A tube and wire driving device for a vascular interventional surgery robot

Abstract

The present invention relates to a tube and wire driving device of a vascular interventional surgical robot, and relates to the technical field of medical devices. It includes a guide wire driving device and a catheter driving device, and the guide wire driving device includes a sterile isolation shell, a loading support mechanism, a rotary motion mechanism and a linear running mechanism; the loading support mechanism, the rotary motion mechanism and the linear running mechanism are all installed inside the sterile isolation shell; the linear running mechanism includes a linear driving device, a transmission device and a long straight consumable driving wheel group, the transmission device is located at one end outside the loading support mechanism and is connected to the linear driving device, and the end located inside the loading support mechanism is connected to the long straight consumable driving wheel group, and the long straight consumable driving wheel group; the rotary motion mechanism is installed at one end of the loading support mechanism away from the linear driving device. The present invention can complete the long-distance coordinated delivery of catheters and guidewires; improve the operability, safety and ease of use of robot-assisted minimally invasive vascular intervention surgery.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a tube and wire driving device of a vascular interventional surgery robot. Background Art

[0002] In the existing field of interventional surgical robots, in the existing solutions, in the process of driving long straight consumables (including but not limited to: catheters, guidewires, balloons, stents, etc.), linear motion and rotational motion are mostly driven and controlled separately. In actual applications, there are problems such as inconvenient installation and difficult control of long straight consumables. In addition, the existing solutions have no obvious and effective solutions in the direction of coordinated control of catheters (including: support catheters, intermediate catheters, microcatheters, etc.) and guidewires (including: loach guidewires, balloons, stents, microguidewires, etc.), resulting in certain technical bottlenecks in the clinical promotion of this technology.

[0003] How to provide a tube and wire driving device for a vascular interventional surgery robot has become a technical problem that technical personnel in this field urgently need to solve. Summary of the invention

[0004] The main purpose of the present invention is to provide a tube and wire driving device for a vascular interventional surgery robot to solve the above-mentioned problems.

[0005] To achieve the above-mentioned purpose, the present invention provides a tube and wire driving device of a vascular interventional surgery robot, characterized in that it includes a guide wire driving device and a catheter driving device, the catheter driving device is connected to one side of the guide wire driving device, and the guide wire driving device includes a sterile isolation shell, a loading support mechanism, a rotary motion mechanism and a linear running mechanism; wherein the loading support mechanism, the rotary motion mechanism and the linear running mechanism are all installed inside the sterile isolation shell;

[0006] The linear motion mechanism includes a linear drive device, a transmission device and a long straight consumable drive wheel set. The transmission device is connected to the linear drive device at one end outside the loading support mechanism, and is connected to the long straight consumable drive wheel set at one end inside the loading support mechanism. The long straight consumable drive wheel set is used to clamp the long straight consumable. The rotary motion mechanism is installed at one end of the loading support mechanism away from the linear drive device. The rotating side gear has a slender opening to facilitate the placement and recovery of the long straight consumable.

[0007] Furthermore, the sterile isolation shell includes a shell base and a shell upper cover, and the shell base is connected to the shell upper cover.

[0008] Furthermore, the housing base is connected to the housing cover via a locking device.

[0009] Furthermore, two V-shaped grooves are provided inside the housing base and the housing upper cover to provide guidance and support for the overall rotation of the guide wire drive device.

[0010] Furthermore, the rotary motion mechanism includes a rotary driving device and a rotary driven device, wherein the rotary driven device is fixedly mounted on one end of the loading support mechanism and is transmission-connected to the rotary driving device.

[0011] Furthermore, the rotating support wheel device cooperates with the V-shaped groove to achieve a shaftless centering function.

[0012] Furthermore, the rotary motion mechanism also includes a rotary support wheel device, which is installed on the housing base and the housing upper cover. The structural mode in which four rotary support wheels rotate around the V-shaped groove of the housing in the same plane effectively solves the problem of open-loop rotation.

[0013] Furthermore, the transmission device includes a drive transfer wheel, a support wheel, a drive transfer wheel one, a drive transfer wheel two and a drive transfer wheel three, the drive transfer wheel is provided with external teeth and internal teeth, the external teeth of the drive transfer wheel are transmission connected to the linear drive device; the support wheel and the drive transfer wheel one are both arranged in the drive transfer wheel, and are both meshed with the drive transfer wheel; the drive transfer wheel two is connected to the drive transfer wheel one, the drive transfer wheel three is meshed with the drive transfer wheel two, and a drive transfer wheel four is coaxially provided at the bottom end of the drive transfer wheel three, and the drive transfer wheel four is transmission connected to the long straight consumable driving wheel group.

[0014] Furthermore, two support wheels are provided, and the two support wheels are evenly distributed at 120° with the drive transfer wheel to provide support for the rotation of the drive transfer wheel.

[0015] Furthermore, the long straight consumable driving wheel group includes a fixed power wheel, a floating power wheel, a driving wheel and a driven wheel; two of the driving wheels and two of the driven wheels are provided, the two driving wheels are provided on both sides of the long straight consumable, and the two driven wheels are provided on both sides of the long straight consumable, and the driving wheels are fitted with the driven wheels; the fixed power wheel and the floating power wheel are respectively installed at the bottom ends of the two driving wheels, and the fixed power wheel is respectively meshed with the drive transmission wheel four and the floating power wheel.

[0016] Furthermore, the loading support mechanism includes two parts: a fixed loading support part and a movable loading support part; the fixed loading support part and the movable loading support part are located on both sides of the long straight consumable.

[0017] Furthermore, the fixed loading support part includes a fixed loading support upper cover plate, a fixed loading support body and a fixed loading support baffle. The fixed loading support upper cover plate is installed on the loading support body and is used to clamp and fix the driving wheel and the driven wheel on one side of the long straight consumable; the fixed loading support body is connected and supports the transmission device; the fixed loading support baffle is installed on the loading support body and is used to limit the movable loading support part.

[0018] Furthermore, the floating loading support part includes a floating loading support upper cover plate and a movable bracket, one end of the movable bracket is connected to the fixed loading support baffle, and the other end is connected to the floating loading support upper cover plate, and the floating loading support upper cover plate is used to clamp and fix the active rotating wheel and the driven rotating wheel on the other side of the long straight consumable.

[0019] Furthermore, it also includes a one-way flow valve, which is installed inside the catheter driving device and is used to connect the guide wire and the catheter and to connect with the liquid inlet device.

[0020] Furthermore, the one-way flow valve includes a Y-valve main pipe and a Y-valve branch pipe, the Y-valve main pipe is connected to the Y-valve branch pipe, the Y-valve main pipe is used to connect the guide wire and the catheter, and the Y-valve branch pipe is used to be connected to the liquid inlet equipment; a three-way valve is arranged on the Y-valve branch pipe.

[0021] Furthermore, a one-way flow valve is installed inside the catheter driving device to connect the guidewire and the catheter. The guidewire and the catheter are driven by the guidewire driving device and the catheter driving device respectively. After the guidewire and the catheter are inserted into the target position of the blood vessel, the medical staff injects liquid into the catheter through the Y-valve branch.

[0022] Furthermore, the catheter driving device includes a catheter driving bracket, a catheter rotating driving wheel and a catheter rotating driven wheel. The catheter driving bracket is installed on one side of the sterile isolation shell, the catheter rotating driving wheel is rotatably installed on the catheter driving bracket, and the catheter rotating driven wheel is sleeved on the Y-valve main pipe and is transmission-connected to the output end of the catheter rotating driving wheel.

[0023] Furthermore, the catheter rotation driving wheel includes a pair of external meshing gear sets, and the output end of the external meshing gear set is meshed with the catheter rotation driven wheel.

[0024] Furthermore, the motion modes of long straight consumables are divided into three modes: single linear motion, single rotational motion, and simultaneous linear and rotational motion; when the rotational speed V of the linear drive device is not zero and the rotational speed v of the rotational drive device is zero, it is a single linear motion mode; when the rotational speed V of the linear drive device is equal to the rotational speed v of the rotational drive device, it is a single rotational motion mode; when the rotational speed V of the linear drive device is not zero, the rotational speed v of the rotational drive device is not zero, and V≠v, it is a simultaneous linear and rotational motion mode.

[0025] The beneficial effects of the present invention are:

[0026] The present invention centrally drives and controls the linear and rotational motions of long straight consumables, simplifies the clamping process of long straight consumables through reasonable structural design, and can realize operations such as quick replacement of long straight consumables; further enhances the operability, safety and ease of use of minimally invasive vascular interventional surgery under robot-assisted status; and through integrated design, completes the long-distance coordinated delivery of catheters and guidewires, further improving the operability, safety and ease of use of minimally invasive vascular interventional surgery under robot-assisted status. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a structural schematic diagram of the present invention.

[0028] Figure 2 for Figure 1 Rear view of.

[0029] Figure 3 for Figure 1 Left view of .

[0030] Figure 4 It is a schematic structural diagram of the aseptic isolation shell of the present invention in an open state.

[0031] Figure 5 It is a schematic structural diagram of the sterile isolation shell of the present invention.

[0032] Figure 6 It is the internal structure of the aseptic isolation shell of the present invention.

[0033] Figure 7 It is a structural schematic diagram of the linear running mechanism of the present invention.

[0034] Figure 8 for Figure 7 Bottom view of .

[0035] Fig. 9 It is a structural schematic diagram of the loading support mechanism of the present invention.

[0036] Fig.10 It is a schematic diagram of the application of the present invention.

[0037] Among them, 1. guide wire; 2. catheter; 3. one-way flow valve; 3-1. Y valve main pipe; 3-2. Y valve branch pipe; 4. sterile isolation shell; 4-1. shell base; 4-2. shell cover; 4-3. locking device; 5. rotary motion mechanism; 5-1. rotary drive device; 5-2. rotary driven device; 5-3. rotary support wheel device; 6. linear motion mechanism; 6-1. linear drive device; 6-2. drive transfer wheel; 6-3. drive transmission wheel 1; 6-4. support wheel; 6-5. drive transmission wheel 2; 6-6. Driving transmission wheel three; 6-7. Driving transmission wheel four; 6-8. Fixed power wheel; 6-9. Active rotating wheel; 6-10. Floating power wheel; 6-11. Driven rotating wheel; 7. Loading support mechanism; 7-1. Fixed loading support body; 7-2. Fixed loading support upper cover plate; 7-3. Floating loading support upper cover plate; 7-4. Movable bracket; 7-5. Fixed loading support baffle; 8. Catheter driving device; 8-1. Catheter driving bracket; 8-2. Catheter rotating driving wheel; 8-3. Catheter rotating driven wheel. DETAILED DESCRIPTION

[0038] In order to achieve the above-mentioned purpose and effect, the technical means and structures adopted by the present invention are described in detail with reference to the accompanying drawings for the features and functions of the preferred embodiments of the present invention.

[0039] like Figure 1-10 As shown, the present invention provides a tube and wire driving device of a vascular interventional surgery robot, including a guide wire driving device and a catheter driving device 8, wherein the catheter driving device 8 is installed on one side of the guide wire driving device, and the guide wire driving device includes a sterile isolation shell 4, a loading support mechanism 7, a rotary motion mechanism 5 and a linear motion mechanism 6; wherein the loading support mechanism 7, the rotary motion mechanism 5 and the linear motion mechanism 6 are all installed inside the sterile isolation shell 4;

[0040] The linear running mechanism 6 includes a linear drive device 6-1, a transmission device and a long straight consumable drive wheel group. The transmission device is located at one end outside the loading support mechanism 7 and is transmission-connected to the linear drive device 6-1, and is located at one end inside the loading support mechanism 7 and is transmission-connected to the long straight consumable drive wheel group. The long straight consumable drive wheel group is used to clamp the long straight consumable; the rotary motion mechanism 5 is installed at one end of the loading support mechanism 7 away from the linear drive device 6-1. The linear drive device 6-1 is responsible for transmitting the rotational driving force of the motor. In this embodiment, the long straight consumable is a guide wire, including a loach guide wire, a balloon, a stent, a micro guide wire, etc.

[0041] The transmission device includes a drive transfer wheel 6-2, a support wheel 6-4, a drive transfer wheel one 6-3, a drive transfer wheel two 6-5 and a drive transfer wheel three 6-6, the drive transfer wheel 6-2 is provided with external teeth and internal teeth, the external teeth of the drive transfer wheel 6-2 are transmission connected to the linear drive device 6-1; the support wheel 6-4 and the drive transfer wheel one 6-3 are both arranged in the drive transfer wheel 6-2, and are both meshed with the drive transfer wheel 6-2; the drive transfer wheel two 6-5 is connected to the drive transfer wheel one 6-3, the drive transfer wheel three 6-6 is meshed with the drive transfer wheel two 6-5, and the drive transfer wheel three 6-6 is coaxially provided with a drive transfer wheel four 6-7 at the bottom end, and the drive transfer wheel four 6-7 is transmission connected to the long straight consumables driving wheel group. There are two support wheels 6-4, and the two support wheels 6-4 are evenly spaced at 120 degrees from the driving transfer wheel 1 6-3 to provide support for the rotation of the driving transfer wheel 6-2.

[0042] The long straight consumable driving wheel group includes a fixed power wheel 6-8, a floating power wheel 6-10, a driving wheel 6-9 and a driven wheel 6-11; the driving wheel 6-9 and the driven wheel 6-11 are each provided with two, the two driving wheels 6-9 are provided on both sides of the long straight consumable, and the two driven wheels 6-11 are provided on both sides of the long straight consumable, and the driving wheel 6-9 is in close contact with the driven wheel 6-11; the fixed power wheel 6-8 and the floating power wheel 6-10 are respectively installed at the bottom ends of the two driving wheels 6-9, and the fixed power wheel 6-8 is respectively meshed with the drive transmission wheel four 6-7 and the floating power wheel 6-10.

[0043] The linear drive device 6-1 drives the drive transfer wheel 6-2 to rotate, and then drives the support wheel 6-4 and the drive transmission wheel to rotate through the internal gear of the drive transfer wheel 6-2, wherein the support wheel 6-4 is only for providing rotation support for the drive transfer wheel 6-2; through the power transmission of the drive transmission wheel 1 6-3, the drive transmission wheel 2 6-5, and the drive transmission wheel 3 6-6, the power is transmitted to the active rotating wheel 6-9 connected to the fixed power wheel 6-8 and the floating power wheel 6-10, and the active rotating wheel 6-9 and the driven rotating wheel 6-11 are connected by a flexible device with synchronous rotation function (not shown here) wrapped around their outer sides, and the function of clamping and driving the long straight consumables is completed through the external connection of the two sets of flexible devices. The linear motion of the long straight consumables in different directions is achieved by the rotation of the linear drive device 6-1 in different directions.

[0044] The sterile isolation shell 4 includes a shell base 4-1 and a shell cover 4-2, and the shell base 4-1 is connected to the shell cover 4-2 through a locking device 4-3, and the locking device 4-3 is used to open and lock the shell cover 4-2. The sterile isolation shell 4 is responsible for protecting and supporting the internal structure and connecting the robot drive device. There is a connecting column on the shell base 4-1, which is responsible for connecting the drive device of the shell robot body. There are two V-shaped grooves inside the shell base 4-1 and the shell cover 4-2, which provide track guidance and support for the rotation of the guide wire drive device as a whole.

[0045] The rotary motion mechanism 5 includes a rotary drive device 5-1 and a rotary driven device 5-2, wherein the rotary driven device 5-2 is fixedly mounted at one end of the loading support mechanism 7 and is in transmission connection with the rotary drive device 5-1. The rotary drive device 5-1 is responsible for transmitting the rotary driving force of the motor. The rotary motion mechanism 5 also includes a rotary support wheel 6-4 device 5-3, wherein the rotary support wheel 6-4 device 5-3 is mounted on both the shell base 4-1 and the shell upper cover 4-2. The rotary driven device 5-2 of the rotary motion mechanism 5 rotates along the V-shaped groove of the sterile isolation shell 4 under the drive of the rotary drive device 5-1 and under the support and guidance of the rotary support wheel 6-4 device 5-3, thereby realizing the shaftless centering function and further realizing the rotation of the long straight consumables.

[0046] The loading support mechanism 7 includes a fixed loading support part and a floating loading support part; the fixed loading support part and the floating loading support part are located on both sides of the long straight consumable. The fixed loading support part includes a fixed loading support upper cover plate 7-2, a fixed loading support body 7-1 and a fixed loading support baffle 7-5. The fixed loading support upper cover plate 7-2 is installed on the loading support body and is used to clamp and fix the active rotating wheel 6-9 and the driven rotating wheel 6-11 on one side of the long straight consumable; the fixed loading support body 7-1 is connected to and supports the transmission device; the fixed loading support baffle 7-5 is installed on the loading support body and is used to limit the floating loading support part. The floating loading support part includes a floating loading support upper cover plate 7-3 and a movable bracket 7-4. One end of the movable bracket 7-4 is connected to the fixed loading support baffle 7-5, and the other end is connected to the floating loading support upper cover plate 7-3. The floating loading support upper cover plate 7-3 is used to clamp and fix the active rotating wheel 6-9 and the driven rotating wheel 6-11 on the other side of the long straight consumable. The driven rotating wheel 6-11 is sleeved with a rubber pad on the outside, and can move laterally with the movable bracket 7-4 to achieve the clamping and loosening of the guide wire.

[0047] The fixed loading support upper cover plate 7-2 is installed on the loading support body, and is used for clamping and fixing the driving wheel; the fixed loading support body 7-1 connects and supports the various parts of the linear running mechanism 6; the fixed loading support baffle 7-5 is installed on the loading support body, and is used to limit the floating loading support part; the floating loading support upper cover plate 7-3: installed on the floating loading support body, and is used for clamping and fixing the active rotating wheel 6-9 and the driven rotating wheel 6-11; the floating loading support body is used to connect and support the fixed active rotating wheel 6-9 and the driven rotating wheel 6-11; at the same time, the floating support part can move laterally in a small range inside the fixed loading support part.

[0048] The present invention also includes a one-way circulation valve 3, which is installed inside the catheter drive device 8. The one-way circulation valve 3 is used to connect the guidewire, the catheter and to connect with the liquid inlet device. The one-way circulation valve 3 includes a Y-valve main pipe 3-1 and a Y-valve branch pipe 3-2. The Y-valve main pipe 3-1 is connected to the Y-valve branch pipe 3-2. The Y-valve main pipe 3-1 is used to connect the guidewire and the catheter. The Y-valve branch pipe 3-2 is used to connect with the liquid inlet device and is responsible for connecting liquids such as heparin and high-pressure syringes; a three-way valve is provided on the Y-valve branch pipe 3-2. The one-way circulation valve 3 adopts a fully automatic vascular intervention one-way circulation valve in patent number 202210303842.9.

[0049] The present invention installs the one-way flow valve 3 inside the catheter drive device, connects the guidewire and the catheter, and drives the guidewire and the catheter respectively through the guidewire drive device and the catheter drive device, and after the guidewire and the catheter are inserted into the target position of the blood vessel, the medical staff injects liquid into the catheter through the Y valve branch. The one-way flow valve 3 is installed horizontally, which is convenient for medical staff to operate and has strong applicability.

[0050] The catheter drive device 8 includes a catheter drive bracket 8-1, a catheter rotation drive wheel 8-2 and a catheter rotation driven wheel 8-3. The catheter drive bracket 8-1 is installed on one side of the sterile isolation shell 4. The catheter rotation drive wheel 8-2 is rotatably installed on the catheter drive bracket 8-1. The catheter rotation driven wheel 8-3 is sleeved on the Y-valve main pipe 3-1 and is transmission-connected with the output end of the catheter rotation drive wheel 8-2. The catheter rotation drive wheel 8-2 includes a pair of external meshing gear sets, and the output end of the external meshing gear set is meshed with the catheter rotation driven wheel 8-3. The catheter includes a supporting catheter, an intermediate catheter, a microcatheter, etc.

[0051] The motion modes of long straight consumables are divided into three modes: single linear motion, single rotational motion and simultaneous linear and rotational motion; when the rotational speed V of the linear drive device 6-1 is not zero and the rotational speed v of the rotational drive device 5-1 is zero, it is a single linear motion mode; when the rotational speed V of the linear drive device 6-1 is equal to the rotational speed v of the rotational drive device 5-1, it is a single rotational motion mode; when the rotational speed V of the linear drive device 6-1 is not zero, the rotational speed v of the rotational drive device 5-1 is not zero, and V≠v, it is a simultaneous linear and rotational motion mode.

[0052] The operating relationship of motor control is shown in Table 1:

[0053]

[0054]

[0055] Table 1

[0056] The loading support mechanism 7 is fixedly connected to the rotary driven device 5-2 of the rotary motion mechanism 5, and rotates along the fixed groove of the sterile isolation shell 4 under the drive of the rotary drive device 5-1 and the support and guidance of the rotary support wheel 6-4 device 5-3, and the motor 1 is transmission-connected to the guide wire drive device, and the motor 2 is transmission-connected to the catheter drive device, and then the integrated control of the linear motion and rotational motion of the long straight consumables is completed through the differential coordination and compensation mechanism of the motor 1 and the motor 2.

[0057] The present invention centrally drives and controls the linear and rotary motions of long straight consumables, realizes the coordinated control of the linear motion and rotary operation of long straight consumables, simplifies the clamping process, side-mounted sterile isolation, quick-change structure and adjustable distance device of long straight consumables through reasonable structural design, and can realize the quick change of long straight consumables and other operations; and through integrated design, completes the long-distance coordinated delivery of catheters and guidewires, further improving the operability, safety and ease of use of robot-assisted minimally invasive vascular interventional surgery. The catheter can move forward, backward and rotate independently; the guidewire can also move forward, backward and rotate independently; in addition, the catheter and the guidewire can also move forward, backward and rotate in coordination. In robot-assisted minimally invasive vascular interventional surgery, the long-distance collaborative delivery mechanism of catheters (including but not limited to: supporting catheters, intermediate catheters, microcatheters, etc.) and guidewires (including but not limited to: loach guidewires, balloons, stents, microguidewires, etc.) effectively solves the technical difficulties of long-distance delivery and collaborative operation of catheters and guidewires to enter the target blood vessels and reach the target position through catheter driving devices, guidewire driving devices and corresponding control methods.

[0058] The present invention effectively solves the long-distance coordinated delivery of catheters and guidewires in robot-assisted minimally invasive vascular interventional surgery through the corresponding coordinated control method of the guidewire drive device and the catheter drive device 8: coordinated control of the tube and wire in the process of superselection and climbing to the target blood vessel; coordinated operation of the catheter and guidewire in the process of angiography, balloon release, stent release and other treatment operations. At the same time, through structural optimization, a creative solution of horizontal clamping of the Y valve is proposed, which effectively solves the problem of manual liquid advancement and incompatibility of the associated liquid inlet by doctors during actual surgery.

[0059] The workflow of the present invention is:

[0060] S1, passing the guide wire through the interior of the catheter connected with the one-way flow valve 3 and accessories to form a common interventional surgery kit;

[0061] S2: The one-way flow valve 3 is horizontally clamped on the groove of the catheter drive bracket 8-1 of the catheter drive device 8, and the locking device 4-3 of the sterile isolation shell 4 is opened to open the shell cover 4-2;

[0062] S3: The floating loading support upper cover plate 7-3 in the loading support mechanism 7 is pinched by hand until the driven rotating wheel 6-11 connected to the floating loading support upper cover plate 7-3 is separated from the driving rotating wheel 6-9, forming a groove;

[0063] S4: The guide wire is placed into the bottom of the grooves of the two gears along the side openings of the rotary driven device 5-2 and the driving adapter wheel 6-2;

[0064] S5: Loosen the floating loading support upper cover plate 7-3 to make the driven rotating wheel 6-11 mesh with the driving rotating wheel 6-9, thereby clamping the guide wire; the tube wire clamping action is completed.

[0065] S6: Install the entire device on the side of the robot body, connect the device to the robot body, and connect the gear drive device;

[0066] S7: The motor inside the robot body drives the guidewire to move forward, backward, and rotate independently, the catheter to move forward, backward, and rotate independently, and the catheter and guidewire to move forward, backward, and rotate together. The following methods are included:

[0067] ① The catheter moves forward and backward independently: The entire module moves forward and backward under the drive of the linear motion device of the robot body, thereby driving the catheter connected to it to move forward and backward. While the catheter moves forward and backward independently, the motor of the guidewire control device performs motion compensation to ensure that the guidewire does not move when the catheter moves forward;

[0068] ② Catheter rotation: The catheter driving motor drives the catheter rotation driving wheel 8-2 to rotate, thereby driving the catheter rotation driven wheel 8-3 meshed with the outside to rotate. The catheter rotation driven wheel 8-3 is a hollow device, which is sleeved with the rotatable Luer connector at the head end of the one-way flow valve 3, thereby realizing the rotation of the Luer connector. The Luer connector and the catheter are connected through the Luer thread, and the rotation of the catheter is realized by the rotation of the Luer connector;

[0069] ③ The guide wire moves forward and backward independently: the motor 1 drives the linear drive device 6-1, and finally transmits the rotation of the motor 1 to the clamping transmission of the driving wheel 6-9 and the driven wheel 6-11 through a series of gear transmissions, and the forward and backward movements of the guide wire are realized through the friction between the wheels and the guide wire;

[0070] ④ Guide wire rotation: The motor 1 connected to the linear drive device 6-1 and the motor 2 connected to the rotary drive device 5-1 rotate synchronously, thereby driving the respectively connected rotary driven device 5-2 and the driving transfer wheel 6-2, thereby realizing the rotation of the entire guide wire drive device. Since the guide wire and the driven rotating wheel 6-11 and the driving rotating wheel 6-9 are in a clamped state, the rotation of the guide wire is realized by the rotation of the entire guide wire drive device;

[0071] ⑤The catheter and guide wire move forward, backward and rotate in coordination.

[0072] S8, through the control and real-time adjustment of different operating conditions of the tube and guidewire, completes the coordinated action of the catheter and guidewire, and ultimately achieves the purpose of related instruments reaching the target blood vessel and target position.

[0073] The above description is only a preferred embodiment of the present invention and does not limit the technical scope of the present invention. Therefore, any slight modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A tube and wire driving device for a vascular interventional surgery robot, characterized in that: It comprises a guide wire drive device and a catheter drive device, wherein the catheter drive device is connected to one side of the guide wire drive device, and the guide wire drive device comprises a sterile isolation shell, a loading support mechanism, a rotary motion mechanism and a linear motion mechanism; wherein the loading support mechanism, the rotary motion mechanism and the linear motion mechanism are all installed inside the sterile isolation shell; The linear motion mechanism comprises a linear drive device, a transmission device and a long straight consumable drive wheel group, wherein one end of the transmission device located outside the loading support mechanism is transmission-connected to the linear drive device, and one end located inside the loading support mechanism is transmission-connected to the long straight consumable drive wheel group, and the long straight consumable drive wheel group is used to clamp the long straight consumable; the rotary motion mechanism is installed at one end of the loading support mechanism away from the linear drive device; The sterile isolation shell comprises two parts: a shell base and a shell upper cover, wherein the shell base is connected to the shell upper cover; The housing base is connected to the housing upper cover via a locking device; There are two V-shaped grooves inside the housing base and the housing upper cover to provide guidance and support for the overall rotation of the guide wire drive device; The transmission device comprises a drive transfer wheel, a support wheel, a drive transfer wheel 1, a drive transfer wheel 2 and a drive transfer wheel 3, wherein the drive transfer wheel is provided with external teeth and internal teeth, and the external teeth of the drive transfer wheel are transmission-connected with the linear drive device; the support wheel and the drive transfer wheel 1 are both arranged in the drive transfer wheel and meshed with the drive transfer wheel; the drive transfer wheel 2 is connected with the drive transfer wheel 1, the drive transfer wheel 3 is meshed with the drive transfer wheel 2, and a drive transfer wheel 4 is coaxially provided at the bottom end of the drive transfer wheel 3, and the drive transfer wheel 4 is transmission-connected with the long straight consumable drive wheel group; There are two support wheels, and the two support wheels are evenly spaced at 120° from the driving transfer wheel to provide support for the rotation of the driving transfer wheel; The long straight consumable driving wheel group includes a fixed power wheel, a floating power wheel, a driving wheel and a driven wheel; the driving wheel and the driven wheel are both provided with two, the two driving wheels are provided on both sides of the long straight consumable, and the two driven wheels are provided on both sides of the long straight consumable, and the driving wheels are fitted with the driven wheels; the fixed power wheel and the floating power wheel are respectively installed at the bottom ends of the two driving wheels, and the fixed power wheel is respectively meshed with the driving transmission wheel four and the floating power wheel; The loading support mechanism includes two parts: a fixed loading support part and a movable loading support part; the fixed loading support part and the movable loading support part are located on both sides of the long straight consumables; The fixed loading support part includes a fixed loading support upper cover plate, a fixed loading support body and a fixed loading support baffle plate. The fixed loading support upper cover plate is installed on the loading support body and is used to clamp and fix the driving wheel and the driven wheel on one side of the long straight consumable; the fixed loading support body is connected to the supporting transmission device; the fixed loading support baffle plate is installed on the loading support body and is used to limit the floating loading support part; The floating loading support part includes a floating loading support upper cover plate and a movable bracket, one end of the movable bracket is connected to the fixed loading support baffle, and the other end is connected to the floating loading support upper cover plate, and the floating loading support upper cover plate is used to clamp and fix the driving wheel and the driven wheel on the other side of the long straight consumable; The motion modes of long straight consumables are divided into three modes: single linear motion, single rotational motion, and simultaneous linear and rotational motion. When the rotational speed V of the linear drive device is not zero and the rotational speed v of the rotational drive device is zero, it is a single linear motion mode; when the rotational speed V of the linear drive device is equal to the rotational speed v of the rotational drive device, it is a single rotational motion mode; when the rotational speed V of the linear drive device is not zero, the rotational speed v of the rotational drive device is not zero, and V≠v, it is a simultaneous linear and rotational motion mode.

2. The tube and wire driving device of a vascular interventional surgery robot according to claim 1, characterized in that: The rotary motion mechanism comprises a rotary driving device and a rotary driven device. The rotary driven device is fixedly mounted on one end of the loading support mechanism and is drivingly connected to the rotary driving device.

3. The tube and wire driving device of a vascular interventional surgery robot according to claim 2, characterized in that: The rotary motion mechanism also includes a rotary support wheel device, and the rotary support wheel device is installed on both the shell base and the shell upper cover.

4. The tube and wire driving device of a vascular interventional surgery robot according to claim 3, characterized in that: The rotating support wheel device cooperates with the V-shaped groove to achieve a shaftless centering function.

5. The tube and wire driving device of a vascular interventional surgery robot according to claim 1, characterized in that: It also includes a one-way flow valve, which is installed inside the catheter driving device and is used to connect the guide wire and the catheter and to connect with the liquid inlet device.

6. The tube and wire driving device of a vascular interventional surgery robot according to claim 5, characterized in that: The one-way flow valve includes a Y-valve main pipe and a Y-valve branch pipe, the Y-valve main pipe is connected to the Y-valve branch pipe, the Y-valve main pipe is used to connect the guide wire and the catheter, and the Y-valve branch pipe is used to connect to the liquid inlet equipment; a three-way valve is arranged on the Y-valve branch pipe.

7. The tube and wire driving device of a vascular interventional surgery robot according to claim 6, characterized in that: The one-way flow valve is installed inside the catheter driving device to connect the guide wire and the catheter. The guide wire and the catheter are driven by the guide wire driving device and the catheter driving device respectively. After the guide wire and the catheter are inserted into the target position of the blood vessel, the medical staff injects liquid into the catheter through the Y-valve branch.

8. The tube and wire driving device of a vascular interventional surgery robot according to claim 7, characterized in that: The catheter driving device includes a catheter driving bracket, a catheter rotating driving wheel and a catheter rotating driven wheel. The catheter driving bracket is installed on one side of the sterile isolation shell, the catheter rotating driving wheel is rotatably installed on the catheter driving bracket, and the catheter rotating driven wheel is sleeved on the Y-valve main pipe and is drivingly connected to the output end of the catheter rotating driving wheel.

9. The tube and wire driving device of a vascular interventional surgery robot according to claim 8, characterized in that: The catheter rotation driving wheel comprises a pair of external meshing gear sets, and the output end of the external meshing gear set is meshed with the catheter rotation driven wheel.

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