A translational wire feeding mechanism for a vascular intervention robot

Abstract

The present invention proposes a translational wire feeding mechanism of a vascular intervention robot, including a wire pressing and conveying mechanism and a guide wheel mechanism used in conjunction with the same. The wire pressing and conveying mechanism can move in the left and right directions under the action of a first driving mechanism. When the guide wheel mechanism and / or the wire pressing and conveying mechanism are acted upon by an extrusion mechanism, the guide wheel mechanism and the wire pressing and conveying mechanism can move so that the guide wheel mechanism and the wire pressing and conveying mechanism cooperate to clamp the guide wire. When the wire pressing and conveying mechanism moves to the right / left, the guide wheel mechanism and the wire pressing and conveying mechanism continue to clamp the guide wire. Translational wire feeding can be achieved by cooperating between the wire pressing and conveying mechanism and a rotatable guide wheel in the guide wheel mechanism. When the wire pressing and conveying mechanism moves to the left / right, the guide wheel mechanism and / or the wire pressing and conveying mechanism are no longer acted upon by the extrusion mechanism. The guide wheel mechanism and / or the wire pressing and conveying mechanism that have been squeezed can be reset by a reset mechanism. The above-mentioned translational wire feeding mechanism can realize the function of translational wire feeding. Since the contact area of ​​the pressure plate is large, there is no phenomenon of the guide wire coming out during the wire feeding process.

Description

Technical Field

[0001] The invention relates to the technical field of wire feeding mechanisms, and in particular to a translational wire feeding mechanism of a vascular intervention robot. Background Art

[0002] Vascular interventional surgery is a method in which doctors, under the guidance of DSA equipment, move guidewires and balloon stents through catheters along blood vessels to accurately reach the lesion for treatment. Traditional vascular interventional surgery is a procedure in which doctors observe the patient's blood vessels through DSA equipment, accurately manipulate the guidewire to move from the puncture site along the human blood vessels to the lesion, and deliver drugs or stents to the site through the guidewire and catheter to achieve minimally invasive treatment.

[0003] In traditional vascular interventional surgery, doctors need to be exposed to radiation for a long time to obtain the patient's vascular imaging information in time. In order to smoothly perform intravascular interventional surgery, the operating doctor needs to wear heavy lead-containing protective clothing to prevent the impact of radiation. At the same time, vascular interventional surgery requires rich clinical experience and superb surgical operation skills. In addition, long-term continuous surgery also poses a great challenge to the doctor's physical strength, which can easily cause fatigue and affect the quality of the surgery.

[0004] The use of intravascular interventional robots can replace doctors in performing intravascular interventional surgeries next to the operating bed, protecting doctors from harm from X-rays. At the same time, it can reduce the learning curve of interventional surgery, improve the situation where traditional interventional surgery is extremely dependent on the doctor's personal experience, and provide more precise operations for vascular interventional surgery.

[0005] When using robots to assist in vascular interventional surgery, using robots to deliver guidewires is one of the most core functions. The operation of guidewires is one of the core contents of vascular interventional surgery and determines the quality of the surgery. At present, the main form of the translational wire feeding mechanism is that the motor drives the active guide wheel to rotate, the driven guide wheel clamps the guide wire, and the main and driven guide wheels roll to achieve the translational movement of the guide wire. During the rolling process of the guide wheel, it is easy to slip and the guide wire slips out of the guide wheel, causing the wire feeding to stagnate. Summary of the invention

[0006] In order to solve the problems existing in the prior art, the present application proposes a translational wire feeding mechanism for a vascular interventional robot, which utilizes the cooperation of a pressure plate and a guide wheel group to achieve the function of translational wire feeding. Because the contact area of ​​the pressure plate is large, there is no phenomenon of the guide wire coming out during the wire feeding process.

[0007] In order to achieve the above-mentioned purpose, the present application proposes a translational wire feeding mechanism of a vascular interventional robot, including a wire pressing and conveying mechanism and a guide wheel mechanism used in conjunction with the wire pressing and conveying mechanism. The wire pressing and conveying mechanism can move in the left and right directions under the action of a first driving mechanism. When the guide wheel mechanism and / or the wire pressing and conveying mechanism are acted upon by a squeezing mechanism, they can move so that the guide wheel mechanism and the wire pressing and conveying mechanism cooperate to clamp the guide wire. When the wire pressing and conveying mechanism moves to the right / left, the guide wheel mechanism and the wire pressing and conveying mechanism continue to clamp the guide wire. By cooperating with the wire pressing and conveying mechanism and the rotatable guide wheel in the guide wheel mechanism, translational wire feeding can be achieved. When the wire pressing and conveying mechanism moves to the left / right, the guide wheel mechanism and / or the wire pressing and conveying mechanism are no longer acted upon by the squeezing mechanism. The guide wheel mechanism and / or the wire pressing and conveying mechanism that have been squeezed can be reset through a reset mechanism.

[0008] In some embodiments, when the extrusion mechanism acts on the guide wheel mechanism: the wire pressing and conveying mechanism includes a pressure plate, the pressure plate is connected to a slider, the slider cooperates with a slide rail arranged on a substrate, and the slider is acted upon by a first driving mechanism and can slide along the slide rail.

[0009] In some embodiments, a fine-tuning structure is also provided in the wire pressing and conveying mechanism, and the fine-tuning structure includes a connecting piece, the pressure plate is slidably connected to the connecting piece, the connecting piece includes an upper shell and a lower shell connected to each other, the lower shell is fixed on the sliding block, and an accommodating cavity is formed inside the upper shell and the lower shell, and a guide groove is provided on the inner wall of the bottom plate of the lower shell, the pressure plate is fixedly connected to the connecting frame, and a sliding shaft is provided on the connecting frame inside the lower shell, and the diameter of the sliding shaft is smaller than the width of the guide groove, so that the sliding shaft can slide relative to the guide groove and can also rotate, and a first spring is respectively provided on both sides of the guide groove, one end of the first spring is provided at the inner wall of the lower shell, and the other end is provided at the connecting frame, and the first spring can make the pressure plate tend to approach the guide wheel mechanism all the time.

[0010] In some embodiments, the first driving mechanism includes a connecting rod hinged to the slider or the lower shell of the connecting member, the other end of the connecting rod is hinged to one end of the crank, and the other end of the crank is fixedly connected to the first rotating shaft, the first rotating shaft is rotatably mounted on an upper support plate arranged on the upper surface of the substrate, the first rotating shaft can rotate under the action of a first pulley, the first pulley is connected to the second pulley via a first belt, the second pulley is connected to the second rotating shaft, the second rotating shaft is rotatably mounted on a lower bracket arranged on the lower surface of the substrate, a first bevel gear is provided on the second rotating shaft, the second bevel gear is meshed with the first bevel gear, the second bevel gear can rotate under the drive of the input shaft, and the input shaft can rotate under the action of the motor.

[0011] In some embodiments, the extrusion mechanism adopts a first cam, and the first cam can intermittently squeeze the guide wheel mechanism under the action of the second driving mechanism, so that the guide wheel mechanism moves forward toward the pressure plate, and the guide wheel mechanism includes a mounting frame, and a plurality of guide wheels are rotatably mounted on the mounting frame, and all guide wheels are arranged in sequence along the conveying direction of the guide wire, and two sliding bars are provided on the mounting frame, and the two sliding bars are respectively slidably connected to the vertical plates arranged on the substrate, and the second driving mechanism includes a camshaft connected to the first cam, and the camshaft is rotatably connected to the substrate, and the camshaft is also connected to the third bevel gear, and the third bevel gear is meshed with the fourth bevel gear, and the fourth bevel gear is arranged on the second rotating shaft.

[0012] In some embodiments, the reset mechanism includes a second spring sleeved on the slide rod, and the second spring is arranged between the vertical plate and the end of the slide rod.

[0013] In some embodiments, when the extrusion mechanism acts on the wire pressing and conveying mechanism: the guide wheel mechanism includes a mounting frame, on which a plurality of guide wheels are rotatably mounted, and all guide wheels are arranged in sequence along the conveying direction of the guide wire, and the mounting frame is assembled on a base plate, and the wire pressing and conveying mechanism includes a pressure plate, and the pressure plate is connected to a slide plate, and the lower surface of the slide plate is connected to a slider, and the slider cooperates with a slide rail arranged on the base plate, and the slide plate is acted upon by a first driving mechanism, so that the slider can slide along the slide rail.

[0014] In some embodiments, a fine-tuning structure is also provided in the wire pressing and conveying mechanism, and the fine-tuning structure includes a connecting piece, and the pressure plate is slidably connected to the connecting piece, and the connecting piece includes an upper shell and a lower shell connected to each other, and the lower shell is fixed on the slide plate, and an accommodating cavity is formed inside the upper shell and the lower shell, and a guide groove is provided on the inner wall of the bottom plate of the lower shell, and the pressure plate is fixedly connected to the connecting frame, and a sliding shaft is provided on the connecting frame inside the lower shell, and the diameter of the sliding shaft is smaller than the width of the guide groove, so that the sliding shaft can slide relative to the guide groove and can also rotate, and a first spring is respectively provided on both sides of the guide groove, one end of the first spring is provided at the inner wall of the lower shell, and the other end is provided at the connecting frame, and the first spring can make the pressure plate tend to approach the guide wheel mechanism all the time.

[0015] In some embodiments, the first driving mechanism includes a connecting rod hinged to the slide plate, the other end of the connecting rod is hinged to one end of the crank, the other end of the crank is fixedly connected to a first rotating shaft, the first rotating shaft is rotatably mounted on an upper support plate provided on the upper surface of the base plate, the first rotating shaft is connected to an input shaft, and when the input shaft rotates, the slider can eventually slide along the slide rail.

[0016] In some embodiments, the squeezing mechanism adopts a first cam, and the first cam can intermittently squeeze the connecting member under the action of the second driving mechanism, so that the pressure plate moves backward toward the guide wheel mechanism, and the left and right sides of the lower shell are connected to two sliding bars via a mounting block, and the two sliding bars are disposed on both sides of the first cam, and the two sliding bars are respectively slidably connected to a support plate arranged on the slide, and the second driving mechanism adopts the following structure: it includes a camshaft connected to the first cam, and the camshaft is rotatably connected to the slide, and the camshaft is also connected to a third bevel gear, and the third bevel gear is meshed with a fourth bevel gear, and the fourth bevel gear is rotatably mounted on a connecting plate arranged on the lower surface of the slide, and the The fourth bevel gear can rotate under the action of the ball spline shaft, and when the slide plate slides, the connecting plate together with the fourth bevel gear can slide along the ball spline shaft, and both ends of the ball spline shaft are rotatably connected with the support plate arranged on the base plate, one end of the ball spline shaft is provided with a fifth bevel gear, and the fifth bevel gear is meshed with the sixth bevel gear arranged on the third rotating shaft, and the third rotating shaft is rotatably connected with the mounting plate and the upper support plate arranged on the base plate respectively, and the other end of the third rotating shaft is provided with a fifth pulley, and the fifth pulley is connected to the sixth pulley via the third belt, and the sixth pulley is arranged on the first rotating shaft, and when the input shaft rotates, it can drive the sixth pulley to rotate, thereby finally rotating the first cam.

[0017] In some embodiments, the reset mechanism includes a second spring sleeved on the slide bar, and the second spring is arranged between the support plate and the end of the slide bar.

[0018] The present application also proposes a translational wire feeding mechanism for a vascular intervention robot, comprising two groups of the above-mentioned translational wire feeding mechanisms, wherein the phase difference between the two groups of translational wire feeding mechanisms is 180°, so as to realize continuous transmission of the guide wire.

[0019] In some embodiments, two groups of translational wire feeding mechanisms share an input shaft, and the two groups of translational wire feeding mechanisms are linked via a transmission mechanism. When the input shaft rotates, both groups of translational wire feeding mechanisms will move.

[0020] In some embodiments, a second cam is provided on the sliding shaft above the connecting frame, and the sliding shaft extends out of the upper shell through a through hole provided on the upper shell, and the size of the through hole is larger than the diameter of the sliding shaft. A handle is provided at the top end of the sliding shaft, and the upper surface of the connecting frame is also provided with a first limit block and a second limit block for limiting the rotation range of the second cam.

[0021] The beneficial effect of the scheme of the present application is that the translational wire feeding mechanism of the above-mentioned vascular intervention robot utilizes the cooperation of the pressure plate and the guide wheel group to realize the function of translational wire feeding. Because the contact area of ​​the pressure plate is large, there is no phenomenon of the guide wire coming out during the wire feeding process. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the first embodiment is shown.

[0023] Figure 2 Shows Figure 1 Another angle view of.

[0024] Figure 3 A schematic structural diagram of a lower shell of a connecting member connected to a pressing plate is shown.

[0025] Figure 4 A schematic structural diagram showing the movable connection between the pressing plate and the lower shell is shown.

[0026] Figure 5 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the second embodiment is shown.

[0027] Figure 6 A schematic structural diagram of adjusting the movement of the pressure plate relative to the lower shell is shown.

[0028] Figure 7 Shows Figure 6 Schematic top view of the local structure.

[0029] Figure 8 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the third embodiment is shown.

[0030] Fig. 9 Shows Figure 8 Another angle view of.

[0031] Fig.10 A schematic structural diagram of the translational wire feeding mechanism of the vascular intervention robot in the fourth embodiment is shown.

[0032] Figure numerals: 10-guide wheel mechanism, 101-mounting frame, 102-guide wheel, 20-wire pressing and conveying mechanism, 201-pressing plate, 202-connecting piece, 203-slider, 204-slide rail, 205-slide plate, 206-connecting plate, 207-support plate, 2021-upper shell, 2022-lower shell, 2023-connecting frame, 2024-sliding shaft, 2025-accommodating chamber, 2026-guide groove, 2027-first spring, 2028-second cam, 2029-handle, 20210-first limit block, 20211-second limit block, 30-base, 301-base plate, 302-upper support plate, 303-lower bracket, 304-vertical plate, 40-first driving mechanism, 401-connecting rod, 402- Crank, 403-first rotating shaft, 404-first pulley, 405-first belt, 406-second pulley, 407-second rotating shaft, 408-first bevel gear, 409-second bevel gear, 4010-input shaft, 50-first cam, 60-second driving mechanism, 601-camshaft, 602-third bevel gear, 603-fourth bevel gear, 604-ball spline shaft, 605-support plate, 606-fifth bevel gear, 607-sixth bevel gear, 608-third rotating shaft, 609-fifth pulley, 6010-third belt, 6011-sixth pulley, 70-slide rod, 80-second spring, 90-transmission mechanism, 901-third pulley, 902-second belt, 903-fourth pulley, A-guide wire. DETAILED DESCRIPTION

[0033] The specific implementation of the present application is further described below in conjunction with the accompanying drawings.

[0034] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the referred device or element must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0035] like Figure 1As shown, the translational wire feeding mechanism of the vascular intervention robot involved in the present application includes a wire pressing and conveying mechanism 20 and a guide wheel mechanism 10 used in conjunction with the wire pressing and conveying mechanism 20. The wire pressing and conveying mechanism 20 can move in the left and right directions under the action of the first driving mechanism 40. When the guide wheel mechanism 10 and / or the wire pressing and conveying mechanism 20 are acted upon by the squeezing mechanism, they can move so that the guide wheel mechanism 10 and the wire pressing and conveying mechanism 20 cooperate to clamp the guide wire A. When the wire pressing and conveying mechanism 20 moves to the right / left, the guide wheel mechanism 10 and the wire pressing and conveying mechanism 20 continue to clamp the guide wire A. By cooperating with the rotatable guide wheel 102 in the guide wheel mechanism 10, translational wire feeding can be achieved. When the wire pressing and conveying mechanism 20 moves to the left / right, the guide wheel mechanism 10 and / or the wire pressing and conveying mechanism 20 are no longer acted upon by the squeezing mechanism. The guide wheel mechanism 10 and / or the wire pressing and conveying mechanism 20 that have been squeezed can be reset through the reset mechanism.

[0036] In some embodiments, the guide wheel mechanism 10 includes a mounting frame 101, which is used to be assembled at a preset position. A plurality of guide wheels 102 are rotatably mounted on the mounting frame 101, and all guide wheels 102 are arranged in sequence along the conveying direction of the guide wire A.

[0037] The extrusion mechanism of Example 1 acts on the guide wheel mechanism 10, and the guide wire A is intermittently transmitted:

[0038] like Figures 1 to 4 As shown, in this embodiment, the wire pressing and conveying mechanism 20 includes a pressing plate 201, and the pressing plate 201 is connected to a slider 203. The slider 203 cooperates with a slide rail 204 arranged on the base 30. The slider 203 is acted upon by the first driving mechanism 40 and can slide along the slide rail 204.

[0039] Since it is impossible to achieve absolutely straight wire feeding, a fine-tuning structure is also provided in the wire pressing and conveying mechanism 20 involved in the present application, so as to be able to fine-tune the pressing plate 201, so that when the pressing plate 201 is moving in an approximately straight line segment to feed the wire, the fine-tuning structure can compensate for the error, so that the pressing plate 201 and the guide wire A are always in a pressed state. Specifically, the fine-tuning structure includes a connecting member 202, the pressing plate 201 is slidably connected to the connecting member 202, the connecting member 202 includes an upper shell 2021 and a lower shell 2022 connected to each other, the lower shell 2022 is fixed on the slider 203, and a accommodating cavity 2025 is formed inside the upper shell 2021 and the lower shell 2022, a guide groove 2026 is provided on the inner wall of the bottom plate of the lower shell 2022, the pressing plate 201 is fixedly connected to the connecting frame 2023, and a sliding shaft 2024 is provided on the connecting frame 2023 inside the lower shell 2022, and the sliding shaft 2024 is provided on the connecting frame 2023. The diameter of 024 is smaller than the width of the guide groove 2026, so that the sliding shaft 2024 can slide relative to the guide groove 2026 and also rotate. A first spring 2027 is respectively provided on both sides of the guide groove 2026, and one end of the first spring 2027 is arranged on the inner wall of the lower shell 2022, and the other end is arranged on the connecting frame 2023. Through the first spring 2027, the pressure plate 201 can always have a tendency to approach the guide wheel mechanism 10, and the position of the pressure plate 201 can be fine-tuned through the above-mentioned fine-tuning structure to meet the use requirements.

[0040] There are many implementation structures of the first driving mechanism 40, for example: the first driving mechanism 40 includes a connecting rod 401 hinged to the slider 203 or the lower shell 2022 of the connecting member 202, the other end of the connecting rod 401 is hinged to one end of the crank 402, the other end of the crank 402 is fixedly connected to the first rotating shaft 403, the first rotating shaft 403 is rotatably installed on the base 30, specifically, the base 30 includes a base plate 301, an upper support plate 302 is provided on the upper surface of the base plate 301, the first rotating shaft 403 is rotatably installed on the upper support plate 302, and the slide rail 204 is arranged on the base plate 301. The first rotating shaft 403 can rotate under the action of the first pulley 404, the first pulley 404 is connected to the second pulley 406 via the first belt 405, the second pulley 406 is connected to the second rotating shaft 407, the second rotating shaft 407 is rotatably mounted on the base 30, specifically, it is rotatably mounted on the lower bracket 303 arranged on the lower surface of the base plate 301, the second rotating shaft 407 is provided with a first bevel gear 408, the second bevel gear 409 is meshed with the first bevel gear 408, the second bevel gear 409 can rotate under the drive of the input shaft 4010, specifically, the input shaft 4010 is rotatably mounted on the lower bracket 303, and the input shaft 4010 can rotate under the action of the motor. When the input shaft 4010 rotates, the slider 203 can eventually slide along the slide rail 204.

[0041] When the extrusion mechanism acts on the guide wheel mechanism 10, the extrusion mechanism can adopt a first cam 50. The first cam 50 can intermittently squeeze the guide wheel mechanism 10 under the action of the second driving mechanism 60, so that the guide wheel mechanism 10 moves forward toward the pressure plate 201. Two sliding bars 70 are provided on the mounting frame 101 of the guide wheel mechanism 10. The two sliding bars 70 are arranged on both sides of the first cam 50. The two sliding bars 70 are respectively slidably connected to the vertical plate 304 arranged on the base plate 301, so that when the first cam 50 intermittently squeezes the guide wheel mechanism 10, the guide wheel mechanism 10 can move forward. Specifically, the second driving mechanism 60 can adopt the following structure: it includes a camshaft 601 connected to the first cam 50, the camshaft 601 is rotatably connected to the substrate 301, the camshaft 601 is also connected to the third bevel gear 602, the third bevel gear 602 is meshed with the fourth bevel gear 603, and the fourth bevel gear 603 is arranged on the second rotating shaft 407, so when the input shaft 4010 rotates, the first cam 50 can rotate to achieve intermittent extrusion of the guide wheel mechanism 10.

[0042] The reset mechanism includes a second spring 80 sleeved on the slide bar 70, and the second spring 80 is arranged between the vertical plate 304 and the end of the slide bar 70. When the first cam 50 rotates and squeezes the guide wheel mechanism 10, the slide bar 70 moves under the drive of the guide wheel mechanism 10, causing the second spring 80 to deform. When the first cam 50 rotates again and stops squeezing the guide wheel mechanism 10, the guide wheel mechanism 10 is reset under the action of the second spring 80.

[0043] During specific use, the second rotating shaft 407 is driven to rotate, so that the first bevel gear 408 and the fourth bevel gear 603 are rotated, and then the first rotating shaft 403 and the camshaft 601 are rotated. When the first rotating shaft 403 rotates, the crank 402 drives the connecting rod 401 and then drives the slider 203 to move rightward along the slide rail 204. At the same time, the rotation of the camshaft 601 drives the first cam 50 to rotate, and then squeezes the guide wheel mechanism 10, so that the guide wheel mechanism 10 moves forward and cooperates with the wire pressing and conveying mechanism 20 to clamp the guide wire A, so as to realize the rightward transmission of the guide wire A; with the continuous rotation of the second rotating shaft 407, the slider 203 will move to the left along the slide rail 204. At the same time, the first cam 50 rotates to not squeeze the guide wheel mechanism 10, and the guide wheel mechanism 10 is reset by the reset mechanism; repeat the above process, and finally realize the intermittent transmission of the guide wire A.

[0044] The extrusion mechanism of Example 2 acts on the guide wheel mechanism 10, and the guide wire A is continuously transmitted:

[0045] like Figures 5 to 7 As shown, in this embodiment, two groups of translational wire feeding mechanisms in Embodiment 1 are included, and the phase difference between the two groups of translational wire feeding mechanisms is 180°. Specifically, the two groups of translational wire feeding mechanisms can use a large base plate 301, a long slide rail 204 and an input shaft 4010. When one input shaft 4010 is used, the two groups of translational wire feeding mechanisms are linked through a transmission mechanism 90. The transmission mechanism 90 includes a third pulley 901 and a fourth pulley 903 respectively arranged on two second rotating shafts 407. The third pulley 901 and the fourth pulley 903 are connected by a second belt 902. Therefore, when the input shaft 4010 rotates, the two second rotating shafts 407 will rotate, thereby realizing the continuous transmission of the guide wire A.

[0046] Since the phase difference between the two sets of translational wire feeding mechanisms is 180°, during the wire feeding process, there will always be a set of guide wheel mechanisms 10 and wire pressing and conveying mechanisms 20 cooperating to clamp the guide wire A. In order to facilitate the insertion of the guide wire A, the present application designs the following structure: Figures 6-7As shown, a second cam 2028 is provided on the sliding shaft 2024 located above the connecting frame 2023, and the sliding shaft 2024 extends out of the upper shell 2021 through a through hole provided on the upper shell 2021, and the size of the through hole is larger than the diameter of the sliding shaft 2024. A handle 2029 is provided at the top of the sliding shaft 2024, and the upper surface of the connecting frame 2023 is also respectively provided with a first limit block 20210 and a second limit block 20211 for limiting the rotation range of the second cam 2028. When it is necessary to insert the guide wire A, the handle 2029 is rotated clockwise. During the rotation, the sliding shaft 2024 will move along the guide groove 2026 to make the pressure plate 201 move away from the guide wheel mechanism 10. At this time, the second cam 2028 is limited by the second limit block 20211; after the guide wire A is inserted, under the action of the first spring 2027, the handle 2029 can also be rotated counterclockwise to achieve the resetting of the pressure plate 201. At this time, the second cam 2028 is limited by the first limit block 20210.

[0047] The extrusion mechanism described in Example 3 acts on the wire pressing and conveying mechanism 20, and the guide wire A is intermittently conveyed:

[0048] like Figures 8-9 As shown, in this embodiment, the mounting frame 101 of the guide wheel mechanism 10 is assembled on the base plate 301, and the wire pressing and conveying mechanism 20 includes a pressing plate 201, and the pressing plate 201 is connected to a slide plate 205, and the lower surface of the slide plate 205 is connected to a slider 203, and the slider 203 cooperates with a slide rail 204 arranged on the base plate 301. The slide plate 205 is acted upon by the first driving mechanism 40, so that the slider 203 can slide along the slide rail 204.

[0049] Since it is impossible to achieve absolutely straight wire feeding, a fine-tuning structure is also provided in the wire pressing and conveying mechanism 20 involved in the present application, so as to be able to fine-tune the pressing plate 201, so that when the pressing plate 201 is moving in an approximately straight line segment to feed the wire, the fine-tuning structure can compensate for the error, so that the pressing plate 201 and the guide wire A are always in a pressed state. Specifically, the fine-tuning structure includes a connecting member 202, the pressing plate 201 is slidably connected to the connecting member 202, the connecting member 202 includes an upper shell 2021 and a lower shell 2022 connected to each other, the lower shell 2022 is fixed on the slide plate 205, and a accommodating cavity 2025 is formed inside the upper shell 2021 and the lower shell 2022, a guide groove 2026 is provided on the inner wall of the bottom plate of the lower shell 2022, the pressing plate 201 is fixedly connected to the connecting frame 2023, and a sliding shaft 2024 is provided on the connecting frame 2023 inside the lower shell 2022, and the sliding shaft 2024 is provided on the connecting frame 2023. The diameter of 024 is smaller than the width of the guide groove 2026, so that the sliding shaft 2024 can slide relative to the guide groove 2026 and also rotate. A first spring 2027 is respectively provided on both sides of the guide groove 2026, and one end of the first spring 2027 is arranged on the inner wall of the lower shell 2022, and the other end is arranged on the connecting frame 2023. Through the first spring 2027, the pressure plate 201 can always have a tendency to approach the guide wheel mechanism 10, and the position of the pressure plate 201 can be fine-tuned through the above-mentioned fine-tuning structure to meet the use requirements.

[0050] There are many implementation structures of the first driving mechanism 40, for example: the first driving mechanism 40 includes a connecting rod 401 hinged to the slide plate 205, the other end of the connecting rod 401 is hinged to one end of the crank 402, the other end of the crank 402 is fixedly connected to the first rotating shaft, the first rotating shaft is rotatably mounted on the upper support plate 302 provided on the upper surface of the base plate 301, the first rotating shaft is connected to the input shaft 4010, and when the input shaft 4010 rotates, the slider 203 can eventually slide along the slide rail 204.

[0051] When the extrusion mechanism acts on the wire pressing and conveying mechanism 20, the extrusion mechanism can adopt a first cam 50. The first cam 50 can intermittently squeeze the connecting member 202 under the action of the second driving mechanism 60, so that the pressing plate 201 moves backward toward the guide wheel mechanism 10. The left and right sides of the lower shell 2022 are connected to two sliding rods 70 through the mounting block. The two sliding rods 70 are arranged on both sides of the first cam 50. The two sliding rods 70 are respectively slidably connected to the support plate 207 arranged on the slide plate 205, so that when the first cam 50 intermittently squeezes the connecting member 202, the pressing plate 201 can move backward. Specifically, the second driving mechanism 60 can adopt the following structure: it includes a camshaft 601 connected to the first cam 50, the camshaft 601 is rotatably connected to the slide plate 205, the camshaft 601 is also connected to the third bevel gear 602, the third bevel gear 602 is meshed with the fourth bevel gear 603, the fourth bevel gear 603 is rotatably mounted on the connecting plate 206 arranged on the lower surface of the slide plate 205, the fourth bevel gear 603 can rotate under the action of the ball spline shaft 604, and when the slide plate 205 slides, the connecting plate 206 together with the fourth bevel gear 603 can slide along the ball spline shaft 604, and both ends of the ball spline shaft 604 are connected to the support plates arranged on the base plate 301 605 is rotationally connected, one end of the ball spline shaft 604 is provided with a fifth bevel gear 606, the fifth bevel gear 606 is meshed with a sixth bevel gear 607 arranged on the third rotating shaft 608, the third rotating shaft 608 is rotationally connected with the mounting plate and the upper support plate 302 arranged on the base plate 301 respectively, the other end of the third rotating shaft 608 is provided with a fifth pulley 609, the fifth pulley 609 is connected to the sixth pulley 6011 via a third belt 6010, the sixth pulley 6011 is arranged on the first rotating shaft, when the input shaft 4010 rotates, it can drive the sixth pulley 6011 to rotate, and finally the first cam 50 rotates, so as to realize intermittent extrusion of the wire pressing conveying mechanism 20.

[0052] The reset mechanism includes a second spring 80 sleeved on the slide bar 70, and the second spring 80 is arranged between the support plate 207 and the end of the slide bar 70. When the first cam 50 rotates to squeeze the connecting member 202, the slide bar 70 moves under the drive of the connecting member 202, causing the second spring 80 to deform. When the first cam 50 rotates again to stop squeezing the connecting member 202, the pressure plate 201 is reset under the action of the second spring 80.

[0053] During specific use, the first rotating shaft is driven to rotate, so that the sixth pulley 6011 and the crank 402 both rotate. When the crank 402 rotates, the crank 402 drives the connecting rod 401 and then drives the slide plate 205 and the slider 203 to move rightward along the slide rail 204. At the same time, when the sixth pulley 6011 rotates, it will drive the camshaft 601 to rotate. The rotation of the camshaft 601 drives the first cam 50 to rotate, and then squeezes the connecting member 202, so that the pressure plate 201 moves backward and cooperates with the guide wheel mechanism 10 to clamp the guide wire A, thereby realizing the transmission of the guide wire A; with the continuous rotation of the first rotating shaft, the slider 203 will move leftward along the slide rail 204. At the same time, the first cam 50 rotates to not squeeze the wire pressing and conveying mechanism 20, and the pressure plate 201 is reset by the reset mechanism; repeat the above process, and finally realize the intermittent transmission of the guide wire A.

[0054] The extrusion mechanism described in Example 4 acts on the wire pressing and conveying mechanism 20, and the guide wire A is continuously conveyed:

[0055] like Fig.10 As shown, in this embodiment, two groups of translational wire feeding mechanisms in Embodiment 3 are included, and the phase difference between the two groups of translational wire feeding mechanisms is 180°. Specifically, the two groups of translational wire feeding mechanisms can use a large base plate 301, a long slide rail 204 and an input shaft 4010. When one input shaft 4010 is used, the two groups of translational wire feeding mechanisms are linked through a transmission mechanism 90. The transmission mechanism 90 includes a third pulley 901 and a fourth pulley 903 respectively arranged on two first rotating shafts. The third pulley 901 and the fourth pulley 903 are connected by a second belt 902. Therefore, when the input shaft 4010 rotates, the two first rotating shafts will rotate, thereby realizing the continuous transmission of the guide wire A.

[0056] Since the phase difference between the two sets of translational wire feeding mechanisms is 180°, during the wire feeding process, there will always be a set of guide wheel mechanisms 10 and wire pressing and conveying mechanisms 20 cooperating to clamp the guide wire A. In order to facilitate the insertion of the guide wire A, the present application designs the following structure: Figures 6-7As shown, a second cam 2028 is provided on the sliding shaft 2024 located above the connecting frame 2023, and the sliding shaft 2024 extends out of the upper shell 2021 through a through hole provided on the upper shell 2021, and the size of the through hole is larger than the diameter of the sliding shaft 2024. A handle 2029 is provided at the top of the sliding shaft 2024, and the upper surface of the connecting frame 2023 is also respectively provided with a first limit block 20210 and a second limit block 20211 for limiting the rotation range of the second cam 2028. When it is necessary to insert the guide wire A, the handle 2029 is rotated clockwise. During the rotation, the sliding shaft 2024 will move along the guide groove 2026 to make the pressure plate 201 move away from the guide wheel mechanism 10. At this time, the second cam 2028 is limited by the second limit block 20211; after the guide wire A is inserted, under the action of the first spring 2027, the handle 2029 can also be rotated counterclockwise to achieve the resetting of the pressure plate 201. At this time, the second cam 2028 is limited by the first limit block 20210.

[0057] The translational wire feeding mechanism of the vascular interventional robot involved in the present application utilizes the cooperation of the pressure plate and the guide wheel group to realize the function of translational wire feeding. Since the contact area of ​​the pressure plate is large, there is no phenomenon of the guide wire coming out during the wire feeding process. In addition, by adopting a translational wire feeding mechanism, intermittent transmission of the guide wire can be achieved, and by adopting two translational wire feeding mechanisms cooperating with each other, continuous transmission of the guide wire can be achieved.

[0058] The above is only a preferred specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can make equivalent substitutions or changes according to the technical solution and concept of the present application within the technical scope disclosed in the present application, which should be covered by the protection scope of the present application.

Claims

1. A translational wire feeding mechanism for a vascular intervention robot, Features: It includes a wire pressing and conveying mechanism and a guide wheel mechanism used in conjunction with the wire pressing and conveying mechanism. The wire pressing and conveying mechanism can move in the left and right directions under the action of a first driving mechanism. When the guide wheel mechanism and / or the wire pressing and conveying mechanism are acted upon by an extrusion mechanism, they can move so that the guide wheel mechanism and the wire pressing and conveying mechanism cooperate to clamp the guide wire. When the wire pressing and conveying mechanism moves to the right / left, the guide wheel mechanism and the wire pressing and conveying mechanism continue to clamp the guide wire. By cooperating between the wire pressing and conveying mechanism and the rotatable guide wheel in the guide wheel mechanism, linear wire feeding can be achieved. When the wire pressing and conveying mechanism moves to the left / right, the guide wheel mechanism and / or the wire pressing and conveying mechanism are no longer acted upon by the extrusion mechanism. The guide wheel mechanism and / or the wire pressing and conveying mechanism that have been squeezed can be reset through a reset mechanism.

2. The translational wire feeding mechanism of the vascular intervention robot according to claim 1, Features: When the extrusion mechanism acts on the guide wheel mechanism: the wire pressing and conveying mechanism includes a pressing plate, the pressing plate is connected to a slider, the slider cooperates with a slide rail arranged on a base plate, and the slider is acted upon by a first driving mechanism and can slide along the slide rail.

3. The translational wire feeding mechanism of the vascular intervention robot according to claim 2, Features: A fine-tuning structure is also provided in the wire pressing and conveying mechanism, and the fine-tuning structure includes a connecting piece, the pressure plate is slidably connected to the connecting piece, and the connecting piece includes an upper shell and a lower shell connected to each other, the lower shell is fixed on the sliding block, and an accommodating cavity is formed inside the upper shell and the lower shell, and a guide groove is provided on the inner wall of the bottom plate of the lower shell, the pressure plate is fixedly connected to the connecting frame, and a sliding shaft is provided on the connecting frame inside the lower shell, and the diameter of the sliding shaft is smaller than the width of the guide groove, so that the sliding shaft can slide relative to the guide groove and can also rotate, and a first spring is respectively provided on both sides of the guide groove, one end of the first spring is provided on the inner wall of the lower shell, and the other end is provided on the connecting frame, and the first spring can make the pressure plate always have a tendency to approach the guide wheel mechanism.

4. The translational wire feeding mechanism of the vascular intervention robot according to claim 3, Features: The first driving mechanism includes a connecting rod hingedly connected to the slider or the lower shell of the connecting member, the other end of the connecting rod is hingedly connected to one end of the crank, and the other end of the crank is fixedly connected to the first rotating shaft, the first rotating shaft is rotatably mounted on an upper support plate arranged on the upper surface of the substrate, the first rotating shaft can rotate under the action of a first pulley, the first pulley is connected to the second pulley via a first belt, the second pulley is connected to the second rotating shaft, the second rotating shaft is rotatably mounted on a lower bracket arranged on the lower surface of the substrate, a first bevel gear is provided on the second rotating shaft, the second bevel gear is meshed with the first bevel gear, the second bevel gear can rotate under the drive of the input shaft, and the input shaft can rotate under the action of the motor.

5. The translational wire feeding mechanism of the vascular intervention robot according to claim 4, Features: The extrusion mechanism adopts a first cam, and the first cam can intermittently squeeze the guide wheel mechanism under the action of the second driving mechanism, so that the guide wheel mechanism moves forward toward the pressure plate, and the guide wheel mechanism includes a mounting frame, and a plurality of guide wheels are rotatably mounted on the mounting frame, and all guide wheels are arranged in sequence along the conveying direction of the guide wire, and two sliding bars are provided on the mounting frame, and the two sliding bars are respectively slidably connected to the vertical plates arranged on the substrate, and the second driving mechanism includes a camshaft connected to the first cam, and the camshaft is rotatably connected to the substrate, and the camshaft is also connected to the third bevel gear, and the third bevel gear is meshed with the fourth bevel gear, and the fourth bevel gear is arranged on the second rotating shaft.

6. The translational wire feeding mechanism of the vascular intervention robot according to claim 5, Features: The reset mechanism comprises a second spring sleeved on the slide rod, and the second spring is arranged between the vertical plate and the end of the slide rod.

7. The translational wire feeding mechanism of the vascular intervention robot according to claim 1, Features: When the extrusion mechanism acts on the wire pressing and conveying mechanism: the guide wheel mechanism includes a mounting frame, on which a plurality of guide wheels are rotatably mounted, and all guide wheels are arranged in sequence along the conveying direction of the guide wire, and the mounting frame is assembled on a base plate, and the wire pressing and conveying mechanism includes a pressing plate, and the pressing plate is connected to a slide plate, and the lower surface of the slide plate is connected to a slider, and the slider cooperates with a slide rail arranged on the base plate, and the slide plate is acted upon by a first driving mechanism, so that the slider can slide along the slide rail.

8. The translational wire feeding mechanism of the vascular intervention robot according to claim 7, Features: A fine-tuning structure is also provided in the wire pressing and conveying mechanism, and the fine-tuning structure includes a connecting piece, the pressure plate is slidably connected to the connecting piece, and the connecting piece includes an upper shell and a lower shell connected to each other, the lower shell is fixed on the slide plate, and a accommodating cavity is formed inside the upper shell and the lower shell, and a guide groove is provided on the inner wall of the bottom plate of the lower shell, the pressure plate is fixedly connected to the connecting frame, and a sliding shaft is provided on the connecting frame inside the lower shell, and the diameter of the sliding shaft is smaller than the width of the guide groove, so that the sliding shaft can slide relative to the guide groove and can also rotate, and a first spring is respectively provided on both sides of the guide groove, one end of the first spring is provided on the inner wall of the lower shell, and the other end is provided on the connecting frame, and the first spring can make the pressure plate always have a tendency to approach the guide wheel mechanism.

9. The translational wire feeding mechanism of the vascular intervention robot according to claim 8, Features: The first driving mechanism includes a connecting rod hinged to the slide plate, the other end of the connecting rod is hinged to one end of the crank, the other end of the crank is fixedly connected to the first rotating shaft, the first rotating shaft is rotatably mounted on an upper support plate provided on the upper surface of the base plate, the first rotating shaft is connected to the input shaft, and when the input shaft rotates, the slider can eventually slide along the slide rail.

10. The translational wire feeding mechanism of the vascular intervention robot according to claim 9, Features: The extrusion mechanism adopts a first cam, and the first cam can intermittently squeeze the connecting member under the action of the second driving mechanism, so that the pressure plate moves backward toward the guide wheel mechanism. The left and right sides of the lower shell are connected with two sliding rods through the mounting block. The two sliding rods are arranged on both sides of the first cam, and the two sliding rods are respectively slidably connected to the supporting plate arranged on the slide. The second driving mechanism adopts the following structure: it includes a camshaft connected to the first cam, the camshaft is rotatably connected to the slide, the camshaft is also connected to the third bevel gear, the third bevel gear is meshed with the fourth bevel gear, the fourth bevel gear is rotatably mounted on the connecting plate arranged on the lower surface of the slide, and the fourth bevel gear is The wheel can rotate under the action of the ball spline shaft, and when the slide plate slides, the connecting plate together with the fourth bevel gear can slide along the ball spline shaft, and both ends of the ball spline shaft are rotatably connected with the support plate arranged on the base plate, one end of the ball spline shaft is provided with a fifth bevel gear, and the fifth bevel gear is meshed with the sixth bevel gear arranged on the third rotating shaft, and the third rotating shaft is rotatably connected with the mounting plate and the upper support plate arranged on the base plate respectively, and the other end of the third rotating shaft is provided with a fifth pulley, and the fifth pulley is connected to the sixth pulley via the third belt, and the sixth pulley is arranged on the first rotating shaft. When the input shaft rotates, it can drive the sixth pulley to rotate, and finally the first cam rotates.

11. The translational wire feeding mechanism of the vascular intervention robot according to claim 10, Features: The reset mechanism comprises a second spring sleeved on the slide bar, and the second spring is arranged between the support plate and the end of the slide bar.

12. A translational wire feeding mechanism for a vascular intervention robot. Features: It comprises two groups of translational wire feeding mechanisms as described in claim 6, and the phase difference between the two groups of translational wire feeding mechanisms is 180° to realize continuous transmission of the guide wire.

13. A translational wire feeding mechanism for a vascular intervention robot. Features: It comprises two groups of translational wire feeding mechanisms as described in claim 11, and the phase difference between the two groups of translational wire feeding mechanisms is 180° to realize continuous transmission of the guide wire.

14. The translational wire feeding mechanism of the vascular intervention robot according to claim 12 or 13, Features: The two sets of translational wire feeding mechanisms share one input shaft, and the two sets of translational wire feeding mechanisms are linked via a transmission mechanism. When the input shaft rotates, both sets of translational wire feeding mechanisms will move.

15. The translational wire feeding mechanism of the vascular intervention robot according to claim 12 or 13, Features: A second cam is provided on the sliding shaft above the connecting frame, and the sliding shaft extends out of the upper shell through a through hole provided on the upper shell, the size of the through hole is larger than the diameter of the sliding shaft, and a handle is provided at the top end of the sliding shaft. The upper surface of the connecting frame is also respectively provided with a first limit block and a second limit block for limiting the rotation range of the second cam.

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