Medical embolization spring multi-degree-of-freedom automatic winding machine

Abstract

A multi-degree-of-freedom automatic winding machine for a medical embolization spring, characterized in that it comprises a base (1), one end of a first connecting arm (2) is fixedly connected to the base (1), the other end of the first connecting arm (2) is fixedly connected to a first motor (3), an output shaft of the first motor (3) is fixedly connected to one end of a second connecting arm (4), the other end of the second connecting arm (4) is fixedly connected to a second motor (5), an output shaft of the second motor (5) is fixedly connected to one end of a third connecting arm (6), the other end of the third connecting arm (6) is fixedly connected to a third motor (7), an output shaft of the third motor (7) is fixedly connected to one end of a fourth connecting arm (8), the other end of the fourth connecting arm is fixed to a fourth motor (9), and a shaping mold (10) is installed on the output shaft of the fourth motor (9). The present invention has a simple structure and high production efficiency and qualified rate.

Description

Technical Field

[0001] The invention relates to a winding device, in particular to a medical shape memory alloy winding machine, specifically to a multi-degree-of-freedom automatic winding machine for a medical embolism spring. Background Art

[0002] Medical embolization coils are widely used in the treatment of intracranial aneurysms, among which the most important component is the spherical coil, because the spherical coil structure is relatively small, soft and complex in shape. The traditional processing method is manual operation, and the operator needs to undergo long-term training and practice before he can operate the job. In addition, due to the complex spatial structure of the winding and the tortuous path, it is easy to make mistakes during the actual operation, which will lead to the overall scrapping. And because the coil is relatively soft, the coil will be pulled and untwisted due to misoperation during the operation, affecting the quality. Summary of the invention

[0003] The purpose of the present invention is to design a multi-degree-of-freedom automatic winding machine for medical embolic springs which can automatically complete the complex winding process in view of the problems of great difficulty and low qualified rate in the manual winding of existing spherical embolic springs.

[0004] The technical solution of the present invention is:

[0005] A multi-degree-of-freedom automatic winding machine for a medical embolization spring is characterized in that it includes a base 1, one end of a first connecting arm 2 is fixedly connected to the base 1, the other end of the first connecting arm 2 is fixedly connected to a first motor 3, the shaft output shaft of the first motor 3 is fixedly connected to one end of a second connecting arm 4, the other end of the second connecting arm 4 is fixedly connected to a second motor 5, the output shaft of the second motor 5 is fixedly connected to one end of a third connecting arm 6, the other end of the third connecting arm 6 is fixedly connected to a third motor 7, the output shaft of the third motor 7 is fixedly connected to one end of a fourth connecting arm 8, the other end of the fourth connecting arm is fixed on a fourth motor 9, and a shaping mold 10 is installed on the output shaft of the fourth motor 9.

[0006] The first motor 3 , the second motor 5 , the third motor 7 and the fourth motor 9 are all stepping motors.

[0007] The shaping mold 10 is a four-rod, six-rod or eight-rod shaping mold, which consists of a main rod connected to the output shaft of the fourth motor and six or eight auxiliary rods 102 evenly arranged around the main rod 101, and the angle between the axis line of each auxiliary rod 102 and the axis line of the main rod 101 is 70-75 degrees.

[0008] The first connecting arm 2, the second connecting arm 4, the third connecting arm 6 and the fourth connecting arm 8 are fixed on the corresponding motor in a ring shape at one end connected to the corresponding motor, and a conductive ring for power supply and control wiring of the corresponding motor is installed in the ring end. Power supply and communication are carried out through slip rings to prevent the rotation of the motor from causing cable entanglement and interference.

[0009] Beneficial effects of the present invention:

[0010] The invention can avoid human error, improve the qualification rate and production efficiency. The winding path of the invention can be carried out strictly according to the procedure, so that the winding is accurate and the stress is uniform. Compared with the spring coil made by manual winding, the shape is not only closer to the design, but also reduces the hand pollution in the manual winding process.

[0011] The present invention is more convenient for designing and manufacturing more complex shapes, saves more materials (the material is platinum-tungsten alloy), and reduces costs and time. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a three-dimensional structural schematic diagram of the present invention.

[0013] Figure 2 It is a three-dimensional structural schematic diagram of the third motor of the present invention when in operation.

[0014] Figure 3 is Figure 2 Based on this, a schematic diagram of the three-dimensional structure when the second motor is in action is shown.

[0015] Figure 4 is Figure 3 A schematic diagram of the three-dimensional structure when the first motor is in action.

[0016] Figure 1-4 During the deformation process, the fourth motor can rotate freely as needed. DETAILED DESCRIPTION

[0017] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0018] like Figure 1-4 shown.

[0019] A multi-degree-of-freedom automatic winding machine for medical embolization springs, comprising a base 1 for supporting the entire winding machine, one end of a first connecting arm 2 is fixedly connected to the base 1, the other end of the first connecting arm 2 is fixedly connected to a first motor 3, the output shaft of the first motor 3 is fixedly connected to one end of a second connecting arm 4, the other end of the second connecting arm 4 is fixedly connected to a second motor 5, the output shaft of the second motor 5 is fixedly connected to one end of a third connecting arm 6, the other end of the third connecting arm 6 is fixedly connected to a third motor 7, the output shaft of the third motor 7 is fixedly connected to one end of a fourth connecting arm 8, the other end of the fourth connecting arm is fixed on a fourth motor 9, and a shaping mold 10 is installed on the output shaft of the fourth motor 9. Figure 1 As shown, in the original state, the first connecting arm 2, the second connecting arm 4, and the third connecting arm 6 are parallel to each other and obliquely arranged, and the inclination angle is generally about 45 degrees. The first connecting arm 2, the second connecting arm 4, the third connecting arm 6, and the fourth connecting arm 8 are connected to the corresponding motor at one end thereof. The annular structure is fixed on the corresponding motor, and a conductive ring for power supply and control wiring of the corresponding motor is installed in the annular end. Power supply and communication are carried out through slip rings to prevent the rotation of the motor from causing the cable to be entangled. The slip ring can be purchased directly from the market, and the arrangement of the power supply line and the communication line can be carried out according to the instructions. In the specific implementation, the first motor 3, the second motor 5, the third motor 7, and the fourth motor 9 are preferably all programmable stepper motors.

[0020] During specific implementation, the shaping mold 10 can be freely designed according to the requirements of the embolic spring. Generally, a four-rod, six-rod or eight-rod shaping mold can be used. The four-rod, six-rod or eight-rod shaping mold consists of a main rod connected to the output shaft of the fourth motor and six or eight auxiliary rods 102 evenly arranged around the main rod 101. The angle between the axis line of each auxiliary rod 102 and the axis line of the main rod 101 is 70-75 degrees.

[0021] The working principle of the present invention is:

[0022] First, the rotation angle and speed of the four stepper motors are controlled by software and algorithms, so that the shaping mold 10 fixed on the fourth motor 9 (mandrel motor) rotates in space along a predetermined path, such as Figure 2-4 As shown, the primary coil of the spring coil is wound on the mold according to the designed shape. After the winding is completed, the mold is removed for heat treatment to make the corresponding shape.

[0023] Parts not covered by the present invention, such as the control program of each motor, are the same as those in the prior art or can be implemented by using the prior art.

Claims

1. A multi-degree-of-freedom automatic winding machine for medical embolization springs, characterized in that The invention comprises a base (1), one end of a first connecting arm (2) is fixedly connected to the base (1), the other end of the first connecting arm (2) is fixedly connected to a first motor (3), an output shaft of the first motor (3) is fixedly connected to one end of a second connecting arm (4), the other end of the second connecting arm (4) is fixedly connected to a second motor (5), an output shaft of the second motor (5) is fixedly connected to one end of a third connecting arm (6), the other end of the third connecting arm (6) is fixedly connected to a third motor (7), an output shaft of the third motor (7) is fixedly connected to one end of a fourth connecting arm (8), the other end of the fourth connecting arm is fixed to a fourth motor (9), and the output shaft of the fourth motor (9) is fixedly connected to one end of a fourth connecting arm (8). A shaping mold (10) is installed on the shaft; the shaping mold (10) is a four-rod, six-rod or eight-rod shaping mold, and the four-rod, six-rod or eight-rod shaping mold is composed of a main rod connected to the output shaft of the fourth motor and six or eight auxiliary rods (102) evenly arranged around the main rod (101), and the angle between the axis center line of each auxiliary rod (102) and the axis center line of the main rod (101) is 70-75 degrees; the ends of the first connecting arm (2), the second connecting arm (4), the third connecting arm (6) and the fourth connecting arm (8) connected to the corresponding motor are fixed to the corresponding motor in a ring shape, and a conductive ring for powering and controlling the wiring of the corresponding motor is installed in the ring end.

2. The multi-degree-of-freedom automatic winding machine for medical embolization spring according to claim 1, characterized in that The first motor (3), the second motor (5), the third motor (7) and the fourth motor (9) are all stepping motors or brushless DC motors.

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