CN114521969B - Motion control device for catheter and surgical robot - Google Patents
Motion control device for catheter and surgical robot Download PDFInfo
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- CN114521969B CN114521969B CN202210171882.2A CN202210171882A CN114521969B CN 114521969 B CN114521969 B CN 114521969B CN 202210171882 A CN202210171882 A CN 202210171882A CN 114521969 B CN114521969 B CN 114521969B
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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
- 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
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
- A61B34/30—Surgical robots
- A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
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Abstract
The embodiment of the disclosure provides a motion control device for a catheter, which comprises a first gear set, a second gear set and a conveying wheel set, wherein a mounting groove is formed in the conveying wheel so as to clamp the catheter, the first gear set is used for driving the catheter in the conveying wheel set to rotate, the second gear set is connected with a third gear set through a bevel gear set, and the third gear set is used for driving the catheter in the conveying wheel set to reciprocate along a straight line. According to the embodiment of the disclosure, the catheters with different specifications can be controlled to realize rotary motion and linear reciprocating motion respectively and independently, the two motions are controlled not to influence each other, and rapid assembly and disassembly can be realized.
Description
Technical Field
The present disclosure relates to the technical field of surgical robots, and in particular to a motion control device for a catheter and a surgical robot.
Background
Cardiovascular diseases become the first death cause of the world and China, and traditional catheters and catheter interventional instruments are used, doctors and medical staff can be exposed to ionizing radiation of X rays for a long time, and doctors can be injured secondarily by wearing heavy lead clothing. By means of robotics, doctors can precisely treat and reduce injuries through physical isolation or remote operation.
At present, in the developed and proposed minimally invasive interventional surgical robot, the rotation of the catheter inevitably causes the rotation of the corresponding driving element, so that the device is complex, the practical applicability is insufficient, medical objects are caused, meanwhile, no proper sterile protection exists, the infection is very easy to occur, and the problem that how to design a catheter to rotate and simultaneously effectively solve the sterile isolation structure is urgent need at present. The coupling between the advancing and rotating movements of the existing catheter, the friction on the machinery can affect each other, leading to error-prone and functional failure in the control.
Disclosure of Invention
In view of this, the embodiment of the disclosure provides a motion control device for a catheter and a surgical robot, so as to solve the problems of easy error and functional failure in control caused by mutual influence of friction on machinery due to coupling between pushing and rotating motions of the catheter in the prior art.
In one aspect, the present disclosure provides a motion control device for a catheter, including a first gear set, a second gear set, and a conveying wheel set, where a mounting groove is provided in the conveying wheel set to clamp the catheter, where the first gear set is used to drive the catheter in the conveying wheel set to rotate, the second gear set is connected with a third gear set through a bevel gear set, and the third gear set is used to drive the catheter in the conveying wheel set to reciprocate along a straight line.
In some embodiments, the support comprises a support frame, the support frame comprises a bottom plate, a first side plate and a second side plate, the first side plate and the second side plate are respectively arranged on two opposite side surfaces of the bottom plate and perpendicular to the bottom plate, the first gear set and the second gear set are arranged on the first side plate, a catheter outer cylinder for controlling the catheter to realize rotary motion is arranged between the first side plate and the second side plate, the catheter outer cylinder is connected with the first gear set, the bevel gear set is arranged in the catheter outer cylinder, one end of the bevel gear set is connected with the second gear set, the other end of the bevel gear set is connected with a third gear set, and the third gear set is in transmission connection with a conveying wheel set.
In some embodiments, a third drive shaft is disposed between the first side plate and the second side plate, and the catheter outer barrel is sleeved on the third drive shaft with the first gear set.
In some embodiments, the catheter outer barrel includes a lower support plate on which a surrounding sidewall is disposed, a catheter support plate on which a catheter upper cover plate is disposed over the sidewall.
In some embodiments, a securing means is provided at the edge of the conduit upper cover plate, by means of which the conduit upper cover plate is provided on the side wall.
In some embodiments, the third gear set is disposed in a space formed between the lower support plate and the conduit support plate.
In some embodiments, the first gear set includes a first driving shaft, the first driving shaft is connected with the catheter rotating motor, a first gear is sleeved on the first driving shaft, the first gear is meshed with a second gear, and the second gear is connected with the catheter outer barrel through a third driving shaft.
In some embodiments, the first gear and the second gear are disposed inboard of the first side plate.
In some embodiments, the second gear set includes a second drive shaft connected to the catheter propulsion motor, and a third gear is sleeved on the second drive shaft, and the third gear is meshed with the fourth gear.
In some embodiments, the third gear and the fourth gear are disposed outside of the first side plate.
In some embodiments, the bevel gear set includes a vertical bevel gear and a horizontal bevel gear that are intermeshed, the vertical bevel gear being disposed proximate the first side plate and coaxially coupled to the fourth gear via a first coupling shaft.
In some embodiments, a second connecting shaft is provided on the output side of the horizontal bevel gear, and the horizontal bevel gear is in driving connection with the third gear set through the second connecting shaft.
In some embodiments, the third gear set includes a fifth gear and a seventh gear coaxially connected to the horizontal bevel gear via the second connecting shaft, the seventh gear meshing with an eighth gear in a first plane, the eighth gear meshing with a ninth gear in the first plane, the fifth gear meshing with a sixth gear in a second plane.
In some embodiments, a third connecting shaft is disposed on the ninth gear, a fourth connecting shaft is disposed on the sixth gear, and the third gear set is connected to the conveying wheel set through the third connecting shaft and the fourth connecting shaft, respectively.
In some embodiments, the conveyor wheel assembly includes first and second oppositely disposed conveyor wheels, the conduit being sandwiched between the first and second conveyor wheels.
In some embodiments, a first wire feeding belt and a second wire feeding belt are respectively sleeved on the first conveying wheel and the second conveying wheel, and the first wire feeding belt and the second wire feeding belt are used for cooperatively driving the catheter to reciprocate along a straight line.
In some embodiments, the first and second ribbons are made of polyurethane or silicone materials.
In some embodiments, the apparatus further comprises an adjustment device comprising an adjustment knob and a linkage connected to the second conveyor wheel, the adjustment knob being rotated to adjust the gap between the first conveyor wheel and the second conveyor wheel via the linkage.
In some embodiments, the adjustment knob is disposed on the sidewall of the catheter outer barrel.
In some embodiments, the first conveyor wheel is connected to a first end of the first conveyor wheel, and the second conveyor wheel is connected to a second end of the second conveyor wheel.
In some embodiments, the linkage includes a first link and a second link, the adjustment knob is connected with one end of the first link through an adjustment screw, the other end of the first link is connected with the second conveying wheel, and two ends of the second link are respectively connected with the second conveying wheel and the fixing frame.
In some embodiments, the mounting groove is provided on the first and second wire feeding belts, and the mounting groove has a semicircular cross section.
In some embodiments, a plurality of mounting grooves with different cross-sectional dimensions are provided on the first and second wire feeding belts, and the plurality of mounting grooves with different cross-sectional dimensions are sequentially arranged in a certain order.
In another aspect, embodiments of the present disclosure provide a surgical robot including a motion control device for a catheter according to any one of the above-described aspects.
According to the embodiment of the disclosure, the catheters with different specifications can be controlled to realize rotary motion and linear reciprocating motion respectively and independently, the two motions are controlled not to influence each other, and rapid assembly and disassembly can be realized.
Drawings
In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings that are required to be used in the embodiments or the description of the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments described in the present disclosure, and other drawings may be obtained according to these drawings without inventive effort to a person of ordinary skill in the art.
FIG. 1 is a schematic diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 2 is a schematic diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 3 is a schematic diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 4 is a schematic diagram of a motion control apparatus according to an embodiment of the disclosure;
FIG. 5 is a schematic diagram of a motion control apparatus according to an embodiment of the disclosure;
fig. 6 is a schematic structural diagram of a motion control device according to an embodiment of the present disclosure.
Reference numerals:
1-a first drive shaft (conduit rotary motor connecting shaft); 2-a second drive shaft (catheter propulsion motor connection shaft); 3-a first gear; 4-a second gear; 5-a catheter outer cylinder; 6-a third gear; 7-fourth gear; 8-vertical bevel gears; 9-horizontal bevel gears; 10-a fifth gear; 11-sixth gear; 12-seventh gear; 13-eighth gear; 14-ninth gear; 15-a first conveying wheel; 16-a first ribbon feed; 17-a second conveying wheel; 18-a second ribbon feed; 20-an adjustment knob; 21-a supporting frame; 211-a bottom plate; 212-a first side plate; 213-a second side panel; 22-a lower support plate; 23-a catheter support plate; 24-conduit upper cover plate; 25-fixing buckles; 26-mounting slots; 27-a first connecting shaft; 28-a first link; 29-a second link; 30-adjusting the screw.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present disclosure more apparent, the technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure. It will be apparent that the described embodiments are some, but not all, of the embodiments of the present disclosure. All other embodiments, which can be made by one of ordinary skill in the art without the need for inventive faculty, are within the scope of the present disclosure, based on the described embodiments of the present disclosure.
Unless defined otherwise, technical or scientific terms used in this disclosure should be given the ordinary meaning as understood by one of ordinary skill in the art to which this disclosure belongs. The terms "first," "second," and the like, as used in this disclosure, do not denote any order, quantity, or importance, but rather are used to distinguish one element from another. The word "comprising" or "comprises", and the like, means that elements or items preceding the word are included in the element or item listed after the word and equivalents thereof, but does not exclude other elements or items. The terms "connected" or "connected," and the like, are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. "upper", "lower", "left", "right", etc. are used merely to indicate relative positional relationships, which may also be changed when the absolute position of the object to be described is changed.
In order to keep the following description of the embodiments of the present disclosure clear and concise, the present disclosure omits detailed description of known functions and known components.
Embodiments of the present disclosure provide a motion control device for a catheter, which may be provided at an installation location on a medical device, such as a surgical robot, for controlling the catheter to perform a rotational motion as well as a linear reciprocating motion when the catheter is driven, where the catheter is used to penetrate into a patient to assist in the progress of a treatment such as a surgery.
As shown in fig. 1, 2 and 3, the motion control apparatus according to the embodiment of the present disclosure includes a support frame 21, where the support frame 21 includes a bottom plate 211, a first side plate 212 and a second side plate 213, the first side plate 212 and the second side plate 213 disposed opposite to each other are disposed at two ends of the bottom plate 211 and perpendicular to the bottom plate 211, and the conduit penetrates from the direction of the first side plate 212 and penetrates from the direction of the second side plate 213. The base plate 211 may here be arranged in any suitable mounting position on a medical device, such as a surgical robot.
In order to control the movement of the guide pipe, a first gear set for controlling the guide pipe to perform a rotational movement and a second gear set for controlling the guide pipe to perform a linear reciprocating movement, which is a reciprocating movement in a linear direction along the first side plate 212 to the second side plate 213, are provided on the first side plate 212.
Further, a duct outer tube 5 is provided between the first side plate 212 and the second side plate 213. Specifically, a third drive shaft is provided between the first side plate 212 and the second side plate 213, and the catheter outer tube 5 is sleeved on the third drive shaft together with the first gear set and is coaxially connected, so that the catheter outer tube 5 can rotate with the rotation of the first gear set, and the catheter is provided through the catheter outer tube 5 and can rotate together with the catheter outer tube 5.
The catheter outer cylinder 5 may have a housing structure, and in particular, as shown in fig. 2 and 3, includes a lower support plate 22, a surrounding side wall is provided on the lower support plate 22, a catheter support plate 23 is provided on the lower support plate 22, and a catheter upper cover plate 24 is provided on the side wall.
Further, fixing means are provided at the edge of the duct upper cover plate 24, by means of which the duct upper cover plate is provided on the side wall; preferably, the fixing device and the side wall can be fixedly connected through a fastener such as a screw; in another preferred mode, at least one groove is formed in the side wall, at least one fixing buckle is formed at the edge of the upper cover plate 24 of the conduit, and the fixing buckle is matched with the corresponding groove in the side wall, so that the upper cover plate 24 of the conduit can be detachably and fixedly covered on the side wall through the locking buckle 25 being clamped in the groove. The number and positions of the grooves and the retainer buttons 25 herein may be determined according to the shape of the catheter outer tube 5.
Further, a bevel gear set is provided in the duct outer tube 5, one end of the bevel gear set is connected with the second gear set, the other end of the bevel gear set is connected with a third gear set, the third gear set is provided in the duct outer tube 5, in particular, in a space formed between the lower support plate 22 and the duct support plate 23, wherein rotation of the second gear set in the first direction can be converted into rotation of the third gear set in the second direction by the bevel gear set.
Specifically, as shown in fig. 1 and in conjunction with fig. 2 and 3, the first gear set and the second gear set are respectively fixed on the first side plate 212, where the first gear set is located between the first side plate 212 and the catheter outer cylinder 5, and includes a first driving shaft 1 (corresponding to a catheter rotating motor connecting shaft), the first driving shaft 1 is connected with an external catheter rotating motor, a first gear 3 is sleeved on the first driving shaft 1, the first gear 3 is meshed with a second gear 4, and the second gear 4 and the catheter outer cylinder 5 are coaxially connected through the third driving shaft, so that the catheter outer cylinder 5 can rotate along with the rotation of the second gear 4.
The second gear set is located outside the first side plate 212, and includes a second driving shaft 2 (corresponding to a connecting shaft of the catheter propulsion motor), the second driving shaft 2 is connected with the catheter propulsion motor located outside, a third gear 6 is sleeved on the second driving shaft 2, and the third gear 6 is meshed with the fourth gear 7.
As described above, the bevel gear set is capable of converting rotation of the second gear set in a first direction to rotation of the third gear set in a second direction. Specifically, as shown in fig. 4, the bevel gear group includes a vertical bevel gear 8 and a horizontal bevel gear 9 which are engaged with each other, the vertical bevel gear 8 being disposed near the first side plate 212 and being coaxially connected to the fourth gear 7 by a first connecting shaft 27, wherein the first connecting shaft 27 passes through the side wall of the outer tube 5 and the first side plate 212, and the vertical bevel gear 8 and the fourth gear 7 are located inside and outside the side wall, respectively, and are connected by the first connecting shaft 27. In this way, the rotation of the fourth gear 7 can cause the vertical bevel gear 8 to rotate the horizontal bevel gear 9 through the first connecting shaft 27, thereby converting the rotation of the fourth gear 7 in the first direction in the second gear set into the rotation of the horizontal bevel gear 9 in the second direction in the third gear set.
The bevel gear set can drive the third gear set to rotate, and in order to control the rotation of the third gear set to be converted into the linear reciprocating motion of the guide pipe, the third gear set is connected with a conveying wheel set, and the conveying wheel set is used for clamping the guide pipe so as to control the guide pipe to realize reciprocating motion in the linear direction along the first side plate 212 to the second side plate 213 through friction force.
As shown in fig. 4, a second connecting shaft is provided on the output side of the horizontal bevel gear 9, and the horizontal bevel gear 9 is in driving connection with the third gear set through the second connecting shaft.
Further, the third gear set comprises a fifth gear 10 and a seventh gear 12, wherein the fifth gear 10 and the seventh gear 12 are coaxially arranged with the horizontal bevel gear 9 through the second connecting shaft, wherein the seventh gear 12 is arranged close to the horizontal bevel gear 9, the seventh gear 12 is meshed with an eighth gear 13 in a first plane, the eighth gear 13 is meshed with a ninth gear 14 in the first plane, the fifth gear 10 is meshed with a sixth gear 11 in a second plane, such that the seventh gear 12, the eighth gear 13 and the ninth gear 14 are meshed with each other in a plane; the fifth gear 10 and the sixth gear 11 are meshed with each other in another plane.
As described above, the third gear set is connected to the conveying wheel set, the conveying wheel set includes two conveying wheels, and the conduit is sandwiched between the two conveying wheels, where a third connecting shaft is provided on the ninth gear 14; a fourth connecting shaft is arranged on the sixth gear 11, and the ninth gear 14 drives one conveying wheel to rotate through the third connecting shaft and the sixth gear 11 through the fourth connecting shaft respectively.
Specifically, the conveying wheel set includes a first conveying wheel 15 and a second conveying wheel 17, a first wire feeding belt 16 and a second wire feeding belt 18 are respectively sleeved on the first conveying wheel 15 and the second conveying wheel 17, the first wire feeding belt 16 and the second wire feeding belt 18 rotate along with the first conveying wheel 15 and the second conveying wheel 17 respectively, and here, the first wire feeding belt 16 and the second wire feeding belt 18 can be made of materials used for medical equipment, such as polyurethane, silica gel, and the like.
Further, the first conveying wheel 15 is sleeved on the fourth connecting shaft and is coaxially arranged with the sixth gear 11 through the fourth connecting shaft, the second conveying wheel 17 is sleeved on the third connecting shaft and is coaxially arranged with the ninth gear 14 through the third connecting shaft, so that the sixth gear 11 can drive the first conveying wheel 15 to rotate through the fourth connecting shaft, and the ninth gear 14 can drive the second conveying wheel 17 to rotate through the third connecting shaft.
In one embodiment, when the first conveying wheel 15 rotates in a first direction and the second conveying wheel 17 rotates in a second direction, the movement of the guide tube in a straight line from the first side plate 212 to the second side plate 213 of the support frame 21 can be controlled by the movement of the first wire feeding belt 16 and the second wire feeding belt 18; meanwhile, the first conveying wheel 15 rotates according to the third direction, and the second conveying wheel 17 rotates according to the fourth direction, so that the movement of the guide tube in the direction from the second side plate 213 to the first side plate 212 of the supporting frame 21 can be controlled by the movement of the first wire feeding belt 16 and the second wire feeding belt 18.
In order to adjust the gap between the first and second conveying wheels 15, 17 to sandwich the pipes of different sizes, an adjusting device may be further provided on the pipe outer cylinder 5, as shown in fig. 5, the adjusting device including an adjusting knob 20 and a link group, wherein the adjusting knob 20 is provided on the side wall of the pipe outer cylinder 5, the link group is connected with one of the conveying wheels, and the gap between the two conveying wheels is adjusted by rotating the adjusting knob 20 to adjust the position of the conveying wheel group adjacent to the adjusting knob 20 by the link group.
Specifically, a fixing frame is provided on the catheter support plate 23, the fixing frame is connected to the first conveying wheel 15 and is used for fixing the position of the first conveying wheel 15, the linkage group here comprises a first connecting rod 28 and a second connecting rod 29, wherein the adjusting knob 20 is connected with one end of the first connecting rod 28 through an adjusting screw 30, the other end of the first connecting rod 28 is connected with the second conveying wheel 17, two ends of the second connecting rod 29 are respectively connected with the second conveying wheel 17 and the fixing frame, and the first connecting rod 28 and the second connecting rod 29 are moved by rotating the adjusting knob 20 through the displacement of the adjusting screw 30, so that the second conveying wheel 17 close to the adjusting knob 20 integrally approaches to or departs from the first conveying wheel 15, and the gap between the first conveying wheel 15 and the second conveying wheel 17 is adjusted.
In another embodiment, as shown in fig. 6, in order to achieve precise movement control of the catheter, in consideration of the relative arrangement between the first and second delivery wheels 15 and 17, a mounting groove 26 may be provided on the circumference of the first and second wire feeding belts 16 and 18, the mounting groove 26 having a semicircular cross section, such that a circular gap is formed between the mounting grooves 26 on the first and second delivery wheels 15 and 17 so that the catheter is accommodated in and passed through the gap to clamp the catheter between the first and second delivery wheels 15 and 17 and to be able to advance or retract the catheter based on frictional force.
Further, a plurality of mounting grooves 26 of different cross-sectional dimensions may be provided on the circumference of the first and second bands 16, 18, the plurality of mounting grooves 26 of different cross-sectional dimensions being arranged sequentially along the circumference of the first and/or second bands 16, 18 in a sequence that may be related to the dimensions of the mounting grooves 26, where each of the cross-sectional dimensions of the mounting grooves 26 corresponds to a different dimension (e.g., a different diameter) of the conduit such that the conduit of different dimensions may be embedded in the corresponding mounting groove 26.
The mounting grooves 26 of different sizes on the first and second bands 16, 18 are spliced into different spaces, such as spaces a, b, and c, from small to large, so that the different sizes of the guide tubes can be clamped to facilitate motion control for the different sizes of guide tubes.
The motion control device according to the above embodiment can control the catheter to independently realize a rotational motion and a linear reciprocating motion, and specifically includes: on the one hand, the first driving shaft 1 is driven by the catheter rotating motor to drive the first gear 3 to rotate, the second gear 4 is driven by inter-gear transmission to rotate, and the catheter outer cylinder 5 is driven to integrally rotate based on the rotation of the second gear 4, so that the catheter is rotated; on the other hand, the second driving shaft 2 is driven by the catheter pushing motor to rotate the third gear 6, the fourth gear 7 is driven by inter-gear transmission to rotate, the fourth gear 7 is coaxially connected with the vertical bevel gear 8, and further drives the vertical bevel gear 8 to rotate and the horizontal bevel gear 9 meshed with the vertical bevel gear 8 to rotate, the horizontal bevel gear 9 drives the fifth gear 10 and the seventh gear 12 to rotate, wherein the fifth gear 10 drives the sixth gear 11 to rotate, so as to drive the first conveying wheel 15 to rotate, the first wire feeding belt 16 on the first conveying wheel 15 and the first conveying wheel 15 synchronously rotate, the seventh gear 12 drives the ninth gear 14 to rotate by the eighth gear 13 and drives the second conveying wheel 17 to rotate, and the second wire feeding belt 18 on the second conveying wheel 17 and the second conveying wheel 17 synchronously rotate, so as to push the catheter forwards and backwards through the mounting groove 26.
Another embodiment of the present disclosure provides a surgical robot including the motion control device for a catheter of any one of the above claims.
According to the embodiment of the disclosure, the catheters with different specifications can be controlled to realize rotary motion and linear reciprocating motion respectively and independently, the two motions are controlled not to influence each other, and rapid assembly and disassembly can be realized.
Moreover, although operations are depicted in a particular order, this should not be understood as requiring that such operations be performed in the particular order shown or in sequential order. In certain circumstances, multitasking and parallel processing may be advantageous. Likewise, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.
Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are example forms of implementing the claims.
While various embodiments of the present disclosure have been described in detail, the present disclosure is not limited to these specific embodiments, and various modifications and embodiments can be made by those skilled in the art on the basis of the concepts of the present disclosure, which modifications and modifications should fall within the scope of the claims of the present disclosure.
Claims (20)
1. The motion control device for the catheter comprises a first gear set, a second gear set and a conveying wheel set, and is characterized in that a mounting groove is formed in the conveying wheel set to clamp the catheter, wherein the first gear set is used for driving the catheter in the conveying wheel set to rotate, the second gear set is connected with a third gear set through a bevel gear set, and the third gear set is used for driving the catheter in the conveying wheel set to reciprocate along a straight line;
the support frame comprises a first side plate;
the first gear set comprises a first driving shaft, the first driving shaft is connected with the catheter rotating motor, a first gear is sleeved on the first driving shaft, and the first gear is meshed with the second gear;
the second gear set comprises a second driving shaft, the second driving shaft is connected with the catheter propelling motor, a third gear is sleeved on the second driving shaft, and the third gear is meshed with a fourth gear;
the bevel gear group comprises a vertical bevel gear and a horizontal bevel gear which are meshed with each other, and the vertical bevel gear is arranged close to the first side plate and is coaxially connected with the fourth gear through a first connecting shaft; a second connecting shaft is arranged on the output side of the horizontal bevel gear, and the horizontal bevel gear is in transmission connection with the third gear set through the second connecting shaft;
the third gear set comprises a fifth gear and a seventh gear, the fifth gear and the seventh gear are coaxially connected with the horizontal bevel gear through the second connecting shaft, the seventh gear is meshed with an eighth gear in a first plane, the eighth gear is meshed with a ninth gear in the first plane, and the fifth gear is meshed with a sixth gear in a second plane.
2. The motion control device according to claim 1, wherein the support frame further comprises a bottom plate and a second side plate, the first side plate and the second side plate are respectively arranged on two opposite sides of the bottom plate and perpendicular to the bottom plate, the first gear set and the second gear set are arranged on the first side plate, a catheter outer cylinder for controlling the catheter to realize rotary motion is arranged between the first side plate and the second side plate, the catheter outer cylinder is connected with the first gear set, the bevel gear set is arranged in the catheter outer cylinder, one end of the bevel gear set is connected with the second gear set, the other end of the bevel gear set is connected with a third gear set, and the third gear set is in transmission connection with the conveying wheel set.
3. The motion control apparatus of claim 2 wherein a third drive shaft is disposed between said first side plate and said second side plate, said catheter outer barrel being nested with said first gear set on said third drive shaft.
4. The motion control apparatus of claim 2 wherein the catheter outer barrel includes a lower support plate having a surrounding sidewall disposed thereon, a catheter support plate disposed thereon, and a catheter upper cover plate overlying the sidewall.
5. The motion control device of claim 4, wherein a securing means is provided at an edge of the conduit upper cover plate, the conduit upper cover plate being provided on the side wall by the securing means.
6. The motion control device of claim 5, wherein the third gear set is disposed in a space formed between the lower support plate and the conduit support plate.
7. A motion control apparatus as claimed in claim 3, wherein the second gear is connected to the catheter outer barrel via a third drive shaft.
8. The motion control device of claim 7, wherein the first gear and the second gear are disposed inside the first side plate.
9. The motion control device of claim 7, wherein the third gear and the fourth gear are disposed outside of the first side plate.
10. The motion control apparatus according to claim 7, wherein a third connecting shaft is provided on the ninth gear, a fourth connecting shaft is provided on the sixth gear, and the third gear set is connected to the conveying wheel set through the third connecting shaft and the fourth connecting shaft, respectively.
11. The motion control device of claim 4, wherein the conveyor wheel set comprises first and second oppositely disposed conveyor wheels, the conduit being sandwiched between the first and second conveyor wheels.
12. The motion control device of claim 11, wherein a first wire feed belt and a second wire feed belt are respectively sleeved on the first conveying wheel and the second conveying wheel, and the first wire feed belt and the second wire feed belt are used for cooperatively driving the catheter to reciprocate along a straight line.
13. The motion control device of claim 12, wherein the first and second ribbons are made of polyurethane or silicone material.
14. The motion control device of claim 12, further comprising an adjustment device comprising an adjustment knob and a linkage coupled to the second conveyor wheel, the adjustment knob being rotated to adjust a gap between the first conveyor wheel and the second conveyor wheel via the linkage.
15. The motion control device of claim 14, wherein the adjustment knob is disposed on the sidewall of the catheter outer barrel.
16. The motion control device of claim 14, further comprising a mount coupled to the first conveyor wheel and configured to fix a position of the first conveyor wheel, the linkage being disposed between the mount and the adjustment knob to adjust a position of the second conveyor wheel.
17. The motion control apparatus of claim 16, wherein the linkage includes a first link and a second link, the adjustment knob is connected to one end of the first link by an adjustment screw, the other end of the first link is connected to the second conveyor wheel, and both ends of the second link are connected to the second conveyor wheel and the fixing frame, respectively.
18. The motion control device of claim 13, wherein the mounting groove is provided in the first and second wire feeding belts, the mounting groove having a semicircular cross section.
19. The motion control apparatus of claim 18 wherein a plurality of said mounting slots of different cross-sectional dimensions are provided in said first and second bands, said plurality of mounting slots of different cross-sectional dimensions being arranged in a sequential order.
20. A surgical robot comprising a motion control device according to any one of claims 1 to 19.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210171882.2A CN114521969B (en) | 2022-02-24 | 2022-02-24 | Motion control device for catheter and surgical robot |
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| CN108514448B (en) * | 2017-12-14 | 2020-02-07 | 深圳先进技术研究院 | Guide wire and catheter control device of vascular intervention surgical robot |
| CN113633383B (en) * | 2021-07-28 | 2023-03-21 | 上海卓昕医疗科技有限公司 | Guide wire/catheter delivery device for vascular intervention, use method thereof and vascular intervention surgical robot |
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