Continuous Pushing and Twisting Robot for Vascular Interventional Devices

Abstract

The present invention provides a continuous pushing and twisting robot for vascular interventional instruments, including a clamping and delivery module, wherein the vascular interventional instrument passes through the clamping and delivery module and is clamped by the clamping and delivery module, wherein a rotatable unit is provided in the clamping and delivery module, and the rotatable unit drives the vascular interventional instrument to move axially; a rotation control mechanism is connected to the clamping and delivery module and can drive the clamping and delivery module to rotate, so as to realize the circumferential rotation of the vascular interventional instrument. Different from the existing situation in which the tube wire delivery mechanism and the rotation control mechanism are composed of their own clamping mechanisms, the present invention realizes that the delivery mechanism and the rotation control mechanism share the same clamping mechanism to clamp the tube wire, thereby realizing the rotation and delivery action of the tube wire, greatly reducing the overall size of the robot, realizing the miniaturization and lightweight of the robot, and facilitating transportation and installation.

Description

Technical Field

[0001] The present invention belongs to the technical field of high-end medical equipment manufacturing, and relates to a medical device, specifically to a control technology for the delivery and rotation of interventional surgical catheter guidewires and other instruments and their coupled motion, and more specifically to a vascular interventional instrument continuous pushing and twisting robot. Background Art

[0002] Cardiovascular and cerebrovascular diseases have seriously affected people's health and are the biggest health challenge facing mankind today.

[0003] Medical robots are bringing disruptive changes to the traditional medical field due to their advantages such as precision, stability, safety and efficiency. Vascular intervention technology is an emerging diagnostic and treatment method for cardiovascular and cerebrovascular diseases. Under the guidance of medical images, doctors use catheters along the vascular cavity to directly reach the lesions in the body (such as coronary arteries and blood vessels in the brain, liver, kidneys, etc.), and then use catheters to deliver diagnostic agents or surgical instruments (such as balloons, stents, coils, etc.) to perform minimally invasive diagnosis and treatment of lesions farther away in the body.

[0004] As a type of minimally invasive surgery, vascular intervention surgery avoids the need for opening the cavity and the skull, thereby reducing surgical risks and alleviating the patient's pain. At the same time, there are fewer postoperative complications and a shorter recovery period, so vascular intervention surgery robots have become a hot research and development hotspot in the field of high-end medical equipment. At present, vascular intervention robots mainly adopt a master-slave operation structure. The doctor is located outside the operating room to operate the master robot, thereby controlling the slave robot to perform surgery on the human body. The master-slave operation structure effectively avoids the radiation effect of X-rays on the doctor, and uses the robot's inherent high operating precision and accuracy to perform surgery.

[0005] Currently, there are three main types of motion control for vascular interventional devices such as catheters and guidewires by existing vascular interventional robots: friction wheel type, reciprocating drag type, and alternating drag type.

[0006] The friction wheel type is an example of the CorPath 200 system developed by Corindus Corporation in the United States. The catheter delivery mechanism adopts a double roller structure, which clamps and drives the catheter to move axially through friction. Rotation and delivery are achieved through two unrelated clamping mechanisms, and the axial size is large; the reciprocating dragging type is an example of the invention patent of Beijing Institute of Technology with application number: 201710544638.5 and publication date: 2017.11.03, which discloses a robot remote operation system and a control method thereof. The slave robot clamps the tube wire through the catheter controller and the guide wire controller using the V-clamping principle to control the movement of the tube wire. The two controllers are installed on a mobile platform. The reciprocating dragging movement of the tube wire is achieved through alternating actions between the controllers. Continuous delivery is not possible, and the overall volume is large; the alternating dragging type is an example of the invention patent of Beijing Weimai Medical Equipment Co., Ltd. with application number: 201910620805.9 and publication date: 2019.09.17, which discloses an interventional surgical robot slave propulsion device and a control method thereof, and the movement of the tube wire is achieved by relative rubbing of a pair of splints.

[0007] The above are typical wire delivery solutions currently used by vascular interventional robots at home and abroad, but there is a common problem that the contradiction between high-precision continuous delivery of wires and reliable clamping cannot be resolved: (1) The friction wheel structure can achieve continuous delivery of wires, but due to the point contact between the roller and the wire, it is difficult to achieve reliable clamping of the wire. When the clamping force is too small, there is a slipping problem. When the clamping force is too large, it may cause deformation or surface damage of the wire, increasing the risk of vascular damage and postoperative complications. (2) The reciprocating drag type increases the clamping contact area and achieves reliable clamping by designing V-shaped, claw-shaped and other claw structures, but generally achieves axial delivery of the wire through a guide rail slider structure. When the travel limit is reached, the wire must be released - empty return - clamp the wire, and then continue to deliver, which may cause a travel limit conflict with the doctor's hand movement, interrupting the doctor's normal surgical operation. (3) The alternating dragging method can achieve reliable clamping and continuous delivery of the guide wire, but the torsional movement of the guide wire is achieved by the relative rubbing of a pair of clamps, and the torsional positioning accuracy of the guide wire is difficult to guarantee (especially for micro-guide wires with a diameter of 0.2 mm). Summary of the invention

[0008] The present invention provides a vascular interventional instrument continuous pushing and twisting robot, which can realize reliable clamping and high-precision continuous delivery, rotation and coupled motion of the vascular interventional instrument.

[0009] In order to solve the above technical problems, the following technical solutions are proposed:

[0010] The present invention provides a vascular interventional instrument continuous pushing and twisting robot, comprising:

[0011] A clamping and delivery module, wherein the vascular interventional instrument passes through the clamping and delivery module and is clamped by the clamping and delivery module. A rotatable unit is provided in the clamping and delivery module, and the rotatable unit drives the vascular interventional instrument to move axially;

[0012] The rotation control mechanism is connected to the clamping and delivery module, and can drive the clamping and delivery module to rotate to achieve circumferential rotation of the vascular interventional instrument.

[0013] Furthermore, the axis along which the clamping and delivery module drives the vascular interventional instrument to move axially coincides with the axis along which the rotation control mechanism drives the vascular interventional instrument to rotate circumferentially.

[0014] Furthermore, it includes a mounting frame and a shell, the clamping delivery module is arranged in the shell, the shell is rotatably arranged on the mounting frame, and the rotation control mechanism is connected to the shell, which can drive the shell to rotate on the mounting frame to realize the circumferential rotation of the vascular interventional instrument.

[0015] Furthermore, the mounting frame includes a front bearing seat and a rear bearing seat, the shell is arranged between the front bearing seat and the rear bearing seat, the front bearing seat, the shell and the rear bearing seat are respectively provided with corresponding bearing holes, the shell is connected to the front bearing seat and the rear bearing seat respectively through bearings, and the center holes of the bearings on the shell, the front bearing seat and the rear bearing seat and the clamping position of the vascular interventional instrument in the clamping delivery module are coaxially arranged.

[0016] Furthermore, the rotation control mechanism includes a rotation power source, a rotation transmission mechanism and a rear sleeve connected in sequence, the rear sleeve is connected to the shell, and the rotation transmission mechanism transmits the driving force of the rotation power source to the rear sleeve and the shell to drive the shell to rotate on the mounting frame.

[0017] Furthermore, the rotary transmission mechanism includes a turbine and a worm connected to each other, the worm is connected to the rotary power source, the turbine is connected to the rear sleeve, and the turbine and the worm are meshed to transmit the driving force of the rotary power source to the rear sleeve.

[0018] Furthermore, the rear sleeve is connected to the conductive slip ring, and the cable inside the shell passes through the rear sleeve and is connected to the conductive slip ring.

[0019] Furthermore, the clamping and delivery module includes relatively arranged clamping parts, on which a rotatable conveyor belt is arranged, and the vascular interventional instrument is clamped by the conveyor belt on the relatively arranged clamping parts, and the relative rotation of the conveyor belt can drive the axial movement of the vascular interventional instrument.

[0020] Furthermore, the clamping part includes a support frame, on which two rotatable delivery shafts are provided, and the conveyor belt is sleeved on the outside of the two delivery shafts. The straight part of the conveyor belt located between the two delivery shafts is used to clamp the vascular interventional instrument so that the conveyor belt is in surface contact with the vascular interventional instrument.

[0021] Furthermore, gears are provided at both ends of the delivery shaft, and teeth are provided on the corresponding inner rings on both sides of the conveyor belt. The teeth on the conveyor belt mesh with the gears on the delivery shaft to form meshing transmission force.

[0022] Furthermore, a supporting structure is provided on the inner side of the conveyor belt. When the vascular interventional instrument is clamped by the conveyor belt on the relatively arranged clamping part, the supporting structure can support the conveyor belt toward the vascular interventional instrument to increase the clamping force of the conveyor belt on the vascular interventional instrument.

[0023] Furthermore, it also includes a delivery control mechanism, which includes a delivery power source, a delivery transmission mechanism and a delivery drive shaft connected in sequence, the delivery drive shaft is connected to the clamping part in the clamping delivery module, the delivery transmission mechanism transmits the power of the delivery power source to the delivery drive shaft, and the delivery drive shaft drives the clamping part in the clamping delivery module to move.

[0024] Furthermore, the delivery transmission mechanism includes a first transmission shaft system and a second transmission shaft system, the first transmission shaft system includes a first shaft, a second pulley and a first gear are provided on the first shaft, the second transmission shaft system includes a second shaft, a second gear is provided on the second shaft, the second pulley on the first shaft is connected to the first pulley on the delivery power source through a belt to transmit power from the delivery power source, the first gear on the first shaft is meshed with the second gear on the second shaft, and the second gear is meshed with the delivery drive shaft to transmit power to the delivery drive shaft.

[0025] Furthermore, the delivery drive shaft includes a third rotating shaft system and a fourth rotating shaft system, the third rotating shaft system includes a third shaft, and the third shaft is provided with a third gear and a fourth gear, the fourth rotating shaft system includes a fourth shaft, and the fourth shaft is provided with a fifth gear, the third gear on the third shaft is meshed with the second gear in the delivery transmission mechanism, the fourth gear on the third shaft is meshed with the fifth gear on the fourth shaft, and the third shaft and the fourth shaft are respectively interconnected with the clamping parts in the clamping delivery module to transmit the power of the delivery power source to the clamping parts relatively arranged in the clamping delivery module.

[0026] Furthermore, it includes a shell, a first chamber and a second chamber are arranged inside the shell, a clamping and delivery module is arranged in the first chamber, a delivery control mechanism is arranged in the second chamber, and the delivery control mechanism is connected to the clamping and delivery module to drive the rotatable unit in the clamping and delivery module to move.

[0027] Furthermore, the clamping and delivery module includes a box and a box cover that are interlocked, the relatively arranged clamping parts are arranged inside the box, and the side walls of the box are provided with tube wire passing holes; the shell includes a rotating cover, which can open or close the first chamber, and the box is detachably arranged in the first chamber of the shell.

[0028] Furthermore, a support plate is arranged between the first chamber and the second chamber, a connecting piece and a rotating sealing hole are arranged on the support plate, a positioning column and a gear shaft hole are arranged on the box, the box is mounted on the support plate, the positioning column on the box is connected to the connecting piece on the support plate, and the delivery drive shaft of the delivery control mechanism passes through the rotating sealing hole on the support plate and the gear shaft hole on the box and is connected to the clamping delivery module.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] (1) The continuous pushing and twisting robot for vascular interventional instruments of the present invention is different from the existing situation in which the tube wire delivery mechanism and the rotation control mechanism are composed of their own clamping mechanisms. The present invention realizes that the delivery mechanism and the rotation control mechanism share the same clamping mechanism to clamp the tube wire, thereby realizing the rotation and delivery of the tube wire, greatly reducing the overall size of the robot, realizing the miniaturization and lightweight of the robot, and facilitating transportation and installation.

[0031] (2) The continuous pushing and twisting robot for vascular interventional instruments of the present invention adopts a toothed belt structure supported by a planar linear bearing, which can achieve a larger contact area with the filament, reduce the positive pressure of the filament, and effectively protect its surface coating from damage; at the same time, it can achieve continuous movement of the filament, solving the contradiction between the existing high-precision continuous delivery and reliable rotary clamping.

[0032] (3) The continuous pushing and twisting robot for vascular interventional instruments of the present invention realizes the coupled movement of the tube wire delivery and rotation, which is more in line with the movement requirements of the tube wire during actual surgery.

[0033] (4) In the continuous pushing and twisting robot for vascular interventional instruments of the present invention, a worm gear mechanism is used to drive the clamping and delivery module and the shell to rotate, thereby driving the tube wire to rotate. This makes the robot have the advantages of high rotation accuracy and precise control. The worm gear drives the turbine, which has a high transmission ratio, high rotation control accuracy, more precise motion control, and reduced operational errors. In addition, the worm gear form realizes the reversing of staggered axes, reduces the use of gears, and saves space.

[0034] (5) The continuous pushing and twisting robot for vascular interventional instruments of the present invention can be provided with clamping and delivery modules with different toothed belt spacings to form a series of clamping and delivery module products with different specifications. By replacing the clamping and delivery modules with different specifications, it can be suitable for clamping catheters, guidewires or other surgical instruments with different diameters.

[0035] (6) The continuous pushing and twisting robot for vascular interventional instruments of the present invention has a small size and high control accuracy, and can realize continuous delivery and rotation control of the tube wire, thereby realizing the coordinated work of multiple robots. By collaboratively controlling two or more of the pushing and twisting robots, the coordinated operation of multiple instruments in interventional surgery can be realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] Figure 1 This is a schematic diagram of the structure of the continuous pushing and twisting robot for vascular interventional instruments of the present invention after the tube wire is installed;

[0037] Figure 2 It is a schematic diagram of the installation structure of the delivery control mechanism in the continuous pushing and twisting robot for vascular interventional instruments of the present invention within the housing;

[0038] Figure 3 It is a structural schematic diagram of the delivery control mechanism in the continuous pushing and twisting robot for vascular interventional instruments of the present invention;

[0039] Figure 4 It is a structural schematic diagram of a clamping and delivering module in a continuous pushing and twisting robot for a vascular interventional device of the present invention;

[0040] Figure 5 An exploded view of the internal structure of the clamping and delivery module in the continuous pushing and twisting robot for the vascular interventional instrument of the present invention;

[0041] Figure 6 It is a schematic diagram of the exploded structure of the rotation control mechanism in the continuous pushing and twisting robot for vascular interventional instruments of the present invention;

[0042] Figure 7 It is a schematic diagram of the bottom structure of the clamping and delivery module in the continuous pushing and twisting robot for vascular interventional instruments of the present invention;

[0043] Figure 8 It is a schematic diagram of the quick disassembly and assembly structure of the continuous pushing and twisting robot for vascular interventional instruments of the present invention, removing the rotating cover, the clamping and delivery module, and the mounting frame;

[0044] Fig. 9 It is a schematic diagram of the overall structure of the continuous pushing and twisting robot for vascular interventional instruments of the present invention.

[0045] The numbers of the accompanying drawings are respectively represented as follows:

[0046] 1. Delivery control mechanism; 2. Clamping delivery module; 3. Rotation control mechanism; 4. Mounting frame; 5. Pipe wire;

[0047] 1-1, support plate; 1-2, delivery motor; 1-3, delivery motor driver; 1-4, support frame; 1-5, first bearing seat; 1-6, second bearing seat; 1-7, controller; 1-8, controller support; 1-9, first pulley; 1-10, second pulley; 1-11, belt; 1-12, third bearing seat; 1-13 second gear; 1-14 third gear; 1-15, fourth gear; 1-16 fifth gear; 1-17 fourth bearing seat; 1-18 first gear; 1-19, first shaft; 1-20, second shaft; 1-21, third shaft; 1-22, delivery drive shaft; 1-23, fourth shaft; 1-24, connector; 1-25, wireless communication module;

[0048] 2-1, box cover; 2-2, first clamping part; 2-3, second clamping part; 2-4, box; 2-3-1, upper cover; 2-3-2, conveyor belt; 2-3-3, support frame; 2-3-4, delivery shaft; 2-3-5, bearing support frame; 2-3-6, plane linear bearing; 2-3-7, gear; 2-3-8, gear shaft; 2-4-1, gear shaft hole; 2-4-2, positioning column; 2-4-3, tube wire through hole; 2-4-4, screw hole;

[0049] 3-1, rotating motor; 3-2, coupling; 3-3, rear isolation sleeve; 3-4, conductive slip ring; 3-5, sleeve; 3-6, worm; 3-7, turbine; 3-8, rear sleeve; 3-9, front isolation sleeve;

[0050] 4-1, first worm bearing seat; 4-2, rear bearing seat; 4-3, second worm bearing seat; 4-4, bottom fixing block; 4-5, front bearing seat; 4-6, rear rotating plate; 4-7, rotating shell; 4-8, rotating cover; 4-9, rotating shaft; 4-11; motor isolation plate; 4-12, front rotating plate. DETAILED DESCRIPTION

[0051] The present invention is further described below in conjunction with specific embodiments and drawings.

[0052] Figure 1 This is a schematic diagram of the structure of the continuous pushing and twisting robot for vascular interventional instruments after the tube wire is installed. Figure 1 It can be seen that the continuous pushing and twisting robot for vascular interventional instruments comprises a delivery control mechanism 1, a clamping and delivery module 2, a rotation control mechanism 3 and a mounting frame 4, wherein: the vascular interventional instrument passes through the clamping and delivery module 2 and is clamped by the clamping and delivery module 2, and a rotatable unit is provided in the clamping and delivery module 2, and the rotatable unit drives the vascular interventional instrument to move axially; Figure 4 , 5As shown, the clamping and delivery module 2 includes clamping parts arranged opposite to each other, and a rotatable conveyor belt is arranged on the clamping parts. The vascular interventional instrument is clamped by the conveyor belt on the clamping parts arranged opposite to each other, and the relative rotation of the conveyor belt can drive the vascular interventional instrument to move axially. The rotation control mechanism 3 is connected to the clamping and delivery module 2, and can drive the clamping and delivery module 2 to rotate to realize the circumferential rotation of the vascular interventional instrument. In addition, the clamping and delivery module 2 is arranged in a shell, and the shell is rotatably arranged on a mounting frame 4. The rotation control mechanism 3 is connected to the shell, and can drive the shell to rotate on the mounting frame 4 to realize the circumferential rotation of the vascular interventional instrument. The axis of the axial movement of the clamping and delivery module driving the vascular interventional instrument coincides with the axis of the circumferential rotation of the vascular interventional instrument driven by the rotation control mechanism 3.

[0053] In the embodiment of the present invention, reference Figure 4 The clamping and delivery module 2 also includes a box cover 2-1 and a box 2-4. The box cover 2-1 is buckled on the upper part of the box 2-4. The two clamping parts are connected to the inside of the box 2-4. The axial side wall of the box 2-4 is provided with a tube wire passing hole. The distance between the two clamping parts is consistent with the diameter of the tube wire, so that the tube wire can be clamped without damaging the tube wire. Specifically, the two clamping parts are fixed in the box 2-4 through the corresponding screw holes and screws at the bottom of the box 2-4.

[0054] It should be noted that different sizes of clamping and delivering modules 2 can be selectively used for different types of pipe wire diameters, and the distance between the two clamping parts in the clamping and delivering modules 2 of different sizes is different. Specifically, different distances between the two clamping parts are achieved by using delivery shafts 2-3-4 of different diameters or installing gears of different diameters on the delivery shafts 2-3-4 and using conveyor belts 2-3-2 of corresponding lengths.

[0055] One embodiment of the present invention, referring to Figure 5 , the two clamping parts are respectively the first clamping part 2-2 and the second clamping part 2-3, the first clamping part 2-2 and the second clamping part 2-3 have the same structure and are mirror-imaged, the tube wire is clamped between the first clamping part 2-2 and the second clamping part 2-3, and the first clamping part 2-2 and the second clamping part 2-3 drive the tube wire to move axially. The second clamping part 2-3 is used as an example for explanation below, the rotatable part of the clamping part is a conveyor belt 2-3-2, the clamping part also includes a support frame 2-3-3 and two rotatable delivery shafts 2-3-4, the two delivery shafts 2-3-4 are rotatably connected to both sides of the support frame 2-3-3, specifically, the bearings on the two identical delivery shafts 2-3-4 are symmetrically installed in the bearing holes on both sides of the support frame 2-3-3, the two identical delivery shafts 2-3-4 can be one as a driving shaft and the other as a driven shaft, or both can be driven shafts or driving shafts.

[0056] The conveyor belt 2-3-2 is sleeved on the outside of the two delivery shafts 2-3-4, wherein the straight portion of the conveyor belt 2-3-2 located between the two delivery shafts 2-3-4 is used to clamp interventional surgical instruments such as tube wires, so that the clamping portion is in surface contact with the tube wire, and the rotation of the two delivery shafts 2-3-4 is controlled to control the rotation of the conveyor belt 2-3-2, thereby realizing the axial movement of the tube wire.

[0057] In another embodiment of the present invention, gears are installed on the upper and lower sides of the delivery shaft 2-3-4, and teeth are provided on the inner rings of the upper and lower sides of the conveyor belt 2-3-2. When the conveyor belt 2-3-2 is sleeved on the delivery shaft, the teeth on the inner ring of the conveyor belt 2-3-2 mesh with the gears on the delivery shaft 2-3-4 to form a meshing transmission force. Specifically, two upper and lower gears 2-3-7 are fixedly installed on the gear shaft 2-3-8 in upper and lower positions, and steel wire retaining rings and bearings for shafts are installed on the gear shafts outside the two gears 2-3-7. The two gears are symmetrically installed on the gear shaft 2-3-8 to form the delivery shaft 2-3-4. It can be understood that setting the conveyor belt 2-3-2 and the delivery shaft 2-3-4 in the form of gear meshing can improve the delivery effect of the tube wire, but the above method can also be not adopted, for example, the transmission and delivery shafts are directly sleeved together, as long as the delivery of the tube wire can be achieved.

[0058] In another embodiment of the present invention, a support structure is provided on the inner side of the conveyor belt 2-3-2. When the vascular interventional instrument is clamped by the conveyor belt on the clamping part arranged oppositely, the support structure can support the conveyor belt 2-3-2 in the direction of the vascular interventional instrument to improve the clamping force of the conveyor belt on the vascular interventional instrument. Specifically, the support structure can be a plane linear bearing 2-3-6, and the support frame 2-3-3 is an inverted T-shaped structure, including a horizontal bottom surface and a middle vertical part. The plane linear bearing 2-3-6 is fixedly connected to the middle vertical part, and is used to support the middle straight part of the conveyor belt 2-3-2 to achieve a more stable clamping force on the tube wire.

[0059] Specifically, the bearing support frame 2-3-5 is fixedly installed on the middle vertical part of the support frame 2-3-3 by connecting screws, and the plane linear bearing 2-3-6 is connected to the bearing support frame 2-3-5; then the conveyor belt 2-3-2 is placed from top to bottom, so that the two delivery shafts 2-3-4 and the plane linear bearing 2-3-6 are all located on the inner side of the conveyor belt 2-3-2; then the upper cover 2-3-1 is fixed above the middle vertical part of the support frame 2-3-3 with screws, and at the same time, the two ends of the upper cover and the horizontal bottom surface of the support frame are fixed to the corresponding bearings and shafts on the two delivery shafts 2-3-4 with wire retaining rings to complete the installation of the clamping components; the middle of the conveyor belt 2-3-2 is smooth and contacts with the needle rollers on the plane linear bearing 2-3-6. During the rotation of the conveyor belt 2-3-2, the needle rollers in contact with it can provide support to the toothed belt without increasing friction.

[0060] It should be noted that the two clamping parts should be installed so that the respective plane linear bearings 2-3-6 are in a face-to-face position relationship, the tube wire 1 passes through the middle of the two clamping parts, and the tube wire contacts the outer surface of the toothed belt of the two clamping parts. In addition, to ensure the positioning of the tube wire on the clamping part, isolation sleeves including a front isolation sleeve 3-9 and a rear isolation sleeve 3-3 are arranged before and after the clamping and delivery module 2, which play a guiding role for the tube wire when clamping the tube wire during preoperative preparation and delivering the tube wire during surgery.

[0061] The clamping and delivery module 2 of the present invention clamps the tube wire through two clamping parts similar to the pulley structure, realizes the surface contact between the clamping part and the tube wire, increases the friction between the belt and the tube wire, realizes reliable clamping, and avoids deformation or surface damage of the tube wire caused by excessive clamping force. And the rotating structure of the pulley can realize the continuous delivery (axial movement) of the tube wire, and avoid the empty return phenomenon caused by the reciprocating dragging delivery structure reaching the stroke limit during the operation, which interrupts the normal operation of the doctor. During the delivery process, the isolation sleeves before and after the conveyor belt include the front isolation sleeve 3-9 and the rear isolation sleeve 3-3, which guide the tube wire so that it is always in the clamping area of ​​the synchronous belt.

[0062] like Figure 2 , 3 As shown, the delivery control mechanism 1 includes a delivery power source, a delivery transmission mechanism and a delivery drive shaft connected in sequence. The delivery drive shaft is connected to the clamping part in the clamping delivery module 2. The delivery transmission mechanism transmits the power of the delivery power source to the delivery drive shaft, and the delivery drive shaft drives the clamping part in the clamping delivery module to move.

[0063] The delivery drive shaft includes a third rotating shaft system and a fourth rotating shaft system, wherein the third rotating shaft system includes a third shaft 1-21, on which a third gear 1-14 and a fourth gear 1-15 are arranged, and the fourth rotating shaft system includes a fourth shaft 1-23, on which a fifth gear 1-16 is arranged, the third gear 1-14 on the third shaft 1-21 is meshed with the second gear 1-13 in the delivery transmission mechanism, the fourth gear 1-15 on the third shaft 1-21 is meshed with the fifth gear 1-16 on the fourth shaft 1-23, and the third shaft 1-21 and the fourth shaft 1-23 are respectively interconnected with the clamping parts in the clamping delivery module 2 to transmit the power of the delivery power source to the clamping parts relatively arranged in the clamping delivery module 2. When the delivery power source rotates, the power is transmitted to the third rotating shaft system through the delivery transmission mechanism. The third rotating shaft system and the fourth rotating shaft system form a synchronous reverse rotation state through the mutually meshing fourth gear 1-15 and fifth gear 1-16. Specifically, the delivery power source can be a delivery motor 1-2.

[0064] The third axis 1-21 in the third rotating axis system and the fourth axis 1-23 in the fourth rotating axis system are respectively interconnected with the delivery axis 2-3-4 (one of which acts as a driving axis) in the first clamping part 2-2 and the second clamping part 2-3 to transmit the power of the delivery power source to the first clamping part 2-2 and the second clamping part 2-3.

[0065] Specifically, the third axis 1-21 and the fourth axis 1-23 of the delivery control mechanism 1 are fixed to the fourth bearing seat 1-17 through bearings, and the fourth bearing seat 1-17 is fixed to the inner surface of the bottom of the rotating shell 4-7 described below; the line connecting the third axis 1-21 and the fourth axis 1-23 is perpendicular to the direction of tube wire delivery, and the upper ends of the third axis 1-21 and the fourth axis 1-23 pass through the corresponding gear shaft holes 2-4-1 on the support plate 1-1 and the box 2-4 respectively and are fixed together with the delivery axis of the corresponding clamping component, so as to realize the synchronous reverse rotation of the two clamping components. The first bearing seat 1-5 is installed on the third axis 1-21 between the third gear 1-14 and the fourth gear 1-15, and the first bearing seat is fixed to the inside of the rotating lower shell through the support frame 1-4 at the same time, and the support frame is perpendicular to the inner bottom surface of the rotating lower shell.

[0066] The delivery transmission mechanism includes a first transmission shaft system and a second transmission shaft system, the first transmission shaft system includes a first shaft 1-19, a second pulley 1-10 and a first gear 1-18 are arranged on the first shaft 1-19, the second transmission shaft system includes a second shaft 1-20, a second gear 1-13 is arranged on the second shaft 1-20, the second pulley 1-10 on the first shaft 1-19 is connected to the first pulley 1-9 on the delivery power source through a belt to transmit the power of the delivery power source, the first gear 1-18 on the first shaft 1-19 is meshed with the second gear 1-13 on the second shaft 1-20, and the second gear 1-13 is meshed with the delivery drive shaft to transmit the power to the delivery drive shaft. Specifically, the second gear 1-13 is meshed with the third gear 1-14 on the third rotating shaft system to transmit the power to the third rotating shaft system.

[0067] Specifically, the second pulley 1-10 is installed at the lower part of the first shaft 1-19, and the first gear 1-18 is fixedly installed on the upper part of the first shaft 1-19 through bearings and shaft elastic retaining rings. The rotation of the second pulley 1-10 drives the first shaft 1-19 to rotate, and the rotation of the first shaft 1-19 drives the first gear 1-18 to rotate, thereby realizing that the first gear 1-18 rotates along the fixed axis (first axis) under the drive of the delivery motor 1-2; a second shaft 1-20 and a third shaft 1-21 are also arranged in front of the first shaft 1-19 along the tube wire conveying direction, and the second gear 1-13 is fixedly installed on the second shaft 1-20 through bearings and shaft elastic retaining rings, and the first gear 1-18 and the second gear 1-13 are meshed for transmission; on the third shaft 1-21, bearings and The third gear 1-14 is fixedly installed on the shaft with an elastic retaining ring, the second gear 1-13 and the third gear 1-14 are meshingly transmitted, and the three gears are meshingly transmitted in sequence at the same height. The bearings for fixing the corresponding gears above the first shaft 1-19, the second shaft 1-20 and the third shaft 1-21 are installed in the corresponding bearing holes below the support plate 1-1; the fourth gear 1-15 is also installed on the third shaft 1-21 located below the third gear 1-14, and the fourth gear 1-15 and the fifth gear 1-16 are externally meshingly transmitted, and the fifth gear is installed on the fourth shaft 1-23. The meshing transmission of the fourth gear 1-15 and the fifth gear 1-16 of the same size drives the fourth shaft 1-23 to rotate. The rotation direction of the fourth shaft is opposite to that of the third shaft 1-21, and the rotation speed is equal.

[0068] like Fig. 9As shown, the continuous pushing and twisting robot for vascular interventional instruments provided by the embodiment of the present invention further comprises a housing, a first chamber and a second chamber are arranged inside the housing, a clamping and delivering module 2 is arranged in the first chamber, a delivery control mechanism 1 is arranged in the second chamber, and the delivery control mechanism 1 is connected to the clamping and delivering module 2 to drive the rotatable unit in the clamping and delivering module 2 to move. In addition, the housing comprises a rotating cover 4-8, which can open or close the first chamber, and the box 2-4 is detachably arranged in the first chamber of the housing.

[0069] In addition, the shell also includes a rotating shell 4-7, a rotating plate and a motor isolation plate 4-11. The rotating shell 4-7 is used to fix the delivery control mechanism 1, and together with the support plate 1-1, the rotating plate, and the motor isolation plate 4-11, a closed space is formed as a second chamber to isolate the delivery control mechanism 1 from the external space; the delivery drive shaft of the delivery control mechanism 1 extends out through the rotating sealing hole on the support plate 1-1, and is connected to the delivery shaft of the clamping delivery module 2, so as to transmit power to the rotatable part of the clamping part to realize the axial delivery of the catheter guidewire; when the rotating cover 4-8 is buckled, it forms a first chamber with the support plate 1-1, the rotating plate and the motor isolation plate 4-11 to isolate the clamping delivery module 2 from the external space. It should be noted that when the delivery control mechanism 1 and the clamping delivery module 2 transmit power, it can be that: the delivery drive shaft of the delivery control mechanism 1 is a semicircular shaft, and the delivery shaft of the clamping delivery module 2 is a hollow shaft, and its hole is a semicircular hole. When installed, the semicircular shaft is inserted into the semicircular hole to transmit power; it can also be that: the delivery drive shaft of the delivery control mechanism 1 and the delivery shaft of the clamping delivery module 2 are connected by a key to transmit power, or other power transmission structures, which are not limited to the present invention.

[0070] Specifically, the rotating plate includes a front rotating plate 4-12 and a rear rotating plate 4-6, wherein the rear rotating plate 4-6 is an irregular circular plate, the height of the rear rotating plate 4-6 is greater than the height of the front rotating plate 4-12, a rear isolating sleeve 3-3 is provided at a position coaxial with the front isolating sleeve 3-9 on the front rotating plate 4-12, and the rear rotating plate 4-6 and the front rotating plate 4-12 are fitted and fixed to the two sides of the rotating shell 4-7; the supporting plate 1-1 is fixed between the rear rotating plate 4-6 and the front rotating plate 4-12 and the rotating shell 4-7, and is not completely closed, and a motor isolating plate 4-11 is fixed on the left side of the supporting plate 1-1, and the supporting plate 1-1, the rotating plate, and the motor isolating plate 4-11 together form a closed space, presenting a shape similar to a cylinder, and a delivery control mechanism 1 is installed in the closed space. In addition, a delivery motor 1-2 and a motor driver 1-3 are installed in the space enclosed by the upper half of the rotating shell 4-7 and the motor isolating plate 4-11.

[0071] Furthermore, a controller support plate 1-8 is fixedly installed on the lower surface of the support plate 1-1, and a controller 1-7 (such as an STM32 board) is fixed on the controller support plate 1-8. The master end sends a signal, and the controller 1-7 in the slave end receives instructions through the wireless communication module 1-25 to control the movement of the delivery motor 1-2; the delivery motor 1-2 and the delivery motor driver 1-3 are both located inside the delivery motor housing 4-10, and are fixed to the motor isolation plate 4-11 at the square hole in front of the delivery motor housing 4-10.

[0072] In the embodiment of the present invention, the rotating cover 4-8 forms a rotatable structure via the rotating shaft 4-9 and the rotating shell 4-7; a snap structure is provided on the outer side of the support plate 1-1 and the outer side of the corresponding position of the rotating cover 4-8, and the two can realize the connection and separation of the rotating cover 4-8 and the support plate 1-1 through the snap; the rotating cover 4-8, the motor isolation plate 4-11 and the support plate 1-1 constitute a first chamber space to isolate the clamping delivery module 2 from the external space.

[0073] Furthermore, a support plate 1-1 is provided between the first chamber and the second chamber, and a connecting piece 1-24 and a rotating sealing hole 1-23 are provided on the support plate 1-1. The box 2-4 (see Figure 7 ) is provided with a positioning column 2-2-4 and a gear shaft hole 2-4-2, the box 2-4 is installed on the support plate 1-1, the positioning column 2-2-4 on the box is connected to the connecting piece 1-24 on the support plate 1-1, and the delivery driving shaft of the delivery control mechanism passes through the rotating sealing hole 1-23 on the support plate 1-1 and the gear shaft hole on the box and is connected to the clamping delivery module 2.

[0074] like Figure 6 As shown, the rotation control mechanism 34 includes a rotation power source, a rotation transmission mechanism, and a rear sleeve 3-8 connected in sequence. The rotation transmission mechanism is used to transmit the driving force of the rotation power source to the rear sleeve 3-8. The rear sleeve 3-8 is fixedly connected to the rear rotating plate 4-6 of the shell. The rotation transmission mechanism transmits the driving force of the rotation power source to the rear sleeve 3-8 and the shell to drive the shell to rotate on the mounting frame. Thus, the shell and the delivery control mechanism 1 and the clamping delivery module 2 installed in the shell are driven to rotate as a whole by the driving force of the rotation power source, and the catheter or guidewire clamped by the clamping delivery module 2 is driven to rotate synchronously. The rotation power source is a rotation motor 3-1.

[0075] Specifically, the rotary transmission mechanism includes a turbine 3-7 and a worm 3-6, the worm 3-6 is connected to the rotary power source, the turbine 3-7 is key-connected to the rear sleeve 3-8, the worm 3-6 is connected to the power shaft of the rotary power source, and the driving force of the rotary power source is transmitted to the rear sleeve 3-8 through the meshing transmission of the turbine 3-7 and the worm 3-6. It can be understood that the above-mentioned rotary transmission mechanism can also adopt other structural forms in the art, such as bevel gears, etc., as long as it is a structure that can achieve a change in transmission direction. In addition, in the present invention, the rotary power source is set vertically to the transmission direction of the housing and the internal mechanism from the perspective of saving space. According to actual conditions, it can also be set to the same transmission direction, as long as the housing and the internal mechanism can be rotated by the rotary power source.

[0076] Specifically, the rotating motor 3-1 is connected to the worm 3-6 through a coupling 3-2. The two sides of the worm 3-6 are supported by bearings on the first worm bearing seat 4-1 and the second worm bearing seat 4-3. The turbine 3-7 meshing with the worm 3-6 is installed on the rear sleeve 3-8 together with the sleeve 3-5 and the bearing in sequence. The rear sleeve 3-8 and the rear rotating plate 4-6 are fixed by screws; the conductive slip ring 3-4 is installed inside the rear sleeve 3-8, and the rear of the conductive slip ring 3-4 is fixed behind the rear bearing seat 4-2.

[0077] The rear sleeve 3-8 is connected to the conductive slip ring 3-4, and the cable inside the shell passes through the rear sleeve 3-8 and is connected to the conductive slip ring 3-4. The conductive slip ring 3-4 used in the present invention belongs to the application category of electrical contact sliding connection, and can realize a data signal precision transmission device of two relatively rotating mechanisms; the conductive slip ring 3-4 is a cylindrical slip ring, which is a device that can rotate freely around its own center line as an axis, the front and rear rotating plates 4-6 of the conductive slip ring 3-4 are fixed, and the rear and rear bearing seat 4-2 are fixed. The part of the conductive slip ring 3-4 connected to the rotating plate in front is a rotatable structure, and the part of the conductive slip ring connected to the rear bearing seat in the rear is a fixed structure; in the present invention, the rotating motor 3-1 drives the rear sleeve 3-8 fixed to the turbine 3-7 through the worm 3-6, the shell, and the delivery control mechanism 1 and the clamping delivery module 2 installed in the shell to rotate, wherein the delivery motor 1-2 and the controller 1-7 components are wired transmission components, and their data transmission lines are transmitted to the non-rotating outside through the conductive slip ring 3-4. The conductive slip ring 3-4 structure used in the present invention is mainly used to realize the connection between the delivery control mechanism that needs to rotate and the non-rotating external power supply and data communication line. As an alternative, a built-in battery can be used for energy supply and a wireless communication module can be used for data communication.

[0078] Furthermore, the mounting frame 4 includes a front bearing seat 4-5, a rear bearing seat 4-2 and a fixing block 4-4. The housing is arranged between the front bearing seat 4-5 and the rear bearing seat 4-2, and corresponding bearing holes are arranged on the front bearing seat 4-5, the housing and the rear bearing seat 4-2 respectively. The housing is connected to the front bearing seat 4-5 and the rear bearing seat 4-2 respectively through bearings, and the central holes of the bearings on the housing, the front bearing seat 4-5 and the rear bearing seat 4-3 are coaxially arranged with the clamping position of the vascular interventional instrument in the clamping delivery module 2.

[0079] Specifically, a bearing hole is provided at the upper end of the front rotating plate 4-12, and the front bearing seat 4-5 and the bottom of the rear bearing seat 4-2 are fixed together by a bottom fixing block 4-4 to form a "concave"-shaped structure. The front bearing seat 4-5 and the upper part of the front rotating plate 4-12 are connected together by bearings passing through corresponding bearing holes, and a bearing hole is also provided on the rear rotating plate 4-6 at a position at the same height as the front rotating plate 4-12. The rear rotating plate 4-6 and the rear bearing seat 4-2 and the rotation control mechanism 3 are connected in turn through corresponding bearings. The rear bearing seat 4-2 and the front bearing seat 4-5 serve as supports, so that the rotating cover 4-8, the delivery motor housing 4-10, the rotating housing 4-7, and the rear rotating plate 4 -6. The space enclosed by the front rotating plate 4-12 rotates around the location of the two bearings; the side of the bottom fixing block 4-4 close to the rear bearing seat is a semi-enclosed boss structure, and the left and right sides of the semi-enclosed boss structure are respectively connected to the first worm bearing seat 4-1 and the second worm bearing seat 4-3 by bolts, and the other side of the semi-enclosed boss structure is fixed to the rear bearing seat 4-2 by bolts, that is, the bottom fixing block 4-4 and the front bearing seat 4-5, the rear bearing seat 4-2, the first worm bearing seat 4-1 and the second worm bearing seat 4-3 are all fixed by bolts, forming the supporting structure of the continuous pushing and twisting robot of the vascular interventional instrument of the present invention, that is, the mounting frame 4.

[0080] It should be noted that the box 2-4 is provided with a tube thread passing hole 2-4-3 on the front and rear sides. The tube thread passing hole 2-4-3 on the front and rear sides of the box 2-4 is coaxial with the corresponding isolation sleeves on the front and rear mounting plates for the tube thread to pass through. After the tube thread passes through, it is coaxial with the bearing holes on the front bearing seat 4-5, the rear bearing seat 4-2, and the rear rotating plate 4-6 at the same height as the front rotating plate 4-12 to achieve coaxial operation when the tube thread rotates.

[0081] In this application, the dimensions, output power, torque, speed, etc. of the delivery motor and the rotation motor are selected according to the space and power requirements during use. In this embodiment, the length of the robot in the front-to-back direction is about 10-15 cm, preferably within 12.5 cm. The tube wire mentioned above is a general term, which can refer to surgical instruments such as catheters, guide wires, microcatheters, micro guide wires, balloon catheters or loach guide wires.

[0082] The following is a detailed description of the installation, tube wire installation and delivery twisting operation of the detachable module clamping delivery module 2 of the present invention:

[0083] First, the clamping and delivery module 2 is a detachable modular clamping mechanism, and its installation steps are as follows:

[0084] The first clamping part 2-2 and the second clamping part 2-3 of the clamping delivery module 2 are installed in the box 2-4, and are fixed to the box 2-4 by screws under the box 2-4. The box cover 2-1 is fixed to the box 2-4 by buckles, and the installation of the clamping delivery module 2 is completed. Figure 7 As shown, there are two identical positioning columns 2-4-2 on the lower surface of the box 2-4, and two matching connecting pieces 1-24 are installed above the support plate 1-1. The positioning columns 2-4-2 are fixed in the corresponding connecting pieces 1-24 to complete the installation and fixation of the clamping delivery module 2.

[0085] The clamping and delivering module 2 is a modular structure. By changing the size of the internal gear 2-3-7 and the length of the conveyor belt 2-3-2, the distance between the two toothed belts 2-3-2 can be changed; further, the clamping of pipes with different diameters can be achieved. In this embodiment, the clamping and delivering modules 2 with different specifications can be set. The distance between the two clamping parts in the clamping and delivering modules 2 with different specifications is different. The clamping and delivering modules 2 with different distances can be set according to the form of an arithmetic progression.

[0086] The continuous pushing and twisting robot for vascular interventional instruments of the present invention has the following advantages:

[0087] (1) The continuous pushing and twisting robot for vascular interventional instruments of the present invention is different from the existing situation in which the tube wire delivery mechanism and the rotation control mechanism 3 are composed of their own clamping mechanisms. The present invention realizes that the delivery mechanism and the rotation control mechanism 3 share the same clamping mechanism to clamp the tube wire, thereby realizing the rotation and delivery of the tube wire, greatly reducing the overall size of the robot, realizing the miniaturization and lightweight of the robot, and facilitating transportation and installation.

[0088] (2) The continuous pushing and twisting robot for vascular interventional instruments of the present invention adopts a toothed belt structure supported by a planar linear bearing, which can achieve a larger contact area with the filament, reduce the positive pressure of the filament, and effectively protect its surface coating from damage; at the same time, it can achieve continuous movement of the filament, solving the contradiction between the existing high-precision continuous delivery and reliable rotary clamping.

[0089] (3) The control method of the continuous pushing and twisting robot of the vascular interventional instrument of the present invention realizes the coupled movement of the tube wire delivery and rotation, which is more in line with the movement requirements of the tube wire during the actual operation.

[0090] (4) In the continuous pushing and twisting robot for vascular interventional instruments of the present invention, a worm gear mechanism is used to drive the clamping and delivery module and the shell to rotate, thereby driving the tube wire to rotate. This makes the robot have the advantages of high rotation accuracy and precise control. The worm gear drives the turbine, which has a high transmission ratio, high rotation control accuracy, more precise motion control, and reduced operational errors. In addition, the worm gear form realizes the reversing of staggered axes, reduces the use of gears, and saves space.

[0091] (5) The continuous pushing and twisting robot for vascular interventional instruments of the present invention can be provided with clamping and delivery modules with different toothed belt spacings to form a series of clamping and delivery module products with different specifications. By replacing the clamping and delivery modules with different specifications, it can be suitable for clamping catheters, guidewires or other surgical instruments with different diameters.

[0092] (6) The continuous pushing and twisting robot for vascular interventional instruments of the present invention has a small size and high control accuracy, and can realize continuous delivery and rotation control of the tube wire, thereby realizing the coordinated work of multiple robots. By collaboratively controlling two or more of the pushing and twisting robots, the coordinated operation of multiple instruments in interventional surgery can be realized.

[0093] The operating method of the continuous pushing and twisting robot for vascular interventional instruments of the present invention comprises:

[0094] receiving a tube-wire control instruction, wherein the tube-wire control instruction includes one or more of axial delivery, axial withdrawal, and twisting;

[0095] According to the tube wire control instruction, the movement of the delivery motor 1 - 2 and the rotation motor 3 - 1 is controlled to realize the corresponding tube wire control operation.

[0096] Further, the installation steps of the tube wire are:

[0097] After completing the installation of the clamping and delivery module 2, the rear isolation sleeve 3-3 is inserted from the middle hole of the conductive slip ring 3-4 at the back to the position of the clamping and delivery module 2, and the front isolation sleeve 3-9 is inserted from the middle hole of the front bearing seat 4-5 at the front to the position of the clamping and delivery module 2, so that the rear isolation sleeve 3-3, the clamping and delivery module 2 and the front isolation sleeve 3-9 form an enclosed space for the delivery of the tube wire; first control the delivery motor 1-2 to rotate and drive the conveyor belt 2-3-2 in the clamping and delivery module 2 to rotate forward first, and then manually transfer the tube wire from the rear isolation sleeve 3-3 to the area where the plane bearing of the clamping and delivery module 2 is located and stop, and driven by the conveyor belt 2-3-2, the tube wire will automatically pass through the middle of the front isolation sleeve 3-9 to complete the installation of the tube wire.

[0098] Wherein, the axial delivery operation control method of the tube wire is:

[0099] The master end sends a signal, the slave end wireless communication module 1-22 receives the signal, and sends it to the delivery motor driver 1-3, which controls the delivery motor 1-2 to rotate, drives the first pulley 1-9 to rotate, and drives the second pulley 1-10 to rotate through the belt 1-11. The second pulley 1-10 and the first gear 1-18 are both mounted on the first shaft 1-19, so the first gear 1-18 rotates, and transmits the motion to the third gear 1-14 through the mutually meshing second gear 1-13. The third gear 1-14 and the fourth gear 1-15 are both mounted on the third shaft 1-21, so the fourth gear 1-15 rotates. Since the fourth gear 1-15 and the fifth gear 1-16 are externally meshed and equal in size, the fourth shaft 1-23 where the fifth gear 1-16 is located rotates, and the rotation direction is opposite to that of the third shaft 1-21, and the rotation speed is equal. The upper surfaces of the third shaft 1-21 and the fourth shaft 1-23 are located above the support plate 1-1 and are connected to the gear shaft 2-3-8 in the clamping component, thereby driving the toothed conveyor belts 2-3-2 on the first clamping component 2-2 and the second clamping component 2-3 to rotate in opposite directions and at equal speeds, thereby jointly driving the axial delivery of the tube wire.

[0100] The twisting operation control method of the tube wire is:

[0101] The main end controller sends a signal to control the rotation of the output shaft of the rotating motor 3-1, which drives the worm 3-6 to rotate through the coupling 3-2. The worm 3-6 and the turbine 3-7 mesh, so the turbine 3-7 rotates around. The turbine 3-7 is fixedly connected to the rear sleeve 3-8, and the rear sleeve 3-8 is fixedly connected to the rear rotating plate 4-6. Since the rear rotating plate 4-6 is fixedly connected to the support plate 1-1, and the support plate 1-1 is fixedly connected to the clamping and delivery module 2, the clamping and delivery module 2 rotates around the axial direction of the tube wire; the tube wire in the clamping and delivery module 2 is clamped by the two toothed conveyor belts 2-3-2, and then rotates around its own axial direction to realize the rotation of the tube wire.

[0102] The axial delivery and torsional coupling operation control method of the tube wire is:

[0103] According to the process of the rotational motion control of the tube wire, the contact state between the tube wire and the toothed conveyor belt 2-3-2 is not changed, so the delivery and rotational coupling motion can be realized. According to the axial delivery motion control step of the tube wire and the rotational motion control step of the tube wire, the main end sends a signal and controls the motion of the rotation motor 3-1 and the delivery motor 1-2 at the same time, so that the axial delivery and rotational coupling motion can be realized.

[0104] The directional words such as "up", "down", "left", "right", "front" and "back" described in the present invention are relative concepts, with the direction of the tube wire delivery as front and back, the direction of the rotating cover buckle structure as left, and the direction of the rotating axis as right.

[0105] 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 continuous pushing and twisting robot for vascular interventional instruments, characterized in that: include: A clamping and delivery module, wherein the vascular interventional device passes through the clamping and delivery module and is clamped by the clamping and delivery module, wherein a rotatable unit is provided in the clamping and delivery module, wherein the rotatable unit is a clamping part arranged opposite to each other, and the rotation of the clamping part arranged opposite to each other can drive the vascular interventional device to move axially; the clamping and delivery module comprises a box and a box cover which are buckled with each other, wherein the clamping parts arranged opposite to each other are arranged inside the box, and a tube wire passing hole is arranged on the side wall of the box; the housing comprises a rotating cover, which can open or close the first chamber, and the box is detachably arranged in the first chamber of the housing; A shell, wherein a first chamber and a second chamber are arranged inside the shell, a clamping and delivering module is arranged in the first chamber, a delivering control mechanism is arranged in the second chamber, and the delivering control mechanism is connected to the clamping and delivering module to drive the rotatable unit in the clamping and delivering module to move; a supporting plate is arranged between the first chamber and the second chamber, a connecting piece and a rotating sealing hole are arranged on the supporting plate, a positioning column and a gear shaft hole are arranged on the box, the box is mounted on the supporting plate, the positioning column on the box is connected to the connecting piece on the supporting plate, a delivering driving shaft of the delivering control mechanism is connected to the clamping and delivering module through the rotating sealing hole on the supporting plate and the gear shaft hole on the box, and the delivering driving shaft is connected to the clamping part to drive the clamping part to move; The rotation control mechanism is connected to the shell and can drive the shell to rotate, thereby driving the clamping and delivery module to rotate, thereby realizing the circumferential rotation of the vascular interventional instrument.

2. The robot according to claim 1, characterized in that: The clamping and delivery module drives the vascular interventional instrument to move axially, and the rotation control mechanism drives the vascular interventional instrument to rotate circumferentially, so that the axis of the axial movement of the vascular interventional instrument coincides with the axis of the circumferential rotation of the vascular interventional instrument.

3. The robot according to claim 2, characterized in that: It comprises a mounting frame, a shell body is rotatably arranged on the mounting frame, and a rotation control mechanism is connected with the shell body and can drive the shell body to rotate on the mounting frame to realize the circumferential rotation of the vascular intervention instrument.

4. The robot according to claim 3, characterized in that: The mounting frame includes a front bearing seat and a rear bearing seat, and a shell is arranged between the front bearing seat and the rear bearing seat. Corresponding bearing holes are respectively arranged on the front bearing seat, the shell and the rear bearing seat, and the shell is connected to the front bearing seat and the rear bearing seat through bearings respectively. The center holes of the bearings on the shell, the front bearing seat and the rear bearing seat are coaxially arranged with the clamping position of the vascular interventional instrument in the clamping delivery module.

5. The robot according to claim 3, characterized in that: The rotation control mechanism includes a rotation power source, a rotation transmission mechanism and a rear sleeve connected in sequence. The rear sleeve is connected to the shell. The rotation transmission mechanism transmits the driving force of the rotation power source to the rear sleeve and the shell to drive the shell to rotate on the mounting frame.

6. The robot according to claim 5, characterized in that: The rotary transmission mechanism includes a turbine and a worm connected to each other, the worm is connected to the rotary power source, the turbine is connected to the rear sleeve, and the turbine and the worm are meshed and driven to transmit the driving force of the rotary power source to the rear sleeve.

7. The robot according to claim 5, characterized in that: The rear sleeve is connected to the conductive slip ring, and the cable inside the shell passes through the rear sleeve and is connected to the conductive slip ring.

8. The robot according to claim 1, characterized in that: A rotatable conveyor belt is arranged on the clamping part, and the vascular intervention instrument is clamped by the conveyor belt on the clamping part arranged oppositely. The relative rotation of the conveyor belt can drive the vascular intervention instrument to move axially.

9. The robot according to claim 8, characterized in that: The clamping part includes a support frame, on which two rotatable delivery shafts are arranged. The conveyor belt is sleeved on the outside of the two delivery shafts. The straight part of the conveyor belt located between the two delivery shafts is used to clamp the vascular interventional instrument so that the conveyor belt is in surface contact with the vascular interventional instrument.

10. The robot according to claim 9, characterized in that: Gears are arranged at both ends of the delivery shaft, and teeth are arranged on the corresponding inner rings on both sides of the conveyor belt. The teeth on the conveyor belt mesh with the gears on the delivery shaft to form meshing transmission force.

11. The robot according to claim 9, characterized in that: A supporting structure is arranged on the inner side of the conveyor belt. When the vascular interventional instrument is clamped by the conveyor belt on the relatively arranged clamping part, the supporting structure can support the conveyor belt toward the vascular interventional instrument to increase the clamping force of the conveyor belt on the vascular interventional instrument.

12. The robot according to claim 8, characterized in that: It also includes a delivery control mechanism, which includes a delivery power source, a delivery transmission mechanism and a delivery drive shaft connected in sequence. The delivery drive shaft is connected to the clamping part in the clamping delivery module. The delivery transmission mechanism transmits the power of the delivery power source to the delivery drive shaft, and the delivery drive shaft drives the clamping part in the clamping delivery module to move.

13. The robot according to claim 12, characterized in that: The delivery transmission mechanism includes a first transmission shaft system and a second transmission shaft system. The first transmission shaft system includes a first shaft, on which a second pulley and a first gear are arranged. The second transmission shaft system includes a second shaft, on which a second gear is arranged. The second pulley on the first shaft is connected to the first pulley on the delivery power source through a belt to transmit the power of the delivery power source. The first gear on the first shaft is meshed with the second gear on the second shaft, and the second gear is meshed with the delivery drive shaft to transmit power to the delivery drive shaft.

14. The robot according to claim 13, characterized in that: The delivery drive shaft includes a third rotating shaft system and a fourth rotating shaft system. The third rotating shaft system includes a third shaft, on which a third gear and a fourth gear are arranged. The fourth rotating shaft system includes a fourth shaft, on which a fifth gear is arranged. The third gear on the third shaft is meshed with the second gear in the delivery transmission mechanism, and the fourth gear on the third shaft is meshed with the fifth gear on the fourth shaft. The third shaft and the fourth shaft are respectively connected to the clamping parts in the clamping delivery module to transmit the power of the delivery power source to the clamping parts relatively arranged in the clamping delivery module.

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