A catheter intervention device

Abstract

The present invention provides a catheter intervention device. A catheter intervention device, comprising a base, a feeding assembly, a lifting assembly and a yaw assembly, wherein the feeding assembly, the lifting assembly and the yaw assembly are located on the base, the lifting assembly is connected to the feeding assembly through a lifting plate, and the yaw assembly is located on one side of the lifting assembly. The present invention can perform intervention operations such as feeding, spinning and yaw angle adjustment on a catheter, and has a compact overall structure and high precision.

Description

Technical Field

[0001] The present invention relates to the field of catheter intervention technology, and more specifically, to a catheter intervention device. Background Art

[0002] Cardiac intervention surgery is one of the main options for treating coronary heart disease. Minimally invasive vascular intervention surgery has become an important means of treating cardiovascular disease recognized by the medical community due to its characteristics of small trauma, high safety, less pain for patients, fast postoperative recovery, and few complications. At present, cardiac intervention surgery does not require thoracotomy. Doctors need to operate interventional devices such as guide wires and catheters by physical contact, and directly operate guide wires and catheters by hand under the guidance of X-ray and other imaging methods to deliver them to the narrow coronary artery lesions after percutaneous puncture of the patient's femoral artery (or radial artery) surface blood vessels along the blood vessels. The computer platform displays the blood vessels in the heart through imaging technologies such as CT imaging, and the force is fed back to the computer through the end sensor for processing. The doctor controls the feeding, rotation, and yaw angle of the catheter intervention device to correct the catheter posture. Among foreign medical companies, there is the CorPath catheter robot system, but this system separates the rotation and feeding of the catheter, and the structure is relatively complex. Summary of the invention

[0003] The purpose of the present invention is to overcome the disadvantages of the existing catheter intervention system that the rotation and feeding of the catheter are separated, resulting in a complex structure, and to provide a catheter intervention device. The present invention can perform intervention operations such as feeding, spinning and yaw angle adjustment on the catheter, and has a compact overall structure and high precision.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is: a catheter intervention device, which includes a base, a feeding assembly, a lifting assembly and a yaw assembly, wherein the feeding assembly, the lifting assembly and the yaw assembly are located on the base, the lifting assembly is connected to the feeding assembly through a lifting plate, and the yaw assembly is located on one side of the lifting assembly. In this technical solution, the catheter enters the feeding assembly and passes through the yaw assembly. The feeding assembly can transport the catheter, and the lifting assembly moves the feeding assembly up and down through the lifting plate so that the catheter passing through the feeding assembly spins. The yaw assembly on the base can adjust the yaw angle of the catheter. The entire device can realize the feeding of the catheter, the spin and the yaw angle adjustment, and the structure is simple and compact.

[0005] Furthermore, the feeding assembly includes a fixed friction wheel group, a lifting friction wheel group and a first motor, wherein the fixed friction wheel group is fixed on the base, the lifting friction wheel group is located on the lifting plate, the first motor is located below the lifting plate, the first motor is connected to the lifting friction group, and a gap is left between the lifting friction wheel group and the fixed friction wheel group for placing a catheter. The catheter passes through the gap between the fixed friction wheel group and the lifting friction wheel group, and when the first motor drives the lifting friction wheel group to rotate axially, the fixed friction wheel group can cooperate with the lifting friction wheel group to drive the catheter to move forward or backward between the two.

[0006] Furthermore, the lifting friction wheel group includes a driven friction wheel and a transmission friction wheel, the first motor is connected to the transmission friction wheel, the transmission friction wheel and the driven friction wheel are connected through a synchronous belt, the fixed friction wheel group includes a first friction wheel and a second friction wheel, the first friction wheel and the second friction wheel are placed in pairs with the transmission friction wheel and the driven friction wheel. The first motor drives the transmission friction wheel of the lifting friction wheel group to rotate, and the driven friction wheel keeps synchronous movement with the transmission friction wheel under the drive of the synchronous belt, the catheter passes through the middle of the second friction wheel and the driven friction wheel, and then passes through the middle of the first friction wheel and the transmission friction wheel, and the catheter is sandwiched in the middle, and the catheter can move forward or backward under the rotation of the lifting friction wheel group and the cooperation of the first friction wheel and the second friction wheel.

[0007] Furthermore, the lifting assembly includes a stepper motor, a linear rack and a first gear, the linear rack is fixed on one side of the lifting plate, the stepper motor is located on the base, the first gear is connected to the stepper motor, and the first gear is meshed with the linear rack. In this technical solution, the output shaft of the stepper motor is connected to the first gear, and the first gear cooperates with the linear rack, so the stepper motor can control the linear rack to move up and down through the first gear. Since the linear rack is fixedly connected to the lifting plate, the up and down movement of the linear rack can drive the lifting plate to move up and down. Since the transmission friction wheel and the driven friction wheel are located on the lifting plate, the transmission friction wheel and the driven friction wheel move up and down with the lifting plate, but the horizontal position of the first friction wheel and the second friction wheel is fixed, and the friction force of the wheel body is large, so the up and down movement of the transmission friction wheel and the driven friction wheel will not drive the catheter to move up and down, but will only cause the catheter to spin.

[0008] Furthermore, the lifting plate is provided with a guide column, one end of which is connected to the base, and the other end of which passes through the lifting plate, and a linear bearing is provided between the guide column and the lifting plate. The lifting plate moves up and down on the guide column through the linear bearing, so that the catheter can perform a smooth spinning motion.

[0009] Furthermore, the yaw assembly includes a steering gear, a second gear, a stopper and a cross roller bearing, the steering gear is located on the base, the steering gear is connected to the second gear, the cross roller bearing is circumferentially provided with gear teeth meshing with the second gear, a fixed pedestal is provided at the bottom of the cross roller bearing, the fixed pedestal is connected to the base, and the stopper is fixed on the cross roller bearing. The catheter passes through the stopper, the output shaft of the steering gear is connected to the second gear, and the second gear cooperates with the gear teeth on the cross roller bearing, so the steering gear can control the rotation of the cross roller bearing through the second gear, change the position of the stopper on the cross roller bearing, and thus adjust the yaw angle of the catheter passing through the stopper.

[0010] Furthermore, the base is provided with a cover for protecting the feeding assembly, the lifting assembly and the yaw assembly. The top of the cover is an open structure.

[0011] Compared with the prior art, the present invention has the following beneficial effects:

[0012] 1. The present invention enables the catheter to perform feeding and spinning motion simultaneously or separately through the cooperation of the feeding assembly and the lifting assembly;

[0013] 2. The present invention enables the device to adjust the yaw angle of the catheter through the meshing of the second gear and the cross roller bearing;

[0014] 3. The present invention makes the device more compact and has a high precision coefficient through the coordination of the feeding component, the lifting component and the yaw component, and can be put into use in other catheter intervention surgeries, such as cardiovascular catheter intervention surgery and urethral catheter intervention surgery. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a front view of a catheter intervention device of the present invention.

[0016] Figure 2 The figure is a top view of a catheter intervention device according to the present invention.

[0017] Figure 3 It is a stereoscopic diagram of a catheter intervention device of the present invention.

[0018] Figure 4 It is a schematic structural diagram of a catheter intervention device according to the second embodiment.

[0019] The illustrations are as follows:

[0020] 1- guide tube, 2- limiter, 3- linear rack, 4- transmission friction wheel, 5- synchronous belt, 6- driven friction wheel, 7- guide column, 8- cross roller bearing, 9- stepper motor, 10- first gear, 11- first motor, 12- lifting plate, 13- base, 14- first friction wheel, 15- second friction wheel, 16- fixed plate, 17- second gear, 18- servo, 19- cover, 20- linear bearing. DETAILED DESCRIPTION

[0021] The present invention is further described below in conjunction with specific implementation methods. The accompanying drawings are only used for exemplary descriptions and are only schematic diagrams, not actual drawings, and cannot be understood as limiting this patent; in order to better illustrate the embodiments of the present invention, some parts of the accompanying drawings may be omitted, enlarged or reduced, and do not represent the size of the actual product; for those skilled in the art, it is understandable that some well-known structures and their descriptions in the accompanying drawings may be omitted.

[0022] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the drawings, it is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0023] First embodiment

[0024] like Figures 1 to 3The first embodiment of a catheter intervention device of the present invention is shown. A catheter intervention device comprises a base 13, a fixed plate 16 and a lifting plate 12 are provided on the base 13, a first friction wheel 14 and a second friction wheel 15 are installed in parallel on the fixed plate 16, a driven friction wheel 6 and a transmission friction wheel 4 are installed in parallel on the lifting plate 12, a first motor 11 is provided below the lifting plate 12, an output shaft of the first motor 11 passes through the lifting plate 12 and is connected to the transmission friction wheel 4, and the transmission friction wheel 4 and the driven friction wheel 6 are connected via a synchronous belt 5. Among them, the first friction wheel 14 and the transmission friction wheel 4 are placed side by side, the second friction wheel 15 and the driven friction wheel 6 are placed side by side, the catheter 1 passes through the middle of the second friction wheel 15 and the driven friction wheel 6, and then passes through the middle of the first friction wheel 14 and the transmission friction wheel 4. When the first motor 11 controls the transmission friction wheel 4 to rotate, the synchronous belt 5 can drive the driven friction wheel 6 to rotate. Since the catheter 1 is stuck between the first friction wheel 14, the second friction wheel 15 and the transmission friction wheel 4, the driven friction wheel 6, as the transmission friction wheel 4 and the driven friction wheel 6 rotate, the catheter 2 can be fed with the cooperation of the first friction wheel 14 and the second friction wheel 15.

[0025] In this embodiment, a linear rack 3 is fixed on one side of the lifting plate 12, and a corresponding meshing first gear 10 is provided on the linear rack 3. A stepper motor 9 is provided on the base 13, and the output shaft of the stepper motor 9 is connected to the first gear 10. Three guide pillars 7 are provided on the lifting plate 12, one end of the guide pillar 7 is connected to the base 13, and the other end passes through the lifting plate 12, wherein a linear bearing 20 is provided at the connection between the guide pillar 7 and the lifting plate 12, so the stepper motor 9 controls the up and down movement of the linear rack 3 through the first gear 10, thereby controlling the lifting plate 12 to move up and down on the guide pillar 7. Since the horizontal positions of the first friction wheel 14 and the second friction wheel 15 are fixed, the catheter 1 is stuck between the first friction wheel 14, the second friction wheel 15 and the transmission friction wheel 4 and the driven friction wheel 6, and rotates as the driven friction wheel 6 and the transmission friction wheel 4 move up and down.

[0026] In this embodiment, a yaw assembly is provided on the other side of the linear rack 3, and the yaw assembly includes a steering gear 18, a second gear 17, a limit member 2 and a cross roller bearing 8. The steering gear 18 is connected to the second gear 17, and the cross roller bearing 8 is circumferentially provided with gear teeth meshing with the second gear 17. The limit member 2 is fixed on the cross roller bearing 8, and a fixed pedestal is provided at the bottom of the cross roller bearing 8, and the fixed pedestal is connected to the base 13.

[0027] The working principle of this embodiment is as follows: the catheter 1 is clamped between the first friction wheel 14, the second friction wheel 15 and the transmission friction wheel 4 and the driven friction wheel 6, and then passes through the limiter 2 on the cross roller bearing 8, the first motor 11 drives the transmission friction wheel 4 to rotate, and the transmission friction wheel 4 drives the driven friction wheel 6 to rotate through the synchronous belt, and the catheter 1 is sandwiched in the middle and feeds with the cooperation of the first friction wheel 14 and the second friction wheel 15, and the catheter 1 can move forward or backward, and with the cooperation of the lifting plate 12, the catheter 1 can spin; the catheter 1 passes through the limiter 2, and the output shaft of the steering gear 18 is connected to the second gear 17, and the second gear 17 is meshed with the gear teeth on the cross roller bearing 8, so the steering gear 18 can control the rotation of the cross roller bearing 8 through the second gear 17, change the position of the limiter 2 on the cross roller bearing 8, and thereby adjust the yaw angle of the catheter 1 passing through the limiter 2. This embodiment can adjust the feeding, spinning and yaw angles of the catheter 1.

[0028] Second embodiment

[0029] This embodiment is similar to the embodiment 1, except that, in this embodiment, a cover 19 with a top opening is installed on the outside of the entire device.

[0030] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. A catheter intervention device, characterized in that: The invention comprises a base, a feeding assembly, a lifting assembly and a yaw assembly, wherein the feeding assembly, the lifting assembly and the yaw assembly are located on the base, the lifting assembly is connected to the feeding assembly through a lifting plate, and the yaw assembly is located on one side of the lifting assembly; the feeding assembly comprises a fixed friction wheel group, a lifting friction wheel group and a first motor, the fixed friction wheel group is fixed on the base, the lifting friction wheel group is located on the lifting plate, the first motor is located below the lifting plate, the first motor is connected to the lifting friction wheel group, and a gap for placing a catheter is left between the lifting friction wheel group and the fixed friction wheel group; the lifting friction wheel group comprises a driven friction wheel and a transmission friction wheel, the first motor is connected to the transmission friction wheel, the transmission friction wheel is connected to the driven friction wheel through a synchronous belt, the fixed friction wheel group comprises a first friction wheel and a second friction wheel, and the first friction wheel and the second friction wheel are placed in pairs with the transmission friction wheel and the driven friction wheel; the yaw assembly comprises a steering gear, a second gear, a limiter and a cross roller bearing, the steering gear is located on the base, the first gear, a limiter and a cross roller bearing The servo is connected to the second gear, the cross roller bearing is circumferentially provided with gear teeth meshing with the second gear, a fixed pedestal is provided at the bottom of the cross roller bearing, the fixed pedestal is connected to the base, and the limiter is fixed on the cross roller bearing; the working principle of the catheter intervention device is as follows: the catheter is clamped between the first friction wheel, the second friction wheel, the transmission friction wheel, and the driven friction wheel, and then passes through the limiter on the cross roller bearing, the first motor drives the transmission friction wheel to rotate, the transmission friction wheel drives the driven friction wheel to rotate through the synchronous belt, the catheter is clamped in the middle and feeds under the cooperation of the first friction wheel and the second friction wheel, the catheter can move forward or backward, and under the cooperation of the lifting plate, the catheter can spin; the catheter passes through the limiter, the output shaft of the servo is connected to the second gear, the second gear meshes with the gear teeth on the cross roller bearing, so the servo can control the rotation of the cross roller bearing through the second gear, change the position of the limiter on the cross roller bearing, thereby adjusting the yaw angle of the catheter passing through the limiter, and can adjust the feeding, spin and yaw angle of the catheter.

2. A catheter intervention device according to claim 1, characterized in that: The lifting assembly includes a stepper motor, a linear rack and a first gear, the linear rack is fixed to one side of the lifting plate, the stepper motor is located on the base, the first gear is connected to the stepper motor, and the first gear is meshed with the linear rack.

3. A catheter intervention device according to claim 2, characterized in that: The lifting plate is provided with a guide column, one end of which is connected to the base, and the other end of which passes through the lifting plate, and a linear bearing is provided between the guide column and the lifting plate.

4. A catheter intervention device according to claim 1, characterized in that: The base is provided with a cover for protecting the feeding assembly, the lifting assembly and the yaw assembly.

5. A catheter intervention device according to claim 4, characterized in that: The top of the cover is an open structure.

Images