Linkage type rotating mechanism for rotating guidewire catheter

Abstract

The present invention provides a connecting rod type rotating mechanism for rotating a guide wire catheter, comprising a base, a connecting rod type rotating device and a clamping device for clamping a guide wire or a catheter, wherein the connecting rod type rotating device and the clamping device are both mounted on the base, the clamping device is located below or above the connecting rod type rotating device, and the connecting rod type rotating device is used to drive the clamping device to perform a rotational motion without a central axis. The driving assembly drives a parallelogram four-bar mechanism composed of a driving rod, an auxiliary rod, a first connecting rod and a second connecting rod, so that the clamping device can rotate around a set center with the guide wire or the catheter, thereby realizing a rotational motion without a central axis of the guide wire or the catheter, which helps to improve the convenience of installing the guide wire or the catheter, and has low cost, simple structure and flexible movement.

Description

Technical Field

[0001] The present invention relates to the technical field of intravascular interventional surgical robots, and in particular to a connecting rod type rotating mechanism for rotating a guidewire catheter. Background Art

[0002] In recent years, with the rise of vascular interventional therapy in my country, many emerging disciplines have been formed, including cardiovascular interventional therapy, cerebrovascular interventional therapy, vascular surgery, interventional radiology, etc.

[0003] Due to the continuous advancement of vascular interventional treatment technology and the emergence and application of various intracavitary devices, many lesions that were not originally suitable for vascular interventional treatment have benefited from this minimally invasive treatment, and the safety, effectiveness and long-term efficacy of vascular interventional treatment have been continuously improved. However, current vascular interventional treatment also has its limitations.

[0004] During vascular intervention, doctors need to rely on X-ray-based digital silhouette angiography (DSA) to complete the operation. Although doctors are equipped with lead-containing protective clothing, they still cannot protect their upper limbs and head from X-ray radiation. Due to the complexity of vascular intervention, doctors often need to be exposed to X-ray environment for a long time, and the cumulative radiation exposure of doctors is large. Occupational injuries related to X-rays have become an unavoidable problem, seriously threatening the health of doctors and the long-term development of vascular intervention.

[0005] The existing Chinese patent with publication number CN110464967A discloses a minimally invasive vascular interventional surgery robot-assisted wire feeding device, including a bottom support assembly, a guide wire axial motion assembly, and a guide wire circumferential motion assembly. The two friction wheels of the guide wire axial motion assembly press the guide wire passing therethrough and drive it to move axially. The guide wire axial motion assembly is fixed to the large gear of the guide wire circumferential motion assembly and rotates with the rotation of the hollow shaft. The guide wire passes through the hollow shaft hole and is driven to rotate precisely by the pressing action of the two friction wheels. The use of a conductive slip ring avoids the entanglement of the guide wire axial motion assembly drive motor wire during rotation.

[0006] The inventor believes that the guidewire catheter mechanism in the prior art is a rotating mechanism with a central axis, and the bracket for clamping the guidewire catheter is closed, and the guidewire catheter needs to be inserted into the center of the clamp, which causes inconvenience in installing the guidewire catheter and there is room for improvement. Summary of the invention

[0007] In view of the defects in the prior art, an object of the present invention is to provide a connecting rod type rotating mechanism for rotating a guidewire catheter.

[0008] According to the present invention, a connecting rod type rotating mechanism for rotating a guide wire catheter comprises a base, a connecting rod type rotating device and a clamping device for clamping a guide wire or a catheter, wherein the connecting rod type rotating device and the clamping device are both mounted on the base, the clamping device is located below or above the connecting rod type rotating device, and the connecting rod type rotating device is used to drive the clamping device to perform a rotational motion without a central axis.

[0009] Preferably, the connecting rod type rotating device includes a driving rod, a first connecting rod, a second connecting rod and a driving assembly, the driving rod is rotatably set on a base, the first connecting rod and the second connecting rod are respectively hingedly connected to the driving rod and the clamping device, and the first connecting rod and the second connecting rod are arranged in parallel.

[0010] Preferably, the drive assembly includes a motor, a worm and a worm wheel, the worm and the worm wheel are meshing, the motor is fixedly mounted on a base, the worm is coaxially fixedly connected to an output shaft of the motor, the worm wheel is fixedly connected to a drive rod, and the center of the worm wheel is located at the connection between the drive rod and the base.

[0011] Preferably, the shape of the driving rod includes a sector shape, a driving rod rotating shaft is connected between the driving rod and the base, the driving rod rotating shaft is located at the sector-shaped bottom of the driving rod, and the driving rod rotating shaft is coaxially fixedly connected to the worm gear.

[0012] Preferably, the connecting rod type rotating device also includes an auxiliary rod, which is rotatably arranged on a side of the driving rod away from the clamping device, the auxiliary rod does not interfere with the driving rod, and the auxiliary rod is also hingedly connected to the first connecting rod and the second connecting rod respectively.

[0013] Preferably, the auxiliary rod has a fan-shaped shape, an auxiliary rod rotating shaft is connected between the auxiliary rod and the base, and the auxiliary rod rotating shaft is located at the fan-shaped bottom of the auxiliary rod.

[0014] Preferably, a first arc guide groove is provided at the connection between the base and the outer side of the fan-shaped arc surface of the auxiliary rod, the curvature of the first arc guide groove is the same as the curvature of the fan-shaped arc surface of the auxiliary rod, and the auxiliary rod is slidingly matched with the first arc guide groove.

[0015] Preferably, the clamping device comprises a clamp bracket and a clamp for clamping a guide wire or a catheter, the clamp is installed on a side of the clamp bracket away from the driving rod, and the first connecting rod and the second connecting rod are respectively hingedly connected to the clamp bracket.

[0016] Preferably, the side of the clip bracket close to the base is arc-shaped, and a second arc-shaped guide groove is provided at the connection between the base and the clip bracket. The curvature of the second arc-shaped guide groove is the same as the curvature of the arc-shaped side of the clip bracket, and the clip bracket is slidingly matched with the second arc-shaped guide groove.

[0017] Preferably, a plurality of groups of the connecting rod type rotating devices and the clamping devices are arranged on the base, the plurality of groups of the connecting rod type rotating devices and the clamping devices act on one guide wire or catheter, and the plurality of groups of the clamping devices alternately perform rotational motion without a central axis.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The present invention drives a parallelogram four-bar mechanism composed of a driving rod, an auxiliary rod, a first connecting rod and a second connecting rod through a driving assembly, so that the clamping device can rotate around a set center with a guide wire or a catheter, thereby realizing a rotational movement of the guide wire or the catheter without a central axis, which helps to improve the convenience of installing the guide wire or the catheter, and has low cost, simple structure and flexible movement;

[0020] 2. The present invention guides the movement of the auxiliary rod through the first arc-shaped guide groove and guides the movement of the clip bracket through the second arc-shaped guide groove, thereby helping to improve the stability of the movement of the auxiliary rod and the clip bracket, and further helping to improve the stability of the overall movement of the rotating mechanism;

[0021] 3. The present invention can perform alternating rotations by acting on the same guide wire or catheter through multiple sets of connecting rod type rotating devices and clamping devices, which helps to improve the overall movement stability and working efficiency of the rotating mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 This is a schematic diagram of the overall structure of the connecting rod type rotating mechanism mainly embodied in the present invention;

[0024] Figure 2 This is a schematic diagram of the overall internal structure of the connecting rod type rotating mechanism mainly embodied in the present invention;

[0025] Figure 3 This is a schematic diagram of the overall structure of the present invention, which mainly embodies the clip bracket rotating to the leftmost position;

[0026] Figure 4 This is a schematic diagram of the overall structure of the present invention, which mainly embodies the clamp bracket rotating to the rightmost position;

[0027] Figure 5 The present invention mainly embodies the overall structural diagram of the coordinated use of multiple sets of connecting rod type rotating mechanisms.

[0028] The figure shows:

[0029] DETAILED DESCRIPTION

[0030] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0031] like Figure 1 As shown, a connecting rod type rotating mechanism for rotating a guide wire catheter according to the present invention comprises a base 1, a connecting rod type rotating device 16 and a clamping device 17, both of which are mounted on the base 1, and the clamping device 17 is located directly below the connecting rod type rotating device 16. During operation, the clamping device 17 stably clamps the guide wire or catheter 15, and the connecting rod type rotating device 16 drives the clamping device 17 to perform a rotation motion without a central axis.

[0032] like Figure 1 As shown, the connecting rod type rotating device 16 includes a driving rod 6, an auxiliary rod 8, a first connecting rod 9, a second connecting rod 10 and a driving assembly 18. Both the driving rod 6 and the auxiliary rod 8 are rotatably mounted on the outer wall of the base 1. The shapes of the driving rod 6 and the auxiliary rod 8 are both fan-shaped, and the driving rod 6 is located at the lower side of the auxiliary rod 8. A certain gap is left between the driving rod 6 and the auxiliary rod 8 to ensure that the movements of the driving rod 6 and the auxiliary rod 8 do not interfere with each other. A driving rod rotating shaft 5 is connected between the fan-shaped bottom of the driving rod 6 and the base 1. The driving rod rotating shaft 5 passes through the base 1 and rotates with it, and one end of the driving rod rotating shaft 5 passing through the base 1 is fixedly connected to the driving rod 6, so that the driving rod 6 can rotate around the axis of the driving rod rotating shaft 5.

[0033] An auxiliary rod rotating shaft 7 is connected between the fan-shaped bottom of the auxiliary rod 8 and the base 1. The auxiliary rod rotating shaft 7 passes through the base 1 and rotates with it, and one end of the auxiliary rod rotating shaft 7 that passes through the base 1 is fixedly connected to the auxiliary rod 8, so that the auxiliary rod 8 can rotate around the axis of the auxiliary rod rotating shaft 7. A first arc-shaped guide groove 19 is provided at the connection between the base 1 and the outer side of the fan-shaped arc surface of the auxiliary rod 8. The curvature of the first arc-shaped guide groove 19 is the same as that of the fan-shaped arc surface of the auxiliary rod 8, and the auxiliary rod 8 slides and cooperates with the first arc-shaped guide groove 19. Through the cooperation of the first arc-shaped guide groove 19 and the fan-shaped arc surface of the auxiliary rod 8, the auxiliary rod 8 is guided to move along a specific trajectory, thereby improving the stability of the movement of the auxiliary rod 8.

[0034] The first connecting rod 9 and the second connecting rod 10 are both hingedly connected to the driving rod 6 and the auxiliary rod 8 through the first hinge 11, and the first connecting rod 9 and the second connecting rod 10 are arranged in parallel. The first connecting rod 9 and the second connecting rod 10 are both located on the side of the driving rod 6 and the auxiliary rod 8 away from the base 1, and the upper ends of the first connecting rod 9 and the second connecting rod 10 are respectively hingedly connected to the side of the auxiliary rod 8 close to the fan-shaped arc surface through the first hinge 11, and the middle parts of the first connecting rod 9 and the second connecting rod 10 are respectively hingedly connected to the side of the driving rod 6 close to the fan-shaped arc surface. The lower ends of the first connecting rod 9 and the second connecting rod 10 are both hingedly connected to the clamping device 17.

[0035] With the help of a parallelogram four-bar mechanism formed by the driving rod 6, the auxiliary rod 8, the first connecting rod 9 and the second connecting rod 10, the driving assembly 18 drives the driving rod 8 to rotate, thereby driving the parallelogram four-bar mechanism to move, thereby realizing the rotation of the clamping device 17 that clamps the guide wire or catheter 15 around the set center without a center axis, thereby realizing the rotational movement of the guide wire or catheter 15.

[0036] like Figure 2 As shown, the driving assembly 18 is installed inside the base 1, and the driving assembly 18 includes a motor 2, a worm 3 and a worm wheel 4. The motor 2 is fixedly installed on the base 1, the worm 3 is coaxially fixedly connected with the output shaft of the motor 2, the worm wheel 4 is coaxially fixedly connected with one end of the driving rod shaft 5 that extends into the base 1, and the worm 3 is meshed with the worm wheel 4. When the motor 2 is started, the worm 3 is driven to rotate, and the worm 3 drives the worm wheel 4 to rotate, thereby driving the driving rod shaft 5 to rotate, and then driving the driving rod 6 to rotate, providing the original power for the parallelogram four-bar mechanism.

[0037] like Figure 3 and Figure 4 As shown, the clamping device 17 includes a clamp bracket 13 and a clamp 14. The clamp bracket 13 is installed directly below the base 1. A second hinge 12 is connected between the first connecting rod 9 and the second connecting rod 10 and the clamp bracket 13, and both the first connecting rod 9 and the second connecting rod 10 are hingedly connected to the upper side of the clamp bracket 13 through the second hinge 12. The side of the clamp bracket 13 close to the base 1 is arc-shaped, and a second arc-shaped guide groove 20 is provided at the connection between the base 1 and the clamp bracket 13. The arc of the second arc-shaped guide groove 20 is the same as the arc of the arc side of the clamp bracket 13, and the clamp bracket 13 and the second arc-shaped guide groove 20 are slidably matched.

[0038] When the parallelogram four-bar mechanism moves, it drives the clip bracket 13 to move. The second arc-shaped guide groove 20 and the arc surface on the upper side of the clip bracket 13 cooperate to guide the movement of the clip bracket 13, which on the one hand ensures the movement trajectory of the clip bracket 13, and on the other hand improves the stability of the movement of the clip bracket 13.

[0039] The clamp 14 is installed on the lower side of the clamp bracket 13, and the clamp 14 can stably clamp the guide wire or catheter 15. When the clamp bracket 13 rotates without a center axis, the clamp 14 follows the clamp bracket 13 and rotates without a center axis at the same time, thereby rotating the guide wire or catheter 15, realizing the rotational movement of the guide wire or catheter 15. The installation is convenient, the cost is low, the structure is simple, and the movement is reliable.

[0040] Variation 1

[0041] like Figure 5 As shown, a plurality of groups of connecting rod type rotating devices 16 and clamping devices 17 are installed on the base 1, and any group of connecting rod type rotating devices 16 and clamping devices 17 act on the same guide wire or catheter 15. The guide wire or catheter 15 is driven to rotate by the alternating operation of the plurality of connecting rod type rotating devices 16 and clamping devices 17, thereby improving the efficiency and stability of the rotation of the guide wire or catheter 15.

[0042] How it works

[0043] During work, the staff first clamps the guide wire or catheter 15 with the clamp 14, and then starts the motor 2. The motor 2 drives the worm 3 to rotate, the worm 3 drives the worm wheel 4 to rotate, and the worm wheel 4 drives the driving rod shaft 5 to rotate, thereby driving the driving rod 6 to rotate. The rotation of the driving rod 6 drives the parallelogram four-bar mechanism composed of the driving rod 6, the auxiliary rod 8, the first connecting rod 9 and the second connecting rod 10 to move, and then drives the clamp bracket 13 to rotate around the guide wire or catheter 15 clamped by the clamp 14 without a central axis, thereby realizing the rotation movement of the guide wire or catheter 15. Multiple sets of connecting rod rotating devices 16 and clamping devices 17 work alternately, which improves the efficiency and stability of the rotation of the guide wire or catheter 15, and is easy to install, low cost, simple in structure, and reliable in movement.

[0044] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A connecting rod type rotating mechanism for rotating a guidewire catheter, characterized in that: It comprises a base (1), a connecting rod type rotating device (16) and a clamping device (17) for clamping a guide wire or a catheter (15), wherein the connecting rod type rotating device (16) and the clamping device (17) are both mounted on the base (1), the clamping device (17) is located below or above the connecting rod type rotating device (16), and the connecting rod type rotating device (16) is used to drive the clamping device (17) to perform a rotational motion without a central axis; The connecting rod type rotating device (16) comprises a driving rod (6), a first connecting rod (9), a second connecting rod (10) and a driving assembly (18); the driving rod (6) is rotatably arranged on the base (1); the first connecting rod (9) and the second connecting rod (10) are respectively hingedly connected to the driving rod (6) and the clamping device (17); and the first connecting rod (9) and the second connecting rod (10) are arranged in parallel; The connecting rod type rotating device (16) and the clamping device (17) are arranged in multiple groups on the base (1), and the multiple groups of the connecting rod type rotating device (16) and the clamping device (17) act on a guide wire or a catheter (15), and the multiple groups of the clamping device (17) alternately perform rotational motion without a central axis.

2. A connecting rod type rotating mechanism for rotating a guidewire catheter according to claim 1, characterized in that: The driving assembly (18) comprises a motor (2), a worm (3) and a worm wheel (4), wherein the worm (3) and the worm wheel (4) are meshed, the motor (2) is fixedly mounted on the base (1), the worm (3) is coaxially fixedly connected to the output shaft of the motor (2), the worm wheel (4) is fixedly connected to the driving rod (6), and the center of the worm wheel (4) is located at the connection between the driving rod (6) and the base (1).

3. A connecting rod type rotating mechanism for rotating a guidewire catheter according to claim 1, characterized in that: The shape of the driving rod (6) includes a sector shape, a driving rod rotating shaft (5) is connected between the driving rod (6) and the base (1), the driving rod rotating shaft (5) is located at the sector-shaped bottom of the driving rod (6), and the driving rod rotating shaft (5) is coaxially fixedly connected to the worm gear (4).

4. A connecting rod type rotating mechanism for rotating a guidewire catheter according to claim 1, characterized in that: The connecting rod type rotating device (16) further comprises an auxiliary rod (8), wherein the auxiliary rod (8) is rotatably arranged on a side of the driving rod (6) away from the clamping device (17), the auxiliary rod (8) does not interfere with the driving rod (6), and the auxiliary rod (8) is respectively hingedly connected to the first connecting rod (9) and the second connecting rod (10).

5. A connecting rod type rotating mechanism for rotating a guidewire catheter as claimed in claim 4, characterized in that: The auxiliary rod (8) has a fan-shaped shape, an auxiliary rod rotating shaft (7) is connected between the auxiliary rod (8) and the base (1), and the auxiliary rod rotating shaft (7) is located at the fan-shaped bottom of the auxiliary rod (8).

6. A connecting rod type rotating mechanism for rotating a guidewire catheter as claimed in claim 4, characterized in that: A first arc-shaped guide groove (19) is provided at the connection between the base (1) and the outer side of the fan-shaped arc surface of the auxiliary rod (8); the curvature of the first arc-shaped guide groove (19) is the same as the curvature of the fan-shaped arc surface of the auxiliary rod (8); and the auxiliary rod (8) and the first arc-shaped guide groove (19) are slidably matched.

7. A connecting rod type rotating mechanism for rotating a guidewire catheter according to claim 1, characterized in that: The clamping device (17) comprises a clamp bracket (13) and a clamp (14) for clamping a guide wire or a catheter (15); the clamp (14) is mounted on a side of the clamp bracket (13) facing away from the driving rod (6); and the first connecting rod (9) and the second connecting rod (10) are respectively hingedly connected to the clamp bracket (13).

8. A connecting rod type rotating mechanism for rotating a guidewire catheter as claimed in claim 7, characterized in that: The side of the clip bracket (13) close to the base (1) is arc-shaped, and a second arc-shaped guide groove (20) is provided at the connection between the base (1) and the clip bracket (13), the arc of the second arc-shaped guide groove (20) is the same as the arc of the arc-shaped side of the clip bracket (13), and the clip bracket (13) and the second arc-shaped guide groove (20) are slidably matched.

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