Guide wire force measuring device for vascular interventional operation

Abstract

The invention provides a guide wire force measuring device for a vascular interventional operation, which comprises a consumable module and a driving module, a clamping mechanism for clamping a guide wire is arranged in the consumable module, and a force measuring sensor and a driving part for driving the clamping mechanism to act are arranged in the driving module. The force measuring sensor is connected with the driving component, resistance borne by the guide wire in the delivery process is transmitted to the force measuring sensor through the clamping mechanism and the driving component in sequence, and the resistance borne by the guide wire is indirectly measured through the force measuring sensor. The force transducer is arranged in the driving module, the clamping mechanism is driven by the driving component to clamp the guide wire, resistance borne by the guide wire in the delivery process is transmitted to the force transducer through the clamping mechanism and the driving component in sequence, and the resistance borne by the guide wire is indirectly measured through the force transducer. The resistance of the guide wire does not need to be approximately converted through the current of the motor, so that the measurement precision of the resistance borne by the guide wire is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a guidewire force measuring device for vascular interventional surgery. Background Art

[0002] The vascular interventional surgery robot is an important medical device that replaces human intervention in interventional surgery. Through the control of the master end, the catheter, guidewire, stent and other guidewires located at the slave end are introduced into the blood vessels in the body to perform minimally invasive diagnosis and treatment of diseases.

[0003] As a guidewire moves within a blood vessel, it encounters resistance from the vessel wall. Measuring this resistance allows the operator to more precisely control the guidewire, significantly improving surgical safety. Currently, some devices exist for measuring the resistance experienced by a guidewire. For example, a motor is used as the power source for the guidewire, and the effect of the motor's resistance on the current can be used to approximate the guidewire's resistance.

[0004] However, since the resistance encountered by the guidewire is small and the conversion process is complicated, resulting in large deviations in the results, accurate measurement of the resistance encountered by the guidewire is crucial for interventional surgical robots. It allows the operator to truly feel the magnitude of the resistance encountered by the guidewire in the current state, thereby adopting effective operation strategies and avoiding medical accidents due to operational errors.

[0005] Therefore, how to accurately measure the resistance experienced by the guidewire has become a technical problem that needs to be urgently solved by those skilled in the art. Summary of the Invention

[0006] The present invention provides a guidewire force measuring device for vascular interventional surgery, which solves the problems in the prior art of guidewire force measurement devices that cannot guarantee measurement accuracy and are prone to medical accidents.

[0007] The technical solution of the present invention is achieved as follows: The present invention provides a guidewire force measuring device for vascular interventional surgery, which is installed on a linear module and drives the guidewire force measuring device to move forward and backward through the linear module; the guidewire force measuring device includes a consumable module and a drive module, the consumable module is internally provided with a clamping mechanism for clamping the guidewire, the drive module is internally provided with a force sensor and a drive component for driving the clamping mechanism, the force sensor is connected to the drive component, and the resistance encountered by the guidewire during delivery is transmitted to the force sensor in turn through the clamping mechanism and the drive component, and the resistance encountered by the guidewire is indirectly measured through the force sensor.

[0008] Specifically, the driving module includes a lower shell, a connecting plate and a cover body, the lower shell is installed on the connecting plate, the connecting plate is slidably connected to the linear module, and the cover body is located above the lower shell and is spaced apart from the lower shell; a mounting plate is provided inside the cover body, and an avoidance opening for the driving component to pass through is provided on the cover body and the mounting plate; the driving component is fixed on the mounting plate, one end of the force sensor is connected to the mounting plate, and the other end is fixedly connected to the connecting plate.

[0009] Preferably, two force sensors are provided, and both ends of the mounting plate are provided with outwardly extending protrusions, and the side surfaces of the protrusions are connected to the corresponding force sensors via a heat insulation block.

[0010] Preferably, one end of the force sensor away from the mounting plate is connected to the connecting plate via a buffer pad.

[0011] Specifically, the driving component is an electric clamp or a pneumatic clamp.

[0012] Preferably, at least two positioning pins are provided on the top surface of the mounting plate, and positioning holes matching the positioning pins are provided on the cover body and the consumables module.

[0013] Specifically, the consumable module includes an upper shell, and the clamping mechanism is located inside the upper shell; the clamping mechanism includes a base, a rotating assembly, two brackets slidably mounted on the base and two semicircular clamping blocks, and a plurality of abutments are mounted on the brackets, and the brackets cooperate with the driving component; when the driving component drives the two brackets to approach each other to the limit position, the multiple abutments abut against the outer circumferential surfaces of the two clamping blocks after clamping; the rotating assembly includes a driving assembly and a rotating block, and the driving assembly is installed inside the driving module, and the two clamping blocks are slidably mounted on the rotating block, and the driving assembly is used to drive the rotating block to rotate, driving the two clamping blocks to clamp the guide wire and rotate under the constraints of multiple abutments.

[0014] Furthermore, a sliding seat is provided at the bottom of the bracket, and a convex edge is provided at the top of the sliding seat; a sliding cavity matching the sliding seat is provided on the base, and the sliding seat is slidably embedded in the sliding cavity; two L-shaped limit blocks matching the convex edge are provided on the base, and the limit blocks are used to press the convex edge downward; a card groove matching the driving component is provided on the bottom surface of the sliding seat, and the sliding cavity passes through the bottom surface of the base, and the two brackets are driven to move closer or farther away from each other by the driving component to drive the two clamping blocks to clamp or release.

[0015] Specifically, a first gear and a vertical plate are installed on the base, the output shaft of the drive assembly is connected to the first gear, and an open gear and a transmission gear set are installed on the vertical plate, and the open gear and the first gear are meshed and transmitted through the transmission gear set; the outer edge of the open gear is radially provided with a first avoidance groove for inserting the guide wire, and the end of the first avoidance groove extends to the center of the open gear; a second avoidance groove corresponding to the first avoidance groove is provided on the rotating block, and the rotating block is fixedly connected to the open gear, a vertical third avoidance groove is provided on the top surface of the vertical plate, and a vertical fourth avoidance groove is provided on the top surface of the upper shell, and the fourth avoidance groove corresponds to the third avoidance groove, the first avoidance groove, and the second avoidance groove.

[0016] Specifically, a slider is provided on the back of the clamping block, a sliding hole is opened on the slider, and multiple groups of clamping seats are provided on the front of the rotating block. The inner side of the end face of the clamping seat is provided with a fifth avoidance groove for the sliding rod to be placed in. After the sliding rod passes through the sliding hole in the slider, the two ends are placed in the fifth avoidance groove of the corresponding clamping seat; a compression spring is provided on the outside of the sliding rod, and the compression spring is used to force the two sliders away from each other; a cover plate is detachably installed on the clamping seat on both sides of the rotating block, and the cover plate is used to block the port of the fifth avoidance groove on the clamping seat on both sides of the rotating block.

[0017] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention provides a force sensor inside the driving module, and drives the clamping mechanism to clamp the guide wire through the driving component. The resistance experienced by the guide wire during delivery is transmitted to the force sensor in turn through the clamping mechanism and the driving component. The resistance experienced by the guide wire is indirectly measured through the force sensor, and there is no need to approximate the size of the guide wire resistance through the current of the motor, thereby greatly improving the measurement accuracy of the guide wire resistance. (2) The present invention connects one end of the force sensor to the mounting plate inside the cover and the other end to the connecting plate at the bottom of the shell, thereby avoiding direct contact between the cover and the lower shell, and preventing the resistance of the guide wire from being transmitted to the lower shell through the clamping mechanism, the driving component, the mounting plate, and the cover, thereby further ensuring the reliability of the measurement results of the force sensor; (3) The present invention connects one end of the force sensor to the mounting plate through a heat insulating block, and the other end to the connecting plate through a buffer pad. This can prevent the heat generated by the driving components and the driving assembly from being transferred to the force sensor through the mounting plate to affect the measurement accuracy. The buffer pad can isolate the impact of vibration caused by the bottom connecting plate, further ensuring the accuracy of the force sensor. (4) The present invention provides positioning pins on the top surface of the mounting plate and positioning holes matching the positioning pins on the cover and the consumable module, thereby facilitating the positioning of the cover and the mounting plate and the positioning of the consumable module and the drive module, thereby improving assembly efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 paying any creative work.

[0019] Figure 1 This is a schematic diagram of a guidewire force measuring device for vascular interventional surgery in use according to the present invention; Figure 2 Schematic diagram of the internal structure of the driving module in an embodiment of the present invention; Figure 3 Schematic diagram of the internal structure of the consumables module in an embodiment of the present invention; Figure 4 Schematic diagram of the assembly explosion of the bracket and the base in an embodiment of the present invention; Figure 5 This is a schematic diagram of the assembly of the open gear, the first gear, and the transmission gear set in an embodiment of the present invention; Figure 6 Schematic diagram of the assembly of the clamping block and the rotating block in an embodiment of the present invention; Figure 7 Schematic diagram of the assembly explosion of the clamping block and the rotating block in an embodiment of the present invention; Figure 8 This is a cross-sectional schematic diagram of a guidewire force measuring device for vascular interventional surgery according to the present invention; In the figure: 1. Linear module; 2. Consumable module; 3. Drive module; 4. Drive component; 5. Force sensor; 6. Guide wire; 7. Lower housing; 8. Connecting plate; 9. Cover; 10. Mounting plate; 11. Avoidance; 12. Bump; 13. Insulation block; 14. Buffer pad; 15. Positioning pin; 16. Positioning hole; 17. Upper housing; 18. Base; 19. Clamp; 20. Bracket; 21. Abutment; 22. Drive assembly; 23 , rotating block; 24, sliding seat; 25, convex edge; 26, sliding cavity; 27, limit block; 28, first gear; 29, vertical plate; 30, open gear; 31, first avoidance groove; 32, second avoidance groove; 33, third avoidance groove; 34, fourth avoidance groove; 35, second gear; 36, third gear; 37, fourth gear; 38, slider; 39, sliding hole; 40, seat; 41, fifth avoidance groove; 42, slide rod; 43, cover plate. DETAILED DESCRIPTION

[0020] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all 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.

[0021] Reference Figures 1 to 8 The present invention provides a guidewire force measuring device for vascular interventional surgery, wherein the guidewire force measuring device is installed on a linear module 1, and the linear module 1 drives the guidewire force measuring device to move forward and backward; the guidewire force measuring device includes a consumable module 2 and a driving module 3, and the consumable module 2 is internally provided with a clamping mechanism for clamping the guidewire 6, and the driving module 3 is internally provided with a force sensor 5 and a driving component 4 for driving the clamping mechanism. The force sensor 5 is connected to the driving component 4, and the resistance encountered by the guidewire 6 during the delivery process is successively transmitted to the force sensor 5 through the clamping mechanism and the driving component 4, and the resistance encountered by the guidewire 6 is indirectly measured by the force sensor 5.

[0022] The present invention arranges a force sensor 5 inside the driving module 3, and drives the clamping mechanism through the driving component 4 to clamp the guide wire 6. The resistance encountered by the guide wire 6 during the delivery process is transmitted to the force sensor 5 in turn through the clamping mechanism and the driving component 4. The resistance encountered by the guide wire 6 is indirectly measured by the force sensor 5, and there is no need to approximately convert the size of the resistance of the guide wire 6 through the current of the motor, thereby greatly improving the measurement accuracy of the resistance of the guide wire 6.

[0023] Specifically, if Figure 2 、 8 As shown, the driving module 3 includes a lower shell 7, a connecting plate 8, and a cover 9. The lower shell 7 is mounted on the connecting plate 8, which is slidably connected to the linear module 1. The cover 9 is located above the lower shell 7 and spaced apart from the lower shell 7. A mounting plate 10 is provided inside the cover 9. A clearance opening 11 for the driving component 4 to pass through is provided on the cover 9 and the mounting plate 10. The driving component 4 is fixed to the mounting plate 10. One end of the force sensor 5 is connected to the mounting plate 10, and the other end is fixedly connected to the connecting plate 8. By connecting one end of the force sensor 5 to the mounting plate 10 inside the cover 9 and the other end to the connecting plate 8 at the bottom of the shell, direct contact between the cover 9 and the lower shell 7 is avoided, and the resistance of the guide wire 6 is prevented from being transmitted to the lower shell 7 through the clamping mechanism, the driving component 4, the mounting plate 10, and the cover 9, thereby further ensuring the reliability of the measurement results of the force sensor 5.

[0024] In this embodiment, Figure 2 、 8As shown, the connecting plate 8 is in a "Z" shape, the top surface, one side surface and the bottom surface of the lower shell 7 are open, the bottom of the lower shell 7 is fixedly connected to the bottom plate of the connecting plate 8, the open side surface of the lower shell 7 is connected to the side plate of the connecting plate 8, and the top of the lower shell 7 is inserted into the cover body 9 and does not contact the cover body 9 (on the basis of ensuring the sealing of the lower shell 7 and the cover body 9, the force transmission between the cover body 9 and the lower shell 7 is avoided, thereby ensuring the accuracy of the force sensor 5).

[0025] Preferably, if Figure 2 、 8 As shown, two load cells 5 are provided. Outwardly extending protrusions 12 are provided at both ends of the mounting plate 10. The sides of the protrusions 12 are connected to the corresponding load cells 5 via thermal insulation blocks 13 (the normal vector of the contact surface between the protrusions 12 and the load cells 5 is parallel to the delivery direction of the guidewire 6). This prevents heat generated by the drive component 4 and the drive assembly 22 from being transferred to the load cells 5 through the mounting plate 10, thereby affecting measurement accuracy and reducing the impact of temperature drift on the accuracy of the load cells 5. The provision of two load cells 5 further ensures the reliability of measurement results.

[0026] Preferably, if Figure 2 As shown, the end of the force sensor 5 away from the mounting plate 10 is connected to the connecting plate 8 through a buffer pad 14 (a silicone pad can be used in this embodiment), which can isolate the impact of vibration of the bottom connecting plate 8 and further ensure the accuracy of the force sensor 5.

[0027] Specifically, if Figure 2 、 8 As shown, the driving component 4 is an electric clamp or a pneumatic clamp. In this embodiment, the electric clamp is selected.

[0028] Preferably, if Figure 2 As shown, two locating pins 15 are provided on the top surface of the mounting plate 10, and positioning holes 16 matching the locating pins 15 are provided on the cover body 9 and the consumable module 2, which facilitate the positioning of the cover body 9 and the mounting plate 10 and the positioning of the consumable module 2 and the drive module 3 (the locating pins 15 are only used for positioning the cover body 9 and the mounting plate 10, and the cover body 9 and the mounting plate 10 are fixedly connected by additional screws), thereby improving assembly efficiency.

[0029] Specifically, if Figure 3 、 8As shown, the consumable module 2 includes an upper shell 17, and the clamping mechanism is located inside the upper shell 17 (the bottom surface of the upper shell 17 is open); the clamping mechanism includes a base 18, a rotating assembly, two brackets 20 slidably mounted on the base 18 and two semicircular clamping blocks 19, and a plurality of abutment members 21 are mounted on the bracket 20, and the bracket 20 cooperates with the driving component 4; when the driving component 4 drives the two brackets 20 to approach each other to the limit position, the plurality of abutment members 21 abut against the outer circumferential surfaces of the two clamping blocks 19 after clamping; the rotating assembly includes a driving assembly 22 and a rotating block 23, and the driving assembly 22 is installed inside the driving module 3 (in this embodiment, the driving assembly 22 is a stepping motor), and the two clamping blocks 19 are slidably mounted on the rotating block 23, and the driving assembly 22 is used to drive the rotating block 23 to rotate, driving the two clamping blocks 19 to clamp the guide wire 6 to rotate under the constraint of the plurality of abutment members 21.

[0030] In this embodiment, Figure 3 、 8 As shown, two abutment members 21 are respectively provided on the two brackets 20. When the two brackets 20 are brought close to each other and clamped by the two clamping blocks 19, the four abutment members 21 are evenly distributed on the outer circumferential surface of the two clamping blocks 19 after clamping, providing uniform radial restraint force for the two clamping blocks 19, so that the two clamping blocks 19 always remain in a clamped state during rotation.

[0031] Furthermore, if Figure 4 As shown, a slide 24 is provided at the bottom of the bracket 20, and a convex edge 25 is provided at the top of the slide 24; a sliding cavity 26 matching the slide 24 is provided on the base 18, and the slide 24 is slidably embedded in the sliding cavity 26; two L-shaped limit blocks 27 matching the convex edge 25 are provided on the base 18, and the limit blocks 27 are used to press the convex edge 25 downward, and the convex edge 25 is embedded in the gap between the limit blocks 27 and the base 18, which can prevent the slide 24 from displacing in the vertical direction, so that the slide 24 can only slide left and right along the sliding cavity 26; the bottom surface of the slide 24 is provided with a card groove (not shown in the figure) that cooperates with the driving component 4 (an electric clamp in this embodiment), and the sliding cavity 26 runs through the bottom surface of the base 18, and the driving component 4 drives the two brackets 20 to move closer or away from each other, so as to drive the two clamping blocks 19 to clamp or release.

[0032] Specifically, if Figure 3 、 5As shown, a first gear 28 and a vertical plate 29 are installed on the base 18, and the output shaft of the drive assembly 22 is connected to the first gear 28 (the cover body 9 and the mounting plate 10 are provided with a avoidance opening 11 for the output shaft of the drive assembly 22 to pass through), and an open gear 30 and a transmission gear set are installed on the vertical plate 29, and the open gear 30 and the first gear 28 are meshed and transmitted through the transmission gear set; the outer edge of the open gear 30 is radially provided with a first avoidance groove 31 for inserting the guide wire 6, and the end of the first avoidance groove 31 extends to the center of the open gear 30; a second avoidance groove 32 corresponding to the first avoidance groove 31 is provided on the rotating block 23, and the rotating block 23 is fixedly connected to the open gear 30, a vertical third avoidance groove 33 is provided on the top surface of the vertical plate 29, and a vertical fourth avoidance groove 34 is provided on the top surface of the upper shell 17, and the fourth avoidance groove 34 corresponds to the third avoidance groove 33, the first avoidance groove 31, and the second avoidance groove 32. By correspondingly opening the first avoidance groove 31, the second avoidance groove 32, the third avoidance groove 33 and the fourth avoidance groove 34 on the open gear 30, the rotating block 23, the vertical plate 29 and the upper shell 17, it is convenient to directly place the guide wire 6 from the avoidance groove into the center of the rotating block 23 and the open gear 30 without inserting the guide wire 6, thereby improving the convenience of inserting the guide wire 6.

[0033] Furthermore, if Figure 5 As shown, the transmission gear set includes a second gear 35, a third gear 36, and two fourth gears 37. The second gear 35 meshes with the first gear 28 and the third gear 36, respectively. Through the meshing of the second gear 35 with the first gear 28, rotation on the horizontal plane is converted into rotation on the vertical plane. The third gear 36 meshes with the two fourth gears 37 at the same time, and the two fourth gears 37 mesh with the open gear 30 at the same time. The spacing between the meshing parts of the two fourth gears 37 and the open gear 30 is greater than the gap in the first avoidance groove 31. The purpose of this design is to avoid the problem of a single gear being unable to mesh with the open gear 30 at the first avoidance groove 31 when meshing. By designing the two fourth gears 37 to mesh with the open gear 30 at the same time, it can ensure continuous and smooth drive of the open gear 30.

[0034] In this embodiment, Figure 5 As shown, the first gear 28 is a spur gear, and the second gear 35 is a crown gear. The outer gear of the crown gear is engaged with the first gear 28 , and the inner gear of the crown gear is engaged with the third gear 36 .

[0035] Specifically, if Figure 6 、 7As shown, a slider 38 is provided on the back of the clamping block 19, and a sliding hole 39 is opened on the slider 38. A plurality of groups of clamping seats 40 are provided on the front of the rotating block 23. The inner side of the end surface of the clamping seat 40 is provided with a fifth avoidance groove 41 for the slide rod 42 to be placed. After the slide rod 42 passes through the sliding hole 39 in the slider 38, the two ends are placed in the fifth avoidance groove 41 of the corresponding clamping seat 40; a compression spring (not shown in the figure) is sleeved on the outside of the slide rod 42, and the two ends of the compression spring are respectively in contact with the two sliders 38, or one end is in contact with the inner side of one of the sliders 38, and the other end is in contact with the clamping seat 40. The compression spring is used to force the two sliders 38 to move away from each other; The cover plates 43 are detachably mounted on the holders 40 on both sides of the rotating block 23, and the cover plates 43 are used to block the ports of the fifth avoidance groove 41 on the holders 40 on both sides of the rotating block 23. On the one hand, it facilitates the installation of the slide rod 42, and on the other hand, it prevents the end of the slide rod 42 from escaping from the fifth avoidance groove 41 of the holder 40; the holder 40 and the cover plates 43 are designed to be used to install and fix the slide rod 42, thereby providing guidance and limiting effects for the sliding of the slider 38; by arranging a compression spring on the outside of the slide rod 42, tension can be provided for the opening and resetting of the slider 38, so that when the two brackets 20 are opened away from each other, the corresponding two clamping blocks 19 can also automatically open to release the guide wire 6.

[0036] In this embodiment, Figure 7 As shown, three groups of holders 40 are provided on the front of the rotating block 23, of which two groups of holders 40 are respectively located on both sides of the second avoidance groove 32, and each group of holders 40 includes two opposite holders 40; another group of holders 40 is located on the side of the front of the rotating block 23 opposite to the avoidance groove, and the distance between the two holders 40 on this side is longer; the purpose of this design is to ensure that the two sliders 38 can slide along the slide rod 42 on the rotating block 23 while avoiding blocking the second avoidance groove 32.

[0037] Specifically, if Figure 6 、 7 As shown, the center of the clamping block 19 defines a receiving groove, within which is located a clamping block (not shown) made of an elastic material. The thickness of the clamping block is greater than the depth of the receiving groove. When the clamping block 19 is tightened, the clamping block is squeezed and deformed, thereby clamping the guide wire 6 more tightly and further preventing the guide wire 6 from slipping during rotation.

[0038] Specifically, if Figure 3 、 4As shown in Figures 8 and 9, the abutment member 21 is a roller, which is rotatably mounted on the bracket 20. The outer circumference of the roller rolls against the outer circumferences of the two clamping blocks 19 after they are clamped. By designing the abutment member 21 as a roller, the sliding friction between the outer circumference of the clamping block 19 and the abutment member 21 can be converted into rolling friction, thereby reducing friction, making the rotation of the clamping block 19 smoother, and reducing wear and noise on the clamping block 19 and the abutment member 21.

[0039] The working principle of the force measuring device of the present invention is as follows: First, assemble the consumable module 2 onto the drive module 3 (the consumable module 2 and the drive module 3 are positioned by the positioning pin 15), so that the two clamping jaws of the electric clamp extend into the slots at the bottom of the two slides 24, and at the same time, the output shaft of the drive assembly 22 (a stepper motor in this embodiment) is keyed to the first gear 28 (can be connected by a spline), thereby completing the assembly of the consumable module 2 and the drive module 3; then, the assembled consumable module 2 and the drive module 3 are fixed as a whole to the slide of the linear module 1 through the connecting plate 8, and then the guide wire 6 is placed in the consumable module 2, so that the clamping mechanism clamps the guide wire 6; finally, the consumable module 2 and the drive module 3 are driven by the linear module 1 to move linearly along the guide wire 6 delivery direction on the slide. During the delivery process, the resistance of the end of the guide wire 6 to the blood vessel wall will be transmitted to the force sensor 5 in sequence through the clamping mechanism, the drive component 4, and the mounting plate 10, thereby quickly and accurately measuring the resistance encountered by the guide wire 6 during the delivery process.

[0040] The force sensor 5 in this embodiment is a pressure sensor. When the guide wire 6 encounters resistance during intravascular delivery, the resistance will be transmitted to the mounting plate 10 in sequence through the clamp 19, the abutment 21, the bracket 20, and the electric clamp. The mounting plate 10 then transmits the resistance to the top side of the force sensor 5 (the side in contact with the insulation block 13, which is the pressure-sensitive surface) through the protrusion 12 and the insulation block 13 at the end, thereby accurately measuring the resistance encountered by the guide wire 6 during delivery.

[0041] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A guidewire force measuring device for vascular intervention surgery, characterized in that: The guide wire force measuring device is installed on a linear module (1), and is driven by the linear module (1) to move forward and backward. The guide wire force measuring device comprises a consumable module (2) and a drive module (3), wherein a clamping mechanism for clamping the guide wire (6) is provided inside the consumable module (2), and a force sensor (5) and a drive component (4) for driving the clamping mechanism are provided inside the drive module (3), wherein the force sensor (5) is connected to the drive component (4), and the resistance experienced by the guide wire (6) during the delivery process is sequentially transmitted to the force sensor (5) through the clamping mechanism and the drive component (4), and the resistance experienced by the guide wire (6) is indirectly measured through the force sensor (5).

2. A guidewire force measuring device for vascular interventional surgery according to claim 1, characterized in that: The driving module (3) comprises a lower shell (7), a connecting plate (8) and a cover (9); the lower shell (7) is mounted on the connecting plate (8); the connecting plate (8) is slidably connected to the linear module (1); the cover (9) is located above the lower shell (7) and spaced apart from the lower shell (7); a mounting plate (10) is provided inside the cover (9); an escape opening (11) for the driving component (4) to pass through is provided on the cover (9) and the mounting plate (10); the driving component (4) is fixed on the mounting plate (10); one end of the force sensor (5) is connected to the mounting plate (10), and the other end is fixedly connected to the connecting plate (8).

3. A guidewire force measuring device for vascular interventional surgery according to claim 2, characterized in that: Two force sensors (5) are provided, and both ends of the mounting plate (10) are provided with outwardly extending protrusions (12), and the side surfaces of the protrusions (12) are connected to the corresponding force sensors (5) via heat insulation blocks (13).

4. A guidewire force measuring device for vascular interventional surgery according to claim 2, characterized in that: One end of the force sensor (5) away from the mounting plate (10) is connected to the connecting plate (8) via a buffer pad (14).

5. A guidewire force measuring device for vascular interventional surgery according to claim 2, characterized in that: The driving component (4) is an electric clamp or a pneumatic clamp.

6. A guidewire force measuring device for vascular interventional surgery according to claim 2, characterized in that: The top surface of the mounting plate (10) is provided with at least two positioning pins (15), and the cover (9) and the consumable module (2) are provided with positioning holes (16) matching the positioning pins (15).

7. A guidewire force measuring device for vascular interventional surgery according to claim 1, characterized in that: The consumable module (2) includes an upper shell (17), and the clamping mechanism is located in the upper shell (17); the clamping mechanism includes a base (18), a rotating assembly, two brackets (20) slidably mounted on the base (18) and two semicircular clamping blocks (19), and a plurality of abutting members (21) are mounted on the bracket (20), and the bracket (20) cooperates with the driving component (4); when the driving component (4) drives the two brackets (20) to approach each other to the limit position, the plurality of abutting members (21) abut against the outer circumferential surfaces of the two clamping blocks (19) after clamping; the rotating assembly includes a driving assembly (22) and a rotating block (23), the driving assembly (22) is mounted inside the driving module (3), the two clamping blocks (19) are slidably mounted on the rotating block (23), and the driving assembly (22) is used to drive the rotating block (23) to rotate, thereby driving the two clamping blocks (19) to clamp the guide wire (6) and rotate under the constraint of the plurality of abutting members (21).

8. A guidewire force measuring device for vascular interventional surgery according to claim 7, characterized in that: The bottom of the bracket (20) is provided with a slide (24), and the top of the slide (24) is provided with a convex edge (25); the base (18) is provided with a slide cavity (26) matched with the slide (24), and the slide (24) is slidably embedded in the slide cavity (26); the base (18) is provided with two L-shaped limit blocks (27) matched with the convex edge (25), and the limit blocks (27) are used to press the convex edge (25) downward; the bottom surface of the slide (24) is provided with a card groove matched with the driving component (4), and the slide cavity (26) passes through the bottom surface of the base (18), and the driving component (4) drives the two brackets (20) to move closer to or away from each other, so as to drive the two clamping blocks (19) to clamp or release.

9. A guidewire force measuring device for vascular interventional surgery according to claim 7, characterized in that: The base (18) is provided with a first gear (28) and a vertical plate (29), the output shaft of the driving assembly (22) is connected to the first gear (28), the vertical plate (29) is provided with an open gear (30) and a transmission gear set, the open gear (30) and the first gear (28) are meshed and driven by the transmission gear set; the outer edge of the open gear (30) is provided with a first avoidance groove (31) for inserting the guide wire (6) in the radial direction, and the end of the first avoidance groove (31) extends to the opening The center of the gear (30); a second avoidance groove (32) corresponding to the first avoidance groove (31) is provided on the rotating block (23); the rotating block (23) is fixedly connected to the open gear (30); a vertical third avoidance groove (33) is provided on the top surface of the vertical plate (29); a vertical fourth avoidance groove (34) is provided on the top surface of the upper shell (17); the fourth avoidance groove (34) corresponds to the third avoidance groove (33), the first avoidance groove (31), and the second avoidance groove (32).

10. The guidewire force measuring device for vascular interventional surgery according to claim 7, characterized in that: The back of the clamping block (19) is provided with a slider (38), and a sliding hole (39) is opened on the slider (38); the front of the rotating block (23) is provided with multiple groups of clamping seats (40), and the inner side of the end surface of the clamping seat (40) is provided with a fifth avoidance groove (41) for the sliding rod (42) to be placed. After the sliding rod (42) passes through the sliding hole (39) in the slider (38), the two ends are placed in the fifth avoidance groove (41) of the corresponding clamping seat (40); the outer side of the sliding rod (42) is provided with a compression spring, and the compression spring is used to force the two sliders (38) to move away from each other; the clamping seats (40) on both sides of the rotating block (23) are detachably mounted with cover plates (43), and the cover plates (43) are used to block the ports of the fifth avoidance groove (41) on the clamping seats (40) on both sides of the rotating block (23).

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