CN114699172A - Tube and wire driving device of vascular intervention surgical robot - Google Patents
Tube and wire driving device of vascular intervention surgical robot Download PDFInfo
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- CN114699172A CN114699172A CN202210481865.9A CN202210481865A CN114699172A CN 114699172 A CN114699172 A CN 114699172A CN 202210481865 A CN202210481865 A CN 202210481865A CN 114699172 A CN114699172 A CN 114699172A
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- 230000002792 vascular Effects 0.000 title claims abstract description 27
- 230000005540 biological transmission Effects 0.000 claims abstract description 74
- 230000007246 mechanism Effects 0.000 claims abstract description 68
- 230000033001 locomotion Effects 0.000 claims abstract description 66
- 238000002955 isolation Methods 0.000 claims abstract description 17
- 239000007788 liquid Substances 0.000 claims description 11
- 239000000463 material Substances 0.000 claims description 10
- 210000004204 blood vessel Anatomy 0.000 claims description 7
- 238000001356 surgical procedure Methods 0.000 claims description 7
- 238000013152 interventional procedure Methods 0.000 claims 2
- 239000012530 fluid Substances 0.000 claims 1
- 238000000034 method Methods 0.000 description 10
- 230000008569 process Effects 0.000 description 7
- 241000252185 Cobitidae Species 0.000 description 2
- 230000009471 action Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- HTTJABKRGRZYRN-UHFFFAOYSA-N Heparin Chemical compound OC1C(NC(=O)C)C(O)OC(COS(O)(=O)=O)C1OC1C(OS(O)(=O)=O)C(O)C(OC2C(C(OS(O)(=O)=O)C(OC3C(C(O)C(O)C(O3)C(O)=O)OS(O)(=O)=O)C(CO)O2)NS(O)(=O)=O)C(C(O)=O)O1 HTTJABKRGRZYRN-UHFFFAOYSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 229960002897 heparin Drugs 0.000 description 1
- 229920000669 heparin Polymers 0.000 description 1
- 230000036512 infertility Effects 0.000 description 1
- 238000009413 insulation Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000002601 radiography Methods 0.000 description 1
- 230000000452 restraining effect Effects 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
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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
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/0105—Steering means as part of the catheter or advancing means; Markers for positioning
- A61M25/0116—Steering means as part of the catheter or advancing means; Markers for positioning self-propelled, e.g. autonomous robots
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
- A61M25/00—Catheters; Hollow probes
- A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
- A61M25/09—Guide wires
- A61M25/09041—Mechanisms for insertion of guide wires
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/06—Means for converting reciprocating motion into rotary motion or vice versa
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K7/00—Arrangements for handling mechanical energy structurally associated with dynamo-electric machines, e.g. structural association with mechanical driving motors or auxiliary dynamo-electric machines
- H02K7/10—Structural association with clutches, brakes, gears, pulleys or mechanical starters
- H02K7/116—Structural association with clutches, brakes, gears, pulleys or mechanical starters with gears
-
- 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
-
- 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
- A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
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- Health & Medical Sciences (AREA)
- Engineering & Computer Science (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Health & Medical Sciences (AREA)
- Power Engineering (AREA)
- Veterinary Medicine (AREA)
- Biomedical Technology (AREA)
- Heart & Thoracic Surgery (AREA)
- Public Health (AREA)
- Animal Behavior & Ethology (AREA)
- Anesthesiology (AREA)
- Hematology (AREA)
- Pulmonology (AREA)
- Robotics (AREA)
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- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
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Abstract
The invention relates to a tube and wire driving device of a vascular intervention surgical robot, and relates to the technical field of medical instruments. The device comprises a guide wire driving device and a catheter driving device, wherein the guide wire driving device comprises a sterile isolation shell, a loading supporting mechanism, a rotary motion mechanism and a linear motion mechanism; the loading support mechanism, the rotary motion mechanism and the linear motion mechanism are all arranged in the sterile isolation shell; the linear running mechanism comprises a linear driving device, a transmission device and a long straight consumable driving wheel set, wherein one end of the transmission device, which is positioned outside the loading support mechanism, is in transmission connection with the linear driving device, one end of the transmission device, which is positioned inside the loading support mechanism, is in transmission connection with the long straight consumable driving wheel set, and the long straight consumable driving wheel set; the rotary motion mechanism is arranged at one end of the loading support mechanism far away from the linear driving device. The invention can complete the long-distance cooperative delivery of the catheter and the guide wire; the operability, the safety and the usability of the minimally invasive vascular interventional operation under the assistance of the robot are improved.
Description
Technical Field
The invention relates to the technical field of medical instruments, in particular to a tube and wire driving device of a vascular intervention surgical robot.
Background
In the field of the existing interventional operation robot, linear motion and rotary motion are mostly separately driven and controlled in the driving process of long and straight consumables (including but not limited to catheters, guide wires, balloons, brackets and the like) in the existing scheme, and in practical application, the problems that the long and straight consumables are inconvenient to install and are difficult to control exist.
How to provide a tube and wire driving device of a vascular intervention operation robot becomes a technical problem which needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
The invention mainly aims to provide a tube and wire driving device of a vascular intervention surgical robot, so as to solve the problems.
In order to achieve the above object, the present invention provides a tube and wire driving device of a vascular intervention surgical robot, which is characterized by comprising a guide wire driving device and a catheter driving device, wherein the catheter driving device is connected to one side of the guide wire driving device, and the guide wire driving device comprises a sterile isolation shell, a loading supporting mechanism, a rotary motion mechanism and a linear motion mechanism; wherein the loading support mechanism, the rotary motion mechanism and the linear motion mechanism are all installed inside the sterile isolation shell;
the linear running mechanism comprises a linear driving device, a transmission device and a long straight consumable driving wheel set, wherein one end of the transmission device, which is positioned outside the loading support mechanism, is in transmission connection with the linear driving device, one end of the transmission device, which is positioned inside the loading support mechanism, is in transmission connection with the long straight consumable driving wheel set, and the long straight consumable driving wheel set is used for clamping long straight consumables; the rotary motion mechanism is arranged at one end of the loading support mechanism far away from the linear driving device. The rotatory side gear wheel has long and thin opening, and the effect is for the convenience of long and straight consumptive material place and retrieve.
Further, the aseptic isolation shell comprises a shell base and a shell upper cover, wherein the shell base is connected with the shell upper cover.
Furthermore, the shell base is connected with the shell upper cover through a locking device.
Furthermore, two V-shaped grooves are formed in the shell base and the shell upper cover, and guide and support are provided for the integral rotation of the guide wire driving device.
Furthermore, the rotary motion mechanism comprises a rotary driving device and a rotary driven device, and the rotary driven device is fixedly installed at one end of the loading support mechanism and is in transmission connection with the rotary driving device.
Furthermore, the rotary supporting wheel device is matched with the V-shaped groove to realize the shaftless centering function.
Furthermore, the rotary motion mechanism further comprises a rotary supporting wheel device, and the shell base and the shell upper cover are both provided with the rotary supporting wheel device. The structural mode that four rotary supporting wheels rotate around the V-shaped groove of the shell on the same plane is adopted, and the problem of open-loop rotation is effectively solved.
Furthermore, the transmission device comprises a driving transfer wheel, a support wheel, a first driving transfer wheel, a second driving transfer wheel and a third driving transfer wheel, wherein the driving transfer wheel is provided with external teeth and internal teeth, and the external teeth of the driving transfer wheel are in transmission connection with the linear driving device; the supporting wheel and the first drive transmission wheel are both arranged in the first drive transfer wheel and are both meshed with the first drive transfer wheel; the driving transmission wheel II is connected with the driving transmission wheel I, the driving transmission wheel III is meshed with the driving transmission wheel II, the bottom end of the driving transmission wheel III is coaxially provided with a driving transmission wheel IV, and the driving transmission wheel IV is in transmission connection with the long straight consumable driving wheel set.
Furthermore, the supporting wheels are provided with two, and the two supporting wheels and the first driving transfer wheel are uniformly distributed for 120 degrees and provide support for the rotation of the driving transfer wheel.
Furthermore, the long direct consumable driving wheel set comprises a fixed power wheel, a moving power wheel, a driving rotating wheel and a driven rotating wheel; the two driving rotating wheels and the two driven rotating wheels are arranged, the two driving rotating wheels are arranged on two sides of the long straight consumable material, the two driven rotating wheels are arranged on two sides of the long straight consumable material, and the driving rotating wheels are attached to the driven rotating wheels; the fixed power wheel and the moving power wheel are respectively arranged at the bottom ends of the two driving rotating wheels, and the fixed power wheel is respectively meshed with the driving transmission wheel IV and the moving power wheel.
Furthermore, the loading support mechanism comprises a fixed loading support part and a floating loading support part; the fixed loading supporting part and the moving loading supporting part are positioned on two sides of the long straight consumable.
Further, the fixed loading support part comprises a fixed loading support upper cover plate, a fixed loading support body and a fixed loading support baffle plate, wherein the fixed loading support upper cover plate is arranged on the loading support body and used for clamping and fixing the driving rotating wheel and the driven rotating wheel on one side of the long straight consumable material; the fixed loading support body is connected with and supports the transmission device; the fixed loading support baffle is mounted on the loading support body and used for limiting the floating loading support part.
Furthermore, the moving loading supporting part comprises a moving loading supporting upper cover plate and a moving support, one end of the moving support is connected with the fixed loading supporting baffle, the other end of the moving support is connected with the moving loading supporting upper cover plate, and the moving loading supporting upper cover plate is used for clamping and fixing a driving rotating wheel and a driven rotating wheel on the other side of the long straight consumable material.
Furthermore, the liquid inlet device also comprises a one-way circulation valve, wherein the one-way circulation valve is arranged inside the catheter driving device and is used for communicating the guide wire and the catheter and connecting the guide wire and the liquid inlet device.
Furthermore, the one-way circulation valve comprises a Y valve main pipe and a Y valve branch pipe, the Y valve main pipe is communicated with the Y valve branch pipe, the Y valve main pipe is used for communicating a guide wire and a guide pipe, and the Y valve branch pipe is used for being connected with liquid inlet equipment; and the Y valve branch pipe is provided with a three-way valve.
Furthermore, the one-way circulation valve is arranged in the catheter driving device and is communicated with the guide wire and the catheter, the guide wire and the catheter are respectively driven by the guide wire driving device and the catheter driving device, and after the guide wire and the catheter extend into a target position of a blood vessel, medical personnel inject liquid into the catheter through the Y-valve branch pipe.
Further, pipe drive arrangement includes pipe drive support, the rotatory drive wheel of pipe and pipe rotation from the driving wheel, pipe drive support mounting is in the one side of aseptic isolated shell, the rotatory drive wheel of pipe rotates and installs on pipe drive support, the pipe is rotatory to be established from the driving wheel cover on the Y valve is responsible for, and with the output transmission of the rotatory drive wheel of pipe is connected.
Further, the conduit rotating driving wheel comprises a pair of external gear sets, and the output ends of the external gear sets are meshed with the conduit rotating driven wheel.
Further, the motion modes of the long straight consumable are divided into three modes of independent linear motion, independent rotary motion and linear and rotary simultaneous motion; the rotating speed V of the linear driving device is not zero, and the rotating speed V of the rotary driving device is zero, so that the linear driving device is in a single linear motion mode; when the rotating speed V of the linear driving device is equal to the rotating speed V of the rotary driving device, the linear driving device is in an independent rotating motion mode; when the rotating speed V of the linear driving device is not zero, the rotating speed V of the rotary driving device is not zero, and V is not equal to V, the linear and rotary simultaneous movement mode is adopted.
The invention has the beneficial effects that:
according to the invention, the linear and rotary motions of the long and straight consumable are driven and controlled in a centralized manner, the clamping process of the long and straight consumable is simplified through reasonable structural design, and the operations such as quick replacement of the long and straight consumable can be realized; the operability, safety and usability of the minimally invasive vascular interventional operation under the robot-assisted state are further enhanced; and the long-distance cooperative delivery of the catheter and the guide wire is completed through integrated design, so that the operability, safety and usability of the robot-assisted minimally invasive vascular interventional operation are further improved.
Drawings
FIG. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a rear view of fig. 1.
Fig. 3 is a left side view of fig. 1.
Fig. 4 is a schematic view of the open state of the sterile barrier enclosure of the present invention.
Fig. 5 is a schematic view of the structure of the sterile barrier enclosure of the present invention.
Fig. 6 is an internal structure of the sterility containment enclosure of the present invention.
Fig. 7 is a schematic structural view of the linear motion mechanism of the present invention.
Fig. 8 is a bottom view of fig. 7.
Fig. 9 is a schematic structural view of the loading support mechanism of the present invention.
Fig. 10 is a schematic diagram of the application of the present invention.
Wherein, 1, guide wire; 2. a conduit; 3. a one-way flow valve; 3-1.Y valve main pipe; 3-2.Y valve branch pipe; 4. a sterile insulated enclosure; 4-1, a housing base; 4-2, covering the shell; 4-3. a locking device; 5. a rotational movement mechanism; 5-1, a rotation driving device; 5-2, rotating the driven device; 5-3, rotating the supporting wheel device; 6. a linear motion mechanism; 6-1, a linear driving device; 6-2, driving the transfer wheel; 6-3, driving a first transmission wheel; 6-4, supporting wheels; 6-5, driving a second transmission wheel; 6-6, driving a third transmission wheel; 6-7, driving a transmission wheel IV; 6-8, fixing a power wheel; 6-9. driving rotating wheel; 6-10, a traveling power wheel; 6-11, driven rotating wheel; 7. a loading support mechanism; 7-1, fixing the loading support body; 7-2, fixing the upper cover plate of the loading support; 7-3, moving, loading and supporting the upper cover plate; 7-4, moving the bracket; 7-5, fixing a loading support baffle; 8. a catheter drive device; 8-1, driving the bracket by the catheter; 8-2, rotating the driving wheel by the guide pipe; 8-3, the guide pipe rotates the driven wheel.
Detailed Description
To achieve the above objects and advantages, the present invention provides a technical means and a structure thereof, which are described in detail with reference to the accompanying drawings.
As shown in fig. 1-10, the present invention provides a tube and wire driving device of a vascular intervention surgical robot, comprising a guide wire driving device and a catheter driving device 8, wherein the catheter driving device 8 is installed at one side of the guide wire driving device, and the guide wire driving device comprises a sterile isolation housing 4, a loading supporting mechanism 7, a rotary motion mechanism 5 and a linear motion mechanism 6; wherein the loading support mechanism 7, the rotary motion mechanism 5 and the linear motion mechanism 6 are all installed inside the sterile isolation housing 4;
the linear running mechanism 6 comprises a linear driving device 6-1, a transmission device and a long straight consumable driving wheel set, wherein one end of the transmission device, which is positioned outside the loading support mechanism 7, is in transmission connection with the linear driving device 6-1, one end of the transmission device, which is positioned inside the loading support mechanism 7, is in transmission connection with the long straight consumable driving wheel set, and the long straight consumable driving wheel set is used for clamping long straight consumables; the rotary motion mechanism 5 is installed at one end of the loading support mechanism 7 far away from the linear driving device 6-1. The linear driving device 6-1 is responsible for transmitting the rotational driving force of the motor. The long straight consumptive material is the seal wire in this embodiment, including loach seal wire, sacculus, support, little seal wire etc..
The transmission device comprises a driving transfer wheel 6-2, a support wheel 6-4, a driving transfer wheel I6-3, a driving transfer wheel II 6-5 and a driving transfer wheel III 6-6, wherein the driving transfer wheel 6-2 is provided with external teeth and internal teeth, and the external teeth of the driving transfer wheel 6-2 are in transmission connection with the linear driving device 6-1; the supporting wheel 6-4 and the first drive transmission wheel 6-3 are both arranged in the drive transfer wheel 6-2 and are both meshed with the drive transfer wheel 6-2; the second driving transfer wheel 6-5 is connected with the first driving transfer wheel 6-3, the third driving transfer wheel 6-6 is meshed with the second driving transfer wheel 6-5, the bottom end of the third driving transfer wheel 6-6 is coaxially provided with a fourth driving transfer wheel 6-7, and the fourth driving transfer wheel 6-7 is in transmission connection with the long straight consumable driving wheel set. The two supporting wheels 6-4 are uniformly distributed at 120 degrees with the first driving transfer wheel 6-3, and support is provided for the rotation of the first driving transfer wheel 6-2.
The long direct consumable driving wheel set comprises a fixed power wheel 6-8, a moving power wheel 6-10, a driving rotating wheel 6-9 and a driven rotating wheel 6-11; the two driving rotating wheels 6-9 and the two driven rotating wheels 6-11 are arranged, the two driving rotating wheels 6-9 are arranged on two sides of the long straight consumable, the two driven rotating wheels 6-11 are arranged on two sides of the long straight consumable, and the driving rotating wheels 6-9 are attached to the driven rotating wheels 6-11; the fixed power wheels 6-8 and the moving power wheels 6-10 are respectively arranged at the bottom ends of the two driving rotating wheels 6-9, and the fixed power wheels 6-8 are respectively meshed with the driving transmission wheels 6-7 and the moving power wheels 6-10.
The linear driving device 6-1 drives the transfer wheel 6-2 to rotate, and further drives the supporting wheel 6-4 and the transmission wheel to rotate by driving the gear in the transfer wheel 6-2, wherein the supporting wheel 6-4 is only used for providing rotary support for the transfer wheel 6-2; the power is transmitted to a driving rotating wheel 6-9 connected with a fixed power wheel 6-8 and a moving power wheel 6-10 through the power transmission of a driving transmission wheel I6-3, a driving transmission wheel II 6-5 and a driving transmission wheel III 6-6, the driving rotating wheel 6-9 and a driven rotating wheel 6-11 are connected through flexible devices (not shown) which are wound on the outer sides of the driving rotating wheel and the driven rotating wheel and have synchronous rotating functions, and the functions of clamping and driving the long and straight consumable materials are completed through the external connection and matching of the two groups of flexible devices. The linear motion of the long straight consumable in different directions is realized by the rotation of the linear driving device 6-1 in different directions.
The sterile isolation shell 4 comprises a shell base 4-1 and a shell upper cover 4-2, wherein the shell base 4-1 is connected with the shell upper cover 4-2 through a locking device 4-3, and the locking device 4-3 is used for opening and locking the shell upper cover 4-2. The sterile insulation enclosure 4 is responsible for protecting and supporting the internal structures and connecting the robot drive means. The shell base 4-1 is provided with a connecting column which is used for connecting a driving device of the shell robot body. Two V-shaped grooves are arranged in the shell base 4-1 and the shell upper cover 4-2, and provide track guidance and support for the integral rotation of the guide wire driving device.
The rotary motion mechanism 5 comprises a rotary driving device 5-1 and a rotary driven device 5-2, and the rotary driven device 5-2 is fixedly arranged at one end of the loading supporting mechanism 7 and is in transmission connection with the rotary driving device 5-1. The rotation driving device 5-1 is responsible for transmitting the rotational driving force of the motor. The rotary motion mechanism 5 also comprises a rotary supporting wheel 6-4 device 5-3, and the rotary supporting wheel 6-4 device 5-3 is arranged on the shell base 4-1 and the shell upper cover 4-2. The rotary driven device 5-2 of the rotary motion mechanism 5 rotates along the V-shaped groove of the sterile isolation shell 4 under the driving of the rotary driving device 5-1 and the supporting and guiding conditions of the rotary supporting wheel 6-4 device 5-3, so that the shaftless centering function is realized, and further the rotation of the long and straight consumable is realized.
The loading support mechanism 7 comprises a fixed loading support part and a floating loading support part; the fixed loading supporting part and the moving loading supporting part are positioned on two sides of the long straight consumable. The fixed loading support part comprises a fixed loading support upper cover plate 7-2, a fixed loading support body 7-1 and a fixed loading support baffle 7-5, and the fixed loading support upper cover plate 7-2 is arranged on the loading support body and used for clamping and fixing a driving rotating wheel 6-9 and a driven rotating wheel 6-11 on one side of the long and straight consumable; the fixed loading support body 7-1 is connected with and supports the transmission device; the fixed load support baffle 7-5 is mounted on the load support body for restraining the travelling load support. The movable loading supporting part comprises a movable loading supporting upper cover plate 7-3 and a movable support 7-4, one end of the movable support 7-4 is connected with the fixed loading supporting baffle 7-5, the other end of the movable support is connected with the movable loading supporting upper cover plate 7-3, and the movable loading supporting upper cover plate 7-3 is used for clamping and fixing a driving rotating wheel 6-9 and a driven rotating wheel 6-11 on the other side of the long and straight consumable. The rubber pad is sleeved outside the driven rotating wheel 6-11 and can move transversely along with the moving support 7-4, so that the clamping and the loosening of the guide wire are realized.
The fixed loading support upper cover plate 7-2 is arranged on the loading support body and used for clamping and fixing the driving wheel; the fixed loading support body 7-1 is connected with and supports each part structure in the linear motion mechanism 6; the fixed loading support baffle 7-5 is arranged on the loading support body and used for limiting the floating loading support part; the upper cover plate 7-3 of the floating loading support: the movable loading support body is arranged on the movable loading support body and is used for clamping and fixing the driving rotating wheel 6-9 and the driven rotating wheel 6-11; the movable loading support body is used for connecting and supporting and fixing the driving rotating wheels 6-9 and the driven rotating wheels 6-11; and the floating support part can move transversely in a small range in the fixed loading support part.
The invention also comprises a one-way flow valve 3, wherein the one-way flow valve 3 is arranged inside the catheter driving device 8, and the one-way flow valve 3 is used for communicating the guide wire and the catheter and is used for being connected with a liquid inlet device. The one-way circulation valve 3 comprises a Y valve main pipe 3-1 and a Y valve branch pipe 3-2, the Y valve main pipe 3-1 is communicated with the Y valve branch pipe 3-2, the Y valve main pipe 3-1 is used for communicating a guide wire and a guide pipe, and the Y valve branch pipe 3-2 is used for being connected with liquid inlet equipment and is responsible for being connected with liquid such as heparin, a high-pressure injector and the like; and a three-way valve is arranged on the Y-valve branch pipe 3-2. The one-way flow valve 3 adopts a full-automatic blood vessel intervention one-way flow valve in patent number 202210303842.9.
The invention installs the unidirectional flow valve 3 in the catheter driving device, communicates the guide wire and the catheter, drives the guide wire and the catheter respectively through the guide wire driving device and the catheter driving device, and after the guide wire and the catheter extend to the target position of the blood vessel, the medical staff injects liquid into the catheter through the Y valve branch pipe. The one-way circulation valve 3 is transversely installed, so that medical personnel can operate conveniently, and the popularization is strong.
The catheter driving device 8 comprises a catheter driving support 8-1, a catheter rotation driving wheel 8-2 and a catheter rotation driven wheel 8-3, the catheter driving support 8-1 is installed on one side of the sterile isolation shell 4, the catheter rotation driving wheel 8-2 is installed on the catheter driving support 8-1 in a rotating mode, and the catheter rotation driven wheel 8-3 is sleeved on the Y valve main pipe 3-1 and is in transmission connection with the output end of the catheter rotation driving wheel 8-2. The conduit rotary driving wheel 8-2 comprises a pair of external gear sets, and the output ends of the external gear sets are meshed with the conduit rotary driven wheel 8-3. The catheter includes a support catheter, an intermediate catheter, a microcatheter, and the like.
The motion modes of the long and straight consumable materials are divided into three modes of independent linear motion, independent rotary motion and linear and rotary simultaneous motion; the rotating speed V of the linear driving device 6-1 is not zero, and the rotating speed V of the rotary driving device 5-1 is zero, so that the linear driving device is in a single linear motion mode; when the rotating speed V of the linear driving device 6-1 is equal to the rotating speed V of the rotary driving device 5-1, the single rotary motion mode is adopted; the rotation speed V of the linear driving device 6-1 is not zero, the rotation speed V of the rotary driving device 5-1 is not zero, and when V is not equal to V, the linear and rotary simultaneous movement mode is adopted.
The motor control operation relationship is shown in table 1:
TABLE 1
The loading support mechanism 7 is fixedly connected with a rotary driven device 5-2 of the rotary motion mechanism 5, rotates along a fixed groove of the sterile isolation shell 4 under the driving of the rotary driving device 5-1 and the supporting and guiding conditions of the rotary support wheel 6-4 device 5-3, is in transmission connection with the guide wire driving device, is in transmission connection with the catheter driving device, and completes the integrated control of linear motion and rotary motion of the long and straight consumable through the differential matching and compensation mechanism of the first motor and the second motor.
According to the invention, the linear motion and the rotary motion of the long straight consumable are driven and controlled in a centralized manner, so that the cooperative control of the linear motion and the rotary motion of the long straight consumable is realized, through reasonable structural design, the clamping process of the long straight consumable, the side-mounted sterile isolation, the quick-change structure and the distance-adjustable device are simplified, the quick-change operation of the long straight consumable can be realized, and the quick-change operation of the long straight consumable can be realized; and the long-distance cooperative delivery of the catheter and the guide wire is completed through an integrated design, so that the operability, safety and usability of the robot-assisted minimally invasive vascular interventional operation are further improved. The catheter can independently advance, retreat and rotate; the guide wire can also be independently advanced, withdrawn and rotated; in addition, the catheter and the guide wire can also advance, retreat and rotate in a coordinated manner. In the robot-assisted minimally invasive vascular interventional surgery, a long-distance cooperative delivery mechanism of a catheter (including but not limited to a support catheter, an intermediate catheter, a micro-catheter and the like) and a guide wire (including but not limited to a loach guide wire, a balloon, a stent, a micro-guide wire and the like) effectively solves the technical problem that the catheter and the guide wire are delivered in a long distance and cooperatively operated to enter a target blood vessel to reach a target position through a catheter driving device, a guide wire driving device and a corresponding control method.
According to the invention, through the corresponding cooperative control method of the guide wire driving device and the catheter driving device 8, the long-distance cooperative delivery of the catheter and the guide wire in the minimally invasive vascular interventional operation under the assistance of a robot is effectively solved: performing tube filament cooperative control in the processes of super-selecting, mountain-turning and target blood vessel; the cooperative operation of the catheter and the guide wire in the process of treatment operations such as radiography, balloon release, stent release and the like. Meanwhile, through structural optimization, a scheme of transversely clamping the Y valve is creatively provided, and the scheme effectively solves the problem that in the actual operation process, a doctor manually pushes liquid and the associated liquid inlet is not matched.
The working process of the invention is as follows:
s1, a guide wire penetrates through the inside of the catheter connected with the one-way flow valve 3 and the accessory to form a common interventional operation kit;
s2: the one-way circulation valve 3 is transversely clamped on a groove of a catheter driving bracket 8-1 of the catheter driving device 8, and a locking device 4-3 of the sterile isolation shell 4 is opened to turn over an upper cover 4-2 of the shell;
s3: a movable loading support upper cover plate 7-3 in the loading support mechanism 7 is pinched to a driven rotating wheel 6-11 connected with the movable loading support upper cover plate 7-3 by hands to be separated from a driving rotating wheel 6-9, so as to form a slot;
s4: the guide wire is placed at the bottom of the grooves of the two gears along the side openings of the rotary driven device 5-2 and the driving transfer wheel 6-2;
s5: loosening the upper cover plate 7-3 of the movable loading support to enable the driven rotating wheel 6-11 to be meshed with the driving rotating wheel 6-9, and further clamping the guide wire; and finishing the clamping action of the pipe thread.
S6: the whole device is arranged on the side edge of the robot body, so that the device is connected with the robot body and is connected with a driving device of the gear;
s7: the guide wire independently advances, retreats and rotates under the driving of a motor in the robot body, the catheter independently advances, retreats and rotates, and the catheter and the guide wire cooperatively advance, retreat and rotate. The method comprises the following steps:
firstly, the catheter is independently advanced and retreated: the whole module moves forward and backward under the driving of the linear motion device of the robot body, so as to drive the catheter connected with the whole module to move forward and backward, and the motor of the guide wire control device performs motion compensation while the catheter independently moves forward and backward, so that the position of the guide wire is ensured to be fixed when the catheter moves forward;
rotating the guide pipe: the catheter driving motor drives the catheter rotation driving wheel 8-2 to rotate so as to drive the catheter rotation driven wheel 8-3 which is meshed with the outside to rotate, the catheter rotation driven wheel 8-3 is a hollow device and is sleeved with a rotatable luer connector at the head end of the one-way flow valve 3 so as to rotate the luer connector, the luer connector is connected with the catheter through luer threads, and the rotation of the catheter is realized through the rotation of the luer connector;
independent advance and retreat of guide wires: the linear driving device 6-1 is driven by the first motor, the rotation of the first motor is finally transmitted to the clamping transmission of the driving rotating wheel 6-9 and the driven rotating wheel 6-11 through a series of gear transmissions, and the forward and backward movement of the guide wire is realized through the friction between the rotating wheels and the guide wire;
fourthly, rotating the guide wire: the first motor in transmission connection with the linear driving device 6-1 and the second motor in transmission connection with the rotary driving device 5-1 synchronously rotate to further drive the rotary driven device 5-2 and the driving transfer wheel 6-2 which are respectively connected, so that the rotation of the whole guide wire driving device is realized, and the guide wire is rotated through the rotation of the whole guide wire driving device because the guide wire, the driven rotating wheel 6-11 and the driving rotating wheel 6-9 are in a clamping state;
the catheter and the guide wire advance, retreat and rotate cooperatively.
S8, the coordinated action of the catheter and the guide wire is completed through the control and real-time adjustment of different operation conditions of the tube wire, and the purpose that the relevant instruments reach the target blood vessel and the target position is finally achieved.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the technical scope of the present invention, so that any minor modifications, equivalent changes and modifications made to the above embodiment according to the technical spirit of the present invention are within the technical scope of the present invention.
Claims (19)
1. A tube and wire driving device of a vascular intervention surgical robot is characterized by comprising a guide wire driving device and a catheter driving device, wherein the catheter driving device is connected to one side of the guide wire driving device, and the guide wire driving device comprises a sterile isolation shell, a loading supporting mechanism, a rotary motion mechanism and a linear motion mechanism; the loading support mechanism, the rotary motion mechanism and the linear motion mechanism are all arranged in the sterile isolation shell;
the linear running mechanism comprises a linear driving device, a transmission device and a long straight consumable driving wheel set, wherein one end of the transmission device, which is positioned outside the loading support mechanism, is in transmission connection with the linear driving device, one end of the transmission device, which is positioned inside the loading support mechanism, is in transmission connection with the long straight consumable driving wheel set, and the long straight consumable driving wheel set is used for clamping long straight consumables; the rotary motion mechanism is arranged at one end of the loading support mechanism far away from the linear driving device.
2. The tube and wire driving device of a vascular interventional surgical robot as set forth in claim 1, wherein the sterile isolation enclosure comprises two parts, a housing base and a housing cover, the housing base being connected to the housing cover.
3. The tube and wire driving device of a robot for vascular interventional procedures as set forth in claim 2, wherein the housing base and the housing upper cover are connected by a locking device.
4. The tube and wire driving device of claim 3, wherein the base and the top cover of the housing have two V-shaped grooves for guiding and supporting the rotation of the guide wire driving device.
5. The tube and wire driving device of claim 4, wherein the rotary motion mechanism comprises a rotary driving device and a rotary driven device, and the rotary driven device is fixedly installed at one end of the loading supporting mechanism and is in transmission connection with the rotary driving device.
6. The tube and wire driving device of a robot for vascular interventional surgery according to claim 5, wherein the rotational movement mechanism further comprises a rotational support wheel device, and the rotational support wheel device is mounted on both the housing base and the housing upper cover.
7. The tube and wire driving device of claim 6, wherein the rotating supporting wheel device is matched with the V-shaped groove to realize a shaftless centering function.
8. The tube and wire driving device of claim 1, wherein the transmission device comprises a driving transfer wheel, a support wheel, a first driving transfer wheel, a second driving transfer wheel and a third driving transfer wheel, the driving transfer wheel is provided with external teeth and internal teeth, and the external teeth of the driving transfer wheel are in transmission connection with the linear driving device; the supporting wheel and the first drive transmission wheel are both arranged in the first drive transfer wheel and are both meshed with the first drive transfer wheel; the driving transmission wheel II is connected with the driving transmission wheel I, the driving transmission wheel III is meshed with the driving transmission wheel II, the bottom end of the driving transmission wheel III is coaxially provided with a driving transmission wheel IV, and the driving transmission wheel IV is in transmission connection with the long straight consumable driving wheel set.
9. The tube and wire driving device of a robot for vascular interventional surgery according to claim 8, wherein two supporting wheels are provided, and the two supporting wheels are uniformly distributed at 120 degrees with the first driving transmission wheel to provide support for the rotation of the driving switching wheel.
10. The tube and wire driving device of a robot for vascular interventional surgery according to claim 8, wherein the long and straight consumable driving wheel set comprises a fixed power wheel, a moving power wheel, a driving rotating wheel and a driven rotating wheel; the two driving rotating wheels and the two driven rotating wheels are arranged, the two driving rotating wheels are arranged on two sides of the long straight consumable material, the two driven rotating wheels are arranged on two sides of the long straight consumable material, and the driving rotating wheels are attached to the driven rotating wheels; the fixed power wheel and the moving power wheel are respectively arranged at the bottom ends of the two driving rotating wheels, and the fixed power wheel is respectively meshed with the driving transmission wheel IV and the moving power wheel.
11. The tube and wire driving device of a robot for vascular interventional surgery according to claim 10, wherein the loading support mechanism comprises two parts of a fixed loading support and a floating loading support; the fixed loading supporting part and the moving loading supporting part are positioned on two sides of the long straight consumable.
12. The tube and wire driving device of a robot for vascular intervention surgery according to claim 11, wherein the fixed loading support part comprises a fixed loading support upper cover plate, a fixed loading support body and a fixed loading support baffle plate, the fixed loading support upper cover plate is mounted on the loading support body and is used for clamping and fixing the driving rotating wheel and the driven rotating wheel on one side of the long straight consumables; the fixed loading support body is connected with a support transmission device; the fixed loading support baffle is arranged on the loading support body and used for limiting the floating loading support part.
13. The tube and wire driving device of claim 12, wherein the movable loading support comprises a movable loading support upper cover plate and a movable support, one end of the movable support is connected to the fixed loading support baffle, the other end of the movable support is connected to the movable loading support upper cover plate, and the movable loading support upper cover plate is used for clamping and fixing the driving wheel and the driven wheel on the other side of the long and straight consumable.
14. The tube and wire driving device of claim 1, further comprising a one-way flow valve installed inside the catheter driving device, wherein the one-way flow valve is used for communicating the guide wire and the catheter and connecting with an inlet device.
15. The tube and wire driving device of a vascular interventional surgical robot as set forth in claim 14, wherein the one-way flow valve comprises a main Y-valve tube and a branch Y-valve tube, the main Y-valve tube is connected to the branch Y-valve tube, the main Y-valve tube is used for connecting a guide wire and a guide tube, and the branch Y-valve tube is used for connecting to a fluid inlet device; and the Y valve branch pipe is provided with a three-way valve.
16. A tube and wire driving device for a robot used in vascular intervention operations according to claim 15, wherein a unidirectional flow valve is installed inside the catheter driving device to communicate with the guide wire and the catheter, the guide wire and the catheter are driven by the guide wire driving device and the catheter driving device, respectively, and after reaching the target position of the blood vessel, the medical staff injects the liquid into the catheter through the Y-valve branch tube.
17. A tube and wire driving device for a robot used in vascular interventional procedures as defined in claim 15, wherein the catheter driving device comprises a catheter driving bracket, a catheter rotating driving wheel and a catheter rotating driven wheel, the catheter driving bracket is installed at one side of the sterile isolation housing, the catheter rotating driving wheel is rotatably installed on the catheter driving bracket, and the catheter rotating driven wheel is sleeved on the Y-valve main tube and is in transmission connection with the output end of the catheter rotating driving wheel.
18. A tube and wire driving device for a vascular interventional surgical robot as set forth in claim 17, wherein the catheter rotation driving wheel includes a pair of external gear sets, and an output end of the external gear set is engaged with the catheter rotation driven wheel.
19. The tube and wire driving device of a robot for vascular intervention surgery according to claim 5, wherein the motion modes of the long and straight consumables are divided into three modes of single linear motion, single rotational motion and linear and rotational simultaneous motion; the rotating speed V of the linear driving device is not zero, and the rotating speed V of the rotary driving device is zero, so that the linear driving device is in a single linear motion mode; when the rotating speed V of the linear driving device is equal to the rotating speed V of the rotary driving device, the linear driving device is in an independent rotating motion mode; when the rotating speed V of the linear driving device is not zero, the rotating speed V of the rotary driving device is not zero, and V is not equal to V, the linear and rotary simultaneous movement mode is adopted.
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| CN202210481865.9A CN114699172A (en) | 2022-05-05 | 2022-05-05 | Tube and wire driving device of vascular intervention surgical robot |
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| CN115281827A (en) * | 2022-09-30 | 2022-11-04 | 深圳市爱博医疗机器人有限公司 | Clamping and rotating device and slave end device of interventional operation robot |
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