Guidewire delivery mechanism

Abstract

The present invention discloses a guidewire conveying mechanism, including a guidewire fixing seat and a guidewire rotating mechanism arranged on the guidewire fixing seat, the guidewire rotating mechanism including a guidewire rotating wheel and a guidewire rotating driving mechanism driving the guidewire rotating wheel to rotate, the guidewire rotating wheel having a guidewire opening groove extending from the side to the axis, and a guidewire fixing device fixing the guidewire at the bottom of the guidewire opening groove. In the guidewire conveying mechanism of the present invention, the guidewire rotating wheel has a guidewire opening groove extending from the side to the axis, that is, the guidewire can be directly installed to the axis position of the guidewire rotating wheel through the guidewire opening groove, which is simpler to install than the method of inserting the guidewire from one end in the prior art. More importantly, the guidewire can also be directly disengaged from the guidewire opening groove, which effectively solves the problem in the prior art that the guidewire can only be disengaged from one end, resulting in the guidewire having to be pulled out of the body before it can be disengaged.

Description

Technical Field

[0001] The present invention relates to the field of interventional technology, and in particular to a guide wire delivery mechanism. Background Art

[0002] Interventional technology is a minimally invasive treatment using modern high-tech means. Under the guidance of medical imaging, special catheters, guidewires and other precision instruments are introduced into the human body to diagnose and locally treat lesions in the body. Most interventional treatments are performed within blood vessels. It does not require surgery. It only requires making a tiny incision on the blood vessels or skin, and inserting special catheters and guidewires into the blood vessels to treat diseases that were previously untreatable and required surgical treatment or poor medical treatment, such as tumors, hemangiomas, various hemorrhages, cerebrovascular malformations, etc.

[0003] For certain types of disease, such as arteriosclerosis, an image of the patient's heart may show that one or more coronary arteries are blocked. After the diagnostic procedure, the patient may undergo a catheter-based interventional treatment. Interventional treatment methods are usually performed by inserting a guidewire into the blood vessel and then pushing the guidewire to the desired location. The catheter is then inserted over the guidewire and reaches the patient's lesion location. In some treatments, the catheter is equipped with a stent for installation in the human body and the balloon required to install the stent. In tumor treatment, chemotherapy drugs can be infused through the catheter, as well as embolic agents for embolization.

[0004] For manual insertion of the guidewire, the doctor applies axial thrust and torque to the proximal end of the guidewire to control the guidewire to the desired position. During this operation, the doctor needs the assistance of imaging equipment to help the doctor determine the position of the guidewire in the blood vessel. The commonly used imaging equipment is DSA, which uses X-rays with radiation damage to humans for imaging. Long-term exposure to X-rays can cause irreversible damage to the doctor's eyes, skin, and reproductive system. The use of remote-controlled robots can isolate doctors from the radiation environment to avoid radiation.

[0005] At present, vascular interventional surgical robots mainly adopt a master-slave end operating structure to isolate doctors from radiation. The guidewire delivery device in patent US7887549B2 is designed for cardiovascular surgery. Its catheter and guidewire are Y-shaped. The guidewire has two degrees of freedom of rotation and axial movement. The catheter enters from one side and merges with the guidewire before entering the blood vessel. In the guidewire catheter used in peripheral vascular interventional surgery, the guidewire needs to be inserted from the tail of the catheter. This patent cannot solve this problem. Patent 2017208089972 discloses an interventional surgical robot slave end and its mobile platform that can solve the problem of catheter-guidewire collaboration, but the patent has a complex structure, and it is inconvenient to install the guidewire and catheter. When removing the guidewire during surgery, the guidewire and catheter need to be pulled out of the patient's body. Summary of the invention

[0006] The invention provides a guide wire conveying mechanism which is convenient for installing and replacing a guide wire.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] According to one aspect of the present invention, a guide wire conveying mechanism is provided, comprising a guide wire fixing seat and a guide wire rotating mechanism arranged on the guide wire fixing seat, the guide wire rotating mechanism comprising a guide wire rotating wheel and a guide wire rotation driving mechanism for driving the guide wire rotating wheel to rotate, the guide wire rotating wheel having a guide wire opening groove extending from the side to the axis, and a guide wire fixing device for fixing the guide wire at the bottom of the guide wire opening groove.

[0009] Further, the guide wire fixing seat comprises a first fixing plate and a second fixing plate rotatably arranged on the first fixing plate, and the guide wire rotating mechanism is arranged on the second fixing plate;

[0010] The guide wire conveying mechanism also includes a resistance measuring device for detecting the axial force of the guide wire, and the resistance measuring device is arranged between the first fixing plate and the second fixing plate.

[0011] Furthermore, the second fixed plate is rotatably arranged on the first fixed plate through a rotating shaft; a limit portion is arranged on the first fixed plate to limit the rotation of the second fixed plate in the forward direction of the guide wire; the resistance measuring device includes a stopper arranged on the first fixed plate, and a resistance sensor whose two ends are respectively abutted or connected to the stopper and the second fixed plate; the limit portion and the stopper are respectively arranged on both sides of the rotating shaft.

[0012] Furthermore, the guide wire rotating wheel includes a guide wire wheel shaft and a first gear arranged on the guide wire wheel shaft; the guide wire rotation driving mechanism includes a second gear meshing with the first gear and a motor driving the second gear.

[0013] Furthermore, the guide wire fixing seat also includes a movable plate detachably arranged on the second fixing plate; the motor is arranged on the second fixing plate; and the first gear and the second gear are arranged on the movable plate.

[0014] Furthermore, the first gear is a first bevel gear, the second gear is a second bevel gear, the axial direction of the motor is perpendicular to the shaft of the guide wire wheel or arranged at a preset angle; the movable plate and the fixed plate are fixed by positioning columns and positioning grooves extending along the axial direction of the motor; the second gear is connected to the motor by a spline.

[0015] Furthermore, the guide wire rotation drive mechanism also includes a torque measuring device, which includes a torque sensor; the motor stator of the motor is rotatably arranged on the fixed plate, the first end of the torque sensor is fixed on the fixed plate, and the second end is fixed on the motor stator.

[0016] Furthermore, the guidewire fixing device includes a slot engaged with the tail wing of the guidewire.

[0017] Furthermore, the guide wire fixing device also includes a guide wire locker, which is engaged with the locking slot.

[0018] Furthermore, the guide wire conveying mechanism also includes a slide, and a slide groove cooperating with the slide rail is arranged at the bottom of the slide; an adjustment mechanism for adjusting the connection position of the slide and the drive belt of the slide rail is also arranged on the slide; the guide wire fixing seat is arranged on the slide.

[0019] In summary, in the guidewire conveying mechanism of the present invention, the guidewire rotating wheel has a guidewire opening groove extending from the side to the axis, that is, the guidewire can be directly installed to the axis position of the guidewire rotating wheel through the guidewire opening groove, which is simpler to install than the method of inserting the guidewire from one end in the prior art. More importantly, the guidewire can also be directly removed from the guidewire opening groove, which effectively solves the problem in the prior art that the guidewire can only be removed from one end and the guidewire must be pulled out of the body before it can be removed. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0021] Figure 1 is a schematic diagram of the exploded structure of the guide wire delivery mechanism according to the present invention;

[0022] Figure 2 for Figure 1 Right view of;

[0023] Figure 3 It is a schematic diagram of the exploded structure of the torque measuring device of the guide wire delivery mechanism according to the present invention. DETAILED DESCRIPTION

[0024] In order to make the objectives, technical solutions and advantages of the present invention more clear, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0025] like Figure 1 and 2 As shown, the present invention provides a guide wire conveying mechanism, including a guide wire fixing seat 41 and a guide wire rotating mechanism arranged on the guide wire fixing seat 41, the guide wire rotating mechanism includes a guide wire rotating wheel 42 and a guide wire rotation driving mechanism 43 for driving the guide wire rotating wheel 42 to rotate, the guide wire rotating wheel 42 has a guide wire opening groove 421 extending from the side to the axis, and a guide wire fixing device 422 for fixing the guide wire at the bottom of the guide wire opening groove 421.

[0026] In the guide wire delivery mechanism of the present invention, the guide wire rotating wheel 42 has a guide wire opening groove 421 extending from the side to the axis, that is, the guide wire can be directly installed to the axis position of the guide wire rotating wheel 42 through the guide wire opening groove 421, which is simpler to install than the method of inserting the guide wire from one end in the prior art. More importantly, the guide wire can also be directly removed from the guide wire opening groove 421, which effectively solves the problem in the prior art that the guide wire can only be removed from one end and the guide wire must be pulled out of the body before it can be removed.

[0027] Preferably, the guidewire fixing seat 41 further includes a first fixing plate 413 and a second fixing plate 411 rotatably disposed on the first fixing plate 413, and the guidewire rotating mechanism is disposed on the second fixing plate 411. The guidewire conveying mechanism further includes a resistance measuring device 45 for detecting the axial force of the guidewire, and the resistance measuring device 45 is disposed between the first fixing plate 413 and the second fixing plate 411. That is, the rotation between the first fixing plate 413 and the second fixing plate 411 is limited only by the resistance measuring device 45, and the resistance in the advancing direction (i.e., axial direction) of the guidewire can be obtained by measuring the resistance by the resistance measuring device 45 and performing relevant force arm conversion calculations.

[0028] Specifically, Figure 1 and 2 As shown, the second fixed plate 411 is rotatably disposed on the first fixed plate 413 via a rotating shaft 413a; the first fixed plate 413 is provided with a limiting portion 413b for limiting the rotation of the second fixed plate 411 in the advancing direction of the guide wire, that is, the limiting portion 413b limits the forward (guide wire advancing direction) movement of the second fixed plate 411 to maintain the stability of the second fixed plate 411.

[0029] The resistance measuring device 45 includes a stopper 452 arranged on the first fixed plate 413, and a resistance sensor 451 whose two ends are respectively abutted or connected with the stopper 452 and the second fixed plate 411; the limit portion 413b and the stopper 452 are respectively arranged on both sides of the rotating shaft 413a. That is, the resistance sensor 451 cooperates with the stopper 452 to limit the second fixed plate 411 from moving backward (in the direction of pulling out the guide wire). According to the principle of moment balance, the moment of the resistance to which the guide wire is subjected during the advancement relative to the rotating shaft 413a and the moment of the resistance sensor 451 relative to the rotating shaft 413a are mutually balanced, so that the second fixed plate 411 can maintain balance. Therefore, the resistance to which the guide wire is subjected during the advancement process can be calculated by the ratio of the resistance measured by the resistance sensor 451 and the corresponding force arm.

[0030] Combination Figure 1 and 2As shown, the wire guide rotating wheel 42 includes a wire guide wheel shaft 423 and a first gear 424 arranged on the wire guide wheel shaft 423; the wire guide opening groove 421 is correspondingly arranged on the wire guide wheel shaft 423 and the first gear 424, and the wire guide wheel shaft 423 extends the length of the wire guide opening groove 421, so as to be more conducive to installing the wire in place and ensuring the stability of the wire after installation, and at the same time avoiding unnecessary contact and interference between the wire and other parts during the installation process. The wire guide rotation driving mechanism 43 includes a second gear 432 meshing with the first gear 424 and a motor 431 driving the second gear 432. By adopting the method of meshing two gears, the wire guide opening groove 421 is set at the tooth groove position, and the appropriate tooth spacing is selected, which can also ensure the smooth transmission of the two. In addition, by setting the first gear 424 and the second gear 432, the motor 431 is not coaxial with the wire guide, which is convenient for setting the catheter and the wire guide.

[0031] Preferably, if Figure 1 and 2 As shown, the guide wire fixing seat 41 further includes a movable plate 412 detachably arranged on the second fixing plate 411; the second fixing plate 411 is rotatably arranged on the first fixing plate 413; the motor 431 is arranged on the second fixing plate 411; the first gear 424 and the second gear 432 are arranged on the movable plate 412. That is, the movable plate 412 can be disassembled as a whole, so as to disassemble some disposable or frequently replaced parts, realize modular disassembly and assembly, effectively improve efficiency, and facilitate use.

[0032] Preferably, the first gear 424 is a first bevel gear, the second gear 432 is a second bevel gear, and the axial direction of the motor 431 is perpendicular to the guide wheel shaft 423 or arranged at a preset angle; the transmission through the bevel gears is conducive to more stable transmission on the one hand, and on the other hand, the axial direction of the motor 431 can also be changed, thereby facilitating the overall structural layout.

[0033] Combination Figure 1 and Figure 3As shown, the guide wire rotation drive mechanism 43 also includes a torque measuring device, which includes a torque sensor 433; the motor stator of the motor 431 is rotatably arranged on the fixed plate 411, the first end of the torque sensor 433 is fixed on the fixed plate 411, and the second end is fixed on the motor stator. That is, the motor stator and the rotor are coaxially rotatably arranged on the guide wire fixing seat 41 (the second fixed plate 411), and the two ends of the torque sensor 433 are respectively fixed on the guide wire fixing seat 41 (the second fixed plate 411) and the motor stator. That is, the motor stator is fixed in the circumferential direction only by the torque sensor 433. When the motor 431 is working, the rotor of the motor 431 is subjected to the electromagnetic torque applied by the motor stator and the resistance torque applied by the load. According to the laws of physics, when the rotor of the motor 431 moves at a uniform speed, the sum of the external forces is zero. At this time, the two torques in opposite directions received by the motor 431 are equal, that is, the electromagnetic torque is equal to the load resistance torque. At this time, the stator is subjected to the electromagnetic torque reaction force from the rotor, which is equal to the electromagnetic torque on the rotor. At the same time, the stator is also subjected to the reaction torque transmitted by the guide wire fixing seat 41 (second fixing plate 411) through the torque sensor 433. The balance of these two torques ensures that the stator does not move. The reaction torque can be obtained by multiplying the force measured by the torque sensor 433 with the lever arm.

[0034] Therefore, according to the above analysis, the torque exerted on the rotor of the motor 431 during uniform motion can be calculated based on the force measured by the torque sensor 433, which solves the problem of the complicated structure caused by the need for slip ring leads in the prior art, and the measurement accuracy is higher and more reliable.

[0035] In addition, when the rotor accelerates or decelerates, the rotational inertia of the rotor can be considered accordingly for compensation. The device eliminates the slip ring mechanism and utilizes the existing force measurement device, making it easier to ensure the stability of the system.

[0036] Specifically, combined Figure 3 As shown, a support 436 having an annular portion is provided on the guide wire fixing seat 41 (second fixing plate 411), and the annular portion has a bearing hole. The motor stator is fixed in the bearing hole through a bearing 435, thereby ensuring that there is no circumferential force between the electronic stator and the guide wire fixing seat 41 (second fixing plate 411).

[0037] In addition, in order to facilitate installation and processing, the guide wire delivery mechanism also includes a rotating seat 434, which is fixedly connected to the motor stator and has a shaft portion that matches the inner hole of the bearing. That is, by providing a rotating seat 434 to match the bearing 435, direct processing on the motor stator is avoided, which can effectively reduce the processing complexity.

[0038] Combination Figure 3As shown, the torque measuring device further includes a first bracket 437 fixed on the annular portion and a second bracket 438 fixed on the rotating seat 434; the two ends of the torque sensor 433 are respectively fixed on the first bracket 437 and the second bracket 438. By providing the first bracket 437 and the second bracket 438, it is convenient to install and fix the measuring device. Preferably, as Figure 1 and Figure 3 As shown, the first bracket 437 and the second bracket 438 are respectively fixed to two opposite sides of the torque sensor 433 to improve the reliability of installation and fixing.

[0039] Combination Figure 1 As shown, in order to facilitate the fixing of the guide wire, the guide wire fixing device 422 includes a slot 422a that engages with the tail of the guide wire. For a guide wire with a tail, the tail of the guide wire is directly fixed through the slot 422a, so that the guide wire cannot rotate freely in the guide wire rotating wheel 42, which is convenient and simple. In addition, for a guide wire without a tail, a guide wire locker 422b can be used to lock the guide wire first, and then the guide wire locker 422b is placed in the slot 422a, so that the guide wire cannot rotate freely. After the guide wire is placed, the rotation of the guide wire is determined by the guide wire rotating wheel 42.

[0040] Preferably, the guide wire conveying mechanism also includes a slide 46, and a slide groove 461 cooperating with the slide rail is provided at the bottom of the slide 46. The guide wire fixing seat 41 is arranged on the slide 46, that is, the entire guide wire conveying mechanism is arranged on the slide rail through the slide 46, and is driven to slide forward and backward by the corresponding guide wire rotation drive mechanism 43 on the slide rail, thereby driving the guide wire to move forward and backward. As needed, the slide 46 and the catheter fixing seat 41 can be an integral structure, or two structures fixed separately, and the slide 46 is also provided with an adjustment mechanism 462 for adjusting the connection position of the slide 46 and the drive belt of the slide rail. That is, a drive belt is provided on the slide rail, and the fixed position of the slide 46 and the drive belt is adjusted by the adjustment mechanism 462, so that the position of the slide 46 can be adjusted, so that the guide wire is in a suitable position.

[0041] The above is only a specific embodiment of the present invention. Under the above teachings of the present invention, those skilled in the art can make other improvements or modifications on the basis of the above embodiments. Those skilled in the art should understand that the above specific description is only to better explain the purpose of the present invention, and the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. A guide wire delivery mechanism, characterized in that: It comprises a guide wire fixing seat and a guide wire rotating mechanism arranged on the guide wire fixing seat, the guide wire rotating mechanism comprises a guide wire rotating wheel and a guide wire rotating driving mechanism driving the guide wire rotating wheel to rotate, the guide wire rotating wheel has a guide wire opening groove extending from the side to the axis, and a guide wire fixing device fixing the guide wire at the bottom of the guide wire opening groove; The guide wire fixing seat comprises a first fixing plate and a second fixing plate rotatably arranged on the first fixing plate, and the guide wire rotating mechanism is arranged on the second fixing plate; The guide wire delivery mechanism further comprises a resistance measuring device for detecting the axial force of the guide wire, wherein the resistance measuring device is arranged between the first fixing plate and the second fixing plate; The second fixing plate is rotatably arranged on the first fixing plate via a rotating shaft; The first fixing plate is provided with a limiting portion for limiting the second fixing plate from rotating in the advancing direction of the guide wire; The resistance measuring device comprises a stopper provided on the first fixing plate, and a resistance sensor with two ends respectively abutting or connected to the stopper and the second fixing plate; The limiting portion and the stopper are respectively arranged on both sides of the rotating shaft; The guide wire rotating wheel includes a guide wire wheel shaft and a first gear arranged on the guide wire wheel shaft; the guide wire rotation driving mechanism includes a second gear meshing with the first gear and a motor driving the second gear; the guide wire rotation driving mechanism also includes a torque measuring device, and the torque measuring device includes a torque sensor; the motor stator of the motor is rotatably arranged on the fixed plate, the first end of the torque sensor is fixed on the fixed plate, and the second end is fixed on the motor stator.

2. The guide wire delivery mechanism according to claim 1, characterized in that: The guide wire fixing seat further comprises a movable plate detachably arranged on the second fixing plate; The motor is arranged on the second fixing plate; The first gear and the second gear are disposed on the movable plate.

3. The guide wire delivery mechanism according to claim 2, characterized in that: The first gear is a first bevel gear, the second gear is a second bevel gear, and the axial direction of the motor is perpendicular to the shaft of the guide wheel or arranged at a preset angle; The movable plate and the fixed plate are fixed by positioning columns and positioning grooves extending along the axial direction of the motor; The second gear is connected to the motor via a spline.

4. The guide wire delivery mechanism according to claim 1, characterized in that: The guide wire fixing device comprises a clamping groove engaged with the tail wing of the guide wire.

5. The guide wire delivery mechanism according to claim 4, characterized in that: The guide wire fixing device also includes a guide wire locker, and the guide wire locker is engaged with the locking slot.

6. The guide wire delivery mechanism according to claim 1, characterized in that: The guide wire conveying mechanism also includes a slide, and a slide groove cooperating with the slide rail is provided at the bottom of the slide; The slide is also provided with an adjustment mechanism for adjusting the connection position between the slide and the driving belt of the slide rail; The guide wire fixing seat is arranged on the sliding platform.

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