WO2019119259A1 - Guidewire/catheter delivery device for vascular interventional operation - Google Patents

Guidewire/catheter delivery device for vascular interventional operation Download PDF

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Publication number
WO2019119259A1
WO2019119259A1 PCT/CN2017/117108 CN2017117108W WO2019119259A1 WO 2019119259 A1 WO2019119259 A1 WO 2019119259A1 CN 2017117108 W CN2017117108 W CN 2017117108W WO 2019119259 A1 WO2019119259 A1 WO 2019119259A1
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WIPO (PCT)
Prior art keywords
timing
fixed
timing pulley
timing belt
catheter
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PCT/CN2017/117108
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French (fr)
Chinese (zh)
Inventor
韩世鹏
任岭雪
王磊
王国帅
欧芳亮
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深圳先进技术研究院
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Priority to PCT/CN2017/117108 priority Critical patent/WO2019119259A1/en
Publication of WO2019119259A1 publication Critical patent/WO2019119259A1/en

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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

Definitions

  • the invention belongs to the technical field of vascular interventional surgery auxiliary devices, and in particular relates to a vascular interventional surgical guidewire/catheter delivery device.
  • Cardiovascular disease is one of the highest mortality rates in the world.
  • Traditional treatments for cardiovascular diseases include medical treatment of medical and surgical treatment of internal medicine, but medical treatment of internal medicine has many problems such as poor therapeutic effect, high cost and inability to cure.
  • Surgical surgical treatment is performed by incision of human external tissue.
  • This method has problems such as large patient suffering and long hospital recovery time.
  • vascular interventional surgery has become an effective method for the treatment of cardiovascular diseases.
  • the clamping force is too large, which may cause damage to the guide wire or the catheter, so that the accuracy of the overall mechanism transmission is poor;
  • the sliding platform type vascular intervention robot utilizes
  • the screw drive solves the problems of poor transmission accuracy of the current friction drive type, but at the same time, there is a problem that the overall volume of the robot is large, the robot noise is large, and the propulsion motor needs to be frequently reversed and the like, and the operation efficiency is low.
  • a vascular interventional surgical guidewire/catheter delivery device comprising:
  • a clamping mechanism comprising a fixed rail-type clip and a sliding clip disposed oppositely, a first anti-slip elastic block fixed on the fixed rail-type clip, and a second non-slip fixed on the sliding clip
  • the fixed rail type clip is translated to the left and right, and when the sliding clip approaches the fixed rail type clip, the first non-slip elastic block and the second non-slip elastic block press the guide wire or the catheter to clamp Guide wire or catheter;
  • a propulsion assembly comprising a boss timing belt and a timing pulley movement mechanism for driving the clamping mechanism, and a timing pulley tensioning mechanism
  • the timing belt movement mechanism comprises a push-pull motor holder, a push-pull motor, and a timing belt pulley a mounting plate, a timing pulley, a timing belt mounting shaft, and a bearing
  • the push-pull motor is fixed to the push-pull motor holder, and an output shaft of the push-pull motor is connected to the timing pulley
  • the timing belt pulley The timing belt mounting shaft and the bearing are coaxially mounted on the timing pulley mounting plate, the boss timing belt is tensioned on the timing pulley, and the clamping mechanism is fixed to the boss synchronization Carrying, the timing pulley tensioning mechanism is used for tensioning the timing pulley to adjust the tightness of the boss timing belt;
  • a guiding mechanism for guiding a guide wire or a catheter moving path comprising a guiding plate fixing plate and a guiding plate, wherein the guiding plate fixing plate is located at an end of the synchronous pulley mounting plate, and the guiding plate is fixed at The guide plate fixing plate presses the fixed rail type clip to provide a clamping force required for the clamping mechanism to clamp the guide wire/catheter.
  • the clamping mechanism includes a first guiding pin, a second guiding pin and a third guiding pin, and the first guiding pin and the second guiding pin are respectively fixed to the fixed sliding rail type a third guide pin mounted on the sliding clip, the clip spring being coaxially sleeved on the third guide pin, the sliding clip being along the first guide pin, The second guide pin and the third guide pin are slidably slid relative to the fixed slide type clip.
  • the timing pulley includes an active timing pulley and a driven timing pulley, the timing belt mounting shaft including a first timing belt mounting shaft and a second timing belt mounting shaft, the bearing including a first bearing mounted on the first pulley and a second bearing An interference fit, the active timing pulley is fixed on the first timing belt mounting shaft, the second bearing is mounted in the timing of the timing pulley mounting plate, and the second timing belt mounting sleeve is sleeved on The second bearing is in an interference fit with the second bearing inner ring, and the driven timing pulley is fixed on the second timing belt mounting shaft.
  • the timing pulley tensioning mechanism includes a timing pulley adjusting plate, an adjusting seat and an adjusting bolt, and the timing pulley adjusting plate and the adjusting seat are mounted on the synchronous pulley mounting plate. And the timing pulley adjusting plate and the adjusting seat are connected by an adjusting bolt.
  • one end of the first timing belt mounting shaft is fixed to the first timing pulley baffle by a bolt, and the other end is fixed by a first lock nut and a bearing retaining ring, and the second timing belt is installed.
  • One end of the shaft is fixed to the second timing pulley baffle by a bolt, and the other end is fixed to the timing pulley adjustment plate by a second lock nut.
  • the timing pulley motion mechanism further includes a pair of bevel gears having the same modulus, the pair of bevel gears connecting the push-pull motor and the timing pulley.
  • the first timing belt mounting shaft is provided with a first gear
  • a second gear is disposed above the output shaft of the push-pull motor, the first gear meshing with the second gear.
  • the guiding mechanism further includes a first bracket, a second bracket, a first guiding tube mounted on the top end of the first bracket, and a second guiding tube mounted on the top end of the second bracket,
  • the first bracket and the second bracket are symmetrically mounted on opposite ends of the synchronous pulley mounting plate, respectively.
  • the material of the boss timing belt is polyurethane, and the plurality of the clamping mechanisms are mounted equidistantly on the boss timing belt.
  • the first anti-slip elastic block and the second anti-slip elastic block are rubber blocks, and the first anti-slip elastic block is detachably fixed on the fixed slide type clip, the first Two anti-slip elastic blocks are detachably fixed to the sliding clip.
  • the vascular interventional surgical guidewire/catheter delivery device described above includes a clamping mechanism, a propulsion assembly for driving the movement of the clamping mechanism, and a guiding mechanism for guidewire or catheter clamping motion path guidance.
  • the vascular interventional surgical guidewire/catheter delivery device described above is capable of mimicking the delivery of a guidewire/catheter by a physician that can continuously deliver the guidewire or catheter forward without the need for frequent positive and negative reversal, and can Adapt to the requirements of multiple guide wires/catheters and catheters when replacing any parts, and adjust the clamping force of the clamping mechanism at the same time, and change the single guide wire or change the guide plate in the guide mechanism. The distance the catheter is delivered.
  • the device has a compact structure, simple transmission and light overall weight, and convenient installation and disassembly of the guide wire or the catheter, thereby saving costs for industrialization.
  • the above-mentioned vascular interventional surgical guidewire/catheter delivery device can replace the doctor to realize the delivery of the guide wire/catheter in the X-ray environment, improve the precision of the guide wire or catheter delivery, reduce the working intensity of the doctor, and improve the reliability of the operation. Sexuality also avoids the physical damage caused by the doctor's long-term exposure to the radiation environment, ensuring the success of the operation.
  • FIG. 1 is a schematic view showing the front structure of a blood vessel interventional guidewire/catheter delivery device of an embodiment
  • FIG. 2 is a schematic view showing the back structure of a vascular interventional surgical guidewire/catheter delivery device of an embodiment
  • FIG. 3 is a schematic structural view of a clamping mechanism of a vascular interventional surgical guidewire/catheter delivery device of an embodiment
  • FIG. 4 is a schematic view showing the structure of a first timing belt mounting shaft of a blood vessel interventional guidewire/catheter delivery device of an embodiment
  • Figure 5 is a schematic view showing the structure of a second timing belt mounting shaft of a vascular interventional surgical guidewire/catheter delivery device of an embodiment
  • Figure 6 is a schematic view showing the structure of a guide plate of a vascular interventional surgical guidewire/catheter delivery device of an embodiment.
  • a vascular interventional surgical guidewire/catheter delivery device will be further described in detail below with reference to the embodiments and the accompanying drawings.
  • an embodiment of a vascular interventional surgical guidewire/catheter delivery device 100 includes a clamping mechanism 10, a propulsion assembly 20 for driving the movement of the clamping mechanism, and a path for guiding the guidewire or catheter Guided guidance mechanism 30.
  • the clamping mechanism 10 includes a fixed rail-type clip 110 and a sliding clip 120 disposed oppositely, and a first anti-slip elastic block 130 fixed on the fixed rail-type clip 110 is fixed to the sliding. a second anti-slip elastic block 140 on the clip 120, and a clip spring 150 disposed between the fixed rail type clip 110 and the sliding clip 120.
  • the first anti-slip elastic block 130 and the second anti-slip elastic block 140 are oppositely disposed, and the sliding clip 120 is disposed.
  • the left and right anti-slip elastic blocks 130 and the second anti-slip elastic block 140 are in close contact with each other when the sliding clip 120 is sufficiently close to the fixed rail-type clip 110, and the guide wire or the catheter is elasticized by the same.
  • the first anti-slip elastic block 130 and the second anti-slip elastic block 140 are rubber blocks.
  • the elastic blocks made of other flexible materials may also be used as long as two elastic properties can be realized.
  • the guide wire or the catheter can be pressed to clamp the guide wire or the catheter.
  • the first anti-slip elastic block 130 is detachably fixed to the fixed slide type clip 110, and the second non-slip The elastic block 140 is detachably fixed to the sliding clip and can be thrown at one time, thereby avoiding the problem of sterilization.
  • one end of the clip spring 150 is fixed on the fixed rail type clip 110, and the other end is fixed on the sliding clip 120.
  • the first anti-slip elastic block 130 and the second non-slip elastic block 140 are provided with an arc at the lower end.
  • a groove is formed to receive the clip spring 150, and the clip spring 150 passes through the first anti-slip elastic block 130 and the second non-slip elastic block 140 and is coupled to the fixed rail type clip 110 and the slide clip 120, respectively.
  • the clamping mechanism 10 further includes a first guiding pin 160 and a second guiding pin 170.
  • the first guiding pin 160 and the second guiding pin 170 are both mounted on the fixed sliding rail type clip 110.
  • the third guide pin 180 is mounted on the slide clip 120, and the fixed slide type clip 110 and the slide clip 120 are connected by the above three guide pins.
  • the fixed rail type clip 110 and the sliding clip 120 can also be connected in other ways.
  • the clip spring 150 is coaxially sleeved on the third guide pin 180.
  • the slide clip 120 is mounted on the fixed rail type clip 110 through the first guide pin 160 and the second guide pin 170.
  • the propulsion assembly 20 includes a boss timing belt 210 that drives the movement of the clamping mechanism 10, a timing pulley motion mechanism 220, and a timing pulley tensioning mechanism 230.
  • the material of the land timing belt 210 is polyurethane. In other embodiments, the land timing belt 210 can be replaced with other materials.
  • the timing pulley motion mechanism 220 includes a push-pull motor mount 221, a push-pull motor 222, a timing pulley mounting plate 223, a timing pulley 224, a timing belt mounting shaft 225, and a bearing 226.
  • the synchronizing timing pulley 224 includes an active timing pulley 2241 and a driven timing pulley 2242 including a first timing belt mounting shaft 2251 and a second timing belt mounting shaft 2252 (see FIGS. 4 and 5).
  • Bearing 226 includes a first bearing 2261 and a second bearing 2262.
  • the first timing belt mounting shaft 2251 is provided with a first gear 2253
  • the output shaft of the push-pull motor 222 is provided with a second gear 2254
  • the first gear 2253 is meshed with the second gear 2254.
  • the first gear 2253 and the second gear 2254 are bevel gears having a number of teeth of 20, a modulus of one, and a pressure angle of 20°.
  • the first gear 2253 and the second gear 2254 may also be spur cylindrical gears, helical cylindrical gears, etc., and the modulus and the number of teeth can be adjusted as needed.
  • the push-pull motor 222 is fixed to the push-pull motor mount 221, and the timing pulley 224 and the timing belt mounting shaft 225 are mounted on the timing pulley mounting plate 223.
  • the clamping mechanism 10 is fixed to the boss timing belt 210, and the timing pulley tensioning mechanism 230 is used to tension the timing pulley 224 to adjust the tightness of the boss timing belt 210.
  • the number of the clamping mechanisms 10 is four, and the equidistant distribution is on the boss timing belt 210.
  • the number of the clamping mechanisms 10 can also be adjusted as needed.
  • the first bearing 2261 is mounted in the hole of the timing pulley mounting plate 223, and the first timing belt mounting shaft 2251 passes through the first bearing 2261 and is interference-fitted with the inner ring of the first bearing 2261.
  • the active timing pulley 2241 is mounted on the first timing belt mounting shaft 2251.
  • the front end of the first timing belt mounting shaft 2251 is fixed to the first timing pulley baffle 2271 by a bolt, and the rear end passes through the first lock nut 2272 and the bearing block.
  • the ring 2273 is fixed, the first gear 2253 is fixed to the first timing belt mounting shaft 2251, the second bearing 2262 is mounted in the hole of the timing pulley mounting plate 223, and the second timing belt mounting shaft 2252 passes through the second bearing 2262, and The inner ring of the second bearing 2262 is interference fit, the driven timing pulley 2242 is mounted on the second timing belt mounting shaft 2252, and the front end of the second timing belt mounting shaft 2252 is fixed by the bolt and the second timing pulley baffle 2281.
  • Push-pull The machine 222 is coupled to the output shaft to effect engagement of the first gear 2253 with the second gear 2254.
  • the timing pulley tensioning mechanism 230 includes a timing pulley adjusting plate 232, an adjusting seat 234, and an adjusting bolt 236.
  • the timing pulley adjusting plate 232 is mounted on the timing pulley mounting plate 223 by bolts, and the adjusting seat 234 is mounted on the timing belt. Above the wheel mounting plate 223, the timing pulley adjusting plate 232 and the adjusting seat 234 are connected by an adjusting bolt 236.
  • the timing pulley tensioning mechanism 230 is used to tension the driven timing pulley 2242 to adjust the tightness of the boss timing belt 210.
  • the bolt between the timing pulley adjusting plate 232 and the timing pulley mounting plate 223 is first released, and then the adjusting bolt 236 is adjusted so that the timing pulley adjusting plate 232 and the adjusting seat 234 are adjusted. The relative distance between the two is reduced, and finally the timing of the primary timing pulley 2242 is completed by bolting the timing pulley adjusting plate 232 to the timing pulley mounting plate 223.
  • the guiding mechanism 30 is used to guide the guide wire or the catheter movement path, and the guiding mechanism 30 includes a guiding plate fixing plate 310, a guiding plate 320, a first bracket 330, a second bracket 340, a first guiding tube 350 mounted on the top end of the first bracket 330 and a second guiding tube 360 mounted on the top end of the second bracket 340.
  • the first bracket 330 and the second bracket 340 are symmetrically mounted at opposite ends of the synchronous pulley mounting plate 223, respectively.
  • the guide plate fixing plate 310 is located at the upper end of the timing pulley mounting plate 223, and the guide plate 320 is fixed to the guide plate fixing plate 310.
  • the first guide tube 350 and the second guide tube 360 are in the shape of a spindle. In other embodiments, the first guide tube 350 and the second guide tube 360 may have other shapes.
  • the length of the guide plate 320 is 60 mm. In other embodiments, the guide plate 320 of other lengths can be replaced.
  • the push-pull motor 222 starts to rotate forward, and the first gear 2253 and the second gear 2254 mesh to transmit power to the active timing pulley 2241, and the active timing pulley 2241 drives the boss timing belt.
  • the synchronous movement of 210 moves forward.
  • the sliding clamp 120 of the clamping mechanism 10 starts along the first guiding pin 160 and the second guiding pin 170 due to the pressing action of the guiding plate 320.
  • the clamping mechanism 10 drives the guide wire or the catheter to advance synchronously. After the clamping mechanism 10 and the guiding plate 320 start to disengage, the clamping mechanism 10 is clamped by the spring force of the clip spring 150 of the clamping mechanism 10.
  • the sliding clip 120 starts to slide along the first guiding pin 160, the second guiding pin 170 and the third guiding pin 180 toward the other side of the fixed rail type clip 110, so that the first anti-slip elastic block 130 and the second non-slip elastic block 140 are The guide wire or catheter is detached, Release it to complete the forward push of the guide wire or catheter.
  • the push-pull motor 222 starts to rotate in the reverse direction, and the first gear 2253 and the second gear 2254 mesh to transmit power to the active timing pulley 2241, and the active timing pulley 2241 drives the boss synchronization.
  • the belt 210 is synchronously moved backward.
  • the clamping mechanism 10 comes into contact with the guide plate 320, the sliding clip 120 of the clamping mechanism 10 starts along the first guiding pin 160 and the second guiding pin due to the pressing action of the guiding plate 320.
  • the 170 and the third guide pin 180 slide toward the side of the fixed rail type clip 110 such that the first anti-slip elastic block 130 and the second non-slip elastic block 140 are in contact with the guide wire or the catheter, and are pressed thereto, at this time in the boss Under the action of the timing belt 210, the clamping mechanism 10 drives the guide wire or the catheter to advance synchronously. After the clamping mechanism 10 and the guiding plate 320 start to disengage, the clamping mechanism 10 is obtained due to the resilience of the clip spring 150 of the clamping mechanism 10.
  • the sliding clip 120 starts to slide along the first guiding pin 160, the second guiding pin 170 and the third guiding pin 180 toward the other side of the fixed rail type clip 110, so that the first anti-slip elastic block 130 and the second non-slip elastic block 140 Disengaged from the guide wire or catheter To release it, to complete a guidewire / catheter is pulled back rearward operation.
  • the vascular interventional surgical guidewire/catheter delivery device described above includes a clamping mechanism, a propulsion assembly for driving the movement of the clamping mechanism, and a guiding mechanism for guidewire or catheter clamping motion path guidance.
  • the vascular interventional surgical guidewire/catheter delivery device described above is capable of mimicking the delivery of a guidewire or catheter by a physician that can continuously deliver the guidewire or catheter forward without the need for frequent positive and negative reversal, and can Adapts to the delivery requirements of multiple guide wires or catheters with the replacement of any part, and can simultaneously adjust the clamping force of the clamping mechanism, and can change the single guide wire or catheter delivery with the guide plate replaced in the guide mechanism the distance.
  • the device is designed to be soft, easy to disassemble and disposable disposable elastic medical material in contact with the guide wire or the catheter, thereby avoiding the problem of disinfection.
  • the device has a compact structure, simple transmission and light overall weight, and convenient installation and disassembly of the guide wire or the catheter, thereby saving costs for industrialization.
  • the above-mentioned vascular interventional surgical guidewire/catheter delivery device can replace the doctor to realize the delivery of the guide wire or the catheter under the X-ray environment, improve the precision of the guide wire or catheter delivery, reduce the working intensity of the doctor, and improve the reliability of the operation. Sexuality also avoids the physical damage caused by the doctor's long-term exposure to the radiation environment, ensuring the success of the operation.

Abstract

Disclosed is a guidewire/catheter delivery device (100) for a vascular interventional operation. The guidewire/catheter delivery device comprises: a clamp mechanism (10), a propulsion assembly (20) for driving the clamp mechanism (10) to move, and a guide mechanism (30) for directing the path of movement of a guidewire/catheter, wherein when a sliding clip (120) of the clamp mechanism (10) approaches a fixed slide-rail-type clip (110), a first anti-slip elastic block (130) and a second anti-slip elastic block (140) tightly press on the guidewire/catheter, thereby clamping the guidewire/catheter; and the propulsion assembly (20) comprises a synchronous boss belt (210) and a synchronous pulley movement mechanism (220) for driving the clamp mechanism (10) to move, as well as a synchronous pulley tension mechanism (230), and the synchronous pulley tension mechanism (230) is used for tensioning a synchronous pulley (224), and thereby adjusting the degree of tension of the synchronous boss belt (210). The guidewire/catheter delivery device for a vascular interventional operation is small in size and has a high delivery precision.

Description

血管介入手术导丝/导管递送装置Vascular interventional guidewire/catheter delivery device 技术领域Technical field
本发明属于血管介入手术辅助设备技术领域，特别涉及一种血管介入手术导丝/导管递送装置。The invention belongs to the technical field of vascular interventional surgery auxiliary devices, and in particular relates to a vascular interventional surgical guidewire/catheter delivery device.
背景技术Background technique
心血管疾病是目前世界死亡率最高的疾病之一。传统针对心血管疾病的治疗方式包括内科的药物治疗和外科的手术治疗，但是内科的药物治疗存在治疗效果差、费用高且无法根治等诸多问题；外科的手术治疗他通过切开人体外组织进行治疗的一种方式，但是该方式存在着病人痛苦较大、住院恢复时间较长等问题。随着医学技术的发展，血管介入手术成为目前治疗心血管疾病的有效方法。Cardiovascular disease is one of the highest mortality rates in the world. Traditional treatments for cardiovascular diseases include medical treatment of medical and surgical treatment of internal medicine, but medical treatment of internal medicine has many problems such as poor therapeutic effect, high cost and inability to cure. Surgical surgical treatment is performed by incision of human external tissue. One way of treatment, but this method has problems such as large patient suffering and long hospital recovery time. With the development of medical technology, vascular interventional surgery has become an effective method for the treatment of cardiovascular diseases.
传统的血管介入手术需要医生在借助数字减影血管造影机、CT、超声和磁共振等影像设备的引导和监视下，将导丝或导管送入人体血管里到达病灶来治疗疾病，在此过程中，医生会受到X光辐射，从而造成身体伤害。Traditional vascular interventional surgery requires doctors to use a digital subtraction angiography machine, CT, ultrasound and magnetic resonance imaging equipment to guide and monitor the guide wire or catheter into the human blood vessels to reach the lesion to treat the disease. In the case, the doctor will be exposed to X-ray radiation, causing bodily harm.
目前常用的血管介入手术依旧采用施术者直接操纵导丝或导管的方式进行，存在较大的弊端：1)施术者长期身着铅衣在X辐射的环境下工作，铅衣无法屏蔽所有的X射线，常年累计的辐射会对施术者的身体产生巨大的伤害；2)由于手术时间较长，导丝或导管且均为人工递送，手术的精确度较差，会对手术的效果产生不良的影响，这些问题的存在使得通过机器人来辅助医生进行导丝或导管的递送尤为重要。At present, the commonly used vascular interventional surgery is still carried out by means of direct manipulation of the guide wire or catheter by the operator. There are major drawbacks: 1) The operator is wearing a lead coat for a long time to work in an X-radiation environment, and the lead coat cannot shield all. The X-rays, the accumulated radiation all year round will cause great damage to the body of the surgeon; 2) Because of the long operation time, the guide wire or the catheter are all manually delivered, the accuracy of the operation is poor, and the effect on the operation will be Poor effects, the presence of these problems make it important to assist the doctor in the delivery of a guidewire or catheter through a robot.
针对上述存在的问题，目前国内外科学家和科研机构已经提出了多种导丝或导管递送的方式。北京航空航天大学的王田苗团队提出了利用电机带动摩擦轮，利用摩擦轮的摩擦里将导丝或导管向前推送的血管介入机器人；中国科学 院深圳先进技术研究院王磊团队提出了在将导丝或导管夹持的情况下，利用高精度丝杠将导丝或导管进行向前递送的血管介入机器人；Corindus公司开发了专用于血管介入的CorPath 200血管介入机器人***，利用一对摩擦轮来实现导丝或导管向前递送的目的。In response to the above problems, scientists and research institutions at home and abroad have proposed a variety of methods for guiding the guide wire or catheter. The Wang Tianmiao team of Beijing University of Aeronautics and Astronautics proposed a vascular interventional robot that uses a motor to drive the friction wheel and pushes the guide wire or catheter forward in the friction of the friction wheel. The Wang Lei team of the Shenzhen Institute of Advanced Technology of the Chinese Academy of Sciences proposed the guide wire. Or a vascular interventional robot that delivers a guidewire or catheter forward with a high-precision lead screw; Corindus has developed a CorPath 200 vascular interventional robotic system dedicated to vascular intervention, using a pair of friction wheels The purpose of the guide wire or catheter to be delivered forward.
目前大部分已有的血管介入机器人的导丝/导管递送装置主要可分为摩擦驱动型和滑动平台型两种，其中摩擦驱动型血管介入机器人驱动方式简单，机构整体体积较小，结构紧凑，但是存在摩擦轮夹紧力太小容易导致导丝或导管介入过程打滑，夹紧力太大容易导致损伤导丝或导管的问题，使得整体机构传动的精度较差；滑动平台型血管介入机器人利用丝杠传动解决了目前摩擦驱动型存在的传输精度较差等问题，但同时存在机器人整体体积较大，机器人噪声较大，且推进电机需经常进行正反转等，手术效率较低等问题。At present, most of the existing guidewire/catheter delivery devices of vascular interventional robots can be mainly divided into two types: friction-driven type and sliding platform type, wherein the friction-driven vascular interventional robot has a simple driving mode, a small overall body size, and a compact structure. However, if the frictional force of the friction wheel is too small, the guide wire or the catheter may be slipped during the intervention process. The clamping force is too large, which may cause damage to the guide wire or the catheter, so that the accuracy of the overall mechanism transmission is poor; the sliding platform type vascular intervention robot utilizes The screw drive solves the problems of poor transmission accuracy of the current friction drive type, but at the same time, there is a problem that the overall volume of the robot is large, the robot noise is large, and the propulsion motor needs to be frequently reversed and the like, and the operation efficiency is low.
发明内容Summary of the invention
基于此，有必要提供一种体型较小且传送精度高的血管介入手术导丝/导管递送装置。Based on this, it is necessary to provide a vascular interventional guidewire/catheter delivery device that is small in size and highly accurate in delivery.
一种血管介入手术导丝/导管递送装置，包括：A vascular interventional surgical guidewire/catheter delivery device comprising:
夹持机构，所述夹持机构包括相对设置的固定滑轨型夹子和滑动夹子，固定在所述固定滑轨型夹子上的第一防滑弹性块，固定在所述滑动夹子上的第二防滑弹性块，及设置在所述固定滑轨型夹子和所述滑动夹子之间的夹子弹簧，所述第一防滑弹性块和所述第二防滑弹性块相对设置，所述滑动夹子相对于所述固定滑轨型夹子左右平移，当所述滑动夹子向所述固定滑轨型夹子靠近时，所述第一防滑弹性块和所述第二防滑弹性块将导丝或导管压紧从而夹持住导丝或导管；a clamping mechanism comprising a fixed rail-type clip and a sliding clip disposed oppositely, a first anti-slip elastic block fixed on the fixed rail-type clip, and a second non-slip fixed on the sliding clip An elastic block, and a clip spring disposed between the fixed rail type clip and the sliding clip, the first anti-slip elastic block and the second anti-slip elastic block are oppositely disposed, the sliding clip is opposite to the The fixed rail type clip is translated to the left and right, and when the sliding clip approaches the fixed rail type clip, the first non-slip elastic block and the second non-slip elastic block press the guide wire or the catheter to clamp Guide wire or catheter;
推进组件，包括带动所述夹持机构运动的凸台同步带和同步带轮运动机构、及同步带轮张紧机构，所述同步带轮运动机构包括推拉电机固定架、推拉电机、同步带轮安装板、同步带轮、同步带安装轴和轴承，所述推拉电机固定 在所述推拉电机固定架上，所述推拉电机的输出轴与所述同步带轮连接，所述同步带轮、所述同步带安装轴及所述轴承同轴安装在所述同步带轮安装板上，所述凸台同步带张紧在所述同步带轮上，所述夹持机构固定在所述凸台同步带上，所述同步带轮张紧机构用于张紧所述同步带轮，从而调整所述凸台同步带的紧度；a propulsion assembly, comprising a boss timing belt and a timing pulley movement mechanism for driving the clamping mechanism, and a timing pulley tensioning mechanism, wherein the timing belt movement mechanism comprises a push-pull motor holder, a push-pull motor, and a timing belt pulley a mounting plate, a timing pulley, a timing belt mounting shaft, and a bearing, wherein the push-pull motor is fixed to the push-pull motor holder, and an output shaft of the push-pull motor is connected to the timing pulley, the timing belt pulley The timing belt mounting shaft and the bearing are coaxially mounted on the timing pulley mounting plate, the boss timing belt is tensioned on the timing pulley, and the clamping mechanism is fixed to the boss synchronization Carrying, the timing pulley tensioning mechanism is used for tensioning the timing pulley to adjust the tightness of the boss timing belt;
导向机构，用于对导丝或导管运动路径进行指引，所述导向机构包括导向板固定板、导向板，所述导向板固定板位于所述同步带轮安装板上端，所述导向板固定在所述导向板固定板上，所述导向板通过挤压所述固定滑轨型夹子以提供所述夹持机构夹持导丝/导管所需的夹紧力。a guiding mechanism for guiding a guide wire or a catheter moving path, the guiding mechanism comprising a guiding plate fixing plate and a guiding plate, wherein the guiding plate fixing plate is located at an end of the synchronous pulley mounting plate, and the guiding plate is fixed at The guide plate fixing plate presses the fixed rail type clip to provide a clamping force required for the clamping mechanism to clamp the guide wire/catheter.
在其中一个实施例中，所述夹持机构包括第一导向销、第二导向销及第三导向销，所述第一导向销和所述第二导向销分别固定在所述固定滑轨型夹子上，所述第三导向销安装于所述滑动夹子上，所述夹子弹簧同轴套设于所述第三导向销上，所述滑动夹子沿着所述沿所述第一导向销、所述第二导向销及所述第三导向销相对于所述固定滑轨型夹子平移滑动。In one embodiment, the clamping mechanism includes a first guiding pin, a second guiding pin and a third guiding pin, and the first guiding pin and the second guiding pin are respectively fixed to the fixed sliding rail type a third guide pin mounted on the sliding clip, the clip spring being coaxially sleeved on the third guide pin, the sliding clip being along the first guide pin, The second guide pin and the third guide pin are slidably slid relative to the fixed slide type clip.
在其中一个实施例中，所述同步带轮包括主动同步带轮和从动同步带轮，所述同步带安装轴包括第一同步带安装轴和第二同步带安装轴，所述轴承包括第一轴承和第二轴承，所述第一轴承安装在所述同步带轮安装板孔内，所述第一同步带安装轴套设在所述第一轴承上并与所述第一轴承内圈过盈配合，所述主动同步带轮固定在所述第一同步带安装轴上，所述第二轴承安装在所述同步带轮安装板孔内，所述第二同步带安装轴套设在所述第二轴承上并与第二轴承内圈过盈配合，所述从动同步带轮固定在所述第二同步带安装轴之上。In one embodiment, the timing pulley includes an active timing pulley and a driven timing pulley, the timing belt mounting shaft including a first timing belt mounting shaft and a second timing belt mounting shaft, the bearing including a first bearing mounted on the first pulley and a second bearing An interference fit, the active timing pulley is fixed on the first timing belt mounting shaft, the second bearing is mounted in the timing of the timing pulley mounting plate, and the second timing belt mounting sleeve is sleeved on The second bearing is in an interference fit with the second bearing inner ring, and the driven timing pulley is fixed on the second timing belt mounting shaft.
在其中一个实施例中，所述同步带轮张紧机构包括同步带轮调节板、调节座和调节螺栓，所述同步带轮调节板和所述调节座安装于所述同步带轮安装板之上，且所述同步带轮调节板与所述调节座通过调节螺栓连接。In one embodiment, the timing pulley tensioning mechanism includes a timing pulley adjusting plate, an adjusting seat and an adjusting bolt, and the timing pulley adjusting plate and the adjusting seat are mounted on the synchronous pulley mounting plate. And the timing pulley adjusting plate and the adjusting seat are connected by an adjusting bolt.
在其中一个实施例中，所述第一同步带安装轴的一端通过螺栓与第一同步带轮挡板固定，另一端通过第一锁紧螺母和轴承挡圈固定，所述第二同步带安 装轴的一端通过螺栓与第二同步带轮挡板固定，另一端通过第二锁紧螺母与同步带轮调节板固定。In one embodiment, one end of the first timing belt mounting shaft is fixed to the first timing pulley baffle by a bolt, and the other end is fixed by a first lock nut and a bearing retaining ring, and the second timing belt is installed. One end of the shaft is fixed to the second timing pulley baffle by a bolt, and the other end is fixed to the timing pulley adjustment plate by a second lock nut.
在其中一个实施例中，所述同步带轮运动机构还包括一对模数相同的锥齿轮，所述一对锥齿轮连接推拉电机和同步带轮。In one embodiment, the timing pulley motion mechanism further includes a pair of bevel gears having the same modulus, the pair of bevel gears connecting the push-pull motor and the timing pulley.
在其中一个实施例中，所述第一同步带安装轴设有第一齿轮，所述推拉电机的输出轴之上设有第二齿轮，所述第一齿轮与所述第二齿轮啮合。In one embodiment, the first timing belt mounting shaft is provided with a first gear, and a second gear is disposed above the output shaft of the push-pull motor, the first gear meshing with the second gear.
在其中一个实施例中，所述导向机构还包括第一支架、第二支架、安装在所述第一支架顶端的第一导向管及安装在所述第二支架顶端的第二导向管，所述第一支架和所述第二支架分别对称安装于所述同步带轮安装板的两端。In one embodiment, the guiding mechanism further includes a first bracket, a second bracket, a first guiding tube mounted on the top end of the first bracket, and a second guiding tube mounted on the top end of the second bracket, The first bracket and the second bracket are symmetrically mounted on opposite ends of the synchronous pulley mounting plate, respectively.
在其中一个实施例中，所述凸台同步带的材料为聚氨酯，所述凸台同步带上等距离安装有多个所述夹持机构。In one embodiment, the material of the boss timing belt is polyurethane, and the plurality of the clamping mechanisms are mounted equidistantly on the boss timing belt.
在其中一个实施例中，所述第一防滑弹性块和所述第二防滑弹性块为橡胶块，所述第一防滑弹性块可拆卸地固定在所述固定滑轨型夹子上，所述第二防滑弹性块可拆卸地固定在所述滑动夹子上。In one embodiment, the first anti-slip elastic block and the second anti-slip elastic block are rubber blocks, and the first anti-slip elastic block is detachably fixed on the fixed slide type clip, the first Two anti-slip elastic blocks are detachably fixed to the sliding clip.
上述的血管介入手术导丝/导管递送装置包括夹持机构、用于带动夹持机构运动的推进组件以及用于导丝或导管夹持运动路径指引的导向机构。上述血管介入手术导丝/导管递送装置能够模仿医生对导丝/导管进行递送，电机在无需进行频繁的正反换向即可将导丝或导管持续性向前递送，并且能够通过导向机构在不更换任何零件的情况下适应多种导丝/导管、导管的递送要求，且可同时调整夹持机构的夹紧力，并且可以在更换导向机构中导向板的情况下，改变单次导丝或导管递送的距离。此外，该装置结构较为紧凑，传动简洁且整体重量较轻，导丝或导管的装夹和拆卸方便，为之后进行产业化节约了成本。上述血管介入手术导丝/导管递送装置能够代替医生在X射线的环境下实现对导丝/导管的递送，提高了导丝或导管递送的精度，降低了医生的工作强度，提高了手术的可靠性，同时也避免了医生长期处于辐射环境中所造成的身体损伤，保证手术的成功性。The vascular interventional surgical guidewire/catheter delivery device described above includes a clamping mechanism, a propulsion assembly for driving the movement of the clamping mechanism, and a guiding mechanism for guidewire or catheter clamping motion path guidance. The vascular interventional surgical guidewire/catheter delivery device described above is capable of mimicking the delivery of a guidewire/catheter by a physician that can continuously deliver the guidewire or catheter forward without the need for frequent positive and negative reversal, and can Adapt to the requirements of multiple guide wires/catheters and catheters when replacing any parts, and adjust the clamping force of the clamping mechanism at the same time, and change the single guide wire or change the guide plate in the guide mechanism. The distance the catheter is delivered. In addition, the device has a compact structure, simple transmission and light overall weight, and convenient installation and disassembly of the guide wire or the catheter, thereby saving costs for industrialization. The above-mentioned vascular interventional surgical guidewire/catheter delivery device can replace the doctor to realize the delivery of the guide wire/catheter in the X-ray environment, improve the precision of the guide wire or catheter delivery, reduce the working intensity of the doctor, and improve the reliability of the operation. Sexuality also avoids the physical damage caused by the doctor's long-term exposure to the radiation environment, ensuring the success of the operation.
附图说明DRAWINGS
图1为一实施方试的血管介入手术导丝/导管递送装置正面结构示意图；1 is a schematic view showing the front structure of a blood vessel interventional guidewire/catheter delivery device of an embodiment;
图2为一实施方试的血管介入手术导丝/导管递送装置背面结构示意图；2 is a schematic view showing the back structure of a vascular interventional surgical guidewire/catheter delivery device of an embodiment;
图3为一实施方试的血管介入手术导丝/导管递送装置的夹持机构结构示意图；3 is a schematic structural view of a clamping mechanism of a vascular interventional surgical guidewire/catheter delivery device of an embodiment;
图4为一实施方试的血管介入手术导丝/导管递送装置的第一同步带安装轴结构示意图；4 is a schematic view showing the structure of a first timing belt mounting shaft of a blood vessel interventional guidewire/catheter delivery device of an embodiment;
图5为一实施方试的血管介入手术导丝/导管递送装置的第二同步带安装轴结构示意图；及Figure 5 is a schematic view showing the structure of a second timing belt mounting shaft of a vascular interventional surgical guidewire/catheter delivery device of an embodiment; and
图6为一实施方试的血管介入手术导丝/导管递送装置的导向板结构示意图。Figure 6 is a schematic view showing the structure of a guide plate of a vascular interventional surgical guidewire/catheter delivery device of an embodiment.
具体实施方式Detailed ways
下面结合实施方式及附图，对一种血管介入手术导丝/导管递送装置作进一步的详细说明。A vascular interventional surgical guidewire/catheter delivery device will be further described in detail below with reference to the embodiments and the accompanying drawings.
请参阅图1和2，一实施方式血管介入手术导丝/导管递送装置100，包括夹持机构10、用于带动夹持机构运动的推进组件20，及用来对导丝或导管运动路径进行指引的导向机构30。Referring to Figures 1 and 2, an embodiment of a vascular interventional surgical guidewire/catheter delivery device 100 includes a clamping mechanism 10, a propulsion assembly 20 for driving the movement of the clamping mechanism, and a path for guiding the guidewire or catheter Guided guidance mechanism 30.
请参阅图3，在一实施方式中，夹持机构10包括相对设置的固定滑轨型夹子110和滑动夹子120，固定在固定滑轨型夹子110上的第一防滑弹性块130，固定在滑动夹子120上的第二防滑弹性块140，及设置在固定滑轨型夹子110和滑动夹子120之间的夹子弹簧150，第一防滑弹性块130和第二防滑弹性块140相对设置，滑动夹子120相对于固定滑轨型夹子110左右平移，当滑动夹子120向固定滑轨型夹子110足够靠近时，第一防滑弹性块130和第二 防滑弹性块140贴紧且利用其弹性将导丝或导管压紧从而夹持住导丝或导管。具体地，在一实施方式中，第一防滑弹性块130和第二防滑弹性块140为橡胶块，在其他实施例中，也可以为其他柔性材料制成的弹性块，只要能实现两个弹性块相互挤压时，能将导丝或导管压紧从而夹持住导丝或导管即可，优选地，第一防滑弹性块130可拆卸地固定在固定滑轨型夹子110上，第二防滑弹性块140可拆卸地固定在滑动夹子上，一次性可抛，从而避免消毒的问题。具体地，在一实施方式中，夹子弹簧150的一端固定在固定滑轨型夹子110上，另一端固定在滑动夹子120上，第一防滑弹性块130和第二防滑弹性块140下端开设有弧形的槽，以收容夹子弹簧150，夹子弹簧150穿过第一防滑弹性块130和第二防滑弹性块140且分别与固定滑轨型夹子110和滑动夹子120连接。Referring to FIG. 3, in an embodiment, the clamping mechanism 10 includes a fixed rail-type clip 110 and a sliding clip 120 disposed oppositely, and a first anti-slip elastic block 130 fixed on the fixed rail-type clip 110 is fixed to the sliding. a second anti-slip elastic block 140 on the clip 120, and a clip spring 150 disposed between the fixed rail type clip 110 and the sliding clip 120. The first anti-slip elastic block 130 and the second anti-slip elastic block 140 are oppositely disposed, and the sliding clip 120 is disposed. The left and right anti-slip elastic blocks 130 and the second anti-slip elastic block 140 are in close contact with each other when the sliding clip 120 is sufficiently close to the fixed rail-type clip 110, and the guide wire or the catheter is elasticized by the same. Press to hold the guide wire or catheter. Specifically, in an embodiment, the first anti-slip elastic block 130 and the second anti-slip elastic block 140 are rubber blocks. In other embodiments, the elastic blocks made of other flexible materials may also be used as long as two elastic properties can be realized. When the blocks are pressed against each other, the guide wire or the catheter can be pressed to clamp the guide wire or the catheter. Preferably, the first anti-slip elastic block 130 is detachably fixed to the fixed slide type clip 110, and the second non-slip The elastic block 140 is detachably fixed to the sliding clip and can be thrown at one time, thereby avoiding the problem of sterilization. Specifically, in one embodiment, one end of the clip spring 150 is fixed on the fixed rail type clip 110, and the other end is fixed on the sliding clip 120. The first anti-slip elastic block 130 and the second non-slip elastic block 140 are provided with an arc at the lower end. A groove is formed to receive the clip spring 150, and the clip spring 150 passes through the first anti-slip elastic block 130 and the second non-slip elastic block 140 and is coupled to the fixed rail type clip 110 and the slide clip 120, respectively.
请参阅图3，在一实施方式中，夹持机构10还包括第一导向销160、第二导向销170，第一导向销160、第二导向销170均安装于固定滑轨型夹子110两端的孔内，第三导向销180安装于滑动夹子120之上，固定滑轨型夹子110和滑动夹子120通过上述三个导向销连接。在其他实施方式中，固定滑轨型夹子110和滑动夹子120也可以采用其他方式连接。夹子弹簧150同轴套设于第三导向销180上，滑动夹子120穿过第一导向销160、第二导向销170安装于固定滑轨型夹子110之上。Referring to FIG. 3, in an embodiment, the clamping mechanism 10 further includes a first guiding pin 160 and a second guiding pin 170. The first guiding pin 160 and the second guiding pin 170 are both mounted on the fixed sliding rail type clip 110. In the end hole, the third guide pin 180 is mounted on the slide clip 120, and the fixed slide type clip 110 and the slide clip 120 are connected by the above three guide pins. In other embodiments, the fixed rail type clip 110 and the sliding clip 120 can also be connected in other ways. The clip spring 150 is coaxially sleeved on the third guide pin 180. The slide clip 120 is mounted on the fixed rail type clip 110 through the first guide pin 160 and the second guide pin 170.
如图1和2所示，在一实施方式中，推进组件20包括带动夹持机构10运动的凸台同步带210和同步带轮运动机构220、及同步带轮张紧机构230。在一实施方式中，凸台同步带210的材料为聚氨酯，在其他实施例中，凸台同步带210可更换为其他材料。同步带轮运动机构220包括推拉电机固定架221、推拉电机222、同步带轮安装板223、同步带轮224、同步带安装轴225，轴承226。同步同步带轮224包括主动同步带轮2241和从动同步带轮2242，同步带安装轴225包括第一同步带安装轴2251和第二同步带安装轴2252(参阅图4和5)。轴承226包括第一轴承2261和第二轴承2262。第一同步带安装轴2251设有第一齿轮2253，推拉电机222的输出轴上设有第二齿轮2254，第一齿轮 2253与第二齿轮2254啮合。在一实施方式中，第一齿轮2253和第二齿轮2254为锥齿轮，齿数为20，模数为1，压力角为20°。在其他实施例中，第一齿轮2253和第二齿轮2254也可以为直齿圆柱型齿轮、斜齿圆柱型齿轮等，模数和齿数可以根据需要调整。推拉电机222固定在推拉电机固定架221上，同步带轮224和同步带安装轴225安装在同步带轮安装板223上。夹持机构10固定在凸台同步带210上，同步带轮张紧机构230用于张紧同步带轮224进行，从而调整凸台同步带210的紧度。在本实施例中，夹持机构10的数量为4个，等距离分布在凸台同步带210上，在其他实施例中，夹持机构10的数量也可以根据需要调整。具体地，在一实施方式中，第一轴承2261安装于同步带轮安装板223的孔内，第一同步带安装轴2251穿过第一轴承2261，与第一轴承2261内圈过盈配合，主动同步带轮2241安装于第一同步带安装轴2251之上，第一同步带安装轴2251前端通过螺栓与第一同步带轮挡板2271固定，后端通过第一锁紧螺母2272和轴承挡圈2273实现固定，第一齿轮2253固定于第一同步带安装轴2251，第二轴承2262安装于同步带轮安装板223的孔内，第二同步带安装轴2252穿过第二轴承2262，与第二轴承2262内圈过盈配合，从动同步带轮2242安装于第二同步带安装轴2252之上，第二同步带安装轴2252前端通过螺栓与第二同步带轮挡板2281固定，后端通过第二锁紧螺母2282与同步带轮调节板固定，推拉电机固定架221安装于同步带轮安装板223后侧，推拉电机222固定于推拉电机固定架221之上，第一齿轮2253固定于推拉电机222输出轴上，实现第一齿轮2253与第二齿轮2254的啮合。As shown in FIGS. 1 and 2, in one embodiment, the propulsion assembly 20 includes a boss timing belt 210 that drives the movement of the clamping mechanism 10, a timing pulley motion mechanism 220, and a timing pulley tensioning mechanism 230. In one embodiment, the material of the land timing belt 210 is polyurethane. In other embodiments, the land timing belt 210 can be replaced with other materials. The timing pulley motion mechanism 220 includes a push-pull motor mount 221, a push-pull motor 222, a timing pulley mounting plate 223, a timing pulley 224, a timing belt mounting shaft 225, and a bearing 226. The synchronizing timing pulley 224 includes an active timing pulley 2241 and a driven timing pulley 2242 including a first timing belt mounting shaft 2251 and a second timing belt mounting shaft 2252 (see FIGS. 4 and 5). Bearing 226 includes a first bearing 2261 and a second bearing 2262. The first timing belt mounting shaft 2251 is provided with a first gear 2253, and the output shaft of the push-pull motor 222 is provided with a second gear 2254, and the first gear 2253 is meshed with the second gear 2254. In one embodiment, the first gear 2253 and the second gear 2254 are bevel gears having a number of teeth of 20, a modulus of one, and a pressure angle of 20°. In other embodiments, the first gear 2253 and the second gear 2254 may also be spur cylindrical gears, helical cylindrical gears, etc., and the modulus and the number of teeth can be adjusted as needed. The push-pull motor 222 is fixed to the push-pull motor mount 221, and the timing pulley 224 and the timing belt mounting shaft 225 are mounted on the timing pulley mounting plate 223. The clamping mechanism 10 is fixed to the boss timing belt 210, and the timing pulley tensioning mechanism 230 is used to tension the timing pulley 224 to adjust the tightness of the boss timing belt 210. In the present embodiment, the number of the clamping mechanisms 10 is four, and the equidistant distribution is on the boss timing belt 210. In other embodiments, the number of the clamping mechanisms 10 can also be adjusted as needed. Specifically, in an embodiment, the first bearing 2261 is mounted in the hole of the timing pulley mounting plate 223, and the first timing belt mounting shaft 2251 passes through the first bearing 2261 and is interference-fitted with the inner ring of the first bearing 2261. The active timing pulley 2241 is mounted on the first timing belt mounting shaft 2251. The front end of the first timing belt mounting shaft 2251 is fixed to the first timing pulley baffle 2271 by a bolt, and the rear end passes through the first lock nut 2272 and the bearing block. The ring 2273 is fixed, the first gear 2253 is fixed to the first timing belt mounting shaft 2251, the second bearing 2262 is mounted in the hole of the timing pulley mounting plate 223, and the second timing belt mounting shaft 2252 passes through the second bearing 2262, and The inner ring of the second bearing 2262 is interference fit, the driven timing pulley 2242 is mounted on the second timing belt mounting shaft 2252, and the front end of the second timing belt mounting shaft 2252 is fixed by the bolt and the second timing pulley baffle 2281. The end is fixed to the timing pulley adjusting plate by the second lock nut 2282, the push-pull motor fixing bracket 221 is mounted on the rear side of the timing pulley mounting plate 223, the push-pull motor 222 is fixed on the push-pull motor fixing frame 221, and the first gear 2253 is fixed. Push-pull The machine 222 is coupled to the output shaft to effect engagement of the first gear 2253 with the second gear 2254.
同步带轮张紧机构230包括同步带轮调节板232、调节座234、调节螺栓236，其中同步带轮调节板232通过螺栓安装在同步带轮安装板223之上，调节座234安装于同步带轮安装板223之上，同步带轮调节板232与调节座234之间通过调节螺栓236连接。在一实施方式中，同步带轮张紧机构230用于对从动同步带轮2242进行张紧，从而调整凸台同步带210的紧度。The timing pulley tensioning mechanism 230 includes a timing pulley adjusting plate 232, an adjusting seat 234, and an adjusting bolt 236. The timing pulley adjusting plate 232 is mounted on the timing pulley mounting plate 223 by bolts, and the adjusting seat 234 is mounted on the timing belt. Above the wheel mounting plate 223, the timing pulley adjusting plate 232 and the adjusting seat 234 are connected by an adjusting bolt 236. In one embodiment, the timing pulley tensioning mechanism 230 is used to tension the driven timing pulley 2242 to adjust the tightness of the boss timing belt 210.
当从动同步带轮2242需要进行张紧时，首先松开同步带轮调节板232与 同步带轮安装板223之间的螺栓，之后调节调节螺栓236使得同步带轮调节板232与调节座234之间的相对距离减小，最后用螺栓将同步带轮调节板232固定于同步带轮安装板223之上完成一次从动同步带轮2242的张紧动作。When the driven timing pulley 2242 needs to be tensioned, the bolt between the timing pulley adjusting plate 232 and the timing pulley mounting plate 223 is first released, and then the adjusting bolt 236 is adjusted so that the timing pulley adjusting plate 232 and the adjusting seat 234 are adjusted. The relative distance between the two is reduced, and finally the timing of the primary timing pulley 2242 is completed by bolting the timing pulley adjusting plate 232 to the timing pulley mounting plate 223.
结合图1和图6，在一实施方式中，导向机构30用于引导导丝或导管运动路径，导向机构30包括导向板固定板310、导向板320，第一支架330、第二支架340、安装在第一支架330顶端的第一导向管350及安装在第二支架340顶端的第二导向管360，第一支架330和第二支架340分别对称安装于同步带轮安装板223的两端。导向板固定板310位于同步带轮安装板223上端，导向板320固定在导向板固定板310上。在一实施方式中，第一导向管350和第二导向管360为纺锤体形状，在其他实施例中，第一导向管350和第二导向管360也可以为其他形状。1 and 6, in an embodiment, the guiding mechanism 30 is used to guide the guide wire or the catheter movement path, and the guiding mechanism 30 includes a guiding plate fixing plate 310, a guiding plate 320, a first bracket 330, a second bracket 340, a first guiding tube 350 mounted on the top end of the first bracket 330 and a second guiding tube 360 mounted on the top end of the second bracket 340. The first bracket 330 and the second bracket 340 are symmetrically mounted at opposite ends of the synchronous pulley mounting plate 223, respectively. . The guide plate fixing plate 310 is located at the upper end of the timing pulley mounting plate 223, and the guide plate 320 is fixed to the guide plate fixing plate 310. In one embodiment, the first guide tube 350 and the second guide tube 360 are in the shape of a spindle. In other embodiments, the first guide tube 350 and the second guide tube 360 may have other shapes.
在一实施方式中，导向板320的长度为60mm，在其他实施例，可更换为其他长度的导向板320。In one embodiment, the length of the guide plate 320 is 60 mm. In other embodiments, the guide plate 320 of other lengths can be replaced.
当导丝或导管需要向前推送时，推拉电机222开始正向旋转，由第一齿轮2253和第二齿轮2254啮合将动力传输给主动同步带轮2241，主动同步带轮2241带动凸台同步带210同步向前运动，当夹持机构10与导向板320开始接触后，由于导向板320的挤压作用，夹持机构10的滑动夹子120开始沿着第一导向销160、第二导向销170和第三导向销180向固定滑轨型夹子110一侧滑动，使得第一防滑弹性块130和第二防滑弹性块140与导丝或导管接触，并将其压紧，此时在凸台同步带210的作用下，夹持机构10带动导丝或导管同步前进，当夹持机构10与导向板320开始脱离接触后，由于夹持机构10的夹子弹簧150的回弹力，夹持机构10的滑动夹子120开始沿着第一导向销160、第二导向销170和第三导向销180向固定滑轨型夹子110另一侧滑动，使得第一防滑弹性块130和第二防滑弹性块140与导丝或导管脱离，将其松开，完成一次导丝或导管的向前推送动作。When the guide wire or the catheter needs to be pushed forward, the push-pull motor 222 starts to rotate forward, and the first gear 2253 and the second gear 2254 mesh to transmit power to the active timing pulley 2241, and the active timing pulley 2241 drives the boss timing belt. The synchronous movement of 210 moves forward. After the clamping mechanism 10 comes into contact with the guide plate 320, the sliding clamp 120 of the clamping mechanism 10 starts along the first guiding pin 160 and the second guiding pin 170 due to the pressing action of the guiding plate 320. And sliding the third guide pin 180 toward the side of the fixed rail type clip 110, so that the first anti-slip elastic block 130 and the second anti-slip elastic block 140 are in contact with the guide wire or the catheter, and are pressed tightly, and the boss is synchronized at this time. Under the action of the belt 210, the clamping mechanism 10 drives the guide wire or the catheter to advance synchronously. After the clamping mechanism 10 and the guiding plate 320 start to disengage, the clamping mechanism 10 is clamped by the spring force of the clip spring 150 of the clamping mechanism 10. The sliding clip 120 starts to slide along the first guiding pin 160, the second guiding pin 170 and the third guiding pin 180 toward the other side of the fixed rail type clip 110, so that the first anti-slip elastic block 130 and the second non-slip elastic block 140 are The guide wire or catheter is detached, Release it to complete the forward push of the guide wire or catheter.
当导丝或导管需要向后拉回时，推拉电机222开始反向旋转，由第一齿轮 2253和第二齿轮2254啮合将动力传输给主动同步带轮2241，主动同步带轮2241带动凸台同步带210同步向后运动，当夹持机构10与导向板320开始接触后，由于导向板320的挤压作用，夹持机构10的滑动夹子120开始沿着第一导向销160、第二导向销170和第三导向销180向固定滑轨型夹子110一侧滑动，使得第一防滑弹性块130和第二防滑弹性块140与导丝或导管接触，并将其压紧，此时在凸台同步带210的作用下，夹持机构10带动导丝或导管同步前进，当夹持机构10与导向板320开始脱离接触后，由于夹持机构10的夹子弹簧150的回弹力，夹持机构10的滑动夹子120开始沿着第一导向销160、第二导向销170和第三导向销180向固定滑轨型夹子110另一侧滑动，使得第一防滑弹性块130和第二防滑弹性块140与导丝或导管脱离，将其松开，完成一次导丝/导管向后拉回动作。When the guide wire or the catheter needs to be pulled back, the push-pull motor 222 starts to rotate in the reverse direction, and the first gear 2253 and the second gear 2254 mesh to transmit power to the active timing pulley 2241, and the active timing pulley 2241 drives the boss synchronization. The belt 210 is synchronously moved backward. When the clamping mechanism 10 comes into contact with the guide plate 320, the sliding clip 120 of the clamping mechanism 10 starts along the first guiding pin 160 and the second guiding pin due to the pressing action of the guiding plate 320. The 170 and the third guide pin 180 slide toward the side of the fixed rail type clip 110 such that the first anti-slip elastic block 130 and the second non-slip elastic block 140 are in contact with the guide wire or the catheter, and are pressed thereto, at this time in the boss Under the action of the timing belt 210, the clamping mechanism 10 drives the guide wire or the catheter to advance synchronously. After the clamping mechanism 10 and the guiding plate 320 start to disengage, the clamping mechanism 10 is obtained due to the resilience of the clip spring 150 of the clamping mechanism 10. The sliding clip 120 starts to slide along the first guiding pin 160, the second guiding pin 170 and the third guiding pin 180 toward the other side of the fixed rail type clip 110, so that the first anti-slip elastic block 130 and the second non-slip elastic block 140 Disengaged from the guide wire or catheter To release it, to complete a guidewire / catheter is pulled back rearward operation.
上述的血管介入手术导丝/导管递送装置包括夹持机构、用于带动夹持机构运动的推进组件以及用于导丝或导管夹持运动路径指引的导向机构。上述血管介入手术导丝/导管递送装置能够模仿医生对导丝或导管进行递送，电机在无需进行频繁的正反换向即可将导丝或导管持续性向前递送，并且能够通过导向机构在不更换任何零件的情况下适应多种导丝或导管的递送要求，且可同时调整夹持机构的夹紧力，并且可以在更换导向机构中导向板的情况下，改变单次导丝或导管递送的距离。同时本装置在与导丝或导管接触的部件设计为柔软、易拆卸且一次性可抛的弹性医用材料，避免了消毒的问题。此外，该装置结构较为紧凑，传动简洁且整体重量较轻，导丝或导管的装夹和拆卸方便，为之后进行产业化节约了成本。上述血管介入手术导丝/导管递送装置能够代替医生在X射线的环境下实现对导丝或导管的递送，提高了导丝或导管递送的精度，降低了医生的工作强度，提高了手术的可靠性，同时也避免了医生长期处于辐射环境中所造成的身体损伤，保证手术的成功性。The vascular interventional surgical guidewire/catheter delivery device described above includes a clamping mechanism, a propulsion assembly for driving the movement of the clamping mechanism, and a guiding mechanism for guidewire or catheter clamping motion path guidance. The vascular interventional surgical guidewire/catheter delivery device described above is capable of mimicking the delivery of a guidewire or catheter by a physician that can continuously deliver the guidewire or catheter forward without the need for frequent positive and negative reversal, and can Adapts to the delivery requirements of multiple guide wires or catheters with the replacement of any part, and can simultaneously adjust the clamping force of the clamping mechanism, and can change the single guide wire or catheter delivery with the guide plate replaced in the guide mechanism the distance. At the same time, the device is designed to be soft, easy to disassemble and disposable disposable elastic medical material in contact with the guide wire or the catheter, thereby avoiding the problem of disinfection. In addition, the device has a compact structure, simple transmission and light overall weight, and convenient installation and disassembly of the guide wire or the catheter, thereby saving costs for industrialization. The above-mentioned vascular interventional surgical guidewire/catheter delivery device can replace the doctor to realize the delivery of the guide wire or the catheter under the X-ray environment, improve the precision of the guide wire or catheter delivery, reduce the working intensity of the doctor, and improve the reliability of the operation. Sexuality also avoids the physical damage caused by the doctor's long-term exposure to the radiation environment, ensuring the success of the operation.
以上所述实施例仅表达了本发明的几种实施方式，其描述较为具体和详细，但并不能因此而理解为对本发明专利范围的限制。应当指出的是，对于本 领域的普通技术人员来说，在不脱离本发明构思的前提下，还可以做出若干变形和改进，这些都属于本发明的保护范围。因此，本发明专利的保护范围应以所附权利要求为准。The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

Claims (10)

  1. 一种血管介入手术导丝/导管递送装置，其中，包括：A vascular interventional surgical guidewire/catheter delivery device, comprising:
    夹持机构，所述夹持机构包括相对设置的固定滑轨型夹子和滑动夹子，固定在所述固定滑轨型夹子上的第一防滑弹性块，固定在所述滑动夹子上的第二防滑弹性块，及设置在所述固定滑轨型夹子和所述滑动夹子之间的夹子弹簧，所述第一防滑弹性块和所述第二防滑弹性块相对设置，所述滑动夹子相对于所述固定滑轨型夹子左右平移，当所述滑动夹子向所述固定滑轨型夹子靠近时，所述第一防滑弹性块和所述第二防滑弹性块将导丝或导管压紧从而夹持住导丝或导管；a clamping mechanism comprising a fixed rail-type clip and a sliding clip disposed oppositely, a first anti-slip elastic block fixed on the fixed rail-type clip, and a second non-slip fixed on the sliding clip An elastic block, and a clip spring disposed between the fixed rail type clip and the sliding clip, the first anti-slip elastic block and the second anti-slip elastic block are oppositely disposed, the sliding clip is opposite to the The fixed rail type clip is translated to the left and right, and when the sliding clip approaches the fixed rail type clip, the first non-slip elastic block and the second non-slip elastic block press the guide wire or the catheter to clamp Guide wire or catheter;
    推进组件，包括带动所述夹持机构运动的凸台同步带和同步带轮运动机构、及同步带轮张紧机构，所述同步带轮运动机构包括推拉电机固定架、推拉电机、同步带轮安装板、同步带轮、同步带安装轴和轴承，所述推拉电机固定在所述推拉电机固定架上，所述推拉电机的输出轴与所述同步带轮连接，所述同步带轮、所述同步带安装轴及所述轴承同轴安装在所述同步带轮安装板上，所述凸台同步带张紧在所述同步带轮上，所述夹持机构固定在所述凸台同步带上，所述同步带轮张紧机构用于张紧所述同步带轮，从而调整所述凸台同步带的紧度；a propulsion assembly, comprising a boss timing belt and a timing pulley movement mechanism for driving the clamping mechanism, and a timing pulley tensioning mechanism, wherein the timing belt movement mechanism comprises a push-pull motor holder, a push-pull motor, and a timing belt pulley a mounting plate, a timing pulley, a timing belt mounting shaft, and a bearing, wherein the push-pull motor is fixed to the push-pull motor holder, and an output shaft of the push-pull motor is connected to the timing pulley, the timing belt pulley The timing belt mounting shaft and the bearing are coaxially mounted on the timing pulley mounting plate, the boss timing belt is tensioned on the timing pulley, and the clamping mechanism is fixed to the boss synchronization Carrying, the timing pulley tensioning mechanism is used for tensioning the timing pulley to adjust the tightness of the boss timing belt;
    导向机构，用于对导丝或导管运动路径进行指引，所述导向机构包括导向板固定板、导向板，所述导向板固定板位于所述同步带轮安装板上端，所述导向板固定在所述导向板固定板上，所述导向板通过挤压所述固定滑轨型夹子以提供所述夹持机构夹持导丝/导管的夹紧力。a guiding mechanism for guiding a guide wire or a catheter moving path, the guiding mechanism comprising a guiding plate fixing plate and a guiding plate, wherein the guiding plate fixing plate is located at an end of the synchronous pulley mounting plate, and the guiding plate is fixed at The guide plate fixing plate, the guide plate is configured to press the fixed rail type clip to provide a clamping force for the clamping mechanism to clamp the guide wire/catheter.
  2. 根据权利要求1所述的血管介入手术导丝/导管递送装置，其中，所述夹持机构包括第一导向销、第二导向销及第三导向销，所述第一导向销和所述第二导向销均固定在所述固定滑轨型夹子上，所述第三导向销安装于所述滑动夹子上，所述夹子弹簧同轴套设于所述第三导向销上，所述滑动夹子沿着所述沿所述第一导向销、所述第二导向销及所述第三导向销相对于所述固定滑轨型夹子平移滑动。The vascular interventional surgical guidewire/catheter delivery device of claim 1, wherein the clamping mechanism comprises a first guide pin, a second guide pin, and a third guide pin, the first guide pin and the first The two guide pins are fixed on the fixed slide type clip, the third guide pin is mounted on the slide clip, and the clip spring is coaxially sleeved on the third guide pin, the slide clip Along the sliding along the first guide pin, the second guide pin and the third guide pin relative to the fixed rail type clip.
  3. 根据权利要求1所述的血管介入手术导丝/导管递送装置，其中，所述同步带轮包括主动同步带轮和从动同步带轮，所述同步带安装轴包括第一同步带安装轴和第二同步带安装轴，所述轴承包括第一轴承和第二轴承，所述第一轴承安装在所述同步带轮安装板孔内，所述第一同步带安装轴套设在所述第一轴承上并与所述第一轴承内圈过盈配合，所述主动同步带轮固定在所述第一同步带安装轴上，所述第二轴承安装在所述同步带轮安装板孔内，所述第二同步带安装轴套设在所述第二轴承上并与第二轴承内圈过盈配合，所述从动同步带轮固定在所述第二同步带安装轴之上。The vascular interventional surgical guidewire/catheter delivery device of claim 1 wherein said timing pulley comprises an active timing pulley and a driven timing pulley, said timing belt mounting shaft comprising a first timing belt mounting shaft and a second timing belt mounting shaft, the bearing includes a first bearing and a second bearing, the first bearing is mounted in the timing of the timing pulley mounting plate, and the first timing belt mounting shaft is sleeved in the first a bearing and an interference fit with the first bearing inner ring, the active timing pulley is fixed on the first timing belt mounting shaft, and the second bearing is mounted in the synchronous pulley mounting plate hole The second timing belt mounting sleeve is sleeved on the second bearing and has an interference fit with the second bearing inner ring, and the driven timing pulley is fixed on the second timing belt mounting shaft.
  4. 根据权利要求3所述的血管介入手术导丝/导管递送装置，其中，所述同步带轮张紧机构包括同步带轮调节板、调节座和调节螺栓，所述同步带轮调节板和所述调节座安装于所述同步带轮安装板之上，且所述同步带轮调节板与所述调节座通过调节螺栓连接。A vascular interventional surgical guidewire/catheter delivery device according to claim 3, wherein said timing pulley tensioning mechanism comprises a timing pulley adjustment plate, an adjustment seat and an adjustment bolt, said timing pulley adjustment plate and said An adjustment seat is mounted on the timing pulley mounting plate, and the timing pulley adjustment plate is coupled to the adjustment seat by an adjusting bolt.
  5. 根据权利要求4所述的血管介入手术导丝/导管递送装置，其中，所述第一同步带安装轴的一端通过螺栓与第一同步带轮挡板固定，另一端通过第一锁紧螺母和轴承挡圈固定，所述第二同步带安装轴的一端通过螺栓与第二同步带轮挡板固定，另一端通过第二锁紧螺母与同步带轮调节板固定。The vascular interventional guidewire/catheter delivery device of claim 4, wherein one end of the first timing belt mounting shaft is fixed to the first timing pulley baffle by a bolt, and the other end is passed through the first lock nut and The bearing retaining ring is fixed, one end of the second timing belt mounting shaft is fixed by the bolt and the second timing pulley baffle, and the other end is fixed by the second lock nut and the timing pulley adjusting plate.
  6. 根据权利要求1所述的血管介入手术导丝/导管递送装置，其中，所述同步带轮运动机构还包括一对模数相同的锥齿轮，所述一对锥齿轮连接推拉电机和同步带轮。A vascular interventional surgical guidewire/catheter delivery device according to claim 1, wherein said timing pulley motion mechanism further comprises a pair of bevel gears of the same modulus, said pair of bevel gears connecting the push-pull motor and the timing pulley .
  7. 根据权利要求5所述的血管介入手术导丝/导管递送装置，其中，所述第一同步带安装轴设有第一齿轮，所述推拉电机的输出轴之上设有第二齿轮，所述第一齿轮与所述第二齿轮啮合。A vascular interventional guidewire/catheter delivery device according to claim 5, wherein said first timing belt mounting shaft is provided with a first gear, and a second gear is disposed above an output shaft of said push-pull motor The first gear meshes with the second gear.
  8. 根据权利要求1所述的血管介入手术导丝/导管递送装置，其中，所述导向机构还包括第一支架、第二支架、安装在所述第一支架顶端的第一导向管及安装在所述第二支架顶端的第二导向管，所述第一支架和所述第二支架分别对称安装于所述同步带轮安装板的两端。The vascular interventional guidewire/catheter delivery device of claim 1, wherein the guiding mechanism further comprises a first bracket, a second bracket, a first guide tube mounted at a top end of the first bracket, and a mounting body a second guiding tube at a top end of the second bracket, wherein the first bracket and the second bracket are symmetrically mounted at opposite ends of the synchronous pulley mounting plate, respectively.
  9. 根据权利要求1所述的血管介入手术导丝/导管递送装置，其特征在于， 所述凸台同步带的材料为聚氨酯，所述凸台同步带上等距离安装有多个所述夹持机构。The vascular interventional guidewire/catheter delivery device according to claim 1, wherein the material of the boss timing belt is polyurethane, and the plurality of the clamping mechanisms are equidistantly mounted on the boss timing belt. .
  10. 根据权利要求1所述的血管介入手术导丝/导管递送装置，其中，所述第一防滑弹性块和所述第二防滑弹性块为橡胶块，所述第一防滑弹性块可拆卸地固定在所述固定滑轨型夹子上，所述第二防滑弹性块可拆卸地固定在所述滑动夹子上。The vascular interventional guidewire/catheter delivery device according to claim 1, wherein the first anti-slip elastic block and the second anti-slip elastic block are rubber blocks, and the first anti-slip elastic block is detachably fixed to The second anti-slip elastic block is detachably fixed to the sliding clip on the fixed rail type clip.
PCT/CN2017/117108 2017-12-19 2017-12-19 Guidewire/catheter delivery device for vascular interventional operation WO2019119259A1 (en)

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