Catheter clamping mechanism of vascular intervention surgical robot

Abstract

The invention discloses a catheter clamping mechanism of a vascular interventional surgical robot, and belongs to the technical field of biomedical engineering, by controlling a driving assembly to work, three sliding seats are close to each other while moving rightwards until a pushing assembly is in contact with the outer wall of a catheter, the catheter clamping stability of the pushing assembly is improved, and the catheter clamping efficiency is improved. The guide pipe is located in the center of the guide cylinder, the follow-up pushing precision is improved, acting force can be transmitted to the clamping base when the guide pipe is subjected to external force in different directions, the clamping base is reversely supported through the elastic force of the buffer spring, the pushing assembly is in flexible contact with the guide pipe, and the guide pipe is buffered and protected; and the pushing assembly is supported in an auxiliary mode through a buffer spring, the contact stability between the pushing assembly and the catheter is guaranteed, therefore, the mode that the catheter is directly clamped through a traditional mechanical clamping jaw is abandoned, intermittent sliding of the catheter caused by frequent opening and closing of the clamping jaw is prevented, the movement continuity of the catheter and the effective use distance are guaranteed, and the operation precision is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of biomedical engineering, and in particular to a catheter clamping mechanism of a vascular interventional surgery robot. Background Art

[0002] In biomedical engineering, vascular interventional surgery is a procedure in which a doctor, under the guidance of vascular subtraction angiography equipment, manipulates interventional instruments within human blood vessels to accurately reach the lesion and perform treatment. Common interventional instruments include intravenous catheters, guidewires, filters, and spring emboli. Vascular interventional surgery has become an important method for treating cardiovascular diseases. Compared with traditional surgical procedures, it has the advantages of smaller incisions, faster recovery, and better results. Traditional surgery relies on doctors to manually operate the catheter, which is prone to radiation exposure, operator fatigue, and hand tremors. Vascular interventional surgery robots are gradually being used in clinical practice. The catheter clamping mechanism, as the core actuator of the robot, directly affects the accuracy and safety of catheter control. In actual applications, existing catheter clamping technology uses mechanical claws to directly clamp the catheter to provide high pushing force. Due to the rigid contact between the mechanical claws and the catheter, excessive clamping force may flatten the catheter lumen and affect the passability of the instrument. Excessive clamping force may easily cause slippage. Frequent opening and closing of the claws will cause intermittent sliding of the catheter and discontinuous movement, making it difficult to ensure the effective use distance of the catheter and affecting the operation accuracy. Summary of the Invention

[0003] The purpose of the present invention is to provide a catheter clamping mechanism for a vascular interventional surgical robot to solve the problem raised in the above-mentioned background technology that due to the rigid contact between the mechanical clamping claws and the catheter, excessive clamping force may flatten the inner cavity of the catheter, affecting the passability of the instrument; too small clamping force may easily cause slipping, and frequent opening and closing of the clamping claws may cause intermittent sliding of the catheter, discontinuous movement, difficulty in ensuring the effective use distance of the catheter, and affecting the operation accuracy.

[0004] To achieve the above object, the present invention provides the following technical solutions: A catheter clamping mechanism of a vascular interventional surgical robot comprises a shell, a mounting bracket is fixedly installed on the top of the shell, a support bearing and a limit bearing are fixedly connected on both sides of the shell interior, a guide cylinder is sleeved inside the support bearing and the limit bearing, one end of the guide cylinder is installed through one side of the shell, a rotating sleeve is clamped on the side of the shell, the end of the guide cylinder is installed through the rotating sleeve, the limit bearing is located between the rotating sleeve and the support bearing, an adjustment component is fixedly connected to the outside of one end of the guide cylinder located inside the shell, the adjustment component is installed through the top of the shell, and three sets of guide cylinders are arranged in one end of the guide cylinder that passes through the shell. There is a collecting box on opposite at case shell inlet, and the casing is fixed with a guide rail, and the guide rail is installed in an inner wall of the collecting box, and a guide rail is installed in the guide rail.

[0005] As a further solution of the present invention, the adjustment assembly includes a servo motor, which is installed on one side of the top of the shell. The output shaft of the servo motor passes through the shell and is fixedly connected to a bevel gear. The bevel gear is externally meshed with a ring gear, and the ring gear is fixedly connected to the outer wall of the guide cylinder.

[0006] As a further solution of the present invention, the sliding assembly includes a slide seat, the outer wall of the slide seat and the inner wall of the guide groove are conical in design and the radius gradually decreases from left to right, and there are two guide grooves in each group. The outer wall of the slide seat fits into two opposite guide grooves, and a limiting groove is provided on the top of the slide seat. The inner wall of the guide cylinder and the protruding part located between the two guide grooves are slidably connected in the limiting groove.

[0007] As a further solution of the present invention, a first telescopic rod is fixedly connected to the bottom of the inner wall of the limiting groove, the other end of the first telescopic rod passes through the slide and is fixed to the inner wall of the slip ring, a support spring is connected to the outer cover of the first telescopic rod, the two ends of the support spring are respectively fixed to the outside of the first telescopic rod and the inner wall of the slip ring, two second telescopic rods are fixed to both sides of the inner wall of the sliding seat, the other ends of the four second telescopic rods are fixed to the outer wall of the clamping seat, and a buffer spring is connected to the outer cover of the second telescopic rod.

[0008] As a further solution of the present invention, the pushing assembly includes a micro motor and two pushing wheels. The micro motor is fixedly installed in the middle of the inner wall of the groove. The two ends of the pushing wheel are rotatably connected to the inner wall of the groove through shaft sleeves. The two output shafts of the micro motor and the ends of the two pushing wheels are respectively fixed with transmission wheels, and the outer shells of the two transmission wheels on the same side are connected with transmission belts.

[0009] As a further solution of the present invention, the drive assembly includes an electric push rod, one end of which is fixed to one side of the inner wall of the installation groove, and the other end of the electric push rod is fixedly connected to a baffle frame, which is slidably connected to the bottom of the inner wall of the installation groove.

[0010] As a further solution of the present invention, a sliding column is fixedly connected to the top of the inner wall of the baffle frame, the sliding column passes through the sliding hole and is fixed with an adjustment seat, and limiting rings are fixed above and below the outer wall of the sliding column respectively, and the sliding hole is located between the two limiting rings.

[0011] As a further solution of the present invention, side baffles are fixedly connected to both sides of the bottom of the adjustment seat, and a plurality of balls are installed in the groove body on one side of the side baffle. The slip ring is located between the two side baffles. Tracks are respectively opened on both sides of the slip ring, and the tracks are annular in design. The balls in the two side baffles are slidably connected in the annular tracks on both sides of the slip ring.

[0012] Compared with the prior art, the present invention has the following beneficial effects: When the sliding ring is moved horizontally by the side baffles, the sliding ring will not separate from the side baffles. When the sliding ring moves to the right, it will drive the three sliding assemblies inside to move to the right. The three first telescopic rods respectively drive the slide to move to the right, so that the slide slides in the two opposite guide grooves. Since the outer wall of the slide and the inner wall of the guide groove are conical and the radius gradually decreases from left to right, the three slides will move closer to each other while moving to the right. In this process, the first telescopic rod is stretched to ensure that the moving stroke of the slide is not interfered with. At the same time, the slide drives the clamping seat gradually close to each other through the second telescopic rod. The catheter is clamped until the pushing assembly in the clamping seat contacts the outer wall of the catheter. The three clamping seats move synchronously, which improves the stability of the pushing assembly in clamping the catheter, and makes the catheter located in the center of the guide cylinder, thereby improving the subsequent pushing accuracy. In the process of the pushing assembly clamping the catheter, when the catheter is subjected to external forces in different directions, the force will be transmitted to the clamping seat, and the clamping seat will squeeze the second telescopic rod and the buffer spring, and the elastic force of the buffer spring will reversely support the clamping seat, thereby achieving the purpose of flexible contact between the pushing assembly and the catheter, thereby preventing the catheter from being damaged by external forces and playing a buffering and protective role for the catheter. In addition, the pushing assembly relies on the buffer spring for auxiliary support to ensure the stability of the contact between the pushing assembly and the catheter, thereby abandoning the traditional mechanical clamping method of directly clamping the catheter, preventing the frequent opening and closing of the clamping jaws from causing intermittent sliding of the catheter, ensuring the continuity of the catheter movement and the effective use distance, and improving the operation accuracy; 2. The present invention starts the micro motor by fitting the pushing wheel in the pushing assembly to the outer wall of the catheter. The two output shafts of the micro motor drive the transmission belts through the transmission wheel respectively. The two transmission belts drive the two pushing wheels to rotate through the transmission wheel respectively. The two pushing wheels have the same rotation direction, so that the catheter can be pushed continuously. When adjusting the pushing direction, it is only necessary to control the micro motor to reverse, thereby facilitating the automatic pushing of the catheter without human intervention. In addition, in the process of pushing the catheter, the servo motor works to drive the bevel gear to rotate. Since the bevel gear is meshed with the ring gear, the bevel gear drives the guide cylinder to rotate through the ring gear. The guide cylinder is limited by the support bearing and the limit bearing on the outside, and the end of the guide cylinder passes through the rotation connection inside the rotating sleeve. The end of the guide cylinder is supported and limited by the rotating sleeve, thereby improving The stability of the guide cylinder rotation. During the rotation of the guide cylinder, the three sliding components inside will be driven to rotate synchronously. The first telescopic rod in the sliding component will drive the slip ring to rotate. The ball bearings in the two side baffles slide in the annular tracks on both sides of the slip ring, so that the side baffles limit the slip ring through the ball bearings, so that the side baffles and the slip ring always maintain a concentric state and rotate between the two side baffles, thereby improving the stability of the slip ring and the sliding component deflection, so that the driving component does not affect the adjustment of the position of the sliding component during the deflection of the sliding component, and the direction of the catheter head end is adjusted to make it enter the target blood vessel accurately. By rotating the catheter, the catheter head end is aligned with the target blood vessel opening to avoid the catheter from entering a non-target branch. In addition, the rotating catheter can change the force direction of its head end, reduce friction with the blood vessel wall, avoid perforation or dissection, and thus reduce the risk of surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a schematic structural diagram of the side view of the present invention; Figure 3 It is a schematic structural diagram of the shell section of the present invention; Figure 4 It is a structural schematic diagram of the guide cylinder and the drive assembly of the present invention; Figure 5 It is a structural schematic diagram of the drive assembly of the present invention; Figure 6 It is a structural schematic diagram of the guide cylinder cross section of the present invention; Figure 7This is a structural diagram of the sliding assembly and the clamping seat being separated according to the present invention; Figure 8 It is a structural diagram of the push component of the present invention.

[0015] In the accompanying drawings, the components represented by the reference numerals are as follows: 1. Housing; 2. Mounting bracket; 3. Support bearing; 4. Limit bearing; 5. Rotating sleeve; 6. Guide cylinder; 7. Adjustment assembly; 701. Servo motor; 702. Bevel gear; 703. Ring gear; 8. Guide groove; 9. Sliding assembly; 901. Sliding seat; 902. Limit groove; 903. First telescopic rod; 904. Support spring; 905. Second telescopic rod; 906. Buffer spring; 10. Slide; 11. Clamping seat; 12. Groove; 13. Pushing assembly; 131. Micro motor; 132. Transmission wheel; 133. Transmission belt; 134. Pushing wheel; 14. Mounting groove; 15. Slide hole; 16. Drive assembly; 161. Electric push rod; 162. Stop frame; 163. Sliding column; 164. Limit ring; 165. Adjustment seat; 166. Side baffle; 167. Ball bearing; 17. Slip ring; 18. Track. DETAILED DESCRIPTION

[0016] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0017] See also Figures 1-8 , the present invention provides a technical solution: A catheter clamping mechanism for a vascular interventional surgical robot includes a housing 1, a mounting bracket 2 fixedly mounted on the top of the housing 1, a support bearing 3 and a limit bearing 4 fixedly connected to either side of the housing 1, a guide cylinder 6 sleeved inside the support bearing 3 and the limit bearing 4, one end of the guide cylinder 6 being installed through a side of the housing 1, a rotating sleeve 5 being clamped on the side of the housing 1, an end of the guide cylinder 6 being installed through and rotatably connected to the inside of the rotating sleeve 5, and the limit bearing 4 being located between the rotating sleeve 5 and the support bearing 3; an adjustment assembly 7 fixedly connected to the outside of one end of the guide cylinder 6 located inside the housing 1, and the adjustment assembly 7 being installed through the top of the housing 1; By controlling the operation of the adjustment component 7, the adjustment component 7 can drive the guide cylinder 6 to rotate. The outside of the guide cylinder 6 is limited by the support bearing 3 and the limit bearing 4, and the end of the guide cylinder 6 is connected to the inside of the rotating sleeve 5 through the rotation. The end of the guide cylinder 6 is supported and limited by the rotating sleeve 5, thereby improving the rotation stability of the guide cylinder 6.

[0018] As a further embodiment of the present invention, the adjustment assembly 7 includes a servo motor 701, which is mounted on one side of the top of the housing 1. The output shaft of the servo motor 701 passes through the housing 1 and is fixedly connected to a bevel gear 702. The bevel gear 702 is externally meshed with a ring gear 703, which is fixedly connected to the outer wall of the guide cylinder 6. During operation, the servo motor 701 is controlled to drive the bevel gear 702 to rotate. Since the bevel gear 702 is meshed with the ring gear 703, the bevel gear 702 drives the guide cylinder 6 to rotate through the ring gear 703, thereby facilitating the adjustment of the angle of the guide cylinder 6 and the internal catheter head end. By adjusting the direction of the catheter head end, it can accurately enter the target blood vessel. By rotating the catheter, the catheter head end is aligned with the opening of the target blood vessel to avoid the catheter from accidentally entering a non-target branch. In addition, the rotating catheter can change the force direction of its head end, reduce friction with the blood vessel wall, and avoid perforation or dissection.

[0019] As a further embodiment of the present invention, one end of the guide cylinder 6 extending through the housing 1 is provided with three sets of guide grooves 8, with a sliding assembly 9 slidably connected to each set of guide grooves 8. The ends of the three sliding assemblies 9, facing away from each other, extend through a slideway 10 and are secured to the inner wall of a slip ring 17. A clamping seat 11 is fixedly mounted within the sliding assembly 9, and a groove 12 is defined within the inner wall of the clamping seat 11. A pushing assembly 13 is mounted within the groove 12.

[0020] The sliding assembly 9 includes a slide 901. The outer wall of the slide 901 and the inner wall of the guide groove 8 are conical in design, and the radius gradually decreases from left to right. There are two guide grooves 8 in each group, and the outer wall of the slide 901 fits in two opposing guide grooves 8. A limiting groove 902 is defined at the top of the slide 901. The protruding portion of the inner wall of the guide cylinder 6, located between the two guide grooves 8, is slidably connected in the limiting groove 902. During operation, the slide 901 slides in the two opposite guide grooves 8. Since the outer wall of the slide 901 and the inner wall of the guide groove 8 are conical in design and the radius gradually decreases from left to right, the three slides 901 will approach each other while moving to the right; because the protruding part of the inner wall of the guide cylinder 6 and located between the two guide grooves 8 is slidably connected in the limit groove 902, it plays a role in limiting the slide 901 and preventing the slide 901 from shifting its position during movement.

[0021] As a further solution of the present invention, a first telescopic rod 903 is fixedly connected to the bottom of the inner wall of the limiting groove 902, and three slideways 10 are opened at equal intervals inside the guide cylinder 6. The three slideways 10 pass through the inner and outer walls of the guide cylinder 6, and the other end of the first telescopic rod 903 passes through the slideway 10 and is fixed to the inner wall of the slip ring 17. A support spring 904 is connected to the outer cover of the first telescopic rod 903, and the two ends of the support spring 904 are respectively fixed to the outside of the first telescopic rod 903 and the inner wall of the slip ring 17; two second telescopic rods 905 are fixed to both sides of the inner wall of the slide seat 901, and the other ends of the four second telescopic rods 905 are fixed to the outer wall of the clamping seat 11, and a buffer spring 906 is connected to the outer cover of the second telescopic rod 905; During operation, when the slip ring 17 moves to the right, it drives the three sliding components 9 inside to move to the right, and the three first telescopic rods 903 drive the slide 901 to move to the right respectively. Because the first telescopic rod 903 slides through the slide 10, it plays a role in limiting the slide 901. During this process, as the three slides 901 approach each other, the first telescopic rod 903 is stretched to ensure that the moving stroke of the slide 901 is not interfered with; the slide 901 drives the clamping seat 11 to gradually approach the catheter through the second telescopic rod 905 until the pushing assembly 13 in the clamping seat 11 is in contact with the catheter. The outer wall of the guide tube 6 is in contact with the three clamping seats 11, and the three clamping seats 11 move synchronously, thereby improving the stability of the catheter clamping of the pushing assembly 13 and positioning the catheter at the center of the guide tube 6, thereby improving the subsequent pushing accuracy. When the catheter is subjected to external forces in different directions, the forces are transmitted to the clamping seat 11, and the clamping seat 11 squeezes the second telescopic rod 905 and the buffer spring 906. The elastic force of the buffer spring 906 supports the clamping seat 11 in the reverse direction, thereby achieving the purpose of flexible contact between the pushing assembly 13 and the catheter, thereby preventing the catheter from being damaged by external forces and playing a buffering and protective role for the catheter. As the slide 901 moves to the left, the first telescopic rod 903 is pulled by the tension of the support spring 904, and the first telescopic rod 903 contracts and pulls the slide 901, so that the outer wall of the slide 901 is always in contact with the inner wall of the guide groove 8. During this process, the pushing components 13 in the three slides 901 move away from each other, thereby releasing the locking state of the catheter, making it easier to remove the catheter from the guide cylinder 6.

[0022] As a further embodiment of the present invention, the pushing assembly 13 includes a micro motor 131 and two pushing wheels 134. The micro motor 131 is fixedly mounted in the middle of the inner wall of the groove 12. The two ends of the pushing wheels 134 are rotatably connected to the inner wall of the groove 12 via shaft sleeves. The two output shafts of the micro motor 131 and the ends of the two pushing wheels 134 are respectively fixed with transmission wheels 132. The outer shells of the two transmission wheels 132 on the same side are connected to the transmission belt 133. During operation, the two output shafts of the micro motor 131 drive the transmission belt 133 through the transmission wheel 132 respectively, and the two transmission belts 133 drive the two pushing wheels 134 to rotate respectively through the transmission wheel 132, and the two pushing wheels 134 rotate in the same direction, so that they can continuously push the catheter. When adjusting the pushing direction, it is only necessary to control the micro motor 131 to reverse, thereby facilitating the automatic pushing of the catheter.

[0023] As a further solution of the present invention, a mounting groove 14 is provided on one side of the top of the shell 1, and a sliding hole 15 is provided at the bottom of the inner wall of the mounting groove 14. A driving component 16 is slidingly installed in the sliding hole 15. One end of the driving component 16 is fixed on one side of the inner wall of the mounting groove 14, and the bottom of the driving component 16 passes through the sliding hole 15 and is installed on the slip ring 17.

[0024] The drive assembly 16 includes an electric push rod 161, one end of which is fixed to one side of the inner wall of the mounting groove 14, and the other end of the electric push rod 161 is fixedly connected to a stop frame 162, which is slidably connected to the bottom of the inner wall of the mounting groove 14; the stop frame 162 is inverted U-shaped, and a slide column 163 is fixedly connected to the top of the inner wall. The slide column 163 passes through the slide hole 15 and is fixed with an adjustment seat 165. Limiting rings 164 are respectively fixed above and below the outer wall of the slide column 163. The slide hole 15 is located between the two limiting rings 164. The slide hole 15 passes through the bottom surface of the mounting groove 14 and extends into the housing 1. The length direction of the slide hole 15 is parallel to the length direction of the electric push rod 161; Side baffles 166 are fixedly connected to both sides of the bottom of the adjustment seat 165. A plurality of balls 167 are installed in the grooves on the opposite sides of the side baffles 166. The slip ring 17 is located between the two side baffles 166. Tracks 18 are respectively opened on both sides of the slip ring 17. The tracks 18 are annular in design. The balls 167 in the two side baffles 166 are slidably connected in the annular tracks 18 on both sides of the slip ring 17. During operation, the adjustment seat 165 drives the two side baffles 166 to move rightward. Since the balls 167 in the two side baffles 166 are slidably connected in the annular tracks 18 on both sides of the slip ring 17, the side baffles 166 can limit the slip ring 17 through the balls 167. When the side baffles 166 push the slip ring 17 to move horizontally, the slip ring 17 will not separate from the side baffles 166. During the rotation of the guide cylinder 6, the three sliding components 9 inside will be driven to rotate synchronously, and the first telescopic rod 903 in the sliding component 9 will drive the slip ring 17 to rotate. The balls 167 in the two side baffles 166 slide in the annular tracks 18 on both sides of the slip ring 17, so that the side baffles 166 limit the slip ring 17 through the balls 167, so that the side baffles 166 and the slip ring 17 always remain concentric and rotate between the two side baffles 166, thereby improving the stability of the deflection of the slip ring 17 and the sliding component 9.

[0025] Working principle of the present invention: When in use, the housing 1 is mounted on the mechanical arm of the vascular robot through the mounting bracket 2. When clamping the catheter, the catheter is inserted into the guide cylinder 6 so that the catheter is located between the three sliding components 9. Then, the electric push rod 161 is controlled to work to shrink and pull the mounting groove 14 in the retaining frame 162 to move inside, so that the retaining frame 162 drives the sliding column 163 to slide in the sliding hole 15. Since the two limiting rings 164 outside the sliding column 163 are respectively located above and below the sliding hole 15, they can The vertical direction is limited to prevent the sliding column 163 from moving up and down, thereby improving the stability of the sliding column 163 driving the adjustment seat 165 to move horizontally. The adjustment seat 165 drives the two side baffles 166 to move rightward. Because the balls 167 in the two side baffles 166 are slidably connected in the annular tracks 18 on both sides of the slip ring 17, the side baffles 166 can limit the slip ring 17 through the balls 167. When the side baffles 166 push the slip ring 17 to move horizontally, the slip ring 17 will not separate from the side baffles 166. When the slip ring 17 moves to the right, it will drive the three sliding components 9 inside to move to the right, and the three first telescopic rods 903 will drive the slide 901 to move to the right respectively. Because the first telescopic rod 903 slides through the slide 10, it plays a role in limiting the slide 901, so that the slide 901 slides in the two opposite guide grooves 8. Since the outer wall of the slide 901 and the inner wall of the guide groove 8 are conical designs and the radius gradually decreases from left to right, the three slides 901 will move closer to each other while moving to the right. In this process, the first telescopic rod 903 is stretched to ensure that the moving stroke of the slide 901 is not interfered with. At the same time, the slide 901 drives the clamping seat 11 to gradually approach the catheter through the second telescopic rod 905 until the pushing assembly 13 in the clamping seat 11 is aligned with the guide The outer wall of the tube is in contact, and the three clamping seats 11 move synchronously, which improves the stability of the pushing assembly 13 in clamping the catheter, and makes the catheter located at the center of the guide cylinder 6, thereby improving the subsequent pushing accuracy. In the process of the pushing assembly 13 clamping the catheter, when the catheter is subjected to external forces in different directions, the force will be transmitted to the clamping seat 11, and the clamping seat 11 squeezes the second telescopic rod 905 and the buffer spring 906. The elastic force of the buffer spring 906 reversely supports the clamping seat 11, thereby achieving the purpose of flexible contact between the pushing assembly 13 and the catheter, thereby preventing the catheter from being damaged by external forces, and playing a buffering and protective role for the catheter. In addition, the pushing assembly 13 relies on the buffer spring 906 for auxiliary support to ensure the stability of the contact between the pushing assembly 13 and the catheter. When the clamping work of the catheter is completed, the pushing wheel 134 in the pushing assembly 13 is in contact with the outer wall of the catheter, and the micro motor 131 is started. The two output shafts of the micro motor 131 respectively drive the transmission belt 133 through the transmission wheel 132. The two transmission belts 133 respectively drive the two pushing wheels 134 to rotate through the transmission wheel 132. The two pushing wheels 134 rotate in the same direction, so that they can continuously push the catheter. When adjusting the pushing direction, it is only necessary to control the micro motor 131 to reverse, thereby facilitating the automatic pushing of the catheter. When adjusting the direction of the catheter head end, the servo motor 701 is controlled to work so that it drives the bevel gear 702 to rotate. Since the bevel gear 702 is meshed with the ring gear 703, the bevel gear 702 drives the guide cylinder 6 to rotate through the ring gear 703. The guide cylinder 6 is limited by the support bearing 3 and the limit bearing 4 on the outside, and the end of the guide cylinder 6 is connected to the inside of the rotating sleeve 5 through the rotation sleeve 5. The end of the guide cylinder 6 is supported and limited by the rotating sleeve 5, thereby improving the rotation stability of the guide cylinder 6. During the rotation of the guide cylinder 6, the three sliding components 9 inside will be driven to rotate synchronously. The sliding component 9 The first telescopic rod 903 drives the slip ring 17 to rotate, and the balls 167 in the two side baffles 166 slide in the annular tracks 18 on both sides of the slip ring 17, so that the side baffles 166 limit the slip ring 17 through the balls 167, so that the side baffles 166 and the slip ring 17 always maintain a concentric state and rotate between the two side baffles 166, thereby improving the stability of the deflection of the slip ring 17 and the sliding assembly 9. The deflection of the sliding assembly 9 does not affect the adjustment of the position of the sliding assembly 9 by the driving assembly 16, and the direction of the catheter tip is adjusted to allow it to accurately enter the target blood vessel; When the clamping state of the catheter is released, the electric push rod 161 is controlled to extend to drive the baffle 162 to move left, so that the baffle 162 drives the adjustment seat 165 to move left through the slide column 163, and the adjustment seat 165 pushes the slip ring 17 and the three sliding components 9 to move left through the two side baffles 166. Because the outer wall of the slide 901 and the inner wall of the guide groove 8 are conical and the radius gradually decreases from left to right, in the process of the slide 901 moving left, the inner wall of the guide cylinder 6 and the convex part located between the two guide grooves 8 are pressed against the guide cylinder 6. The outward portion is slidably connected in the limiting groove 902, which plays a role in limiting the slide 901 and preventing the slide 901 from shifting during the movement. Secondly, the first telescopic rod 903 is pulled by the tension of the support spring 904, and the first telescopic rod 903 contracts and pulls the slide 901, so that the outer wall of the slide 901 is always in contact with the inner wall of the guide groove 8. During this process, the pushing components 13 in the three slides 901 move away from each other, thereby releasing the locking state of the catheter, making it convenient to remove the catheter from the guide cylinder 6.

Claims

1. A catheter clamping mechanism for a vascular interventional surgery robot, comprising a housing (1), characterized in that: The top of the housing (1) is fixedly mounted with a mounting bracket (2), and the two sides of the interior of the housing (1) are fixedly connected with a support bearing (3) and a limit bearing (4), respectively. A guide cylinder (6) is sleeved inside the support bearing (3) and the limit bearing (4), and one end of the guide cylinder (6) is installed through one side of the housing (1). A rotating sleeve (5) is clamped on the side of the housing (1), and the end of the guide cylinder (6) is connected to the interior of the rotating sleeve (5) for rotation. The limit bearing (4) is located between the rotating sleeve (5) and the support bearing (3). The end of the guide cylinder (6) located inside the housing (1) is fixedly connected with an adjustment component (7), and the adjustment component (7) is installed through the top of the housing (1). Three groups of guide grooves (8) are provided in one end of the guide cylinder (6) that passes through the housing (1), and a sliding component ( 9), three slideways (10) are provided at equal intervals inside the guide cylinder (6), the sliding assembly (9) is slidably connected to the slideway (10), a clamping seat (11) is fixedly installed inside the sliding assembly (9), a groove (12) is provided on the inner wall of the clamping seat (11), a pushing assembly (13) is installed in the groove (12), a mounting groove (14) is provided on one side of the top of the shell (1), a sliding hole (15) is provided on the bottom of the inner wall of the mounting groove (14), a driving assembly (16) is slidably installed through the sliding hole (15), one end of the driving assembly (16) is fixed to one side of the inner wall of the mounting groove (14), the bottom of the driving assembly (16) passes through the sliding hole (15) and is installed with a slip ring (17), and the ends of the three sliding assemblies (9) away from each other pass through the slideway (10) and are fixed to the inner wall of the slip ring (17).

2. The catheter clamping mechanism of a vascular interventional surgery robot according to claim 1, characterized in that: The adjustment assembly (7) includes a servo motor (701), which is mounted on one side of the top of the housing (1). The output shaft of the servo motor (701) passes through the housing (1) and is fixedly connected to a bevel gear (702). The bevel gear (702) is externally meshed with a ring gear (703), and the ring gear (703) is fixedly connected to the outer wall of the guide cylinder (6).

3. The catheter clamping mechanism of a vascular interventional surgery robot according to claim 1, characterized in that: The sliding assembly (9) includes a sliding seat (901), the outer wall of the sliding seat (901) and the inner wall of the guide groove (8) are designed as conical surfaces and the radius gradually decreases from left to right, and the number of each group of guide grooves (8) is two, the outer wall of the sliding seat (901) fits in two opposite guide grooves (8), a limiting groove (902) is provided on the top of the sliding seat (901), and the inner wall of the guide cylinder (6) and the protruding portion located between the two guide grooves (8) are slidably connected in the limiting groove (902).

4. The catheter clamping mechanism of a vascular interventional surgery robot according to claim 3, characterized in that: A first telescopic rod (903) is fixedly connected to the bottom of the inner wall of the limiting groove (902), the other end of the first telescopic rod (903) passes through the slideway (10) and is fixed to the inner wall of the slip ring (17), and a support spring (904) is connected to the outer surface of the first telescopic rod (903), and the two ends of the support spring (904) are respectively fixed to the outside of the first telescopic rod (903) and the inner wall of the slip ring (17), and two second telescopic rods (905) are respectively fixed on both sides of the inner wall of the slide seat (901), and the other ends of the four second telescopic rods (905) are fixed to the outer wall of the clamping seat (11), and a buffer spring (906) is connected to the outer surface of the second telescopic rod (905).

5. The catheter clamping mechanism of a vascular interventional surgery robot according to claim 1, characterized in that: The pushing assembly (13) comprises a micro motor (131) and two pushing wheels (134), wherein the micro motor (131) is fixedly mounted on the middle portion of the inner wall of the groove (12), and the two ends of the pushing wheels (134) are rotatably connected to the inner wall of the groove (12) via shaft sleeves, and transmission wheels (132) are fixed to the ends of the two output shafts of the micro motor (131) and the two pushing wheels (134), respectively, and transmission belts (133) are connected to the outer shells of the two transmission wheels (132) on the same side.

6. The catheter clamping mechanism of a vascular interventional surgery robot according to claim 1, characterized in that: The driving assembly (16) comprises an electric push rod (161), one end of the electric push rod (161) is fixed to one side of the inner wall of the mounting groove (14), and the other end of the electric push rod (161) is fixedly connected to a stop frame (162), and the stop frame (162) is slidably connected to the bottom of the inner wall of the mounting groove (14).

7. The catheter clamping mechanism of a vascular interventional surgery robot according to claim 6, characterized in that: A sliding column (163) is fixedly connected to the top of the inner wall of the retaining frame (162), the sliding column (163) passes through the sliding hole (15) and is fixed with an adjustment seat (165), and limiting rings (164) are respectively fixed above and below the outer wall of the sliding column (163), and the sliding hole (15) is located between the two limiting rings (164).

8. The catheter clamping mechanism of a vascular interventional surgery robot according to claim 7, characterized in that: Side baffles (166) are fixedly connected to both sides of the bottom of the adjustment seat (165), and a plurality of balls (167) are installed in the groove body on one side of the side baffle (166). The slip ring (17) is located between the two side baffles (166). Tracks (18) are respectively opened on both sides of the slip ring (17), and the tracks (18) are annular in design. The balls (167) in the two side baffles (166) are slidably connected in the annular tracks (18) on both sides of the slip ring (17).

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