CN116421318A - Medical guide wire driving device, method, system, medium and electronic equipment - Google Patents

Medical guide wire driving device, method, system, medium and electronic equipment Download PDF

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Publication number
CN116421318A
CN116421318A CN202310230441.XA CN202310230441A CN116421318A CN 116421318 A CN116421318 A CN 116421318A CN 202310230441 A CN202310230441 A CN 202310230441A CN 116421318 A CN116421318 A CN 116421318A
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driving roller
guide wire
medical guide
medical
driving
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CN116421318B (en
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王迎智
袁平
徐高峰
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Jixian Artificial Intelligence Co Ltd
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Jixian Artificial Intelligence Co Ltd
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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/09—Guide wires
    • A61M25/09041—Mechanisms for insertion of guide wires
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/303—Surgical robots specifically adapted for manipulations within body lumens, e.g. within lumen of gut, spine, or blood vessels
    • 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
    • A61B2034/305—Details of wrist mechanisms at distal ends of robotic arms
    • 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
    • A61M2210/00—Anatomical parts of the body
    • A61M2210/12—Blood circulatory system

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Engineering & Computer Science (AREA)
  • Public Health (AREA)
  • Animal Behavior & Ethology (AREA)
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  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • General Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Molecular Biology (AREA)
  • Medical Informatics (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Robotics (AREA)
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  • Pulmonology (AREA)
  • Anesthesiology (AREA)
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Abstract

The invention provides a medical guide wire driving device, a method, a system, a medium and electronic equipment, and belongs to the technical field of general control or regulation systems. The first auxiliary roller is used for being matched with the first driving roller to press the medical guide wire on the first driving roller, and the second auxiliary roller is used for being matched with the second driving roller to press the medical guide wire on the second driving roller; the axis of the second driving roller is parallel to the axis of the second auxiliary roller, and the axis extension line of the first driving roller is intersected with the axis extension line of the second driving roller and is at a set angle; according to the invention, the movement or rotation control of the medical guide wire is performed according to the rotation control of the first driving roller and the second driving roller; according to the rotation control of the first driving roller or the second driving roller, the movement and rotation synchronous control of the medical guide wire is carried out; the invention optimizes the whole structure, reduces the number of parts and improves the safety of products.

Description

Medical guide wire driving device, method, system, medium and electronic equipment
Technical Field
The invention relates to the technical field of general control or regulation systems, in particular to a medical guide wire driving device, a method, a system, a medium and electronic equipment.
Background
The statements in this section merely provide background information related to the present disclosure and may not necessarily constitute prior art.
Guide Wire (Guide Wire), also known as a Guide Wire or guidewire, is one of the main tools for percutaneous catheterization, and is used to Guide and support a catheter, help the catheter enter a blood vessel or other lumen, and Guide the catheter smoothly to a lesion site.
The inventor finds that most of common medical guide wires for vascular intervention are manually driven by doctors, the guide wires are moved and rotated through twisting and axial dragging, and the doctors need to wear lead clothing to operate in order to avoid radiation influence on the body side of a patient, so that the movement and rotation of the guide wires are greatly influenced, and the control accuracy of the guide wires is poor; the common vascular robot driving guide wire is controlled by a plurality of groups of mechanisms in a matching way, the structure is complex, the vascular robot driving guide wire is disposable equipment, and the cost is high.
Disclosure of Invention
In order to solve the defects in the prior art, the invention provides a medical guide wire driving device, a method, a system, a medium and electronic equipment, which optimize the whole structure, reduce the number of parts, reduce the material processing cost and the assembly time cost and improve the safety of products.
In order to achieve the above purpose, the present invention adopts the following technical scheme:
the first aspect of the present invention provides a medical guidewire drive.
A medical guidewire drive, comprising: the first driving roller, the second driving roller, the first auxiliary roller and the second auxiliary roller;
the first auxiliary roller is used for being matched with the first driving roller to press the medical guide wire on the first driving roller, and the second auxiliary roller is used for being matched with the second driving roller to press the medical guide wire on the second driving roller;
the axis of the first driving roller is parallel to the axis of the first auxiliary roller, the axis of the second driving roller is parallel to the axis of the second auxiliary roller, the first end of the first driving roller is opposite to the first end of the second driving roller, and the axis extension line of the first driving roller is intersected with the axis extension line of the second driving roller and is at a set angle.
As an optional implementation manner, the included angle between the axis extension line of the first driving roller and the axis of the medical guide wire is a first included angle, the included angle between the axis extension line of the second driving roller and the axis of the medical guide wire is a second included angle, the angles of the first included angle and the second included angle are the same, and the set angle is: 180 ° - (angle of first included angle + angle of second included angle);
determining the angle between the first included angle and the second included angle according to the rotating speed of the first driving roller, the advancing speed of the medical guide wire and the wheel diameter of the first driving roller; or determining the angle between the first included angle and the second included angle according to the rotating speed of the second driving roller, the advancing speed of the medical guide wire and the diameter of the second driving roller; or determining the angle of the first included angle and the second included angle according to the rotating speed of the first driving wheel, the wheel diameter of the second driving wheel and the rotating speed of the medical guide wire.
In a second aspect, the invention provides a method of driving a medical guidewire.
A medical guide wire driving method, which uses the medical guide wire driving device of the first aspect of the invention, comprises the following steps:
performing movement or rotation control of the medical guide wire according to rotation control of the first driving roller and the second driving roller;
and synchronously controlling the movement and rotation of the medical guide wire according to the rotation control of the first driving roller or the second driving roller.
As an optional implementation manner, the movement control of the medical guide wire according to the rotation control of the first active roller and the second active roller comprises:
when the first driving roller and the second driving roller simultaneously rotate clockwise, the medical guide wire moves along a first direction;
when the first driving roller and the second driving roller simultaneously rotate anticlockwise, the medical guide wire moves along the second direction;
wherein the first direction and the second direction are opposite and are parallel to the axis of the medical guide wire;
or, according to the rotation control of the first active roller and the second active roller, the rotation control of the medical guide wire is performed, which comprises the following steps:
the first driving roller rotates clockwise, and the medical guide wire rotates clockwise when the second driving roller rotates anticlockwise;
the first driving roller rotates anticlockwise, and the second driving roller rotates anticlockwise along the medical guide wire when the pointer rotates clockwise.
As an optional implementation manner, the moving and rotating synchronous control of the medical guide wire according to the rotating control of the first active roller comprises:
the first driving roller rotates clockwise, and when the second driving roller does not rotate, the medical guide wire moves synchronously along the first direction and rotates clockwise; the first driving roller rotates anticlockwise, and when the second driving roller does not rotate, the medical guide wire synchronously moves along the second direction and rotates anticlockwise;
or, according to the rotation control of the second active roller, the movement and rotation synchronous control of the medical guide wire is performed, including:
the first driving roller does not rotate, and when the second driving roller rotates anticlockwise, the medical guide wire synchronously moves along the second direction and rotates clockwise; the first driving roller does not rotate, and when the second driving roller rotates clockwise, the medical guide wire synchronously moves along the first direction and rotates anticlockwise.
In a third aspect, the invention provides a medical guidewire drive system.
A medical guidewire drive system, comprising:
the medical guide wire driving device according to the first aspect of the invention comprises the following steps:
a movement or rotation control module configured to: performing movement or rotation control of the medical guide wire according to rotation control of the first driving roller and the second driving roller;
a movement and rotation synchronization control module configured to: and synchronously controlling the movement and rotation of the medical guide wire according to the rotation control of the first driving roller or the second driving roller.
As an alternative implementation, the movement or rotation control module includes: a movement control sub-module and a rotation control sub-module;
a movement control sub-module configured to:
controlling the first driving roller and the second driving roller to simultaneously rotate clockwise so as to enable the medical guide wire to move along a first direction;
the first driving roller and the second driving roller are controlled to simultaneously rotate anticlockwise so that the medical guide wire moves along the second direction;
wherein the first direction and the second direction are opposite and are parallel to the axis of the medical guide wire;
a rotation control sub-module configured to:
the first driving roller is controlled to rotate clockwise, and the second driving roller rotates anticlockwise, so that the medical guide wire rotates clockwise;
the first driving roller is controlled to rotate anticlockwise, and the second driving roller rotates along the pointer, so that the medical guide wire rotates anticlockwise.
As an alternative implementation manner, the movement and rotation synchronization control module includes: a first synchronization control sub-module and a second synchronization control sub-module;
a first synchronization control sub-module configured to:
the first driving roller is controlled to rotate clockwise, and the second driving roller does not rotate, so that the medical guide wire synchronously moves along the first direction and rotates clockwise; the first driving roller is controlled to rotate anticlockwise, and the second driving roller does not rotate, so that the medical guide wire synchronously moves along the second direction and rotates anticlockwise;
a second synchronization control sub-module configured to:
the first driving roller is controlled not to rotate, and the second driving roller rotates anticlockwise, so that the medical guide wire synchronously moves along the second direction and rotates clockwise; the first driving roller is controlled not to rotate, and the second driving roller rotates clockwise so that the medical guide wire moves along the first direction and rotates anticlockwise synchronously.
A fourth aspect of the invention provides a computer readable storage medium having stored thereon a program which when executed by a processor performs steps in a medical guidewire driving method according to the second aspect of the invention.
A fifth aspect of the invention provides an electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, the processor implementing the steps in the medical guidewire driving method according to the second aspect of the invention when executing the program.
Compared with the prior art, the invention has the beneficial effects that:
1. the medical guide wire driving device optimizes the whole structure, reduces the number of parts, reduces the material processing cost and the assembly time cost, and improves the safety of products.
2. The medical guide wire driving method, the system, the medium and the electronic equipment adopt the innovative design of the same set of medical guide wire driving device, realize the independent movement control, the independent rotation control and the movement and rotation synchronous control of the medical guide wire, and improve the applicability of products on the premise of ensuring the control precision.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention.
Fig. 1 is a schematic structural view of a medical guide wire driving device provided in embodiment 1 of the present invention;
FIG. 2 is a schematic diagram of the individual movement control and the individual rotation control provided in embodiment 1 of the present invention;
FIG. 3 is a schematic diagram of the synchronous control of movement and rotation according to embodiment 1 of the present invention;
FIG. 4 is a schematic diagram of the kinematic relationship provided in embodiment 1 of the present invention;
wherein, 1-a first auxiliary roller; 2-a first driving roller; 3-a second auxiliary roller; 4-a second driving roller; 5-medical guide wire.
Detailed Description
The invention will be further described with reference to the drawings and examples.
It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular is also intended to include the plural unless the context clearly indicates otherwise, and furthermore, it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
Embodiments of the invention and features of the embodiments may be combined with each other without conflict.
Example 1:
as shown in fig. 1, embodiment 1 of the present invention provides a medical guidewire driving device, including: a first driving roller 2, a second driving roller 4, a first auxiliary roller 1 and a second auxiliary roller 3;
the first auxiliary roller 1 is used for being matched with the first driving roller 2 to press the medical guide wire 5 on the first driving roller 2, and the second auxiliary roller 3 is used for being matched with the second driving roller 4 to press the medical guide wire 5 on the second driving roller 4;
the axis of the first driving roller 2 is parallel to the axis of the first auxiliary roller 1, the axis of the second driving roller 4 is parallel to the axis of the second auxiliary roller 3, the first end of the first driving roller 2 is opposite to the first end of the second driving roller 4, and the axis extension line of the first end of the first driving roller 2 is intersected with the axis extension line of the first end of the second driving roller and is at a set angle.
In this embodiment, the axis extension line of first initiative gyro wheel is first contained angle with the contained angle of medical seal wire axis, and the axis extension line of second initiative gyro wheel is the second contained angle with the contained angle of medical seal wire axis, and the angle of first contained angle is the same with the angle of second contained angle, and the settlement angle is: 180 ° - (angle of first included angle + angle of second included angle);
determining the angle between the first included angle and the second included angle according to the rotating speed of the first driving roller, the advancing speed of the medical guide wire and the wheel diameter of the first driving roller; or determining the angle between the first included angle and the second included angle according to the rotating speed of the second driving roller, the advancing speed of the medical guide wire and the diameter of the second driving roller; or determining the angle of the first included angle and the second included angle according to the rotating speed of the first driving wheel, the wheel diameter of the second driving wheel and the rotating speed of the medical guide wire.
For example, when the angle of the first included angle is 45 °, the angle of the second included angle is 45 °, the set angle is 90 °.
Specifically, assume that:
the rotation speeds of the first driving roller and the second driving roller are n 1 (r/s)；
The rotation speed of the medical guide wire is n 2 (r/s)；
The advancing speed of the medical guide wire is v 1 (mm/s)；
The friction coefficient between the first driving roller and the medical guide wire is mu 1 The positive pressure of the first driving roller born by the medical guide wire is F 1 The friction coefficient between the second driving roller and the medical guide wire is mu 2 The positive pressure of the second driving roller born by the medical guide wire is F 2 F is then 1 μ 1 ＝F 2 μ 2 。
The kinematic relationship is shown in fig. 4, and can be obtained:
v 1 ＝n 1 πD 1 sinα；n 2 ＝(n 1 πD 1 cosα)/(πD 2 ) The value of alpha can be calculated according to the two formulas, namely the angle of the first included angle and the second included angle, and the calculation results of the two formulas are the same.
Example 2:
the embodiment 2 of the invention provides a medical guide wire driving method, which comprises the following steps of:
the movement or rotation control of the medical guide wire 5 is carried out according to the rotation control of the first driving roller 2 and the second driving roller 4;
the movement and rotation of the medical guide wire 5 are synchronously controlled according to the rotation control of the first driving roller 2 or the second driving roller 4.
In this embodiment, the movement control of the medical guide wire 5 is performed according to the rotation control of the first active roller 2 and the second active roller 4, as shown in fig. 2, and includes:
when the first driving roller 2 and the second driving roller 4 rotate clockwise at the same time, the medical guide wire 5 moves along the first direction;
when the first driving roller 2 and the second driving roller 4 simultaneously rotate anticlockwise, the medical guide wire 5 moves along the second direction;
wherein the first direction and the second direction are opposite and both parallel to the axis of the medical guidewire 5.
In this embodiment, the first direction is to the right along the axis of the medical guidewire 5 and the second direction is to the left along the axis of the medical guidewire 5.
The rotation control of the medical guide wire 5 is performed according to the rotation control of the first driving roller 2 and the second driving roller 4, and comprises the following steps:
the first driving roller 2 rotates clockwise, and the second driving roller 4 rotates anticlockwise, so that the medical guide wire 5 rotates clockwise;
the first driving roller 2 rotates anticlockwise, and the second driving roller 4 rotates anticlockwise when the pointer rotates clockwise, so that the medical guide wire 5 rotates anticlockwise.
In this embodiment, the clockwise rotation is clockwise rotation as viewed from the right side to the left side of the medical guide wire 5, and the counterclockwise rotation is counterclockwise rotation as viewed from the right side to the left side of the medical guide wire 5.
In this embodiment, the movement and rotation synchronization control of the medical guide wire 5 is performed according to the rotation control of the first active roller 2, as shown in fig. 3, including:
the first driving roller 2 rotates clockwise, and when the second driving roller 4 does not rotate, the medical guide wire 5 moves along the first direction and rotates clockwise synchronously; when the first driving roller 2 rotates anticlockwise and the second driving roller 4 does not rotate, the medical guide wire 5 synchronously moves along the second direction and rotates anticlockwise.
In this embodiment, the synchronous control of the movement and rotation of the medical guide wire 5 is performed according to the rotation control of the second active roller 4, which includes:
the first driving roller 2 does not rotate, and when the second driving roller 4 rotates anticlockwise, the medical guide wire 5 synchronously moves along the second direction and rotates clockwise; the first driving roller 2 does not rotate, and when the second driving roller 4 rotates clockwise, the medical guide wire 5 moves synchronously in the first direction and rotates counterclockwise.
Example 3:
embodiment 3 of the present invention provides a medical guide wire driving system, which uses the medical guide wire driving device of embodiment 1 of the present invention, comprising:
a movement or rotation control module configured to: the movement or rotation control of the medical guide wire 5 is carried out according to the rotation control of the first driving roller 2 and the second driving roller 4;
a movement and rotation synchronization control module configured to: the movement and rotation of the medical guide wire 5 are synchronously controlled according to the rotation control of the first driving roller 2 or the second driving roller 4.
As an alternative implementation, the movement or rotation control module includes: a movement control sub-module and a rotation control sub-module;
a movement control sub-module configured to:
controlling the first driving roller 2 and the second driving roller 4 to simultaneously rotate clockwise so as to enable the medical guide wire 5 to move along a first direction;
the first driving roller 2 and the second driving roller 4 are controlled to simultaneously rotate anticlockwise so as to enable the medical guide wire 5 to move along the second direction;
wherein the first direction and the second direction are opposite and both parallel to the axis of the medical guidewire 5.
In this embodiment, the first direction is to the right along the axis of the medical guidewire 5 and the second direction is to the left along the axis of the medical guidewire 5.
A rotation control sub-module configured to:
the first driving roller 2 is controlled to rotate clockwise, and the second driving roller 4 rotates anticlockwise, so that the medical guide wire 5 rotates clockwise;
the first driving roller 2 is controlled to rotate anticlockwise, and the second driving roller 4 rotates clockwise in a pointer manner, so that the medical guide wire 5 rotates anticlockwise.
As an alternative implementation manner, the movement and rotation synchronization control module includes: a first synchronization control sub-module and a second synchronization control sub-module;
a first synchronization control sub-module configured to:
the first driving roller 2 is controlled to rotate clockwise, and the second driving roller 4 is not rotated, so that the medical guide wire 5 moves along the first direction and rotates clockwise synchronously; the first driving roller 2 is controlled to rotate anticlockwise, and the second driving roller 4 is not rotated, so that the medical guide wire 5 synchronously moves along the second direction and rotates anticlockwise;
a second synchronization control sub-module configured to:
the first driving roller 2 is controlled not to rotate, and the second driving roller 4 rotates anticlockwise, so that the medical guide wire 5 synchronously moves along the second direction and rotates clockwise; the first driving roller 2 is controlled not to rotate, and the second driving roller 4 rotates clockwise so that the medical guide wire 5 moves in the first direction and rotates counterclockwise synchronously.
In this embodiment, the clockwise rotation is clockwise rotation as viewed from the right side to the left side of the medical guide wire 5, and the counterclockwise rotation is counterclockwise rotation as viewed from the right side to the left side of the medical guide wire 5.
Example 4:
embodiment 4 of the present invention provides a computer-readable storage medium having stored thereon a program which, when executed by a processor, implements the steps in the medical guidewire driving method according to embodiment 2 of the present invention.
Example 5:
embodiment 5 of the present invention provides an electronic device, including a memory, a processor, and a program stored on the memory and executable on the processor, where the processor implements the steps in the medical guidewire driving method according to embodiment 2 of the present invention when executing the program.
It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of a hardware embodiment, a software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, magnetic disk storage, optical storage, and the like) having computer-usable program code embodied therein.
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), or the like.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims (10)

1. A medical guidewire driving device, characterized in that:
comprising the following steps: the first driving roller, the second driving roller, the first auxiliary roller and the second auxiliary roller;
the first auxiliary roller is used for being matched with the first driving roller to press the medical guide wire on the first driving roller, and the second auxiliary roller is used for being matched with the second driving roller to press the medical guide wire on the second driving roller;
the axis of the first driving roller is parallel to the axis of the first auxiliary roller, the axis of the second driving roller is parallel to the axis of the second auxiliary roller, the first end of the first driving roller is opposite to the first end of the second driving roller, and the axis extension line of the first driving roller is intersected with the axis extension line of the second driving roller and is at a set angle.
2. The medical guidewire driving device according to claim 1, wherein:
the included angle between the axis extension line of the first driving roller and the axis of the medical guide wire is a first included angle, the included angle between the axis extension line of the second driving roller and the axis of the medical guide wire is a second included angle, the angles of the first included angle and the second included angle are the same, and the set angle is: 180 ° - (angle of first included angle + angle of second included angle);
determining the angle between the first included angle and the second included angle according to the rotating speed of the first driving roller, the advancing speed of the medical guide wire and the wheel diameter of the first driving roller; or determining the angle between the first included angle and the second included angle according to the rotating speed of the second driving roller, the advancing speed of the medical guide wire and the diameter of the second driving roller; or determining the angle of the first included angle and the second included angle according to the rotating speed of the first driving wheel, the wheel diameter of the second driving wheel and the rotating speed of the medical guide wire.
3. A method for driving a medical guide wire, which is characterized in that:
use of a medical guidewire drive as defined in claim 1 or 2, comprising the following steps:
performing movement or rotation control of the medical guide wire according to rotation control of the first driving roller and the second driving roller;
and synchronously controlling the movement and rotation of the medical guide wire according to the rotation control of the first driving roller or the second driving roller.
4. A method of driving a medical guidewire as defined in claim 3, wherein:
the medical guide wire movement control is performed according to the rotation control of the first driving roller and the second driving roller, and the medical guide wire movement control comprises the following steps:
when the first driving roller and the second driving roller simultaneously rotate clockwise, the medical guide wire moves along a first direction;
when the first driving roller and the second driving roller simultaneously rotate anticlockwise, the medical guide wire moves along the second direction;
wherein the first direction and the second direction are opposite and are parallel to the axis of the medical guide wire;
or, according to the rotation control of the first active roller and the second active roller, the rotation control of the medical guide wire is performed, which comprises the following steps:
the first driving roller rotates clockwise, and the medical guide wire rotates clockwise when the second driving roller rotates anticlockwise;
the first driving roller rotates anticlockwise, and the second driving roller rotates anticlockwise along the medical guide wire when the pointer rotates clockwise.
5. A method of driving a medical guidewire as defined in claim 3, wherein:
the medical guide wire moving and rotating synchronous control is carried out according to the rotating control of the first driving roller, and the medical guide wire moving and rotating synchronous control comprises the following steps:
the first driving roller rotates clockwise, and when the second driving roller does not rotate, the medical guide wire moves synchronously along the first direction and rotates clockwise; the first driving roller rotates anticlockwise, and when the second driving roller does not rotate, the medical guide wire synchronously moves along the second direction and rotates anticlockwise;
or, according to the rotation control of the second active roller, the movement and rotation synchronous control of the medical guide wire is performed, including:
the first driving roller does not rotate, and when the second driving roller rotates anticlockwise, the medical guide wire synchronously moves along the second direction and rotates clockwise; the first driving roller does not rotate, and when the second driving roller rotates clockwise, the medical guide wire synchronously moves along the first direction and rotates anticlockwise.
6. A medical guidewire drive system, characterized by:
comprising the following steps:
use of a medical guidewire drive as defined in claim 1 or 2, comprising the following steps:
a movement or rotation control module configured to: performing movement or rotation control of the medical guide wire according to rotation control of the first driving roller and the second driving roller;
a movement and rotation synchronization control module configured to: and synchronously controlling the movement and rotation of the medical guide wire according to the rotation control of the first driving roller or the second driving roller.
7. The medical guidewire drive system according to claim 6, wherein:
a movement or rotation control module comprising: a movement control sub-module and a rotation control sub-module;
a movement control sub-module configured to:
controlling the first driving roller and the second driving roller to simultaneously rotate clockwise so as to enable the medical guide wire to move along a first direction;
the first driving roller and the second driving roller are controlled to simultaneously rotate anticlockwise so that the medical guide wire moves along the second direction;
wherein the first direction and the second direction are opposite and are parallel to the axis of the medical guide wire;
a rotation control sub-module configured to:
the first driving roller is controlled to rotate clockwise, and the second driving roller rotates anticlockwise, so that the medical guide wire rotates clockwise;
the first driving roller is controlled to rotate anticlockwise, and the second driving roller rotates along the pointer, so that the medical guide wire rotates anticlockwise.
8. The medical guidewire drive system according to claim 6, wherein:
a movement and rotation synchronization control module comprising: a first synchronization control sub-module and a second synchronization control sub-module;
a first synchronization control sub-module configured to:
the first driving roller is controlled to rotate clockwise, and the second driving roller does not rotate, so that the medical guide wire synchronously moves along the first direction and rotates clockwise; the first driving roller is controlled to rotate anticlockwise, and the second driving roller does not rotate, so that the medical guide wire synchronously moves along the second direction and rotates anticlockwise;
a second synchronization control sub-module configured to:
the first driving roller is controlled not to rotate, and the second driving roller rotates anticlockwise, so that the medical guide wire synchronously moves along the second direction and rotates clockwise; the first driving roller is controlled not to rotate, and the second driving roller rotates clockwise so that the medical guide wire moves along the first direction and rotates anticlockwise synchronously.
9. A computer readable storage medium having stored thereon a program, which when executed by a processor, implements the steps of the medical guidewire driving method according to any one of claims 3-5.
10. An electronic device comprising a memory, a processor and a program stored on the memory and executable on the processor, wherein the processor performs the steps in the medical guidewire driving method according to any one of claims 3-5 when the program is executed.
CN202310230441.XA 2023-03-06 2023-03-06 Medical guide wire driving device, method, system, medium and electronic equipment Active CN116421318B (en)

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