A continuous operation interventional guidewire device

Abstract

The present invention relates to a continuously operated interventional guidewire device, comprising a drive box and a linear drive motor, a rotary drive motor, and an interventional guidewire clamping assembly installed in the drive box. The linear drive motor and the rotary drive motor are fixed on a motor mounting bracket, and the motor mounting bracket is fixed on the drive box. The output end of the linear drive motor is connected to a gear D through a coupling B, and the output end of the rotary drive motor is connected to a gear C through a coupling A. Gears D and C are meshed and connected to the interventional guidewire clamping assembly. Driven by gears D and C, the interventional guidewire clamping assembly drives the interventional guidewire to perform linear motion and rotational motion. The interventional guidewire clamping assembly comprises a rotating plate, a connecting tube, a main drive wheel, a pressure belt, a pressure wheel, a bevel gear A, a bevel gear B, a support frame B, and a guide tube B. The present invention can realize continuous control of the linear motion and rotational motion of the interventional guidewire in view of the current situation that the interventional guidewire has a small diameter and many specifications.

Description

[Technical field]

[0001] The present invention relates to the technical field of medical devices, in particular to a continuous operation interventional guidewire device. [Background Technology]

[0002] Unlike traditional vascular interventional surgeries guided by medical imaging equipment, interventional surgical robots, which utilize advanced engineering technology, offer the advantages of remote control and avoid prolonged radiation exposure for the surgeon. Vascular interventional surgical robots primarily handle the manipulation of guidewires and catheters, including linear and rotational movement of the guidewires, as well as linear movement of the catheters. Control is particularly difficult in the movement of the guidewires, as their diameter is very small—commercial guidewires are generally less than 1 mm in diameter, with specifications ranging from 0.36 mm, 0.45 mm, and 0.63 mm.

[0003] If a device for continuously operating an interventional guidewire can be provided and can adapt to guidewires of different sizes to achieve continuous control of the guidewire, it will have important application value and promotion potential in the field of vascular interventional surgical instruments. [Summary of the invention]

[0004] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a continuous operation interventional guidewire device, which can realize continuous control of the linear motion and rotational motion of the interventional guidewire in view of the current situation that the interventional guidewire has a small diameter and a variety of specifications.

[0005] In order to achieve the above-mentioned purpose, a continuously operating interventional guidewire device is designed, including a drive box 1 and a linear drive motor 2, a rotary drive motor 4, and an interventional guidewire clamping assembly installed in the drive box 1. The linear drive motor 2 and the rotary drive motor 4 are fixed on a motor mounting bracket 5, and the motor mounting bracket 5 is fixed on the drive box 1. The output end of the linear drive motor 2 is connected to the gear D19 through a coupling B20, and the output end of the rotary drive motor 4 is connected to the gear C18 through a coupling A6. The gears D19 and C18 are engaged and connected to the interventional guidewire clamping assembly. The interventional guidewire clamping assembly drives the interventional guidewire 3 to perform linear motion and rotational motion under the drive of the gears D19 and C18.

[0006] Preferably, the interventional guide wire clamping assembly includes a rotating plate 15, a connecting tube 8 and a guide tube A37; a gear E21 is fixedly installed at one end of the guide tube A37, and the gear E21 is meshed with the gear D19. The gear E21 drives the guide tube A37 to perform coaxial rotation under the drive of the gear D19, and a bevel gear A9 is fixedly installed at the other end of the guide tube A37, and the bevel gear A9 follows the guide tube A37 to perform coaxial rotation. A guide channel 38 is provided inside the guide tube A37, and the guide channel 38 serves as a channel for the interventional guide wire 3; the guide tube A37 is sleeved in the connecting tube 8, and the guide tube A37 and the connecting tube 8 perform relative rotation. A gear F22 is installed at one end of the connecting tube 8, and the other end of the connecting tube 8 is installed on the rotating plate 15. The gear F22 is meshed with the gear C18. 22 rotates under the drive of gear C18 and drives the connecting pipe 8 to perform coaxial rotational motion, and at the same time drives the rotating plate 15 to perform rotational motion; the rotating plate 15 is equipped with a bevel gear B10, a gear B17, a gear A16, a main drive wheel 11 and a pressure wheel, the bevel gear B10 is meshed with the bevel gear A9, and the bevel gear B10 is connected to the gear B17 through the drive shaft, and drives the gear B17 to perform coaxial rotational motion, the gear B17 is meshed with the gear A16, the gear A16 is connected to the main drive wheel 11 through the main drive wheel shaft 31, and drives the main drive wheel 11 to perform coaxial rotational motion, the outer side of the main drive wheel 11 is in close contact with the compression belt 12, and the compression belt 12 is tensioned on the compression wheel, the interventional guide wire 3 passes through the guide channel 38 of the guide tube A37, and then passes between the main drive wheel 11 and the compression belt 12, and follows the main drive wheel 11 through friction.

[0007] Preferably, the pressure wheel includes a pressure wheel A23, a pressure wheel B24 and a pressure wheel C25, and the pressure wheels A23, B24 and C25 are distributed in a triangle. The pressure belt 12 is made of elastic material, and the outer side surface A28 of the pressure belt 12 is tightly attached to the outer side surface of the main drive wheel 11, and there is an envelope angle α39.

[0008] Preferably, a V-shaped groove 26 is designed on the outer surface of the main drive wheel 11, and a T-shaped protrusion 29 is designed on the outer surface A28 of the compression belt 12. The V-shaped groove 26 and the T-shaped protrusion 29 are connected in cooperation. The interventional guide wire 3 is passed between the V-shaped groove 26 and the T-shaped protrusion 29, and is pressed into the V-shaped groove 26 by the T-shaped protrusion 29 when the main drive wheel 11 rotates, and moves with the main drive wheel 11 through friction.

[0009] Preferably, a retaining ring A27 and a retaining ring B30 are designed on the outer side of the main drive wheel 11. The retaining ring A27 and the retaining ring B30 are respectively located above and below the V-shaped groove 26 and are used to limit the position of the compression belt 12.

[0010] Preferably, a support frame B13 and a guide tube B14 are installed on the rotating plate 15. A guide channel 2 is provided inside the guide tube B14, which serves as a channel for the interventional guide wire 3 and guides the movement of the interventional guide wire 3 after passing through the main drive wheel 11 and the compression belt 12.

[0011] Preferably, the compression belt 12 is designed as a distributed raised compression belt 32, the inner surface 33 of the distributed raised compression belt 32 is in close contact with the compression wheel A23, the compression wheel B24, and the compression wheel C25, and the outer surface 34 of the distributed raised compression belt 32 is designed with distributed protrusions 35, and adjacent protrusions are separated by a separating groove 36. The distributed protrusions 35 press the interventional guide wire 3 into the V-groove 26, and the separating groove 36 is used to release the internal stress of the compression belt 32.

[0012] Preferably, the middle portion of the connecting tube 8 is installed in the support frame A7 and rotates relative to the support frame A7, and the support frame A7 is fixedly installed on the drive box 1.

[0013] Compared with the existing technology, the present invention provides a new type of interventional guidewire operation device to address the current situation where interventional guidewires have small diameters and many specifications. The device can adapt to guidewires of different sizes and specifications, and realize continuous control of the linear and rotational motion of the interventional guidewire. It has important application value and promotion potential in the field of vascular interventional surgical instruments. [Brief Description of the Drawings]

[0014] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0015] Figure 2 Schematic diagram of the three-dimensional structure of the interventional guidewire clamping assembly of the present invention;

[0016] Figure 3 yes Figure 2 A top view of

[0017] Figure 4 This is a cross-sectional view of the main drive wheel and the compression belt of the present invention;

[0018] Figure 5 Schematic diagram of the three-dimensional structure of the distributed raised compression belt of the present invention;

[0019] Figure 6 This is a cross-sectional view of the connecting pipe and the guide pipe A of the present invention;

[0020] In the figure: 1, drive box 2, linear drive motor 3, interventional guide wire 4, rotary drive motor 5, motor mounting bracket 6, coupling A 7, support frame A 8, connecting tube 9, bevel gear A 10, bevel gear B 11, main drive wheel 12, pressure belt 13, support frame B 14, guide tube B 15, rotating plate 16, gear A 17, gear B 18, gear C 19, gear D 20, coupling B 21, gear E 22, gear F 23, pressure wheel A 24, pressure wheel B 25, pressure wheel C 26, V-groove 27, retaining ring A 28, outer side surface A 29, T-shaped protrusion 30, retaining ring B 31, main drive wheel shaft 32, distributed protrusion pressure belt 33, inner side surface 34, outer side surface B 35, distributed protrusion 36, separation groove 37, guide tube A 38. Guide channel 39. Envelope angle α. [Specific implementation method]

[0021] As shown in the accompanying drawings, the present invention provides a continuously operating interventional guidewire device, including a drive box 1 and a linear drive motor 2, a rotary drive motor 4, an interventional guidewire clamping assembly and other parts installed in the drive box 1. The linear drive motor 2 and the rotary drive motor 4 are fixed on the motor mounting bracket 5, and the motor mounting bracket 5 is fixed on the drive box 1. The output end of the linear drive motor 2 is connected to the gear D19 through the coupling B20, and the output end of the rotary drive motor 4 is connected to the gear C18 through the coupling A6. Gears D19 and C18 are engaged and connected to the interventional guidewire clamping assembly. The interventional guidewire clamping assembly drives the interventional guidewire 3 to perform linear motion and rotational motion under the drive of gears D19 and C18.

[0022] The rotation of the linear drive motor 2 is transmitted to gear D19 via coupling B20, while the rotation of the rotary drive motor 4 is transmitted to gear C18 via coupling A6. The rotation of the linear drive motor 2 and the rotary drive motor 4 are independent. Gear D19 meshes with gear E21, transmitting its rotation to gear E21. The transmission ratio between the two is determined by the number of teeth on each gear. Gear C18 meshes with gear F22, transmitting its rotation to gear F22. The transmission ratio between the two is determined by the number of teeth on each gear, which can be 1:1 or other ratios. The movement of the linear drive motor 2 and the rotary drive motor 4 is transmitted to the interventional guidewire clamping assembly via gears C18, D19, E21, and F22. The interventional guidewire clamping assembly rotates via support frame A7, which is fixedly mounted on the drive box 1.

[0023] In the present invention, the interventional guide wire clamping assembly includes a rotating plate 15, a connecting tube 8 and a guide tube A37; a gear E21 is fixedly installed at one end of the guide tube A37, and the gear E21 is meshed with the gear D19. The gear E21 drives the guide tube A37 to rotate coaxially under the drive of the gear D19. The other end of the guide tube A37 is fixedly installed with a bevel gear A9, and the bevel gear A9 follows the guide tube A37 to rotate coaxially. A guide channel 38 is provided inside the guide tube A37, and the guide channel 38 serves as a channel for the interventional guide wire 3; the guide tube A37 is sleeved inside the connecting tube 8 , the guide tube A37 and the connecting tube 8 make relative rotational motion, one end of the connecting tube 8 is equipped with a gear F22, and the other end of the connecting tube 8 is installed on the rotating plate 15, the gear F22 is meshed with the gear C18, and the gear F22 rotates under the drive of the gear C18 and drives the connecting tube 8 to make coaxial rotational motion, and at the same time drives the rotating plate 15 to make rotational motion; the rotating plate 15 is equipped with a bevel gear B10, a gear B17, a gear A16, a main drive wheel 11 and a pressure wheel, the bevel gear B10 is meshed with the bevel gear A9, and the bevel gear B10 is connected to the gear B through the drive shaft. 17, and drives gear B17 to do coaxial rotational motion, gear B17 is meshed with gear A16, gear A16 is connected to the main drive wheel 11 through the main drive wheel shaft 31, and drives the main drive wheel 11 to do coaxial rotational motion, the outer side of the main drive wheel 11 is tightly against the compression belt 12, the compression belt 12 is tensioned on the compression wheel, the compression wheel includes a compression wheel A23, a compression wheel B24 and a compression wheel C25, the compression wheel A23, the compression wheel B24 and the compression wheel C25 are distributed in a triangular shape, the compression belt 12 is made of elastic material, the outer side A28 of the compression belt 12 is tightly against the outer side of the main drive wheel 11 The guide wire 3 passes through the guide channel 38 of the guide tube A37, and then passes between the main drive wheel 11 and the compression belt 12, and moves with the main drive wheel 11 through friction; the middle part of the connecting tube 8 is installed in the support frame A7, and rotates relative to the support frame A7, and the support frame A7 is fixedly installed on the drive box 1; the supporting frame B13 and the guide tube B14 are installed on the rotating plate 15, and the guide tube B14 is provided with a guide channel 2 serving as the channel for the interventional guide wire 3, and guides the movement of the interventional guide wire 3 after passing through the main drive wheel 11 and the compression belt 12.

[0024] As attached Figure 4As shown, a V-shaped groove 26 is designed and processed on the outer surface of the main drive wheel 11, and a T-shaped protrusion 29 is designed on the outer side surface A28 of the compression belt 12. The V-shaped groove 26 and the T-shaped protrusion 29 are connected and work together to limit the movement of the interventional guide wire 3; the interventional guide wire 3 is passed between the V-shaped groove 26 and the T-shaped protrusion 29. When the main drive wheel 11 rotates, the interventional guide wire 3 is pressed in the V-shaped groove 26 by the T-shaped protrusion 29 and moves with the main drive wheel 11 through friction. The compression belt 12 also moves with the main drive wheel 11 through friction. A retaining ring A27 and a retaining ring B30 are designed on the outer surface of the main drive wheel 11. The retaining ring A27 and the retaining ring B30 are respectively located above and below the V-shaped groove 26 and are used to limit the position of the compression belt 12.

[0025] As attached Figure 5 As shown, the compression belt 12 can be designed as a distributed raised compression belt 32, the inner surface 33 of the distributed raised compression belt 32 is in close contact with the compression wheel A23, the compression wheel B24, and the compression wheel C25, and the outer surface 34 of the distributed raised compression belt 32 is designed with a distributed protrusion 35. The distributed protrusion 35 can also be T-shaped, and adjacent protrusions are separated by a separation groove 36. The distributed protrusion 35 presses the interventional guide wire 3 into the V-shaped groove 26, and the separation groove 36 is used to release the internal stress of the compression belt 32.

[0026] Specifically, the interventional guidewire clamping assembly of the present invention includes a rotating plate 15, a connecting tube 8, a main drive wheel 11, a pressure belt 12, pressure wheels A23, B24, and C25, bevel gears A9 and B10, a support frame B13, and a guide tube B14. Gear E21 is fixedly mounted on guide tube A37, driving guide tube A37 to rotate coaxially with a rotation ratio of 1:1. Guide tube A37 is sleeved within connecting tube 8, allowing the two to rotate relative to each other. A bevel gear A9 is mounted on one end of guide tube A37. Bevel gear A9 can be fastened to guide tube A37 by screws or other machining methods. Bevel gear A9 rotates coaxially with guide tube A37, i.e., it rotates coaxially with gear E21 in equal proportion. Guide tube A37 contains a guide channel 38 for the positioning of the interventional guidewire.

[0027] One end of the connecting tube 8 is designed with a gear F22, and the other end is installed on the rotating plate 15 by means of fastening screws or the like; the rotation of the gear F22 drives the connecting tube 8 to perform coaxial rotational motion, and at the same time drives the rotating plate 15 to perform rotational motion; the connecting tube 8 and the guide tube A37 can perform relative rotational motion - the rotation direction and rotation speed of the connecting tube 8 are related to the rotation drive motor 4, and the rotation direction and rotation speed of the guide tube A37 are related to the rotation direction and rotation speed of the linear drive motor 2 and the rotation drive motor 4.

[0028] Bevel gear B10, gear B17, gear A16, main drive wheel 11, pinch rollers A23, B24, and C25 are mounted on rotating plate 15. Bevel gears B10 and A9 form a bevel gear transmission with a transmission ratio of 1:1 or other ratios. Bevel gears B10 and B17 rotate coaxially. Gears B17 and A16 form a gear transmission with a transmission ratio of 1:1 or other ratios. Gears B17 and A16 can have straight or helical teeth. Main drive wheel 11 rotates coaxially with gear A16 via main drive wheel shaft 31. Gear E21, bevel gear A9, bevel gear B10, gear B17, and gear A16 form a basic transmission chain, driving main drive wheel 11 to rotate about its own rotation axis.

[0029] The pressure rollers A23, B24, and C25 are all passive rotating rollers, and their positions can be fine-tuned. Adjusting the positions of the pressure rollers A23, B24, and C25 adjusts the slack of the pressure belt 12. The pressure belt 12 is made of an elastic material and has a certain degree of elasticity. The outer surface A28 of the pressure belt 12 is in close contact with the main drive wheel 11, forming an envelope angle α39. By designing different positions of the pressure rollers A23, B24, and C25, different envelope angles α39 can be achieved.

[0030] The present invention is not limited to the above-mentioned embodiments. Any other changes, modifications, substitutions, combinations, and simplifications that do not deviate from the spirit and principles of the present invention should be considered as equivalent replacement methods and are included in the scope of protection of the present invention.

Claims

1. A continuous operation interventional guidewire device, characterized by: The invention comprises a drive box (1) and a linear drive motor (2), a rotary drive motor (4), and an interventional guide wire clamping assembly installed in the drive box (1); the linear drive motor (2) and the rotary drive motor (4) are fixed on a motor mounting bracket (5); the motor mounting bracket (5) is fixed on the drive box (1); the output end of the linear drive motor (2) is connected to a gear D (19) through a coupling B (20); the output end of the rotary drive motor (4) is connected to a gear C (18) through a coupling A (6); the gear D (19) and the gear C (18) are meshed and connected to the interventional guide wire clamping assembly; the interventional guide wire clamping assembly is driven by the gears D (19) and C (18). The interventional guide wire (3) is driven to perform linear motion and rotational motion; the interventional guide wire clamping assembly includes a rotating plate (15), a connecting tube (8) and a guide tube A (37); a gear E (21) is fixedly installed at one end of the guide tube A (37), and the gear E (21) is meshed with the gear D (19). The gear E (21) drives the guide tube A (37) to perform coaxial rotational motion under the drive of the gear D (19). The other end of the guide tube A (37) is fixedly installed with a bevel gear A (9), and the bevel gear A (9) follows the guide tube A (37) to perform coaxial rotational motion. A guide channel (38) is provided inside the guide tube A (37), and the guide channel (38) serves as the interventional guide wire ( 3) channel; the guide tube A (37) is sleeved in the connecting tube (8), the guide tube A (37) and the connecting tube (8) perform relative rotational motion, one end of the connecting tube (8) is equipped with a gear F (22), the other end of the connecting tube (8) is installed on the rotating plate (15), the gear F (22) is meshed with the gear C (18), the gear F (22) rotates under the drive of the gear C (18) and drives the connecting tube (8) to perform coaxial rotational motion, and at the same time drives the rotating plate (15) to perform rotational motion; the rotating plate (15) is equipped with a bevel gear B (10), a gear B (17), a gear A (16), a main drive wheel (11) and a pressure wheel, the bevel gear B ( 10) is meshed and connected with bevel gear A (9), and bevel gear B (10) is connected to gear B (17) through a drive shaft, and drives gear B (17) to rotate coaxially, said gear B (17) is meshed and connected with gear A (16), said gear A (16) is connected to the main drive wheel (11) through the main drive wheel shaft (31), and drives the main drive wheel (11) to rotate coaxially, the outer side surface of said main drive wheel (11) is in close contact with the pressure belt (12), and said pressure belt (12) is tensioned on the pressure wheel, and said interventional guide wire (3) passes through the guide channel (38) of the guide tube A (37), and then passes between the main drive wheel (11) and the pressure belt (12), and moves with the main drive wheel (11) through friction;The pressure wheel comprises a pressure wheel A (23), a pressure wheel B (24) and a pressure wheel C (25), wherein the pressure wheels A (23), B (24) and C (25) are distributed in a triangular shape, and the pressure belt (12) is made of elastic material. The outer side surface A (28) of the pressure belt (12) is in close contact with the outer side surface of the main drive wheel (11), and an envelope angle α (39) is present. The rotating plate (15) is provided with a support frame B (13) and a guide tube B (14). The guide tube B (14) is provided with a guide channel 2 serving as a channel for the interventional guide wire (3), and guides the movement of the interventional guide wire (3) after passing through the main drive wheel (11) and the pressure belt (12).

2. The continuous operation interventional guidewire device according to claim 1, characterized in that: A V-shaped groove (26) is designed on the outer surface of the main drive wheel (11), and a T-shaped protrusion (29) is designed on the outer side surface A (28) of the compression belt (12). The V-shaped groove (26) and the T-shaped protrusion (29) are connected in a cooperative manner. The interventional guide wire (3) is inserted between the V-shaped groove (26) and the T-shaped protrusion (29), and is pressed into the V-shaped groove (26) by the T-shaped protrusion (29) when the main drive wheel (11) rotates, and moves with the main drive wheel (11) through friction.

3. The continuous operation interventional guidewire device according to claim 2, characterized in that: A retaining ring A (27) and a retaining ring B (30) are designed on the outer side of the main drive wheel (11). The retaining ring A (27) and the retaining ring B (30) are respectively located above and below the V-shaped groove (26) and are used to limit the position of the compression belt (12).

4. The continuous operation interventional guidewire device according to claim 2, characterized in that: The compression belt (12) is designed as a distributed raised compression belt (32), the inner surface (33) of the distributed raised compression belt (32) is in close contact with the compression wheel A (23), the compression wheel B (24), and the compression wheel C (25), and the outer surface (34) of the distributed raised compression belt (32) is designed with distributed protrusions (35), and adjacent protrusions are separated by a separation groove (36). The distributed protrusions (35) press the interventional guide wire (3) into the V-shaped groove (26), and the separation groove (36) is used to release the internal stress of the distributed raised compression belt (32).

5. The continuous operation interventional guidewire device according to claim 1, characterized in that: The middle portion of the connecting pipe (8) is inserted into the support frame A (7) and rotates relative to the support frame A (7). The support frame A (7) is fixedly mounted on the drive box (1).

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