CN219048817U

CN219048817U - Clamp capable of clamping and continuously rotating catheter guide wire

Info

Publication number: CN219048817U
Application number: CN202223398353.0U
Authority: CN
Inventors: 陈祺; 钱磊; 刘道志; 刘奕琨
Original assignee: Shanghai Aopeng Medical Technology Co ltd
Current assignee: Shanghai Aopeng Medical Technology Co ltd
Priority date: 2022-12-16
Filing date: 2022-12-16
Publication date: 2023-05-23
Anticipated expiration: 2032-12-16

Abstract

The utility model provides a clamp capable of clamping and continuously rotating a catheter guide wire, which comprises a clamping head device and a driving device; the clamping head device is used for clamping a clamped piece, and is provided with a clamping head clamping button for switching an open state and a clamping state; the driving device comprises a clamping motor and a connecting rod mechanism, wherein the clamping motor is in transmission connection with the connecting rod mechanism, and the connecting rod mechanism is in transmission connection with the clamping button of the clamping head. According to the utility model, the clamping power is provided for clamping the guide wire of the guide pipe through the screw nut mechanism in the driving device, so that the clamping reliability is ensured; by separating the screw nut mechanism from the chuck device, a space is reserved for continuous rotation of the chuck device, so that continuous rotation of the catheter guide wire is realized; the clamping device has the advantages of simple structure, separate operation of clamping action and rotating action, high clamping efficiency, sufficient continuity of the rotating catheter guide wire, simple integral operation and great improvement of operability and operation effect of the robot.

Description

Clamp capable of clamping and continuously rotating catheter guide wire

Technical Field

The utility model relates to the technical field of interventional operation robots, in particular to a clamp capable of clamping and continuously rotating a catheter guide wire.

Background

The interventional operation robot clamps and rotates the catheter guide wire, which is two very basic and important actions, and directly influences the operability and the operation effect of the robot. Wherein, the clamping catheter guide wire is the basis of the rotating catheter guide wire.

Due to the sterility requirements, the clamping catheter guide wire and the rotating catheter guide wire are often heavy, and the efficiency of the clamping catheter guide wire and the rotating catheter guide wire is difficult to perfectly achieve. There are two main designs of clamping and rotating catheter guidewires. One design is to directly clamp the catheter guidewire with a motor lead screw mechanism, which has high clamping efficiency. However, in this design, the motor needs to be covered with a sterile protective sheath bag, so that the angle of the catheter guidewire per rotation of the clip is limited and the continuity of the rotating catheter guidewire is insufficient. Another design method is to put the guide wire into a closed rotary guide wire box, clamp the guide wire by a friction wheel in the box and rub the guide wire to rotate. In this design, the efficiency of rotating the guide wire is high and it is possible to continue the guide wire, but clamping the guide wire is inconvenient, the guide wire box needs to be opened manually, and the number of types of guide wires that can be clamped is very limited.

Accordingly, the inventor has recognized that there is a need to provide a clamp that can clamp and continuously rotate a catheter guidewire, clamp the catheter guidewire by a motor screw mechanism, and enable the entire clamp portion to rotate to drive the catheter guidewire to continuously rotate after clamping.

Disclosure of Invention

In view of the shortcomings in the prior art, it is an object of the present utility model to provide a clamp that can clamp and continuously rotate a catheter guidewire.

According to the present utility model there is provided a clamp for clamping and continuously rotating a catheter guidewire, comprising: chuck means and drive means; the clamping head device is used for clamping a clamped piece, and is provided with a clamping head clamping button for switching an open state and a clamping state; the driving device comprises a clamping motor and a connecting rod mechanism, wherein the clamping motor is in transmission connection with the connecting rod mechanism, and the connecting rod mechanism is in transmission connection with the clamping button of the clamping head.

Preferably, the clamped piece comprises a catheter and a guide wire with diameters below 3 mm.

Preferably, the chuck device further comprises a transmission gear box, and the chuck device and the driving device are both installed on the transmission gear box; the chuck device comprises an open gear which is in transmission connection with the transmission gear box.

Preferably, the driving device further comprises a clamping motor housing and a clamping motor base, wherein the clamping motor is installed on the clamping motor base in a fastening mode and is arranged in the clamping motor housing, and the clamping motor housing is installed at the top of the transmission gear box in a fastening mode.

Preferably, the output shaft of the clamping motor is a clamping screw rod which is horizontally arranged, a clamping nut is arranged on the clamping screw rod, the clamping screw rod is in transmission connection with the clamping nut, and the clamping nut can move left and right along the clamping screw rod.

Preferably, the head of the clamping screw is provided with a clamping screw head fixing frame, two parallel clamping guide rails are arranged between the clamping screw head fixing frame and the clamping motor base, and the clamping guide rails penetrate through the clamping nuts.

Preferably, the connecting rod mechanism comprises a clamping push rod and a clamping transmission bent rod, and two ends of the clamping push rod are respectively and fixedly connected with the clamping nut and the clamping transmission bent rod; the clamping transmission bent rod is L-shaped, the lower end part of the clamping transmission bent rod is provided with a clamping transmission button, and the clamping transmission button is in transmission connection with the chuck clamping button.

Preferably, the clamping device comprises a left clamping head part and a right clamping head part, the left clamping head part is matched with the right clamping head part to clamp the clamped piece, and the clamping button is arranged at one end of the left clamping head part, which is far away from the right clamping head part.

Preferably, the cartridge device comprises a self-locking structure for maintaining a clamped or open state.

Preferably, the manufacturing materials of the chuck device and the transmission gear box are both biocompatible materials, and the outer side of the driving device is wrapped with a sterile protective sleeve bag.

Compared with the prior art, the utility model has the following beneficial effects:

1. according to the utility model, the clamping power is provided for clamping the guide wire of the guide pipe through the screw nut mechanism in the driving device, so that the clamping reliability is ensured; by separating the screw nut mechanism from the chuck device, a space is reserved for continuous rotation of the chuck device, so that continuous rotation of the catheter guide wire is realized; the clamping device has the advantages of simple structure, separate operation of clamping action and rotating action, high clamping efficiency, sufficient continuity of the rotating catheter guide wire, simple integral operation and great improvement of operability and operation effect of the robot.

2. The clamping transmission button is tightly matched with the clamping button of the clamping chuck to clamp the clamping chuck part and open the clamping chuck part, so that the transmission connection structure between the driving device and the clamping chuck device is simplified, and the reliability and the operability are improved.

3. According to the utility model, the driving device adopts the transmission fit of the screw rod and the nut, so that the stability of transmission can be ensured, and the operability of the robot can be ensured.

Drawings

Other features, objects and advantages of the present utility model will become more apparent upon reading of the detailed description of non-limiting embodiments, given with reference to the accompanying drawings in which:

FIG. 1 is a schematic view of the overall structure of a clamp embodying the present utility model for clamping and continuously rotating a catheter guidewire;

FIG. 2 is a schematic diagram of a driving device according to the present utility model;

FIG. 3 is a schematic view of a clamp embodying the present utility model for clamping and continuously rotating a catheter guidewire;

FIG. 4 is a schematic illustration of a drive mechanism in a clamp for clamping and continuously rotating a catheter guidewire to release and maintain a clamped state in accordance with the principles of the present utility model;

FIG. 5 is a schematic view of a clamp of the present utility model primarily embodying a grippable and continuously rotatable catheter guidewire in the beginning of rotation;

fig. 6 is a schematic view of a clamp embodying the present utility model for clamping and continuously rotating a catheter guidewire while continuously rotating.

Reference numerals:

left chuck part 12 of chuck device 1 chuck clamping button 13

Right grip part 14 open gear 15 drive gear box 2

Clamping motor housing 3 clamping motor 31 clamping motor base 32

Clamping screw 33 clamps guide rail 34 clamping nut 35

Clamping screw head fixing frame 36 clamping push rod 37 clamping transmission bent rod 41

The clamping transmission button 42 is clamped by the clamping piece 5

Detailed Description

The present utility model will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the present utility model, but are not intended to limit the utility model in any way. It should be noted that variations and modifications could be made by those skilled in the art without departing from the inventive concept. These are all within the scope of the present utility model.

As shown in fig. 1 and 2, a clamp capable of clamping and continuously rotating a catheter guide wire according to the present utility model includes: the chuck device 1, the transmission gear box 2 and the driving device are arranged on the transmission gear box 2, and the transmission gear box 2 is in transmission connection with the chuck device 1; the clamping head device 1 is used for clamping a clamped piece 5, and a clamping head clamping button 13 used for switching an open state and a clamping state is arranged on the clamping head device 1; the driving device comprises a clamping motor 31 and a connecting rod mechanism, the clamping motor 31 is in transmission connection with the connecting rod mechanism, and the connecting rod mechanism is in transmission connection with the chuck clamping button 13.

In this application, the clamped member 5 is a member to be clamped, and is generally a catheter or a guide wire having a diameter of 3mm or less for various catheters and guide wires satisfying the requirements, so that many catheters and guide wires on the market are applicable, and the clamp size and the clamp shape can be changed as required.

The driving device further comprises a clamping motor housing 3 and a clamping motor base 32, wherein the clamping motor 31 is fixedly arranged on the clamping motor base 32 and arranged in the clamping motor housing 3, and the clamping motor housing 3 is fixedly arranged at the top of the transmission gear box 2.

The clamping power is provided by the clamping motor 31, the output shaft of the clamping motor 31 is a clamping screw 33 which is horizontally arranged, a clamping nut 35 is arranged on the clamping screw 33, and the clamping screw 33 is in transmission connection with the clamping nut 35. The head of the clamping screw 33 is provided with a clamping screw head fixing frame 36, and the clamping screw head fixing frame 36 supports the head of the clamping screw 33, thereby improving the load of the clamping screw 33 and reducing the shake of the clamping screw 33. Two parallel clamping guide rails 34 are arranged between the clamping screw head fixing frame 36 and the clamping motor base 32, the clamping guide rails 34 penetrate through clamping nuts 35, the clamping nuts 35 can move left and right horizontally along the clamping screw 33, and the clamping nuts 35 are accurate in position during movement and do not shake obviously. The moving distance of the clamp nut 35 is about 20 mm.

The connecting rod mechanism comprises a clamping push rod 37 and a clamping transmission bent rod 41, and two ends of the clamping push rod 37 are respectively and tightly connected with the clamping nut 35 and the clamping transmission bent rod 41; the clamping transmission bent rod 41 is L-shaped, the lower end part of the clamping transmission bent rod is provided with a clamping transmission button 42, and the clamping transmission button 42 is in transmission connection with the chuck clamping button 13. The clamping motor 31 drives the clamping nut 35 to move left and right through the clamping screw 33, and drives the clamping transmission button 42 to move through the clamping push rod 37 and the clamping transmission bent rod 41. Movement of the collet drive button 42 provides the power to the collet assembly 1 to grip or release a catheter or guidewire.

The chuck device 1 includes a left chuck part 12, a right chuck part 14, the left chuck part 12 and the right chuck part 14 cooperate to clamp the clamped member 5, and a chuck clamping button 13 is provided at an end of the left chuck part 12 remote from the right chuck part 14. The distance of movement of the collet chuck device 13 is about 16mm and the distance between the left and

right collet sections

12, 14 is greater than 8mm when the collet device 1 is in the open state.

The cartridge device 1 comprises a self-locking structure for maintaining a clamped or open state. The collet device 1 can be self-locking by means of an internal mechanical structure, so that the state of clamping or unclamping the catheter guide wire is maintained as required. The mechanical principles for achieving this function are not specifically set forth in the present application. Although the collet device 1 has the function of self-locking clamping of the catheter guidewire, it is sterile in itself and therefore passive, so that external power is required to assist it in switching between clamping and unclamping the catheter guidewire. This application describes primarily this transmission of clamping power.

The cartridge device 1 further comprises an open gear 15, the open gear 15 being in driving connection with the drive gearbox 2. The transmission gearbox 2 can transmit rotary power to the cartridge device 1 in a sterile manner, engaging with an open gear 15 on the cartridge device 1, the specific construction not being shown in this application. The cartridge device 1, the transmission gearbox 2 parts are passive and therefore all need to be manufactured from biocompatible materials and ensure sterility.

The power input parts such as the clamping motor housing 3, the clamping push rod 37, the clamping transmission bent rod 41, the clamping transmission button 42 and the like are active, but the movement of the power input parts is very simple, the movement distance is very limited, and therefore, the power input parts can be wrapped by a sterile protective sleeve bag with matched shapes so as to meet the sterile requirement.

When the collet device 1 releases the catheter guidewire, the left collet section 12 is in an open state and the collet grip button 13 is positioned leftmost. On the other hand, the clamping nut 35 is in the leftmost position, which causes the clamping push rod 37 to also be in the left-hand limit position, so that the clamping transmission bent rod 41 and the clamping transmission button 42 are also in the leftmost position. The grip actuator button 42 and the collet chuck device button 79 are separated.

As shown in fig. 3, when clamping is required, the clamping motor 31 rotates to drive the clamping screw 33 to rotate, so as to push the clamping nut 35 to move to the rightmost position, which causes the clamping push rod 37 and the clamping transmission bent rod 41 to move to the rightmost position, and the clamping transmission button 42 to move to the right limit position. The clamp actuator button 42, when moved, contacts the collet chuck device 13, pushing the left collet section 12 to the rightmost position and the right collet section 14 to the rightmost position, and the catheter guidewire is clamped. It should be noted that at this time, the chuck actuating button 13 is in contact with and pressed against the chuck device 1, and thus the chuck device 1 cannot be rotated yet.

Next, as shown in fig. 4, the clamp motor 31 is rotated in reverse to push the clamp nut 35 to the leftmost position, which moves the clamp push rod 37, clamp drive bent rod 41 back to the leftmost position, and the clamp drive button 42 back to the leftmost position. The grip actuator button 42 is spaced apart from the collet chuck device button 13 and maintained at a distance. Because of the self-locking function of the collet assembly 1, the left and

right collet sections

12, 14 remain clamped against the catheter guidewire, albeit slightly displaced to the left relative to fig. 3. In this case, the chuck actuating button 42 has been separated from the chuck part, which is ready for the spin chuck device 1.

As shown in fig. 5, the power from the transmission gearbox 2 causes the open gear 15 to rotate slightly by a certain angle, driving the entire collet assembly 1 to rotate by a small angle about its center of rotation, thereby helping the catheter guidewire to rotate by a small angle. The collet chuck device 13 may move to the leftmost position under centrifugal force, but with enough space to move so as not to interfere with the collet actuator button 42.

As shown in fig. 6, the entire cartridge device 1 can be moved to an arbitrary angle by the open gear 15 driving. When the chuck device 1 rotates, the clamping motor 31 does not work, and the clamping transmission button 42 is always kept at the leftmost position.

The catheter guide wire can rotate at any angle at a uniform and rapid speed under the drive of the chuck device 1, and can even rotate reversely and twist back and forth rapidly. As long as the clamping is reliable, the rotation of the catheter guidewire is also reliable. This effect of the utility model may increase the flexibility of the doctor to operate the surgical robot.

Since the chuck device 1 is required to be opened or clamped in the initial state, in practical use, the rotation angle of the chuck is also required to be monitored, and the rotation of the clamping motor 31 and the movement of the clamping transmission button 42 can be performed only when the rotation angle of the chuck is strictly controlled to be about 0 degrees. An automatic program can be adopted, and after the chuck device 1 is automatically returned to the horizontal position, a clamping command is executed, so that the safety and convenience of operation are ensured.

To loosen the catheter guidewire, the collet device 1 still needs to be rotated to the horizontal initial position shown in fig. 4. At this time, the clamp motor 31 rotates to drive the clamp nut 35 and the clamp transmission button 42 to the rightmost side, and the chuck clamping button 13 is pressed again. Then, the clamp motor 31 is rotated reversely to drive the clamp nut 35 and the clamp transmission button 42 to move to the leftmost side, and the left chuck part 12 is switched from the self-locking clamping state to the open state. The catheter guidewire is thus released and can be easily removed by the physician.

In the device intervention operation, the operation of rotating the catheter guide wire and the operation of clamping and unclamping the catheter guide wire do not need to be performed simultaneously, and the chuck device 1 can be opened in an initial state. In fact, the catheter guidewire may be held for continued rotation as it is moved to the vessel bifurcation site. When the catheter guide wire passes through the vascular fork, a smooth position can be selected to rotate the clamping head to the horizontal initial position, so that the guide wire can be loosened. These operations may be implemented in the future by simple automated procedures, which, although taking some time, are not a viable approach.

According to the clamping device, the clamping power is provided for clamping the guide wire of the guide tube through the screw nut mechanism in the driving device, so that the clamping reliability is guaranteed, and a foundation is laid for rotating the guide wire of the guide tube. When the catheter guide wire is rotated, the transmission between the screw nut mechanism for clamping and the chuck device 1 is disconnected, so that a space is reserved for continuous rotation of the chuck device 1, and continuous rotation of the catheter guide wire is realized. The clamping device has the advantages of simple structure, high clamping efficiency, separate operation of clamping action and rotating action, sufficient continuity of the rotating catheter guide wire, simple overall operation and great improvement of operability and operation effect of the robot.

In the description of the present application, it should be understood that the terms "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, merely to facilitate description of the present application and simplify the description, and do not indicate or imply that the devices or elements being referred to must have a specific orientation, be configured and operated in a specific orientation, and are not to be construed as limiting the present application.

The foregoing describes specific embodiments of the present utility model. It is to be understood that the utility model is not limited to the particular embodiments described above, and that various changes or modifications may be made by those skilled in the art within the scope of the appended claims without affecting the spirit of the utility model. The embodiments of the present application and features in the embodiments may be combined with each other arbitrarily without conflict.

Claims

1. A clamp for clamping and continuously rotating a catheter guidewire, comprising: a chuck device (1) and a driving device;

the clamping head device (1) is used for clamping a clamped piece (5), and a clamping head clamping button (13) used for switching an open state and a clamping state is arranged on the clamping head device (1);

the driving device comprises a clamping motor (31) and a connecting rod mechanism, wherein the clamping motor (31) is in transmission connection with the connecting rod mechanism, and the connecting rod mechanism is in transmission connection with the clamping button (13).

2. Clamp for holding and continuously rotating a catheter guidewire according to claim 1, characterized in that the held element (5) comprises a catheter, guidewire with a diameter of 3mm or less.

3. Clamp for holding and continuously rotating a catheter guidewire according to claim 1, characterized in that it further comprises a transmission gearbox (2), said collet device (1) and said drive means being mounted on said transmission gearbox (2);

the chuck device (1) comprises an open gear (15), and the open gear (15) is in transmission connection with the transmission gearbox (2).

4. A clamp capable of clamping and continuously rotating a catheter guide wire according to claim 3, characterized in that the driving device further comprises a clamping motor housing (3) and a clamping motor base (32), the clamping motor (31) is fixedly mounted on the clamping motor base (32) and is arranged in the clamping motor housing (3), and the clamping motor housing (3) is fixedly mounted on top of the transmission gearbox (2).

5. The clamp capable of clamping and continuously rotating a catheter guide wire according to claim 4, wherein an output shaft of the clamping motor (31) is a clamping screw (33) which is horizontally arranged, a clamping nut (35) is arranged on the clamping screw (33), the clamping screw (33) is in transmission connection with the clamping nut (35), and the clamping nut (35) can move left and right along the clamping screw (33).

6. Clamp for clamping and continuously rotating a catheter guidewire according to claim 5, characterized in that the head of the clamping screw (33) is provided with a clamping screw head fixation frame (36), that two parallel clamping rails (34) are provided between the clamping screw head fixation frame (36) and the clamping motor base (32), and that the clamping rails (34) pass through the clamping nuts (35).

7. The clamp capable of clamping and continuously rotating a catheter guide wire according to claim 5, wherein the link mechanism comprises a clamping push rod (37) and a clamping transmission bent rod (41), and two ends of the clamping push rod (37) are respectively and tightly connected with the clamping nut (35) and the clamping transmission bent rod (41);

the clamping transmission bent rod (41) is L-shaped, a clamping transmission button (42) is arranged at the lower end part of the clamping transmission bent rod, and the clamping transmission button (42) is in transmission connection with the chuck clamping button (13).

8. Clamp for holding and continuously rotating a catheter guidewire according to claim 1, characterized in that the clamping device (1) comprises a left clamping part (12), a right clamping part (14), the left clamping part (12) being adapted to clamp the clamped piece (5) in cooperation with the right clamping part (14), the clamping button (13) being arranged at the end of the left clamping part (12) remote from the right clamping part (14).

9. Clamp for holding and continuously rotating a catheter guidewire according to claim 1, characterized in that the clamping head device (1) comprises a self-locking structure for maintaining a clamped or open state.

10. A clamp capable of clamping and continuously rotating a catheter guidewire as claimed in claim 3, characterized in that the materials of manufacture of the clamping head device (1) and the transmission gearbox (2) are both biocompatible materials, and the drive device is externally wrapped with a sterile protective sleeve bag.