Interventional delivery device with force-sense feedback

Abstract

The present application belongs to the field of medical equipment and robots, and particularly relates to an interventional delivery device with force feedback function, wherein an instrument rotating module is connected to the output end of an instrument linear delivery module, the instrument rotating module is driven by the instrument linear delivery module to realize linear intermittent delivery; a holder is supported by a holder supporting mechanism and can rotate relatively, an instrument passes through the holder and is clamped by the holder; a power source of a holder releasing mechanism drives an execution end to apply an external force to the holder to release the instrument, a power source of a holder limiting mechanism drives an execution component to tightly hold the holder in the process of applying the external force to the holder by the holder releasing mechanism; a force sensing detection mechanism massages the holder in the process of being driven to lift by a lifting power source, so that the holder rotates, and the holder realizes force sensing detection through the force sensing detection mechanism in the rotating process. The present application can measure the force and torque of the instrument in the surgical environment in real time, has simple structure and high reliability.

Description

Technical Field

[0001] This invention belongs to the field of medical devices and robots, specifically an interventional delivery device with force feedback function. Background Technology

[0002] Interventional surgery is very common in the diagnosis and treatment of major diseases that threaten human health, requiring the insertion of catheters and guidewires. For example, cardiovascular and cerebrovascular diseases are common illnesses that seriously threaten human health, especially for middle-aged and elderly people over 50. They are considered the number one killer of health and longevity among the elderly, characterized by high incidence, high disability rate, high mortality rate, high recurrence rate, and numerous complications. Even with the most advanced and comprehensive treatment methods, more than 50% of cardiovascular and cerebrovascular accident survivors are still unable to live independently. Worldwide, 15 million people die from cardiovascular and cerebrovascular diseases each year, ranking first among all causes of death. Furthermore, with increasingly severe environmental pollution and the rise in unhealthy lifestyles due to improved living standards, the number of patients with cardiovascular and cerebrovascular diseases is increasing, and the disease is becoming more prevalent among younger people. Traditional interventional cardiovascular and cerebrovascular surgeries place extremely high demands on the surgeon's skills and experience. After a long surgery, the surgeon's hand tremors inevitably have a significant impact on the procedure, and the need for the surgeon to wear heavy lead aprons throughout the operation further increases their workload. Even wearing a lead apron doesn't guarantee exposure to X-rays. The advent of vascular interventional surgery robots can effectively solve this problem, freeing surgeons from intensive procedures and significantly improving the accuracy of catheter and guidewire delivery. However, a drawback is that current vascular interventional surgery robots, both domestically and internationally, can only achieve precise delivery of interventional devices; they cannot reproduce the force feedback of these devices during surgery. In traditional vascular interventional surgery, surgeons rely on their experience and tactile sense to perceive the resistance of the interventional device in the blood vessel. However, in robot-assisted vascular interventional surgery without force feedback, there is a possibility that excessive resistance could cause the interventional device to puncture the blood vessel wall, posing a significant threat to the patient's life.

[0003] Therefore, this invention aims to solve the problems of rapid instrument removal, low instrument delivery accuracy, and lack of force feedback during robot-assisted interventional surgeries such as those involving blood vessels, thereby improving the safety of interventional surgeries. Summary of the Invention

[0004] To address the issues of low catheter and instrument delivery accuracy and lack of force feedback in existing interventional surgical robots, and to improve the safety of robot-assisted interventional procedures, this invention aims to provide an interventional delivery device with force feedback functionality. This device can be applied to instrument delivery and force detection in interventional procedures, such as vascular interventional surgeries.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] This invention includes an instrument linear transport module and an instrument rotation module for controlling the circumferential rotation of the instrument. The instrument rotation module is connected to the output end of the instrument linear transport module, and the instrument rotation module achieves linear intermittent transport through the drive of the instrument linear transport module. The instrument rotation module includes a gripper, a gripper release mechanism, a gripper limiting mechanism, a gripper support mechanism, and a force sensing detection mechanism driven by a lifting power source. The gripper is supported by the gripper support mechanism and can rotate relative to it. The instrument passes through the gripper and is clamped by the gripper. The power source of the gripper release mechanism drives the actuator to apply an external force to the gripper to release the instrument. The power source of the gripper limiting mechanism drives the actuator to hold the gripper tightly during the process of the gripper release mechanism applying an external force to the gripper. The force sensing detection mechanism rubs the gripper and rotates it during the lifting process driven by the lifting power source. The force sensing detection mechanism achieves force sensing detection during the rotation of the gripper.

[0007] The clamp includes a housing A, clamping blocks A, torsion springs, and release blocks A. The housing A has a hollow section, and multiple clamping blocks A are evenly arranged circumferentially within the hollow section. One end of each clamping block A is rotatably connected to the inner wall of the housing A via a rotating shaft, and a torsion spring is sleeved on the rotating shaft. Both ends of the torsion spring abut against the housing A. The other end of each clamping block A is a clamping end. Release blocks A are axially movable and connected to the housing A. The inner surface of the release block facing the inside of the housing A has a protrusion A for abutting against each clamping block A. The outer surface of the release block A is used to contact the actuating end of the clamp release mechanism. Both the housing A and the release blocks A have instrument channels A for instruments to pass through.

[0008] Multiple positioning shafts A are evenly installed circumferentially at one end of the housing A connected to the release block A. The axial cross-section of the positioning shaft A is "T" shaped. Each position on the release block A has a light hole corresponding to each positioning shaft A, and each positioning shaft A passes through the corresponding light hole. Each clamping block A clamps the device under the elastic force of the torsion spring. The contact surface between each clamping block A and the protrusion A is a slope A. After being subjected to the external force applied by the release mechanism of the clamping device, the release block A moves relative to the housing A along the positioning shaft A. The protrusion A on the release block A extends into the hollow section and abuts against the slope A on each clamping block A, thereby applying a lateral squeezing force to each clamping block A, causing each clamping block A to overcome the elastic force of the torsion spring and rotate around the axis to release the device.

[0009] The gripper includes a release block B, a clamping block B, a spring B, and a housing B. One end of the housing B is hollow and houses multiple clamping blocks B. The hollow portion of the housing B has through holes A circumferentially arranged in a number corresponding to the number of clamping blocks B. One side of each clamping block B is columnar and inserted into the corresponding through hole A. The other side of each clamping block B is the clamping side. A spring B is fitted onto the columnar portion of each clamping block B. The two ends of the spring B are connected to the housing B and the clamping block B, respectively. One end of the housing B is axially movable and connected to a release block B. The inner surface of the release block B facing the inside of the housing B has a protrusion B for abutting against each clamping block B. The outer surface of the release block B is used to contact the actuating end of the gripper's release mechanism. Both the housing B and the release block B have instrument channels B for instruments to pass through.

[0010] Multiple positioning shafts B are uniformly installed circumferentially at one end of the housing B. The axial cross-section of the positioning shafts B is "T" shaped. Light holes are opened on the release block B at positions corresponding to each positioning shaft B, and each positioning shaft B passes through the corresponding light hole. Each clamping block B clamps the device under the elastic force of the spring B. The end face of the protrusion B is a slope B, and the contact surface between each clamping block B and the protrusion B is a slope C. After being subjected to the external force applied by the release mechanism of the clamping device, the release block B moves relative to the housing B along the positioning shaft B. The protrusion B on the release block B extends into the hollow part, and the slope B on the protrusion B abuts against the slope C on each clamping block B, thereby applying a lateral compressive force to each clamping block B, causing each clamping block B to overcome the elastic force of the spring B and move radially to release the device.

[0011] The clamp includes a release block C, a clamping block C, a spring C, and a housing C. One end of the housing C has a moving space for the clamping block C to move. The clamping block C is housed in the moving space. A spring C is provided between one end of the clamping block C and the inner wall of the housing C. The clamping block C has a clamping hole that is wider at the top and narrower at the bottom. One end of the housing C is axially movable to the release block C. The side of the release block C facing the inside of the housing C has a protrusion C for abutting against the other end of the clamping block C. The outer surface of the release block C is used to contact the actuating end of the clamping release mechanism. Both the housing C and the release block C have an instrument channel C, through which the instrument passes.

[0012] Multiple positioning shafts C are evenly installed circumferentially at one end of the housing C. The axial cross-section of the positioning shaft C is "T" shaped. Light holes are opened on the release block C at positions corresponding to each positioning shaft C, and each positioning shaft C passes through the corresponding light hole. The clamping block C abuts against the housing C under the elastic force of the spring C, and the instrument is clamped at the smallest diameter point in the clamping hole. The other end of the clamping block C is provided with an inclined surface E. The contact surface between the protrusion C and the clamping block C is an inclined surface D. After the release block C is subjected to the external force applied by the release mechanism of the clamp, it moves relative to the housing C along the positioning shaft C. The protrusion C on the release block C extends into the moving space. The inclined surface D on the protrusion C abuts against the inclined surface E on the clamping block C, thereby applying a lateral squeezing force to the clamping block C, causing the clamping block C to overcome the elastic force of the spring C and move radially downward. The instrument is released at the largest diameter point in the clamping hole.

[0013] The clamping block C has symmetrical buckles on both sides, and there is a gap between the buckles and the clamping block C. The moving space has symmetrical through holes B on both sides. When the device is clamped, the top of the buckle on each side abuts against the inner wall of the through hole B on the same side for limitation.

[0014] The gripper release mechanism includes a pusher block, a guide support plate, a rack, gear A, and a drive motor A. The drive motor A is the power source for the gripper release mechanism. The drive motor A and the guide support plate are respectively installed at the output end of the instrument linear conveying module. The gear A is connected to the output end of the drive motor A. The pusher block is the execution end of the gripper release mechanism. One end of the pusher block is used to apply external force to the gripper. One side of the other end of the pusher block is slidably connected to the guide support plate. The other side of the other end of the pusher block is equipped with a rack that meshes with gear A.

[0015] The clamp limiting mechanism includes a drive motor B, a transmission mechanism, a lead screw, grippers, and a support plate. The drive motor B is the power source for the clamp limiting mechanism. The drive motor B is mounted on the output end of the instrument linear conveying module via the support plate. The lead screw is rotatably mounted on the support plate and connected to the output end of the drive motor B via the transmission mechanism. The threads at both ends of the lead screw have opposite directions of rotation. Both ends of the lead screw are provided with grippers. One end of each gripper is a clamping and limiting end, and the other end is threadedly connected to the lead screw. The drive motor B drives the lead screw to rotate via the transmission mechanism. The helical pair between the lead screw and the grippers at both ends enables the grippers at both ends to move synchronously in opposite directions, thereby clamping the clamp.

[0016] The gripper support mechanism includes a lower support plate, an upper support plate, and universal ball bearings. One end of the lower support plate is installed at the output end of the instrument linear conveying module. Both the upper end of the lower support plate and the upper support plate are semi-circular, and multiple universal ball bearings are embedded in both the upper end of the lower support plate and the upper support plate. The gripper is placed between the upper end of the lower support plate and the upper support plate, and contacts each of the universal ball bearings. Dovetail grooves are provided on both sides of the upper end of the lower support plate or on both sides of the upper support plate. Dovetail sliders corresponding to the dovetail grooves are provided on both sides of the upper support plate or on both sides of the upper end of the lower support plate. The upper end of the lower support plate and the upper support plate are connected by the dovetail sliders sliding into the dovetail grooves.

[0017] The lifting power source is a linear slide, which is installed at the output end of the instrument linear conveying module. The force sensing mechanism includes a kneading base plate, a triaxial force sensor, a base plate A, a linear bearing, a spring A, a base plate B, and a locking screw. The base plate B is fixed to the output end of the linear slide, and a linear bearing is installed on the base plate B. One end of the locking screw is located on one side of the base plate B, and the other end of the locking screw passes through the linear bearing and is fixed to the base plate A. A spring A is sleeved on the locking screw between the base plate A and the base plate B, and the two ends of the spring A abut against the base plate A and the linear bearing, respectively. The triaxial force sensor is fixed to the base plate A, and the kneading base plate is fixed to the force measuring end of the triaxial force sensor. The kneading base plate abuts against the gripper under the elastic force of the spring A. During the lifting and lowering process driven by the linear slide, the kneading base plate kneads the gripper, thereby achieving the purpose of rotating the instrument.

[0018] The advantages and positive effects of this invention are as follows:

[0019] During interventional surgery, surgeons need to change instruments of different models and sizes according to different needs. This invention enables rapid disassembly and assembly of instruments and can accommodate instruments of different diameters. This invention provides force feedback for the instruments, collecting not only the force information but also the torque information. Once the linear delivery reaches its maximum stroke, the instrument can be released, allowing for reciprocating delivery and reducing the overall structural size of the instrument delivery system. Attached Figure Description

[0020] Figure 1 This is a three-dimensional structural diagram of the present invention;

[0021] Figure 2 for Figure 1 One of the three-dimensional structural diagrams after the instrument linear transport module has been removed;

[0022] Figure 3 for Figure 1 The second schematic diagram of the three-dimensional structure after removing the instrument linear transport module;

[0023] Figure 4 This is a cross-sectional view of the structure of the first type of clamp of the present invention;

[0024] Figure 5 This is a cross-sectional view of the structure of the second type of clamp of the present invention;

[0025] Figure 6 This is one of the three-dimensional structural schematic diagrams of the third type of clamp of the present invention;

[0026] Figure 7 This is the second three-dimensional structural schematic diagram of the third type of clamp of the present invention;

[0027] Figure 8 This is a cross-sectional view of the structure of the third type of clamp of the present invention;

[0028] Figure 9 for Figure 8 Sectional view A-A in the middle;

[0029] Figure 10 This is a schematic diagram of the structure of the clamping block C in the third type of clamp of the present invention;

[0030] Figure 11 This is a schematic diagram of the clamping and limiting mechanism of the present invention;

[0031] Figure 12 This is a schematic diagram of the force sensing mechanism of the present invention;

[0032] Wherein: 1 is the instrument rotation module, 2 is the instrument linear conveying module, 11 is the gripper, 12 is the gripper release mechanism, 13 is the gripper limiting mechanism, 14 is the gripper support mechanism, 15 is the force sensing detection mechanism, 16 is the linear slide, 17 is the mounting plate, and 18 is the instrument.

[0033] 111 is housing A, 112 is clamping block A, 113 is torsion spring, 114 is positioning shaft A, 115 is release block A, 116 is hollow section, 117 is instrument channel A, and 118 is protrusion A.

[0034] 121 is the booster block, 122 is the slider A, 123 is the guide rail, 124 is the guide support plate, 125 is the rack, 126 is the gear A, 127 is the motor fixing support plate, and 128 is the drive motor A.

[0035] 131 is drive motor B, 132 is gear B, 133 is gear C, 134 is slider B, 135 is lead screw, 136 is gripper, 137 is optical axis, 138 is left support plate, and 139 is right support plate.

[0036] 141 is the lower support plate, 142 is the upper support plate, and 143 is the universal ball bearing.

[0037] 151 is the kneading base plate, 152 is the triaxial force sensor, 153 is the base plate A, 154 is the linear bearing, 155 is the spring A, 156 is the plug screw, and 157 is the base plate B.

[0038] 161 is release block B, 162 is positioning shaft B, 163 is clamping block B, 164 is spring B, 165 is housing B, 166 is through hole A, 167 is protrusion B, and 168 is instrument channel B.

[0039] 171 is the positioning shaft C, 172 is the release block C, 173 is the clamping block C, 174 is the spring C, 175 is the housing C, 176 is the instrument channel C, 177 is the protrusion C, 178 is the inclined surface E, 179 is the clamping hole, 180 is the column, 181 is the buckle, 182 is the moving space, and 183 is the through hole B. Detailed Implementation

[0040] The invention will now be described in further detail with reference to the accompanying drawings.

[0041] Example 1

[0042] like Figures 1-3 As shown, the present invention includes an instrument linear conveying module 2 and an instrument rotation module 1. The instrument rotation module 1 is connected to the output end of the instrument linear conveying module 2. The instrument rotation module 1 controls the circumferential rotation of the instrument 18, and the instrument linear conveying module 2 controls the linear intermittent conveying of the instrument rotation module 1 and the instrument 18.

[0043] The instrument rotation module 1 in this embodiment includes a gripper 11, a gripper release mechanism 12, a gripper limiting mechanism 13, a gripper support mechanism 14, and a force sensing detection mechanism 15 driven by a lifting power source. The output end of the instrument linear transport module 2 is connected to a mounting plate 17, which can also be considered as the output end of the instrument linear transport module 2. The gripper release mechanism 12, the gripper limiting mechanism 13, the gripper support mechanism 14, and the force sensing detection mechanism 15 are respectively fixed on the mounting plate 17. The gripper 11 is supported by the gripper support mechanism 14 and can rotate relative to it. The instrument 18 is gripped by the gripper. The clamp passes through the holder 11 and is clamped by the holder 11; the power source of the holder release mechanism 12 drives the actuator to apply the external force of the release device 18 to the holder 11; the holder limiting mechanism 13 works in conjunction with the holder release mechanism 12; the power source of the holder limiting mechanism 13 drives the actuator to hold the holder 11 tightly during the process of the holder release mechanism 12 applying the external force to the holder 11; the force sensing detection mechanism 15 rubs the holder 11 and rotates the holder 11 during the lifting process driven by the lifting power source; the force sensing detection mechanism 15 realizes force sensing detection during the rotation of the holder 11.

[0044] like Figures 1-4As shown, the clamp 11 in this embodiment includes a housing A111, clamping blocks A112, a torsion spring 113, a positioning shaft A114, and a release block A115. The housing A111 is generally in the shape of a stepped shaft. The housing A11 has a hollow section 116. Multiple clamping blocks A112 are evenly arranged circumferentially inside the hollow section 116. In this embodiment, there are two clamping blocks A112, one on top and one on the bottom. One end of each clamping block A112 is rotatably connected to the inner wall of the housing A111 through a rotating shaft, and a torsion spring 113 is sleeved on the rotating shaft. Both ends of the torsion spring 113 abut against the housing A111. The other end of each clamping block A112 is the clamping end. A release block A115 is axially movable and connected to the housing A111. Multiple positioning shafts A114 are evenly mounted circumferentially at the end of the housing A111 connected to the release block A115. The axial cross-section of the positioning shafts A114 is "T"-shaped. Light holes are opened on the release block A115 at positions corresponding to each positioning shaft A114, and each positioning shaft A114 passes through its corresponding light hole. The transverse side of the "T"-shaped positioning shaft A114 is used to limit the release block A115, preventing it from falling off the housing A111. Both the housing A111 and the release block A115 have instrument channels A117 for the instrument 18 to pass through. Each clamping block A112 clamps the instrument 18 under the elastic force of the torsion spring 113. The outer surface of the release block A115 is used to contact the actuating end of the gripper release mechanism 12. The inner surface of the release block A115 facing the inside of the housing A111 has a protrusion A118 for abutting against each gripper block A112. The contact surface between each gripper block A112 and the protrusion A118 is a slope A. After being subjected to the external force applied by the actuating end of the gripper release mechanism 12, the release block A115 moves relative to the housing A111 along the positioning axis A114. The protrusion A118 on the release block A115 extends into the hollow section 116 and abuts against the slope A on each gripper block A112, thereby applying a lateral squeezing force to each gripper block A112, causing each gripper block A112 to overcome the elastic force of the torsion spring 113 and rotate around the axis to release the device 18.

[0045] like Figures 1-3As shown, the gripper release mechanism 12 of this embodiment includes a pusher block 121, a guide support plate 124, a rack 125, a gear A126, a motor fixing support plate 127, and a drive motor A128. The drive motor A128 is the power source of the gripper release mechanism 12 and is fixed to the mounting plate 17 via the motor fixing support plate 127. The guide support plate 124 is also fixed to the mounting plate 17. In this embodiment, the guide support plate 124 is L-shaped, with the horizontal side of the L-shape fixed to the mounting plate 17 and the vertical side of the L-shape... A guide rail 123 is installed on the top edge; gear A126 is connected to the output end of drive motor A128; push block 121 is the execution end of gripper release mechanism 12; one end of push block 121 is used to abut against release block A115 in gripper 11 and apply external force to gripper 11; a slider A122 is provided on one side of the other end of push block 121, slider A122 is slidably connected to guide rail 123 on guide support plate 124; a rack 125 that meshes with gear A126 is installed on the other side of the other end of push block 121. Drive motor A128 drives gear A126 to rotate, and through the meshing transmission of gear A126 and rack 125, push block 121 moves along guide rail 123, applying a lateral force to release block A115; each gripping block A112 opens under the action of lateral force to release device 18.

[0046] like Figures 1-3 and Figure 11As shown, the clamp limiting mechanism 13 of this embodiment includes a drive motor B131, a transmission mechanism, a lead screw 135, a gripper 136, an optical shaft 137, a left support plate 138, and a right support plate 139. The drive motor B131 is the power source of the clamp limiting mechanism 13. The left support plate 138 and the right support plate 139 are respectively fixed on the mounting plate 17. The drive motor B131 is mounted on the left support plate 138 and the right support plate 139. The lead screw 135 is rotatably mounted on the left support plate 138 and the right support plate 139 and is connected to the output end of the drive motor B131 through the transmission mechanism. The transmission mechanism of this embodiment is a gear transmission mechanism, including a gear B132 and a gear C133. The output shaft of the drive motor B131 is connected to the gear B132, and the lead screw 135 is connected to the gear C133. The gear B132 and the gear C133 mesh and transmit power. The threads at both ends of the lead screw 135 turn in opposite directions. Below the lead screw 135, there is an optical axis 137 fixed to the left support plate 138 and the right support plate 139. The optical axis 137 is parallel to the lead screw 135, and the axial center line of the optical axis 137 and the axial center line of the lead screw 135 are both located in the vertical plane. Both ends of the lead screw 135 are equipped with grippers 136. One end of each gripper 136 is a clamping and limiting end, and the other end is connected to a slider B134. The slider B134 is provided with a threaded hole and a smooth hole. The threaded hole is used to connect with the lead screw 135 to form a helical pair, and the smooth hole is used for the smooth shaft 137 to pass through. The drive motor B131 drives the lead screw 135 to rotate through gears B132 and C133. The helical pair between the lead screw 135 and the slider B134 connected to the grippers 136 at both ends enables the grippers 136 to move synchronously in opposite directions along the smooth shaft 137, thereby clamping the gripper 11 and limiting the axial displacement of the gripper 11. This prevents the gripper release mechanism 12 from applying excessive lateral force to the triaxial force sensor 152 during operation, which could damage the triaxial force sensor 152.

[0047] like Figures 1-3 As shown, the clamp support mechanism 14 of this embodiment includes a lower support plate 141, an upper support plate 142, and universal balls 143. One end of the lower support plate 141 is fixed to the mounting plate 17. The upper end of the lower support plate 141 and the upper support plate 142 are both semi-circular, and multiple universal balls 143 are embedded in the upper end of the lower support plate 141 and the upper support plate 142. The clamp 11 is placed between the upper end of the lower support plate 141 and the upper support plate 142, and contacts each universal ball 143. Dovetail grooves are provided on both sides of the upper end of the lower support plate 141 or on both sides of the upper support plate 142. Dovetail sliders corresponding to the dovetail grooves are provided on both sides of the upper support plate 142 or on both sides of the upper end of the lower support plate 141. The upper end of the lower support plate 141 and the upper support plate 142 are connected by the dovetail sliders sliding into the dovetail grooves.

[0048] like Figures 1-3 and Figure 12As shown, the lifting power source in this embodiment is a linear slide 16, which is fixed on the mounting plate 17. The force sensing mechanism 15 in this embodiment includes a kneading base plate 151, a triaxial force sensor 152, a base plate A153, a linear bearing 154, a spring A155, a base plate B157, and a screw 156. The base plate B157 is fixed to the output end of the linear slide 16 (i.e., the slider of the linear slide 16). A linear bearing 154 is installed on the base plate B157. One end of the screw 156 is located on one side of the base plate B157, and the other end of the screw 156 passes through the linear bearing 154 and is fixed to the base plate A153. In this embodiment, there are four screws 156 and four linear bearings 154, which correspond one-to-one. A spring A155 is fitted onto the screw 156 between base plate A153 and base plate B157, allowing base plate A153 to reciprocate in the installation direction. The two ends of spring A155 abut against base plate A153 and linear bearing 154, respectively. A triaxial force sensor 152 is fixed to base plate A153, and the kneading substrate 151 is fixed to the force-measuring end of the triaxial force sensor 152. Under the elastic force of spring A155, the kneading substrate 151 abuts against the smaller diameter portion of the clamp 11. The linear slide 16 drives the kneading substrate 151 to rise and fall, kneading the clamp 11 during this process, thereby achieving the purpose of rotating the device 18. In this embodiment, the contact surface between the kneading substrate 151 and the clamp 11 is made of silicone to increase friction between them.

[0049] Example 2

[0050] like Figures 1-3 and Figure 5As shown, the difference between this embodiment and Embodiment 1 is that the clamp 11 in this embodiment includes a release block B161, a positioning shaft B162, a clamping block B163, a spring B164, and a housing B165. The housing B165 is generally in the shape of a stepped shaft. One end of the housing B165 is hollow and accommodates multiple clamping blocks B163. In this embodiment, there are two clamping blocks B163, one on top and one on the bottom. The hollow part of the housing B165 has through holes A166 that are the same number as the number of clamping blocks B163 and correspond one-to-one. One side of each clamping block B163 is columnar and is inserted into the corresponding through hole A166. The other side of each clamping block B163 is the clamping side. The columnar part of each clamping block B163 is fitted with a spring B164. The two ends of the spring B164 are connected to the housing B165 and the clamping block B163, respectively. A release block B161 is axially movable to one end of the housing B165. Multiple positioning shafts B162 are evenly mounted circumferentially on one end of the housing B165. The axial cross-section of the positioning shafts B162 is "T"-shaped. Light holes are opened on the release block B161 at positions corresponding to each positioning shaft B162, and each positioning shaft B162 passes through its corresponding light hole. The transverse side of the "T"-shaped positioning shaft B162 is used to limit the release block B161, preventing it from falling off the housing B165. Both the housing B165 and the release block B161 have instrument channels B168 for the instrument 18 to pass through. Each clamping block B163 clamps the instrument 18 under the elastic force of a spring B164. The outer surface of the release block B161 is used to contact the actuating end of the gripper release mechanism 12. The inner surface of the release block B161 facing the inside of the housing B165 has a protrusion B167 for abutting against each gripper block B163. The end face of the protrusion B167 is a slope B. The contact surface between each gripper block B163 and the protrusion B is a slope C. After being subjected to an external force applied by the actuating end of the gripper release mechanism 12, the release block B161 moves relative to the housing B165 along the positioning axis B162. The protrusion B167 on the release block B161 extends into the hollow part. The slope B on the protrusion B167 abuts against the slope C on each gripper block B163, thereby applying a lateral compressive force to each gripper block B163, causing each gripper block B163 to overcome the elastic force of the spring B164 and move the release device 18 radially. The rest is the same as in Embodiment 1.

[0051] Example 3

[0052] like Figures 1-3 and Figures 6-10As shown, the difference between this embodiment and Embodiment 1 is that: the clamp 11 in this embodiment includes a positioning shaft C171, a release block C172, a clamping block C173, a spring C174, and a housing C175. The housing C175 is generally in the shape of a stepped shaft. One end of the housing C175 is provided with a moving space 182 for the clamping block C173 to move. The clamping block C173 is housed in the moving space 182 and can move radially in the moving space 182. A blind hole is provided at the bottom of the moving space. One end of the clamping block C173 is provided with a column 180, which is inserted into the blind hole. The spring C174 is sleeved on the column 180. A clamping hole 179 is provided on the clamping block C173. In this embodiment, the clamping hole 179 is a tapered hole that is wider at the top and narrower at the bottom. One end of the housing C175 is axially movable and connected to a release block C172. Multiple positioning shafts C171 are evenly mounted circumferentially on one end of the housing C175. The axial cross-section of the positioning shafts C171 is "T"-shaped. Light holes are opened on the release block C172 at positions corresponding to each positioning shaft C171, and each positioning shaft C171 passes through its corresponding light hole. The transverse side of the "T"-shaped positioning shaft C171 is used to limit the release block C172, preventing it from falling off the housing C175. Both the housing C175 and the release block C172 have instrument channels C176. The instrument 18 passes through the instrument channel C176 and the clamping hole 179. The clamping block C173 abuts against the housing C175 under the elastic force of the spring C174, and the instrument 18 is clamped at the smallest diameter point in the clamping hole 179. The outer surface of the release block C172 is used to contact the actuating end of the clamping release mechanism 12. The side of the release block C172 facing the inside of the housing C175 is provided with a protrusion C177 for abutting against the other end of the clamping block C173. The other end of the clamping block C173 is provided with a slope E178. The contact surface between the protrusion C177 and the clamping block C173 is a slope D. After the release block C172 is subjected to the external force applied by the actuating end of the clamping release mechanism 12, it moves relative to the housing C175 along the positioning axis C171. The protrusion C177 on the release block C172 extends into the moving space 182. The slope D on the protrusion C177 abuts against the slope E178 on the clamping block C173, thereby applying a lateral squeezing force to the clamping block C173, causing the clamping block C173 to overcome the elastic force of the spring C174 and move radially downward. The instrument 18 is released at the largest diameter position in the clamping hole 179.

[0053] In this embodiment, the clamping block C173 can be made of silicone. Buckles 181 are symmetrically arranged on both sides of the clamping block C173, with a gap between the buckles 181 and the clamping block C173. Through holes B183 are symmetrically opened on both sides of the moving space 182, communicating with the moving space 182. The top of each buckle 181 abuts against the inner wall of the through hole B183 on the same side when the clamping device 18 is clamped. Everything else is the same as in Embodiment 1.

[0054] The device 18 of the present invention may be a catheter or a guidewire, but is not limited thereto.

[0055] The working principle of this invention is as follows:

[0056] After the clamp 11 containing the instrument 18 is placed on the clamp support mechanism 14, the basic configuration of the instrument conveyor is completed, and then the conveying and rotating motion of the instrument 18 begins.

[0057] The conveying motion of the instrument 18 is completed by the instrument linear conveying module 2 at the bottom. When the instrument linear conveying module 2 reaches its maximum stroke, the gripper 11 releases the instrument, and the instrument rotation module 1 returns to its initial position without load. In the initial position, the gripper 11 clamps the instrument 18 to start the next stroke.

[0058] The release of the gripper 11 is accomplished by the gripper release mechanism 12. The release of the instrument is achieved by driving the drive motor A128, which converts the rotational motion of the drive motor A128 into the linear motion of the rack 125 via gear A126 and rack 125. The rack 125 drives the pusher block 121 to move axially within the gripper 11. Under the action of the drive motor A128, the pusher block 121 presses against the release block in the gripper 11, enabling the gripper 11 to release the instrument.

[0059] The slider B134 converts the rotational motion of the drive motor 131B into linear motion of the slider B134 and the gripper 136 along the optical axis 137. Before the drive motor A128 drives the pusher block 121 to move, the drive motor B131 drives the gripper 136 to move. The gripper 136 clamps the holder 11, restricting the axial movement of the holder 11 and ensuring that the holder 11 does not move axially under the push of the pusher block 121.

[0060] Under the elastic force of spring A155, the kneading substrate 151 makes full contact with the smaller diameter portion of the clamp 11. When the kneading substrate 151 moves up and down in the tangential direction of the clamp 11, the friction between the two enables the clamp 11 to rotate within the universal ball bearing 143 in the clamp support mechanism 14, thus realizing the rotational movement of the device 18. The movement of the kneading substrate 151 is driven by the linear slide 16.

[0061] When the device 18 encounters resistance in the blood vessel, the reaction force of the blood vessel on the device 18 is transmitted to the clamp 11. The triaxial force sensor 152 installed in the device rotation module 1 can detect the change in force of the clamp 11, thereby collecting the resistance information of the device 18.

[0062] This invention features a simple structure, high reliability, and improved instrument delivery accuracy. It enables convenient and quick disassembly of surgical instruments, facilitating frequent instrument changes during interventional procedures. The force-sensing detection mechanism 15 in this invention can measure the forces and torques of the instrument 18 in the surgical environment in real time, helping doctors determine the instrument's condition and improving surgical safety. Intermittent instrument delivery perfectly simulates the surgeon's actions, is simple to operate, has higher clinical applicability, and saves doctors' training time.

[0063] In this specification, the present invention has been described with reference to specific embodiments. These embodiments are preferred embodiments of the present invention and are not intended to limit the scope of the invention. It should be noted that the present invention is not limited to the specific embodiments described above. Improvements, variations, combinations, substitutions, etc., made by those skilled in the art without departing from the principles of the present invention are all within the scope of protection claimed in the present invention.

Claims

1. An interventional conveying device with force feedback function, characterized in that: The device includes a linear instrument transport module (2) and an instrument rotation module (1) that controls the circumferential rotation of the instrument (18). The instrument rotation module (1) is connected to the output end of the linear instrument transport module (2). The instrument rotation module (1) achieves linear intermittent transport through the drive of the linear instrument transport module (2). The instrument rotation module (1) includes a gripper (11), a gripper release mechanism (12), a gripper limiting mechanism (13), a gripper support mechanism (14), and a force sensing detection mechanism (15) driven by a lifting power source. The gripper (11) is supported by the gripper support mechanism (14) and can rotate relative to it. 18) Passes through the clamp (11) and is clamped by the clamp (11); the power source of the clamp release mechanism (12) drives the execution end to apply the external force of the release device (18) to the clamp (11); the power source of the clamp limiting mechanism (13) drives the execution component to hold the clamp (11) tightly during the process of the clamp release mechanism (12) applying the external force to the clamp (11); the force sensing detection mechanism (15) rubs the clamp (11) and makes the clamp (11) rotate during the process of being driven to rise and fall by the lifting power source; the clamp (11) realizes force sensing detection through the force sensing detection mechanism (15) during the rotation process. The gripper support mechanism (14) includes a lower support plate (141), an upper support plate (142), and universal ball bearings (143). One end of the lower support plate (141) is installed at the output end of the instrument linear conveying module (2). The upper end of the lower support plate (141) and the upper support plate (142) are both semi-circular, and multiple universal ball bearings (143) are embedded in the upper end of the lower support plate (141) and the upper support plate (142). The gripper (11) is placed on The upper end of the lower support plate (141) is in contact with each of the universal ball bearings (143) between the upper end of the lower support plate (141) and the upper support plate (142); dovetail grooves are provided on both sides of the upper end of the lower support plate (141) or on both sides of the upper support plate (142); dovetail sliders corresponding to the dovetail grooves are provided on both sides of the upper support plate (142) or on both sides of the upper end of the lower support plate (141); the upper end of the lower support plate (141) and the upper support plate (142) are connected by the dovetail sliders sliding into the dovetail grooves. The lifting power source is a linear slide (16), which is installed at the output end of the instrument linear conveying module (2). The force sensing detection mechanism (15) includes a kneading base plate (151), a triaxial force sensor (152), a base plate A (153), a linear bearing (154), a spring A (155), a base plate B (157), and a screw (156). The base plate B (157) is fixed to the output end of the linear slide (16). A linear bearing (154) is installed on the base plate B (157). One end of the screw (156) is located on one side of the base plate B (157), and the other end of the screw (156) passes through the linear bearing (154) and is connected to the base plate B (157). Plate A (153) is fixedly connected. A spring A (155) is sleeved on the screw (156) between the base plate A (153) and the base plate B (157). The two ends of the spring A (155) abut against the base plate A (153) and the linear bearing (154) respectively. The triaxial force sensor (152) is fixedly connected to the base plate A (153). The kneading substrate (151) is fixedly connected to the force measuring end of the triaxial force sensor (152). The kneading substrate (151) abuts against the clamp (11) under the elastic force of the spring A (155). The linear slide (16) drives the kneading substrate (151) to knead the clamp (11) during the lifting and lowering process, thereby achieving the purpose of rotating the device (18).

2. The interventional conveying device with force feedback function according to claim 1, characterized in that: The clamp (11) includes a housing A (111), clamping blocks A (112), a torsion spring (113), and a release block A (115). The housing A (111) has a hollow section (116). Multiple clamping blocks A (112) are evenly arranged circumferentially inside the hollow section (116). One end of each clamping block A (112) is rotatably connected to the inner wall of the housing A (111) via a rotating shaft, and a torsion spring (113) is sleeved on the rotating shaft. Both ends of the torsion spring (113) abut against the housing A (111). The other end of A (112) is a clamping end; a release block A (115) is axially movable on the housing A (111). The inner surface of the release block A (115) facing the inside of the housing A (111) is provided with a protrusion A (118) for abutting against each clamping block A (112). The outer surface of the release block A (115) is used to contact the execution end of the clamping release mechanism (12). Both the housing A (111) and the release block A (115) are provided with an instrument channel A (117) for the instrument (18) to pass through.

3. The interventional conveying device with force feedback function according to claim 2, characterized in that: Multiple positioning shafts A (114) are evenly installed circumferentially at one end of the housing A (111) connected to the release block A (115). The axial cross-section of the positioning shaft A (114) is "T" shaped. Light holes are opened on the release block A (115) at positions corresponding to each positioning shaft A (114), and each positioning shaft A (114) passes through the corresponding light hole. Each clamping block A (112) clamps the device (18) under the elastic force of the torsion spring (113). The connection between each clamping block A (112) and the protrusion A (118) is... All contact surfaces are inclined surfaces A. After being subjected to an external force applied by the actuator end of the clamping release mechanism (12), the release block A (115) moves relative to the housing A (111) along the positioning axis A (114). The protrusion A (118) on the release block A (115) extends into the hollow section (116) and abuts against the inclined surface A on each clamping block A (112), thereby applying a lateral squeezing force to each clamping block A (112), causing each clamping block A (112) to overcome the elastic force of the torsion spring (113) and rotate around the axis to release the device (18).

4. The interventional conveying device with force feedback function according to claim 1, characterized in that: The clamp (11) includes a release block B (161), a clamping block B (163), a spring B (164), and a housing B (165). One end of the housing B (165) is hollow and houses multiple clamping blocks B (163). The hollow portion of the housing B (165) has through holes A (166) circumferentially arranged in the same number as the number of clamping blocks B (163). One side of each clamping block B (163) is columnar and inserted into the corresponding through hole A (166). The other side of each clamping block B (163) is the clamping side. The columnar portion of each clamping block B (163) is fitted with a spring. Spring B (164), the two ends of which are connected to housing B (165) and clamping block B (163) respectively; one end of housing B (165) is axially movable and connected to release block B (161), the inner surface of release block B (161) facing the inside of housing B (165) is provided with protrusion B (167) for abutting against each clamping block B (163), the outer surface of release block B (161) is used to contact the execution end of clamping release mechanism (12); both housing B (165) and release block B (161) are provided with instrument channel B (168) for instrument (18) to pass through.

5. The interventional conveying device with force feedback function according to claim 4, characterized in that: Multiple positioning shafts B (162) are uniformly installed circumferentially at one end of the housing B (165). The axial cross-section of the positioning shafts B (162) is "T" shaped. Light holes are opened on the release block B (161) at positions corresponding to each positioning shaft B (162), and each positioning shaft B (162) passes through the corresponding light hole. Each clamping block B (163) clamps the device (18) under the elastic force of the spring B (164). The end face of the protrusion B (167) is a slope B. The contact surface between each clamping block B (163) and the protrusion B is... After being subjected to an external force applied by the actuator end of the clamping release mechanism (12), the release block B (161) moves relative to the housing B (165) along the positioning axis B (162). The protrusion B (167) on the release block B (161) extends into the hollow part. The inclined surface B on the protrusion B (167) abuts against the inclined surface C on each clamping block B (163), thereby applying a lateral squeezing force to each clamping block B (163), causing each clamping block B (163) to overcome the elastic force of the spring B (164) and move the release device (18) radially.

6. The interventional conveying device with force feedback function according to claim 1, characterized in that: The clamp (11) includes a release block C (172), a clamping block C (173), a spring C (174), and a housing C (175). One end of the housing C (175) has a moving space (182) for the clamping block C (173) to move. The clamping block C (173) is housed within the moving space (182). A spring C (174) is provided between one end of the clamping block C (173) and the inner wall of the housing C (175). The clamping block C (173) has a clamping hole (179) that is wider at the top and narrower at the bottom. The housing C... (175) has a release block C (172) that can be moved axially relative to the release block C (172) on one side facing the inside of the housing C (175) and has a protrusion C (177) for abutting against the other end of the clamping block C (173). The outer surface of the release block C (172) is used to contact the execution end of the clamping release mechanism (12). The housing C (175) and the release block C (172) are both provided with instrument channels C (176), and the instrument (18) passes through the instrument channel C (176) and the clamping hole (179).

7. The interventional conveying device with force feedback function according to claim 6, characterized in that: Multiple positioning shafts C (171) are evenly installed circumferentially at one end of the housing C (175). The axial cross section of the positioning shafts C (171) is "T" shaped. Light holes are opened on the release block C (172) at positions corresponding to each positioning shaft C (171), and each positioning shaft C (171) passes through the corresponding light hole. The clamping block C (173) abuts against the housing C (175) under the elastic force of the spring C (174). The instrument (18) is clamped at the smallest diameter point in the clamping hole (179). The other end of the clamping block C (173) is provided with a slope E (178). The protrusion C (177) and the clamping block C (175) are connected. The contact surface of 73) is inclined surface D. After the release block C (172) is subjected to the external force applied by the execution end of the clamping release mechanism (12), it moves relative to the housing C (175) along the positioning axis C (171). The protrusion C (177) on the release block C (172) extends into the moving space (182). The inclined surface D on the protrusion C (177) abuts against the inclined surface E (178) on the clamping block C (173), thereby applying a lateral squeezing force to the clamping block C (173), causing the clamping block C (173) to overcome the elastic force of the spring C (174) and move radially downward. The device (18) is released at the largest diameter position in the clamping hole (179).

8. The interventional conveying device with force feedback function according to claim 6, characterized in that: The clamping block C (173) is provided with buckles (181) symmetrically on both sides, and there is a gap between the buckles (181) and the clamping block C (173). The moving space (182) is provided with through holes B (183) symmetrically on both sides. When the clamping device (18) is clamped, the top of the buckle (181) on each side abuts against the inner wall of the through hole B (183) on the same side for limitation.

9. The interventional conveying device with force feedback function according to claim 1, characterized in that: The gripper release mechanism (12) includes a booster block (121), a guide support plate (124), a rack (125), a gear A (126), and a drive motor A (128). The drive motor A (128) is the power source of the gripper release mechanism (12). The drive motor A (128) and the guide support plate (124) are respectively installed at the output end of the instrument linear conveying module (2). The gear A (126) is connected to the output end of the drive motor A (128). The booster block (121) is the execution end of the gripper release mechanism (12). One end of the booster block (121) is used to apply external force to the gripper (11). One side of the other end of the booster block (121) is slidably connected to the guide support plate (124). The other side of the other end of the booster block (121) is equipped with a rack (125) that meshes with the gear A (126).

10. The interventional conveying device with force feedback function according to claim 1, characterized in that: The clamp limiting mechanism (13) includes a drive motor B (131), a transmission mechanism, a lead screw (135), a gripper (136), and a support plate. The drive motor B (131) is the power source of the clamp limiting mechanism (13). The drive motor B (131) is mounted on the output end of the instrument linear conveying module (2) via the support plate. The lead screw (135) is rotatably mounted on the support plate and is connected to the output end of the drive motor B (131) via the transmission mechanism. (135) The threads at both ends are opposite in direction. Both ends of the lead screw (135) are provided with jaws (136). One end of each jaw (136) is a clamping and limiting end, and the other end is threadedly connected to the lead screw (135). The drive motor B (131) drives the lead screw (135) to rotate through the transmission mechanism. The helical pair between the lead screw (135) and the jaws (136) at both ends realizes that the jaws (136) at both ends move synchronously in opposite directions, thereby clamping the clamp (11).

Images