Vascular interventional operation guide wire / catheter force feedback device and vascular interventional operation robot

Abstract

The application provides a vascular interventional operation guide wire / catheter force feedback device, which comprises a processor and at least one set of feedback components, and the feedback components are arranged at the front end of a guide wire / catheter delivery device. The feedback components comprise a base and a plurality of force feedback sensors. The base is provided with a containing space for containing the guide wire / catheter, and the containing space is provided with openings at both ends in the axial direction of the guide wire / catheter for the guide wire / catheter to pass through. The plurality of force feedback sensors are arranged on the side walls of the containing space and located between the side walls of the containing space and the guide wire / catheter, and the force feedback sensors are used for collecting contact force information generated when the guide wire / catheter contacts. The processor is in signal connection with the force feedback sensors, used for receiving the contact force information and processing the contact force information to obtain the force bearing condition of the guide wire / catheter, and also used for outputting the force bearing condition. The application further provides a vascular interventional operation robot, which comprises a guide wire / catheter delivery device and a vascular interventional operation guide wire / catheter force feedback device.

Description

Technical Field

[0001] This invention belongs to the field of medical device technology, and particularly relates to a force feedback device for guidewires / catheters in vascular interventional surgery and a vascular interventional surgery robot. Background Technology

[0002] In recent years, the incidence of cardiovascular diseases has been increasing year by year, seriously threatening human health. Treatment for cardiovascular diseases includes drug therapy and interventional therapy. Interventional therapy involves making a small incision in the skin to insert guidewires, catheters, balloons, and stents to detect and treat local lesions. Traditional interventional surgeries are performed by skilled physicians, resulting in low precision. Furthermore, due to the prolonged operation, even with lead aprons, physicians are still inevitably exposed to some radiation damage. Using robotic interventional vascular surgery can improve surgical precision and reduce radiation exposure for physicians.

[0003] During surgery, doctors use a surgical robot to insert a guidewire / catheter into a blood vessel. If the guidewire / catheter punctures the blood vessel wall, it can be life-threatening for the patient. Timely monitoring of the stress on the guidewire / catheter within the blood vessel greatly improves surgical safety. This is typically achieved using a force feedback device for the guidewire / catheter in interventional vascular surgery to detect the stress on the guidewire / catheter during the procedure and assess the potential risks.

[0004] Current force feedback devices obtain information about the force exerted on the guidewire / catheter within the blood vessel during surgery using methods such as magnetorheological fluid and dampers, or handles. Handle-based methods lack force feedback, while the magnetorheological fluid and damper combination method is structurally complex. Furthermore, when the guidewire is driven into the body via twisting or rollers, existing force feedback methods are difficult to implement and inaccurate. Summary of the Invention

[0005] To address the above problems, the present invention provides a force feedback device for guidewires / catheters in vascular interventional surgery and a vascular interventional surgery robot.

[0006] A guidewire / catheter force feedback device for vascular interventional surgery includes a processor and at least one set of feedback components, wherein the feedback components are disposed at the front end of the guidewire / catheter delivery device;

[0007] The feedback component includes:

[0008] A base, wherein the base is provided with a receiving space for accommodating a guidewire / catheter, and the receiving space is provided with openings at both ends of the guidewire / catheter along the axial direction for the insertion of the guidewire / catheter;

[0009] Several force feedback sensors are respectively disposed on the side wall of the accommodating space and located between the side wall of the accommodating space and the guidewire / catheter; the force feedback sensors are used to collect contact force information generated when the guidewire / catheter comes into contact with them;

[0010] The processor is connected to the force feedback sensor signal and is used to receive the contact force information and process it to obtain the force condition of the guidewire / catheter. The processor is also used to output the force condition.

[0011] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, the accommodating space is a through groove, and the force feedback sensor is disposed on the inner wall of the through groove.

[0012] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, the force feedback sensor is provided on both inner sidewalls of the through groove.

[0013] In one embodiment, a force feedback device for a guidewire / catheter in vascular interventional surgery includes two force feedback sensors, which are respectively disposed on the two inner walls of the through groove.

[0014] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, the accommodating space is a through hole, and the force feedback sensor is disposed on the inner wall of the through hole.

[0015] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, a plurality of force feedback sensors are evenly distributed circumferentially along the through hole.

[0016] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, the distance between the force feedback sensors on the two inner sidewalls of the through groove is greater than the diameter of the guidewire / catheter.

[0017] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, the distance between the force feedback sensors on the two inner sidewalls of the through groove is 0.1 to 0.5 mm larger than the diameter of the guidewire / catheter.

[0018] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, the axial direction of the accommodating space coincides with or is parallel to the axial direction of the guidewire / catheter output by the guidewire / catheter delivery device.

[0019] A force feedback device for guidewires / catheters in one embodiment includes multiple sets of the feedback components connected in series.

[0020] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, multiple sets of the feedback components are arranged alternately.

[0021] One embodiment of the vascular interventional surgical guidewire / catheter force feedback device includes two sets of the aforementioned feedback components.

[0022] In one embodiment, a guidewire / catheter force feedback device for vascular interventional surgery includes multiple sets of the feedback components connected in series.

[0023] The axis of the accommodating space in the feedback assembly closest to the guidewire / catheter delivery device coincides with the axis of the guidewire / catheter output by the guidewire / catheter delivery device.

[0024] In one embodiment of the vascular interventional surgical guidewire / catheter force feedback device, the force condition is the force value in the axial direction of the guidewire / catheter.

[0025] In one embodiment, a force feedback device for a guidewire / catheter in vascular interventional surgery includes contact force information comprising the magnitude and direction of the contact force.

[0026] In one embodiment, a force feedback device for a guidewire / catheter in vascular interventional surgery is provided, wherein the processor is a computer.

[0027] A vascular interventional surgical robot, comprising:

[0028] A guidewire / catheter delivery device for clamping the guidewire / catheter and driving the guidewire / catheter forward, backward and / or rotated;

[0029] The force feedback device for guidewire / catheter in vascular interventional surgery as described in any one of claims 1 to 16 is disposed at the front end of the guidewire / catheter delivery device and is used to provide feedback on the force applied to the guidewire / catheter, wherein the force applied is used to adjust the drive of the guidewire / catheter delivery device.

[0030] In one embodiment of the vascular interventional surgical robot, the guidewire / catheter delivery device includes:

[0031] A clamping assembly for clamping the guidewire / catheter, the clamping assembly including a clamping seat, at least one driving wheel and at least one driven wheel, the driving wheel and the driven wheel being rotatably mounted on the clamping seat and symmetrically arranged on both sides of the guidewire / catheter;

[0032] The drive unit includes:

[0033] The guide wire advance / retract drive unit is connected to the drive wheel and drives the drive wheel to rotate. The rotation of the drive wheel generates friction with the clamped guide wire / conduit, and under the action of the friction, the guide wire / conduit is driven to move along its axial direction.

[0034] The guidewire drive unit is connected to the clamping seat and drives the clamping seat to rotate around the axis of the guidewire / catheter, thereby driving the guidewire / catheter to rotate.

[0035] Because the present invention adopts the above technical solution, it has the following advantages and positive effects compared with the prior art:

[0036] (1) The force feedback device for guidewire / catheter in vascular interventional surgery provided by this invention generates a contact force when the guidewire / catheter contacts the force feedback sensor under normal driving conditions, and this contact force remains relatively stable. When the tip of the guidewire / catheter touches the vessel wall, the vessel wall will generate resistance to the guidewire / catheter, resulting in a significant change in the contact force between the guidewire / catheter and the force feedback sensor. That is, the contact force information will change significantly, and this change will also be reflected in the processor's output after processing the contact force information. That is, from the force feedback of the guidewire / catheter, it can be seen that the advancement of the guidewire / catheter is subject to significant resistance, which is highly likely that the guidewire / catheter has hit the vessel wall. The operator can adjust the movement of the guidewire / catheter according to the force situation of the guidewire / catheter to prevent the guidewire / catheter from puncturing the vessel wall.

[0037] The force feedback device for guidewires / catheters provided by this invention has a simple and lightweight structure and low production cost; it is also suitable for situations where guidewires / catheters are driven into the human body by twisting or rollers.

[0038] (2) The vascular interventional surgery robot provided by the present invention has a guidewire / catheter delivery device that realizes the rotation and pushing action of the guidewire / catheter. During the movement of the guidewire / catheter, the vascular interventional surgery guidewire / catheter force feedback device senses the force on the guidewire / catheter in real time and outputs the information, prompting the operator on the force on the guidewire / catheter in the blood vessel, thereby reducing the risk of the guidewire / catheter causing harm to the human body during the operation. Attached Figure Description

[0039] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention.

[0040] Figure 1 This is a schematic diagram of the structure of a feedback component according to the present invention;

[0041] Figure 2 This is a schematic diagram showing the installation positions of the two sets of feedback components of the present invention;

[0042] Figure 3 This is an installation diagram of the guidewire / catheter force feedback device for vascular interventional surgery of the present invention in conjunction with a guidewire / catheter delivery device;

[0043] Figure 4 This is an installation diagram of the guidewire / catheter force feedback device for vascular interventional surgery of the present invention in conjunction with a guidewire / catheter delivery device;

[0044] Figure 5 This is a schematic diagram of a guidewire / catheter delivery device;

[0045] Figure 6 This is a schematic diagram of the consumables section in a guidewire / catheter delivery device;

[0046] Figure 7 This is a schematic diagram of the transmission part in a guidewire / catheter delivery device;

[0047] Figure 8 A schematic diagram of a clamping component in a guidewire / catheter delivery device. Figure 1 ;

[0048] Figure 9 A schematic diagram of a clamping component in a guidewire / catheter delivery device. Figure 2 ;

[0049] Figure 10 This is a schematic diagram of the drive unit in a guidewire / catheter delivery device;

[0050] Figure 11 This is a schematic diagram of the clamping seat in a guidewire / catheter delivery device.

[0051] Explanation of reference numerals in the attached figures:

[0052] 1: Drive unit; 101: Thread feed / retract drive unit; 102: Thread rotation drive unit; 103: Drive mounting base; 104: Coupling; 105: Power output spline shaft;

[0053] 2: Consumables section; 21: Clamping assembly; 2101: Clamping base; 2102: Driving wheel; 2103: Driven wheel; 2104: Fourth gear; 2105: Fifth gear; 2106: Sliding element; 2107: Elastic element; 2108: Sliding shaft; 2109: Raised switch; 2110: Square slot; 2111: Cover plate; 2112: Driven wheel axle; 2113: Driving wheel axle;

[0054] 22: Feed / retract wire drive unit; 2201: First bevel gear; 2202: Second bevel gear; 2203: First drive shaft; 2204: Third gear; 2205: First gear; 2206: Second gear; 2207: Second drive shaft; 2208: Third bevel gear; 2209: Fourth bevel gear; 2210: First slot;

[0055] 23: Wire drive unit; 2301: Fifth bevel gear; 2302: Sixth bevel gear; 2303: Second slot;

[0056] 24: Mounting base plate; 25: Bracket; 26: Guide groove;

[0057] 3: Sterile membrane; 4: Guide wire;

[0058] 5: Feedback component; 51: Base; 52: Force feedback sensor. Detailed Implementation

[0059] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the specific implementation methods of the present invention will be described below with reference to the accompanying drawings. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings and other implementation methods can be obtained based on these drawings without any creative effort.

[0060] To keep the drawings concise, only the parts relevant to the invention are shown schematically in each figure, and they do not represent the actual structure of the product. Furthermore, for ease of understanding, in some figures, only one of components with the same structure or function is shown schematically, or only one is labeled. In this document, "one" can mean not only "only one" but also "more than one".

[0061] Example 1

[0062] See Figures 1 to 4 This embodiment provides a force feedback device for a guidewire / catheter in vascular interventional surgery, including a processor and at least one set of feedback components 5, which are disposed at the front end of the guidewire / catheter delivery device. The feedback component 5 includes a base 51 and several force feedback sensors 52. The base 51 has a receiving space for receiving the guidewire 4 / catheter, and the receiving space has openings at both ends along the axial direction of the guidewire 4 / catheter for insertion. Several force feedback sensors 52 are respectively disposed on the sidewall of the receiving space and located between the sidewall of the receiving space and the guidewire 4 / catheter. The force feedback sensors 52 are used to collect contact force information generated when the guidewire 4 / catheter contacts them. The processor is signal-connected to the force feedback sensors 52, and is used to receive the contact force information, process it to obtain the force condition of the guidewire 4 / catheter, and output the force condition.

[0063] The structure of this embodiment will now be described. In this document, the front end refers to the end that is deeper into the blood vessel along the axial direction of the guidewire 4 / catheter. For ease of description, the guidewire 4 is used as an example in this embodiment; the force feedback device for the vascular interventional surgical guidewire / catheter is simply referred to as the force feedback device.

[0064] The base 51 primarily functions as a receiving space for mounting the force feedback sensor 52 and the guide wire 4. The shape of other parts of the base 51 is not limited, as long as it does not affect the movement of the guide wire 4. The receiving space can take various forms, such as a through slot or a through hole; no limitation is made here. When the receiving space is a through hole, the force feedback sensor 52 is disposed on the inner wall of the through hole; specifically, several force feedback sensors 52 can be evenly distributed along the circumference of the through hole. In this embodiment, the receiving space is a through slot, and the force feedback sensor 52 is disposed on the inner wall of the through slot. Both the force feedback sensor 52 and the guide wire 4 can be installed into the through slot from the slot opening, which is more convenient for the installation of the force feedback sensor 52 and the guide wire 4 compared to a through hole.

[0065] Multiple force feedback sensors 52 can be installed on the inner wall of the through groove, but force feedback sensors 52 need to be installed on both inner sidewalls of the through groove. This is because when the guide wire 4 is bent to a large degree, it may not make contact with one of the force feedback sensors 52 on the inner sidewall, and the force feedback device in this embodiment will not work. Specifically, in this embodiment, the feedback component 5 includes two force feedback sensors 52, which are symmetrically arranged on the two inner sidewalls of the through groove.

[0066] The distance between the force feedback sensors 52 on the two inner walls of the through groove needs to be greater than the diameter of the guide wire 4. If the distance is too small, it will be difficult to install the force guide wire 4; if the distance is too large, the guide wire 4 may not touch the force feedback sensor 52, and the force feedback sensor 52 will not be able to collect contact force information. Therefore, it is preferable that the distance between the force feedback sensors 52 on the two inner walls of the through groove is 0.1 to 0.5 mm larger than the diameter of the guide wire 4.

[0067] Increasing the number of feedback components 5 helps improve the accuracy of the force feedback device. When there are multiple sets of feedback components 5, they are connected in series. The feedback components 5 are located at the output end of the guidewire / catheter delivery device. To minimize the impact on the operation of the guidewire / catheter delivery device, the axial direction of the through groove, which is also the axial direction of the accommodating space, coincides with or is parallel to the axial direction of the guidewire / catheter delivery device's output guidewire 4. The axis of the through groove in the feedback component 5 closest to the guidewire / catheter delivery device coincides with the axial direction of the guidewire / catheter delivery device's output guidewire 4.

[0068] To further improve the accuracy of the force feedback device in this embodiment, multiple sets of series-connected feedback components 5 can be staggered. To facilitate the installation of the guidewire 4, the distance between the force feedback sensors 52 on the two inner walls of the through-slot needs to be greater than the diameter of the guidewire 4. However, to minimize interference with the operation of the guidewire / catheter delivery device, the axial direction of the through-slot coincides with the axial direction of the guidewire / catheter delivery device's output guidewire 4 (when the series-connected feedback components 5 are staggered, they cannot necessarily be aligned; they must be parallel). Therefore, the guidewire 4 may not contact the force feedback sensor 52. To solve this problem, multiple sets of series-connected feedback components 5 are staggered. The staggered arrangement of the feedback components 5 causes the guidewire 4 to bend, thus making it easier for the guidewire 4 to contact the force feedback sensor 52 on the inner wall of the through-slot, thereby improving the accuracy of the force feedback device in this embodiment. Specifically, in this embodiment, the force feedback device includes two sets of feedback components 5, which are connected in series and staggered.

[0069] A processor can be a computer.

[0070] Furthermore, since the guide wire 4 rotates around its own axis, the effect of whether or not the guide wire 4 rotates on the contact force between the guide wire 4 and the force feedback sensor 52 is almost negligible.

[0071] Since the force feedback sensor 52 does not detect the force value of the guidewire 4 in the blood vessel, but rather the force exerted by the guidewire 4 on the force feedback sensor 52, and the force value of the guidewire 4 in the blood vessel is obtained after processing by the processor, a conversion is required in the middle. The specific conversion method (including: what the contact force information detected by the force feedback sensor 52 is, what the force condition output by the processor is, and how the two are related) is not limited in this invention. In this embodiment, a specific conversion method is provided as an example.

[0072] The contact force information detected by the force feedback sensor 52 includes the magnitude and direction of the contact force. The force output by the processor is the force value of the guidewire 4 in the axial direction. The force feedback sensor 52 can be a piezoelectric sensor, etc., and there are no specific limitations. The contact force information collected by multiple force feedback sensors 52 is processed to obtain the force along the through-slot axis (since even if the guidewire 4 bends, its bending degree is small, the force along the through-slot axis can be considered as the force along the guidewire 4 axis). The magnitude of this force is called the equivalent contact force. The equivalent contact force has a functional relationship with the force value of the guidewire 4 in the blood vessel. This force feedback device needs to be calibrated in advance before surgery when used in conjunction with a guidewire / catheter delivery device.

[0073] The specific calibration process is as follows: The feedback component 5, guidewire / catheter delivery device, and guidewire 4 are installed as they would be during surgery. Then, a force application device is connected to the front end of guidewire 4. The guidewire / catheter delivery device drives guidewire 4 normally, while the force application device applies different resistances (to simulate the resistance experienced by guidewire 4 in the blood vessel). The force feedback sensor 52 collects contact force information, and the contact force information is processed to obtain the equivalent contact force magnitude. The resistance applied by the force application device and the corresponding equivalent contact force magnitude are used as the independent and dependent variables, respectively, generating functions. During the actual surgery, the force value of guidewire 4 in the blood vessel is equivalent to the resistance applied by the force application device, and the processor outputs the force value of guidewire 4 using a functional relationship.

[0074] Therefore, the operator can adjust the movement of guidewire 4 in a timely manner according to the force applied to guidewire 4, thereby preventing guidewire 4 from puncturing the blood vessel wall.

[0075] Example 2

[0076] See Figures 3 to 11 This embodiment provides a vascular interventional surgery robot, including a guidewire / catheter delivery device and the vascular interventional surgery guidewire / catheter force feedback device of Embodiment 1. The guidewire / catheter delivery device is used to clamp the guidewire 4 / catheter and drive the guidewire 4 / catheter to move forward, backward, and / or rotate. The vascular interventional surgery guidewire / catheter force feedback device is located at the front end of the guidewire / catheter delivery device and is used to provide feedback on the force on the guidewire 4 / catheter. The force is used to adjust the drive of the guidewire / catheter delivery device.

[0077] The guidewire / catheter delivery device enables the rotation and pushing of the guidewire / catheter. During the movement of the guidewire / catheter, the force feedback device for vascular interventional surgery senses the force on the guidewire / catheter in real time and outputs the information, prompting the operator on the force on the guidewire / catheter in the blood vessel, thus reducing the risk of the guidewire / catheter causing harm to the human body during the operation.

[0078] There are many possible structures for guidewire / catheter delivery devices, and no limitation is imposed. This embodiment illustrates one specific structure. For ease of description, guidewire 4 is used as an example in this embodiment; the force feedback device for vascular interventional surgery guidewire / catheter is referred to simply as the force feedback device.

[0079] The guidewire / catheter delivery device includes a clamping assembly 21 and a drive unit 1. The clamping assembly 21 is used to clamp the guidewire 4. The clamping assembly 21 includes a clamping seat 2101, two driving wheels 2102 and two driven wheels 2103. The driving wheels 2102 and driven wheels 2103 are rotatably mounted on the clamping seat 2101 and are symmetrically arranged on both sides of the guidewire 4.

[0080] The drive unit 1 includes a wire feeding / retracting drive unit 101 and a wire rotation drive unit 102. The wire feeding / retracting drive unit 101 is connected to and drives the drive wheel 2102 to rotate. The rotation of the drive wheel 2102 generates friction with the clamped guide wire 4, which drives the guide wire 4 to move along its axial direction. The wire rotation drive unit 102 is connected to the clamping seat 2101 and drives the clamping seat 2101 to rotate around the axial direction of the guide wire 4, thereby driving the guide wire 4 to rotate.

[0081] During operation, the guidewire advance / retract drive unit 101 drives the drive wheel 2102 to rotate, so as to move the guidewire 4 along its axial direction and push the guidewire 4 into or out of the blood vessel; when the guidewire 4 reaches the branch structure of the blood vessel, the guidewire rotation drive unit 102 drives the clamping seat 2101 to rotate around the axial direction of the guidewire 4, so as to rotate the guidewire 4 and enter the branch structure of the blood vessel.

[0082] When the guide wire 4 rotates independently, the drive wheel 2102 does not need to rotate. Since the drive wheel 2102 is mounted on the clamping seat 2101, it will rotate with the clamping seat 2101, and the wire feed / retract drive unit 101 may also rotate around the guide wire 4. Therefore, to avoid this situation, the wire feed / retract drive unit 22 is provided. (See attached image) Figure 6 and Figure 7 The wire feed / retracting drive unit 22 includes a first gear 2205, a second gear 2206, and a third gear 2204. The first gear 2205 has internal teeth, and the second gear 2206 meshes with the internal teeth of the first gear 2205. The first gear 2205 is coaxially set with the guide wire 4, meaning that the guide wire 4 needs to pass through the center of the first gear 2205. The second gear 2206 is connected to the drive wheel 2102, and the first gear 2205 is connected to the wire feed / retracting drive unit 101. The wire feed / retracting drive unit 101 drives the first gear 2205 to rotate, which in turn drives the second gear 2206, which meshes with the first gear 2205, to rotate, thereby driving the drive wheel 2102 to rotate.

[0083] The guide wire 4 passes through the center of the first gear 2205. A first strip groove 2210 is formed on the first gear 2205 along its radial direction, and the guide wire 4 can be inserted into the center position of the first gear 2205 through the strip groove 2210.

[0084] The first gear 2205 has an external gear ring, and the third gear 2204 meshes with the external gear ring of the first gear 2205. The third gear 2204 is connected to the wire drive unit 102, which drives the third gear 2204 to rotate, thereby driving the first gear 2205 to rotate.

[0085] The third gear 2204 is connected to the thread feed / retractor drive unit 101 via the first transmission unit. The first transmission unit is used to change the direction of the rotation center line of the thread feed / retractor drive unit 101, changing it from a vertical direction to a horizontal direction. The first transmission unit includes a first bevel gear 2201 and a second bevel gear 2202 that mesh with each other. The first bevel gear 2201 is arranged horizontally, and the second bevel gear 2202 is arranged vertically. The first bevel gear 2201 is connected to the thread feed / retractor drive unit 101, and the second bevel gear 2202 is connected to the third gear 2204 via the first transmission shaft 2203. The thread feed / retractor drive unit 101 drives the first bevel gear 2201 to rotate, which in turn drives the second bevel gear 2202 meshing with the first bevel gear 2201 to rotate, thereby driving the first transmission shaft 2203 to rotate, and in turn driving the third gear 2204 to rotate.

[0086] The feed / retract wire transmission unit 22 also includes a second transmission shaft 2207 and a second transmission unit. One end of the second transmission shaft 2207 is connected to a second gear 2206, and the second transmission shaft 2207 is rotatably mounted on the clamping seat 2101. The second transmission shaft 2207 is connected to the axle 2113 of the driving wheel through the second transmission unit. The second transmission unit is used to change the direction of the rotation center line of the second transmission shaft 2207, transmitting the rotation center line of the second transmission shaft 2207 from the horizontal direction to the vertical direction of the rotation of the driving wheel 2102. The second transmission unit includes a third bevel gear 2208 and a fourth bevel gear 2209 that mesh with each other. The third bevel gear 2208 is arranged horizontally, and the fourth bevel gear 2209 is arranged vertically. The third bevel gear 2208 is sleeved on the axle 2113 of the driving wheel, and the fourth bevel gear 2209 is sleeved on the first transmission shaft 2203. The rotation of the second drive shaft 2207 drives the fourth bevel gear 2209 to rotate, which in turn drives the third bevel gear 2208, which meshes with the fourth bevel gear 2209, to rotate, thereby driving the axle of the drive wheel 2102 to rotate, and thus the drive wheel 2102 to rotate.

[0087] The guidewire / catheter delivery device also includes a wire drive unit 23. The wire drive unit 102 is connected to the clamping seat 2101 via the wire drive unit 23. The wire drive unit 23 is used to change the direction of the rotation center line of the wire drive unit 102, changing it from a vertical direction to a horizontal direction. The wire drive unit 23 includes a fifth bevel gear 2301 and a sixth bevel gear 2302 that mesh with each other. The fifth bevel gear 2301 is arranged horizontally, and the sixth bevel gear 2302 is arranged vertically. The fifth bevel gear 2301 is connected to the wire drive unit 102, and the sixth bevel gear 2302 is connected to the clamping seat 2101. The wire drive unit 102 drives the fifth bevel gear 2301 to rotate, which in turn drives the sixth bevel gear 2302 that meshes with the fifth bevel gear 2301 to rotate, which in turn drives the clamping seat 2101 to rotate along the axial direction of the guidewire 4. Therefore, the center line of the sixth bevel gear 2302 needs to be parallel to the axis of the guidewire 4.

[0088] The centerline of the sixth bevel gear 2302 needs to coincide with the axis of the guide wire 4, that is, the guide wire 4 passes through the center of the sixth bevel gear 2302. In order to facilitate the installation of the guide wire 4 at the center position of the sixth bevel gear 2302, it is preferable to open a second strip groove 2303 in the radial direction of the sixth bevel gear 2302. Along the axial direction of the guide wire 4, the second strip groove 2303 extends to the connecting member between the sixth bevel gear 2302 and the clamping seat 2101, so as to allow the guide wire 4 to be engaged in the center position of the sixth bevel gear 2302.

[0089] See Figure 8 and Figure 11 A fourth gear 2104 is fitted onto the axle 2112 of the driven wheel, and a fifth gear 2105 is fitted onto the axle 2113 of the driving wheel, or the gears and axles are designed as an integral part of each other. The meshing of the fourth gear 2104 and the fifth gear 2105 can prevent slippage between the driving wheel 2102 and the driven wheel 2103, which would prevent the guide wire 4 from moving axially. Specifically, the meshing gears on the axle 2113 of the driving wheel and the axle 2112 of the driven wheel ensure that the driven wheel 2103 rotates together with the driving wheel 2102, thus ensuring that the guide wire 4 can move axially as long as the driving wheel 2102 rotates.

[0090] See Figure 8 The clamping seat 2101 is also provided with a driven wheel adjustment assembly, which is used to adjust the axial distance between the driven wheel 2103 and the driving wheel 2102 to clamp or release the guide wire 4, ensuring that the fourth gear 2104 and the fifth gear 2105 are engaged when the guide wire 4 is clamped; at the same time, it is convenient to insert the guide wire 4.

[0091] Specifically, the driven wheel 2103 adjustment assembly includes a slider 2106 and a locking member. The slider 2106 is slidably mounted on the mounting bracket and is fixedly connected to the axle of the driven wheel 2103. Pushing the slider 2106 causes it to slide along the straight line containing the axes of the driven wheel 2103 and the driving wheel 2102, thereby adjusting the axial distance between the driving wheel 2102 and the driven wheel 2103. The locking member is fixedly connected to the slider 2106 and is used to lock the slider 2106 in the target position.

[0092] Regarding the implementation of the slider 2106, as follows: Figure 8 , 9 As shown in Figure 11, a sliding member 2106 is provided on the clamping base 2101 and is fixedly connected to or integrally designed with the axle 2112 of the driven wheel. This sliding member can slide along the straight line containing the axes of the driven wheel 2103 and the driving wheel 2102. A sliding shaft 2108 is provided, passing through both the clamping base 2101 and the sliding member 2106. The sliding shaft 2108 is parallel to the straight line containing the axes of the driven wheel 2103 and the driving wheel 2102, and the sliding member 2106 slides along the sliding shaft 2108. An elastic member 2107 is provided between the sliding member 2106 and the clamping base 2101. The elastic member 2107 is sleeved on the sliding shaft 2108, with one end pressing against the side of the clamping base 2101 and the other end pressing against the side of the sliding member 2106. When the operator pushes the slider 2106 in a direction that increases the distance between the driven wheel 2103 and the driving wheel 2102, the elastic element 2107 is compressed. When the operator pushes the slider 2106 back in a direction that decreases the distance between the driven wheel 2103 and the driving wheel 2102, the elastic force of the elastic element 2107 decreases. For aesthetic purposes, a cover plate 2111 of the same size as the clamping seat 2101 is designed on the slider 2106. The cover plate 2111 seals the slider 2106 inside the clamping seat 2101, only exposing the axle 2112 of the driven wheel and the axle 2113 of the driving wheel. The fifth gear 2205 and the fourth gear 2104 are located on the upper part of the cover plate 2111. A sliding groove for the driven wheel axle 2112 is provided on the cover plate 2111. A raised switch 2109 is provided on the sliding member 2106. A square groove 2110 is provided on the cover plate 2111 to cooperate with the raised switch 2109. The square groove 2110 also serves to lock the raised switch 2109 to its desired position. The operator can directly push the raised switch 2109 to control the sliding of the sliding member 2106 and adjust the distance between the driven wheel 2103 and the driving wheel 2102.

[0093] Due to the special nature of vascular interventional surgery, sterility must be maintained. To prevent guidewire 4 from becoming infected, a sterile environment must be maintained at all times. Therefore, the clamping assembly 21, the guidewire advance / retreat transmission unit 22, and the guidewire rotation transmission unit 23, which may come into contact with guidewire 4, all need to be kept sterile. However, sterilization cannot guarantee complete sterilization. Therefore, it is preferable that the clamping assembly 21, the guidewire advance / retreat transmission unit 22, and the guidewire rotation transmission unit 23 be disposable sterile devices, which only need to be detachably connected to the drive unit 1. The drive unit 1 is reusable. Therefore, the clamping assembly 21, the guidewire advance / retreat transmission unit 22, and the guidewire rotation transmission unit 23 are set as consumable parts 2. The consumable parts 2 also include a mounting base plate 24. The clamping assembly 21, the guidewire advance / retreat transmission unit 22, and the guidewire rotation transmission unit 23 are all mounted on the mounting base plate 24, which is detachably connected to the drive unit 1. In addition, since the feedback assembly 5 will also come into contact with guidewire 4, the feedback assembly 5 can be mounted as a consumable on the mounting base plate 24.

[0094] When in use, a sterile box or sterile membrane can be used to isolate the consumables section 2 and the feedback component 5 from the drive section 1, so as to maintain a sterile environment for the consumables section 2 and the feedback component 5 and ensure that the entire surgical process is not infected by bacteria.

[0095] Several brackets 25 can be set on the mounting base plate 24. Along the axial direction of the guide wire 4, each bracket 25 has a slot through which the guide wire 4 passes. The slots on adjacent brackets 25 are interconnected to form a guide groove 26, which is used to prevent the guide wire 4 from deviating from the direction when moving axially.

[0096] The drive unit 1 may also include a drive fixing base 103, a wire turning drive unit 102 and a wire feeding / retracting drive unit 101 fixed on the drive fixing base 103, and a mounting base plate 24 detachably connected to the drive fixing base 103.

[0097] A sterile membrane 3 is laid on the drive mounting base 103, and the mounting base 24 is placed on the sterile membrane 3 and detachably connected to the drive mounting base 103.

[0098] To achieve hands-free operation and more efficient automation, the guidewire / catheter delivery device also includes a controller. The controller is electrically connected to both the guidewire advance / retract drive unit 101 and the guidewire rotation drive unit 102. Both the guidewire advance / retract drive unit 101 and the guidewire rotation drive unit 102 are drive motors, connected to an output splined shaft 105 via a coupling 104, which in turn connects to a bevel gear. (See also...) Figures 5 to 11 The working process of the above-mentioned guidewire / catheter delivery device is as follows:

[0099] Preliminary preparation process: Lay a sterile membrane 3 on the drive fixing seat 103, install the consumable part 2 as a whole on the drive fixing seat 103, push the protrusion switch 2109, clamp the guide wire 4 between the driving wheel 2102 and the driven wheel 2103, place the guide wire 4 in the guide groove 26, and pass through the center of the first gear 2205 and the sixth bevel gear 2302.

[0100] The standalone wire-rotating function, where the wire rotation process is neither forward nor backward, requires synchronous control of the wire-feeding / retracting drive unit 101 and the wire-rotating drive unit 102: the controller controls the wire-rotating drive unit 102 to operate, driving the fifth bevel gear 2301 to rotate, thereby causing the sixth bevel gear 2302 to rotate, which in turn drives the clamping seat 2101 to rotate along the axis of the guide wire 4. Since the second transmission shaft 2207 is mounted on the clamping seat 2101, the second transmission shaft 2207 will also rotate along the axis of the guide wire 4. Therefore, the second gear 2206 will also revolve along the axis of the guide wire 4. However, the second gear 2206 cannot rotate along its own axis, because if it rotates along its own axis, it will cause the guide wire 4 to move axially. Therefore, to prevent the second gear 2206 from rotating along its own axis, the first gear 2205 needs to rotate synchronously to counteract the rotation of the second gear 2206. Now, assuming the rotational speed of the wire feed / retract drive unit 101 is W1, the rotational speed of the wire rotation drive unit 102 is W2, the transmission ratio of the fifth bevel gear 2301 and the sixth bevel gear 2302 is 1:1, the revolution speed of the second gear 2206 is W2, and the rotational speed of the first gear 2205 is also W2, and the revolution direction of the second gear 2206 is the same, then the second gear 2206 can be made not to rotate. If the transmission ratio of the first gear 2205 and the third gear 2204 is 1:1, then the transmission ratio of the third gear 2204 and the wire feed / retract drive unit 101 is 1:1. That is, when the rotational speed ratio of the wire rotation drive unit 102 and the wire feed / retract drive unit 101 is 1:1 and the rotational directions are opposite, wire rotation can be achieved independently. Of course, when the number of teeth of the first gear 2205 and the third gear 2204 changes, the transmission ratio also changes accordingly, and the speed ratio of the wire drive unit 102 and the wire feed / retract drive unit 101 also changes accordingly. However, the rotation directions of the wire drive unit 102 and the wire feed / retract drive unit 101 are opposite and do not change.

[0101] The independent wire feeding / retracting function requires only the controller to operate the wire feeding / retracting drive unit 101: it drives the first bevel gear 2201 to rotate, which in turn drives the second bevel gear 2202 meshing with the first bevel gear 2201 to rotate, which in turn drives the first transmission shaft 2203 to rotate, which in turn drives the third gear 2204 to rotate, which in turn drives the first gear 2205 meshing with the third gear 2204 to rotate, which in turn drives the second gear 2206 to rotate, which in turn drives the second transmission shaft 2207 to rotate, which in turn drives the fourth bevel gear 2209 to rotate, which in turn drives the third bevel gear 2208 to rotate, which in turn drives the axle of the drive wheel 2102 to rotate, which in turn drives the drive wheel 2102 to rotate. The rotation of the drive wheel 2102 synchronously drives the driven wheel 2103 to rotate, and synchronously applies the frictional force for feeding. Under the action of the frictional force, the guide wire 4 feeds or retracts.

[0102] Synchronization of wire feeding / retraction and wire rotation: This means that the second gear 2206 revolves around the axis of the guide wire 4 and also rotates on its own axis. Similarly, assuming the transmission ratio of the first gear 2205 and the third gear 2204 is 1:1, the radius of the driving wheel 2102 is r, and the rotational speeds of the first gear 2205 and the second gear 2206 are different (assuming the transmission ratio of the first gear 2205 and the second gear 2206 is 1:2), and assuming the required wire feeding speed is 2πr mm / s and the wire rotation speed is 1 rpm, synchronized, the rotational speed of the wire rotation drive unit 102 needs to be 1 rpm, the rotational speed of the driving wheel 2102 needs to be 1 rpm, and the speed converted to the wire feeding / retraction drive unit 101 is 0.5 rpm. The rotational drive unit and the wire feeding / retraction drive unit rotate in opposite directions.

[0103] The gear ratios given above are merely illustrative of the working principle of this embodiment; the gear ratios can be adjusted accordingly as the number of teeth on the gears changes.

[0104] The embodiments of the present invention have been described in detail above with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, if these changes fall within the scope of the claims of the present invention and their equivalents, they shall still fall within the protection scope of the present invention.

Claims

1. A vascular intervention procedure guide wire / catheter force feedback device, characterized by, It includes a processor and at least one set of feedback components, said feedback components being located at the front end of the guidewire / catheter delivery device; The feedback component includes: A base, wherein the base is provided with a receiving space for accommodating a guidewire / catheter, and the receiving space is provided with openings at both ends of the guidewire / catheter along the axial direction for the insertion of the guidewire / catheter; Several force feedback sensors are respectively disposed on the side wall of the accommodating space and located between the side wall of the accommodating space and the guidewire / catheter; the force feedback sensors are used to collect contact force information generated when the guidewire / catheter comes into contact with them; The processor is connected to the force feedback sensor signal and is used to receive the contact force information and process it to obtain the force condition of the guidewire / catheter. The processor is also used to output the force condition. Wherein, the accommodating space is a through groove, and the force feedback sensor is disposed on the inner wall of the through groove; or, the accommodating space is a through hole, and the force feedback sensor is disposed on the inner wall of the through hole.

2. The vascular intervention procedure guide wire / catheter force feedback device of claim 1, wherein, The force feedback sensor is provided on both inner walls of the through groove.

3. The vascular intervention procedure guide wire / catheter force feedback device of claim 2, wherein, The feedback component includes two force feedback sensors, which are respectively disposed on the two inner sidewalls of the through groove.

4. The vascular intervention procedure guide wire / catheter force feedback device of claim 1, wherein, Several of the force feedback sensors are evenly distributed circumferentially along the through hole.

5. The vascular intervention procedure guide wire / catheter force feedback device of claim 2, wherein, The distance between the force feedback sensors on the two inner walls of the through groove is greater than the diameter of the guidewire / conduit.

6. The vascular intervention procedure guide wire / catheter force feedback device of claim 5, wherein, The distance between the force feedback sensors on the two inner walls of the through groove is 0.1 to 0.5 mm larger than the diameter of the guidewire / conduit.

7. The vascular intervention procedure guide wire / catheter force feedback device according to any one of claims 1 to 4, characterized in that, The axial direction of the accommodating space coincides with or is parallel to the axial direction of the guidewire / catheter output by the guidewire / catheter delivery device.

8. The vascular intervention procedure guide wire / catheter force feedback device of claim 1, wherein, It includes multiple sets of the feedback components, which are connected in series.

9. The vascular intervention procedure guide wire / catheter force feedback device of claim 8, wherein, The multiple sets of feedback components are interleaved.

10. The vascular intervention procedure guide wire / catheter force feedback device of claim 9, wherein, It includes two sets of the aforementioned feedback components.

11. The vascular intervention procedure guide wire / catheter force feedback device of claim 7, wherein, It includes multiple sets of the feedback components, which are connected in series; The axis of the accommodating space in the feedback assembly closest to the guidewire / catheter delivery device coincides with the axis of the guidewire / catheter output by the guidewire / catheter delivery device.

12. The vascular intervention procedure guide wire / catheter force feedback device of claim 1, wherein, The stress condition refers to the stress value along the axis of the guidewire / catheter.

13. The vascular intervention procedure guide wire / catheter force feedback device of claim 1, wherein, The contact force information includes the magnitude and direction of the contact force.

14. The vascular intervention procedure guide wire / catheter force feedback device of claim 1, wherein, The processor is a computer.

15. A vascular interventional procedure robot, characterized by, include: A guidewire / catheter delivery device for clamping the guidewire / catheter and driving the guidewire / catheter forward, backward and / or rotated; The force feedback device for guidewire / catheter in vascular interventional surgery as described in any one of claims 1 to 14 is disposed at the front end of the guidewire / catheter delivery device and is used to provide feedback on the force applied to the guidewire / catheter, wherein the force applied is used to adjust the drive of the guidewire / catheter delivery device.

16. The vascular intervention procedure robot of claim 15, wherein, The guidewire / catheter delivery device includes: A clamping assembly for clamping the guidewire / catheter, the clamping assembly including a clamping seat, at least one driving wheel and at least one driven wheel, the driving wheel and the driven wheel being rotatably mounted on the clamping seat and symmetrically arranged on both sides of the guidewire / catheter; The drive unit includes: The guide wire advance / retract drive unit is connected to the drive wheel and drives the drive wheel to rotate. The rotation of the drive wheel generates friction with the clamped guide wire / conduit, and under the action of the friction, the guide wire / conduit is driven to move along its axial direction. The guidewire drive unit is connected to the clamping seat and drives the clamping seat to rotate around the axis of the guidewire / catheter, thereby driving the guidewire / catheter to rotate.

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