Guidewire controller and operating method thereof

Abstract

The present invention discloses a guidewire controller in a slave end device of an interventional surgical robot and a method for using the same, and belongs to the technical field of minimally invasive vascular interventional surgery. The guidewire controller includes a guidewire controller base, and a guidewire clamping device and a clamping switching mechanism installed on the guidewire controller base; the guidewire clamping device is used to clamp the guidewire, and the clamping switching mechanism is used to drive the guidewire clamping device to loosen the clamping of the guidewire; the guidewire locker adopts a special conical surface and conical hole structure to achieve the clamping of the guidewire. The base is installed on a height-adjustable base, and the base also has a guidewire torsion device and a force measuring component. The overall structure of the present invention is simple, and it adopts a modular structural design, which is easy to disassemble and assemble. It has a compact structure, is light in overall weight, and has a low manufacturing cost.

Description

Technical Field

[0001] The present invention belongs to the technical field of minimally invasive vascular interventional surgery and relates to a guidewire controller and a control method thereof. The guidewire controller can be used in angiography, interventional surgery virtual reality surgery training and actual surgical operations. Background Art

[0002] Cardiovascular diseases are the most common human illness and a leading cause of death worldwide, posing a serious threat to human health. Cardiovascular and cerebrovascular diseases are among the three major causes of death in humans, with 2.5 million of the 9 million cardiovascular and cerebrovascular disease patients in my country dying each year.

[0003] Minimally invasive cardiovascular interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. It is an emerging medical procedure that uses an interventional catheter to reach distant lesions along the lumen of blood vessels, such as the coronary arteries, brain, liver, and kidneys, under the guidance of medical imaging equipment, and then performs minimally invasive treatment on the lesions. During vascular interventional treatment, doctors need to rely on X-ray-based digital silhouette angiography (DSA) to complete the operation. Although doctors are equipped with lead-containing protective clothing, they still cannot protect their upper limbs and head from X-ray radiation. Due to the complexity of vascular interventional treatment, they often need to be exposed to X-ray environments for a long time, and the cumulative radiation exposure of doctors is high. In addition, wearing heavy lead-containing protective clothing for a long time increases the pressure load on the spine. Many reports have shown that the incidence of thyroid cancer, radiation lens damage, lumbar spondylosis, etc. among vascular interventional doctors is significantly higher than that of doctors in other disciplines. Nationwide, approximately 700,000 medical professionals perform endovascular procedures, with over 10 million endovascular procedures performed annually. X-ray-related occupational injuries have become an unavoidable issue, posing a serious threat to physicians' health and the long-term development of vascular interventional therapy. Surgical methods that leverage robotic technology for catheter and guidewire remote control can effectively address this issue, significantly improving surgical precision and stability while effectively reducing radiation exposure to surgeons and lowering the risk of intraoperative accidents. Consequently, robotic assistance for cardiovascular and cerebrovascular interventional surgery is attracting increasing attention and becoming a key research and development focus in the medical robotics field worldwide.

[0004] Currently, vascular interventional surgical robots primarily utilize a master-slave operation structure to isolate the surgeon from radiation. For example, the invention patent application number 201410206956.7 filed by Tianjin University of Technology discloses a slave manipulator device for a master-slave minimally invasive vascular interventional surgery auxiliary system. The device comprises an axial push unit, a rotation unit, a gripping unit, a surgical catheter, an operating force detection unit, and an angle adjustment base. Its operating methods include signal detection, transmission, processing, and operation. Advantages include: It can mimic the surgeon's interventional movements, achieving high precision and effectively improving surgical safety; and ensuring that the angle desired by the operator can be adjusted for different patients or interventional locations. For example, Harbin Institute of Technology applied for a patent titled "A Catheter Robot System for Minimally Invasive Intravascular Interventional Surgery." The patent utilizes a controllable catheter that can obtain positional information about the catheter's bendable and controllable segments, ensuring flexibility at the catheter's front end and maneuverability during intubation. The system also controls the master-slave interventional device via a master handle to push, pull, rotate, and bend the catheter. Furthermore, the system can obtain information about the operating room's catheter delivery force, ensuring precision and stability during intubation. For example, Beijing Institute of Technology applied for a patent numbered 201610119761.8, titled "Master-Slave Minimally Invasive Vascular Interventional Surgery Robot Slave and Control Method Thereof." The patent includes a slave control mechanism and a slave mobile platform. The slave control mechanism consists of a clamping drive mechanism I, a thrust feedback mechanism II, a non-destructive clamping mechanism III, and a clamping control mechanism IV. This solution completes the operations of clamping, releasing, rotating, pushing, and pushing force measurement of the guidewire during surgery by designing a non-destructive clamping mechanism, a clamping control mechanism, a clamping drive mechanism, and a thrust feedback mechanism. This increases the accuracy of pushing force measurement and improves the reliability of guidewire clamping. However, its structure is relatively complex and its ease of disassembly and assembly has not been greatly improved. At the same time, the problem of the relative position between the catheter or guidewire head and the blood vessel wall during the pushing process has not been well solved.

[0005] The above schemes are all relatively advanced research on vascular interventional surgical robots in China, but they all have the following problems: (1) The clamping force for the guide wire is poor; (2) The structure is relatively bloated and complicated, which not only has high manufacturing costs but also affects the operation accuracy; (3) The guide wire is inconvenient to disassemble and assemble, and it is not easy to replace the guide wire during surgery, and it is not convenient to disinfect the guide wire and the interface; (4) The relative position and force of the guide wire in the blood vessel cannot be known during surgery, and the surgical risk is high.

[0006] The inventor has been collaborating with Beijing Institute of Technology to conduct research on the technology of interventional surgical robots, and is committed to improving the operation of the device to better meet the actual needs of doctors, with a simpler structure and easier disassembly and assembly. Summary of the Invention

[0007] The present invention provides a guidewire controller and a control method thereof. The guidewire controller aims to solve the problems of the complicated guidewire clamping structure and inconvenient clamping in the prior art, and the inability to intuitively sense the guidewire rotation angle and force conditions. The guidewire controller adopts a modular design, has a simple structure, is easy to disassemble and assemble, and is convenient for replacement and disinfection. The method uses a guidewire clamping device and a clamping switching mechanism to complete the clamping and loosening of the guidewire, and is equipped with a six-axis force sensor. This solves the problem that existing robots have difficulty in completing the coordinated operation of the catheter and guidewire and the inability to intuitively sense the surgical operation. The guidewire controller is used for interventional surgery or angiography, improves the safety and operability of interventional surgery or angiography, has a simple structure and is easy to implement. At the same time, the device can also be used for surgical training, teaching, or training.

[0008] The present invention is achieved through the following technical solutions:

[0009] A guide wire controller, characterized in that it comprises a guide wire controller base (6) and a guide wire clamping device (7) installed on the guide wire controller base (6), a clamping switching mechanism (8) installed on the guide wire controller base (6), and a six-axis force sensor force measuring device (9); an angle adjustment base (10) is installed under the base; the guide wire clamping device (7) is used to clamp the guide wire; the clamping switching mechanism (8) is used to drive the guide wire clamping device (7) to release the clamping of the guide wire; the six-axis force sensor force measuring device (9) is used to measure the resistance or resistance torque during the movement of the guide wire; the guide wire clamping device (7) is located on the upper side of the guide wire controller base (6), and the clamping switching mechanism (8) is located on the rear side of the guide wire controller base (6). The guide wire clamping device (7) includes a guide wire locking sleeve (710), a guide wire locking rod (720) and a guide wire locker (730). The guide wire locking sleeve (710) has a tapered hole, and the guide wire locker (730) has an outer conical surface that matches the tapered hole of the guide wire locking sleeve (710). At least two incisions are opened on the outer conical surface of the guide wire locker (730) along the circumferential direction. The guide wire locker (730) clamps the guide wire by radial contraction under force.

[0010] One end of the guide wire locking rod (720) is installed with a guide wire locker (730) and then inserted into the guide wire locking sleeve (710). The guide wire locking rod (720) squeezes the guide wire locker (730) so that the guide wire locker (730) clamps the guide wire.

[0011] The guide wire locking rod (720) is sleeved with a spring (740), and the spring (740) is pressed into the guide wire locking sleeve (710) through a locker end cover (760) installed at the end of the guide wire locking sleeve (710).

[0012] The clamping switching mechanism (8) is connected to the guide wire locking rod (720) and can pull the guide wire locking rod (720) to compress the spring (740), so that the guide wire locking rod (720) releases the squeezing of the guide wire locker (730), thereby causing the guide wire locker (730) to release the clamping of the guide wire.

[0013] The outer conical surface of the guidewire locker (730) is preferably provided with four cuts along the circumferential direction, so as to divide the conical end into four equal parts.

[0014] The guidewire controller base (6) includes a shell (610) and an upper cover (620) covering the shell (610); a partition (910) is installed in the shell (610); a plug-in board (941) of a guidewire connector (940) passes through the upper cover (620); a pair of plug-in boards (611) are provided at the bottom of the shell (610); a support plate (140) at the upper part of the angle adjustment base (10) is provided with a socket (130); the plug-in board (611) is inserted into the socket (130) and fixed by a pin.

[0015] The angle adjustment base (10) comprises a vertical plate (110), a base (120), a support plate (140), a vertical plate connecting shaft (150), a sleeve (160), a sleeve connecting shaft (170), an adjustment rod (180), a connecting shaft (190) and a fastening screw (200).

[0016] The guidewire controller further comprises a guidewire twisting device (630); the guidewire twisting device (630) is used to drive the guidewire locking sleeve (710) to rotate.

[0017] The guidewire twisting assembly (630) includes a motor (631) mounted on a guidewire controller base (6), the motor (631) being connected to a pinion (632); a large gear (633) meshing with the pinion (632) is mounted on the guidewire locking sleeve (710); a torque sensor is mounted between the output end of the motor and the pinion; when the torque sensor detects the output torque of the rotary drive motor, the real-time output torque minus the no-load output torque is obtained to obtain the real-time torque during the operation of the surgical catheter.

[0018] The guidewire locking sleeve (710) is supported on the guidewire controller base (6) through a sleeve support assembly (790); the sleeve support assembly (790) includes a positioning base (791), and the guidewire locking sleeve (710) is installed in the positioning base (791) through a bearing (780).

[0019] The bottom of the positioning base (791) is provided with a toggle locking switch (792) through a connecting seat (793); the guide wire connector (940) is provided with a plug-in board (941) with a plug-in hole (942); by toggling the locking switch (792), the locking switch (792) can be inserted into the plug-in hole (942), thereby locking the guide wire connector (940).

[0020] The six-axis force sensor force measuring device (9) comprises a partition (910), a guide wire connector (940) and a six-axis force sensor (950) arranged in a guide wire controller base (6); the guide wire connector (940) is used to connect to the sleeve support assembly (790), and is movably arranged on the partition (910) through a linear guide pair (920); one end of the six-axis force sensor (950) is connected to the partition (910), and the other end is connected to the guide wire connector (940).

[0021] A control method for a guidewire controller for an interventional surgical robot as described above, wherein a guidewire clamping device (7) is used to clamp the guidewire, and a clamping switching mechanism (8) is used to drive the guidewire clamping device (7) to release the clamping of the guidewire, wherein the clamping and release of the guidewire are controlled separately.

[0022] The guidewire controller of the present invention can be used to manufacture devices such as interventional surgery robots, angiography robots, and simulated surgery robots.

[0023] Beneficial effects

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] (1) The guidewire controller of the present invention completes the clamping and loosening of the guidewire by detachably mounting the guidewire clamping device and the clamping switching mechanism on the base part. The structural design and simple combination method are convenient for assembly and disassembly, replacement and disinfection. Different from the existing clamping method of the guidewire, the guidewire clamping mechanism of the present invention clamps the guidewire normally, while the clamping switching mechanism can drive the guidewire clamping mechanism to loosen the guidewire when necessary, and can control the clamping and loosening separately, thereby greatly simplifying the clamping structure of the guidewire, and is also conducive to cooperating with the clamping of the catheter to complete the coordinated operation of the catheter guidewire.

[0026] (2) The guidewire clamping device in the guidewire controller of the present invention adopts a special guidewire locker and a conical surface matching form of the guidewire locking sleeve. The guidewire locking rod can squeeze the guidewire locker to cause it to contract radially, thereby clamping the guidewire. In this way, the entire circumference of the guidewire is subjected to clamping force, the clamping area is large, the clamping is reliable, and the damage to the guidewire is small;

[0027] (3) In the guidewire controller of the present invention, a spring in the guidewire clamping mechanism applies force to the guidewire locking rod, causing it to squeeze the guidewire locker to complete the clamping of the guidewire. The clamping force of the guidewire can be conveniently adjusted by adjusting the pre-compression amount of the spring, and the adjustment is convenient;

[0028] (4) The guide wire controller of the present invention can release the guide wire locker from clamping the guide wire through the structural form of the clamping switching mechanism and the guide wire clamping mechanism. The turntable in the clamping switching mechanism is driven to rotate by the servo, and the wire on the turntable is wound, and the wire pulls the guide wire locking rod to overcome the elastic force of the spring and move, thereby squeezing the guide wire locker and releasing the guide wire. This structural method is simple, the switching is convenient and reliable, and the controllability is strong;

[0029] (5) The guidewire controller of the present invention can realize the twisting operation of the guidewire through the guidewire twisting device, thereby meeting the angle control of the guidewire tip during the operation and ensuring that the catheter can be smoothly advanced to the predetermined position in the blood vessel; the guidewire twisting device adopts the form of a motor-driven gear, and the rotation speed of the catheter can be adjusted by adjusting the transmission ratio of the small gear and the large gear;

[0030] (6) The guidewire controller of the present invention can detect the pushing force of the guidewire during the pushing process through the force measuring component, thereby achieving precise control of the guidewire and improving surgical safety; the use of a six-axis force sensor for real-time dynamic force feedback can enable the doctor to intuitively feel the size of the resistance, making it convenient for the doctor to accurately control the pushing force during surgery; the force measuring component is installed inside the base part, has a compact structure, and is relatively closed, which can well protect the six-axis force sensor. In addition, the force measuring form of the six-axis force sensor is simple and convenient, with relatively few intermediate connecting parts and high force measurement accuracy;

[0031] (7) In the guidewire controller of the present invention, the guidewire clamping mechanism adopts a structure in which a positioning base supports a guidewire locking sleeve through a bearing, which neither affects the clamping of the guidewire nor affects the guidewire twisting device driving the guidewire locking sleeve to rotate;

[0032] (8) The guidewire controller of the present invention has an ingenious connection structure between the positioning base of the guidewire clamping mechanism and the guidewire connector. Connection or release can be completed by toggling the locking switch, which is convenient for disassembly and assembly;

[0033] (9) The guidewire controller of the present invention is equipped with an angle adjustment base, which can be adjusted to obtain any intervention angle of 0-45° according to different patients or surgical intervention positions. The overall structure is simple and modular, and the assembly and disassembly are simple and compact. Most of the components can be made of plastic, which is lightweight and has a low manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1Schematic diagram of the three-dimensional structure of the guidewire controller of the present invention;

[0035] Figure 2 This is a schematic diagram of the main structure of the base part of the guidewire controller of the present invention;

[0036] Figure 3 for Figure 2 Cross-sectional view of AA;

[0037] Figure 4 for Figure 3 Cross-sectional view of the middle BB;

[0038] Figure 5 Schematic diagram of the explosion of the base part of the guidewire controller of the present invention;

[0039] Figure 6 Schematic diagram of the main structure of the guidewire clamping mechanism in the guidewire controller of the present invention;

[0040] Figure 7 for Figure 6 Cross-sectional view of CC;

[0041] Figure 8 for Figure 7 Cross-sectional view of the middle DD;

[0042] Figure 9 Schematic diagram of an exploded view of a guidewire clamping mechanism in a guidewire controller of the present invention;

[0043] Figure 10 Schematic diagram of the three-dimensional structure of the clamping switching mechanism in the guidewire controller of the present invention;

[0044] Figure 11 This is an exploded view of the clamping switching mechanism in the guidewire controller of the present invention.

[0045] Figure 12 This is a schematic diagram of the angle-adjustable base structure of the present invention;

[0046] Figure 13 This is a schematic diagram of the displacement acquisition unit structure of the present invention;

[0047] Figure 14 Schematic diagram of the three-dimensional structure of the operating platform viewed from above

[0048] The reference numerals in the accompanying drawings represent:

[0049] 6. Guidewire controller base; 610. Housing; 611. Insert plate; 620. Upper cover; 630. Guidewire twisting device; 631. Motor; 632. Small gear; 633. Large gear;

[0050] 7. Guidewire clamping device; 710. Guidewire locking sleeve; 720. Guidewire locking rod; 730. Guidewire locker; 740. Spring; 750. Washer; 760. Locker end cap; 770. Locker pull plate; 780. Bearing; 790. Sleeve support assembly; 791. Positioning base; 792. Locking switch; 793. Connecting seat; 794. Bearing pressure plate; 795. Positioning pressure plate;

[0051] 8 clamping switching mechanism; 810 servo seat; 811 plug-in block; 820 servo; 830 turntable; 840 switching plate; 850 linear guide pair A;

[0052] 9 Six-axis force sensor force measuring device; 910 partition; 920 linear guide pair B; 930 support plate; 940 guide wire connector; 941 plug-in board; 942 plug-in hole; 950 six-axis force sensor; 960 sensor fixing plate.

[0053] 10 angle adjustment base; 110 vertical board; 120 base frame; 130 socket; 140 support plate; 150 vertical board connecting shaft; 160 sleeve; 170 sleeve connecting shaft; 180 adjustment rod; 190 connecting shaft and 200 fastening screws. DETAILED DESCRIPTION

[0054] The present invention is further described below with reference to specific embodiments and accompanying drawings.

[0055] Example 1

[0056] This embodiment provides a guidewire controller mounted on a platform connection block. The platform connection blocks 1130 are two, with a catheter controller and a guidewire controller mounted in each of the two platform connection blocks 1130. The platform connection blocks 1130 are mounted on a support platform 1110 via linear guide rails 1020. Each platform connection block 1130 is independently driven by a drive mechanism 1140, with the number of drive mechanisms matching the number of platform connection blocks. The catheter controller is used to clamp the catheter and perform rotation and thrust force detection on the catheter, while the guidewire controller is used to clamp the guidewire and perform rotation and thrust force detection on the guidewire.

[0057] Each of the driving mechanisms 1140 includes a driving motor 1142 , a rope 1141 and a tensioning mechanism 1150 ;

[0058] The device utilizes a multi-slide system with a single track, utilizing a support platform 1110, platform connection block 1130, drive mechanism 1140, and tensioning mechanism 1150 to simultaneously control the linear movement of both the catheter controller and the guidewire controller on the same linear track. A six-axis force sensor provides feedback on the physician's hand forces. This device offers advantages such as easy installation and adjustment, high control accuracy, and the ability to simultaneously push the catheter and guidewire, providing feedback on the force of interventional devices like guidewires and catheters, resulting in a realistic feel.

[0059] The structure of the guidewire controller is described in detail.

[0060] Guidewire controller mechanism

[0061] like Figure 1 As shown, the guidewire controller mainly includes eight parts: a guidewire controller base 6, a guidewire clamping device 7, a clamping switching mechanism 8, a guidewire twisting device 630, a six-axis force sensor force measuring device 9, and an angle adjustment base 10. The guidewire controller base 6 serves as the mounting base for the other four parts. The guidewire clamping device 7 and the clamping switching mechanism 8 are both detachably mounted on the guidewire controller base 6. The guidewire clamping device 7 is located on the upper side of the guidewire controller base 6, and the clamping switching mechanism 8 is located on the rear side of the guidewire controller base 6. The guidewire clamping device 7 is used to clamp the guidewire, and the clamping switching mechanism 8 is used to drive the guidewire clamping device 7 to release the guidewire. The guidewire twisting device 630 is used to complete the guidewire twisting operation. The six-axis force sensor force measuring device 9 is used to detect the pushing force of the guidewire. The six-axis force sensor can provide real-time feedback on the resistance and resistance torque between the guidewire and the blood vessel wall. Through the coordination of its various components, the device can clamp, release, push, twist, and measure force on the guidewire, thereby coordinating with the catheter's control and achieving coordinated operation during surgery. The following describes the specific structure of each component in detail.

[0062] Combine Figures 2 to 5 、 Figure 12 As shown, the guidewire controller base 6 mainly includes a shell 610 and an upper cover 620; in this embodiment, the shell 610 is a shell-like structure with an open top and rear end, and the upper cover 620 is installed on the top of the shell 610, so that a relatively closed space is formed in the shell 610, making room for the subsequent installation of the guidewire twisting device 630 and the six-axis force sensor force measuring device 9. The guidewire clamping device 7 is installed above the upper cover 620, and the clamping switching mechanism 8 is fixed on the rear side of the shell 610. The installation positions are reasonably distributed and meet the needs of realizing their respective functions. Since the guidewire controller base 6 serves as the basic part, the entire device is installed on the tilt-adjustable base through it to perform corresponding operations. For the convenience of installation, a pair of plug plates 611 are set at the bottom of the shell B610, and the plug plates 611 are inserted into the socket 130 and then fixed by pins.

[0063] The angle adjustment base is composed of a vertical plate 110, a base 120, a support plate 140, a vertical plate connecting shaft 150, a sleeve 160, a sleeve connecting shaft 170, an adjustment rod 180, a connecting shaft 190 and a fastening screw 200; the vertical plate is installed on the base; the sleeve is connected to the base and can rotate around the sleeve connecting shaft; the adjustment rod is embedded in the sleeve 26, and a fastening screw with adjustable embedding length is provided at the connection; the support plate of the angle adjustment base is respectively connected to the vertical plate through the vertical plate connecting shaft, and is connected to the adjustment rod through the connecting shaft, and the vertical plate connecting shaft and the connecting shaft are rotatable connecting shafts.

[0064] According to the needs of different patients or surgical intervention positions, the angle adjustment base can be adjusted to obtain any intervention angle of 0-45°; the length of the adjustment rod inserted into the sleeve determines the size of the intervention angle. When the length of the adjustment rod inserted into the sleeve reaches the required intervention angle, the adjustment rod is fixed by tightening the screw to keep the required angle unchanged.

[0065] Combine Figures 2 to 5 As shown, the six-axis force sensor force measuring device 9 is installed in the shell 610, and its structure is similar to that of the catheter force measuring assembly 5. It mainly includes a partition 910, a guide wire connector 940 and a six-axis force sensor 950; wherein, the partition 910 is installed in the middle of the shell 610, roughly dividing the space inside the shell 610 into two parts, the upper and lower parts, and the two opposite sides of the partition 910 are folded upward to form side panels, and a linear guide pair 920 is installed on the opposite inner sides of the two side panels. The linear guide pair 920 is connected to the guide wire connector 940, and the guide wire connector 940 is used to connect the guide wire clamping device 7, so that the guide wire connector 940 can slide relative to the partition 910, which is also the prerequisite for the subsequent push force detection of the guide wire. In this embodiment, the linear guide pair 920 also preferably adopts a ball linear guide pair, and the friction force is small and can be almost ignored, so that the movement resistance of the guide wire connector 940 can be ignored, ensuring the high precision of the guide wire push force detection. The linear guide pair 920 includes a guide rail and a slider. The guide rail is fixed to the side plate of the partition 910, and the slider is connected to the guidewire connector 940 via a support plate 930. An L-shaped sensor fixing plate 960 is also mounted on the partition 910. One end of the sensor 950 is connected to the guidewire connector 940, and the other end is connected to the sensor fixing plate 960. In this way, the thrust of the guidewire is transmitted to the guidewire connector 940 through the guidewire clamping device 7. The guidewire connector 940 moves relative to the partition 910, generating a tensile force on the six-axis force sensor 950. The six-axis force sensor 10 can measure the resistance and resistance torque between the catheter and the blood vessel wall in real time.

[0066] The base is equipped with guide rails, and the displacement acquisition unit 1150 is mounted on the base. It includes a laser mouse displacement sensor 51, an interventional instrument guide tube 52, a guide tube fixing base 53, and a guide rail 54. The laser mouse displacement sensor 51 is fixed to the base. Two tube fixing bases 53 are located at either end of the laser mouse displacement sensor 51. Their bottoms mate with the guide rails 54 through wedge-shaped surfaces. The guide rails 54 are fixed to the base with screws. The interventional instrument guide tube 52 is fixed to the guide tube fixing bases 53.

[0067] The guide wire passes through the measurement area of ​​the laser mouse displacement sensor 51 along the interventional instrument guide tube 52 and enters the guide tube 52. At this time, the laser mouse displacement sensor 51 measures the axial displacement and rotational displacement of the guide wire in real time and sends the displacement signal to the computer for processing; the position of the guide tube fixing seat 53 can be adjusted along the guide rail 54.

[0068] To facilitate the connection between the guidewire connector 940 and the guidewire clamping device 7, this embodiment provides a pair of plug-in plates 941 with plug-in holes 942 on the guidewire connector 940. The plug-in plates 941 extend through the upper cover 620 from within the housing 610, so that the plug-in holes 942 are higher than the surface of the upper cover 620. This allows the guidewire connector 940 to be quickly connected or disconnected from the guidewire clamping device 7. Furthermore, to accommodate the structural form of the guidewire connector 940, the structure of the guidewire clamping device 7 also has specific requirements, which will be described in detail below.

[0069] like Figures 6 to 9As shown, the guide wire clamping device 7 includes a guide wire locking sleeve 710, a guide wire locking rod 720, a guide wire locker 730 and a sleeve support assembly 790; wherein, the guide wire locking sleeve 710, the guide wire locking rod 720 and the guide wire locker 730 all have a central hole running through their respective axes for the guide wire to pass through; the guide wire locker 730 is a mushroom-shaped structure with two ends of different sizes, the smaller end can be inserted into the end of the guide wire locking rod 720, and the larger end is exposed to the outside and has an outer conical surface, at least two incisions are opened along the circumferential direction of the outer conical surface, and four incisions are opened in this embodiment to divide the tapered end into four equal parts; and the guide wire locking rod 720 loaded with the guide wire locker 730 is inserted into the guide wire locking sleeve 710, and the guide wire locker 730 has a tapered hole that matches the outer conical surface of the guide wire locker 730. At the same time, the guide wire locking rod 720 has a retaining ring at one end close to the guide wire locking rod 720, and a spring 740 is sleeved on the guide wire locking rod 720. One end of the spring 740 is limited by the retaining ring, and then a locker end cover 760 is installed at the end of the guide wire locking sleeve 710, and the spring 740 is pressed into the guide wire locking sleeve 710. A gasket 750 is set between the locker end cover 760 and the end of the spring 740 to enable the locker end cover 760 to better compress the spring 740. In this way, the locker end cover 760 squeezes the spring 740, and the spring 740 applies a thrust to the guide wire locking rod 720, and then the guide wire locking rod 720 squeezes the guide wire locker 730, so that the outer conical surface of the guide wire locker 730 and the conical hole surface of the guide wire locking sleeve 710 move relative to each other. Due to the presence of the incision on the guide wire locker 730, the end of the guide wire locker 730 with the conical surface will radially shrink to clamp the guide wire. In this way, the guide wire is subjected to clamping force along the entire circumference, the clamping area is large, the clamping is reliable, and the damage to the guide wire is small.

[0070] In order to meet the connection requirements of the above-mentioned guidewire clamping device 7 and the guidewire connector 940, and the subsequent guidewire twisting device 630 to achieve twisting of the guidewire, this embodiment designs the support structure of the guidewire locking sleeve 710, and adopts a structural form in which the guidewire locking sleeve 710 is supported and arranged on the guidewire controller base 6 through the sleeve support assembly 790. The sleeve support assembly 790 includes a positioning base 791, a bearing pressure plate 794 and a positioning pressure plate 795; wherein, the positioning base 791 has a U-shaped accommodating cavity with two bearing slots in the accommodating cavity, a bearing 780 is installed at each end of the guide wire locking sleeve 710, and the two bearings 780 are clamped in the bearing slots. The bearing pressure plate 794 is used to press the bearings from above the bearings 780 to prevent axial movement of the guide wire locking sleeve 710. The bearing pressure plate 794 is then fixed by the positioning pressure plate 795 to prevent radial movement of the guide wire locking sleeve 710. The bearing pressure plate 794 and the positioning base 791 are connected in a plug-in manner, which is convenient for insertion and assembly. In addition, an open slot is provided on each side of the bottom of the positioning base 791, and a connecting seat 793 is provided in the open slot. A locking switch 792 that can be toggled is provided in the space between the positioning base 791 and the connecting seat 793. The locking switch 792 is used to lock or unlock the guide wire connector 940. The locking switch 792 consists of a horizontal card plate and a vertical toggle plate. The card plate is slidably arranged in a slide groove on the connecting seat 793. The toggle plate passes through a hole in the positioning base 791, exposing the surface of the connecting seat 793 for toggling. When the guide wire clamping device 7 is installed above the upper cover 620, the plug-in plate B941 is inserted into the vertical socket formed between the positioning base 791 and the connecting seat 793. By toggling the locking switch 792, the card plate can be inserted into the plug-in hole B942 of the plug-in plate B941, thereby realizing a detachable connection between the guide wire clamping device 7 and the guide wire connector 940.

[0071] Combine Figures 1 to 5 As shown, the guidewire twisting device 630 comprises a motor 631, a pinion 632, and a large gear 633. The motor 631 is secured within the housing 610 for good protection. The output shaft of the motor 631 is connected to the pinion 632, and the large gear 633 is keyed to the front end of the guidewire locking sleeve 710. The pinion 632 and large gear 633 mesh with each other for transmission. A torque sensor is mounted between the motor output and the pinion.

[0072] During operation, motor 631 drives pinion 632 to rotate. Through the meshing of the large and small gears, large gear 633 drives guidewire locking sleeve 710 to rotate. With the guidewire clamped, the guidewire rotates along with guidewire locking sleeve 710, adjusting the angle of the guidewire tip and ensuring smooth advancement of the catheter within the blood vessel. When the torque sensor detects the output torque of the rotary drive motor, the real-time torque during surgical catheter operation is calculated by subtracting the no-load output torque from the real-time output torque.

[0073] The guidewire twisting device 630 can be used to twist the guidewire, thereby meeting the angle control of the guidewire tip during the operation and ensuring that the guidewire can be smoothly advanced to the predetermined position in the catheter and the blood vessel; the guidewire twisting device 630 adopts the form of a motor 631 to drive the gear, and the rotation speed of the guidewire can be adjusted by adjusting the transmission ratio of the large and small gears.

[0074] Combine Figure 10 and Figure 11 As shown, the clamping switching mechanism 8 includes a servo seat 810 and a servo 820; wherein, the servo seat 810 is used to install the clamping switching mechanism 8 on the housing 610, and the servo 820 is installed on the servo seat 810. The servo 820 is connected to a turntable 830 and can drive the turntable 830 to rotate. A wire is wound around the turntable 830, and the free end of the wire is used to pull the guide wire locking rod 720, so that the guide wire locking rod 720 releases the squeezing of the guide wire locker 730, thereby causing the guide wire locker 730 to release the clamping of the guide wire. In order to achieve the above functions without affecting the clamping of the guide wire in the normal state, the connection structure between the wire and the guide wire locking rod 720 is designed. In this embodiment, the end of the guide wire locking rod 720 is connected to a locking plate 770 by a thread. The locking plate 770 and the locking end cover 760 are separated by a distance. This distance can be adjusted by the length of the threaded fit between the locking plate 770 and the guide wire locking rod 720. At the same time, a straight line guide is provided on the partition 910 to The rail pair 850 is provided with a switching plate 840, which has an arc notch. Through the notch, the switching plate 840 is stuck between the lock end cover 760 and the lock pull plate 770. The upper line of the turntable 830 is connected to the switching plate 840, so that the servo 820 drives the turntable 830 to rotate, and the switching plate 840 is pulled backward by the line. The switching plate 840 is blocked by the lock pull plate 770, driving the guide wire locking rod 720 to overcome the spring 740 and move backward, thereby releasing the guide wire.

[0075] In order to facilitate the installation of the guide clamping switching mechanism 8 on the housing 610, the servo seat 810 is provided with a pair of plug-in blocks 811 for installing it on the housing 610. The connection can be completed by inserting the plug-in blocks 811 into the rear side of the housing 610 and fixing them with bolts.

[0076] In the prior art, the clamping and loosening of the guide wire are achieved through the same mechanism, and they are not operated separately, resulting in a relatively complex clamping structure. However, in actual use, the guide wire needs to be clamped in most cases. Generally, in catheter and guide wire combined surgery, the guide wire is only released when the catheter clamping position and the guide wire clamping position reach the limit position and the guide wire clamping position needs to be adjusted. Therefore, this embodiment controls the clamping and loosening of the guide wire separately in consideration of actual usage. The guide wire clamping device 7 clamps the guide wire by default, and when the guide wire needs to be loosened, it is switched through the clamping switching mechanism 8 to loosen the guide wire, thereby greatly optimizing the structure.

[0077] In summary, the structure and connection relationship of the various parts of the guidewire controller for interventional surgical robots have been clearly and completely described. Its advantages are:

[0078] ① The overall structure is simple and adopts a modular structural design. Each part is relatively independent and can be assembled through simple combination. It is easy to assemble and disassemble, and the structure is compact and small in size. Most of the components have a simple structure and can be made of plastic products, which is light in weight and greatly reduces the manufacturing cost.

[0079] ② It can simultaneously realize the clamping, loosening, pushing, twisting, force measurement, displacement monitoring and force feedback of the guidewire. The six-axis force sensor installed on the device can transmit the force and torque information of the guidewire in real time, so that the operator can remotely sense the resistance generated during the wire feeding process, providing strong guidance for the operator's subsequent actions. It cooperates with the catheter controller to coordinate the control of the catheter and guidewire to meet various operational requirements of the surgery.

[0080] ③ It has an angle-adjustable base that can adjust the angle according to surgical needs, with wider adaptability and a relatively closed structure, which provides better protection for sensors and motors;

[0081] The above-mentioned guidewire controller can mainly complete the clamping, loosening, pushing, twisting, force measurement and force feedback of the guidewire to meet various operational requirements of interventional surgery. The corresponding operating steps are described in detail below.

[0082] First, the guide wire controller base 6 is inserted into the socket of the angle adjustment base through the plug plate 611 and fixed with a pin, so that the angle adjustment base is reliably connected to the platform connecting block. Then, the front end of the guide wire is passed through the guide wire locking rod 720 and the guide wire locker 730 in sequence, and extends out from the front end of the guide wire locking sleeve 710, and the locker end cap 760 is tightened to clamp the guide wire.

[0083] After the above preparations, the guide wire can be controlled accordingly, as follows:

[0084] (1) Guidewire pushing operation

[0085] The servo B820 does not move, the guide wire is clamped by the guide wire locker 730, and the platform connecting block 1130 moves, thereby driving the guide wire to move forward together, thereby pushing the guide wire.

[0086] (2) Guidewire pushing force detection

[0087] During the guidewire pushing process, the pushing force of the guidewire is transmitted to the six-axis force sensor 950 through the guidewire clamping device 7. The six-axis force sensor B950 is deformed and converts the force signal into an electrical signal output, thereby measuring the pushing force.

[0088] (3) Guidewire twisting operation

[0089] Under the premise of the guide wire being clamped, the motor 631 is energized, and through the meshing transmission of the small gear 632 and the large gear 633, the guide wire locking sleeve 710 is driven to rotate, thereby driving the guide wire to rotate and realize the twisting operation of the guide wire.

[0090] (4) Guidewire release operation

[0091] The servo 820 is powered, driving the turntable 830 to rotate, and the wire is wound around the turntable 830, first driving the switching plate 840 to move backward, and the switching plate 840 pulls the guide wire locking rod 720 to move, and the guide wire locker 730 releases the clamping of the guide wire.

[0092] The above steps can complete the clamping, loosening, pushing, twisting and pushing force detection of the guide wire. The orderly execution of each step can complete the coordinated operation of the guide wire and the catheter, thereby meeting various operational requirements during the operation.

[0093] The above steps can complete the clamping, loosening, pushing, twisting and pushing force detection of the guide wire. The orderly execution of each step can complete the coordinated operation of the guide wire and the catheter, thereby meeting various operational requirements during the operation.

[0094] The examples described in the present invention are merely descriptions of the preferred embodiments of the present invention and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should fall within the scope of protection of the present invention.

Claims

1. A guidewire controller, characterized in that: The invention comprises a guide wire controller base (6), a guide wire clamping device (7) installed on the guide wire controller base (6), a clamping switching mechanism (8) installed on the guide wire controller base (6), and a six-axis force sensor force measuring device (9). An angle adjustment base (10) is installed under the base. The guide wire clamping device (7) is used to clamp the guide wire. The clamping switching mechanism (8) comprises a steering gear seat (810) and a steering gear (820) and is used to drive the guide wire clamping device (7) to release the clamping of the guide wire. The six-axis force sensor force measuring device (9) is used to adjust the angle of the guide wire. ) is used to measure the resistance or resistance torque during the movement of the guide wire, the guide wire clamping device (7) is located on the upper side of the guide wire controller base (6), the clamping switching mechanism (8) is located on the rear side of the guide wire controller base (6), the guide wire clamping device (7) includes a guide wire locking sleeve (710), a guide wire locking rod (720) and a guide wire locker (730), the guide wire locking sleeve (710) has a tapered hole, the guide wire locking rod (720) is covered with a spring (740), the spring (740) is installed on the guide wire locking The locker end cap (760) at the end of the sleeve (710) is pressed into the guide wire locking sleeve (710); the guide wire locker (730) has an outer conical surface that matches the conical hole of the guide wire locking sleeve (710), and at least two incisions are provided on the outer conical surface of the guide wire locker (730) along the circumferential direction. The guide wire locker (730) clamps the guide wire by radial contraction under force; the guide wire locking sleeve (710) is supported and arranged on the guide wire controller base (6) through the sleeve support assembly (790); the sleeve support assembly (790) includes a positioning base (791), and a toggle locking switch (792) is provided at the bottom of the positioning base (791) through a connecting seat (793); the guide wire connector (940) is provided with a plug board (941) with a plug hole (942), and the locking switch (792) can be inserted into the plug hole (942) by toggling the locking switch (792), thereby locking the guide wire connector (940); the guide wire locking sleeve (710) is installed in the positioning base (791) through a bearing (780).

2. The guidewire controller according to claim 1, characterized in that: One end of the guide wire locking rod (720) is installed with a guide wire locker (730) and then inserted into the guide wire locking sleeve (710). The guide wire locking rod (720) squeezes the guide wire locker (730) so that the guide wire locker (730) clamps the guide wire.

3. The guidewire controller according to claim 2, characterized in that: The clamping switching mechanism (8) is connected to the guide wire locking rod (720) and can pull the guide wire locking rod (720) to compress the spring (740), so that the guide wire locking rod (720) releases the squeezing of the guide wire locker (730), thereby causing the guide wire locker (730) to release the clamping of the guide wire.

4. The guidewire controller according to claim 1, characterized in that: The outer conical surface of the guidewire locker (730) is preferably provided with four cuts along the circumferential direction, so as to divide the conical end into four equal parts.

5. The guidewire controller according to claim 1, characterized in that: The angle adjustment base (10) comprises a vertical plate (110), a base (120), a support plate (140), a vertical plate connecting shaft (150), a sleeve (160), a sleeve connecting shaft (170), an adjustment rod (180), a connecting shaft (190) and a fastening screw (200).

6. The guidewire controller according to claim 5, characterized in that: The guidewire controller base (6) includes a shell (610) and an upper cover (620) covering the shell (610); a partition (910) is installed in the shell (610); a plug-in board (941) of a guidewire connector (940) passes through the upper cover (620); a pair of plug-in boards (611) are provided at the bottom of the shell (610); a support plate (140) at the upper part of the angle adjustment base (10) is provided with a socket (130); the plug-in board (611) is inserted into the socket (130) and fixed by a pin.

7. The guidewire controller according to any one of claims 2 to 6, characterized in that: The guidewire controller further comprises a guidewire twisting device (630); the guidewire twisting device (630) is used to drive the guidewire locking sleeve (710) to rotate.

8. The guidewire controller according to claim 7, characterized in that: The guidewire twisting device (630) includes a motor (631) arranged on a guidewire controller base (6), and the motor (631) is connected to a pinion (632); a large tooth (633) is installed on the guidewire locking sleeve (710) and meshes with the pinion (632); a torque sensor is installed between the output end of the motor and the pinion; when the torque sensor detects the output torque of the rotary drive motor, the real-time output torque is subtracted from the output torque when no-load, to obtain the real-time torque when operating the surgical catheter.

9. The guidewire controller according to claim 1, characterized in that: The six-axis force sensor force measuring device (9) comprises a partition (910), a guide wire connector (940) and a six-axis force sensor (950) arranged in a guide wire controller base (6); the guide wire connector (940) is used to connect to the sleeve support assembly (790), and is movably arranged on the partition (910) through a linear guide pair (920); one end of the six-axis force sensor (950) is connected to the partition (910), and the other end is connected to the guide wire connector (940).

10. A guidewire controller according to any one of claims 1 to 9, characterized in that: The guidewire controller can be used for teaching or simulated operation training.

Images