An intervention guide wire linear and rotational synchronous actuator

Abstract

The present invention relates to an interventional guide wire linear and rotational synchronous actuator, which includes a base, a linear motion mechanism, and a rotational motion mechanism. The linear motion mechanism includes a linear motion motor, a driving wheel, and a driven wheel. The linear motion motor is installed on the base, and the output end of the linear motion motor drives the driving wheel to rotate through a linear transmission mechanism. Both the driving wheel and the driven wheel are installed on a rotating plate, and an interventional guide wire is clamped between the driving wheel and the driven wheel. The driving wheel drives the interventional guide wire to perform linear motion through friction under the drive of the linear motion motor. The rotational motion mechanism includes a rotational motion motor, a rotating plate, and a rotational motion pulley. The rotational motion motor is installed on the base, and the output end of the rotational motion motor drives the rotational motion pulley to rotate through a rotational transmission mechanism. The rotational motion pulley is fixedly connected to the rotating plate and drives the rotating plate to perform rotational motion. The present invention can realize the synchronous performance of two motions, namely linear and rotational motions, of the interventional guide wire, and improve the efficiency of interventional surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of vascular interventional surgical robots, and more specifically to an interventional guide wire linear and rotational synchronous execution mechanism capable of synchronously performing two motions of linear and rotational motions of a guide wire. Background Art

[0002] Currently, existing interventional guide wire operating mechanisms cannot synchronously perform the linear motion and rotational motion of the guide wire. That is, when performing linear motion, the rotational motion pauses; when performing rotational motion, the linear motion pauses. This operation form does not conform to the actual operation of a clinician simultaneously performing the linear and rotational motions of the guide wire. Therefore, this operation form greatly reduces the surgical efficiency.

[0003] If an interventional guide wire linear and rotational synchronous execution mechanism can be provided to enable the simultaneous performance of the linear and rotational motions of the guide wire, it will have very important practical application significance. Summary of the Invention

[0004] The object of the present invention is to solve the above deficiencies and provide an interventional guide wire linear and rotational synchronous execution mechanism that can synchronously perform the linear and rotational motions of the interventional guide wire, improve the efficiency of interventional surgery, and avoid the problem of reducing surgical efficiency existing in the existing operation form.

[0005] To achieve the above object, an interventional guide wire linear and rotational synchronous execution mechanism is designed, including a base 1, a linear motion mechanism, and a rotational motion mechanism. The linear motion mechanism includes a linear motion motor 5, a driving wheel 13, a driven wheel 12, and a linear transmission mechanism. The linear motion motor 5 is installed on the base 1, and the output end of the linear motion motor 5 drives the driving wheel 13 to rotate through the linear transmission mechanism. The driving wheel 13 and the driven wheel 12 are both installed on a rotating plate 14, and an interventional guide wire 7 is clamped between the driving wheel 13 and the driven wheel 12. The driving wheel 13 drives the interventional guide wire 7 to perform linear motion through friction under the drive of the linear motion motor 5. The rotational motion mechanism includes a rotational motion motor 17, a rotating plate 14, a rotational motion pulley 15, and a rotational transmission mechanism. The rotational motion motor 17 is installed on the base 1, and the output end of the rotational motion motor 17 drives the rotational motion pulley 15 to rotate through the rotational transmission mechanism. The rotational motion pulley 15 is fixedly connected to the rotating plate 14 and drives the rotating plate 14 to perform rotational motion. The interventional guide wire 7 performs rotational motion along with the rotating plate 14 under the clamping of the driving wheel 13 and the driven wheel 12.

[0006] Further, the linear drive mechanism includes a synchronous pulley A2, a synchronous belt A3, a tension pulley A4, a tension pulley B24, a mounting plate A6, a linear motion pulley 9, a linear motion bevel gear A10, a linear motion bevel gear B11, a gear A20, and a gear B19. The synchronous pulley A2 is mounted on the output shaft of the linear motion motor 5. The synchronous belt A3 is mounted on the synchronous pulley A2, the tension pulley A4, and the tension pulley B24. Driven by the synchronous pulley A2, the synchronous belt A3 moves. The linear motion pulley 9 is mounted on the mounting plate A6. The external teeth of the linear motion pulley 9 are meshed and connected with the external teeth of the synchronous belt A3. Driven by the synchronous belt A3, the linear motion pulley 9 rotates. The linear motion pulley 9 is coaxially connected with the linear motion bevel gear A10 and drives the linear motion bevel gear A10 to rotate. The linear motion bevel gear A10 is meshed and connected with the linear motion bevel gear B11. The linear motion bevel gear B11 is mounted on the rotating plate 14. A gear A20 is provided below the linear motion bevel gear B11. The linear motion bevel gear B11 is coaxially connected with the gear A20 and drives the gear A20 to rotate. The gear A20 is meshed and connected with the gear B19. The gear B19 is provided below the driving wheel 13 and is coaxially arranged with the driving wheel 13. The gear B19 drives the driving wheel 13 to rotate.

[0007] Further, the rotary drive mechanism includes a synchronous pulley B28, a tension pulley C26, a tension pulley D27, a synchronous belt B25, and a mounting plate B16. The synchronous pulley B28 is mounted on the output shaft of the rotary motion motor 17. The synchronous belt B25 is mounted on the synchronous pulley B28, the tension pulley C26, and the tension pulley D27. Driven by the synchronous pulley B28, the synchronous belt B25 moves. The rotary motion pulley 15 is fixedly connected to the rotating plate 14 and passes through the mounting plate B16. The external teeth of the rotary motion pulley 15 are meshed and connected with the external teeth of the synchronous pulley B28. Driven by the synchronous pulley B28, the rotary motion pulley 15 rotates.

[0008] Further, the linear motion bevel gear A10 is mounted on a linear motion bevel gear A mounting seat 18. The linear motion bevel gear A mounting seat 18 is mounted on the rotating plate 14. A mounting seat wire guiding groove 22 is provided on the linear motion bevel gear A mounting seat 18.

[0009] Further, a mounting plate A wire guiding groove 8 is provided on the mounting plate A6. A mounting plate B wire guiding groove is provided on the mounting plate B16. A linear motion pulley wire guiding groove 21 is provided on the linear motion pulley 9. A rotary motion pulley wire guiding groove 23 is provided on the rotary motion pulley 15.

[0010] Further, when the linear motion motor 5 rotates forward, it drives the driving wheel 13 to rotate forward, and drives the intervening guide wire 7 to move linearly forward through friction; when the linear motion motor 5 rotates backward, it drives the driving wheel 13 to rotate backward, and drives the intervening guide wire 7 to move linearly backward through friction.

[0011] Further, when the linear motion motor 5 and the rotary motion motor 17 rotate simultaneously, the linear motion mechanism and the rotary motion mechanism work simultaneously, and the intervening guide wire 7 realizes synchronous linear and rotary motion.

[0012] Compared with the prior art, the present invention provides an intervening guide wire linear and rotary synchronous actuator, which has a novel structure and reasonable design. Through the linear motion mechanism and the rotary motion mechanism, the linear motion and the rotary motion of the intervening guide wire can be carried out simultaneously, and the two motions do not interfere with each other, improving the efficiency of interventional surgery. It has important practical application significance and avoids the problem of reducing the surgical efficiency caused by the inability of the existing intervening guide wire operating mechanism to synchronously execute the linear motion and the rotary motion of the guide wire. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 is a three-dimensional structural schematic diagram of the present invention;

[0014] Figure 2 is a schematic diagram of the linear motion of the guide wire of the present invention;

[0015] Figure 3 is a schematic diagram of the rotary motion of the guide wire of the present invention;

[0016] Figure 4 is a partial structural schematic diagram of the present invention;

[0017] In the figure: 1, base; 2, synchronous pulley A; 3, synchronous belt A; 4, tension pulley A; 5, linear motion motor; 6, mounting plate A; 7, intervening guide wire; 8, guide wire groove of mounting plate A; 9, linear motion belt pulley; 10, linear motion bevel gear A; 11, linear motion bevel gear B; 12, driven wheel; 13, driving wheel; 14, rotary flat plate; 15, rotary motion belt pulley; 16, mounting plate B; 17, rotary motion motor; 18, mounting seat of linear motion bevel gear A; 19, gear B; 20, gear A; 21, guide wire groove of linear motion belt pulley; 22, guide wire groove of mounting seat; 23, guide wire groove of rotary motion belt pulley; 24, tension pulley B; 25, synchronous belt B; 26, tension pulley C; 27, tension pulley D; 28, synchronous pulley B. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0018] As shown in the attached Figure 1 to the attached Figure 4As shown in the figure, the present invention provides an interventional wire linear and rotational synchronization actuator capable of realizing the synchronous linear motion and rotational motion of an interventional wire. The interventional wire linear and rotational synchronization actuator includes a base 1, a linear motion mechanism, and a rotational motion mechanism. The linear motion mechanism includes a linear motion motor 5, a driving wheel 13, a driven wheel 12, and a linear transmission mechanism. The linear motion motor 5 is installed on the base 1. The output end of the linear motion motor 5 drives the driving wheel 13 to rotate through the linear transmission mechanism. The driving wheel 13 and the driven wheel 12 are both installed on a rotating flat plate 14. An interventional wire 7 is clamped between the driving wheel 13 and the driven wheel 12. The driving wheel 13 drives the interventional wire 7 to perform linear motion through friction under the drive of the linear motion motor 5. The rotational motion mechanism includes a rotational motion motor 17, a rotating flat plate 14, a rotational motion belt pulley 15, and a rotational transmission mechanism. The rotational motion motor 17 is installed on the base 1. The output end of the rotational motion motor 17 drives the rotational motion belt pulley 15 to rotate through the rotational transmission mechanism. The rotational motion belt pulley 15 is fixedly connected to the rotating flat plate 14 and drives the rotating flat plate 14 to perform rotational motion. The interventional wire 7 performs rotational motion along with the rotating flat plate 14 under the clamping of the driving wheel 13 and the driven wheel 12.

[0019] Among them, the linear transmission mechanism includes a synchronous pulley A2, a synchronous belt A3, a tensioning pulley A4, a tensioning pulley B24, a mounting plate A6, a linear motion belt pulley 9, a linear motion bevel gear A10, a linear motion bevel gear B11, a gear A20, and a gear B19. The synchronous pulley A2 is installed on the output shaft of the linear motion motor 5. The synchronous belt A3 is installed on the synchronous pulley A2, the tensioning pulley A4, and the tensioning pulley B24. The synchronous belt A3 moves under the drive of the synchronous pulley A2. The linear motion belt pulley 9 is installed on the mounting plate A6. The external teeth of the linear motion belt pulley 9 are meshed and connected with the external teeth of the synchronous belt A3. The linear motion belt pulley 9 rotates under the drive of the synchronous belt A3. The linear motion belt pulley 9 is coaxially connected to the linear motion bevel gear A10 and drives the linear motion bevel gear A10 to rotate. The linear motion bevel gear A10 is meshed and connected with the linear motion bevel gear B11. The linear motion bevel gear B11 is installed on the rotating flat plate 14. A gear A20 is arranged below the linear motion bevel gear B11. The linear motion bevel gear B11 is coaxially connected to the gear A20 and drives the gear A20 to rotate. The gear A20 is meshed and connected with the gear B19. The gear B19 is arranged below the driving wheel 13 and is coaxially arranged with the driving wheel 13. The gear B19 drives the driving wheel 13 to rotate.

[0020] The rotary drive mechanism includes a synchronous pulley B28, a tension pulley C26, a tension pulley D27, a synchronous belt B25, and a mounting plate B16. The synchronous pulley B28 is installed on the output shaft of the rotary motion motor 17. The synchronous belt B25 is installed on the synchronous pulley B28, the tension pulley C26, and the tension pulley D27. Driven by the synchronous pulley B28, the synchronous belt B25 moves. The rotary motion pulley 15 is fixedly connected to the rotary plate 14 and passes through the mounting plate B16. The external teeth of the rotary motion pulley 15 are meshed and connected with the external teeth of the synchronous pulley B28. Driven by the synchronous pulley B28, the rotary motion pulley 15 rotates.

[0021] In the present invention, the linear motion bevel gear A10 is installed on the linear motion bevel gear A mounting seat 18. The linear motion bevel gear A mounting seat 18 is installed on the rotary plate 14. The mounting seat wire guiding groove 22 is provided on the linear motion bevel gear A mounting seat 18; the mounting plate A wire guiding groove 8 is provided on the mounting plate A6, the mounting plate B wire guiding groove is provided on the mounting plate B16, the linear motion pulley wire guiding groove 21 is provided on the linear motion pulley 9, and the rotary motion pulley wire guiding groove 23 is provided on the rotary motion pulley 15. All the above wire guiding grooves are used for the intervention guide wire 7 to pass through.

[0022] The following further illustrates the present invention with specific embodiments:

[0023] The linear motion motor 5 is installed on the base 1, and the synchronous pulley A2 is installed on the motor shaft of the linear motion motor 5; the synchronous belt A3 moves under the action of the synchronous pulley A2, the tension pulley A4, and the tension pulley B24; the linear motion pulley 9 is installed on the mounting plate A6, and the linear motion pulley 9 rotates through the meshing of the external teeth and the external teeth of the synchronous belt A3; there is a cooperation or fastening between the linear motion bevel gear A10 and the linear motion pulley 9 for 1:1 coaxial rotation; the linear motion bevel gear B11 is installed on the rotary plate 14 and is meshed and driven with the linear motion bevel gear A10 through the external teeth; the gear A20 realizes coaxial rotation with the linear motion bevel gear B11 through cooperation or fastening; there is a meshing transmission between the gear B19 and the gear A20; the driving wheel 13 is installed on the rotary plate 14 and realizes coaxial rotation with the gear B19 through cooperation or fastening; the driven wheel 12 is installed on the rotary plate 14, and together with the driving wheel 13, drives the intervention guide wire 7 to move linearly through friction. The rotary motion motor 17 is installed on the base 1, and the synchronous pulley B28 is installed on the motor shaft of the rotary motion motor 17; the synchronous belt B25 moves under the action of the synchronous pulley B28, the tension pulley C26, and the tension pulley D27; the rotary motion pulley 15 is fixedly connected to the rotary plate 14, passes through the mounting plate B16, and the rotary motion pulley 15 rotates through the meshing of the external teeth and the external teeth of the synchronous pulley B28.

[0024] When the linear motion motor 5 rotates forward, it drives the driving wheel 13 to rotate forward, and drives the intervening guide wire 7 to move linearly forward through friction; conversely, when the linear motion motor 5 rotates backward, it drives the driving wheel 13 to rotate backward, and drives the intervening guide wire 7 to move linearly backward through friction.

[0025] When the rotary motion motor 17 rotates, it drives the rotary motion pulley 15 to rotate, and finally drives the rotary plate 14 to rotate. The intervening guide wire 7 rotates under the clamping force of the driving wheel 13 and the driven wheel 12.

[0026] The linear motion mechanism and the rotary motion mechanism can realize the simultaneous linear and rotary motion of the intervening guide wire 7, and the two motions do not interfere with each other.

[0027] When the rotary motion motor 17 is locked and rotated, and the linear motion motor 5 is driven to rotate, only the linear motion mechanism works, and the linear reciprocating motion of the intervening guide wire 7 can be realized.

[0028] When the linear motion motor 5 and the rotary motion motor 17 rotate at a certain speed ratio, the linear motion mechanism and the rotary motion mechanism work simultaneously, and the rotary motion of the intervening guide wire 7 can be realized, while the linear motion stops.

[0029] When the linear motion motor 5 and the rotary motion motor 17 are simultaneously driven to rotate, the linear motion mechanism and the rotary motion mechanism work simultaneously, and the linear and rotary synchronous motion of the intervening guide wire 7 can be realized, and the two motions do not affect each other.

[0030] The present invention is not limited by the above embodiments. Any other changes, modifications, substitutions, combinations, and simplifications made without departing from the spirit and principle of the present invention shall be equivalent replacement methods and are all included in the protection scope of the present invention.

Claims

1. An interventional guide wire linear and rotational synchronous actuator, characterized in that: It includes a base (1), a linear motion mechanism, and a rotary motion mechanism. The linear motion mechanism includes a linear motion motor (5), a driving wheel (13), a driven wheel (12), and a linear transmission mechanism. The linear motion motor (5) is installed on the base (1). The output end of the linear motion motor (5) drives the driving wheel (13) to rotate through the linear transmission mechanism. The driving wheel (13) and the driven wheel (12) are both installed on a rotary plate (14). An intervention guide wire (7) is clamped between the driving wheel (13) and the driven wheel (12). The driving wheel (13) drives the intervention guide wire (7) to move linearly through friction under the drive of the linear motion motor (5). The rotary motion mechanism includes a rotary motion motor (17), a rotary plate (14), a rotary motion belt pulley (15), and a rotary transmission mechanism. The rotary motion motor (17) is installed on the base (1). The output end of the rotary motion motor (17) drives the rotary motion belt pulley (15) to rotate through the rotary transmission mechanism. The rotary motion belt pulley (15) is fixedly connected to the rotary plate (14) and drives the rotary plate (14) to rotate. The intervention guide wire (7) rotates with the rotary plate (14) under the clamping of the driving wheel (13) and the driven wheel (12). The linear transmission mechanism includes a synchronous pulley A (2), a synchronous belt A (3), a tension pulley A (4), a tension pulley B (24), a mounting plate A (6), a linear motion belt pulley (9), a linear motion bevel gear A (10), a linear motion bevel gear B (11), a gear A (20), and a gear B (19). The synchronous pulley A (2) is installed on the output shaft of the linear motion motor (5). The synchronous pulley A (2), the tension pulley A (4), and the tension pulley B (24) are provided with the synchronous belt A (3). The synchronous belt A (3) moves under the drive of the synchronous pulley A (2). The linear motion belt pulley (9) is installed on the mounting plate A (6). The external teeth of the linear motion belt pulley (9) are meshed and connected with the external teeth of the synchronous belt A (3). The linear motion belt pulley (9) rotates under the drive of the synchronous belt A (3). The linear motion belt pulley (9) is coaxially connected to the linear motion bevel gear A (10) and drives the linear motion bevel gear A (10) to rotate. The linear motion bevel gear A (10) is meshed and connected with the linear motion bevel gear B (11). The linear motion bevel gear B (11) is installed on the rotary plate (14). A gear A (20) is provided below the linear motion bevel gear B (11). The linear motion bevel gear B (11) is coaxially connected to the gear A (20) and drives the gear A (20) to rotate. The gear A (20) is meshed and connected with the gear B (19). The gear B (19) is arranged below the driving wheel (13) and coaxially with the driving wheel (13). The gear B (19) drives the driving wheel (13) to rotate.The rotary drive mechanism includes a synchronous pulley B (28), a tension pulley C (26), a tension pulley D (27), a synchronous belt B (25), and a mounting plate B (16). The synchronous pulley B (28) is installed on the output shaft of the rotary motion motor (17). The synchronous belt B (25) is installed on the synchronous pulley B (28), the tension pulley C (26), and the tension pulley D (27). Driven by the synchronous pulley B (28), the synchronous belt B (25) moves. The rotary motion pulley (15) is fixedly connected to the rotary plate (14) and passes through the mounting plate B (16). The external teeth of the rotary motion pulley (15) are meshed and connected with the external teeth of the synchronous pulley B (28). Driven by the synchronous pulley B (28), the rotary motion pulley (15) rotates. The linear motion bevel gear A (10) is installed on the linear motion bevel gear A mounting seat (18). The linear motion bevel gear A mounting seat (18) is installed on the rotary plate (14). A mounting seat wire guiding groove (22) is provided on the linear motion bevel gear A mounting seat (18).; 2. The linear and rotational synchronous execution mechanism of the intervention guide wire according to claim 1, characterized in that: The mounting plate A (6) is provided with a wire guiding groove of mounting plate A (8), the mounting plate B (16) is provided with a wire guiding groove of mounting plate B, the linear motion pulley (9) is provided with a wire guiding groove of linear motion pulley (21), and the rotary motion pulley (15) is provided with a wire guiding groove of rotary motion pulley (23).

3. The linear and rotational synchronous execution mechanism of the intervention guide wire according to claim 1 or 2, characterized in that: When the linear motion motor (5) rotates forward, it drives the driving wheel (13) to make a forward rotary motion, and drives the intervention wire (7) to make a forward linear motion through friction; when the linear motion motor (5) rotates backward, it drives the driving wheel (13) to make a reverse rotary motion, and drives the intervention wire (7) to make a reverse linear motion through friction.

4. The linear and rotational synchronous actuator for an interventional guide wire according to claim 1 or 2, characterized in that: When the linear motion motor (5) and the rotary motion motor (17) rotate simultaneously, the linear motion mechanism and the rotary motion mechanism work simultaneously, and the intervention wire (7) realizes synchronous linear and rotary motion.

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