CN114732525A - Pneumatic human-finger-simulated vascular intervention tube thread safe clamping continuous delivery mechanism - Google Patents
Pneumatic human-finger-simulated vascular intervention tube thread safe clamping continuous delivery mechanism Download PDFInfo
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- 238000009434 installation Methods 0.000 claims description 23
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- 210000004204 blood vessel Anatomy 0.000 description 7
- 208000024172 Cardiovascular disease Diseases 0.000 description 5
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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
- A61M25/0116—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
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
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- 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
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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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- 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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Abstract
The invention relates to a pneumatic human finger-simulated vascular interventional tube thread safe clamping continuous delivery mechanism, which comprises: the device comprises a delivery motion control clamping module, a bottom control module and a rotary motion control module; the delivery motion control clamping module clamps the tube wire in an air bag clamping mode; the rotary motion control module is used for controlling the whole rotary motion of the delivery motion control clamping module so as to control the rotary motion of the pipe thread; the bottom control module is used for controlling the inflation state of the air bag in the delivery motion control clamping module and the rotary motion of the rotary motion control module. The invention realizes the continuous delivery and reliable clamping of the vascular intervention tube wire and solves the contradiction between the continuous delivery and the reliable clamping of the tube wire.
Description
Technical Field
The invention belongs to the technical field of high-end medical equipment manufacturing, relates to a medical instrument, particularly relates to a control technology for delivery and rotation of an interventional operation catheter guide wire and coupling movement of the interventional operation catheter guide wire, and more particularly relates to a pneumatic human finger-simulated blood vessel interventional tube wire safe clamping continuous delivery mechanism.
Background
According to the report of 'Chinese cardiovascular health and disease report 2019', the number of patients with cardiovascular and cerebrovascular diseases is about 3.3 hundred million, the death rate of the cardiovascular and cerebrovascular diseases is still the first, and the death rate caused by the cardiovascular and cerebrovascular diseases accounts for more than 40 percent of the total number. Cardiovascular and cerebrovascular diseases seriously affect the health of people, and are the biggest health challenges facing human beings at present.
Medical robots are bringing about a subversive revolution for the field of traditional medicine due to the advantages of accuracy, stability, safety, high efficiency and the like. The blood vessel intervention technology is a new cardiovascular and cerebrovascular disease diagnosis and treatment means, a doctor directly reaches a diseased part (such as blood vessels of coronary artery, brain, liver, kidney and the like) in vivo along a blood vessel cavity through a catheter under the guidance of medical images, and then utilizes the catheter to deliver diagnosis and treatment agents or surgical instruments (such as a balloon, a stent, a spring ring and the like) to carry out minimally invasive diagnosis and treatment on the distant diseased part in vivo.
The vascular intervention operation is one of minimally invasive operations, the operation modes of cavity opening and craniotomy are avoided, so that the operation risk is reduced, the pain of a patient is relieved, and meanwhile, the postoperative complications are few, the recovery period is short, so that the vascular intervention operation robot becomes a research and development hotspot in the field of high-end medical equipment.
At present, the vascular intervention robot mainly adopts a master-slave operation structure. The doctor is located the operation room and operates the master robot to control the slave robot to carry out the operation to the human body, the master-slave mode operation structure effectively avoids the radiation influence of X-rays to the doctor, and the operation is carried out by utilizing the inherent high operation precision and accuracy of the robot.
At present, research and development of the vascular interventional robot are carried out by a plurality of research institutions and colleges at home and abroad.
The existing vascular intervention robot has two main ways of clamping a catheter guide wire: friction wheel type and V-shaped clamping principle.
Such as the CorPath 200 system developed by corndus corporation of america, the catheter clamping mechanism employs a double roller structure that clamps and drives the catheter guidewire in motion by friction; for example, the application numbers of Beijing university of Physician are: 201710544638.5, publication date is: 2017.11.03 discloses a robot remote operation system and a control method thereof, wherein a slave robot clamps a tube wire by a catheter controller and a guide wire controller according to a V-shaped clamping principle to control the motion of the tube wire, the two controllers are arranged on a mobile platform, and the reciprocating dragging motion of the tube wire is realized by the alternate action of the controllers.
The above-mentioned typical tube wire clamping scheme adopted for the domestic and foreign vascular intervention robot has the common problem that the continuous delivery and reliable clamping of the catheter and the guide wire cannot be solved. (1) The friction wheel structure can realize continuous delivery of the tube wire, but because the roller and the tube wire are in point contact and hard contact, tube wire clamping with different diameters cannot be realized, and meanwhile, reliable clamping is difficult to realize. (2) According to the V-shaped clamping principle, clamping contact area is increased by designing jaw structures such as V-shaped and claw-shaped structures, reliable clamping is achieved, axial delivery of a tube wire is generally achieved through a guide rail and sliding block structure, when the tube wire reaches the stroke limit, the tube wire needs to be loosened, returned to the idle stroke, tightened and then delivered continuously, stroke limit conflict between the tube wire and the motion of the hand of a doctor can be generated, and normal operation of the doctor is interrupted.
Disclosure of Invention
Problems to be solved
The robot aims at the common problem of the existing blood vessel intervention robot: the invention provides a pneumatic human-finger-simulated safe clamping continuous delivery mechanism for vascular interventional tubes, which is difficult to solve the contradiction between continuous delivery and reliable clamping of the tubes and realizes the continuous delivery and reliable clamping of the vascular interventional tubes.
Technical scheme
In order to solve the problems, the invention adopts the following technical scheme:
a pneumatic human finger-like vascular intervention tube wire safe clamping continuous delivery mechanism comprises: a delivery motion control clamping module 3, a bottom control module 4 and a rotary motion control module 5;
the delivery motion control clamping module clamps the tube wire in an air bag clamping mode;
the rotary motion control module is used for controlling the whole rotary motion of the delivery motion control clamping module so as to control the rotary motion of the pipe thread;
the bottom control module is used for controlling the inflation state of the air bag in the delivery motion control clamping module 3 and the rotary motion of the rotary motion control module.
The delivery motion control clamping module 3 comprises a front baffle plate 3-2, a rotary cover 3-3, an air bag box 3-4, a rear baffle plate 3-6, a support plate 3-7, a support shell 3-8, an air duct 3-12, a rotary encoder 3-10, a rotary encoder fixing seat 3-13, a first shaft 3-19, a second shaft 3-14, a third shaft 3-31, a fourth shaft 3-32, a fifth shaft 3-23 and a motor 3-29;
the air bag box 3-4 comprises an air bag box cover 3-4-1, an air bag box 3-4-2 and two pairs of air bags 3-4-3; the two pairs of air bags 3-4-3 are arranged in an air bag box 3-4-2, each pair of air bags is composed of two air bags, the two air bags are arranged along the direction vertical to the delivery direction of the tube wire, the tube wire is clamped between the opposite surfaces of the two air bags, three sections of protrusions are arranged on the inner surface of an air bag box cover 3-4-1, and when the air bag box cover 3-4-1 is closed with the air bag box 3-4-2, the protrusions are just positioned at the middle concave part of the air bag box 3-4-2 and are used for limiting the degree of freedom of the tube wire 1 in the direction vertical to the tube wire; the middle concave part avoids the installation position of the air bags and is coaxial with the opposite surfaces of the two air bags in each pair of air bags;
the front side and the rear side of the supporting shell 3-8 are fixedly connected with a front baffle 3-2 and a rear baffle 3-6 respectively, a supporting plate 3-7 is arranged on the supporting shell between the front baffle 3-2 and the rear baffle 3-6, and the supporting plate 3-7, the supporting shell, the front baffle 3-2 and the rear baffle 3-6 enclose a closed space; the air bag box 3-4-2 is arranged on the upper surface of the support plate 3-7, and the support plate 3-7 is fixedly arranged on the support shell 3-8; a rotary cover 3-3 which can be covered is arranged on the supporting shell at the outer side of the air bag box, and the rotary cover can seal the air bag box;
the upper parts of the third shaft, the first shafts 3-19, the second shafts 3-14 and the fourth shafts 3-32 are all provided with air guide tubes, the air guide tubes at the upper parts of the third shaft and the first shafts 3-19 extend into corresponding air bags at one side of the air bag box, the axial distance between the third shaft and the first shafts 3-19 is consistent with the distance between the two air bags at one side, the air guide tubes at the upper parts of the second shaft 3-14 and the fourth shafts 3-32 extend into corresponding air bags at the other side of the air bag box, and the axial distance between the second shaft 3-14 and the fourth shafts 3-32 is consistent with the distance between the two air bags at the one side;
the third shaft and the first shaft 3-19 are synchronously driven by a motor, the second shaft 3-14 and the fourth shaft 3-32 are passively and synchronously driven, the rotary encoder 3-10 is fixed on a supporting shell between the second shaft 3-14 and the fourth shaft 3-32 through a rotary encoder fixing seat 3-13, so that a sixth belt pulley 3-11 on the rotary encoder and a fifth belt pulley on the second shaft 3-14 are equal in height and are driven by a third belt 3-16, and the encoder can measure the rotation data of the second shaft.
The first shaft 3-19 is of a hollow structure and is used for ventilation, the first shaft 3-19 is connected with the ventilation pipe 3-18 at the lower part, the upper part is connected with the gas guide pipe 3-12, the gas guide pipe is hollow, and the side surface of the upper part is provided with a circular hole structure and is used for gas transmission; the internal connecting structures of the second shaft 3-14, the third shaft 3-31 and the fourth shaft 3-32 are the same as those of the first shaft 3-19, the upper parts of the internal connecting structures are fixed with the air guide pipe, the lower parts of the internal connecting structures are connected with the air guide pipe, the air guide pipe and the corresponding shaft rotate together, and the position of the air guide pipe is fixed and does not rotate along with the rotation of the corresponding shaft; the circular hole part above the air duct extends into the air bag 3-4-3 to supply air to the air bag and drive the air bag 3-4-3 to move.
The bladder includes a surface of flexible material and a rigid skeleton supporting the flexible material.
The bottom control module comprises a second air pipe 4-2, a large motor 4-3, a pressure gauge 4-4, a shell 4-6 and an upper cover; a line passing hole is formed in the side face below the shell 4-6 and used for passing through a control line and a second air pipe, one end of the second air pipe 4-2 is connected with an external air source, the other end of the second air pipe enters the inner space of the shell 4-6 through the line passing hole, the second air pipe 4-2 entering the shell is divided into a branch line and a main line, the branch line of the second air pipe is communicated with a pressure gauge 4-4 and used for detecting the pressure of air, and the main line of the second air pipe 4-2 is upward and communicated to a conductive air slip ring 5-1 of the rotary motion control module 5; the large motor 4-3 is electrically connected with the control part through a motor driver;
a shell baffle is arranged in front of the shell, a plurality of raised shafts distributed circumferentially are arranged on the shell baffle, a bearing and a bearing outer ring are respectively arranged on the raised shafts, a rolling sliding rail which is sunken into a circular ring is arranged on the outer side of the front baffle 3-2 and corresponds to the raised shafts, and the raised shafts are contacted with the rolling sliding rail which is sunken into a circular ring and is close to the bearing; the front end of the shell is provided with an extension plane for installing the Y valve installation module 2; an upper cover 3-1 is arranged on the end face of the shell 4-6 and can be covered on the shell to integrally wrap the delivery motion control clamping module 3.
The Y valve installation module 2 is used for installing and fixing a Y valve 2-2; the Y valve installation module 2 comprises a Y valve installation cover 2-1, a Y valve 2-2 and a Y valve installation box 2-3; the Y valve mounting cover 2-1 is mounted on the Y valve mounting box 2-3, a rotating shaft is formed at the joint of the Y valve mounting box and the Y valve mounting box, the Y valve mounting cover 2-1 can rotate around the rotating shaft, and the Y valve 2-2 is placed between the Y valve mounting box and the rotating shaft; the big end of the Y valve is provided with a guide wire, the inclined branch of the Y valve is injected with contrast solution, and the small end of the Y valve is connected with a catheter.
The rotary motion control module 5 comprises a conductive gas slip ring 5-1, a bearing support 5-2, a large sleeve 5-3, a gear shaft 5-4, a motor support 5-5, a first gear 5-6, a second gear 5-7, a third gear 5-8, a slip ring connecting piece 5-9 and a rear cover 5-10;
a first gear 5-6 and a sleeve 5-3 are sequentially arranged on the gear shaft 5-4, and the gear shaft 5-4 is fixed on the rear baffle 3-6; the bearing is fixed on the bearing support 5-2, the lower part of the bearing support 5-2 is connected with the motor support 5-5, the output shaft of the large motor 4-3 penetrates out of the shell and is fixed through the mounting hole on the motor support 5-5, the output shaft of the large motor 4-3 is connected with the third gear 5-8 and is fixed by the shaft end retainer ring; a big round hole is arranged above the bearing bracket and is used for installing a bearing, a gear shaft 5-4 is fixedly installed through the bearing and the bearing bracket, the gear shaft can rotate relative to the bearing bracket, a U-shaped opening is arranged below the bearing bracket and is connected with a motor bracket 5-5, the motor bracket 5-5 is L-shaped, a large motor 4-3 is fixedly arranged on a plane parallel to the bottom surface, a hole is arranged below the vertical plane of the motor bracket 5-5 so as to facilitate the extension of an output shaft of the large motor 4-3, an extension shaft is arranged above the vertical plane of the motor bracket 5-5, the second gear is arranged on the projecting shaft through a bearing, the axial position of the second gear 5-7 is fixed and fixed by a shaft end retainer ring, the second gear 5-7 is meshed with the first gear 5-6 on the gear shaft, and the third gear is meshed with the second gear arranged on the output shaft of the large motor 4-3 for transmission;
one end of the slip ring connecting piece 5-9 is fixed with the rear cover 5-10, the stationary end of the conductive gas slip ring 5-1 extends into the slip ring connecting piece 5-9 to be fixed, and the rotating end of the conductive gas slip ring 5-1 is fixed with the rear baffle 3-6; the cylindrical side surface of the slip ring connecting piece 5-9 is provided with a rectangular opening which is convenient to be installed with a signal wire at the fixed end of the slip ring 5-1 of the electric conductor.
Openings are arranged on the shell baffle and the front baffle, and the openings are used for the tube filaments to be vertically placed between the two pairs of air bags.
The invention also discloses a control method of the pneumatic human finger-simulated vascular interventional tube wire safe clamping continuous delivery mechanism, which comprises the following steps of:
the installation steps of the pipe thread 1 are as follows:
the air bag box is fixedly arranged on the supporting plate, the whole delivery motion control clamping module 3 is arranged in a space enclosed by the shell and the upper cover, the rotary cover and the air bag box cover are opened, the tube wire is arranged between the two pairs of air bags along the axis, one end of the tube wire extends out of a front shell baffle of the shell, and the other end of the tube wire extends out of the tail end of the rotary motion control module 5;
the driving force detection steps of the tube wire 1 are as follows:
starting an air pump 4-1, enabling air to reach the inside of an air bag 3-4-3 through a second air pipe 4-2, a conductor slip ring 5-1, a first air pipe 3-9, a vent pipe and an air guide pipe, detecting the air pressure because the branch of the second air pipe 4-2 is connected with a pressure gauge 4-4, namely detecting the air pressure inside the air bag 3-4-3 in real time, enabling the air bag 3-4-3 to expand to be in contact with a tube filament 1, calculating the positive pressure acting on the surface of the tube filament 1 according to F ═ PS, wherein F is positive pressure, P is a value obtained through the pressure gauge, S is contact area, the value of the contact area is obtained through calculation according to the value of the pressure gauge and the expansion coefficient of an air bag material, and calculating the driving force acting on the tube filament 1 by considering the friction coefficient;
the delivery movement steps of the tube wire 1 are as follows:
firstly, controlling a motor 3-29 to start, synchronously rotating a first shaft 3-19 and a third shaft 3-31 at the same speed, and rotating the air guide tubes 3-12 arranged on the first shaft 3-19 and the third shaft 3-31 at the same speed, namely actively rotating an air bag 3-4-3 at one side of an air bag box; the driving air bag 3-4-3 drives the tube wire 1 to make axial delivery movement under the driving of friction force, and the air bag at the other side of the air bag box passively rotates under the action of tube wire friction force;
the step of detecting whether the tube wire 1 slips comprises the following steps:
when the tube wire 1 is driven to do axial delivery movement, the two air bags 3-4-3 on the other side do not move under the control of the motors 3-29, so that the two driven air bags 3-4-3 start to rotate under the driving of the friction force of the moving tube wire 1; driving the air duct and the second shaft 3-14 which are matched with the air duct to rotate; the second shaft is connected with the extending shaft of the rotary encoder 3-10 through a synchronous belt, so that the rotary encoder can detect the rotation condition of the second shaft 3-14, namely the rotation condition of the passive air bag 3-4-3; whether the rotating speeds of the active air bag 3-4-3 and the passive air bag 3-4-3 are the same or not is known by comparing the rotating data of the rotary encoder 3-10 and the driving motor 3-29, if so, the tube wire 1 is indicated not to slip, otherwise, the tube wire 1 is indicated to slip, after the slip occurs, the internal gas pressure of all the air bags 3-4-3 is pressurized, the positive pressure of the air bags 3-4-2 in contact with the tube wire 1 is increased, the friction force is increased, and therefore the slip state is changed;
the rotary motion steps of the tube wire 1 are as follows:
firstly, a large motor 4-3 is driven, an output shaft drives a third gear 5-8 to rotate, the third gear 5-8 and a second gear 5-7 are meshed to rotate, and the second gear 5-7 and a first gear 5-6 are meshed to rotate to drive the first gear 5-6 to rotate; the first gear 5-6 is mounted on the gear shaft 5-4, so that the gear shaft 5-4 rotates; the gear shaft 5-4 is fixed with the rear baffle 3-6, the rear baffle 3-6 is fixed with the supporting shell 3-8, the supporting shell 3-8 is fixed with the front baffle 3-2, and the delivery motion control clamping module 3 integrally rotates, so that the tube wire 1 rotates by taking the axis of the tube wire 1 as the shaft under the driving of the friction force of the air bag 3-4-3.
Advantageous effects
Compared with the prior art, the invention has the beneficial effects that:
(1) the invention relates to a pneumatic human finger-simulated vascular interventional tube thread safe clamping continuous delivery mechanism, which provides a human finger-simulated rigid-flexible coupling principle, combines a rigid framework and a flexible skin and simulates manual operation of a human, thereby realizing effective clamping of a tube thread and effective protection of a tube thread surgical instrument. The gasbag itself can select flexible rubber material to make, is provided with the rigidity skeleton in gasbag inside, and the gasbag is the cladding effect, is flexible soft contact with the pipe silk, can avoid the pipe silk impaired, realizes the effect of rigid-flexible coupling centre gripping.
(2) The invention relates to a pneumatic human finger-simulated vascular interventional tube thread safe clamping continuous delivery mechanism, which adopts an air bag made of flexible materials and capable of continuously operating, and solves the contradiction between the conventional continuous delivery and reliable rotary clamping.
(3) The invention relates to a pneumatic humanoid finger blood vessel intervention tube wire safe clamping continuous delivery mechanism, which adopts a gas driving mode, combines a pressure gauge, can obtain the magnitude of driving force borne by a tube wire in real time through calculation, further provides support for safe operation, and has the advantages of simple device structure and high control precision.
(4) According to the pneumatic human-finger-simulated vascular intervention tube filament safe clamping continuous delivery mechanism, whether a tube filament slips or not in real time and the slipping condition can be detected by adopting a combination mode of the active air bag and the passive air bag, so that support is provided for operation safety.
(5) The invention relates to a pneumatic human finger-simulated blood vessel intervention tube thread safe clamping continuous delivery mechanism, which adopts a driving mode that a pinion 5-8 drives a large gear 5-6 through an intermediate gear 5-7 in the process of controlling a tube thread to do rotary motion, wherein the transmission ratio is the number of teeth of a driving wheel on the gear ratio of a driven wheel, so that the transmission ratio is the number of teeth of the pinion on the gear ratio of the large gear in the invention, the transmission ratio is larger, the precision of the rotary motion is improved by using the larger transmission ratio, the precision of the rotary motion of the tube thread is high, and the requirement of precision and stability in the operation process is met.
(6) The invention can simultaneously use a plurality of same robots, each robot realizes the motion control of one instrument, and the cooperation of the robots can realize the cooperative control of two or more robots and realize the multi-instrument cooperative operation of the interventional operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the robot of the present invention;
FIG. 2 is a schematic structural view of an opened state of an airbag cover in the robot of the present invention;
FIG. 3 is a schematic structural diagram of an airbag box in the robot of the present invention;
FIG. 4 is a schematic diagram of the power transfer portion of the delivery motion control gripping module of the robot of the present invention;
FIG. 5 is a schematic diagram of a bottom control module of the robot of the present invention;
FIG. 6 is an exploded view of a swing motion control module in the robot of the present invention;
the figures are numbered as follows:
1. tube filament; 2. a Y valve mounting module; 3. a delivery motion control gripping module; 4. a bottom control module; 5. a rotary motion control module;
2-1, installing a cover on the Y valve; 2-2, Y valve; 2-3, a Y valve mounting box;
3-1, a front baffle; 3-2, rotating the cover; 3-3, an airbag box; 3-3-1, an airbag box cover; 3-3-2, an airbag box; 3-3-3, air bag; 3-4, sleeve; 3-5, a rear baffle; 3-6, a support plate; 3-7, a support shell; 3-8, a first air pipe; 3-9, a rotary encoder; 3-10, a sixth belt pulley; 3-11, gas-guide tube; 3-12, a rotary encoder fixing seat; 3-13, a second axis; 3-14, a fifth belt pulley; 3-15, a third belt; 3-16, a third belt pulley; 3-17, a vent pipe; 3-18, a first shaft; 3-19, a second belt pulley; 3-20, a first belt; 3-21, a first pulley; 3-22 and a fifth shaft; 3-23, a first bevel gear; 3-24 parts of second bevel gear; 3-25, a bracket; 3-26, a torque sensor; 3-27, a second belt; 3-28 parts of motor, 3-29 parts of fourth belt pulley; 3-30, a third shaft; 3-31, fourth axis;
4-1, an air pump; 4-2, a second air pipe; 4-3, a large motor; 4-4, a pressure gauge; 4-5, a motor driver; 4-6, a shell; 4-7 of an upper cover;
5-1, conducting an air slip ring; 5-2, bearing support; 5-3, a large sleeve; 5-4, gear shaft; 5-5, a motor bracket; 5-6, a first gear; 5-7, a second gear; 5-8, a third gear; 5-9, slip ring connectors; 5-10 parts of a rear cover.
Detailed Description
The invention is further described with reference to specific embodiments and the accompanying drawings.
As shown in fig. 1, the invention provides a pneumatic human finger-like vascular intervention tube wire safe clamping continuous delivery mechanism, comprising: the device comprises four parts, namely a Y valve mounting module 2, a delivery motion control clamping module 3, a bottom control module 4 and a rotary motion control module 5;
as shown in fig. 2 and 3, the Y valve installation module 2 is used for installing and fixing a Y valve 2-2; the Y valve installation module 2 consists of a Y valve installation cover 2-1, a Y valve 2-2 and a Y valve installation box 2-3; the Y valve mounting cover 2-1 is mounted on the Y valve mounting box 2-3 and connected together in a rotating shaft mode, the Y valve mounting cover 2-1 can rotate around the rotating shaft, the Y valve mounting cover 2-1 and the Y valve mounting box 2-3 are covered together, and the Y valve 2-2 is placed in a sealed space between the Y valve mounting cover and the Y valve mounting box.
As shown in fig. 2 and 4, the delivery motion control clamping module 3 is used for controlling the axial delivery motion of the tube wire 1 and clamping the tube wire 1; the delivery motion control clamping module 3 consists of a front baffle plate 3-1, a rotary cover 3-2, an air bag box 3-3, a sleeve 3-4, a rear baffle plate 3-5, a support plate 3-6, a support shell 3-7, an air guide pipe 3-11, a rotary encoder 3-9, a rotary encoder fixing seat 3-12, an elastic check ring for a shaft, a belt pulley, a belt, a first shaft 3-18, a second shaft 3-13, a third shaft 3-30, a fourth shaft 3-31, a fifth shaft 3-22, an air vent pipe, a bevel gear, a support 3-25, a torque sensor 3-26 and a motor 3-28; the air bag box 3-3 consists of an air bag box cover 3-3-1, an air bag box 3-3-2 and two pairs of air bags 3-3-3;
as shown in fig. 3, the two pairs of air bags 3-3-3 are installed in an air bag box 3-3-2, each pair of air bags is composed of two air bags, the two air bags are arranged along the direction vertical to the delivery direction of the tube wire, the tube wire is clamped between the opposite surfaces of the two air bags, the tube wire 1 sequentially passes through the two pairs of air bags 3-3-3 arranged in front and back, the upper inner surface of the air bag box cover 3-3-1 is provided with three sections of protrusions, and when the air bag box cover 3-3-1 is closed with the air bag box 3-3-2, the protrusions are just at the middle concave part of the air bag box 3-3-2 and are used for limiting the degree of freedom of the tube wire 1 in the direction vertical to the tube wire; the middle sunken part avoids the installation position of the air bag and is coaxial with the opposite surfaces of the two air bags in each pair of air bags.
The front side and the rear side of the supporting shell 3-7 are fixedly connected with a front baffle 3-1 and a rear baffle 3-5 respectively, a supporting plate 3-6 is arranged on the supporting shell between the front baffle 3-1 and the rear baffle 3-5, and the supporting plate 3-6, the supporting shell, the front baffle 3-1 and the rear baffle 3-5 enclose a closed space; the air bag box 3-3-2 is arranged on the upper surface of the support plate 3-6, and the support plate 3-6 is fixedly arranged on the support shell 3-7 and is fixed through screws at two sides; a rotary cover 3-2 which can be covered is arranged on the supporting shell at the outer side of the air bag box, and the rotary cover can seal the air bag box.
The upper parts of the third shaft, the first shafts 3-18, the second shafts 3-13 and the fourth shafts 3-31 are all provided with air ducts, the air ducts at the upper parts of the third shaft and the first shafts 3-18 extend into the corresponding air bags at one side of the air bag box, the axial distance between the third shaft and the first shafts 3-18 is consistent with the distance between the two air bags at one side, the air ducts at the upper parts of the second shaft 3-13 and the fourth shafts 3-31 extend into the corresponding air bags at the other side of the air bag box, and the axial distance between the second shaft 3-13 and the fourth shafts 3-31 is consistent with the distance between the two air bags at the one side.
Two holes are arranged below the rear baffle 3-5 for signal transmission leads (not shown in the figure) and the first air pipes 3-8 to pass through, the first air pipes 3-8 are connected to two air pipes 3-17, one air pipe is simultaneously communicated with the air guide pipes on the first shaft 3-18 and the second shaft 3-13, the other air pipe is simultaneously communicated with the air guide pipes on the third shaft and the fourth shaft 3-31, and the air is guided into the air bag 3-3-3 through the corresponding air guide pipes 3-11.
The output shaft of the motor 3-28 is connected with one end of a torque sensor 3-26, the torque sensor and the torque sensor are fixed on the bottom surface of the supporting shell 3-7 through a bracket 3-25, the other end of the torque sensor 3-26 is connected with a first bevel gear 3-23, and the first bevel gear 3-23 and a second bevel gear 3-24 are in meshing transmission; the second bevel gear 3-24 and the first belt pulley 3-21 are located on a fifth shaft 3-22 together and rotate at the same speed, the first belt 3-21 drives the second belt pulley 3-19 to rotate, the second belt pulley 3-19 and the third belt pulley 3-16 are sequentially installed on the first shaft 3-18 according to the upper and lower positions, the third belt pulley 3-16 drives the fourth belt pulley 3-29 through the second belt 3-27, and the fourth belt pulley 3-29 is located on the third shaft 3-30 and rotates at the same speed;
the fifth belt pulley 3-14 is positioned on the second shaft 3-13, the sixth belt pulley 3-10 is driven by a third belt 3-15, and the sixth belt pulley 3-10 is fixed with the rotary encoder 3-9; the rotary encoder 3-9 is fixed on the supporting shell 3-7 through a rotary encoder fixing seat 3-12;
the third belt pulley 3-16 is the same as the fourth belt pulley 3-29, the two belt pulleys have the same rotating speed and the same direction under the connection of the second belt pulley 3-27, so that the rotating speeds and the same directions of the air ducts 3-11 which are in connection with the third belt pulley are driven to be the same, the third shaft and the two air ducts on the first shaft 3-18 extend into the two air bags 3-3-3 on one side of the air bag box 3-3, and the right air bag is driven to rotate relative to the left air bag and is an active air bag relative to the left air bag and is a passive air bag relative to the left air bag by combining the figure 3;
the fifth belt pulley 3-14 is the same as the sixth belt pulley 3-10, the fifth belt pulley 3-14 is driven by a passive leather bag, the sixth belt pulley 3-10 is driven to rotate through a third belt 3-15, the sixth belt pulley 3-10 is fixed on a rotary encoder 3-9, and therefore the rotary encoder 3-9 measures the rotating speed of the driven wheel; compared with the rotating speed of the active air bag, the rotating speed of the active air bag and the rotating speed of the passive air bag are different, so that the phenomenon of slipping can be known; the rotary encoder 3-9 is fixed on the supporting shell between the second shaft 3-13 and the fourth shaft 3-31 through a rotary encoder fixing seat 3-12, so that a sixth belt pulley 3-10 on the rotary encoder and a fifth belt pulley on the second shaft 3-13 are equal in height, and the sixth belt pulley 3-10 and the fifth belt pulley are driven by a third belt 3-15.
The first shaft 3-18 is of a hollow structure and is used for ventilation, the first shaft 3-18 is connected with the ventilation pipe 3-17 at the lower part, the upper part is connected with the gas guide pipe 3-11, the gas guide pipe is hollow, and the side surface of the upper part is provided with a circular hole structure and is used for gas transmission; the internal connecting structures of the second shaft 3-13, the third shaft 3-30 and the fourth shaft 3-31 are the same as those of the first shaft 3-18, the upper parts of the internal connecting structures are fixed with the air guide pipe, the lower parts of the internal connecting structures are connected with the air guide pipe, the air guide pipe can rotate together with the shafts, and the position of the air guide pipe is fixed and does not rotate along with the rotation of the shafts; the circular hole part above the air duct extends into the air bag 3-3-3 to supply air to the air bag and drive the air bag 3-3-3 to move.
The delivery motion control clamping module is integrally arranged in the shell 4-6, an upper cover 4-7 is arranged on the end face of the shell 4-6 and can be covered on the shell to integrally wrap the delivery motion control clamping module 3. The front end of the shell is provided with an extension plane for installing the Y valve installation module 2, and the tube wire can be kept in a horizontal state after the Y valve installation module 2 is installed.
As shown in fig. 5, the bottom control module 4 is used to control the movement of the robot; the bottom control module comprises an air pump 4-1, a second air pipe 4-2, a large motor 4-3, a pressure gauge 4-4, a motor driver 4-5 and a shell 4-6; the air pump is located the shell outside, and the output of air pump passes through the second trachea and connects and get into the shell, and second trachea length is longer, can place the air pump in the position far away from delivering motion control clamping module, avoids air pump working process because the vibration leads to the fact the influence to control accuracy. A line passing hole is formed in the side face below the shell 4-6 and used for passing through a control line and a second air pipe, the air pump 4-1 is connected with the second air pipe 4-2, the second air pipe 4-2 enters the inner space of the shell 4-6 through the hole, the second air pipe 4-2 is divided into a branch and a main path, the branch of the second air pipe is communicated with the pressure gauge 4-4 and used for detecting the pressure of air, and the main path of the second air pipe 4-2 is upwards communicated to a conductive air slip ring 5-1 of the rotary motion control module 5; the motor driver 4-5 is connected with the large motor 4-3 and controls the large motor 4-3 to move.
The conductive gas slip ring 5-1 is used for transmitting transmission signals and gas in two relatively rotating modules; the conductive slip ring consists of a left part and a right part which can rotate relatively, and two ends of the conductive slip ring are respectively connected to objects needing to rotate relatively, so that transmission signals and gas can be provided for a rotating end; the left end and the right end of the electric conduction slip ring are respectively provided with a transmission signal connecting wire and a transmission gas connecting pipe which are used for connecting a signal wire and gas; the second gas pipe 4-2 is connected to the gas connecting pipe at the stationary end of the conductive gas slip ring 5-1, the first gas pipe 3-8 is connected to the gas connecting pipe at the rotating end of the conductive gas slip ring 5-1,
as shown in fig. 6, the rotary motion control module 5 is used for controlling the rotary motion of the guide wire of the tube wire 1; the rotary motion control module 5 consists of a conductive gas slip ring 5-1, a bearing support 5-2, a large sleeve 5-3, a gear shaft 5-4, a motor support 5-5, a first gear 5-6, a second gear 5-7, a third gear 5-8, a slip ring connecting piece 5-9 and a rear cover 5-10; in the figure, a shell 4-6 is a semi-enclosed structure, a shell baffle is arranged in front of the shell, six shafts which are circumferentially distributed and convex are arranged on the shell baffle, a bearing and a bearing outer ring are respectively arranged on the convex shafts, a rolling slide rail which is concave in a circular ring is arranged on the outer side of a front baffle 3-1 and corresponds to the convex shaft, and the convex shafts are contacted with the rolling slide rail which is concave in a circular ring and is close to the bearing, so that the resistance of the delivery motion control clamping module 3 is reduced in the rotating process, and the support is provided;
a first gear 5-6 and a sleeve 5-3 are sequentially arranged on the gear shaft 5-4, and then the gear shaft 5-4 is fixed on the rear baffle 3-5; the bearing is fixed on the bearing support 5-2, the lower part of the bearing support 5-2 is connected with the motor support 5-5, the output shaft of the large motor 4-3 penetrates out of the shell and is fixed through the mounting hole on the motor support 5-5, the output shaft of the large motor 4-3 is connected with the third gear 5-8 and is fixed by the shaft end retainer ring; as shown in fig. 6, a large circular hole is arranged above the bearing support for mounting a bearing, a gear shaft 5-4 is fixedly mounted with the bearing support through the bearing, the gear shaft can rotate relative to the bearing support, a U-shaped opening is arranged below the bearing support and connected with a motor support 5-5, the motor support 5-5 is in an L shape, a large motor 4-3 is fixedly arranged on a plane parallel to the bottom surface, a hole is arranged below the vertical plane of the motor bracket 5-5 so as to facilitate the extension of an output shaft of the large motor 4-3, an extension shaft is arranged above the vertical plane of the motor bracket 5-5, the second gear is arranged on the projecting shaft through a bearing, the axial position of the second gear 5-7 is fixed and fixed by a shaft end retainer ring, the second gear 5-7 is meshed with the first gear 5-6 on the gear shaft, and the third gear is meshed with the second gear arranged on the output shaft of the large motor 4-3 for transmission;
the large motor 4-3 drives the third gear 5-8 to rotate, the first gear 5-6 is driven to rotate through meshing, the first gear 5-6 is installed on the gear shaft 5-4, the gear shaft 5-4 and the rear baffle 3-5 are fixed, and therefore the delivery motion control clamping module 3 integrally rotates under the support of the bearing; one end of the slip ring connecting piece 5-9 is fixed with the rear cover 5-10, the stationary end of the conductive gas slip ring 5-1 extends into the slip ring connecting piece 5-9 to be fixed, and the rotating end of the conductive gas slip ring 5-1 is fixed with the rear baffle 3-5; the cylindrical side surface of the slip ring connecting piece 5-9 is provided with a rectangular opening, so that the slip ring connecting piece is convenient to be installed with a signal wire at the stationary end of the slip ring 5-1 of the conductor.
The invention relates to a control method of a pneumatic human-finger-simulated vascular interventional tube wire safe clamping continuous delivery mechanism, which comprises the following steps of:
the installation steps of the pipe thread 1 are as follows:
the air bag box is fixedly arranged on the supporting plate, the whole delivery motion control clamping module 3 is arranged in a space enclosed by the shell and the upper cover, the rotary cover and the air bag box cover are opened, the tube wire is arranged between the two pairs of air bags along the axis, one end of the tube wire extends out of a front shell baffle of the shell, and the other end of the tube wire extends out of the tail end of the rotary motion control module 5;
more specifically, when an extension part for installing a Y valve is arranged on the outer side of a shell baffle plate in front of a shell, a Y valve installation module 2 is fixedly installed at the extension part, the Y valve installation module 2 and a delivery motion control clamping module 3 are installed coaxially, at the moment, a guide wire extends into the Y valve from the large end of the Y valve, contrast liquid is injected into an inclined branch of the Y valve, the small end of the Y valve is connected with a catheter, the guide wire is put down through openings on the shell 4-6 and the front baffle plate 3-1 and falls into the middle of two pairs of air bags, an air pump is started to expand the air bags, the guide wire is clamped, the air bags are inverted, the guide wire is delivered into the axis of the rotary motion control module, and the guide wire extends out of the rotary motion control module for a long distance.
When no Y valve installation module 2 outside the shell, can install arbitrary access surgical instruments of pipe silk such as pipe, seal wire, little pipe, little seal wire, sacculus pipe or loach seal wire in the delivery motion control centre gripping module 3 of this application, specific mounting means is:
firstly, an air bag 3-3-3 is arranged in an air bag box 3-3-2, and then an air bag box cover 3-3-1 is arranged on the air bag box 3-3-2 to complete the installation of the air bag box 3-3; then, the air bag box 3-3 is arranged on the supporting plate 3-6, so that the air guide pipe 3-11 is arranged in the air bag 3-3-3, the sleeve 3-4 penetrates through a hole of the rear cover 5-10 and is connected to the air bag box 3-3-2, and the air bag box 3-3 is fixed; then the air bag box cover 3-3-1 is opened, the tube wire 1 is put down through the shell 4-6 and the opening on the front baffle 3-1, and the tube wire is put down from the opening and is just placed between the two pairs of air bags; starting an air pump 4-1, enabling air to reach the inner part of an air bag 3-3-3 along a second air pipe 4-2, a conductor slip ring 5-1, a first air pipe 3-8, an air vent pipe and an air guide pipe, inflating and expanding the air bag 3-3-3, and enabling a soft air bag 3-3-3 to expand to be in contact with a tube wire 1 and to coat the tube wire 1 to clamp the tube wire 1; and finally, the air bag rotates reversely, the tube wire moves backwards, the tube wire enters the axis of the rotary motion control module, and the guide wire extends out of the rotary motion control module for a long distance.
Or after the tube wire is placed at the opening position, the air bag is not inflated, the tube wire is slowly pushed backwards by hands to extend into the axis of the rotary motion control module, and the guide wire extends out of the rotary motion control module for a longer distance; then the air pump is started to inflate and expand the air bag, the tube wire is clamped without being damaged, and the situation that the tube wire is clamped too tightly can be avoided through the detection of a subsequent slipping mode.
The tube wire 1 driving force detection steps are as follows:
starting the air pump 4-1, the air reaches the air bag 3-3-3 through the second air pipe 4-2, the slip ring 5-1 of the electrical conductor, the first air pipe 3-8, the vent pipe and the air duct, since the branch of the second gas pipe 4-2 is connected to the pressure gauge 4-4, the pressure of the gas can be detected, that is, the pressure of the gas inside the balloon 3-3-3 can be detected in real time, the balloon 3-3-3 is inflated to be in contact with the tube filament 1, the positive pressure acting on the surface of the tube filament 1 can be calculated according to F ═ PS, wherein F is a positive pressure, P is a value obtained by a pressure gauge, S is a contact area, the value of the contact area is obtained by calculation according to the value of the pressure gauge and the expansion coefficient of the balloon material, and the magnitude of the driving force acting on the tube strand 1 is obtained by calculation in consideration of the friction coefficient.
The delivery movement steps of the tube wire 1 are as follows:
firstly, controlling a motor 3-28 to start, driving a torque sensor 3-26 and a first bevel gear 3-23 to rotate by an output shaft of the motor 3-28, and driving a second bevel gear 3-24 and the first bevel gear 3-23 to rotate in a meshing way, so that the second bevel gear 3-24 rotates; the second bevel gear 3-24 and the first pulley 3-21 are coaxial, so that the first pulley 3-21 rotates, via the first belt 3-20, and the second pulley 3-19 rotates; the second pulley 3-19 and the third pulley 3-16 are mounted on the first shaft 3-18, so that the first shaft 3-18 and the third pulley 3-16 rotate, the fourth pulley 3-29 driven by the second belt 3-27 rotates, the fourth pulley 3-29 is on the third shaft 3-30, so that the third shaft 3-30 rotates; the third belt pulleys 3-16 and the fourth belt pulleys 3-29 have the same size and the same steering direction, so that the first shafts 3-18 and the third shafts 3-30 have the same rotating speed, and the air guide pipes 3-11 arranged on the first shafts have the same rotating speed, namely the right active air bag 3-3-3 rotates; the driving air bag 3-3-3 drives the tube wire 1 to make axial delivery movement under the driving of friction force;
the step of detecting whether the tube wire 1 slips comprises the following steps:
when the driving tube wire 1 makes axial delivery movement, the two air bags 3-3-3 on the other side do not move under the control of the motors 3-28, so that the two driven air bags 3-3-3 start to rotate under the driving of the friction force of the moving tube wire 1; driving the air duct and the second shaft 3-13 which are matched with the air duct to rotate; the fifth belt pulley 3-14 is positioned on the second shaft 3-13, so as to drive the fifth belt pulley 3-14 to rotate, and further drive the sixth belt pulley 3-10 driven by the third belt 3-15 to rotate; the sixth belt pulley 3-10 is connected with an extending shaft of the rotary encoder 3-9, so that the rotation condition of the second shaft 3-13, namely the passive air bag 3-3-3 can be detected; by comparing the rotation data of the rotary encoder 3-9 and the driving motor 3-28, whether the rotation speeds of the active air bag 3-3-3 and the passive air bag 3-3-3 are the same or not can be known, if the rotation speeds of the active air bag 3-3-3 and the passive air bag 3-3-3 are the same, the tube wire 1 is indicated not to have a slipping phenomenon, otherwise, the tube wire 1 is indicated to have the slipping phenomenon and can obtain the actual slipping condition of the current tube wire 1, the data when slipping occurs is used as feedback and is fed to a slave end control part, so that the internal gas pressure of all the air bags 3-3-3 is pressurized, namely the gas pressure output by the air pump 4-1 is adjusted, the positive pressure of the air bags 3-3-2 in contact with the tube wire 1 is increased, the friction force is increased, and the slipping state is changed;
the rotary motion steps of the tube wire 1 are as follows:
firstly, a large motor 4-3 is driven, an output shaft drives a third gear 5-8 to rotate, the third gear 5-8 and a second gear 5-7 are meshed to rotate, and the second gear 5-7 and a first gear 5-6 are meshed to rotate to drive the first gear 5-6 to rotate; the first gear 5-6 is mounted on the gear shaft 5-4, so that the gear shaft 5-4 rotates; the gear shaft 5-4 is fixed with the rear baffle 3-5, the rear baffle 3-5 is fixed with the supporting shell 3-7, and the supporting shell 3-7 is fixed with the front baffle 3-1, so that the delivery motion control clamping module 3 integrally rotates, and the tube wire 1 rotates by taking the axis of the tube wire 1 as a shaft under the driving of the friction force of the air bag 3-3-3.
The examples described herein are merely illustrative of the preferred embodiments of the present invention and do not limit the spirit and scope of the present invention, and various modifications and improvements made to the technical solutions of the present invention by those skilled in the art without departing from the design concept of the present invention shall fall within the protection scope of the present invention.
Nothing in this specification is said to apply to the prior art.
Claims (9)
1. A pneumatic human finger-like vascular intervention tube wire safe clamping continuous delivery mechanism comprises: the device comprises a delivery motion control clamping module, a bottom control module and a rotary motion control module;
the delivery motion control clamping module clamps the tube wire in an air bag clamping mode;
the rotary motion control module is used for controlling the whole rotary motion of the delivery motion control clamping module so as to control the rotary motion of the pipe thread;
the bottom control module is used for controlling the inflation state of the air bag in the delivery motion control clamping module and the rotary motion of the rotary motion control module.
2. The pneumatic human-simulated finger vascular intervention tube wire safe clamping continuous delivery mechanism according to claim 1, wherein the delivery motion control clamping module comprises a front baffle plate, a rotary cover, an air bag box, a rear baffle plate, a support shell, an air duct, a rotary encoder fixing seat, a first shaft, a second shaft, a third shaft, a fourth shaft, a fifth shaft and a motor;
the air bag box comprises an air bag box cover, an air bag box and two pairs of air bags; the two pairs of air bags are arranged in the air bag box, each pair of air bags is composed of two air bags, the two air bags are arranged along the direction vertical to the delivery direction of the tube wire, the tube wire is clamped between the opposite surfaces of the two air bags, three sections of protrusions are arranged on the inner surface of the air bag box cover, and when the air bag box cover is closed with the air bag box, the protrusions are just arranged at the middle concave part of the air bag box and are used for limiting the degree of freedom of the tube wire in the direction vertical to the tube wire; the middle concave part avoids the installation position of the air bags and is coaxial with the opposite surfaces of the two air bags in each pair of air bags;
the front side surface and the rear side surface of the supporting shell are fixedly connected with a front baffle and a rear baffle respectively, a supporting plate is arranged on the supporting shell between the front baffle and the rear baffle, and the supporting plate, the supporting shell, the front baffle and the rear baffle enclose a closed space; the air bag box is arranged on the upper surface of the supporting plate, and the supporting plate is fixedly arranged on the supporting shell; a rotary cover which can be covered is arranged on the supporting shell at the outer side of the air bag box, and the rotary cover can seal the air bag box;
the upper parts of the third shaft, the first shaft, the second shaft and the fourth shaft are all provided with air guide tubes, the air guide tubes on the third shaft and the first shaft extend into corresponding air bags on one side of the air bag box, the axial distance between the third shaft and the first shaft is consistent with the distance between the two air bags on one side, the air guide tubes on the second shaft and the fourth shaft extend into corresponding air bags on the other side of the air bag box, and the axial distance between the second shaft and the fourth shaft is consistent with the distance between the two air bags on the one side;
the third shaft and the first shaft are synchronously driven by the motor, the second shaft and the fourth shaft are passively and synchronously driven, the rotary encoder is fixed on the supporting shell between the second shaft and the fourth shaft through the rotary encoder fixing seat, so that a sixth belt pulley on the rotary encoder and a fifth belt pulley on the second shaft are equal in height, the sixth belt pulley and the fifth belt pulley are in transmission through a third belt, and the rotary encoder can measure the rotary data of the second shaft.
3. The pneumatic human-finger-simulated vessel wire safe clamping continuous delivery mechanism according to claim 2, wherein the first shaft is of a hollow structure and is used for ventilation, the first shaft is connected with the ventilation pipe at the lower part, the first shaft is connected with the air guide pipe at the upper part, the air guide pipe is hollow, and the upper side surface of the air guide pipe is provided with a circular hole structure and is used for gas transmission; the internal connecting structures of the second shaft, the third shaft and the fourth shaft are the same as those of the first shaft, the upper parts of the internal connecting structures are fixed with the air guide pipe, the lower parts of the internal connecting structures are connected with the air guide pipe, the air guide pipe and the corresponding shaft rotate together, and the position of the air guide pipe is fixed and does not rotate along with the rotation of the corresponding shaft; the circular hole part above the air duct extends into the air bag to supply air to the air bag and drive the air bag to move.
4. The pneumatically operated human-finger-like vascular interventional tube filament safety clamping continuous delivery mechanism of claim 1, wherein the balloon comprises a surface of a flexible material and a rigid framework supporting the flexible material.
5. The pneumatic human-finger-simulated vascular intervention tube filament safe clamping continuous delivery mechanism according to claim 2, wherein the bottom control module comprises a second air tube, a large motor, a pressure gauge, a shell and an upper cover; a line passing hole is formed in the side face below the shell and used for passing through a control line and a second air pipe, one end of the second air pipe is connected with an external air source, the other end of the second air pipe enters the inner space of the shell through the line passing hole, the second air pipe entering the inner part of the shell is divided into a branch line and a main line, the branch line of the second air pipe is communicated to a pressure gauge and used for detecting the pressure of air, and the main line of the second air pipe is upward and communicated to a conductive air slip ring of the rotary motion control module; the large motor is electrically connected with the control part through a motor driver;
a shell baffle is arranged in front of the shell, a plurality of raised shafts distributed circumferentially are arranged on the shell baffle, a bearing and a bearing outer ring are respectively arranged on the raised shafts, a rolling slide rail recessed in a circular ring is arranged on the outer side of the front baffle corresponding to the raised shafts, and the raised shafts are contacted with the rolling slide rail recessed in a circular ring on the position close to the bearing; the front end of the shell is provided with an extension plane for installing a Y valve installation module; an upper cover is arranged on the end face of the shell and can cover the shell to integrally wrap the delivery motion control clamping module.
6. The pneumatic human-finger-simulated vascular intervention tube filament safe clamping continuous delivery mechanism according to claim 5, wherein the Y valve installation module is used for installing and fixing a Y valve; the Y valve mounting module comprises a Y valve mounting cover, a Y valve and a Y valve mounting box; the Y valve mounting cover is mounted on the Y valve mounting box, a rotating shaft is formed at the joint of the Y valve mounting cover and the Y valve mounting box, the Y valve mounting cover can rotate around the rotating shaft, and the Y valve is placed between the Y valve mounting cover and the rotating shaft; the big end of the Y valve is provided with a guide wire, the inclined branch of the Y valve is injected with contrast solution, and the small end of the Y valve is connected with a catheter.
7. The pneumatic human-finger-simulated vascular intervention tube filament safe clamping continuous delivery mechanism according to claim 2, wherein the rotary motion control module comprises a conductive air slip ring, a bearing support, a large sleeve, a gear shaft, a motor support, a first gear, a second gear, a third gear, a slip ring connector and a rear cover;
a first gear and a sleeve are sequentially arranged on the gear shaft, and the gear shaft is fixed on the rear baffle; the bearing is fixed on the bearing support, the lower part of the bearing support is connected with the motor support, an output shaft of the large motor penetrates out of the shell and is fixed through a mounting hole in the motor support, and an output shaft of the large motor is connected with the third gear and is fixed by a shaft end retainer ring; the motor support is L-shaped, a large motor is fixedly installed on a plane parallel to the bottom surface, a hole is formed in the lower portion of a vertical plane of the motor support, an output shaft of the large motor conveniently extends out, an extension shaft is installed above the vertical plane of the motor support, a second gear is installed on the extension shaft through a bearing, the axial position of the second gear is fixed and fixed through a shaft end retainer ring, the second gear is meshed with a first gear on the gear shaft, and the third gear is meshed with a second gear installed on the output shaft of the large motor for transmission;
one end of the slip ring connecting piece is fixed with the rear cover, the immovable end of the conductive air slip ring extends into the slip ring connecting piece to be fixed, and the rotating end of the conductive air slip ring is fixed with the rear baffle; and a rectangular opening is formed in the cylindrical side surface of the slip ring connecting piece, so that the slip ring connecting piece can be conveniently installed with a signal wire at the fixed end of the slip ring of the conductor.
8. The pneumatic human-finger-simulated vascular intervention tube filament safe clamping continuous delivery mechanism according to claim 5, wherein the shell baffle and the front baffle are provided with openings for the tube filament to be vertically placed between the two pairs of air bags.
9. A control method of a pneumatic human finger-simulated vascular intervention tube wire safe clamping continuous delivery mechanism comprises the following steps:
the installation steps of the pipe thread are as follows:
the air bag box is fixedly arranged on the supporting plate, the whole delivery motion control clamping module is arranged in a space defined by the shell and the upper cover, the rotary cover and the air bag box cover are opened, the tube wire is arranged between the two pairs of air bags along the axis, one end of the tube wire extends out of a front shell baffle of the shell, and the other end of the tube wire extends out of the tail end of the rotary motion control module;
the tube wire driving force detection step comprises:
starting an air pump, enabling air to reach the interior of the air bag through a second air pipe, a slip ring of a current conductor, a first air pipe, a vent pipe and an air guide pipe, detecting the air pressure by connecting a branch of the second air pipe with a pressure gauge, namely detecting the air pressure in the air bag in real time, expanding the air bag until the air bag is in contact with a pipe thread, calculating the positive pressure acting on the surface of the pipe thread according to F ═ PS, wherein F is the positive pressure, P is a value obtained through the pressure gauge, S is a contact area, the value of the contact area is calculated and obtained according to the value of the pressure gauge and the expansion coefficient of an air bag material, and calculating by considering the friction coefficient to obtain the driving force acting on the pipe thread;
the delivery movement steps of the tube wire are as follows:
firstly, controlling a motor to start, enabling a first shaft and a third shaft to synchronously rotate at the same speed, and enabling air guide pipes arranged on the first shaft and the third shaft to rotate at the same speed, namely enabling an air bag at one side of an air bag box to actively rotate; the driving air bag drives the tube wire to do axial delivery motion under the driving of friction force, and the air bag on the other side of the air bag box passively rotates under the action of tube wire friction force;
the method for detecting whether the tube wire slips comprises the following steps:
when the tube wire is driven to do axial delivery movement, the two air bags on the other side do not move under the control of the motor, so that the two driven air bags start to rotate under the driving of the friction force of the moving tube wire; driving the air duct and the second shaft which are matched with the air duct to rotate; the second shaft is connected with the extending shaft of the rotary encoder through a synchronous belt, so that the rotary encoder can detect the rotation condition of the second shaft, namely the rotation condition of the passive air bag; whether the rotating speeds of the active air bag and the passive air bag are the same or not is known by comparing the rotating data of the rotary encoder and the driving motor, if the rotating speeds of the active air bag and the passive air bag are the same, the tube wire is indicated not to slip, otherwise, the tube wire is indicated to slip, after the slip occurs, the internal gas pressure of all the air bags is subjected to pressurization treatment, the positive pressure of the contact between the air bags and the tube wire is increased, the friction force is increased, and therefore the slip state is changed;
the rotary motion steps of the tube wire are as follows:
firstly, driving a large motor, driving a third gear to rotate by an output shaft, and driving a first gear to rotate by the meshing rotation of the third gear and the second gear, and driving the first gear to rotate by the meshing rotation of the second gear and the first gear; the first gear is arranged on the gear shaft, so that the gear shaft rotates; the gear shaft is fixed with the rear baffle, the rear baffle is fixed with the support shell, the support shell is fixed with the front baffle, and the delivery motion control clamping module integrally rotates, so that the tube wire is driven by the friction force of the air bag to rotate by taking the axis of the tube wire as the shaft.
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| CN202210484406.6A CN114732525A (en) | 2022-05-06 | 2022-05-06 | Pneumatic human-finger-simulated vascular intervention tube thread safe clamping continuous delivery mechanism |
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| CN202210484406.6A CN114732525A (en) | 2022-05-06 | 2022-05-06 | Pneumatic human-finger-simulated vascular intervention tube thread safe clamping continuous delivery mechanism |
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Cited By (1)
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