A robot for interventional vascular microsurgery

Abstract

An interventional vascular microsurgery robot includes a hose, a hose support assembly, and a twisting device, wherein the hose is slidably connected to the hose support assembly, and is characterized in that the twisting device includes a first twisting assembly and a second twisting assembly that are mirror-imaged, and the first twisting assembly and the second twisting assembly respectively include: a twisting guide rail, a hose twisting splint, a long rack, and a meshing member, wherein the hose twisting splint is slidably mounted on the twisting guide rail, one end of the long rack is fixed to the hose twisting splint, the meshing member meshes with the long rack, and the other end extends along the track of the twisting guide rail to mesh with the meshing member, and the meshing member is connected to a twisting motor. The bidirectional symmetrical balanced screw clamping method is adopted, and the bidirectional reverse continuous control of the clamping block is performed by the gear rack method, which can make the control more precise, the clamping process more stable, and can ensure that the catheter does not deviate from the original pipeline center point.

Description

Technical Field

[0001] The present invention belongs to the technical field of surgical robots, and in particular relates to an interventional vascular microsurgery robot. Background Art

[0002] At present, my country is rapidly developing urbanization, the proportion of the elderly is gradually increasing, and the incidence of cardiovascular and cerebrovascular diseases is also gradually increasing. Cardiovascular and cerebrovascular diseases are extremely harmful to the elderly. In order to change and treat cardiovascular and cerebrovascular diseases, vascular interventional surgery is used to diagnose and treat patients with the help of X-ray image navigation. Compared with traditional surgery, it can greatly improve surgical efficiency, reduce surgical trauma, and reduce subsequent morbidity. However, this surgical process requires doctors to wear lead suits for surgery, which causes great inconvenience to the surgery; robots assist doctors in performing interventional surgery, which can not only overcome the above difficulties, but also reduce the harm of X-rays to doctors. However, the push mechanism of the existing vascular interventional surgery robot adopts a cam-type twisting mechanism, which is not accurately controlled during the bidirectional twisting process, and the mechanism for clamping the catheter adopts a unidirectional push clamping, which easily causes the clamping part of the catheter to deviate from the original pipeline center, causing other problems such as swinging in surgery; the bidirectional symmetrical balanced screw clamping method of the interventional vascular microsurgery robot, and the continuous control of the bidirectional reverse direction of the clamping block by the gear rack method can make the control more accurate, the clamping process more stable, and ensure that the catheter will not deviate from the original pipeline center point. Summary of the invention

[0003] The purpose of the present invention is to provide an interventional vascular microsurgery robot, which aims to solve the problem that the pushing mechanism of the existing vascular interventional surgery robot adopts a cam-type twisting mechanism, which has inaccurate control during the bidirectional twisting process, and the mechanism for clamping the catheter adopts a unidirectional push clamping, which easily causes the clamping part of the catheter to deviate from the original pipeline center, causing swinging problems in other surgeries.

[0004] In order to achieve the purpose of the present invention, the present invention adopts the following technical solutions:

[0005] An interventional vascular microsurgery robot comprises a hose, a hose support assembly and a twisting device, wherein the hose is slidably connected to the hose support assembly, and is characterized in that the twisting device comprises a first twisting assembly and a second twisting assembly which are arranged in a mirror image, wherein the first twisting assembly and the second twisting assembly respectively comprise: a twisting guide rail, a hose twisting splint, a long rack and a meshing member, wherein the hose twisting splint is slidably mounted on the twisting guide rail, one end of the long rack is fixed to the hose twisting splint, the meshing member is meshed with the long rack, and the other end extends along the track of the twisting guide rail to mesh with the meshing member, and the meshing member is connected to a twisting motor.

[0006] Preferably, the meshing parts respectively include: a spur gear, a twist worm gear, a linkage device and a rack spur gear; the twist motor is arranged at the connection between the first twist component and the second twist component, and a motor spur gear is installed on the output shaft of the twist motor, and the mirror-arranged spur gears are connected through the long axis of the bevel gear, and the spur gears include spur teeth and helical teeth, and the helical teeth are meshed with the motor spur gear, and the spur teeth are meshed with the twist worm gear, and the twist worm gear and the rack spur gear are respectively connected to the linkage device.

[0007] Preferably, the linkage device comprises: a connecting component, a pulley, a pulley shaft, a belt, a pulley shaft bracket, a spur gear shaft bracket, and a rack spur gear; the connecting component comprises two groups of connecting rods oppositely arranged on one side of the twisting worm gear, and each of the two groups of connecting rods oppositely arranged is provided with a pulley, and the connecting rods are connected in sequence through the pulley shaft, the spur gear shaft, and the installation shaft of the twisting worm gear connected end to end to form a parallelogram four-bar linkage, and a pulley is installed at the connection of the connecting rods, and the left and right pulley shafts are connected to the groove of the pulley shaft bracket and slide up and down in the groove.

[0008] Preferably, it also includes a clamping device, which includes a mirror-arranged clamping adjustment device, two clamping gears, a clamping worm gear, two clamping long plates, a screw bearing, two clamping screws, a right clamping screw slider, and a left clamping screw slider. The clamping adjustment device is arranged on a rectangular frame mounting plate, and the clamping adjustment device is connected to the clamping worm gear. The two clamping gears are arranged side by side and each is meshed with the clamping worm gear. The clamping gear shaft of the clamping gear is connected to the clamping screw. The right clamping screw slider and the left clamping screw slider are respectively sleeved on the clamping screw, and the right clamping screw slider and the left clamping screw slider are provided with a meshing gear meshing with the screw on one side in contact with the clamping screw. The right clamping screw slider and the left clamping screw slider are respectively arranged on the clamping long plates, and the clamping long plates are respectively connected to the twisting guide rails.

[0009] Preferably, the clamping device also includes a clamping screw head frame and a clamping screw tail frame, and the clamping screw head frame and the clamping screw tail frame include a clamping screw bearing. The clamping screw head frame and the clamping screw tail frame are connected to the rectangular frame mounting plate, and the end edge of the clamping screw is sleeved in the screw bearing.

[0010] Preferably, the clamping device regulator is a forward and reverse motor.

[0011] Preferably, it also includes a pushing module, which also includes a pushing slide rail, a pushing slider, a clamping slide rod, a pusher, a pushing screw rod, and a pushing screw rod slider. The pushing slider is slidably installed on the pushing slide rail, the pushing slider is connected to the rectangular frame mounting plate, the pushing screw rod slider is connected to the pushing screw rod, and the pushing screw rod is inserted into the pushing screw rod slider.

[0012] Preferably, the pushing slider and the pushing slide rail are provided with two groups and are arranged opposite to each other, the rectangular frame mounting plate includes a rectangular frame mounting plate, the opposite ends of the rectangular frame mounting plate are respectively connected to the pushing slider, and the pushing screw slider is arranged on the mounting plate.

[0013] Preferably, the pusher is a push motor.

[0014] Preferably, the pushing slide rail is arranged on the bottom plate.

[0015] The beneficial effects of the present invention are as follows: when the interventional vascular microsurgery robot of the present invention clamps a hose, the clamping motor of the clamping device drives the two clamping lead screws to reverse, thereby driving the left clamping lead screw slider to move downward and the right clamping lead screw slider to move upward, further driving the clamping long plate, the twisting long slider, the clamping plate mounting plate, and the hose twisting clamping plate to move in opposite directions, thereby clamping the hose; when releasing the hose, the clamping motor of the clamping device reverses, thereby reversing the direction of the two clamping lead screws, thereby moving the clamping long plate, the twisting long slider, the clamping plate mounting plate , the hose twisting splints move in opposite directions, thereby loosening the hose; when the hose is at a branch of the blood vessel, a bend, or turns when encountering an obstacle, the twisting motor of the twisting device drives the motor straight bevel gear to rotate forward and reverse, thereby driving the two straight bevel gears to rotate forward and reverse in opposite directions, further driving the rotation of the clamping worm gear, and through the action of the belt and pulley, driving the rotation of the rack spur gear, and then converting it into linear motion of the long rack, finally driving the two hose twisting splints to move back and forth in opposite directions, simulating the twisting effect of human hands on the hose. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments or the prior art description are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative labor:

[0017] Figure 1 A schematic diagram of the overall structure of an interventional vascular microsurgery robot provided by an embodiment of the present invention;

[0018] Figure 2A schematic diagram of the overall structure of an interventional vascular microsurgery robot provided by an embodiment of the present invention;

[0019] Figure 3 A schematic diagram of the overall structure of an interventional vascular microsurgery robot provided by an embodiment of the present invention;

[0020] Figure 4 A schematic diagram of a partial structure of a twisting device of an interventional vascular microsurgery robot provided by an embodiment of the present invention;

[0021] Figure 5 A schematic diagram of the partial structure of the twisting device of the interventional vascular microsurgery robot provided in an embodiment of the present invention.

[0022] Among them, the reference numerals in the figure are:

[0023] 10—base plate 11—hose sheath support frame 12—hose sheath support plate

[0024] 13 - Hose support plate 14 - Hose sheath 15 - Hose

[0025] 20—Pushing module 21—Pushing motor 22—Pushing motor bracket

[0026] 23 - Pushing screw support frame 24 - Screw base plate 25 - Pushing screw

[0027] 26 - Pushing screw slider 30 - Pushing slide rail 31 - Pushing slider

[0028] 32 - rectangular frame mounting plate 33 - push rectangular frame 34 - clamping slide bar

[0029] 50—clamping device 51—clamping long plate 52—clamping screw tailstock

[0030] 53 - Clamping screw head frame 54 - Clamping screw bearing 55 - Clamping screw

[0031] 56 - right clamping screw slider 57 - left clamping screw slider 58 - clamping gear

[0032] 59 - clamping gear shaft 60 - clamping worm gear 61 - clamping motor frame

[0033] 62—clamping motor 80—twisting device 81—twisting guide rail

[0034] 82—Twisting long slider 83—Clamp mounting plate 84—Hose twisting clamp

[0035] 85—Rack pad 86—Long rack 90—Twist motor

[0036] 91 - Motor straight bevel gear 92 - Straight bevel gear 93 - Bevel gear long shaft

[0037] 94—twisting worm gear 100—parallel rod device 101—connecting rod

[0038] 102—pulley 103—pulley shaft 104—belt

[0039] 105—Pulley shaft bracket 106—Spur gear shaft bracket 107—Spur gear shaft

[0040] 108—Rack spur gear DETAILED DESCRIPTION

[0041] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are shown in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the disclosure of the present invention more thoroughly understood.

[0042] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may also be a centered element. When an element is considered to be "connected" to another element, it may be directly connected to the other element or there may be a centered element at the same time. On the contrary, when an element is referred to as being "directly on" another element, there is no intermediate element. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method. The terms "upper end", "lower end", "left side", "right side", "front end", "rear end" and similar expressions used herein are positional relationships with reference to the accompanying drawings.

[0043] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0044] The technical solution of this patent is further described in detail below in conjunction with specific implementation methods.

[0045] like Figures 1 to 5As shown, an embodiment of the present invention provides an interventional vascular microsurgery robot, including a base plate 10, a hose sheath support frame 11, a hose sheath support plate 12, a hose support plate 13, a hose sheath 14, a hose 15, a pushing module 20, a clamping device 50, and a twisting device 80. The hose sheath support frame 11 and the pushing module 20 are installed on the base plate 10, and the clamping device 50 and the twisting device 80 are installed on the pushing module 20; the hose sheath support plate 12 and the hose support plate 13 are installed on the pushing module 20, and the hose sheath 14 is installed on the uppermost circle of the hose sheath support frame 11 and the hose sheath support plate 12, the hose 15 is located inside the hose sheath 14, and the hose support plate 13 supports one end of the hose 15 extending out of the sheath.

[0046] Specifically, the interventional vascular microsurgery robot of the embodiment of the present invention, when clamping the hose 15, the clamping motor 62 of the clamping device 50 drives the two clamping screws 55 to reverse, thereby driving the left clamping screw slider 57 to move downward and the right clamping screw slider 56 to move upward, further driving the clamping long plate 51, the twisting long slider 82, the clamping plate mounting plate 83, and the hose twisting clamping plate 84 to move in opposite directions, thereby clamping the hose 15; when releasing the hose 15, the clamping motor 62 of the clamping device 50 is reversed, thereby reversing the direction of the two clamping screws 55, thereby moving the clamping long plate 51, the twisting long slider 82, the clamping plate mounting plate 83, and the hose twisting clamping plate 84 in opposite directions, thereby releasing the hose. 15; When the hose 15 is at a branch of a blood vessel, a bend, or turns when encountering an obstacle, the twisting motor 90 of the twisting device 80 drives the motor straight bevel gear 91 to rotate forward and backward, thereby driving the two straight bevel gears 92 to rotate forward and backward in opposite directions (the straight bevel gear 92 includes straight teeth and helical teeth, the helical teeth are meshed with the motor straight bevel gears, and the straight teeth are meshed with the twisting worm gears), further driving the rotation of the clamping worm gear 60, and through the action of the belt 104 and the pulley 102, driving the rotation of the rack spur gear 108, which is then converted into linear motion of the long rack 86, and finally driving the two hose twisting clamps 84 to move back and forth in opposite directions, simulating the twisting effect of a human hand on the hose 15.

[0047] In this embodiment, Figure 1 and Figure 2As shown, the pushing module 20 includes a pushing motor 21, a pushing motor bracket 22, a pushing screw support frame 23, a screw base plate 24, a pushing screw 25, and a pushing screw slider 26. The pushing motor 21 is installed on the base plate 10 through the pushing motor bracket 22 at one end in the middle of the above-mentioned base plate 10; the screw base plate 24 with the pushing screw support frame 23 fixed at the front and rear ends is fixed in the middle of the above-mentioned base plate 10; the screw is installed on the pushing screw support frame 23 at the front and rear ends, and one end is connected to the output shaft of the pushing motor 21 through a pushing coupling; the pushing screw slider 26 is located on the screw, and the mounting surface is connected to the bottom surface of the above-mentioned pushing rectangular frame 33.

[0048] like Figure 2 As shown, the pushing module 20 also includes a pushing rail 30, a pushing slider 31, a rectangular frame mounting plate 32, a pushing rectangular frame 33, and a clamping slide rod 34. The pushing slider 31 is slidably installed on the pushing rail 30, and the pushing rail 30 is fixedly installed on the above-mentioned base plate 10. The pushing rail 30 and the pushing slider 31 are symmetrically installed on both sides of the base plate 10; the left and right ends of the surface of the rectangular frame mounting plate 32 are installed on the pushing sliders 31 on both sides; the number of the clamping slide rods 34 is four, which are installed on both sides of the rectangular frame mounting plate 32.

[0049] like Figures 1 to 3 As shown, the clamping device 50 includes a clamping long plate 51, a clamping screw tail frame 52, a clamping screw head frame 53, a clamping screw bearing 54, and a clamping screw 55. The clamping long plate 51 is symmetrically installed inside the rectangular frame mounting plate 32, and both ends are slidably connected to the clamping slide rod 34; the clamping screw tail frame 52 and the clamping screw head frame 53 are respectively installed in the middle of the lower end and the upper end of the above-mentioned rectangular frame mounting plate 32, and each clamping screw 55 frame is installed with a clamping screw bearing 54, and the head and tail of the clamping screw 55 are installed on the corresponding bearings.

[0050] like Figure 3 As shown, the clamping device 50 includes a clamping adjustment device (a right clamping screw slider 56 and a left clamping screw slider 57) arranged in a mirror image, a clamping gear 58, a clamping gear shaft 59, a clamping worm gear 60, a clamping motor frame 61, and a clamping motor 62. The clamping motor 62 is installed on the top surface of the above-mentioned rectangular frame mounting plate through a clamping motor 62 bracket, and its axial direction is perpendicular to the axial direction of the clamping screw 55, and the output shaft of the motor is connected to the clamping worm gear; the clamping gear shaft 59 is installed on the mounting handle of the clamping screw 55 through a coupling, and the clamping gear 58 is installed on the clamping gear shaft 59; the clamping worm gear 60 is in the middle of the two clamping gears 58 and meshes with the two clamping gears 58 left and right, driving the two gears to rotate in different directions.

[0051] like Figure 1 , Figure 2 and Figure 4 As shown, the twisting device 80 includes a twisting guide rail 81, a twisting long slider 82, a clamp mounting plate 83, a hose twisting clamp plate 84, a rack pad 85, and a long rack 86. The two twisting guide rails 81 and the rack pad 85 are installed on the opposite surfaces of the above-mentioned clamping long plate 51, and the rack pad 85 is located on the bottom surface of the long rack 86. The twisting long slider 82 is installed on the twisting guide rail 81, the clamp mounting plate 83 is on the twisting long slider 82, and the hose twisting clamp plate 84 is fixed on the clamp mounting plate 83; one end of the long rack 86 without a tooth profile is fixed to the twisting long slider 82, and the other end extends along the track inside the twisting guide rail 81.

[0052] like Figure 4 As shown, the twisting device 80 also includes a twisting motor 90, a motor straight bevel gear 91, a straight bevel gear 92, a bevel gear long axis 93, a twisting worm gear 94, and a parallel rod device 100. The motor straight bevel gear 91 is installed on the output shaft of the twisting motor 90, and the twisting motor 90 is installed on the motor mounting rod in the above-mentioned pushing rectangular frame 33. The twisting motor 90 is fixed to the pushing rectangular frame 33 of the pushing module 20 to ensure that it will not move relative to the pushing rectangular frame 33; the mounting shaft ends of the bevel gear long axis 93 and the twisting worm gear 94 are both installed in the above-mentioned pushing rectangular frame 33, and two straight bevel gears 92 are symmetrically installed on the bevel gear long axis 93, the straight teeth of the straight bevel gear 92 are meshed with the twisting worm gear 94, and the bevel gear is meshed with the motor straight bevel gear 91; the parallel rod device 100 is installed between the long rack 86 and the twisting worm gear 94.

[0053] like Figure 4 and Figure 5 As shown, the parallel rod device 100 includes a connecting rod 101, a pulley 102, a pulley shaft 103, a belt 104, a pulley shaft bracket 105, a spur gear shaft bracket 106, a rack spur gear 108, and a spur gear shaft 107. There are eight connecting rods 101 in total, four on one side, and the mechanisms on both sides are symmetrically installed and are exactly the same. The heads and tails of the four connecting rods 101 are connected in sequence through the pulley shaft 103, the spur gear shaft 107, and the installation shaft of the twist worm gear 94 to form a parallelogram. A four-bar linkage 101 mechanism is provided; a pulley 102 is installed at the connection point of the connecting rod 101, and the belt 104 is sleeved on the four pulleys 102; the left and right pulley shafts 103 are connected to the groove of the pulley shaft bracket 105 and slide up and down in the groove; the two ends of the spur gear shaft 107 are installed on the spur gear shaft bracket 106, and the rack spur gear 108 is installed in the middle of the spur gear shaft bracket 106, meshing with the above-mentioned long rack 86, driving the rack to slide back and forth.

[0054] The above implementation modes are only used to illustrate the present invention, but not to limit the present invention. Ordinary technicians in the relevant technical field can make various changes and modifications without departing from the spirit and scope of the present invention. Therefore, all equivalent technical solutions also belong to the scope of the present invention. The patent protection scope of the present invention should be defined by the claims.

Claims

1. An interventional vascular microsurgery robot, comprising a hose, a hose support assembly and a twisting device, wherein the hose is slidably connected to the hose support assembly, and characterized in that: The twisting device comprises a first twisting assembly and a second twisting assembly arranged in mirror images, wherein the first twisting assembly and the second twisting assembly respectively comprise: a twisting guide rail, a hose twisting clamp plate, a long rack and a meshing member, wherein the hose twisting clamp plate is slidably mounted on the twisting guide rail, one end of the long rack is fixed to the hose twisting clamp plate, the meshing member meshes with the long rack, and the other end extends along the track of the twisting guide rail and meshes with the meshing member, and the meshing member is connected with a twisting motor; The meshing parts respectively include: a straight bevel gear, a twisting worm gear, a linkage device and a rack spur gear; the twisting motor is arranged at the connection between the first twisting assembly and the second twisting assembly, a motor straight bevel gear is installed on the output shaft of the twisting motor, the straight bevel gears arranged in a mirror image are connected through the long axis of the bevel gear, the straight bevel gear includes straight teeth and helical teeth, the helical teeth are meshed with the motor straight bevel gear, the straight teeth are meshed with the twisting worm gear, the twisting worm gear and the rack spur gear are respectively connected with the linkage device; The linkage device comprises: a connecting assembly, a pulley, a pulley shaft, a belt, a pulley shaft bracket, a spur gear shaft bracket, and a rack spur gear; the connecting assembly comprises two sets of connecting rods oppositely arranged on one side of the twisting worm gear, and the two sets of connecting rods oppositely arranged are each provided with a pulley, and the connecting rods are sequentially connected through the pulley shaft, the spur gear shaft, and the installation shaft of the twisting worm gear connected end to end to form a parallelogram four-bar linkage, and a pulley is installed at the connection of the connecting rods, and the left and right pulley shafts are connected to the groove of the pulley shaft bracket and slide up and down in the groove; It also includes a clamping device, which includes a mirror-arranged clamping adjustment device, two clamping gears, a clamping worm gear, two clamping long plates, a screw bearing, two clamping screws, a right clamping screw slider, and a left clamping screw slider. The clamping adjustment device is arranged on a rectangular frame mounting plate, and the clamping adjustment device is connected to the clamping worm gear. The two clamping gears are arranged side by side and each is meshed with the clamping worm gear. The clamping gear shaft of the clamping gear is connected to the clamping screw. The right clamping screw slider and the left clamping screw slider are respectively sleeved on the clamping screw, and the right clamping screw slider and the left clamping screw slider are provided with a meshing gear meshing with the screw on one side in contact with the clamping screw. The right clamping screw slider and the left clamping screw slider are respectively arranged on the clamping long plates, and the clamping long plates are respectively connected to the twisting guide rails.

2. The interventional vascular microsurgery robot according to claim 1, characterized in that: The clamping device also includes a clamping screw head frame and a clamping screw tail frame, and the clamping screw head frame and the clamping screw tail frame include a clamping screw bearing. The clamping screw head frame and the clamping screw tail frame are connected to the rectangular frame mounting plate, and the end edge of the clamping screw is sleeved in the screw bearing.

3. The interventional vascular microsurgery robot according to claim 1, characterized in that: The clamping device regulator is a forward and reverse motor.

4. The interventional vascular microsurgery robot according to claim 1, characterized in that: It also includes a pushing module, which includes a pushing rail, a pushing slider, a clamping slide rod, a pusher, a pushing screw, and a pushing screw slider. The pushing slider is slidably installed on the pushing rail, the pushing slider is connected to the rectangular frame mounting plate, and the pushing screw is inserted through the pushing screw slider.

5. The interventional vascular microsurgery robot according to claim 4, characterized in that: The pushing slider and the pushing slide rail are provided with two groups and are arranged opposite to each other. The rectangular frame mounting plate includes a rectangular frame mounting plate. The opposite ends of the rectangular frame mounting plate are respectively connected to the pushing slider, and the pushing screw slider is arranged on the rectangular frame mounting plate.

6. The interventional vascular microsurgery robot according to claim 4, characterized in that: The pusher is a push motor.

7. The interventional vascular microsurgery robot according to claim 4, characterized in that: The pushing slide rail is arranged on the bottom plate.

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