting screw rod 8;
the lifting sliding 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 a rotating arm 10, an output shaft of the second motor 7 is fixedly connected with a lifting main gear in a coaxial manner, and the lifting main gear is in meshed connection with a lifting slave gear coaxially and fixedly arranged at the lower part of a lifting screw rod 8.
The second motor 7 drives the lifting screw rod 8 to rotate through the lifting main gear and the lifting slave gear, and under the sliding limit fit of the lifting sliding block 9 and the lifting guide rail 11 and the threaded fit of the lifting screw rod 8 and the lifting screw nut 13, when the lifting screw rod 8 rotates, the lifting screw nut 13 drives the lifting sliding block 9, the mechanical arm, the catheter traction mechanical arm and the catheter grabbed by the catheter 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 combination manners, 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 can lift in the vertical direction, so long as the mechanical arm can be driven to lift in the vertical direction.
Preferably, as shown in fig. 1-2, the mechanical 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 sliding block 9;
one end of the first joint arm 14 is hinged with the connecting frame 19 through a first hinge shaft 16, the other end of the first joint arm is hinged with one end of the second joint arm 20 through a second hinge shaft 22, the other end of the second joint arm 20 is fixedly connected with one end of a third joint arm 25, and the other end of the third joint arm 25 is hinged with one end of a fourth joint arm 30 through a third hinge shaft 27;
the other end of the fourth joint arm 30 is connected with a catheter traction manipulator;
the first hinge shaft 16 and the second hinge shaft 22 are parallel and perpendicular 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 joint arm 14 to rotate around the first hinge shaft 16 is arranged between the first joint arm 14 and the connecting frame 19;
a second bending driving member for controlling the second joint arm 20 to rotate around the second hinge shaft 22 is arranged between the second joint arm 20 and the first joint arm 14;
a third bending driving member 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 arranged on the connecting frame 19, and one end of the first joint arm 14 is hinged 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 joint 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 to an end of the first hinge shaft 16;
the first driving gear 17 and the first fixed gear 18 are engaged with each other.
The third motor 15 drives the first driving gear 17 to rotate in mesh on the first fixed gear 18, thereby driving the first articulated arm 14 to rotate about the first articulation shaft 16 by the meshing between the gears.
Preferably, as shown in fig. 1-2, the second hinge shaft 22 is fixedly disposed on the first hinge arm 14, and one end of the second hinge arm 20 is hinged to the second hinge shaft 22, specifically, the second hinge arm 20 is connected to the second hinge shaft 22 through a bearing;
the second bending driving piece 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 joint arm 20, and the second driving gear 23 is coaxially fixed at the end part of an output shaft of the fourth motor 21; the second fixed gear 24 is coaxially fixed to an end of the second hinge shaft 22;
the second driving gear 23 and the second fixed gear 24 are engaged with each other.
The fourth motor 21 drives the second driving gear 23 to rotate in mesh on the second fixed gear 24, thereby driving the second articulated arm 20 to rotate about the second hinge shaft 22 by the meshing between the gears.
Preferably, as shown in fig. 1-2, the third hinge shaft 27 is fixedly disposed at one end of the fourth joint arm 30, and the third joint arm 25 is hinged to the third hinge shaft 27, specifically, the third joint arm 25 is connected to the third hinge 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 part 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, the fourth joint arm 30 connected with the third hinge shaft 27, and the catheter traction manipulator to rotate.
Preferably, as shown in fig. 4, the catheter traction manipulator includes a manipulator base 42, and one end of the manipulator base 42 is fixedly connected with the fourth joint 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 fixedly connected with a concave wheel 35 coaxially through a coupler 34; the radial outer end surface 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; a region of the rolling conveying conduit 0 is formed between the annular groove 31 and the roller 36;
the catheter 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 fixedly connected with one end of a screw rod 38 in a coaxial manner, the other end of the screw rod 38 is rotatably connected with a manipulator base 42, and specifically, the screw rod 38 is connected with the manipulator base 42 through a deep groove ball bearing; the motor support frame 33 is provided with a through hole for the lead screw 38 to pass through, and the roller support frame 41 is provided with a nut 44 which is in threaded fit with the lead screw 38; the guide rail 39 is fixedly arranged on the manipulator base 42 and extends along the axial direction of the screw rod 38, and a sliding block 40 for sliding fit with the guide rail 39 is arranged at the bottom of the roller support 41;
the central axis of the concave wheel 35, the central axis of the roller 36, the central axis of the screw rod 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 by the coupling 34, so that the guide pipe 0 between the annular groove 31 and the roller 36 is moved in the axial direction of the guide pipe 0 by rolling transportation.
When the seventh motor 37 drives the screw rod 38 to rotate, under the threaded fit of the screw rod 38 and the nut 44 and the sliding limit fit of the sliding block 40 and the guide rail 39, the roller support 41 is moved along the guide rail 39, so that the axial movement of the roller 36 is realized, and in the process of the axial movement of the roller 36, the rotation of the catheter 0 along the axis of the catheter is realized under the fit of the annular groove 31.
Preferably, as shown in fig. 4, the motor support 33 includes a lower bracket 331 and an upper bracket 332 for fixedly disposing the sixth motor 32;
the lower bracket 331 is fixedly arranged on the manipulator base 42, and two supporting columns 333 extending upwards are arranged at the top of the lower bracket 331;
the upper bracket 332 is provided with two sliding holes for sliding fit with the corresponding supporting columns 333;
nuts 334 are screwed on the top ends of the support columns 333 to prevent the upper bracket 332 from being pulled out upwards;
the support column 333 between the lower bracket 331 and the upper bracket 332 is sleeved with a tension spring 43, and two ends of the tension spring 43 are fixedly connected with the lower bracket 331 and the upper bracket 332 respectively.
The sliding fit of the support columns 333 with the sliding holes and the arrangement of the extension springs 43 are to pull the upper bracket 332 downwards, so that the concave wheels 35 press the catheter 0 downwards, and the catheter 0 is tightly attached to the annular groove 31 and the roller 36, thereby increasing the surface friction force and facilitating the movement and rotation of the catheter 0.
According to the application, the rotating arm, the mechanical arm and the catheter traction mechanical arm cooperate, the rotating arm 10 drives the mechanical arm and the catheter traction mechanical arm to rotate around the vertical central axis of the large belt wheel 4, the first joint arm 14 rotates around the first joint shaft 16, the second joint arm 20 rotates around the second joint shaft 22, the fourth joint arm rotates around the third joint shaft 27, the catheter moving assembly carries out rolling conveying on the axial direction of the catheter 0, the catheter rotating assembly carries out control on the rotation of the catheter 0 along the axis of the catheter moving assembly, and finally, the spatial movement, the spatial positioning and the adjustment of the air posture of the catheter 0 can be realized, so that the catheter 0 is accurately pulled to a treatment position, the manual traction of the catheter by medical staff can be replaced, and the injury of radiation to the medical staff and the influence of unstable manual traction operation on the operation are avoided.
The motors involved in the application are servo motors, and are of an integrated structure with a speed reducer, and are controlled by a computer, so that the space movement, the positioning and the air posture adjustment of the catheter traction manipulator are realized.
The parts not described in the application can be realized by adopting or referring to the prior art.
While the foregoing is directed to embodiments of the present application, other and further embodiments of the application may be devised without departing from the basic scope thereof, and the scope thereof is determined by the claims that follow.
Claims (7)
1. A catheter traction robot for vascular intervention surgery, which 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 component for controlling the rotating arm to rotate around a vertical shaft;
the mechanical arm is matched with the rotating arm in a sliding manner along the vertical direction, and a second driving assembly for controlling the mechanical arm to move along 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 a catheter to move along the axial direction of the catheter and a catheter rotating assembly used for guiding the catheter to rotate along the axis of the catheter;
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 sliding 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 the third joint arm, and the other end of the third joint arm is hinged with one end of the fourth joint arm through a third hinge shaft;
the other end of the fourth joint arm is connected with a catheter traction manipulator;
the first hinge shaft and the second hinge shaft are parallel and perpendicular to the lifting screw rod;
the third hinge shaft is perpendicular to the first hinge shaft;
the catheter traction manipulator comprises a manipulator base, and one end of the manipulator base is fixedly connected with a fourth joint arm;
the catheter 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 radial outer end face of the concave wheel, and the roller is supported below the concave wheel through a roller support frame; a region of a rolling conveying conduit is formed between the annular groove and the roller;
the guide tube rotating assembly comprises a seventh motor, a lead screw and a guide rail;
the seventh motor is fixedly arranged on the manipulator base; the output shaft of the seventh motor is coaxially and fixedly connected with one end of a screw rod, and the other end of the screw rod is rotationally connected with the manipulator base; the motor support frame is provided with a through hole for the screw rod to pass through, and the roller support frame is provided with a nut for being in threaded fit with the screw rod; the guide rail is fixedly arranged on the manipulator base and extends along the axial direction of the screw rod, and a sliding block which is used for being in sliding fit with the guide rail is arranged at the bottom of the roller support frame;
the central axis of the concave wheel, the central axis of the roller, the central axis of the screw rod and the central axis of the third hinging shaft are parallel;
the motor support frame comprises a lower bracket and an upper bracket used 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 for sliding fit with the corresponding support columns;
nuts are matched with the top end of the supporting column in a threaded mode;
and the support columns between the lower support and the upper support are sleeved with extension springs, and two ends of each extension spring are fixedly connected with the lower support and the upper support respectively.
2. The catheter traction robot for vascular interventional procedures of claim 1, wherein the first drive assembly comprises 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 passes through the base upwards and is coaxially and fixedly connected with the small belt wheel;
the large belt wheel is positioned at the upper part of the base and is in running fit with the base;
the small belt wheels and the large belt wheels 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 surgery of claim 1, wherein the second drive assembly comprises a lifting screw, a lifting slider, a lifting rail;
the lifting screw rod extends along the vertical direction, two ends of the lifting screw rod are rotationally connected with the rotating arm, and the lower part of the lifting screw rod is connected with the lifting driving assembly for controlling the rotation of the lifting screw rod; the lifting driving component 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 sliding block is in vertical sliding fit with the lifting guide rail;
the lifting sliding block is provided with a lifting screw nut in threaded fit with the lifting screw rod;
and the lifting sliding block is fixedly connected with one end of the mechanical arm.
4. The catheter traction robot for vascular intervention as claimed in claim 1, wherein a first bending driving member for controlling the first joint arm to rotate around a 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 used for controlling the fourth joint arm to rotate around a third hinge shaft is arranged between the fourth joint arm and the third joint arm.
5. The catheter traction robot for vascular interventional surgery according to claim 4, wherein the first articulation shaft is fixedly arranged on the connecting frame, and one end of the first articulation arm is articulated with the first articulation 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 in meshed connection.
6. The catheter traction robot for vascular interventional surgery according to claim 4, wherein the second hinge shaft is fixedly provided 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 the second hinge shaft;
the second driving gear and the second fixed gear are in meshed connection.
7. The catheter traction robot for vascular interventional surgery according to claim 4, wherein the third hinge shaft is fixedly provided 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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| 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 |
|---|---|---|---|
| CN202111351938.4A CN114177481B (en) | 2021-11-16 | 2021-11-16 | Catheter traction robot for vascular intervention operation |
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| CN114177481A CN114177481A (en) | 2022-03-15 |
| CN114177481B true CN114177481B (en) | 2023-10-13 |
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| CN116421322B (en) * | 2023-03-06 | 2023-12-05 | 极限人工智能有限公司 | Surgical robot platform and surgical robot |
| CN116570349B (en) * | 2023-03-15 | 2024-04-26 | 磅客策(上海)智能医疗科技有限公司 | Hair follicle extraction system, control method and storage medium |
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| CN102274077A (en) * | 2011-05-09 | 2011-12-14 | 无锡佑仁科技有限公司 | Robot for minimally invasive vascular intervention surgery |
| CN202143653U (en) * | 2011-05-09 | 2012-02-15 | 无锡佑仁科技有限公司 | Minimally invasive vascular intervention operation robot |
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| CN114177481A (en) | 2022-03-15 |
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