A mechanism for converting continuous rotational motion into linear motion of a guide wire

Abstract

The present invention relates to a novel mechanism for converting continuous rotational motion into linear motion of a guide wire, comprising a base, a guide wire linear motion module and a guide wire rotational motion module. The guide wire linear motion module is driven by a motor A, which drives a gear A to rotate, and a gear A is engaged with a gear B. Gear B is mounted on a linear motion shaft, and a gear F is mounted on the other end of the linear motion shaft, and gear F is engaged with an end face gear B and a gear E. The end face gear B is mounted on a rotating frame, and gear E is engaged with an end face gear A. The end face gear A is mounted on a gear seat, and the mounting seat and the gear seat are respectively fixed on the rotating frame; the guide wire rotational motion module is driven by a motor B, which drives a gear D to rotate, and a gear D is engaged with a gear C. Gear C is fixed to an adapter seat A, and the adapter seat A is fixed to one end of the rotating frame, and an adapter seat B is mounted on the other end of the rotating frame; the present invention realizes linear and rotational motion of a flexible guide wire, and has the characteristics of small size, no vibration and continuous operation.

Description

[Technical field]

[0001] The present invention relates to the field of medical devices, in particular to the field of cardiovascular and cerebrovascular interventional surgery, and specifically to a mechanism for converting continuous rotational motion into linear motion of a guide wire. [Background Technology]

[0002] Vascular interventional robots enable remote interventional surgery, effectively avoiding or reducing radiation exposure to medical staff during surgery. One of the primary manipulation objects of vascular interventional robots is a slender, flexible guidewire, which requires both linear and rotational movement.

[0003] Currently, there are three technical means for linear manipulation of guide wires: the first is that the side walls of a pair of rollers squeeze the guide wire and rotate it continuously; the second is that a clamp simulating a human finger holds the guide wire and simultaneously makes a linear displacement along a long-distance guide rail; the third is that at least two groups of clamps hold the guide wire in sequence and make short-distance reciprocating motions respectively.

[0004] Compared to the second solution, which relies on long linear guide rails, the first and third solutions all achieve a small overall structure. However, due to the small diameter of the guidewire, usually less than 0.5mm, when driven by a roller, the guidewire is prone to slipping off the drive wheel, resulting in an interruption in the operation. In this case, the staff needs to reposition the guidewire on site. Therefore, the surgical efficiency of the first solution is not high; the clamp in the third solution can stably clamp the guidewire to prevent it from slipping out. However, to avoid vibration, noise and electrical failure of the robot, the two sets of clamps cannot perform high-frequency opening and closing, or reciprocating movements, which greatly limits the robot's ability to deliver the guidewire. [Summary of the invention]

[0005] The purpose of the present invention is to solve the above-mentioned deficiencies and provide a mechanism for converting continuous rotational motion into linear motion of a guide wire, thereby realizing linear and rotational motion of a flexible guide wire and having the characteristics of small size, no vibration and continuous operation.

[0006] To achieve the above-mentioned purpose, a mechanism for converting continuous rotational motion into linear motion of a guide wire is designed, comprising a base 1 and a guide wire linear motion module and a guide wire rotation motion module fixed to the base 1. The guide wire linear motion module is used to complete the delivery and retraction of the guide wire 4, and the guide wire rotation motion module is used to complete the rotation of the guide wire 4;

[0007] The guide wire linear motion module includes a motor A3, a gear A2, a linear motion shaft 6, a gear B8, a gear F20, a gear E12, an end gear B19 and an end gear A13. The output shaft of the motor A3 is connected to the gear A2 and drives the gear A2 to rotate. The gear A2 is meshed with the gear B8. The gear B8 is installed on the linear motion shaft 6 and is coaxial. The other end of the linear motion shaft 6 is installed with a gear F20. The gear F20 is meshed with the end gear B19 and the gear E12 respectively. The end gear B19 is installed on the rotating frame 18 and rotates around the rotation axis B23 driven by the gear F20. The gear E12 is arranged above the gear F20. The gear E12 and the gear F20 are connected. The axis of the gear E12 is parallel to that of the end gear A13. The end gear A13 is mounted on the mounting seat 21 and meshes with the end gear A13. The end gear A13 is mounted on the gear seat 14 and rotates around the rotation axis A22 driven by the gear E12. The mounting seat 21 and the gear seat 14 are respectively fixed on the rotating frame 18. A guide wire 4 is sandwiched between the end gear A13 and the end gear B19.

[0008] The guidewire rotation module includes a motor B5, a gear D10, a gear C9, an adapter A11, a rotating frame 18, and an adapter B16. The output shaft of the motor B5 is connected to the gear D10 and drives the gear D10 to rotate. The gear D10 is engaged with the gear C9. The gear C9 is fixed to the adapter A11 and is coaxial. The adapter A11 is fixed to one end of the rotating frame 18, and the other end of the rotating frame 18 is equipped with the adapter B16.

[0009] The linear motion shaft 6 and the adapter B16 are hollow inside. After the guide wire 4 passes through the linear motion shaft 6, it is clamped by the end gear A13 and the end gear B19 and enters the adapter B16, and then passes through the adapter B16.

[0010] Furthermore, an elastic pad A 34 is provided on the end face of the end gear A 13 , and an elastic pad B 35 is provided on the end face of the end gear B 19 . Both the elastic pad A 34 and the elastic pad B 35 are made of elastic materials including but not limited to rubber and silicone.

[0011] Furthermore, there is an included angle between the rotation axis A 22 of the end face gear A13 and the rotation axis B 23 of the end face gear B19 , and there is partial contact between the elastic pad A 34 and the elastic pad B 35 , and they are squeezed and deformed to clamp the guide wire 4 .

[0012] Furthermore, let the speed of motor A3 be n1, the transmission ratio of gear A2 and gear B8 be i1, the transmission ratio of gear F20 and end gear B19 be i2, the transmission ratio of gear F20 and gear E12 be 1:1, and the transmission ratio of gear E12 and end gear A13 be i2. The guide wire 4 has a turning radius of R under the clamping action of elastic pad A34 and elastic pad B35. The linear motion speed v of the guide wire 4 is expressed as v=2π*n1*i1*i2*R.

[0013] Furthermore, the gear C9, adapter A11, rotating frame 18, and adapter B16 are all coaxial and rotate around the rotation axis C31.

[0014] Furthermore, the linear motion shaft 6 passes through the adapter seat A11, and the linear motion shaft 6 is coaxially arranged with the adapter seat A11.

[0015] Furthermore, the adapter seat B16 passes through the support seat B17, and the linear motion shaft 6 passes through the support seat A7. The support seat A7 and the support seat B17 are both fixedly connected to the base 1.

[0016] Furthermore, a guide tube 15 is provided, which extends from between the end gear A13 and the end gear B19 to the adapter seat B16. The guide wire 4 is clamped by the elastic pad A 34 and the elastic pad B 35 and then enters the guide tube 15 and then enters the adapter seat B16.

[0017] Furthermore, assuming that the rotation speed of the motor B 5 is n2, the transmission ratio of the gear D10 to the gear C 9 is i3, the rotational angular velocity ω of the guide wire 4 is expressed as ω=2π*n2*i2.

[0018] Compared with the existing technology, the present invention addresses the problems of guidewire slippage and vibration that occur during the operation of existing interventional surgical robots. It provides a mechanism that converts continuous rotational motion into linear motion of the guidewire, realizes the linear and rotational motion of the flexible guidewire, and has the characteristics of small size, no vibration and continuous operation, and is worthy of promotion and application. [Brief Description of the Drawings]

[0019] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0020] Figure 2 is a side view of the present invention;

[0021] Figure 3 Schematic diagram of the transmission chain of the linear motion module of the present invention;

[0022] Figure 4 Schematic diagram of the transmission chain of the rotary action module of the present invention;

[0023] Figure 5 is a cross-sectional view of the guidewire clamping structure of the present invention;

[0024] In the figure: 1. Base 2. Gear A 3. Motor A 4. Guide wire 5. Motor B 6. Linear motion shaft 7. Support seat A 8. Gear B 9. Gear C 10. Gear D 11. Adapter seat A 12. Gear E 13. End gear A 14. Gear seat 15. Guide tube 16. Adapter seat B 17. Support seat B 18. Rotating frame 19. End gear B 20. Gear F 21. Mounting seat 22. Rotation axis A 23. Rotation axis B 24. Rotation direction A 25. Rotation direction B 26. Rotation direction C 27. Rotation direction D 28. Rotation direction E 29. Rotation direction F 30. Linear motion direction 31. Rotation axis C 32. Rotation direction G 33. Rotation direction H 34. Elastic pad A 35. Elastic pad B. [Specific implementation method]

[0025] The present invention will be further described below in conjunction with the accompanying drawings:

[0026] As attached Figure 1 To the attached Figure 5 As shown, the present invention provides a mechanism for converting continuous rotational motion into linear motion of a guide wire, realizing linear and rotational motion of a flexible guide wire, which mainly includes a base 1 and a guide wire linear motion module (such as Figure 3 as shown) and the guidewire rotation module (as shown in the attached Figure 4 As shown in the figure, the guidewire linear motion module and the guidewire rotation motion module are structurally coupled together and fixed on the base 1 through the support base A7 and the support base B17; the guidewire linear motion module and the guidewire rotation motion module are completely independent in function and do not affect each other. The guidewire linear motion module can independently complete the delivery and retraction of the guidewire, and the guidewire rotation motion module can independently complete the rotation of the guidewire.

[0027] The guide wire linear motion module includes a motor A3, a gear A2, a linear motion shaft 6, a gear B8, a gear F20, a gear E12, an end gear B19 and an end gear A13. The output shaft of the motor A3 is connected to the gear A2 and drives the gear A2 to rotate. The gear A2 is meshed with the gear B8. The gear B8 is mounted on the linear motion shaft 6 and is coaxial. The other end of the linear motion shaft 6 is mounted with a gear F20. The gear F20 is meshed with the end gear B19 and the gear E12 respectively. The end gear B19 is mounted on the rotating frame 18 and rotates around the rotation axis B23 driven by the gear F20. The gear E12 is located above the gear F20. The gear E12 is parallel to the axis of the gear F20. The gear E12 is mounted on the mounting seat 21 and meshes with the end gear A13. The end gear A13 is mounted on the gear seat 14 and rotates around the rotation axis A13 driven by the gear E12. 22 rotates, and the mounting base 21 and gear base 14 are respectively fixed to the rotating frame 18. A guide wire 4 is sandwiched between the face gear A13 and the face gear B19. The linear motion shaft 6 and the adapter base B16 are hollow. The guide wire 4 passes through the linear motion shaft 6, is clamped by the face gears A13 and B19, enters the adapter base B16, and exits the adapter base B16. An angle is formed between the rotation axis A22 of the face gear A13 and the rotation axis B23 of the face gear B19. An elastic pad A34 is provided on the end face of the face gear A13, and an elastic pad B35 is provided on the end face of the face gear B19. The elastic pads A34 and B35 can be made of rubber, silicone, or other elastic materials with a certain degree of elasticity. The elastic pads A34 and B35 partially contact each other, causing extrusion and deformation, while clamping the guide wire 4.

[0028] The guidewire rotation module includes motor B5, gear D10, gear C9, adapter A11, rotating frame 18, and adapter B16. The output shaft of motor B5 is connected to gear D10, driving gear D10 to rotate. Gear D10 meshes with gear C9, which is fixedly connected to adapter A11 and coaxially. Adapter A11 is fixed to one end of rotating frame 18, and adapter B16 is mounted on the other end of rotating frame 18. Gear C9, adapter A11, rotating frame 18, and adapter B16 are all coaxial and rotate around rotation axis C31. Linear motion shaft 6 passes through adapter A11 and is coaxially arranged with adapter A11. Adapter B16 passes through support B17, which in turn passes through support A7. Support A7 and support B17 are both fixedly connected to base 1. The guide tube 15 extends from between the end gear A13 and the end gear B19 to the adapter B16. The guide wire 4 is clamped by the elastic pad A34 and the elastic pad B35 and then enters the guide tube 15 and then enters the adapter B16.

[0029] In the present invention, the guide wire 4 passes through the linear motion shaft 6, is then clamped by the elastic pad A 34 and the elastic pad B 35, enters the guide tube 15 and the adapter B16, and finally exits from the adapter B16.

[0030] As attached Figure 3 As shown, the principle of the present invention to achieve linear motion of the guide wire is:

[0031] The guidewire linear motion module is driven by motor A3, which drives gear A2 to rotate in rotation direction A24. Gear A2 meshes with gear B8, which rotates in rotation direction B25. Gear B8 is mounted on the linear motion shaft 6 and is coaxial with it. Gear F20 is designed on the linear motion shaft 6. Gear F20 rotates in rotation direction C26 at the same speed as gear B8. Gear F20 meshes with end gear B19 and gear E12 respectively. End gear B19 rotates around rotation axis B23 in rotation direction F29, while gear E12 rotates in rotation direction D27. Gear E12 meshes with end gear A13, which rotates around rotation axis A22 in rotation direction E28. End gear A13 and end gear B19 rotate simultaneously at the same speed.

[0032] The elastic pad A 34 on the end gear A13 and the elastic pad B 35 on the end gear B19 also rotate simultaneously and at the same speed; the elastic pad A 34 and the elastic pad B 35 partially contact and are squeezed and deformed, which can tightly clamp the guide wire 4; under the clamping and rotation action of the elastic pads A 34 and B 35, the guide wire 4 moves linearly along the linear motion direction 30.

[0033] The motor A3 is driven in reverse, and the guide wire 4 is moved in reverse linearly through the linear motion module.

[0034] Furthermore, let the speed of motor A3 be n1, the transmission ratio of gear A2 and gear B8 be i1, the transmission ratio of gear F20 and end gear B19 be i2, the transmission ratio of gear F20 and gear E12 be 1:1, and the transmission ratio of gear E12 and end gear A13 be i2. The guide wire 4 has a turning radius R when clamped by elastic pads A34 and B35. The linear motion speed v of the guide wire 4 can be expressed as:

[0035] v=2π*n1*i1*i2*R

[0036] As attached Figure 4 As shown, the principle of the present invention to achieve the rotational motion of the guide wire is:

[0037] The guidewire rotation module is driven by motor B5, which drives gear D10 to rotate in the rotation direction G32; gear D10 and gear C9 mesh, and gear C9 rotates in the rotation direction H33; because gear C9 and adapter A11 are fixedly connected and coaxial, adapter A11 and rotating frame 18 are fixedly connected and coaxial, and rotating frame 18 and adapter B16 are fixedly connected and coaxial, rotating frame 18 rotates around rotation axis C31 in the rotation direction H33; the guidewire 4 is clamped by elastic pad A34 and elastic pad B35, and also rotates in the rotation direction H33.

[0038] The motor B 5 is driven in reverse, and the guide wire 4 is rotated in reverse by the rotation action module.

[0039] Furthermore, let the speed of motor B 5 be n2, and the transmission ratio of gear D 10 and gear C 9 be i3; the rotational angular velocity ω of the guide wire 4 can be expressed as:

[0040] ω=2π*n2*i3

[0041] 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 mechanism for converting continuous rotational motion into linear motion of a guide wire, characterized by: It comprises a base (1) and a guide wire linear motion module and a guide wire rotation motion module fixed on the base (1), wherein the guide wire linear motion module is used to complete the delivery and withdrawal of the guide wire (4), and the guide wire rotation motion module is used to complete the rotation of the guide wire (4); The guide wire linear motion module comprises a motor A (3), a gear A (2), a linear motion shaft (6), a gear B (8), a gear F (20), a gear E (12), an end face gear B (19) and an end face gear A (13). The output shaft of the motor A (3) is connected to the gear A (2) and drives the gear A (2) to rotate. The gear A (2) is meshed with the gear B (8). The gear B (8) is mounted on the linear motion shaft (6) and is coaxial. The other end of the linear motion shaft (6) is mounted with a gear F (20). The gear F (20) is meshed with the end face gear B (19) and the gear E (12) respectively. The end face gear B (19) is mounted on a rotating frame. (18), and rotates around the rotation axis B (23) driven by the gear F (20), the gear E (12) is arranged above the gear F (20), the gear E (12) is parallel to the axis of the gear F (20), the gear E (12) is mounted on the mounting seat (21), and is engaged with the end face gear A (13), the end face gear A (13) is mounted on the gear seat (14), and rotates around the rotation axis A (22) driven by the gear E (12), the mounting seat (21) and the gear seat (14) are respectively fixed on the rotating frame (18), and a guide wire (4) is sandwiched between the end face gear A (13) and the end face gear B (19); The guide wire rotation module comprises a motor B (5), a gear D (10), a gear C (9), an adapter A (11), a rotating frame (18) and an adapter B (16), wherein the output shaft of the motor B (5) is connected to the gear D (10) and drives the gear D (10) to rotate, the gear D (10) is meshed with the gear C (9), the gear C (9) is fixed to the adapter A (11) and is coaxial, the adapter A (11) is fixed to one end of the rotating frame (18), and the adapter B (16) is installed at the other end of the rotating frame (18); The linear motion shaft (6) and the adapter seat B (16) are hollow inside. The guide wire (4) passes through the linear motion shaft (6), is clamped by the end face gear A (13) and the end face gear B (19), enters the adapter seat B (16), and passes out from the adapter seat B (16); An elastic pad A (34) is provided on the end surface of the end face gear A (13), and an elastic pad B (35) is provided on the end surface of the end face gear B (19), wherein the elastic pad A (34) and the elastic pad B (35) are both made of elastic materials such as rubber and silicone. The gear C (9), adapter seat A (11), rotating frame (18), and adapter seat B (16) are all coaxial and rotate around the rotation axis C (31).

2. The mechanism for converting continuous rotational motion into linear motion of a guide wire according to claim 1, characterized in that: There is an angle between the rotation axis A (22) of the end face gear A (13) and the rotation axis B (23) of the end face gear B (19), and there is partial contact between the elastic pad A (34) and the elastic pad B (35), and extrusion deformation occurs to clamp the guide wire (4).

3. The mechanism for converting continuous rotational motion into linear motion of a guide wire according to claim 2, characterized in that: Assume that the speed of motor A (3) is n1, the transmission ratio of gear A (2) and gear B (8) is i1, the transmission ratio of gear F (20) and end gear B (19) is i2, the transmission ratio of gear F (20) and gear E (12) is 1:1, and the transmission ratio of gear E (12) and end gear A (13) is also i2. The guide wire (4) has a turning radius R under the clamping action of elastic pad A (34) and elastic pad B (35). The linear motion speed v of the guide wire (4) is expressed as, v = 2π*n1*i1*i2*R.

4. The mechanism for converting continuous rotational motion into linear motion of a guide wire according to claim 1, characterized in that: The linear motion shaft (6) passes through the adapter seat A (11), and the linear motion shaft (6) and the adapter seat A (11) are coaxially arranged.

5. The mechanism for converting continuous rotational motion into linear motion of a guide wire according to claim 4, characterized in that: The adapter seat B (16) passes through the support seat B (17), and the linear motion shaft (6) passes through the support seat A (7). The support seat A (7) and the support seat B (17) are both fixedly connected to the base (1).

6. The mechanism for converting continuous rotational motion into linear motion of a guide wire according to claim 1, characterized in that: A guide tube (15) is also provided, and the guide tube (15) extends from between the end face gear A (13) and the end face gear B (19) to the adapter seat B (16). The guide wire (4) is clamped by the elastic pad A (34) and the elastic pad B (35) and then enters the guide tube (15) and then enters the adapter seat B (16).

7. The mechanism for converting continuous rotational motion into linear motion of a guide wire according to claim 1, characterized in that: Assume that the speed of motor B (5) is n2, the transmission ratio of gear D (10) to gear C (9) is i3, and the rotational angular velocity ω of the guide wire (4) is expressed as ω=2π*n2*i3.

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