A catheter guidewire control device for interventional surgery and a control method thereof

Abstract

The present invention discloses a catheter guidewire control device for interventional surgery and a control method thereof, and belongs to the technical field of minimally invasive vascular interventional surgery. The device includes a clamping mechanism, a sleeve drive assembly and a brake assembly; the clamping mechanism includes a sleeve, a brake member and a clamping member. After the clamping member with a clamping end is installed in the brake member, the brake member is threadedly connected to the sleeve, and the clamping member has a cutout at one end of the clamping end, and the clamping end cooperates with the conical surface of the sleeve; the sleeve drive assembly is used to drive the sleeve to rotate; the brake assembly is used to clamp or release the brake member. The method can clamp, push, twist, and measure force on a catheter or a guidewire. The present invention can achieve efficient, accurate, and lossless clamping and loosening of guidewires and catheters, and can perform coordinated operations on catheter guidewires.

Description

[0001] This application is a divisional application of a Chinese invention patent application filed on July 6, 2017, with application number CN201710544635.1 and invention name “A catheter guidewire control device for interventional surgery and its control method”. Technical Field

[0002] The present invention belongs to the technical field of minimally invasive vascular interventional surgery, and relates to a control technology for a catheter guidewire in an interventional surgery, and more specifically, to a catheter guidewire control device for an interventional surgery and a control method thereof. Background Art

[0003] The increasing incidence of cardiovascular and cerebrovascular diseases has seriously affected the health and social life of the people, and has brought tremendous pressure to China's medical and health system. Cardiovascular and cerebrovascular diseases have become one of the three major causes of death in human diseases. Every year, 16.7 million people die from cardiovascular and cerebrovascular diseases worldwide, accounting for 29.2% of the mortality rate of all diseases. Every year, 2.5 million of the 9 million patients with cardiovascular and cerebrovascular diseases in my country die.

[0004] Minimally invasive interventional therapy for cardiovascular and cerebrovascular diseases is the main treatment for cardiovascular and cerebrovascular diseases. It can reduce the trauma and pain caused by traditional craniotomy and thoracotomy to patients, shorten the postoperative recovery time, and effectively improve the utilization rate of medical resources. However, in traditional cardiovascular and cerebrovascular interventional surgery, doctors manually insert catheters, guidewires, stents and other instruments into the patient's body. On the one hand, during the operation, due to the influence of radiation, the doctor's physical strength decreases rapidly, and his attention and stability decrease accordingly, resulting in a decrease in the accuracy of the operation. Accidents such as vascular endothelial damage and vascular perforation and rupture caused by improper pushing force are prone to occur, which puts the patient's life in danger. On the other hand, the cumulative damage of long-term ionizing radiation will greatly increase the operator's chance of suffering from leukemia, cancer and acute cataracts. The "wire eating" problem has become an issue that cannot be ignored in damaging the professional life of doctors and restricting the development of interventional surgery. The surgical method of remote operation of catheters and guidewires with the help of robotic technology can effectively deal with this problem, greatly improve the accuracy and stability of surgical operations, and effectively reduce the damage of radiation to the surgeon and reduce the probability of intraoperative accidents. Therefore, cardiovascular and cerebrovascular interventional surgery assisting robots are attracting more and more attention and are gradually becoming the key research and development target in the field of medical robots in today's technological powers.

[0005] The research on vascular interventional surgery robots started relatively early abroad, but has not yet been fully realized in clinical applications. The relevant research in China started relatively late, mainly in Beijing Institute of Technology, Tianjin University of Technology, Beijing University of Aeronautics and Astronautics and Harbin Institute of Technology.

[0006] At present, the vascular interventional surgical robot mainly adopts a master-slave end operation structure to isolate the doctor from the radiation. For example, the invention patent applied by Tianjin University of Technology with application number: 201410206956.7 and publication date: September 17, 2014, discloses a master-slave minimally invasive vascular interventional surgery auxiliary system slave operator device, which includes an axial push unit, a rotation unit, a clamping unit, a surgical catheter, an operating force detection unit and an adjustable inclination base, and its working method includes signal detection, transmission, processing, and action. The advantages are: it can imitate the doctor's interventional operation action, with high operation accuracy, effectively improving the safety of the operation; it can ensure that different patients or different intervention positions can be adjusted to the angle expected by the operator; the device is made of aluminum alloy as a whole, with small size and light weight. The invention can well complete the pushing of the guide wire, and uses magnetorheological fluid to realize force feedback, with the advantages of small inertia of moving parts and sensitive feedback. For another example, the patent document filed by Beijing University of Aeronautics and Astronautics with application number: 201210510169.2 and publication date: September 17, 2014, discloses a master-slave remote-controlled vascular interventional surgical robot, including a master-end control mechanism, a slave-end propulsion mechanism, and a PMAC controller; the master-end control mechanism serves as the doctor's operating end; the slave-end propulsion mechanism serves as the robot's actuator, and replaces the doctor in holding the catheter in the operating room to complete the catheter's movement function; the PMAC control box is used to realize information transmission between the master-end control mechanism and the slave-end propulsion mechanism, so that the slave-end catheter propulsion mechanism moves according to the movement information of the master-end control mechanism. It adopts a master-slave remote control method to assist doctors in performing operations, and the slave-end propulsion mechanism realizes the axial feeding and circumferential rotation of the catheter. For example, Harbin Institute of Technology applied for a patent on January 17, 2011, entitled "A catheter robot system for minimally invasive intravascular interventional surgery". Its master handle and computer host are placed in the control room, and the control cabinet, catheter handle, master-slave intervention device, magnetic field generator and controllable catheter are placed in the operating room. The master handle posture signal is processed by the computer host and then transmitted to the control cabinet. The control cabinet contains a motion control card and a driver. The motion control card receives commands and sends instructions to the driver. The driver transmits the control signal to each motor of the master-slave intervention device, thereby controlling the intervention device to achieve the push / pull, rotation and bending operation of the controllable catheter. The posture sensor collects the posture information of the controllable bending section, and the posture signal is transmitted to the computer host through the motion control card for signal processing. This solution uses a controllable catheter, which can obtain the posture information of the controllable catheter bending controllable section, ensure the flexibility of the front end of the controllable catheter and the manipulability of the intubation operation, and at the same time, the master handle controls the master-slave intervention device to achieve the push / pull, rotation and bending of the controllable catheter, and can obtain the transmission force information of the controllable catheter in the operating room, ensuring the accuracy and stability of the intubation.

[0007] The above schemes are relatively advanced research on vascular interventional surgical robots in China, but they all have the following problems: (1) In terms of the guidewire and catheter clamping structure, it is impossible to accurately and efficiently clamp and release the guidewire and catheter, and the clamping efficiency and success rate are low; (2) In terms of guidewire and catheter pushing force detection, the friction between structural components affects the pushing force detection accuracy; (3) Only the guidewire or catheter can be pushed separately, and the catheter and guidewire cannot be pushed together during the operation, so that it cannot fully simulate the doctor's operating actions, and it is difficult to operate in some parts that require the guidewire and catheter to move forward at the same time, which leads to low operating accuracy, low surgical efficiency, low degree of assistance to doctors, and certain safety hazards.

[0008] The inventor has been committed to research in this area and has applied for relevant patents before, such as the Chinese patent application number: 201510064919.1, the publication date: May 20, 2015, which discloses a measuring device for an interventional surgical robot, whose base is connected to an upper cover through a hinge; the upper cover is provided with a concave limit plate and a push block, when the upper cover is closed, the concave limit plate presses the column gear with the driving wheel and the idler wheel to limit the vertical displacement, the push block pushes the left U-shaped baffle to the right, and the right U-shaped baffle and the left U-shaped baffle clamp the guide wire drive auxiliary part; the base is installed on the slider of the linear drive assembly. This solution can effectively reduce the loss of the push force in the conduction process and reduce the large errors caused by assembly or vibration, but it is only used to drive the guide wire, and the accuracy of the combined operations such as clamping, loosening, rotating, pushing, and measuring the push force of the guide wire is relatively low.

[0009] After that, the inventor continued to study the technology of interventional surgical robots, and on March 3, 2016, he applied for a patent with application number: 201610119761.8, entitled: Master-slave minimally invasive vascular interventional surgical robot slave end and its control method, which includes a slave end control mechanism and a slave end mobile platform. The slave end control mechanism consists of a clamping drive mechanism I, a thrust feedback mechanism II, a non-destructive clamping mechanism III, and a clamping control mechanism IV. At the same time, the invention also provides its control method. This solution completes the clamping, loosening, rotation, pushing, and pushing force measurement of the guide wire during the operation by designing a non-destructive clamping mechanism, a clamping control mechanism, a clamping drive mechanism, and a thrust feedback mechanism, thereby increasing the accuracy of the pushing force measurement and improving the reliability of the guide wire clamping. However, its structure is relatively complex. Summary of the invention

[0010] 1. Problems to be solved

[0011] In view of the problem that the clamping efficiency and success rate of guidewires and catheters are low due to unreasonable clamping mechanisms of existing vascular interventional surgical robots during guidewire and catheter operations, the present invention provides a catheter guidewire control device for interventional surgery and a control method thereof, which can achieve efficient, precise and lossless clamping and loosening of guidewires and catheters.

[0012] 2. Technical solution

[0013] To solve the above problems, the present invention adopts the following technical solutions.

[0014] A catheter guidewire control device for interventional surgery, comprising a clamping mechanism (3) and a sleeve drive assembly (4) cooperating with the clamping mechanism (3); the clamping mechanism (3) comprising a sleeve (310), a brake member (320) and a clamping member (330); the sleeve drive assembly (4) axially adjusts the relative position of the sleeve (310) and the brake member (320) so that the sleeve (310) and the brake member (320) squeeze or release the clamping member (330), thereby causing the clamping member (330) to clamp or release the catheter guidewire.

[0015] Furthermore, it also includes a brake assembly (5), and when the sleeve drive assembly (4) adjusts the relative position of the sleeve (310) and the brake member (320) in the axial direction, the brake assembly (5) limits the brake member (320).

[0016] Furthermore, the brake assembly (5) comprises a brake shoe (520) and a driving element connected to the brake shoe (520).

[0017] Furthermore, the brake member (320) is provided with a brake disc (322), and a driving element of the brake assembly (5) can drive the brake block (520) to press or release the brake disc (322).

[0018] Furthermore, the sleeve (310) and the brake member (320) are provided with mutually matching threaded structures, and the sleeve drive assembly (4) drives the sleeve (310) to rotate relative to the brake member (320), and under the action of the threaded structure, the relative position of the sleeve (310) and the brake member (320) is adjusted axially.

[0019] Furthermore, one end of the sleeve (310) has a threaded hole, and the tail end of the threaded hole is a tapered hole; the brake member (320) has a threaded section (321) that matches the threaded hole of the sleeve (310); the clamping end (331) has an outer conical surface that matches the tapered hole in the sleeve (310), and the clamping end (331) is provided with a cutout along the circumference of the outer conical surface.

[0020] Furthermore, the sleeve drive assembly (4) comprises a motor (430), a ball spline pair (440) and a connecting piece, wherein the motor (430) drives the sleeve (310) to rotate via the ball spline pair (440) and the connecting piece, and the sleeve (310) and the connecting piece can be axially adjusted on the ball spline pair (440).

[0021] Furthermore, the connecting member comprises a large herringbone gear (410) connected to the sleeve (310), and a small herringbone gear (420) meshing with the large herringbone gear (410) and connected to the ball spline pair (440).

[0022] Furthermore, it also includes a guide rail slider assembly (6) for guiding the clamping mechanism.

[0023] Furthermore, the guide rail slider assembly (6) has two groups, each group of guide rail slider assemblies (6) includes two pairs of sliding guide rails (610), which are respectively connected to a lower support plate (640) and an upper support plate (620), the lower support plate (640) is installed with a lower half bearing seat (650), and the upper support plate (620) is installed with an upper half bearing seat (630), and the upper half bearing seat (630) and the lower half bearing seat (650) are combined into a complete bearing seat to support the bearing installed on the sleeve (310).

[0024] The present invention also provides a control method for a catheter guidewire control device for interventional surgery, which comprises the following steps:

[0025] (1), the catheter or guide wire passes through the sleeve (310), the brake (320) and the clamp (330);

[0026] (2) a brake member (320) for clamping and fixing the clamping mechanism (3);

[0027] (3), the sleeve drive assembly (4) drives the sleeve (310) of the clamping mechanism (3) to move axially, so that the sleeve (310) and the brake member (320) squeeze the clamping member (330), and the clamping member (330) contracts and clamps the catheter or guide wire;

[0028] When the catheter or guidewire needs to be twisted, after the catheter or guidewire is clamped, the brake member (320) of the clamping mechanism (3) is released, the sleeve drive assembly (4) drives the sleeve (310) of the clamping mechanism (3) to rotate, the brake member (320) and the clamping member (330) follow, and the clamping member (330) drives the catheter or guidewire to twist.

[0029] 3. Beneficial effects

[0030] Compared with the prior art, the present invention has the following beneficial effects:

[0031] (1) The catheter guidewire control device for interventional surgery of the present invention has an innovative design for the clamping mechanism of the catheter guidewire. The threaded connection of the sleeve and the brake member is used to drive the clamping end of the clamping member to contract or open through the cone surface matching and extrusion, thereby clamping or loosening the catheter or guidewire. The opening size of the clamping end of the clamping member is controlled according to the depth of the threaded connection, and the clamping force is controlled to meet the stepless adjustment of different clamping forces for the catheter and guidewire, and it is easy to achieve lossless clamping. In addition, the cone surface matching clamping method is used, the contact surface is large, the clamping force is uniform and reliable, and there is no slipping phenomenon. This method can integrate the operations of clamping, twisting, pushing, etc., which is greatly simplified compared with the existing catheter guidewire clamping structure, and can clamp the catheter guidewire efficiently, accurately and reliably.

[0032] (2) The present invention provides a catheter guidewire control device for interventional surgery. The sleeve and the brake member in the clamping mechanism are both provided with a central hole for the catheter or guidewire to pass through. The sleeve has a threaded hole, the tail end of which is a tapered hole. The brake member has a threaded section that matches the threaded hole of the sleeve. After the clamping member is inserted into the sleeve, the clamping end is exposed, and the clamping end has a cutout. When the sleeve and the brake member are screwed together, the clamping end of the clamping member can be pushed to contact and squeeze the tapered surface of the tapered hole of the sleeve. Due to the existence of the cutout, the clamping end contracts radially and the opening becomes smaller, thereby clamping the catheter or guidewire.

[0033] (4) The present invention provides a catheter guidewire control device for interventional surgery. The clamping mechanism adopts a method of threaded engagement of a sleeve and a brake member. While they rotate relative to each other, they must also have axial linear motion. This requires the sleeve drive assembly and the brake assembly to adapt to this special transmission method. The brake member is locked by the brake assembly, so the sleeve needs to move axially. In order to meet this requirement, the sleeve drive assembly adopts a meshing transmission of large and small herringbone gears, which can withstand axial force. More importantly, the motor and the small herringbone gear are connected by a ball spline pair. While the small herringbone gear rotates, it can move axially with almost no resistance, so as to meet the movement requirements of the sleeve and reduce the subsequent impact on the accuracy of the catheter guidewire push resistance detection.

[0034] (5) In the catheter guidewire control device for interventional surgery of the present invention, the clamping mechanism, the sleeve drive assembly and the brake assembly are all arranged in the housing and covered by the upper cover, so that the whole is relatively closed, which provides better protection for the device and helps to ensure the accuracy of the device. Moreover, the clamping mechanism can be taken out by removing the upper cover, which is convenient and quick, and facilitates the disassembly and assembly of the catheter and the guidewire.

[0035] (6) The catheter guidewire control device for interventional surgery of the present invention adopts a guide rail slider assembly to support the clamping mechanism in order to meet the special clamping mode of the clamping mechanism, which can not only provide stable support but also meet the requirements of axial movement of the sleeve, and the upper and lower sets of guide rail slider assemblies are used to support the fixed bearing, so the support is stable and reliable, and the disassembly and assembly are convenient, so that the clamping mechanism can be easily removed;

[0036] (7) The catheter guidewire control device for interventional surgery of the present invention has a force gauge disposed between the support plate and the lower support plate, and in combination with the structural form of the guide rail slider assembly, can perform real-time and high-precision detection of the pushing resistance of the catheter guidewire, thereby sensing the change of the pushing force during the operation and improving the safety of the operation;

[0037] (8) The control method of the present invention can perform various operations such as clamping, pushing, and twisting of the catheter guidewire by manipulating the catheter guidewire control device for interventional surgery, which can meet the surgical operation requirements for the catheter or guidewire, and simulate the operation method of the doctor holding the catheter guidewire, making the operation more realistic and easier for the doctor to accept. At the same time, the pushing force can be fed back in real time, just like the doctor's sense of touch, making the operation more realistic and convenient for the doctor to grasp the pushing force of the catheter guidewire. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A three-dimensional structural diagram showing the internal structure of the catheter guidewire control device for interventional surgery of the present invention;

[0039] Figure 2 It is a schematic diagram of the explosion of local components in the catheter guidewire control device for interventional surgery of the present invention;

[0040] Figure 3 It is a cross-sectional structural diagram and a partial enlarged diagram of the clamping mechanism in the catheter guidewire control device for interventional surgery of the present invention.

[0041] The reference numerals in the accompanying drawings are:

[0042] 1. Shell;

[0043] 2. Upper cover; 201. Ear plate;

[0044] 3. Clamping mechanism; 310. Sleeve; 320. Braking member; 321. Threaded section; 322. Brake disc; 330. Clamping member; 331. Clamping end;

[0045] 4. Sleeve drive assembly; 410. Large herringbone gear; 420. Small herringbone gear; 430. Motor; 440. Ball spline pair; 450. Coupling; 460. Support plate;

[0046] 5. Brake assembly; 510. Magnet bracket; 520. Brake block; 521. Guide column; 530. Push-pull electromagnet;

[0047] 6. Guide rail and slider assembly; 610. Sliding guide rail; 620. Upper support plate; 630. Upper half bearing seat; 640. Lower support plate; 650. Lower half bearing seat;

[0048] 7. Dynamometer. DETAILED DESCRIPTION

[0049] The present invention is further described below in conjunction with specific embodiments and drawings.

[0050] Example 1

[0051] like Figure 1 , Figure 2 , Figure 3 As shown, a catheter guidewire control device for interventional surgery in this embodiment includes a shell 1, a clamping mechanism 3, a sleeve drive assembly 4 and a brake assembly 5, and the clamping mechanism 3, the sleeve drive assembly 4 and the brake assembly 5 are all arranged in the shell 1.

[0052] Among them, Figure 1 As shown, the housing 1 is a U-shaped structure with front and rear side walls. Figure 1 In order to see the internal structure of the device clearly, the front wall of the shell 1 has been removed; the top opening of the shell 1 can be detachably mounted with the upper cover 2. Specifically, an ear plate 201 is mounted on each of the front and rear opposite sides of the upper cover 2, and the ear plate 201 is connected to the shell 1 by screws. After the shell 1 is covered with the upper cover 2, a relatively closed space is formed, which protects its internal components and is conducive to ensuring the accuracy of the device.

[0053] Combination Figure 2 and Figure 3As shown, the clamping mechanism 3 includes a sleeve 310, a brake member 320 and a clamping member 330, all of which have a central hole for a catheter or a guide wire to pass through; wherein, one end of the sleeve 310 is provided with a threaded hole, and a tapered hole is provided at the tail end of the threaded hole, and the opening size of the tapered hole is 90°, which is of course only a preferred method; one end of the brake member 320 has a threaded section 321 that cooperates with the threaded hole of the sleeve 310. One end of the clamping member 330 is relatively large, forming a clamping end 331. The front and rear ends of the clamping end 331 have conical surfaces. The clamping member 330 is evenly provided with four incisions along the axial direction on this end of the clamping end 331. Of course, the number of incisions is determined according to needs, preferably four, and the incisions extend all the way to the middle of the length direction of the clamping member 330, so that the clamping end 331 can be squeezed and the opening shrinks; the non-clamping end 331 of the clamping member 330 is inserted into the center hole at one end of the threaded section 321 of the brake member 320, the clamping end 331 is exposed outside the brake member 320, and the end of the brake member 320 has an inner conical hole that matches the outer conical surface at the rear end of the clamping end 331; then the threaded section 321 of the brake member 320 is screwed together with the threaded hole of the sleeve 310 to form a whole, and the front end conical surface of the clamping end 331 can contact and match with the inner conical surface of the sleeve 310.

[0054] Compared with the existing clamping methods for catheter guidewires, including the methods previously designed by the inventor, this embodiment has an innovative design for the clamping mechanism 3, and adopts the threaded connection of the sleeve 310 and the brake member 320 to drive the clamping end 331 of the clamping member 330 to contract or open through the conical surface matching and extrusion, thereby clamping or loosening the catheter or guidewire, and controlling the opening size of the clamping end 331 of the clamping member 330 according to the threaded screwing depth to control the clamping force, so as to meet the stepless adjustment of different clamping forces for the catheter and guidewire, and easily achieve lossless clamping; and by using the conical surface matching clamping method, the contact surface is large, the clamping force is uniform and reliable, and there will be no slipping; this method can integrate operations such as clamping, twisting, and pushing, which is greatly simplified compared to the existing catheter guidewire clamping structure, and can clamp the catheter guidewire efficiently, accurately, and reliably.

[0055] It should be noted that the clamping mechanism 3 can be used for clamping operations of both catheters and guide wires. Since the catheter is made of plastic and is relatively soft, when clamping the catheter, the clamping member 330 is preferably made of plastic. The guide wire is made of metal, and when clamping, the clamping member 330 is preferably made of metal. Therefore, it is only necessary to replace the clamping member 330, and there is no need to specifically design a different clamping mechanism 3.

[0056] The clamping of the catheter guide wire by the clamping mechanism 3 is achieved through the cooperation of the sleeve drive assembly 4 and the brake assembly 5. The sleeve 310 and the brake member 320 are threadedly connected, and there must be relative rotation. The sleeve drive assembly 4 is used to drive the sleeve 310 to rotate, and the brake assembly 5 is used to clamp or release the brake member 320, thereby realizing the structural requirements of the threaded connection between the sleeve 310 and the brake member 320.

[0057] Specifically in this embodiment, the brake assembly 5 includes a brake block 520 and a driving element connected to the brake block 520. The driving element adopts a push-pull electromagnet 530. Of course, other power elements in the prior art can also be adopted as long as the brake block 520 can be driven. The push-pull electromagnet 530 is fixed on the magnet bracket 510, and the brake block 520 is connected to the push rod of the push-pull electromagnet 530 by bolts. In order for the brake assembly 5 to effectively and conveniently brake the brake member 320, a brake disc 322 is provided at one end of the brake member 320 away from the threaded section 321, and the driving element of the brake assembly 5 can drive the brake block 520 to press or release the brake disc 322; a support column is provided at the front side of the brake block 520, and the brake member 320 is rotatably supported by a bearing, and a guide hole is provided on the support column, and a guide column 521 is provided at the front end of the corresponding brake block 520. The guide column 521 extends into the guide hole to guide the forward and backward movement of the brake block 520, and also supports the brake block 520. The brake assembly 5 adopts a driving element to drive the brake block 520 to tighten or loosen the brake disc 322 on the brake member 320, which is very simple and easy to control.

[0058] Furthermore, the clamping mechanism 3 adopts a threaded engagement method of the sleeve 310 and the brake member 320. While they rotate relative to each other, they must also have axial linear motion. This requires the sleeve drive assembly 4 and the brake assembly 5 to adapt to this special transmission method. From the above-mentioned structure of the brake assembly 5, it can be seen that the brake member 320 is locked by the brake assembly 5, so the sleeve 310 needs to move axially, which puts forward requirements for the structure of the sleeve drive assembly 4. In this embodiment, the sleeve drive assembly 4 includes a large herringbone gear 410, a small herringbone gear 420, a motor 430 and a motor bracket; wherein the motor bracket is fixed on the bottom plate of the housing 1, and the motor 430 is fixed on the motor bracket; the large herringbone gear 410 and the small herringbone gear 420 are relatively speaking, and the small herringbone gear 420 is only smaller in diameter relative to the large herringbone gear 410, the large herringbone gear 410 is mounted on the sleeve 310 through a key, the small herringbone gear 420 is connected to the motor 430, and the large herringbone gear 410 and the small herringbone gear 420 are meshed for transmission. In order to meet the action requirements of the sleeve 310 for rotation and axial movement, the sleeve drive assembly 4 adopts the meshing transmission of large and small herringbone gears, which can withstand axial force, and they also perform lateral movement during the meshing transmission process. However, the motor 430 is fixed on the motor bracket and cannot move. It is necessary to ensure that the motor 430 can drive the small herringbone gear 420 to rotate while adapting to the axial movement of the small herringbone gear 420. Therefore, in this embodiment, the motor 430 is connected to the coupling 450, and the coupling 450 is connected to the small herringbone gear 420 through the ball spline pair 440. This can achieve almost resistance-free axial movement of the small herringbone gear 420, and can also greatly reduce the subsequent impact on the accuracy of catheter guidewire pushing resistance detection.

[0059] It should be noted that the clamping mechanism 3 needs to be supported when working and cannot be suspended. In view of the particularity of the clamping method, the clamping mechanism 3 of this embodiment is supported by the guide rail slider assembly 6 and arranged on the support plate 460. The two sides of the support plate 460 are fixed on the front and rear side walls of the housing 1, and the bottom surface is connected to the motor bracket. The guide rail slider assembly 6 has two groups, which support the two ends of the sleeve 310 respectively. Each group of guide rail slider assembly 6 includes two pairs of sliding guide rails 610 respectively installed on the support plate 460 and the upper cover 2, which are respectively connected to the lower support plate 640 and the upper support plate 620. The lower support plate 640 is installed with the lower half bearing seat 650, and the upper support plate 620 is installed with the upper half bearing seat 630. The upper half bearing seat 630 and the lower half bearing seat 650 are combined into a complete bearing seat to support the bearing installed on the sleeve 310. The guide rail slider assembly 6 is used to support the clamping mechanism 3, which can not only stably support, but also meet the requirements of axial movement of the sleeve 310, and the upper and lower sets of guide rail slider assemblies 6 are used to support the fixed bearing, which is stable and reliable, and easy to disassemble and assemble, so as to facilitate the removal of the clamping mechanism 3. At the same time, the brake assembly 5 is also installed on the lower support plate 640.

[0060] Example 2

[0061] The catheter guidewire control device for interventional surgery of the first embodiment can be used to clamp, push, pull, and twist the catheter or guidewire. The catheter is used as an example for explanation, as follows.

[0062] ① Catheter clamping operation

[0063] First, the catheter passes through the brake member 320, the clamping member 330 and the sleeve 310 of the clamping mechanism 3; then, the brake brake assembly 5 works to brake the brake member 320, specifically, the push-pull electromagnet 530 is energized, pulling the brake block 520 close to the brake disc 322 of the brake member 320, and contacting and pressing the brake disc 322, so that the brake member 320 is braked; then, the sleeve drive assembly 4 drives the sleeve 310 of the clamping mechanism 3 to rotate, specifically, the motor 430 is energized, driving the small herringbone gear 420 to rotate, the small herringbone gear 420 and the large herringbone gear 410 are meshed for transmission, and the large herringbone gear 410 drives the sleeve 310 to rotate; the threaded matching length of the brake member 320 and the sleeve 310 increases, and the sleeve 310 moves toward the brake member 320 under the support of the guide rail slider assembly 6, squeezing the clamping member 330, and the opening of the clamping end 331 gradually decreases until the catheter is clamped. The reverse rotation of the motor 430 controls the reverse rotation of the sleeve 310, thereby releasing the clamping of the catheter.

[0064] ②Axial push and pull operation of the catheter

[0065] When the catheter is clamped, the device can be installed on an operating platform under the action of external force. The operating platform drives the device to move, and the clamping mechanism 3 moves axially together with the catheter to achieve the push-pull operation of the catheter.

[0066] ③Twisting operation of the catheter

[0067] When the catheter is clamped, the brake assembly 5 releases the brake member 320 of the clamping mechanism 3, and the sleeve driving assembly 4 drives the sleeve 310 of the clamping mechanism 3 to rotate. The brake member 320 and the clamping member 330 rotate accordingly, and the clamping member 330 drives the catheter to twist.

[0068] This control method can perform various operations such as catheter clamping, pushing, and twisting by manipulating the catheter guidewire control device for interventional surgery. It can meet the surgical operation requirements for catheters or guidewires, and simulate the operation method of a doctor holding a catheter, making the operation more realistic and easier for doctors to accept.

[0069] Example 3

[0070] In this embodiment, a catheter guidewire control device for interventional surgery is provided, based on the embodiment 1, with a force gauge 7 provided between the support plate 460 and the lower support plate 640 on which the brake assembly 5 is installed, for detecting the pushing force of the catheter guidewire. In addition to being able to implement the clamping, pushing, pulling, and twisting operations of the catheter or guidewire in the embodiment 2, the device can also detect the pushing resistance of the catheter or guidewire, which is described here by taking the guidewire as an example, as follows.

[0071] The guide wire clamping operation is the same as that in Example 2. After the guide wire is clamped, the brake assembly 5 releases the brake member 320 of the clamping mechanism 3. Under the push of external force, the clamping mechanism 3 moves axially together with the guide wire, and the guide rail slider assembly 6 follows the sliding movement, and transmits the pushing resistance to the dynamometer 7 through the lower support plate 640. The dynamometer 7 receives the resistance signal and converts the resistance signal into an electrical signal and transmits it to the external control system, thereby realizing real-time detection of the pushing resistance.

[0072] Based on Example 2, this control method can provide real-time feedback on the pushing force, just like the doctor's sense of touch, making the operation more realistic and convenient for the doctor to grasp the pushing force of the guide wire.

[0073] Example 4

[0074] The present embodiment is a catheter guidewire control device for interventional surgery, and its structure is the same as that of the embodiment 3, but further provides a control method for clamping or loosening the catheter or guidewire. In this embodiment, the guidewire is taken as an example (the catheter is the same), and when the motor 430 rotates a certain angle θ, the small herringbone gear 420 and the large herringbone gear 410 are driven to mesh and transmit, and then the sleeve 310 is driven to rotate a certain angle, so that the sleeve 310 and the brake disc 322 can achieve a fixed angle of relative rotation, so that the clamping member 330 clamps or loosens the guidewire.

[0075] The calibration method for the rotation angle θ is as follows:

[0076] Select the guidewire diameter according to the requirements of the vascular interventional surgery, and select the corresponding clamp 330, and pass the guidewire through the brake 320, the clamp 330 and the sleeve 310 in sequence. At this time, the guidewire is in a relaxed state. The meshing position of the internal thread of the sleeve 310 and the external thread of the threaded segment 321 of the clamp 330 is calibrated as the initial position. The sleeve 310 is driven by the motor 430 to rotate at different angles until the guidewire is clamped, and the rotation angle of the motor 430 is recorded. Repeat 50 times, and take the average value of the rotation angle of the motor 430 each time as the clamping or loosening rotation angle θ.

[0077] In the above operation process, the definition of guidewire clamping is as follows: apply a certain torque load τe and a certain resistance load Fe to the guidewire, mark points on the guidewire and the device, apply verification loads from small to large, and when the relative positions of the mark points change just right, the guidewire is considered to be clamped just right. The values ​​of torque load τe and resistance load Fe are calculated as follows:

[0078] τe=ατmax

[0079] τmax is the maximum resistance torque of the guidewire during vascular intervention surgery, and α is the safety factor.

[0080] Fe=αFmax

[0081] Fmax is the maximum resistance to guidewire pushing during vascular intervention surgery, and α is the safety factor.

[0082] In addition, it is necessary to ensure the non-destructive clamping of the guide wire or catheter during the clamping process, and the method is: select a push-pull electromagnet 530 of appropriate power, so that after the push-pull electromagnet 530 pulls the brake block 520 to press the brake disc 322, the sliding friction force f between the brake disc 322 and the brake block 520 and the torque load τe satisfy the following relationship:

[0083] f=β·τe·r

[0084] The experiment is repeated, and the rotation angle of the motor 430 is gradually increased. The torsion applied by the large herringbone gear 410 to the sleeve 310, the clamp 330, and the brake disc 322 is gradually increased. When the sliding friction force f>β·τe·r between the brake disc 322 and the brake block 520, slippage will occur between the brake disc 322 and the brake block 520. At this time, the pressure between the clamp 330 and the guide wire or catheter no longer increases, so as to protect the guide wire and catheter and achieve lossless clamping.

[0085] The examples described in the present invention are merely descriptions of the preferred implementation modes of the present invention, and are not intended to limit the concept and scope of the present invention. Without departing from the design concept of the present invention, various modifications and improvements made to the technical solutions of the present invention by engineers and technicians in this field should all fall within the protection scope of the present invention.

Claims

1. A catheter guidewire control device for interventional surgery, characterized in that: The invention comprises a clamping mechanism (3) and a sleeve driving assembly (4) matched with the clamping mechanism (3); the clamping mechanism (3) comprises a sleeve (310), a brake member (320) and a clamping member (330); the sleeve driving assembly (4) adjusts the relative position of the sleeve (310) and the brake member (320) in the axial direction, so that the sleeve (310) and the brake member (320) squeeze or release the clamping member (330), thereby causing the clamping member (330) to clamp or release the catheter guide wire; One end of the sleeve (310) has a threaded hole, the tail end of the threaded hole is a tapered hole, the brake member (320) has a threaded section (321) that matches the threaded hole of the sleeve (310), one end of the clamping member (330) forms a clamping end head (331), the clamping end head (331) has an outer conical surface that matches the tapered hole in the sleeve (310), and the clamping end head (331) is provided with a cutout along the circumference of the outer conical surface; The sleeve drive assembly (4) comprises a motor (430), a ball spline pair (440) and a connecting piece. The motor (430) drives the sleeve (310) to rotate via the ball spline pair (440) and the connecting piece. The sleeve (310) and the connecting piece can be axially adjusted on the ball spline pair (440). The connecting piece comprises a large herringbone gear (410) connected to the sleeve (310) and a small herringbone gear (420) meshing with the large herringbone gear (410) and connected to the ball spline pair (440). The brake assembly (5) is also included. When the sleeve drive assembly (4) adjusts the relative position of the sleeve (310) and the brake member (320) in the axial direction, the brake assembly (5) limits the brake member (320). The brake assembly (5) includes a brake block (520) and a driving element connected to the brake block (520). The brake member (320) is provided with a brake disc (322). The driving element of the brake assembly (5) can drive the brake block (520) to press or release the brake disc (322). A guide rail and slider assembly (6) for slidingly guiding the clamping mechanism; The sleeve (310), the braking member (320) and the clamping member (330) all have a central hole through which a catheter or a guide wire can pass.

2. The catheter guidewire control device for interventional surgery according to claim 1, characterized in that: The sleeve (310) and the brake member (320) are provided with mutually matching thread structures, and the sleeve drive assembly (4) drives the sleeve (310) to rotate relative to the brake member (320). Under the action of the thread structure, the relative position of the sleeve (310) and the brake member (320) is adjusted axially.

3. The catheter guidewire control device for interventional surgery according to claim 2, characterized in that: The sleeve drive assembly (4) comprises a motor (430), a ball spline pair (440) and a connecting piece. The motor (430) drives the sleeve (310) to rotate via the ball spline pair (440) and the connecting piece. The sleeve (310) and the connecting piece can be axially adjusted on the ball spline pair (440).

4. A method for controlling a catheter guidewire control device for interventional surgery according to any one of claims 1 to 3, comprising the following steps: (1), the catheter or guide wire passes through the sleeve (310), the brake (320) and the clamp (330); (2) a brake member (320) for clamping and fixing the clamping mechanism (3); (3), the sleeve drive assembly (4) drives the sleeve (310) of the clamping mechanism (3) to move axially, so that the sleeve (310) and the brake member (320) squeeze the clamping member (330), and the clamping member (330) contracts and clamps the catheter or guide wire; When the catheter or guidewire needs to be twisted, after the catheter or guidewire is clamped, the brake member (320) of the clamping mechanism (3) is released, the sleeve drive assembly (4) drives the sleeve (310) of the clamping mechanism (3) to rotate, the brake member (320) and the clamping member (330) follow, and the clamping member (330) drives the catheter or guidewire to twist.

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