CN115177369A - Control device for guide wire and guide tube at slave end of interventional operation robot - Google Patents

Abstract

The utility model relates to an intervene formula surgical robot technical field, the application provides an intervene surgical robot is from end seal wire pipe controlling means, it rotates to drive the support through first drive unit drive rotary mechanism, the support drives drive assembly rotatory, and then drive assembly drives seal wire or pipe along rotatory around its axis, second drive unit drive delivery mechanism drives drive assembly and rotates, and then drive assembly drives its axial direction of seal wire or pipe and delivers, at above-mentioned in-process, seal wire (or pipe) advance and retreat or rotate and advance and retreat or pivoted in succession, thereby improve the security of operation greatly, doctor's work efficiency has been improved.

Description

Control device for guide wire and guide tube at slave end of interventional operation robot

Technical Field

The application relates to the technical field of interventional robots, in particular to a slave-end guide wire catheter control device of an interventional surgical robot.

Background

Interventional therapy is minimally invasive therapy carried out by modern high-tech means, namely, under the guidance of medical imaging equipment, special catheters, guide wires and other precise instruments are introduced into a human body to diagnose and locally treat internal diseases.

The digital technology is applied to interventional therapy, the visual field of a doctor is expanded, the hands of the doctor are prolonged by means of the catheter and the guide wire, and the incision (puncture point) of the doctor is only rice grain in size, so that a plurality of diseases which cannot be treated in the past and have poor curative effect such as tumors, hemangiomas, various kinds of bleeding and the like can be treated without cutting human tissues. The interventional therapy has the characteristics of no operation, small wound, quick recovery and good effect, and is a development trend of future medicine.

For the blood vessel interventional operation, doctors need to receive X-ray radiation for a long time, and therefore, a master-slave blood vessel interventional operation robot for remote operation is developed in engineering. The slave end of the master-slave vascular interventional surgical robot can work in an intense radiation environment, and the master end (doctor side) controls the slave end outside the radiation environment.

However, for the transmission mechanism of the existing master-slave vascular interventional surgical robot, due to the unreasonable structural design, the mechanism driving the guide wire (or the catheter) to advance or retreat or to rotate needs to be reset, and the advance or retreat or the rotation of the guide wire (or the catheter) can be stopped in the process, so that the guide wire (or the catheter) can advance or retreat or rotate in a segmented manner, and cannot advance or retreat or rotate continuously, thereby affecting the working efficiency.

Disclosure of Invention

The main purpose of this application is to provide a from end seal wire pipe controlling means, device, computer equipment and storage medium of intervene surgical robot, can solve prior art seal wire (or pipe) advance and retreat or rotate and can not accomplish continuous advance and retreat or rotate, influence work efficiency's technical problem.

The control device for the guide wire and the guide tube at the slave end of the interventional surgical robot is arranged at the slave end of the interventional surgical robot, is used for realizing the rotation and the delivery of the guide wire or the guide tube, and comprises a driving seat and a power seat connected with the driving seat;

the driving seat comprises a rack, a delivery mechanism, a rotating mechanism and a clamping mechanism, wherein the delivery mechanism, the rotating mechanism and the clamping mechanism are all arranged on the rack;

the clamping mechanism comprises a driving assembly and a support, the driving assembly is mounted on the support, the support is in transmission connection with the power output end of the rotating mechanism, and the power output end of the delivery mechanism is in transmission connection with the power input end of the driving assembly;

the power seat comprises a first driving unit and a second driving unit, the first driving unit is in transmission connection with the power input end of the rotating mechanism, the second driving unit is in transmission connection with the power input end of the delivery mechanism, and the first driving unit and the second driving unit are respectively arranged on two sides of the bracket in the delivery direction of the guide wire or the catheter;

the first driving unit drives the rotating mechanism to drive the support to rotate, the support drives the driving assembly to rotate, then the driving assembly clamps the guide wire or the guide pipe to rotate around the axis of the guide wire or the guide pipe, the second driving unit drives the delivery mechanism to drive the driving assembly to move, and then the driving assembly clamps the guide wire or the guide pipe to deliver along the axial direction of the guide wire or the guide pipe.

Further, rotary mechanism includes first gear and second gear, first gear with the meshing of second gear, first gear with first drive unit is connected, the second gear with the leg joint, the support with the frame rotates and is connected, first bar groove has all been seted up to the frame with the second gear, first bar groove is used for placing seal wire or pipe, first drive unit is for first gear provides power, and then the drive the support rotates on the drive seat.

Furthermore, the delivery mechanism comprises a first transmission assembly arranged on the rack and a second transmission assembly arranged on the support, the power input end of the first transmission assembly is in transmission connection with the power output end of the second driving unit, the power output end of the first transmission assembly is in transmission connection with the power input end of the second transmission assembly, and the power output end of the second transmission assembly is in transmission connection with the power input end of the driving assembly.

Further, first drive assembly includes third gear, fourth gear, fifth gear and transmission shaft, the third gear the fourth gear the fifth gear with the second bar groove has all been seted up to the transmission shaft, the third gear with the meshing of fourth gear, the second bar groove is used for placing seal wire or pipe, the third gear with second drive unit's power take off end is connected, the transmission shaft with the support rotates to be connected, the fourth gear with the fifth gear passes through the transmission shaft is connected, the fifth gear with the power input end transmission of second drive assembly is connected.

Further, a gear ratio of the first gear and the second gear is equal to a gear ratio of the third gear and the fourth gear.

Furthermore, the second transmission assembly comprises a sixth gear, a seventh gear and a rotating shaft, two ends of the rotating shaft are rotatably connected to the support, the sixth gear and the seventh gear are fixed to the rotating shaft, the fifth gear is in transmission connection with the sixth gear, and the seventh gear is in transmission connection with the power input end of the driving assembly.

Furthermore, the driving assembly comprises a driving roller and a driven roller which are arranged on the rack, the driving roller and the driven roller are correspondingly arranged on two sides of the guide wire or the guide pipe, an eighth gear is arranged at the bottom of the driving roller, and the seventh gear is in transmission connection with the eighth gear.

Further, the seventh gear and the eighth gear are both bevel gears/staggered shaft gears.

Further, the reduction ratio of the first gear and the second gear is less than 5, and the reduction ratio of the third gear and the eighth gear is less than 10.

Furthermore, the driving seat further comprises a Y valve driving mechanism, the power seat further comprises a third driving unit, a ninth gear is arranged on the Y valve driving mechanism, the ninth gear is in transmission connection with a power output end of the third driving unit, the Y valve driving mechanism clamps the tail end of the guide pipe, and the third driving unit drives the guide pipe to rotate.

The application also provides a slave end driving method of an interventional operation robot, which is applied to the slave end guide wire catheter control device of the interventional operation robot and comprises the following steps:

controlling an individual delivery motion mode, an individual rotational motion mode, and a simultaneous delivery and rotational motion mode of the interventional surgical robot slave end guide wire catheter control device by adjusting a rotational speed of a power output of the rotation mechanism and a rotational speed of a power output of the delivery mechanism;

wherein, in the single delivery movement mode, the rotational speed of the power output of the rotary mechanism is 0 and the rotational speed of the power output of the delivery mechanism is not 0;

in the single rotational movement mode, the rotational speed of the power output of the rotational mechanism is the same as the rotational speed of the power output of the delivery mechanism;

in the simultaneous delivery and rotary motion modes, the rotating speed of the power output end of the rotary mechanism and the rotating speed of the power output end of the delivery mechanism are not 0 and are different.

Compared with the prior art, the application provides a intervene surgical robot from end seal wire pipe controlling means, drive rotary mechanism through first drive unit and drive the support and rotate, the support drives drive assembly rotatory, and then drive assembly drives seal wire or pipe and rotates around its axis, second drive unit drive delivery mechanism drives drive assembly and rotates, and then drive assembly drives its axial direction of seal wire or pipe and delivers, at above-mentioned in-process, seal wire (or pipe) advance and retreat or rotate and advance and retreat or rotate in succession, thereby improve the security of operation greatly, doctor's work efficiency has been improved.

Drawings

FIG. 1 is a schematic view of the present application illustrating the assembly of a slave guidewire catheter control device of an interventional surgical robot;

FIG. 2 is a schematic structural diagram of a slave guidewire catheter control device of an interventional surgical robot according to the present application;

FIG. 3 is a schematic view of the interventional surgical robot from another perspective of the tip guide wire catheter control device according to the present application;

FIG. 4 is a schematic view of the interventional surgical robot of the present application from another perspective (not including the frame) of the end guide wire catheter control device;

FIG. 5 is a schematic structural view of a rack of the present application;

FIG. 6 is a schematic structural view of a stent of the present application;

FIG. 7 is a schematic view of the connection of the delivery mechanism and the drive assembly in one embodiment of the present application;

FIG. 8 is a schematic view of the connection of the delivery mechanism and the drive assembly in another embodiment of the present application.

The names of the components identified in the figures are as follows: 1. a power base; 11. a first drive unit; 12. a second driving unit; 13. a third driving unit; 2. a driving seat; 21. a frame; 211. a first support plate; 2111. a first through hole; 212. a second support plate; 213. a first bar-shaped groove; 22. a delivery mechanism; 221. a first transmission assembly; 2211. a third gear; 2212. a fourth gear; 2213. a drive shaft; 2214. a fifth gear; 222. a second transmission assembly; 2221. a sixth gear; 2222. a seventh gear; 2223. a rotating shaft; 2224. a second strip groove; 23. a rotation mechanism; 231. a first gear; 232. a second gear; 24. a clamping mechanism; 241. a support; 2412. a rotating shaft; 2413. a second through hole; 242. a drive assembly; 2421. a drive roll; 2422. a driven roller; 2423. an eighth gear; 243. a separation assembly; 2431. a separating station; 25. a Y valve drive mechanism; 251. a ninth gear; 252. a Y-valve body; 253. a connecting member.

The implementation, functional features and advantages of the objectives of the present application will be further explained with reference to the accompanying drawings.

Detailed Description

It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention. Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be mechanically coupled, directly coupled, or indirectly coupled through intervening agents, both internally and/or in any other manner known to those skilled in the art. The specific meanings of the above terms in the present invention can be understood according to specific situations by those of ordinary skill in the art.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

Referring to fig. 1 and 4, a slave guide wire and catheter control device for an interventional surgical robot, which is installed on a slave end of the interventional surgical robot and is used for realizing rotation and delivery of a guide wire or a catheter, comprises a driving seat 2 and a power seat 1 connected with the driving seat 2;

the driving seat 2 comprises a frame 21, a delivery mechanism 22, a rotating mechanism 23 and a clamping mechanism 24, wherein the delivery mechanism 22, the rotating mechanism 23 and the clamping mechanism 24 are all arranged on the frame 21;

the clamping mechanism 24 comprises a driving component 242 and a bracket 241, the driving component 242 is mounted on the bracket 241, the bracket 241 is in transmission connection with the power output end of the rotating mechanism 23, and the power output end of the delivery mechanism 22 is in transmission connection with the power input end of the driving component 242;

the power base 1 comprises a first driving unit 11 and a second driving unit 12, the first driving unit 11 is in transmission connection with a power input end of the rotating mechanism 23, and the second driving unit 12 is in transmission connection with a power input end of the delivery mechanism 22. The first driving unit 11 and the second driving unit 12 are respectively arranged on two sides of the bracket 241 in the guide wire or catheter delivery direction;

the first driving unit 11 drives the rotating mechanism 23 to drive the bracket 241 to rotate, the bracket 241 drives the driving component 242 to rotate, and then the driving component 242 clamps the guide wire or the catheter to rotate around the axis thereof, the second driving unit 12 drives the delivery mechanism 22 to drive the driving component 242 to move, and then the driving component 242 clamps the guide wire or the catheter to deliver along the axial direction thereof.

In the application, the length direction of the frame 21 is aligned with the delivery direction of the guide wire or catheter, and the width direction of the frame 11 is perpendicular to the delivery direction. Since the first driving unit 11 and the second driving unit 12 are respectively disposed at both sides of the stent 241 in the guide wire or catheter delivery direction, instead of disposing the first driving unit 11 and the second driving unit 12 in the width direction of the frame 11 at the same time, the required design width of the frame 21 is shortened. The first driving unit 11 and the second driving unit 12 reduce the overall size of the slave end through reasonable structural design, reduce the occupied space and the overall quality of the slave end, and are favorable for spatial layout of the surgical robot. In addition, the first driving unit 11 and the second driving unit 12 are respectively disposed on two sides of the bracket 241, and correspondingly, the power input end of the rotating mechanism 23 and the power input end of the delivering mechanism 22 are also respectively disposed on two sides of the bracket 241, which is beneficial to sufficient space layout of the rotating mechanism 23 and the delivering mechanism 22.

In one possible embodiment, a guidewire is illustrated. In operation, the second drive unit 12 drives the delivery mechanism 22 to rotate the drive assembly 242 to move the guidewire axially along the delivery mechanism to advance the guidewire into or withdraw the guidewire from the blood vessel. When the guide wire reaches the branch structure of the blood vessel, the first driving unit 11 drives the rotating mechanism 23 to drive the bracket 241 to rotate. Because the driving component 242 is arranged on the support 241, the rotation of the support 241 can drive the driving component 242 to rotate, so that the guide wire can rotate to enter the branch structure of the blood vessel. By adopting the mode, the independent rotation and pushing of the guide wire and the cooperative work of the guide wire and the guide wire can be realized, so that not only are the hands of a doctor liberated, but also the working time of the doctor in a radiation environment is reduced, and the failure rate of the operation is reduced. Meanwhile, in the process, the guide wire advances and retreats or rotates continuously, so that the pushing and rotating precision and accuracy are guaranteed, the operation safety is greatly improved, and the working efficiency of doctors is improved.

In one possible embodiment, referring to fig. 4 to 6, the rotating mechanism 23 includes a first gear 231 and a second gear 232, the first gear 231 is engaged with the second gear 232, the first gear 231 is connected with the first driving unit 11, and the second gear 232 is connected with the bracket 241. The reduction ratio between the first gear 231 and the second gear 232 is less than 5, and the whole noise of the device is small and the torsion of the motor is stable in the reduction ratio interval. The support 241 is rotatably connected with the frame 21, the frame 21 and the second gear 232 are both provided with a first strip-shaped groove 213, and the first strip-shaped groove 213 is used for placing a guide wire or a catheter. The first driving unit 11 provides power for the first gear 231, so as to drive the bracket 241 to rotate on the driving seat 2. Specifically, the frame 21 is provided with a first support plate 211 and a second support plate 212, and the first support plate 211 and the second support plate 212 are respectively disposed on two sides of the support 241 in the delivery direction of the guide wire or the catheter. A rotating shaft 2412 is formed on the bracket 241 in the delivery direction of the guide wire or catheter, and the first support plate 211 and the second support plate 212 are respectively provided with a first through hole 2111 corresponding to the rotating shaft 2412. The rotation shaft 2412 is placed in the first through hole 2111, and the rotation shaft 2412 rotates within the first through hole 2111 by the driving of the first driving unit 11. The first bar-shaped groove 213 is opened on the first support plate 211 and the second support plate 212.

In one possible embodiment, referring to fig. 1 to 7, the delivery mechanism 22 includes a first transmission assembly 221 mounted on the frame 21 and a second transmission assembly 222 mounted on the bracket 241. The power input end of the first transmission assembly 221 is in transmission connection with the power output end of the second driving unit 12, the power output end of the first transmission assembly 221 is in transmission connection with the power input end of the second transmission assembly 222, and the power output end of the second transmission assembly 222 is in transmission connection with the power input end of the driving assembly 242. Specifically, first drive assembly 221 includes third gear 2211, fourth gear 2212, fifth gear 2214, and drive shaft 2213. The third gear 2211 is engaged with the fourth gear 2212, and the third gear 2211, the fourth gear 2212, the fifth gear 2214 and the transmission shaft 2213 are all provided with a second strip-shaped groove 2224. The second strip-shaped slot 2224 is used for placing a guide wire or a catheter, and the third gear 2211 is connected with the power output end of the second driving unit 12. The transmission shaft 2213 is rotatably connected with the bracket 241, the fourth gear 2212 and the fifth gear 2214 are connected through the transmission shaft 2213, and the fifth gear 2214 is in transmission connection with the power input end of the second transmission assembly 222. In order to reduce the installation space of the above components, a second through hole 2413 for the transmission shaft 2213 to pass through is formed in the bracket 241 corresponding to the rotation shaft 2412 of the second driving unit 12, so that the transmission shaft 2213 rotates in the second through hole 2413. Further, the guide wire or catheter is placed in the second elongated slot 2224 and the first elongated slot 213 with the second elongated slot 2224 and the slot opening of the first elongated slot 213 facing upward simultaneously and with the second elongated slot 2224 and the first elongated slot 213 coinciding along the axis of the catheter or guide wire delivery direction.

In a possible embodiment, referring to fig. 3 and 7, the second transmission assembly 222 includes a sixth gear 2221, a seventh gear 2222 and a rotating shaft 2223, two ends of the rotating shaft 2223 are rotatably connected to the bracket 241, the sixth gear 2221 and the seventh gear 2222 are both fixed to the rotating shaft 2223, the fifth gear 2214 is in transmission connection with the sixth gear 2221, and the seventh gear 2222 is in transmission connection with the power input end of the driving assembly 242. Of these, the seventh gear 2222 is provided in two. Stability during catheter delivery can be improved by providing two seventh gears 2222. Of course, the number of the seventh gears can be set according to actual needs.

In one possible embodiment, referring to fig. 1, 3 and 7, the driving assembly 242 includes a driving roller 2421 and a driven roller 2422 disposed on the frame 21, the driving roller 2421 and the driven roller 2422 are correspondingly disposed on two sides of the guide wire or catheter, an eighth gear 2423 is disposed at the bottom of the driving roller 2421, and the seventh gear 2222 is in transmission connection with the eighth gear 2423. The speed reduction ratio between the third gear 2211 and the eighth gear 2423 is less than 10. Within the above-mentioned reduction ratio interval, the whole noise of device is less, and the torsion of motor is steady. Further, a driven roller 2422 is provided on the separating member 243. The separation assembly 243 is used to adjust the axial spacing between the driven and drive rollers 2422 and 2421 to clamp or release the guidewire. Specifically, the separating assembly 243 includes a separating table 2431, a guide shaft (not shown in the drawings), and a return spring (not shown in the drawings). The separating table 2431 is slidably connected to a guide shaft, the guide shaft is disposed on the support 241, and the return spring is disposed between the separating table and the support 241. When it is desired to adjust the axial spacing between the driven roll 2422 and the drive roll 2421, the separation stage 2431 is plucked in a direction away from the drive roll 2421, and the axial spacing between the driven roll 2422 and the drive roll 2421 is increased to allow placement of a catheter or guidewire. Subsequently, the separation table is released and the driven and drive rollers 2422 and 2421 grip the catheter or guidewire under the action of the return spring.

During the operation, sometimes only the catheter or the guide wire needs to be rotated without forward delivery, and since the second transmission assembly 222 will rotate along with the frame 21 when the support 241 rotates along the axis, the first driving unit 11 is required to actively drive the delivery mechanism 22, so that the eighth gear 2423 and the seventh gear 2222 are kept relatively static, and the driving roller 2421 is prevented from rotating. For example, the stent 241 drives the second transmission assembly 222 to rotate clockwise along the axis of the catheter or the guide wire, and at the same time, the second driving unit 12 also drives the corresponding components of the first transmission assembly 221 and the second transmission assembly 222 to rotate clockwise along their own axes, so that the eighth gear 2423 and the seventh gear 2222 are kept relatively stationary, and the stent 241 rotates clockwise, so that the forward delivery of the catheter or the guide wire can be avoided, and the catheter or the guide wire only performs a rotational motion. Preferably, the gear ratio of the first gear 231 and the second gear 232 is equal to the gear ratio of the third gear 2211 and the fourth gear 2212. So configured, during the operation, when only the catheter or the guide wire needs to be rotated and forward delivery is not needed, it is beneficial to drive the first transmission assembly 221 to compensate by the second driving unit 12 when the support 241 rotates.

Further, the seventh gear 2222 and the eighth gear 2423 are both bevel/cross-shaft gears. The common spur gear is engaged along the tooth width simultaneously, so that impact vibration noise is generated, and the transmission is not stable. The transmission efficiency of the bevel gear/the staggered shaft gear is superior to that of a straight gear, the transmission operation is stable, and the bearing capacity is high. Referring to fig. 7, the staggered shaft gear transmission saves more space, and referring to fig. 8, a bevel gear can be adopted, so that the manufacture and installation are convenient.

Further, referring to fig. 3, the driving seat 2 further includes a Y valve driving mechanism 25, the power seat 1 further includes a third driving unit 13, a ninth gear 251 is disposed on the Y valve driving mechanism 25, the ninth gear 251 is in transmission connection with a power output end of the third driving unit 13, the Y valve driving mechanism 25 clamps a tail end of the conduit, and the conduit is driven to rotate by the third driving unit. The Y-valve driving mechanism 25 further includes a connection end 252, the connection member 252 is for connecting with one end of the catheter, and the ninth gear 251 is connected with the connection end 252.

The present application further provides a slave-end driving method of an interventional surgical robot, which is applied to the slave-end guide wire catheter control device of the interventional surgical robot, and includes:

controlling a single delivery motion mode, a single rotational motion mode, and a simultaneous delivery and rotational motion mode of the interventional surgical robot slave guidewire catheter control device by adjusting a rotational speed of a power output of the rotation mechanism 23 and a rotational speed of a power output of the delivery mechanism 22;

wherein, in the single delivery movement mode, the rotation speed of the power output end of the rotation mechanism 23 is 0, and the rotation speed of the power output end of the delivery mechanism 22 is not 0;

in the single rotational movement mode, the rotational speed of the power output of the rotation mechanism 23 is the same as the rotational speed of the power output of the delivery mechanism 22;

in the simultaneous delivery and rotary motion modes, the rotation speed of the power output end of the rotary mechanism 23 and the rotation speed of the power output end of the delivery mechanism 22 are not 0 and are different.

Specifically, in the single delivery movement mode, when the rotation speed of the power output end of the rotation mechanism 23 is 0 and the rotation speed of the power output end of the delivery mechanism 22 is not 0, that is, the rotation speed of the first gear 231 is 0, and the rotation speed of the third gear 2211 is not 0, that is, only the first driving unit 12 may be controlled to operate. The third gear 2211 is driven to rotate, so that the fourth gear 2212 meshed with the third gear 2211 is driven to rotate, and the transmission shaft 2213 is driven to rotate. The transmission shaft 2213 drives the fifth gear 2214 to rotate, so as to drive the sixth gear 2221 meshed with the fifth gear 2214 to rotate, and further the rotating shaft 2223 rotates. Seventh gear 2222 is driven by shaft 2223 to rotate, and eighth gear 2423 engaged with seventh gear 2222 is driven to rotate, and eighth gear 2423 drives driving roll 2421 to rotate. The driving roller 2421 and the driven roller 2422 rotate synchronously, and friction power is applied to the catheter or the guide wire, and the catheter or the guide wire is delivered forwards under the action of the friction power.

In the single rotational movement mode, when the rotational speed of the power output of the rotation mechanism 23 is the same as the rotational speed of the power output of the delivery mechanism 22, i.e., the rotational speed of the first gear 231 is the same as the rotational speed of the third gear 2211. That is, the catheter or the guide wire does not advance or retreat during the rotation process, the first driving unit 12 and the second driving unit 11 need to be controlled to work synchronously. The second driving unit 11 is controlled to operate to drive the first gear 231 to rotate, so as to drive the second gear 232 engaged with the first gear 231 to rotate. The second gear 232 rotates to drive the bracket 241 to rotate along the axis of the catheter or guide wire. Since the second transmission assembly 222 is disposed on the bracket 241, the second transmission assembly 222 also rotates along the axis of the catheter or guidewire. However, the second transmission assembly 222 cannot rotate along its own axis, because the catheter or the guide wire would move axially if the second transmission assembly 222 rotates along its own axis, so to avoid the second transmission assembly 222 rotating along its own axis, the third gear 2211 needs to rotate synchronously to counteract the rotation of the second transmission assembly 222.

In the simultaneous delivery and rotational movement modes, when the rotational speed of the power output end of the rotating mechanism 23 is not 0 and is not the same as the rotational speed of the power output end of the delivery mechanism 22, that is, the rotational speed of the first gear 231 is not 0 and is not the same as the rotational speed of the third gear 2211. In this mode, the first driving unit 12 and the second driving unit 11 need to be synchronously controlled to work, but the third gear 2211 is not required to synchronously rotate to counteract the rotation of the second transmission assembly 222. Specifically, the transmission process is the same as the transmission process of the transmission mode, and the rotation speeds of the first driving unit 12 and the second driving unit 11 may be controlled according to actual conditions, so detailed description is omitted.

It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, apparatus, article, or method. Without further limitation, an element defined by the phrase "comprising a … …" does not exclude the presence of another identical element in a process, apparatus, article, or method that comprises the element.

The above description is only a preferred embodiment of the present application, and not intended to limit the scope of the present application, and all modifications of equivalent structures and equivalent processes, which are made by the contents of the specification and the drawings of the present application, or which are directly or indirectly applied to other related technical fields, are also included in the scope of the present application.

Claims (11)

1. A control device of a guide wire and a guide tube at the slave end of an interventional operation robot is arranged on the slave end of the interventional operation robot and is used for realizing the rotation and the delivery of a guide wire or a guide tube;

the driving seat comprises a rack, a delivery mechanism, a rotating mechanism and a clamping mechanism, wherein the delivery mechanism, the rotating mechanism and the clamping mechanism are all arranged on the rack;

the clamping mechanism comprises a driving assembly and a support, the driving assembly is mounted on the support, the support is in transmission connection with a power output end of the rotating mechanism, and a power output end of the delivery mechanism is in transmission connection with a power input end of the driving assembly;

the power seat comprises a first driving unit and a second driving unit, the first driving unit is in transmission connection with the power input end of the rotating mechanism, the second driving unit is in transmission connection with the power input end of the delivery mechanism, and the first driving unit and the second driving unit are respectively arranged on two sides of the bracket in the delivery direction of the guide wire or the catheter;

the first driving unit drives the rotating mechanism to drive the support to rotate, the support drives the driving assembly to rotate, then the driving assembly clamps the guide wire or the guide pipe to rotate around the axis of the guide wire or the guide pipe, the second driving unit drives the delivery mechanism to drive the driving assembly to move, and then the driving assembly clamps the guide wire or the guide pipe to deliver along the axial direction of the guide wire or the guide pipe.

2. The device for controlling a slave-end guide wire and a guide tube of an interventional surgical robot according to claim 1, wherein the rotating mechanism comprises a first gear and a second gear, the first gear is engaged with the second gear, the first gear is connected with the first driving unit, the second gear is connected with the bracket, the bracket is rotatably connected with the frame, the frame and the second gear are both provided with a first linear groove, the first linear groove is used for placing a guide wire or a guide tube, and the first driving unit provides power for the first gear to drive the bracket to rotate on the driving seat.

3. The device for controlling the slave-end guide wire and catheter of the interventional surgical robot according to claim 2, wherein the delivery mechanism comprises a first transmission assembly mounted on the frame and a second transmission assembly mounted on the support, a power input end of the first transmission assembly is in transmission connection with a power output end of the second driving unit, a power output end of the first transmission assembly is in transmission connection with a power input end of the second transmission assembly, and a power output end of the second transmission assembly is in transmission connection with a power input end of the driving assembly.

4. The device for controlling the slave-end guide wire and guide tube of the interventional surgical robot according to claim 3, wherein the first transmission assembly comprises a third gear, a fourth gear, a fifth gear and a transmission shaft, the third gear is engaged with the fourth gear, the third gear, the fourth gear, the fifth gear and the transmission shaft are all provided with a second strip-shaped groove, the second strip-shaped groove is used for placing a guide wire or a guide tube, the third gear is connected with the power output end of the second driving unit, the transmission shaft is rotatably connected with the bracket, the fourth gear and the fifth gear are connected through the transmission shaft, and the fifth gear is in transmission connection with the power input end of the second transmission assembly.

5. The interventional surgical robot slave-end guidewire catheter control device of claim 4, wherein a gear ratio of the first gear and the second gear is equal to a gear ratio of the third gear and the fourth gear.

6. The slave-end guide wire and catheter control device of the interventional surgical robot as set forth in claim 4, wherein the second transmission assembly includes a sixth gear, a seventh gear and a rotating shaft, two ends of the rotating shaft are rotatably connected to the bracket, the sixth gear and the seventh gear are both fixed to the rotating shaft, the fifth gear is in transmission connection with the sixth gear, and the seventh gear is in transmission connection with the power input end of the driving assembly.

7. The device for controlling the slave-end guide wire and guide tube of the interventional surgical robot according to claim 6, wherein the driving assembly comprises a driving roller and a driven roller which are arranged on the rack, the driving roller and the driven roller are correspondingly arranged on two sides of the guide wire or the guide tube, an eighth gear is arranged at the bottom of the driving roller, and the seventh gear is in transmission connection with the eighth gear.

8. The interventional surgical robot slave-end guide wire catheter control device of claim 7, wherein the seventh gear and the eighth gear are bevel/cross-axis gears.

9. The interventional surgical robot slave-end guide wire catheter control device of claim 7, wherein the first gear and the second gear have a reduction ratio of less than 5 and the third gear and the eighth gear have a reduction ratio of less than 10.

10. The slave-end guide wire and catheter control device for the interventional surgical robot according to claim 1, wherein the driving seat further comprises a Y valve driving mechanism, the power seat further comprises a third driving unit, a ninth gear is arranged on the Y valve driving mechanism, the ninth gear is in transmission connection with a power output end of the third driving unit, the Y valve driving mechanism clamps the end of the catheter, and the catheter is driven to rotate under the drive of the third driving unit.

11. A slave-end driving method of an interventional surgical robot, which is applied to the slave-end guide wire catheter control device of the interventional surgical robot in any one of claims 1 to 10, and is characterized by comprising the following steps:

controlling an individual delivery motion mode, an individual rotational motion mode, and a simultaneous delivery and rotational motion mode of the interventional surgical robot slave end guide wire catheter control device by adjusting a rotational speed of a power output of the rotation mechanism and a rotational speed of a power output of the delivery mechanism;

wherein in the single delivery motion mode, the rotational speed of the power output of the rotation mechanism is 0 and the rotational speed of the power output of the delivery mechanism is not 0;

in the single rotational movement mode, the rotational speed of the power output of the rotational mechanism is the same as the rotational speed of the power output of the delivery mechanism;

in the simultaneous delivery and rotary motion modes, the rotating speed of the power output end of the rotary mechanism and the rotating speed of the power output end of the delivery mechanism are not 0 and are different.

Images