An interventional surgery robot slave end rubbing device

Abstract

A rubbing device from the end of an interventional surgery robot is used to achieve the clamping and rotation of a slender medical device, which includes a support frame, a fixed support plate installed on the support frame, a first drive assembly, a movable support plate driven by the first drive assembly and moving relative to the fixed support plate in a first direction, two clamping groups that can be manually detachably clamped on the fixed support plate and the movable support plate, respectively, and a second drive assembly that drives the fixed support plate and the movable support plate to move in opposite directions in a second direction different from the first direction. The fixed support plate and the movable support plate respectively drive the two clamping groups to move in opposite directions in the second direction, thereby driving the slender medical device clamped between the rollers of the two clamping groups to rotate. The invention has good transmission effect, strong practicality, better meets the doctor's operating requirements, and has a compact structure and occupies less space. It is of great help to the operation of interventional surgery and has a strong promotion significance.

Description

Technical Field

[0001] The invention relates to a device in the field of medical robots, in particular to a slave end rubbing device of an interventional surgery robot. Background Art

[0002] Interventional therapy is a minimally invasive treatment performed using modern high-tech means. Under the guidance of medical imaging equipment, special catheters, guide wires and other precision medical devices are introduced into the human body to diagnose and locally treat pathologies in the body.

[0003] Interventional therapy uses digital imaging technology to expand the doctor's field of vision and extend the doctor's hands with the help of catheters and guide wires. Its incision (puncture point) is only the size of a grain of rice. It does not need to cut into human tissues. It can treat many diseases that were previously untreatable and required surgical treatment or medical treatment but with poor efficacy, such as tumors, hemangiomas, and various bleeding. Interventional therapy has the characteristics of no surgery, less trauma, quick recovery, and good results. It is the development trend of future medicine.

[0004] In vascular interventional surgery, doctors need to be exposed to X-ray radiation for a long time. For this reason, a remote-controlled master-slave vascular interventional surgery robot has been developed. The slave end of the master-slave vascular interventional surgery robot can work in a strong radiation environment, while the doctor controls it through the master end outside the radiation environment.

[0005] The interventional surgical robot needs a corresponding transmission mechanism to drive the guide wire (or catheter) in the process of advancing, retreating and rotating. However, the transmission mechanism of the existing interventional surgical robot has a poor transmission effect due to unreasonable structural design and cannot meet the use requirements. In addition, the overall volume of the transmission mechanism is too large, which is not conducive to the spatial layout of the surgical robot. In actual use, it also brings various inconveniences and affects the flexibility of use. Summary of the invention

[0006] Based on this, it is necessary to provide an improved guidewire catheter rubbing device for an interventional surgery robot to address the deficiencies in the prior art.

[0007] A slave-end rubbing device for an interventional surgical robot is used to achieve clamping and rotation of a slender medical device. The device comprises a support frame, a fixed support plate installed on the support frame, a first driving component, a movable support plate driven by the first driving component and moving relative to the fixed support plate in a first direction, two clamping groups that can be manually detachably clamped to the fixed support plate and the movable support plate respectively, and a second driving component that drives the fixed support plate and the movable support plate to move in opposite directions in a second direction different from the first direction. Each of the clamping groups comprises a plurality of rollers distributed side by side. The first driving component drives the movable support plate to approach or move away from the fixed support plate in the first direction, so that the clamping group on the movable support plate cooperates with the clamping group on the fixed support plate to clamp or release the slender medical device. When the second driving component drives the fixed support plate and the movable support plate to move in opposite directions in the second direction, the fixed support plate and the movable support plate respectively drive the two clamping groups to move in opposite directions in the second direction, thereby driving the slender medical device clamped between the two clamping groups to rotate.

[0008] Furthermore, the first direction and the second direction are perpendicular to each other.

[0009] Furthermore, the second driving assembly includes two slides arranged opposite to each other, a linkage wheel placed between the two slides and allowing the two slides to move in opposite directions, and a first driving motor driving the linkage wheel to rotate, and the two slides are respectively connected to the movable support plate and the fixed support plate.

[0010] Furthermore, the fixed support plate is provided with a connecting head, and the sliding seat connected to the fixed support plate is provided with a fixing head, and the connecting head and the fixing head are connected and fixed by a fixing pin.

[0011] Furthermore, the movable support plate is provided with an adjustment head, and a long adjustment groove extending along the first direction is provided on one side of the slide seat connected to the fixed support plate. The slide seat connected to the movable support plate is provided with a sliding column, and the sliding column of the slide seat passes through the adjustment groove. When the first driving component drives the movable support plate to approach or move away from the fixed support plate to allow the clamping group to clamp or release the slender medical device, the sliding column cooperates with different positions of the adjustment groove in the first direction.

[0012] Furthermore, the support frame includes a bottom plate, a support plate mounted on the bottom plate, and a fixed block connected to the support plate, and the two slide seats include a slide rod penetrating the fixed block and extending along the second direction.

[0013] Furthermore, the circumferential surface of the linkage wheel is provided with latching teeth, and the slide seat also includes a driving rack connected to the slide rod, and the driving rack is meshed with the latching teeth of the linkage wheel through the latching teeth.

[0014] Furthermore, the support frame also includes a guide rod fixedly installed along the second direction, and the fixed support plate slides along the guide rod in the second direction.

[0015] Furthermore, the first driving assembly includes an electromagnetic driver, a connecting plate driven by the electromagnetic driver, and a limit rod installed on the connecting plate and extending in the second direction, wherein the limit rod passes through the movable support plate, so that the movable support plate moves along the limit rod in the second direction.

[0016] Furthermore, a guide pin is protruding from the bottom of the connecting plate of the first driving component, and a guide block is provided on the bottom plate of the supporting frame. The guide pin is inserted into the guide block along the first direction, and through the sliding cooperation between the guide pin and the guide block, the connecting plate of the first driving component slides along the first direction on the bottom plate of the supporting frame.

[0017] Furthermore, the clamping group includes a plurality of rotating shafts distributed side by side and disposable medical rollers mounted on the rotating shafts.

[0018] Furthermore, the clamping group is a disposable medical consumable.

[0019] To sum up, the interventional surgical robot of the present invention has a rubbing device at the end by setting a first driving component and a second driving component. The first driving component drives a clamping group to approach or move away from another clamping group to perform a guide wire catheter clamping operation, and the second driving component drives the guide wire catheter to perform a rubbing operation through the clamping group to realize the rotation of the guide wire catheter. It has good transmission effect and strong practicality, is more in line with the doctor's operating needs, and has a compact structure and occupies less space. It is of great help to the operation of interventional surgery and has a strong promotion significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a structural schematic diagram of the slave end rubbing device of the interventional surgery robot of the present invention;

[0021] Figure 2 for Figure 1 The schematic diagram of the structure of the interventional surgery robot after the outer cover is removed from the end rubbing device;

[0022] Figure 3 for Figure 1 The schematic diagram of the structure of the interventional surgical robot from another angle after the outer cover is removed from the end rubbing device;

[0023] Figure 4 for Figure 2 The schematic diagram of the structure of the interventional surgical robot after the linkage wheel and the first drive motor are further removed from the end rubbing device;

[0024] Figure 5 for Figure 4 The interventional surgical robot is shown in a front view of the rubbing device from the end. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical solution and advantages of the invention more clearly understood, the invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the invention and are not used to limit the invention.

[0026] like Figures 1 to 5 As shown, the present invention provides an interventional surgery robot slave end rubbing device, which is installed on the interventional surgery robot slave end to push the slender medical device (guide wire or catheter) 100 to perform clamping and rotation operations. The movement of the slender medical device (guide wire or catheter) 100 is divided into forward rotation into the surgical patient's body (specifically, the blood vessels in the body) and reverse rotation out of the surgical patient's body. In this embodiment, the interventional surgery robot slave end rubbing device is fixedly installed on the interventional surgery robot slave end, located at the distal end of the interventional surgery robot slave end. In other embodiments, the interventional surgery robot slave end rubbing device can be slidably installed on the interventional surgery robot slave end.

[0027] The slave-end rubbing device of the interventional surgical robot includes a support frame 10, a fixed support plate 20 installed on the support frame 10, a movable support plate 30 moving relative to the fixed support plate 20 in a first direction, two clamping groups 60 respectively installed on the fixed support plate 20 and the movable support plate 30, a first driving component 40 driving the movable support plate 30 to approach or move away from the fixed support plate 20 along the first direction, and a second driving component 50 driving the fixed support plate 20 and the movable support plate 30 to move in opposite directions along the second direction. When the movable support plate 30 approaches or moves away from the fixed support plate 20 in the first direction, the clamping group 60 installed on the movable support plate 30 cooperates with the clamping group 60 installed on the fixed support plate 20 to clamp or release the slender medical device 100. When the fixed support plate 20 and the movable support plate 30 move in opposite directions in the second direction, they respectively drive the two clamping groups 60 to move in opposite directions in the second direction, thereby driving the slender medical device 100 clamped between the two clamping groups 60 to rotate. In this embodiment, the first direction and the second direction are perpendicular to each other.

[0028] The support frame 10 includes a base plate 11, a support plate 12 and a guide block 13 installed on the base plate 11, two fixed blocks 14 connected to the inner side of the support plate 12, and two guide rods 15 fixed along the second direction. The guide rods 15 are parallel to each other. A limiting column 21 is provided at the bottom of the fixed support plate 20, and an active groove extending inward is provided at the end position of the limiting column 21. When the fixed support plate 20 is installed with the support frame 10, one of the guide rods 15 of the support frame 10 extends into the active groove, and the limiting column 21 can be adjusted in the second direction along the guide rod 15, and the guide rod 15 extends to the innermost position of the active groove, and the guide rod 15 cooperating therewith supports the entire positioning plate 20.

[0029] The first driving assembly 40 includes a connecting plate 42, a limiting rod 43 installed on the connecting plate 42 along the second direction, the end of the limiting rod 43 is inserted into the movable support plate 30, so that the movable support plate 30 can be adjusted along the limiting rod 43 in the second direction, and a guide pin 421 is protruding from the bottom of the connecting plate 42, and the guide pin 421 is inserted into the guide block 13 along the first direction. Through the cooperation between the guide pin 421 and the guide block 13, the connecting plate 42 of the first driving assembly 40 can slide along the first direction on the bottom plate 11 of the support frame 10. The first driving assembly 40 also includes an electromagnetic driver 41, which is directly or indirectly connected to the connecting plate 42 of the first driving assembly 40. By adjusting the opening and closing state of the electromagnetic driver 41, the movable support plate 30 on the first driving assembly 40 is driven to move relatively toward or away from the fixed support plate 20 along the first direction, thereby clamping or releasing the clamping group 60 installed on the movable support plate 30 and the clamping group 60 installed on the fixed support plate 20. In this embodiment, the electromagnetic driver 41 is installed on the bottom plate 11 of the support frame 10 .

[0030] It can be understood that in the present embodiment, the electromagnetic driver 41 is used to drive the two clamping groups 60 to perform the clamping or loosening action. In other embodiments, the first drive component 40 can also use a motor to drive the movable support plate 30 to slide. For example, the motor drives the rack to slide through the gear, and the connecting plate 42 on which the rack is installed slides synchronously, thereby achieving the clamping or loosening of the two clamping groups 60.

[0031] The present invention further includes a detection device 70. In this embodiment, the detection device 70 is a grating sensor, which includes a grating ruler 72 and a grating reading head 71. The grating ruler 72 is installed on the bottom plate 11 of the support frame 10 along the first direction, and the grating reading head 71 is installed on the connecting plate 42 and faces the grating ruler 72. When the first driving component 40 drives the two clamping groups 60 to clamp the slender medical device (catheter guidewire) 100, the grating sensor is used to obtain the relative displacement, and the measurement result is transmitted to the system controller, which converts it into the diameter of the slender medical device (guidewire or catheter) 100.

[0032] The second driving assembly 50 includes two slides 54 arranged opposite to each other, a linkage wheel 53 placed between the two slides 54 and allowing the two slides 54 to move synchronously in opposite directions along the second direction, and a first driving motor 51 driving the linkage wheel 53 to rotate. The circumferential surface of the linkage wheel 53 is provided with latching teeth. In this embodiment, the first driving motor 51 is connected to and drives the linkage wheel 53 through a gear set 52 to realize power transmission. In other embodiments, the first driving motor 51 can also be directly connected to the linkage wheel 53.

[0033] Each of the slides 54 includes a slide bar 542 and a driving rack 541 connected to the slide bar 542. The driving racks 541 on the two slides 54 are arranged opposite to each other and are simultaneously engaged with the teeth on the circumferential surface of the linkage wheel 53 through the teeth. The slide bar 542 passes through the corresponding fixed block 14 along the second direction, so that the slide 54 can slide in the second direction. When the first drive motor 51 drives the linkage wheel 53 to rotate through the gear set 52, the linkage wheel 53 synchronously drives the two slides 54 to move in opposite directions during the rotation process.

[0034] The two slide seats 54 are respectively matched with the movable support plate 30 and the fixed support plate 20, wherein the fixed support plate 20 is provided with a connecting head 22 at the bottom facing away from the corresponding clamping group 60, and the slide seat 54 matched with the fixed support plate 20 is provided with a fixed head 543, and the connecting head 22 and the fixed head 543 are connected and fixed by a fixing pin 23, and the movable support plate 30 is provided with an adjustment head 31 at the bottom facing away from the clamping group 60, and the adjustment head 31 is provided with a side of the slide seat 54 matched with the fixed support plate 20 extending along the first direction The elongated adjustment groove 32, the slide seat 54 cooperating with the fixed support plate 20 is provided with a slide post 544, and the slide post 544 of the slide seat 54 passes through the adjustment groove 32. When the first driving component 40 drives the clamping group 60 installed on the movable support plate 30 and the clamping group 60 installed on the fixed support plate 20 to clamp or release the slender medical device 100 together, the slide post 544 cooperates with different positions of the adjustment groove 32 in the first direction, and the slide post 544 switches from the clamping position or the non-clamping position in the adjustment groove 32. By providing the long positioning groove 32, the movable support plate 30 can be relatively displaced with the corresponding slide seat 54 during the movement in the first direction, so that the two clamping groups 60 can clamp the slender medical device 100. After the clamping is completed, the second driving assembly 50 drives the two driving racks 541 to move in opposite directions through the linkage wheel 53, and the two sliding rods 542 slide relative to the corresponding fixed blocks 14 synchronously, driving the fixed support plate 20 and the movable support plate 30 connected to the two sliding rods 542 to slide relative to the guide rod 15 and the limit rod 43 respectively, which can further drive the two clamping groups 60 to perform the thread rolling action (i.e., drive the slender medical device 100 to rotate forward or reverse). In this embodiment, the positioning groove 32 is an open groove, which is convenient for disassembly and maintenance. In this embodiment, one of the two guide rods 15 is fixed to the electromagnetic driver 41, and the other guide rod 15 is fixed to the bottom plate 11 of the support frame 10 and is passed through a fixed block 14, and the slide bar 542 of the slide seat 54 matched with the fixed support plate 20 passes through the fixed block 14. In other embodiments, both guide rods 15 can be fixed to the bottom plate 11 of the support frame 10.

[0035] Each of the clamping groups 60 includes a plurality of rotating shafts 62 arranged side by side and a roller 61 mounted on each rotating shaft 62. The rotating shafts 62 on the two clamping groups 60 are respectively mounted on the fixed support plate 20 and the movable support plate 30 through bearings, and the rotating shafts 62 can rotate around their axes. By using the rollers 61 to clamp the slender medical device 100, the slender medical device 100 can be moved in the tangential direction of the rollers 61 between the two clamping groups 60. During operation, the doctor can choose whether to move the slender medical device 100 in this direction according to the operation requirements. In addition, the present invention also includes an outer cover 80, which cooperates with the support frame 10 to perform sterile isolation on the fixed support plate 20, the movable support plate 30, the clamping group 60, the first drive assembly 40, and the second drive assembly 50. The outer cover 80 is provided with perforations 91 on both sides to allow the slender medical device 100 to pass through. The perforations 91 on both sides of the outer cover 80 are arranged opposite to each other, and the slender medical device 100 passing through the perforations 91 on both sides passes between the two clamping groups 60. For the specific structure of the outer cover 80, please refer to the corresponding description in the patent name: A slave end drive device of an interventional surgical robot with protective isolation function, patent application number: 202111018209.7, all of which are introduced into the present invention. The outer cover 80 can be a disposable medical consumable.

[0036] In other embodiments, the clamping group 60 mounted on the fixed support plate 20 and the clamping group 60 mounted on the movable support plate 30 can be installed in a detachable manner such as manual buckle to facilitate replacement. In addition, the clamping group 60 or its roller 61 can be a disposable medical consumable.

[0037] When the slave end rubbing device of the interventional surgery robot of the present invention is working, the medical device 100 can be operated in at least the following two modes according to the use requirements:

[0038] 1. Clamping mode: the first driving assembly 40 drives the two clamping groups 60 to clamp the slender medical device 100 in the first direction to perform preliminary positioning of the slender medical device 100;

[0039] 2. In the clamping and rotating mode, the second driving assembly 50 performs thread rolling on the clamped slender medical device 100, so that the slender medical device 100 performs a forward or reverse rotation operation along its axis.

[0040] To sum up, the interventional surgical robot of the present invention has a rubbing device at the end by setting a first drive component 40 and a second drive component 50. The first drive component 40 drives a clamping group 60 to approach or move away from another clamping group 60 to perform a guide wire catheter clamping operation. The second drive component 50 drives the guide wire catheter to perform a rubbing operation through the clamping group 60 to realize the rotation of the guide wire catheter. The transmission effect is good, the practicability is strong, and it better meets the doctor's operating needs. In addition, the structure is compact and the space occupied is small. It is of great help to the operation of interventional surgery and has a strong promotion significance.

[0041] It should be noted that the first direction and the second direction in the present invention are bidirectional. For example, when the first direction is a horizontal direction, it includes both a left direction and a right direction; when the second direction is a vertical direction, it includes both an upward direction and a downward direction.

[0042] In addition, the clamping position and the non-clamping position are both variable. For example, if the diameters of the guidewire catheters clamped between the two clamping groups 60 are different, the clamping position will change, and the clamping position will also have slight changes as the clamping force varies.

[0043] The above-mentioned embodiment only expresses one implementation method of the invention, and its description is relatively specific and detailed, but it cannot be understood as limiting the scope of the invention patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the inventive concept, which all belong to the protection scope of the invention. Therefore, the protection scope of the invention patent shall be based on the attached claims.

Claims

1. An interventional surgical robot slave end rubbing device for clamping and rotating slender medical equipment, characterized in that: The invention comprises a support frame, a fixed support plate installed on the support frame, a first driving assembly, a movable support plate driven by the first driving assembly and moving relative to the fixed support plate in a first direction, two clamping groups which are manually detachably connected to the fixed support plate and the movable support plate, and a second driving assembly which drives the fixed support plate and the movable support plate to move in opposite directions in a second direction different from the first direction, wherein the second driving assembly comprises two slide seats which are arranged opposite to each other, the two slide seats are respectively connected to the movable support plate and the fixed support plate, the movable support plate is provided with a positioning head, and the positioning head is arranged on one side of the slide seat which is connected to the fixed support plate There is an elongated adjustment groove extending along the first direction, and a sliding seat connected to the movable support plate is provided with a sliding column, and the sliding column of the sliding seat passes through the adjustment groove. When the first driving component drives the movable support plate to approach or move away from the fixed support plate to allow the clamping group to clamp or release the slender medical device, the sliding column cooperates with different positions of the adjustment groove in the first direction, and the second driving component drives the two slides to move in opposite directions and drives the two clamping groups to move in opposite directions in the second direction through the fixed support plate and the movable support plate, thereby driving the slender medical device clamped between the two clamping groups to rotate.

2. The slave end rubbing device of the interventional surgery robot according to claim 1, characterized in that: The first direction and the second direction are perpendicular to each other.

3. The slave end rubbing device of the interventional surgery robot according to claim 1, characterized in that: The second driving assembly also includes a linkage wheel placed between the two slides and allowing the two slides to move in opposite directions, and a first driving motor driving the linkage wheel to rotate.

4. The slave end rubbing device of the interventional surgery robot according to claim 3, characterized in that: The fixed support plate is provided with a connecting head, and the sliding seat connected to the fixed support plate is provided with a fixing head, and the connecting head and the fixing head are connected and fixed by a fixing pin.

5. The slave end rubbing device of the interventional surgery robot according to claim 4, characterized in that: The support frame comprises a bottom plate, a support plate mounted on the bottom plate, and a fixing block connected to the support plate. The two slide seats comprise a sliding rod penetrating the fixing block and extending along the second direction.

6. The slave end rubbing device of the interventional surgery robot according to claim 5, characterized in that: The circumferential surface of the linkage wheel is provided with latching teeth, and the slide seat also includes a driving rack connected to the slide rod, and the driving rack is meshed with the latching teeth of the linkage wheel through the latching teeth.

7. The slave end rubbing device of the interventional surgery robot according to claim 5, characterized in that: The support frame also includes a guide rod fixedly installed along the second direction, and the fixed support plate slides along the guide rod in the second direction.

8. The slave end rubbing device of the interventional surgery robot according to claim 1, characterized in that: The first driving assembly includes an electromagnetic driver, a connecting plate driven by the electromagnetic driver, and a limit rod installed on the connecting plate and extending in the second direction. The limit rod passes through the movable support plate, so that the movable support plate moves along the limit rod in the second direction.

9. The interventional surgery robot slave end rubbing device according to claim 1, characterized in that: A guide pin is protruding from the bottom of the connecting plate of the first driving component, and a guide block is provided on the bottom plate of the supporting frame. The guide pin is inserted into the guide block along the first direction, and the connecting plate of the first driving component slides along the first direction on the bottom plate of the supporting frame through the sliding cooperation between the guide pin and the guide block.

10. The interventional surgery robot slave end rubbing device according to claim 1, characterized in that: The clamping group includes a plurality of rotating shafts distributed side by side and rollers installed on the rotating shafts.

11. The interventional surgery robot slave end rubbing device according to claim 1, characterized in that: The clamping group is a disposable medical consumable.

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