Catheter delivery mechanism

Abstract

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

Description

Technical Field

[0001] The present invention relates to the field of interventional technology, and in particular to a catheter 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 catheter conveying mechanism which is convenient for installing and replacing a catheter.

[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 catheter delivery mechanism is provided, comprising a catheter fixing seat and a catheter rotating mechanism arranged on the catheter fixing seat, the catheter rotating mechanism comprising a catheter rotating wheel and a catheter rotating driving mechanism for driving the catheter rotating wheel to rotate, the catheter rotating wheel having a catheter opening groove extending from a side to an axis, and a catheter fixing device for fixing the catheter at the bottom of the catheter opening groove.

[0009] Furthermore, the catheter opening slot forms a mounting hole on the axis of the catheter rotating wheel, the diameter of which is greater than the width of the catheter opening slot.

[0010] Furthermore, the catheter rotating wheel includes a catheter wheel shaft portion and a gear ring arranged on the catheter wheel shaft portion; the catheter rotation driving mechanism includes a gear meshing with the gear ring and a motor driving the gear.

[0011] Furthermore, the gear ring is a bevel gear ring, the gear is a bevel gear, and the axial direction of the motor is perpendicular to the catheter wheel shaft or arranged at a preset angle.

[0012] Furthermore, the catheter 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 catheter fixing seat. The first end of the torque sensor is fixed on the catheter fixing seat, and the second end is fixed on the motor stator.

[0013] Furthermore, a rotating seat is provided at the end of the motor stator, and the rotating seat is connected to the bearing hole on the catheter fixing seat through a bearing.

[0014] Furthermore, the catheter fixing device is a buckle engaged with the tail wing of the catheter.

[0015] Furthermore, the buckle includes a tail wing groove which is arranged at one end of the duct wheel shaft portion and matches the tail wing, and a pressure plate which presses the tail wing in the tail wing groove.

[0016] Furthermore, the catheter conveying mechanism also includes a slide platform, a slide groove cooperating with the slide rail is arranged at the bottom of the slide platform, and the catheter fixing seat is arranged on the slide platform.

[0017] Furthermore, an adjusting mechanism for adjusting the connection position of the driving belt between the slide and the slide rail is also provided on the slide.

[0018] In summary, in the catheter delivery mechanism of the present invention, the catheter rotating wheel has a catheter opening slot extending from the side to the axis, that is, the catheter can be directly installed to the axis position of the catheter rotating wheel through the catheter opening slot, which is simpler to install than the method of inserting the catheter from one end in the prior art. More importantly, the catheter can also be directly removed from the catheter opening slot, which effectively solves the problem in the prior art that the catheter can only be removed from one end and the catheter must be pulled out of the body before it can be removed. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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:

[0020] Figure 1 is a schematic diagram of the three-dimensional structure of the catheter delivery mechanism according to the present invention;

[0021] Figure 2 Schematic diagram of the exploded structure of the torque measuring device of the catheter delivery mechanism according to the present invention. DETAILED DESCRIPTION

[0022] 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.

[0023] like Figure 1 As shown, the present invention provides a catheter delivery mechanism, including a catheter fixing seat 31 and a catheter rotating mechanism arranged on the catheter fixing seat 31, the catheter rotating mechanism includes a catheter rotating wheel 32 and a catheter rotating driving mechanism 33 driving the catheter rotating wheel 32 to rotate, the catheter rotating wheel 32 has a catheter opening groove 321 extending from the side to the axis, and a catheter fixing device 322 fixing the catheter at the bottom of the catheter opening groove 321.

[0024] In the catheter delivery mechanism of the present invention, the catheter rotating wheel 32 has a catheter opening slot 321 extending from the side to the axis, that is, the catheter can be directly installed to the axis position of the catheter rotating wheel 32 through the catheter opening slot 321, which is simpler to install than the method of inserting the catheter from one end in the prior art. More importantly, the catheter can also be directly removed from the catheter opening slot 321, which effectively solves the problem in the prior art that the catheter can only be removed from one end and the catheter must be pulled out of the body before it can be removed.

[0025] Specifically, Figure 1As shown, the catheter opening slot 321 forms a mounting hole 321a on the axis of the catheter rotating wheel 32, the diameter of which is greater than the width of the catheter opening slot 321, so that the catheter can be installed in place, that is, after reaching the mounting hole 321a, it is convenient for the catheter to be rotated and adjusted or other operations are performed, thereby avoiding the catheter from being twisted and facilitating the catheter fixing device 322 to fix the catheter.

[0026] Combination Figure 1 As shown, the catheter rotating wheel 32 includes a catheter wheel shaft 323 and a gear ring 324 arranged on the catheter wheel shaft 323; the catheter opening groove 321 is correspondingly arranged on the catheter wheel shaft 323 and the gear ring 324, and the catheter wheel shaft 323 extends the length of the catheter opening groove 321, so as to be more conducive to installing the catheter in place and ensuring the stability of the catheter after installation, and at the same time avoiding unnecessary contact and friction between the catheter and other parts during the installation process. The catheter rotation drive mechanism 33 includes a gear 331 meshed with the gear ring 324 and a motor 332 driving the gear 331. By adopting the method of meshing the gear 331 with the gear ring 324, the catheter opening groove 321 can be set at the tooth groove position of the gear ring 324, and selecting a suitable tooth spacing can also ensure smooth transmission of the two. In addition, by setting the gear ring 324 and the gear 331, the motor 332 is not coaxial with the catheter, which is convenient for setting the catheter and the guide wire. In addition, it can also be driven by a friction wheel with friction contact, and the motor 332 can also be not coaxial with the catheter, which is convenient for setting the catheter and the guide wire.

[0027] More preferably, the gear ring 324 is a bevel gear ring, the gear 331 is a bevel gear, the axial direction of the motor 332 is perpendicular to the catheter wheel shaft 323 or arranged at a preset angle, and the transmission is transmitted through the bevel gear. On the one hand, it is conducive to more stable transmission, and on the other hand, the axial direction of the motor 332 can also be changed, thereby facilitating the overall structural layout.

[0028] Combination Figure 1 and Figure 2As shown, the catheter rotation drive mechanism 33 also includes a torque measuring device, which includes a torque sensor 333. The motor stator of the motor 332 is rotatably arranged on the catheter fixing seat 31, and the first end of the torque sensor 333 is fixed on the catheter fixing seat 31, and the second end is fixed on the motor stator. That is, the motor stator and the rotor are coaxially rotatably arranged on the catheter fixing seat 31, and the two ends of the torque sensor 333 are respectively fixed on the catheter fixing seat 31 and the motor stator. That is, the motor stator is only fixed by the torque sensor 333 in the circumferential direction. When the motor 332 is working, the rotor of the motor 332 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 332 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 332 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 catheter fixing seat 31 through the torque sensor 333. 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 333 with the lever arm.

[0029] Therefore, according to the above analysis, the torque exerted on the rotor of the motor 332 during uniform motion can be calculated based on the force measured by the torque sensor 333, 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.

[0030] In addition, when the rotor accelerates or decelerates, the rotational inertia of the rotor can be considered accordingly for compensation. The torque measuring device of the present invention eliminates the slip ring mechanism and utilizes the existing torque sensor 333, making it easier to ensure the stability of the system.

[0031] Specifically, combined Figure 2 As shown, the catheter fixing seat 31 is provided with a support 336 having an annular portion, the annular portion has a bearing hole, and the motor stator is fixed in the bearing hole through a bearing 335, thereby ensuring that there is no circumferential force between the electronic stator and the catheter fixing seat 31.

[0032] In addition, in order to facilitate installation and processing, the catheter delivery mechanism also includes a rotating seat 334, 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 334 to match the bearing, direct processing on the motor stator is avoided, which can effectively reduce the complexity of processing.

[0033] Combination Figure 2As shown, the torque measuring device also includes a first bracket 337 fixed on the annular portion and a second bracket 338 fixed on the rotating seat 334; the two ends of the torque sensor 333 are respectively fixed on the first bracket 337 and the second bracket 338. By providing the first bracket 337 and the second bracket 338, it is convenient to install and fix the torque sensor 333. Preferably, in combination with Figure 1 and Figure 2 As shown, the first bracket 337 and the second bracket 338 are respectively fixed to two opposite sides of the torque sensor 333 to improve the reliability of installation and fixing.

[0034] Combination Figure 1 As shown, the catheter fixing device 322 is a buckle that engages with the tail wing of the catheter, and the tail wing of the catheter is directly fixed by the buckle, which is convenient and simple. More specifically, the buckle includes a tail wing groove 322a arranged at one end of the catheter wheel shaft portion 323 and matched with the tail wing, and a pressure plate 322b that presses the tail wing in the tail wing groove 322a. After the tail wing is inserted into the tail wing groove 322a and fixed by the pressure plate 332b, it is fixed relative to the catheter rotating wheel 32, so that the catheter rotating wheel 32 drives the rotating catheter to rotate synchronously.

[0035] Preferably, the catheter conveying mechanism also includes a slide, and a slide groove cooperating with the slide rail is provided at the bottom of the slide. The catheter fixing seat 31 is provided on the slide. As required, the catheter fixing seat 31 can be an integral structure or two structures fixed to each other. That is, the entire catheter conveying mechanism is provided on the slide rail through the slide, and the slide is driven to slide back and forth by the corresponding catheter rotation drive mechanism on the slide rail, thereby driving the catheter to move back and forth. As required, an adjustment mechanism for adjusting the connection position of the drive belt of the slide and the slide rail is also provided on the slide. That is, a drive belt is provided on the slide rail, and the fixed position of the slide and the drive belt is adjusted by the adjustment mechanism, so that the position of the slide can be adjusted, so that the catheter is in a suitable position.

[0036] 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 catheter delivery mechanism, characterized in that: The invention comprises a catheter fixing seat and a catheter rotating mechanism arranged on the catheter fixing seat, wherein the catheter rotating mechanism comprises a catheter rotating wheel and a catheter rotating driving mechanism for driving the catheter rotating wheel to rotate, wherein the catheter rotating wheel has a catheter opening groove extending from a side to an axis, and a catheter fixing device for fixing the catheter at the bottom of the catheter opening groove; The catheter rotating wheel comprises a catheter wheel shaft portion and a gear ring arranged on the catheter wheel shaft portion; the catheter rotating driving mechanism comprises a gear meshing with the gear ring and a motor driving the gear; The catheter 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 catheter fixing seat. The first end of the torque sensor is fixed on the catheter fixing seat, and the second end is fixed on the motor stator.

2. The catheter delivery mechanism according to claim 1, characterized in that: The catheter opening slot forms a mounting hole on the axis of the catheter rotating wheel, the diameter of which is greater than the width of the catheter opening slot.

3. The catheter delivery mechanism according to claim 1, characterized in that: The gear ring is a bevel gear ring, the gear is a bevel gear, and the axial direction of the motor is perpendicular to the catheter wheel shaft or is arranged at a preset angle.

4. The catheter delivery mechanism according to claim 1, characterized in that: A rotating seat is arranged at the end of the motor stator, and the rotating seat is connected with a bearing hole on the catheter fixing seat through a bearing.

5. The catheter delivery mechanism according to claim 1, characterized in that: The catheter fixing device is a buckle engaged with the tail wing of the catheter.

6. The catheter delivery mechanism according to claim 5, characterized in that: The buckle comprises a tail wing groove which is arranged at one end of the duct wheel shaft portion and matches with the tail wing, and a pressing plate which presses the tail wing tightly in the tail wing groove.

7. The catheter delivery mechanism according to claim 1, characterized in that: The catheter conveying mechanism also includes a slide platform, a slide groove matched with a slide rail is arranged at the bottom of the slide platform, and the catheter fixing seat is arranged on the slide platform.

8. The catheter delivery mechanism according to claim 7, characterized in that: The slide table is also provided with an adjusting mechanism for adjusting the connection position of the slide table and the driving belt of the slide rail.

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