WO2023016118A1 - 一种改进型介入手术机器人从端导丝导管搓动装置 - Google Patents

一种改进型介入手术机器人从端导丝导管搓动装置 Download PDF

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Publication number
WO2023016118A1
WO2023016118A1 PCT/CN2022/102232 CN2022102232W WO2023016118A1 WO 2023016118 A1 WO2023016118 A1 WO 2023016118A1 CN 2022102232 W CN2022102232 W CN 2022102232W WO 2023016118 A1 WO2023016118 A1 WO 2023016118A1
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WO
WIPO (PCT)
Prior art keywords
clamping
catheter
guide wire
surgery robot
interventional surgery
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PCT/CN2022/102232
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English (en)
French (fr)
Inventor
邓海云
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深圳市爱博医疗机器人有限公司
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Application filed by 深圳市爱博医疗机器人有限公司 filed Critical 深圳市爱博医疗机器人有限公司
Publication of WO2023016118A1 publication Critical patent/WO2023016118A1/zh

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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
    • A61B34/37—Master-slave robots
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B34/00—Computer-aided surgery; Manipulators or robots specially adapted for use in surgery
    • A61B34/30—Surgical robots
    • A61B2034/301—Surgical robots for introducing or steering flexible instruments inserted into the body, e.g. catheters or endoscopes

Definitions

  • the invention relates to a device in the field of medical equipment and robots, in particular to an improved device for rubbing a guide wire catheter at the slave end of an interventional operation robot.
  • Intervention therapy is a kind of minimally invasive treatment using modern high-tech means—that is, under the guidance of medical imaging equipment, special catheters, guide wires and other precision instruments are introduced into the human body to diagnose and locally treat pathological conditions in the body.
  • Intervention therapy uses digital technology to expand the doctor's field of vision. With the help of the catheter, the guide wire extends the doctor's hands. Its incision (puncture point) is only the size of a grain of rice. It can treat many diseases that could not be treated in the past without cutting human tissue. Diseases that require surgical treatment or medical treatment are not effective, such as tumors, hemangiomas, various hemorrhages, etc. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery and good results. It is the development trend of future medicine.
  • vascular interventional surgery doctors need to receive X-ray radiation for a long time. For this reason, a master-slave vascular interventional surgery robot with remote operation has been developed.
  • the master-slave vascular interventional surgery robot can work in the environment of strong radiation, and the doctor controls it outside the radiation environment.
  • the surgical robot In the process of advancing, retreating and rotating the guide wire (or catheter), the surgical robot needs to be driven by a corresponding transmission mechanism.
  • the transmission mechanism of the existing surgical robot due to the unreasonable structural design, the transmission effect of the entire transmission mechanism is not good.
  • the structure is relatively complicated, which increases the use cost of the product, which is not conducive to reducing medical costs and increasing the economic burden of patients.
  • the overall volume of the transmission mechanism is too large, which is not conducive to the spatial layout of the surgical robot. In the actual use process, it also brings Come various inconveniences, affect the flexibility of use.
  • An improved guide wire catheter rubbing device at the slave end of an interventional surgery robot is installed on the slave end of an interventional surgery robot for clamping and rotating the guide wire guide tube.
  • a drive assembly and a second drive assembly the first drive assembly drives the two clamping groups to approach or move away from each other along the first direction, so that the two clamping groups are clamped and non-clamped relative to the second drive assembly in the first direction alternate between positions, when the two clamping groups are located at the clamping position in the first direction, the two clamping groups clamp the guide wire catheter, and the second drive assembly drives the two clamping devices for clamping the guide wire catheter
  • the groups move in opposite directions relative to each other in a second direction different from the first direction, rubbing the guidewire catheter to rotate.
  • clamping group and the second drive assembly one of them is provided with a lock slot, and the other is provided with a clip bar, and the clamping position and the non-clamping position in the first direction are located at the lock In the groove, when the first drive assembly drives the two clamping groups to clamp or loosen the guide wire catheter, the clip slides from the non-clamping position of the locking groove to the clamping position or from the clamping position of the locking groove Slide to the non-clamping position.
  • the locking groove extends along the first direction.
  • clamping strip is passed through the locking groove.
  • the clamping group includes a positioning part and a clamping part connected to the positioning part, and the locking groove is provided on the side of the positioning part close to the other clamping group;
  • the second drive assembly It includes two sliding seats and a driving motor for synchronously moving the two sliding seats in opposite directions along the second direction, and the clip bar is arranged on the outer side of the sliding seats.
  • the second driving assembly also includes a second interlocking wheel placed between the two sliding seats, the driving motor is connected to the second interlocking wheel, the inner surfaces of the two sliding seats are provided with locking teeth, and the The outer peripheral surface of the second interlocking wheel is provided with locking teeth, and the two sliding seats of the second driving assembly are engaged on the second interlocking wheel at the same time.
  • the sliding seat is provided with a second guide rod
  • the second drive assembly also includes a sliding sleeve, and a guide groove extending along the second direction is provided inside the sliding sleeve, and the second guide rod is connected from the guide of the sliding sleeve to The groove passes through and the sliding sleeve guides the carriage.
  • the first drive assembly includes two first underframes, a driver for driving the two first underframes to move in the first direction, and a first guide rod installed on the first underframes, the first guide rod Interspersed on the clamping group.
  • the first driving assembly is further provided with a first guide device on the first guide rod, the first guide device is a bearing, and the bearing is sleeved on the outside of the guide rod installed in cooperation with it.
  • the improved guide wire guide catheter rubbing device of the interventional surgery robot also includes an inner frame.
  • the inner frame is provided with two opposite splints, and the first guiding device is sandwiched between the two splints of the inner frame. between.
  • the first drive assembly also includes a first linkage wheel connected to the two first underframes at the same time, the two first underframes are opposite to each other, and the first linkage wheel is placed between the two first underframes.
  • first linkage wheel connected to the two first underframes at the same time, the two first underframes are opposite to each other, and the first linkage wheel is placed between the two first underframes.
  • the inner sides of the two first bottom frames are provided with locking teeth
  • the outer surface of the first linkage wheel is provided with locking teeth
  • the first linkage wheel engages with the two clamps at the same time through the locking teeth. on the first chassis of the holding group.
  • the inner frame is also provided with two sets of bearings corresponding to the two clamping groups, and the two first underframes of the first drive assembly are respectively installed on two sets of guide rails, and the first underframe is mounted on the bearings along the Swipe in the first direction.
  • first direction and the second direction are perpendicular to each other.
  • the improved interventional surgery wire introduction device of the present invention is provided with a rubbing mechanism, and the rubbing mechanism includes two opposite clamping groups, a first drive assembly, and a second drive assembly, wherein the first drive assembly Drive the two clamping groups to approach each other along the first direction to clamp the guide wire catheter, and the second drive assembly drives the two clamping groups to move in opposite directions along the second direction different from the first direction to rub the guide wire catheter to rotate.
  • the invention has good transmission effect, relatively simple structure, effectively reduces the use cost of the product, reduces the economic burden of patients, and has a compact structure, takes up less space, has strong practicability, and has strong promotional significance.
  • Fig. 1 is the structure schematic diagram of the guide wire catheter rubbing device from the improved interventional surgery robot of the present invention
  • Fig. 2 is an exploded view of the improved interventional surgery robot shown in Fig. 1 from the guiding wire catheter rubbing device;
  • Fig. 3 is an exploded view from another angle of the guide wire catheter rubbing device of the improved interventional surgery robot shown in Fig. 2;
  • Fig. 4 is a further exploded view of the guide wire catheter rubbing device at the improved interventional surgery robot shown in Fig. 2;
  • Fig. 5 is an exploded view from another angle of the guide wire catheter rubbing device of the improved interventional surgery robot shown in Fig. 4;
  • Figures 6 and 7 are front and rear views after the rubbing mechanism of the present invention is installed in cooperation with the inner frame;
  • Figures 8 and 9 are structural schematic diagrams after the first drive motor, inner frame and photoelectric sensor are omitted in Figure 7;
  • Fig. 10 is a structural schematic view of the modified interventional surgery robot of the present invention when the clamping group of the guide wire catheter rubbing device at the slave end is installed in cooperation with the first drive assembly.
  • the present invention provides an improved interventional surgery robot guide wire catheter rubbing device from the end, which is installed on the interventional surgery robot from the end to push the slender medical device (guide wire or catheter) ) 100 performs clamping, forward rotation, and reverse operations, and pushes the slender medical device 100, that is, the forward rotation of the guide wire or catheter refers to the direction in which the guide wire or catheter rotates into the patient's body, and the reverse refers to the direction in which the guide wire or catheter enters the patient's body. The catheter is rotated out of the direction of the surgical patient's body.
  • the improved interventional surgery robot guide wire catheter rubbing device includes a frame 10, an inner frame 20 and a rubbing mechanism, the rubbing mechanism is installed on the inner frame 20, and the frame 10 is sleeved in the inner frame 20.
  • the outside of frame 20 and rubbing mechanism allows the outside world to be isolated from rubbing mechanism.
  • the rubbing mechanism includes two clamping groups 30, a first drive assembly 40, and a second drive assembly 50 that are arranged oppositely.
  • the first drive assembly 40 drives the two clamping groups 30 to approach or move away from each other along the first direction, so that the two clamping groups
  • the group 30 changes alternately between the clamping position and the non-clamping position in the first direction relative to the second drive assembly 50.
  • the two clamping groups 30 When the two clamping groups 30 are located in the clamping position in the first direction, the two clamping groups The group 30 clamps the guide wire catheter, and the second driving assembly 50 drives the two clamping groups 30 clamping the guide wire catheter to move in opposite directions along the second direction different from the first direction, rubbing the guide wire catheter to rotate, so The first direction and the second direction are perpendicular to each other, and the frame 10 supports the guide wire or catheter.
  • Both clamping groups 30 include a clamping portion 31 and a positioning portion 32, the clamping portion 31 and the positioning portion 32 are distributed in a T shape, and the bottom surface of the clamping portion 31 is provided with a card extending inward.
  • Slot 35 the upper end of the position adjustment part 32 is detachably installed in the card slot 35, a gap is formed between the outer surface of the position adjustment part 32 and the groove wall of the card slot 35, the position adjustment part 32
  • There are several positioning slots extending inward at the bottom of the bottom of the positioning portion 32 and a locking slot 321 extending outward along the first direction is provided on the side of the positioning portion 32 close to the other clamping group 30 .
  • the first driving assembly 40 includes two first underframes 43 installed on the inner frame 20, a first linkage wheel 46 connected to the two first underframes 43 at the same time, and mounted on the two first underframes 43 respectively.
  • the two first guide rods 44 on the top, the driver 41 that drives the two first undercarriages 43 to move along the first direction.
  • the two first underframes 43 are arranged opposite to each other.
  • the first interlocking wheel 46 is disposed between the two first chassis 43 and allows the two first chassis 43 to approach or move away from each other synchronously along a first direction.
  • the inner sides of the two first chassis 43 are provided with locking teeth, and the outer surface of the first linkage wheel 46 is provided with locking teeth, and the first linkage wheel 46 is engaged with the two clamping groups at the same time through the locking teeth. 30 on the first chassis 43.
  • the driver 41 is connected to one of the first chassis 43 , and under the action of the first linkage wheel 46 , the driver 41 simultaneously drives the two first chassis 43 to move oppositely along the first direction.
  • the position adjustment parts 32 of the two clamping groups 30 are installed on the two first guide rods 44 respectively, and drive the two clamping groups 30 to approach or move away from each other along the first direction, and drive the two clamping groups 30 to perform clamping or loosening. Actions.
  • the driver 41 is an electromagnetic driver.
  • an electromagnetic driver is used to drive the two clamping groups 30 to perform clamping or loosening actions.
  • a second drive motor of opposite motion is used to replace the electromagnetic drive.
  • the second drive motor is directly connected to the first linkage wheel 46 .
  • the two first underframes 43 of the first driving assembly 40 are installed in cooperation with the two clamping groups 30 through the first guide rods 44 respectively. Specifically, the two first guide rods 44 of the first driving assembly 40 are respectively inserted into the positioning slots at the bottom of the two positioning parts 32, so that the entire clamping group 30 can slide back and forth along the first guide rods 44 in the second direction, Then rub the guide wire or catheter.
  • the first drive assembly 40 is also provided with a first guide device 45 on each first guide rod 44.
  • the first guide device 45 is a bearing, and the bearing is sleeved on the first guide rod 44 that is installed in cooperation with it.
  • the inner frame 20 is provided with two splints 21 oppositely disposed along the first direction, and the two first guiding devices 45 are sandwiched between the two splints 21 of the inner frame 20, so that the first drive assembly 40 drives the two splints.
  • the holding group 30 is more stable during the movement along the first direction.
  • the inner frame 20 is also provided with two sets of bearings 22, and the two first underframes 43 of the first driving assembly 40 are installed on the two sets of bearings 22 respectively, and each of the first underframes 43 is corresponding to The set of bearings 22 slides along the first direction.
  • the improved catheter rubbing device for the guide wire at the slave end of the interventional surgery robot also includes a first stroke detection device 60, which is used to identify the diameter of the guide wire of the catheter.
  • the first stroke detection device 60 is a grating sensor
  • the grating sensor includes a grating ruler 62 and a grating reading head 61
  • the grating ruler 62 is mounted on a first chassis 43
  • the grating The reading head 61 is arranged above the grating scale 62 and fixedly installed on the splint 21 .
  • the two first chassis 43 move along the first direction until the two clamping groups 30 clamp the catheter guide wire, the grating sensor acquires the displacement of the movement, and transmits the measurement result to the system controller, which is converted into a guide wire.
  • the second drive assembly 50 includes two sliding seats 53, a second linkage wheel 52 placed between the two sliding seats 53 and allowing the two sliding seats 53 to move away from or approach each other synchronously along the second direction, connected to the first The first driving motor 51 of the two linkage wheels 52, so that the first driving motor 51 drives the two clamping groups 30 to move away from each other along the second direction to rub the guide wire catheter to rotate.
  • the inner surfaces of the two sliding seats 53 of the second driving assembly 50 are provided with locking teeth, and the outer peripheral surface of the second linkage wheel 52 is provided with locking teeth, and the two sliding seats 53 of the second driving assembly 50 are simultaneously Mesh on the second linkage wheel 52, the first drive motor 51 drives the second linkage wheel 52 to rotate, and under the action of the second linkage wheel 52, the two sliding seats 53 are driven to move in opposite directions, thereby driving the clamping group 30 to rub Move the guidewire or catheter forward or reverse.
  • the sliding seat 53 is provided with a clip bar 54 on the outer side.
  • the clip bar 54 is passed through the locking groove 321, so that the first driving motor 51 can drive the corresponding clip through the two sliding seats 53.
  • the holding group 30 moves in the second direction.
  • the clamping position and the non-clamping position in the first direction are located in the locking groove 321, and when the first drive assembly 40 drives the two clamping groups 30 to clamp or loosen the guide wire catheter, the second The second driving assembly 50 extends into the clamping position or the non-clamping position of the clamping group 30 , and the clip bar 54 cooperates with the locking groove 321 at different positions in the first direction for position adjustment.
  • the clip bar 54 slides from the non-clamping position of the locking groove 321 to the clamping position or slides from the locking groove 321 to the clamping position.
  • the clamping position of 321 slides to the non-clamping position.
  • the second drive assembly 50 also includes two sliding sleeves 55, the two sliding sleeves 55 are fixed between the two splints 21, each sliding seat 53 is provided with a second guide rod 56, each sliding sleeve 55 is provided with a guide groove extending along the second direction, and the two second guide rods 56 pass through the guide grooves of the two sliding sleeves 55 to allow the two sliding sleeves 55 to guide the two sliding seats 53 .
  • the improved interventional surgery robot guide wire catheter rubbing device from the end also includes a second stroke detection device 63, and the second stroke detection device 63 is used to detect whether the stroke of the two clamping groups 30 in the second direction reaches the limit position .
  • the second stroke detection device 63 is a photoelectric sensor, and the number of photoelectric sensors is two.
  • the two photoelectric sensors are installed on the splint 21, and the two sliding seats 53 are also convex Barriers 57 are provided, and the bars 57 on the two sliding seats 53 correspond to two photoelectric sensors respectively. Since the two clamping groups 30 move in opposite directions along the second direction, only one of the two photoelectric sensors detects its corresponding position.
  • the improved interventional surgery robot guide wire catheter rubbing device also includes a second force detection module 80 and a first force detection module 70
  • the first force detection module 70 includes The first load cell of one of the first chassis 43 and the connection plate 42 connecting the driver 41 and the first load cell in the first direction, when the two clamping groups 30 are in the state of loosening the guide wire catheter, The connecting plate 42 causes the first load cell to generate a predetermined pressure.
  • the first chassis 43 drives the displacement of the first load cell to allow a predetermined pressure. The pressure changes, and the clamping force of the two clamping groups 30 on the guide wire catheter is measured.
  • the first base frame 43 is provided with a baffle plate 431, and the side of the baffle plate 431 facing away from the driver 41 is provided with an assembly groove, the second load cell is installed in the assembly groove, and the first load cell Protruding from the assembly slot, the connecting plate 42 is provided with an opening on a side close to the first base frame 43 , and the opening is sheathed on the baffle plate 431 and the first load cell.
  • the first load cell is a pressure sensor.
  • the two first chassis 43 drive the displacement of the second load cell to change the predetermined pressure.
  • the system controller records the change of pressure information and feeds it back to the master terminal operated by the doctor, increasing the doctor's sense of presence.
  • the improved interventional surgery robot guide wire guide catheter rubbing device also includes an auxiliary module 90, which is used to cooperate with the second force detection module 80 for force detection, which includes a slide rail 91 and a slider 92,
  • the second force detection module 80 includes a first load cell 82 fixed to the bottom of the inner frame 20, an elastic member 83 and a fixing seat 81, and the fixing seat 81 is fixed on the slave end for supporting the improved interventional surgery robot.
  • the slider 82 is fixed on the bottom of the inner frame 20, and the slide rail 91 is installed on the guide wire catheter rubbing device for supporting the improved interventional surgery robot from the end.
  • the slider 92 is installed in cooperation with the slide rail 91.
  • the elastic member 83 is a compression spring extending along the advancing direction of the guide wire catheter, and its two ends respectively abut against between the second load cell 82 and the fixing seat 81 .
  • the second load cell 82 and the elastic member 83 are all arranged inside the fixed seat 81, and the second load cell 82 is fixed to the bottom of the inner frame 20, and the second load cell 82 and the elastic member 83
  • the installation direction inside the fixing seat 81 is consistent with the third direction, and the two ends of the elastic member 83 respectively abut against between the first load cell 82 and the fixing seat 81 .
  • the delivery resistance suffered by the guide wire or catheter will drive the two clamping groups 30 and the inner frame 20 to move slightly along the slide rail 91.
  • the position of the elastic member 83 also changes accordingly, and the elastic member 83 changes the extrusion force on the first load cell 82, thereby bringing about a change in pressure detected by the first load cell 82.
  • the system controller records the change in pressure information and feeds it back to The main terminal operated by doctors.
  • the frame 10 includes a first housing 11, the first housing 11 is arranged in a hollow structure as a whole, and the top surface of the first housing 11 is protruded with two extension cylinders 111, and each of the extension cylinders is A through hole 112 penetrating along the second direction is provided, and a supporting foot 113 protrudes from one side of the first housing 11 .
  • the first driving assembly 40, the second driving assembly 50 and the inner frame 20 of the rubbing mechanism are installed in the first housing 11, and the position adjustment parts 32 of the two clamping groups 30 respectively pass through the first
  • the perforations 112 of the two extension tubes 111 on the housing 11 are installed in cooperation with the corresponding first guide rods 44 of the first drive assembly 40 through their position adjustment grooves, so that the entire clamping group 30 can move along the two first guide rods 44 Sliding reciprocally in the second direction, and the clamping group 30 and the second driving assembly 50 are cooperatingly installed through the locking groove 321 and the clip bar 54 .
  • the second drive assembly 50 drives the two clamping groups 30 to slide along the corresponding first guide rod 44, and the clamping parts 31 of the two clamping groups 30 Keep wrapped on the outside of the extension tube 111 to ensure the isolation of the inner space from the outside world.
  • the frame 10, the inner frame 20 and the rubbing mechanism are non-consumable parts.
  • the present invention also includes a consumable part.
  • the consumable part includes an outer cover 33 and a buffer member 34.
  • the outer cover 33 is sleeved on the clamping part 31 outside, the buffer member 34 is bonded to the outer cover 33, and the buffer members 34 of the two clamping groups 30 are arranged oppositely.
  • the buffer member 34 has elasticity, which can prevent the clamping group 30 from clamping the catheter or guide wire If the force is too large, the catheter or guide wire will be damaged.
  • the buffer member 34 is made of silica gel.
  • the consumable part also includes a second housing 12 and a cover 13 for accommodating the first housing 11, the second housing 12 includes a receiving portion 121 and a docking portion 122 connected to the upper end of the receiving portion 121, the The accommodating portion 121 is hollow, and an opening 123 is provided at the upper end of the docking portion 122, and two guide grooves 124 are arranged opposite to each other at the edge of the opening 123 along the third direction.
  • the guide grooves 124 are V-shaped, and the guide grooves 124 The groove width gradually decreases from the edge to the inside.
  • the second housing 12 is sheathed on the outside of the first housing 11 along the second direction, the second housing 12 and the first housing 11 are provided with magnets and/or iron blocks, and the second housing 12 1.
  • the first shell 11 is fixed by magnetic attraction to ensure that the first shell 11 and the second shell 12 are not easy to loosen when they are matched, and can be disassembled freely.
  • the height of the groove bottom of the front and rear V-shaped guide grooves 124 is set at At the overlapping position of the movement paths of the two sliding seats 53 , by setting the guide groove 124 , the guidewire catheter can be installed more conveniently, and the guide groove 124 can support the guidewire catheter.
  • the clamping parts 31 of the two clamping groups 30 and the outer cover 33 and the buffer member 34 sleeved thereon are placed in the opening 123 of the butt joint part 122 on the second housing 12, and their central positions are facing the two V-shaped Guide groove 124; cover the face cover 13 on the docking portion 122, the face cover 13 can be freely disassembled from the second housing 12, the face cover 13 is provided with a clamping plate 131, and the clamping plate 131 cooperates with the guide groove 124 limits the position of the guide wire or catheter, and in order to achieve a better matching effect, the bottom of the clamping plate 131 is provided with an avoidance groove 132 .
  • the improved interventional surgery robot of the present invention is provided with a rubbing mechanism from the guide wire catheter rubbing device at the end, and the rubbing mechanism includes two clamping groups 30, a first drive assembly 40, and a second drive assembly 40 that are oppositely arranged.
  • the first driving assembly 40 drives the two clamping groups 30 to approach each other along a first direction to clamp the guide wire catheter
  • the second driving assembly drives the two clamping groups 30 to mutually approach each other along a second direction different from the first direction
  • Reverse movement is used to rub the guide wire catheter to rotate, the transmission effect is good, the structure is relatively simple, and the isolation from the outside world is realized, the use cost of the product is effectively reduced, and the economic burden of the patient is reduced, and the structure is compact, the space occupied is small, and the practicability Strong, with strong promotional significance.
  • first direction and the second direction in the present invention are bidirectional.
  • first direction when the first direction is a horizontal direction, it includes both a leftward direction and a rightward movement direction; when the second direction is a vertical direction, it includes both an upward direction and a downward direction.
  • both the clamping position and the non-clamping position are variable. For example, if the diameters of the wire catheters clamped between the two clamping groups are different, the clamping position will change, and the clamping position will also slightly change when the clamping force is different at any time.

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Abstract

一种改进型介入手术机器人从端导丝导管搓动装置，装设于介入手术机器人从端上，用于实现导丝导管(100)的夹持、转动，包括相对设置的两夹持组(30)、第一驱动组件(40)及第二驱动组件(50)，第一驱动组件(40)驱动两夹持组(30)沿第一方向靠近或远离，使两夹持组(30)相对于第二驱动组件(50)在第一方向上的夹持位和非夹持位之间交替变化，当两夹持组(30)位于第一方向上的夹持位时，两夹持组(30)夹持导丝导管(100)，第二驱动组件(50)驱动夹紧导丝导管(100)的两夹持组(30)沿不同于第一方向的第二方向相互反向运动，搓动导丝导管(100)转动。传动效果好，结构相对简单，有效缩减产品的使用成本，减轻患者的经济负担，而且结构紧凑，占用空间较小，实用性强。

Description

一种改进型介入手术机器人从端导丝导管搓动装置
本申请要求申请日为2021年08月10日、申请号为202110912555.3、发明名称为“一种改进型介入手术机器人从端导丝导管搓动装置”的中国专利申请，以及申请日为2021年08月31日、申请号为202111009818.6、发明名称为“一种改进型介入手术机器人从端导丝导管搓动装置”的中国专利申请的优先权，此两件中国专利申请的全部内容通过引用结合在本申请中。
技术领域
本发明涉及一种医疗器械机器人领域装置，尤其涉及一种改进型介入手术机器人从端导丝导管搓动装置。
背景技术
介入治疗是利用现代高科技手段进行的一种微创性治疗--就是在医学影像设备的引导下，将特制的导管，导丝等精密器械，引入人体，对体内病态进行诊断和局部治疗。
介入治疗应用数字技术，扩大了医生的视野，借助导管，导丝延长了医生的双手，它的切口(穿刺点),仅有米粒大小，不用切开人体组织，就可治疗许多过去无法治疗，必须手术治疗或内科治疗疗效欠佳的疾病，如肿瘤，血管瘤，各种出血等。介入治疗具有不开刀，创伤小，恢复快，效果好的特点。是未来医学的发展趋势。
血管介入手术中医生需要长期接收X射线的辐射，为此工程上开发了远隔操作的主从式血管介入手术机器人。主从式血管介入手术机器人可以在强烈辐射的环境下工作，医生则在射线环境之外对其控制。
手术机器人在执行导丝(或导管)的进退、转动的过程中，需要相应的传动机构带动，然而，对于现有手术机器人的传动机构，由于结构设计不合理，整个传动机构的传动效果不佳，结构相对复杂，增大产品的使用成本，进而不利于降低医疗成本，增大患者的经济负担，而且传动机构整体体积过大，不利 于手术机器人空间布局，在实际中使用过程中，同样带来各种不便，影响使用的灵活性。
发明内容
基于此，有必要针对现有技术中的不足，提供一种改进的介入手术机器人从端导丝导管搓动装置。
一种改进型介入手术机器人从端导丝导管搓动装置，其装设于介入手术机器人从端上，用于实现导丝导管的夹持、转动，其包括相对设置的两夹持组、第一驱动组件及第二驱动组件，第一驱动组件驱动两夹持组沿第一方向靠近或远离，使两夹持组相对于第二驱动组件在第一方向上的夹持位和非夹持位之间交替变化，当所述两夹持组位于第一方向上的夹持位时，两夹持组夹持导丝导管，所述第二驱动组件驱动夹紧导丝导管的两夹持组沿不同于第一方向的第二方向相互反向运动，搓动导丝导管转动。
进一步地，所述夹持组及第二驱动组件中，其中一个设有锁扣槽，另一个设有卡条，所述第一方向上的夹持位和非夹持位位于所述锁扣槽内，所述第一驱动组件带动两夹持组夹紧或松开导丝导管时，卡条分别从锁扣槽的非夹持位滑行到夹持位或者从锁扣槽的夹持位滑行到非夹持位。
进一步地，所述锁扣槽沿第一方向延伸。
进一步地，所述卡条穿设于锁扣槽内。
进一步地，所述夹持组包括调位部及连接于调位部上的夹持部，所述锁扣槽设于调位部靠近另一夹持组的一侧；所述第二驱动组件包括两滑座、让所述两滑座同步沿第二方向相互反向运动的驱动电机，所述卡条设于滑座上靠外侧位置。
进一步地，所述第二驱动组件还包括置于所述两滑座之间的第二联动轮，驱动电机连接第二联动轮，所述两滑座的内侧面均设有卡齿，所述第二联动轮的外圆周表面设有卡齿，所述第二驱动组件的两滑座同时啮合在第二联动轮上。
进一步地，所述滑座设有第二导杆，第二驱动组件还包括滑套，所述滑套内设有沿第二方向延伸的导槽，所述第二导杆从滑套的导槽穿过，滑套对滑座 进行导向。
进一步地，所述第一驱动组件包括两第一底架、驱动两第一底架沿第一方向运动的驱动器及装设于第一底架上的第一导杆，所述第一导杆穿插于夹持组上。
进一步地，所述第一驱动组件于第一导杆上还设有第一导向装置，第一导向装置为轴承，所述轴承套设于与之配合安装的导杆外侧。
进一步地，所述改进型介入手术机器人从端导丝导管搓动装置还包括内架所述内架上设有相对设置的两夹板，所述第一导向装置夹设于内架的两夹板之间。
进一步地，所述第一驱动组件还包括同时连接于两第一底架上的第一联动轮，两所述第一底架呈相对设置，所述第一联动轮置于两所述第一底架之间，两所述第一底架的内侧均设有卡齿，所述第一联动轮的外表面设有卡齿，所述第一联动轮通过卡齿同时啮合在两所述夹持组的第一底架上。
进一步地，所述内架对应两夹持组还设有两组轴承，第一驱动组件的两第一底架分别装设于两组导轨上，并且，所述第一底架在轴承上沿第一方向滑动。
进一步地，所述第一方向和所述第二方向相互垂直。
综上所述，本发明改进型介入手术线材导入装置通过设置搓动机构，所述搓动机构包括相对设置的两夹持组、第一驱动组件、第二驱动组件，其中，第一驱动组件驱动两夹持组沿第一方向相互靠近以夹持导丝导管，第二驱动组件驱动两夹持组沿不同于第一方向的第二方向相互反向运动以搓动导丝导管转动，本发明传动效果好，结构相对简单，有效缩减产品的使用成本，减轻患者的经济负担，而且结构紧凑，占用空间较小，实用性强，具有较强的推广意义。
附图说明
图1为本发明改进型介入手术机器人从端导丝导管搓动装置的结构示意图；
图2为图1所示改进型介入手术机器人从端导丝导管搓动装置的分解图；
图3为图2所示改进型介入手术机器人从端导丝导管搓动装置另一角度的分解图；
图4为图2所示改进型介入手术机器人从端导丝导管搓动装置进一步的分解图；
图5为图4所示改进型介入手术机器人从端导丝导管搓动装置另一角度的分解图；
图6、7为本发明的搓动机构与内架配合安装后的前、后视图；
图8、9为图7省略第一驱动电机、内架及光电传感器后结构示意图；
图10为本发明改进型介入手术机器人从端导丝导管搓动装置的夹持组与第一驱动组件配合安装时的结构示意图。
具体实施方式
为了使发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅用以解释发明，并不用于限定发明。
如图1至图10所示，本发明提供一种改进型介入手术机器人从端导丝导管搓动装置，其装设于介入手术机器人从端上，推动细长型医疗器械(导丝或导管)100执行夹持、正转、反转的操作，推动细长型医疗器械100即导丝或导管的正转指让导丝或导管旋转进入手术病人身体的方向、反转指让导丝或导管旋转退出手术病人身体的方向。
所述改进型介入手术机器人从端导丝导管搓动装置包括机架10、内架20及搓动机构，所述搓动机构装设于内架20上，所述机架10套设于内架20及搓动机构的外侧，让外界与搓动机构隔离。所述搓动机构包括相对设置的两夹持组30、第一驱动组件40及第二驱动组件50，第一驱动组件40驱动两夹持组30沿第一方向靠近或远离，使两夹持组30相对于第二驱动组件50在第一方向上的夹持位和非夹持位之间交替变化，当所述两夹持组30位于第一方向上的夹持位时，两夹持组30夹持导丝导管，所述第二驱动组件50驱动夹紧导丝导管的两夹持组30沿不同于第一方向的第二方向相互反向运动，搓动导丝导管转动，所述第一方向和所述第二方向相互垂直，所述机架10对导丝或导管进行支撑。
两所述夹持组30均包括夹持部31、调位部32，所述夹持部31与调位部32 呈T形分布，所述夹持部31的底面设有向内延伸的卡槽35，所述调位部32的上端可拆卸地装设于卡槽35内，所述调位部32的外侧面与卡槽35的槽壁之间形成一间隙，所述调位部32的底部设有向内延伸的若干调位槽，所述调位部32靠近另一夹持组30的一侧设有沿第一方向向外延伸的锁扣槽321。
所述第一驱动组件40包括安装于所述内架20的两第一底架43、同时连接于两第一底架43上的第一联动轮46、分别装设于两第一底架43上的两第一导杆44、驱动两第一底架43沿第一方向运动的驱动器41。两所述第一底架43呈相对设置。所述第一联动轮46置于所述两第一底架43之间并让所述两第一底架43同步沿第一方向相互靠近或离开。所述两第一底架43的内侧均设有卡齿，所述第一联动轮46的外表面设有卡齿，所述第一联动轮46通过卡齿同时啮合在所述两夹持组30的第一底架43上。所述驱动器41与其中一第一底架43连接，在第一联动轮46的作用下，所述驱动器41同时带动两第一底架43沿第一方向相互反向运动。两所述夹持组30的调位部32分别安装于两所述第一导杆44，驱动两夹持组30沿第一方向靠近或远离，带动两夹持组30执行夹持或松开的动作。本实施例中，所述驱动器41是电磁驱动器。
可以理解地，在本实施例中，采用电磁驱动器带动两夹持组30执行夹持或松开的动作，在其它实施例中，驱动器41还包括驱动两第一底架43沿第一方向相互反向运动的第二驱动电机，用于代替所述电磁驱动器。所述第二驱动电机直接与第一联动轮46连接。
所述第一驱动组件40的两第一底架43分别通过第一导杆44与两所述夹持组30配合安装。具体为，第一驱动组件40的两第一导杆44分别穿插在两调位部32底部的调位槽，让整个夹持组30可以沿第一导杆44在第二方向上往复滑动，进而对导丝或导管进行搓动。
所述第一驱动组件40于每一第一导杆44上还设有第一导向装置45，本实施例中，第一导向装置45为轴承，所述轴承套设于与之配合安装的第一导杆44外侧。所述内架20上设有沿第一方向相对设置的两夹板21，所述两第一导向装置45夹设于内架20的两夹板21之间，从而使得第一驱动组件40带动两夹持组30在沿第一方向运动过程中更平稳。
所述内架20还设有两组轴承22，所述第一驱动组件40的两第一底架43分别装设于两组轴承22上，并且，每一所述第一底架43在对应组的轴承22上沿第一方向滑动。
所述改进型介入手术机器人从端导丝导管搓动装置还包括第一行程检测装置60，所述第一行程检测装置60用于具有识别导管导丝直径。本实施例中，所述第一行程检测装置60为光栅传感器，所述光栅传感器包括光栅尺62及光栅读数头61，所述光栅尺62装设于一第一底架43上，所述光栅读数头61设于光栅尺62的上方并固定装设于夹板21上。所述两第一底架43沿第一方向移动直到让两夹持组30夹持导管导丝时，光栅传感器获取移动的位移量，并将测量结果传输给***控制器，由其换算成导丝或导管的直径。
所述第二驱动组件50包括两滑座53、置于所述两滑座53之间并让所述两滑座53同步沿第二方向相互离开或靠近的第二联动轮52、连接于第二联动轮52的第一驱动电机51，从而，所述第一驱动电机51驱动两夹持组30沿第二方向相互离开以搓动导丝导管转动。所述第二驱动组件50的两滑座53的内侧面均设有卡齿，所述第二联动轮52的外圆周表面设有卡齿，所述第二驱动组件50的两滑座53同时啮合在第二联动轮52上，由第一驱动电机51驱动第二联动轮52转动，在第二联动轮52的作用下，带动两滑座53相互反向运动，从而带动夹持组30搓动导丝或导管正转或反转。
所述滑座53上靠外侧位置设有卡条54，组装时，所述卡条54穿设于锁扣槽321，从而使得第一驱动电机51可以通过两滑座53带动与之对应的夹持组30沿第二方向运动。并且，所述第一方向上的夹持位和非夹持位位于所述锁扣槽321内，所述第一驱动组件40带动两夹持组30夹紧或松开导丝导管时，第二驱动组件50伸入到夹持组30的夹持位或非夹持位，卡条54在第一方向上与锁扣槽321不同位置配合，以进行位置调整。具体地，所述第一驱动组件40驱动两夹持组30夹紧或松开导丝导管时，卡条54分别从锁扣槽321的非夹持位滑行到夹持位或者从锁扣槽321的夹持位滑行到非夹持位。
更优地，所述第二驱动组件50还包括两滑套55，所述两滑套55固定在两夹板21之间，每一滑座53上设有第二导杆56，每一滑套55内设有沿第二方向 延伸的导槽，所述两第二导杆56从两滑套55的导槽穿过，让两滑套55对两滑座53进行导向。
所述改进型介入手术机器人从端导丝导管搓动装置还包括第二行程检测装置63，所述第二行程检测装置63用于检测两夹持组30在第二方向的行程是否到达极限位置。本实施例中，所述第二行程检测装置63为光电传感器，并且光电传感器的数量为两个，所述两光电传感器装设于夹板21上，并且，所述两滑座53上还均凸设有挡条57，两滑座53上的挡条57分别对应两光电传感器，由于两夹持组30沿第二方向相互反向运动，因此，两光电传感器中只要其中一个检测到其对应的夹持组30移动到极限位置，那么，对应的滑座53上的挡条57移动到与之对应的光电传感器的出光口位置，***控制器根据光电传感器的光信息变化，判定两夹持组30到达极限位置，从而控制第二驱动组件50带动第二联动轮52反向驱动。
另外，所述改进型介入手术机器人从端导丝导管搓动装置还包括第二力检测模组80及第一力检测模组70，所述第一力检测模组70包括安装于所述两第一底架43之一的第一测力传感器和在第一方向连接驱动器41及第一测力传感器的连接板42，当所述两夹持组30处于松开导丝导管的状态时，所述连接板42使所述第一测力传感器产生一预定压力，当所述两夹持组30夹紧导丝导管时，所述第一底架43带动第一测力传感器位移而让预定压力发生变化，测得两夹持组30对导丝导管的夹持力。所述第一底架43上设有挡板431，所述挡板431背向驱动器41的侧面设有组装槽，所述第二测力传感器装设于组装槽内，并且第一测力传感器从组装槽内伸出，所述连接板42靠所述第一底架43的一侧设有一开口，所述开口套设于挡板431及第一测力传感器上。本实施例中，第一测力传感器是压力传感器。
当所述两夹持组30夹紧导丝导管时，所述两第一底架43带动第二测力传感器位移而让预定压力发生变化。***控制器记录该压力信息变化并反馈到医生操作的主端，增加医生的临场感。
所述改进型介入手术机器人从端导丝导管搓动装置还包括辅助模块90，所述辅助模块90用于配合第二力检测模组80进行力检测，其包括滑轨91及滑块 92，所述第二力检测模组80包括固定在内架20的底部的第一测力传感器82、弹性件83及固定座81，所述固定座81固定在用于支撑改进型介入手术机器人从端导丝导管搓动装置的支撑板上(图未示)，所述滑块82固定在内架20的底部，所述滑轨91安装在用于支撑改进型介入手术机器人从端导丝导管搓动装置的支撑板上(图未示)，其安装方向与细长型医疗器械100的递送方向一致，所述滑块92与滑轨91配合安装，当受到垂直于第一方向的第三方向(即细长型医疗器械100的递送方向)的递送阻力发生改变时，滑块92可以在滑轨91上沿垂直于第一方向的第三方向轻微滑动。所述弹性件83是沿导丝导管前进方向延伸的压簧，两端分别抵顶在第二测力传感器82及固定座81之间。所述第二测力传感器82、弹性件83均设置在固定座81的内部，并且第二测力传感器82与内架20的底部安装固定，所述第二测力传感器82及弹性件83在固定座81内部的设置方向与第三方向一致，所述弹性件83两端分别抵顶在第一测力传感器82及固定座81之间。导丝或导管沿第三方向递送过程中，导丝或导管所受到的递送阻力会带动两夹持组30、内架20沿滑轨91轻微移动，在移动过程中，第一测力传感器82的位置也相应发生改变，弹性件83改变对第一测力传感器82的挤压力，进而带来第一测力传感器82所检测到的压力变化，***控制器记录该压力信息变化并反馈到医生操作的主端。
所述机架10包括第一壳体11、所述第一壳体11整体呈中空结构设置，所述第一壳体11的顶面凸设有两延伸筒111，每一所述延伸筒上设有沿第二方向贯穿的穿孔112，并且第一壳体11的一侧位置还凸设有支撑脚113。
组装时，将搓动机构的第一驱动组件40、第二驱动组件50及内架20装设于第一壳体11内，所述两夹持组30的调位部32分别穿过第一壳体11上两延伸筒111的穿孔112并通过其调位槽与所述第一驱动组件40的对应第一导杆44配合安装，让整个夹持组30可以沿两第一导杆44在第二方向上往复滑动，并且，所述夹持组30与第二驱动组件50通过锁扣槽321、卡条54配合安装。由于夹持部31的卡槽35槽深大于延伸筒111的长度，第二驱动组件50带动两夹持组30沿对应第一导杆44滑动过程中，两夹持组30的夹持部31保持包裹在延伸筒111的外侧，保证内部空间与外界的隔离。
所述机架10、内架20及搓动机构为非耗材部分，本发明还包括耗材部分，所述耗材部分包括外罩33及缓冲件34，使用时，所述外罩33套设于夹持部31外侧，所述缓冲件34粘接于外罩33上，两夹持组30的缓冲件34呈相对设置，所述缓冲件34具有弹性，可以防止夹持组30对导管或导丝的夹持力过大，损坏导管或导丝，本实施例中，所述缓冲件34的材质为硅胶。
所述耗材部分还包括用于收容第一壳体11的第二壳体12及面盖13，所述第二壳体12包括收容部121及连接于收容部121上端的对接部122，所述收容部121呈中空设置，所述对接部122上端设有一开口123，开口123沿第三方向的边缘位置设有相对设置的两导槽124，所述导槽124呈V形设置，导槽124槽宽由边缘向内逐渐缩小。
使用时，所述第二壳体12沿第二方向套设于第一壳体11的外侧，第二壳体12、第一壳体11上设有磁铁和/铁块，第二壳体12、第一壳体11通过磁性吸合方式固定，以保证第一壳体11、第二壳体12配合时不易松动，并可以自由拆装，前后V形导槽124的槽底位置高度设于两滑座53运动路径的重合位置，通过设置导槽124，可以更方便地将安装导丝导管，并且导槽124可以对导丝导管进行支撑。
两夹持组30的夹持部31及套设于其上的外罩33和缓冲件34置于第二壳体12上的对接部122的开口123内，其中心位置正对所述两V形导槽124；将面盖13盖在对接部122上，所述面盖13可以从第二壳体12上自由拆装，面盖13上设有卡板131，所述卡板131配合导槽124对导丝或导管进行限位，并且为了配合的效果更佳，所述卡板131的底部设有避让槽132。
由于组装后的改进型介入手术机器人从端导丝导管搓动装置在使用过程中，只有耗材部分裸露在外侧，每次使用后中，只需对耗材部分直接进行更换，无需更换整个从端导丝导管搓动装置，降低手术成本。
综上所述，本发明改进型介入手术机器人从端导丝导管搓动装置通过设置搓动机构，所述搓动机构包括相对设置的两夹持组30、第一驱动组件40、第二驱动组件50，其中，第一驱动组件40驱动两夹持组30沿第一方向相互靠近以夹持导丝导管，第二驱动组件驱动两夹持组30沿不同于第一方向的第二方向相 互反向运动以搓动导丝导管转动，传动效果好，结构相对简单，实现了与外界的隔离，有效缩减产品的使用成本，减轻患者的经济负担，而且结构紧凑，占用空间较小，实用性强，具有较强的推广意义。
需要说明的是，本发明中的第一方向和第二方向是双向的。比如，第一方向为水平方向时，其既包括向左的方向，也包括向右运动的方向；第二方向为竖直方向时，其既包括向上的方向，也包括向下的方向。
另外，所述夹持位和非夹持位都是可变的。比如，两夹持组之间夹持的导丝导管的直径不同，夹持位会改变，而且随时夹持力的大小不同，夹持位也会有微小的变化。
以上所述实施例仅表达了发明的一种实施方式，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，这些都属于发明的保护范围。因此，发明专利的保护范围应以所附权利要求为准。

Claims (20)

  1. 一种改进型介入手术机器人从端导丝导管搓动装置，其装设于介入手术机器人从端上，用于实现导丝导管的夹持、转动，其特征在于，包括相对设置的两夹持组、第一驱动组件及第二驱动组件，第一驱动组件驱动两夹持组沿第一方向靠近或远离，使两夹持组相对于第二驱动组件在第一方向上的夹持位和非夹持位之间交替变化，当所述两夹持组位于第一方向上的夹持位时，两夹持组夹持导丝导管，所述第二驱动组件驱动夹紧导丝导管的两夹持组沿不同于第一方向的第二方向相互反向运动，搓动导丝导管转动。
  2. 如权利要求1所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述夹持组及第二驱动组件中，其中一个设有锁扣槽，另一个设有卡条，所述第一方向上的夹持位和非夹持位位于所述锁扣槽内，所述第一驱动组件带动两夹持组夹紧或松开导丝导管时，卡条分别从锁扣槽的非夹持位滑行到夹持位或者从锁扣槽的夹持位滑行到非夹持位。
  3. 如权利要求2所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述锁扣槽沿第一方向延伸。
  4. 如权利要求2所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述卡条穿设于锁扣槽内。
  5. 如权利要求2所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述夹持组包括调位部及连接于调位部上的夹持部，所述锁扣槽设于调位部靠近另一夹持组的一侧。
  6. 如权利要求5所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述夹持部和所述调位部呈T形分布。
  7. 如权利要求5所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述夹持部设有向内延伸的卡槽，所述调位部可拆卸地装设于所述卡槽内。
  8. 如权利要求5所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述调位部远离所述夹持部的一侧设有向内延伸的若干调位槽，所述调位部通过所述调位槽与所述第一驱动组件配合安装。
  9. 如权利要求1所述的改进型介入手术机器人从端导丝导管搓动装置，其 特征在于：所述第二驱动组件包括两滑座、让所述两滑座同步沿第二方向相互反向运动的驱动电机，所述卡条设于滑座上靠外侧位置。
  10. 如权利要求9所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述第二驱动组件还包括置于所述两滑座之间的第二联动轮，驱动电机连接第二联动轮，所述两滑座的内侧面均设有卡齿，所述第二联动轮的外圆周表面设有卡齿，所述第二驱动组件的两滑座同时啮合在第二联动轮上。
  11. 如权利要求10所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述滑座设有第二导杆，第二驱动组件还包括滑套，所述滑套内设有沿第二方向延伸的导槽，所述第二导杆从滑套的导槽穿过，滑套对滑座进行导向。
  12. 如权利要求1所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述第一驱动组件包括两第一底架、驱动两第一底架沿第一方向运动的驱动器及装设于第一底架上的第一导杆，所述第一导杆穿插于夹持组上。
  13. 如权利要求12所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述第一驱动组件于第一导杆上还设有第一导向装置，所述第一导向装置用于所述夹持组在所述第一方向上的导向。
  14. 如权利要求13所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述第一导向装置为轴承，所述轴承套设于与之配合安装的导杆外侧。
  15. 如权利要求13所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述改进型介入手术机器人从端导丝导管搓动装置还包括内架，所述内架上设有相对设置的两夹板，所述第一导向装置夹设于内架的两夹板之间。
  16. 如权利要求12所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述第一驱动组件还包括同时连接于两第一底架上的第一联动轮，两所述第一底架呈相对设置，所述第一联动轮置于两所述第一底架之间，两所述第一底架的内侧均设有卡齿，所述第一联动轮的外表面设有卡齿，所述第一联动轮通过卡齿同时啮合在两所述夹持组的第一底架上。
  17. 如权利要求12所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述内架还设有两组轴承，所述第一驱动组件的两第一底架分别装设于两组轴承上，并且，每一所述第一底架在对应组的轴承上沿第一方向滑动。
  18. 如权利要求1所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述第一方向和所述第二方向相互垂直。
  19. 如权利要求1所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：所述夹持部外侧还套设有外罩。
  20. 如权利要求19所述的改进型介入手术机器人从端导丝导管搓动装置，其特征在于：任一所述夹持部的所述外罩上朝向另一夹持部的一侧设置有缓冲件。
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