A guide wire control device and control method for a vascular intervention robot

Abstract

The application provides a guide wire control device and control method for a vascular interventional robot, wherein the device comprises two screw rods with opposite rotation directions at the left and right ends, which can rotate under the action of a first driving mechanism; first and second guide wire sliding blocks are respectively connected with the left and right ends of the screw rods through threads; when the screw rod rotates, the two guide wire sliding blocks can slide along the slide rails arranged on the base plate; gear positioning support structures are arranged on the two guide wire sliding blocks; first and second guide wire rotating gears respectively arranged on the two guide wire sliding blocks are positioned and supported through the gear positioning support structures; when the two guide wire rotating gears are driven, they can rotate relative to the two guide wire sliding blocks; and controllable elastic deformation devices are arranged on the two guide wire rotating gears, which can clamp the guide wire when controlled. The guide wire control device and control method for the vascular interventional robot can realize the rotation and feeding actions of the guide wire in the blood vessel, and can avoid the phenomena of guide wire slipping during the guide wire conveying process and the guide wire being pulled out of the guide wire conveying mechanism during the guide wire conveying process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a guide wire control device for a vascular interventional robot and a control method. BACKGROUND

[0002] Vascular interventional surgery is a method in which a doctor moves a guide wire and a balloon stent along a blood vessel through a catheter under the guidance of a digital subtraction angiography (DSA) device to accurately reach a lesion for treatment. The traditional vascular interventional surgery is that a doctor observes the blood vessels of a patient through a digital subtraction angiography (DSA) device and accurately manipulates a guide wire to move from a puncture site to a lesion along the blood vessels of the human body, so that the guide wire, the catheter and the drug or the stent are sent to the site, thereby achieving the effect of minimally invasive treatment.

[0003] In the traditional vascular interventional surgery, in order for the doctor to obtain the vascular image information of the patient in time, the doctor needs to perform the surgery for a long time in a radiation environment. In order to successfully perform the intravascular interventional surgery, the operating doctor needs to wear a heavy lead-containing protective suit to prevent the influence of radiation. At the same time, the vascular interventional surgery requires rich clinical experience and high surgical operation skill. In addition, long-term continuous surgery also poses a great challenge to the physical strength of the doctor, which is easy to cause the doctor to feel tired and thus affect the quality of the surgery.

[0004] The use of an intravascular interventional robot can replace the doctor in performing the intravascular interventional surgery at the bedside, so that the doctor is protected from X-ray damage. At the same time, the learning curve of the interventional surgery is reduced, and the situation that the traditional interventional surgery is extremely dependent on the personal experience of the doctor is improved, so that more accurate operation is provided for the vascular interventional surgery.

[0005] When the robot is used to assist the vascular interventional surgery, the rotation, advancement and retraction of the guide wire by the robot are one of the most core functions. The operation of the guide wire is one of the core contents of the vascular interventional surgery, which determines the quality of the surgery. At present, the main form of the translational guide wire feeding mechanism is that a motor drives a driven guide wheel to rotate, a driven guide wheel clamps the guide wire, and the main and driven guide wheels roll to realize the translational motion of the guide wire. During the rolling and feeding of the guide wheels, the guide wire is prone to slip and come out of the guide wheel, causing the guide wire feeding to stop. SUMMARY

[0006] In order to solve the problems in the prior art, the present application provides a guide wire control device for a vascular interventional robot and a control method, which can realize the rotation and feeding of the guide wire in the blood vessel, can avoid the slipping and coming out of the guide wire during the rolling and feeding of the guide wheel in the prior art, and can make the surgical operation more accurate and smooth.

[0007] In order to achieve the above-mentioned purpose, one aspect of the present application provides a guide wire control device for a vascular interventional robot, comprising a lead screw with opposite screw threads at left and right ends, the lead screw being capable of rotating under the action of a first driving mechanism, a first wire feeding slider and a second wire feeding slider being threadedly connected with the left and right ends of the lead screw respectively, the first wire feeding slider and the second wire feeding slider being capable of sliding along a slide rail provided on a base plate when the lead screw rotates, and each of the first wire feeding slider and the second wire feeding slider being provided with a controllable elastic deformation device capable of clamping a guide wire when controlled.

[0008] In some embodiments, each of the first wire feeding slider and the second wire feeding slider is provided with a gear positioning and supporting structure, a first wire rotating gear and a second wire rotating gear being positioned and supported by the gear positioning and supporting structure, the first wire rotating gear and the second wire rotating gear being capable of rotating relative to the first wire feeding slider and the second wire feeding slider respectively when driven, and each of the first wire rotating gear and the second wire rotating gear being provided with the controllable elastic deformation device.

[0009] In some embodiments, the first wire feeding slider comprises two oppositely arranged side plates, namely a first side plate and a second side plate, the first side plate and / or the second side plate being provided with a gear positioning and supporting structure, a bottom plate being connected between the first side plate and the second side plate, the bottom plate being matched with the slide rail, each of the first side plate and the second side plate being provided with a threaded hole at a corresponding position, and the thread in the threaded hole being matched with the thread of the left end of the lead screw; the thread in the threaded hole of the second wire feeding slider being matched with the thread of the right end of the lead screw, and the remaining structure being the same as that of the first wire feeding slider.

[0010] In some embodiments, one or two spline shafts are further included, when two spline shafts are included, the two spline shafts are arranged at front and rear sides of the lead screw, the left and right ends of each spline shaft penetrating through through holes in the first wire feeding slider and the second wire feeding slider respectively, the first wire feeding slider and the second wire feeding slider being guided by the spline shaft when moving along the slide rail, at least one spline shaft being provided between the first side plate and the second side plate in the first wire feeding slider and / or the second wire feeding slider, a transmission gear being provided on the spline shaft, the transmission gear being capable of moving left and right along the spline shaft and rotating under the action of the spline shaft when driven by the corresponding first wire feeding slider or second wire feeding slider, the transmission gear being engaged with the corresponding first wire rotating gear or second wire rotating gear, and each spline shaft being capable of rotating under the action of a corresponding second driving mechanism, the first wire rotating gear and / or the second wire rotating gear being capable of rotating when the spline shaft is driven to rotate.

[0011] In some embodiments, the first driving mechanism includes a first input bevel gear rotatably connected to the base plate, the first input bevel gear is meshed with a first driving bevel gear rotatably connected to a mounting plate, the mounting plate is arranged on the base plate, the first driving bevel gear is connected to the lead screw, and when the first input bevel gear is driven to rotate, the lead screw can be rotated; when two spline shafts are included, two second driving mechanisms are correspondingly provided, and the structure of the second driving mechanism is as follows: it includes a second input bevel gear rotatably connected to the base plate, the second input bevel gear is meshed with a second driving bevel gear rotatably connected to the mounting plate, the second driving bevel gear is connected to the spline shaft, and when the second input bevel gear is driven to rotate, the spline shaft can be rotated.

[0012] In some embodiments, the structure of the controllable elastic deformation device is as follows: it includes an elastic deformation structure capable of clamping the guide wire when deformed, and an extrusion mechanism disposed on both sides of the elastic deformation structure and capable of deforming the elastic deformation structure.

[0013] In some embodiments, the squeezing mechanism squeezes the elastic deformation structure to cause it to deform when power is on or off.

[0014] In some embodiments, the left and right sides of the first wire rotating gear and the second wire rotating gear are respectively provided with a first electrode sheet as a positive electrode and a second electrode sheet as a negative electrode, and the positive and negative electrodes of the extrusion mechanism are respectively connected to the first electrode sheet and the second electrode sheet through wires. When the first wire rotating gear and the second wire rotating gear rotate, the first electrode sheet is always in contact with the first rotating electrode spring sheet provided on the corresponding first side vertical plate, and the second electrode sheet is always in contact with the second rotating electrode spring sheet provided on the corresponding second side vertical plate. A first wiring groove and a second wiring groove are respectively provided on the first side vertical plate and the second side vertical plate. The first rotating electrode spring sheet is connected to the first translation electrode spring sheet provided on the bottom plate through a wire arranged in the first wiring groove, and the second rotating electrode spring sheet is connected to the second translation electrode spring sheet provided on the bottom plate through a wire arranged in the second wiring groove. The first translation electrode spring sheet is always in contact with a slide rail made of conductive material as the positive electrode, and the second translation electrode spring sheet is always in contact with a slide rail made of conductive material as the negative electrode, and each slide rail is used to connect to an external power supply.

[0015] In some embodiments, the first rotation gear and the second rotation gear are notch gears, and two limiting structures are arranged on each of the first rotation gear and the second rotation gear when the notch is large enough to prevent a full rotation, and the two limiting structures are respectively used to limit the limit positions of the clockwise and counterclockwise rotation of the corresponding first rotation gear or second rotation gear, so that the first rotation gear and the second rotation gear cannot continue to rotate after rotating to the notch.

[0016] Another aspect of the present application provides a guide wire control method for a vascular intervention robot, which is based on the guide wire control device for the vascular intervention robot, and includes the following steps when translational wire feeding is required:

[0017] Step 1: loading the guide wire when the controllable elastic deformation devices are not deformed and are in the initial state;

[0018] Step 2: clamping the guide wire by controlling one of the controllable elastic deformation devices, which is recorded as the first controllable elastic deformation device, and then driving the lead screw to rotate, so that the first wire feeding slider moves left or right, and the second wire feeding slider moves right or left;

[0019] Step 3: when the first wire feeding slider and the second wire feeding slider move to the corresponding limit stroke positions, the first controllable elastic deformation device is controlled to release the guide wire, another controllable elastic deformation device is controlled to clamp the guide wire, which is recorded as the second controllable elastic deformation device, and then the lead screw is driven to rotate in the opposite direction to the previous rotation direction, so that the first wire feeding slider and the second wire feeding slider move in the opposite direction to the previous movement direction, respectively, until the first wire feeding slider and the second wire feeding slider move to the corresponding limit stroke positions;

[0020] Step 4: controlling the second controllable elastic deformation device to release the guide wire, and controlling the first controllable elastic deformation device to clamp the guide wire, and then repeating steps 2-3 to realize the continuous translation of the guide wire in one direction;

[0021] When the guide wire needs to be rotated, the following steps are included:

[0022] Step 1: loading the guide wire when the controllable elastic deformation devices are not deformed and are in the initial state;

[0023] Step 2: clamping the guide wire by controlling at least one controllable elastic deformation device, and recording the two controllable elastic deformation devices as the first controllable elastic deformation device and the second controllable elastic deformation device, respectively, when both of the two controllable elastic deformation devices are controlled to clamp the guide wire, jumping to step 31; when the first controllable elastic deformation device is controlled to clamp the guide wire, jumping to step 32;

[0024] Step 31: driving the first rotation gear and the second rotation gear to rotate in the same direction at the same time to realize the rotation of the guide wire;

[0025] Step 32, divided into the following four cases: first, drive the first wire rotating gear corresponding to the first controllable elastic deformation device to rotate to realize the rotation of the guide wire;

[0026] Second, alternately control the first controllable elastic deformation device and the second controllable elastic deformation device to clamp the guide wire, at this time drive the first wire rotating gear and the second wire rotating gear to rotate in the same direction at the same time or alternately drive the first wire rotating gear and the second wire rotating gear to rotate in the same direction, that is, when the first controllable elastic deformation device clamps the guide wire, drive the first wire rotating gear corresponding to the first controllable elastic deformation device to rotate to realize the rotation of the guide wire;

[0027] Third, when the first wire rotating gear and the second wire rotating gear have no gap, or have a small gap that does not affect the whole circle rotation of the first wire rotating gear and the second wire rotating gear, drive the first wire rotating gear and the second wire rotating gear to rotate in opposite directions, then control the first controllable elastic deformation device to release the guide wire, control the second controllable elastic deformation device to clamp the guide wire, drive the first wire rotating gear and the second wire rotating gear to rotate in opposite directions respectively, then control the first controllable elastic deformation device to clamp the guide wire, control the second controllable elastic deformation device to release the guide wire, and repeat the above operation to realize the continuous rotation of the guide wire in one direction;

[0028] Fourth, when the first wire rotating gear and the second wire rotating gear have a gap that is too large to realize whole circle rotation, two limiting structures are arranged on the first wire rotating gear and the second wire rotating gear respectively, which are used to limit the limit positions of the clockwise and counterclockwise rotation of the corresponding first wire rotating gear or second wire rotating gear, so that the first wire rotating gear and the second wire rotating gear cannot continue to rotate after reaching the gap, drive the first wire rotating gear and the second wire rotating gear to rotate in opposite directions, when reaching the corresponding limit position, control the first controllable elastic deformation device to release the guide wire, control the second controllable elastic deformation device to clamp the guide wire, then drive the first wire rotating gear and the second wire rotating gear to rotate in opposite directions respectively, until reaching the corresponding limit position, then control the first controllable elastic deformation device to clamp the guide wire, control the second controllable elastic deformation device to release the guide wire, and repeat the above operation to realize the continuous rotation of the guide wire in one direction;

[0029] When it is necessary to simultaneously realize the translational wire feeding and the rotating guide wire, the related steps of the translational wire feeding and the related steps of the rotating guide wire can be performed at the same time, wherein in the related steps of the rotating guide wire, the scheme of alternately controlling the first controllable elastic deformation device and the second controllable elastic deformation device to clamp the guide wire in the translational wire feeding is selected.

[0030] The beneficial effects of this scheme of the present application are that the above-mentioned guide wire control device for vascular interventional robot and control method can realize the rotation and feeding action of the guide wire in the blood vessel, can avoid the phenomenon of slipping and guide wire falling out when the guide wheel rolls the guide wire in the prior art, makes the operation precision higher and the operation more smooth; in addition, the doctor can realize the motion control of the guide wire through the remote control device, which can avoid the harm of long-term radiation to the body. BRIEF DESCRIPTION OF DRAWINGS

[0031] Figure 1 A structure schematic diagram of a guide wire control device for vascular interventional robot in an embodiment is shown.

[0032] Figure 2 A structure schematic diagram of a guide wire control device for vascular interventional robot in another embodiment is shown.

[0033] Figure 3 A structure schematic diagram of another angle of Figure 2 is shown.

[0034] Figure 4 A partial structure schematic diagram of Figure 2 is shown.

[0035] Figure 5 A state diagram when the first guide wire rotating gear and the second guide wire rotating gear rotate is shown.

[0036] Figure 6 A state diagram when the first guide wire feeding slider and the second guide wire feeding slider are respectively located at the left limit position and the right limit position is shown.

[0037] Figure 7 A state diagram when the first guide wire feeding slider and the second guide wire feeding slider are respectively located at the right limit position and the left limit position is shown.

[0038] Figure 8 A structure schematic diagram of a guide wire control device for vascular interventional robot in a third embodiment is shown.

[0039] Figure numerals: 1-base plate, 2-mounting plate, 3-first input bevel gear, 4-first drive bevel gear, 5-lead screw, 6-first wire feeding slider, 7-second wire feeding slider, 8-gear positioning roller, 9-first wire rotating gear, 10-second wire rotating gear, 11-slide rail, 12-first translation electrode spring, 13-second translation electrode spring, 14-first wiring groove, 15-first rotating electrode spring, 16-first electrode sheet, 17-push-pull electromagnet , 18-elastic deformation structure, 19-elastic sheet, 20-limiting pin, 21-spline shaft, 22-transmission gear, 23-support guide sleeve, 24-second input bevel gear, 25-second drive bevel gear, 26-first support plate, 27-second support plate, 28-first mounting bracket, 29-second mounting bracket, 601-first side vertical plate, 602-second side vertical plate, 603-bottom plate, 604-threaded hole, 605-through hole, 100-guide wire. DETAILED DESCRIPTION

[0040] The specific implementation of this application will be further described below with reference to the accompanying drawings.

[0041] In the description of the present application, it should be understood that the terms "first", "second", etc. are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as a limitation on the present application.

[0042] like Figure 1 As shown, the guidewire control device for the vascular intervention robot involved in the present application includes a lead screw 5 with opposite rotation directions at the left and right ends. Specifically, the threads at the left and right ends of the lead screw 5 can have the same pitch and the same number of threads. The lead screw 5 can rotate under the action of a first driving mechanism. The first wire feeding slider 6 and the second wire feeding slider 7 are respectively threadedly connected to the left and right ends of the lead screw 5. When the lead screw 5 rotates, the first wire feeding slider 6 and the second wire feeding slider 7 can slide along the slide rail provided on the base plate 1. The first wire feeding slider 6 and the second wire feeding slider 7 are both provided with a controllable elastic deformation device. When controlled, the controllable elastic deformation device can clamp the guide wire 100. Specifically, for the convenience of installation, the first wire feeding slider 6 and the second wire feeding slider 7 are respectively provided with a controllable elastic deformation device via the first mounting bracket 28 and the second mounting bracket 29. The above device can realize the translational wire feeding of the guide wire 100.

[0043] In some embodiments, the first driving mechanism includes a first input bevel gear 3 rotatably connected to the base plate 1, the first input bevel gear 3 is engaged with a first driving bevel gear 4 rotatably connected to the mounting plate 2, the mounting plate 2 is arranged on the base plate 1, and the first driving bevel gear 4 is connected to the lead screw 5, and when the first input bevel gear 3 is driven to rotate, the lead screw 5 can be rotated.

[0044] In order to have the function of rotating the guide wire 100, as Figures 2-8 As shown, the guidewire control device for the vascular intervention robot involved in the present application is provided with a gear positioning support structure on the first wire feeding slider 6 and the second wire feeding slider 7. Specifically, the gear positioning support structure can adopt a plurality of gear positioning rollers 8. The first wire rotating gear 9 and the second wire rotating gear 10 respectively located on the first wire feeding slider 6 and the second wire feeding slider 7 are positioned and supported by the gear positioning support structure. When the first wire rotating gear 9 and the second wire rotating gear 10 are driven, they can rotate relative to the first wire feeding slider 6 and the second wire feeding slider 7 respectively. The controllable elastic deformation device is provided on the first wire rotating gear 9 and the second wire rotating gear 10. When controlled, the controllable elastic deformation device can clamp the guidewire 100.

[0045] In some embodiments, the first wire feed slider 6 includes two side uprights arranged opposite to each other, respectively designated as a first side upright 601 and a second side upright 602. A gear positioning support structure is provided on the first side upright 601 and / or the second side upright 602. A bottom plate 603 is connected between the first side upright 601 and the second side upright 602. The bottom plate 603 cooperates with the slide rail 11. Threaded holes 604 are provided at corresponding positions of the first side upright 601 and the second side upright 602. The threads in the threaded holes 604 cooperate with the threads at the left end of the lead screw 5. The threads in the threaded holes in the second wire feed slider 7 cooperate with the threads at the right end of the lead screw 5. The remaining structure is the same as that of the first wire feed slider 6.

[0046] In order to realize that the first wire rotating gear 9 and the second wire rotating gear 10 can rotate relative to the first wire feeding slider 6 and the second wire feeding slider 7 respectively when they are driven, the vascular interventional robot guide wire control device further comprises one or two spline shafts 21, when two spline shafts 21 are included, the two spline shafts 21 are respectively arranged on the front and rear sides of the lead screw 5, the left and right ends of each spline shaft 21 respectively pass through the through holes 605 on the first wire feeding slider 6 and the second wire feeding slider 7, and the spline shaft 21 can guide when the first wire feeding slider 6 and the second wire feeding slider 7 move along the slide rail 11. At least one spline shaft 21 between the first side stand 601 and the second side stand 602 in the first wire feeding slider 6 and / or the second wire feeding slider 7 is provided with a transmission gear 22, the transmission gear 22 can move left and right along the spline shaft 21 under the drive of the corresponding first wire feeding slider 6 or the second wire feeding slider 7, and can rotate under the action of the spline shaft 21, the transmission gear 22 is engaged with the corresponding first wire rotating gear 9 or the second wire rotating gear 10, and each spline shaft 21 can rotate under the action of the corresponding second driving mechanism. When the spline shaft 21 is driven to rotate, the first wire rotating gear 9 and / or the second wire rotating gear 10 can be rotated to realize the rotation of the guide wire 100. In order to make the structure more stable, when the spline shaft 21 between the first side stand 601 and the second side stand 602 in the first wire feeding slider 6 and the second wire feeding slider 7 is not provided with the transmission gear 22, a support guide bushing 23 is arranged on the spline shaft 21 at this position, which plays a supporting and guiding role for the first wire feeding slider 6 and the second wire feeding slider 7.

[0047] When two spline shafts 21 are included, two second driving mechanisms are correspondingly arranged, and the second driving mechanism has the following structure: a second input bevel gear 24 is rotationally connected with the base plate 1, the second input bevel gear 24 is engaged with a second driving bevel gear 25 which is rotationally connected with the mounting plate 2, and the second driving bevel gear 25 is connected with the spline shaft 21, so that the spline shaft 21 can be driven to rotate when the second input bevel gear 24 is driven to rotate.

[0048] In order to make the structure more stable, the first support plate 26 and the second support plate 27 are respectively arranged at the left and right ends of the base plate 1, and the two ends of the lead screw 5 and the spline shaft 21 are rotationally connected with the first support plate 26 and the second support plate 27.

[0049] In some embodiments, the controllable elastic deformation device has the following structure: an elastic deformation structure 18 for clamping the guide wire 100 when deformed, and a pressing mechanism arranged on both sides of the elastic deformation structure 18 and capable of deforming the elastic deformation structure 18. The elastic deformation structure 18 is provided with a guide hole or a guide groove for the guide wire 100. Since the guide wire control device for the vascular interventional robot is used in cooperation with other equipment in use, the other equipment also has a positioning effect on the guide wire 100, so that the guide wire 100 will not fall off. Therefore, in the present application, the situation that the guide wire 100 falls off from the elastic deformation structure 18 when the first wire rotating gear 9 and / or the second wire rotating gear 10 rotates is not considered. The pressing mechanism deforms the elastic deformation structure 18 by pressing it when powered on or powered off. Specifically, the pressing mechanism can be a push-pull electromagnet 17 or a shape memory alloy that can be controlled to contract by electric current. When the push-pull electromagnet 17 is powered on, the push rod is pushed out to press the elastic deformation structure 18, so that the elastic deformation structure 18 deforms and clamps the guide wire 100. When the push-pull electromagnet 17 is powered off, the push rod is pulled back to the initial state by the spring. At this time, the elastic deformation structure 18 is in the initial relaxed state, and the guide wire 100 is not clamped. In order to make the clamping effect better, an elastic sheet 19 can also be arranged on the elastic deformation structure 18. The hardness of the elastic sheet 19 is less than that of the elastic deformation structure 18, and the guide wire 100 is arranged on the elastic sheet 19.

[0050] The application adopts a conductive mode of slip ring design to control the on-off electricity of the extrusion mechanism, including but not limited to a plane slip ring and a cylindrical surface slip ring, and the specific structure is as follows: the left and right sides of the first wire rotating gear 9 and the second wire rotating gear 10 are respectively provided with a first electrode sheet 16 as a positive electrode and a second electrode sheet as a negative electrode, the positive electrode and the negative electrode of the extrusion mechanism are connected with the first electrode sheet 16 and the second electrode sheet through wires, when the first wire rotating gear 9 and the second wire rotating gear 10 rotate, the first electrode sheet 16 is always in contact with the first rotating electrode spring 15 arranged on the corresponding first side stand plate 601, and the second electrode sheet is always in contact with the second rotating electrode spring arranged on the corresponding second side stand plate 602, the first side stand plate 601 and the second side stand plate 602 are respectively provided with a first wire slot 14 and a second wire slot, the first rotating electrode spring 15 is connected with the first translation electrode spring 12 arranged on the bottom plate 603 through the wire arranged in the first wire slot 14, and the second rotating electrode spring is connected with the second translation electrode spring 13 arranged on the bottom plate 603 through the wire arranged in the second wire slot, the first translation electrode spring 12 is always in contact with a slide rail made of a conductive material as a positive electrode, and the second translation electrode spring 13 is always in contact with a slide rail made of a conductive material as a negative electrode, and each slide rail is used to be connected with an external power supply. Such a design can realize the on-off electricity of the extrusion mechanism stably, and prevent the wires from affecting the first wire feeding slider 6 and the second wire feeding slider 7 during the sliding process.

[0051] In order to reduce the size and weight of the device, and also facilitate the placement of the guide wire 100, the first wire rotating gear 9 and the second wire rotating gear 10 can adopt a notched gear, for example, a half gear, when the notch is large, two limiting structures, for example, limiting pins 20, are arranged on the first wire rotating gear 9 and the second wire rotating gear 10, and the two limiting structures are respectively used to limit the limit positions of the clockwise and counterclockwise rotation of the corresponding first wire rotating gear 9 or second wire rotating gear 10, so that the first wire rotating gear 9 and the second wire rotating gear 10 cannot continue to rotate after rotating to the notch, and specifically, the two limiting structures can be used in cooperation with the corresponding gear positioning support structure. In order to enable the guide wire 100 to rotate continuously to meet the use requirements in some cases, two spline shafts 21 are adopted, respectively marked as a first spline shaft and a second spline shaft, a transmission gear 22 is arranged on the first spline shaft between the first side stand plate 601 and the second side stand plate 602 in the first wire feeding slider 6, a transmission gear 22 is arranged on the second spline shaft between the first side stand plate 601 and the second side stand plate 602 in the second wire feeding slider 7, and the rotation directions of the two spline shafts are always opposite, and the continuous rotation of the guide wire 100 can be realized by alternately controlling the two controllable elastic deformation devices to clamp the guide wire 100, as shown in Figure 2 ​

[0052] As Figure 8 shown, when the gap is small, the first wire rotating gear 9 and the second wire rotating gear 10 can be continuously rotated by the transmission gear 22, and the limiting structure can also not be arranged at the gap position of the first wire rotating gear 9 and the second wire rotating gear 10.

[0053] The wire control method for the vascular interventional robot disclosed in the present application comprises the following steps:

[0054] 1) When the wire needs to be translated horizontally

[0055] Step 1, when the controllable elastic deformation devices are not deformed and are in the initial state, the guide wire 100 is loaded.

[0056] Step 2, one of the controllable elastic deformation devices is controlled to clamp the guide wire 100, which is recorded as the first controllable elastic deformation device, and then the lead screw 5 is driven to rotate, so that the first wire feeding slider 6 moves left or right, and the second wire feeding slider 7 moves right or left.

[0057] Step 3, when the first wire feeding slider 6 and the second wire feeding slider 7 move to the corresponding limit stroke position, the first controllable elastic deformation device is controlled to release the guide wire 100, another controllable elastic deformation device is controlled to clamp the guide wire 100, which is recorded as the second controllable elastic deformation device, and then the lead screw 5 is driven to rotate in the opposite direction of the previous rotation direction, so that the first wire feeding slider 6 and the second wire feeding slider 7 move in the opposite direction of the previous moving direction, respectively, until the first wire feeding slider 6 and the second wire feeding slider 7 move to the corresponding limit stroke position.

[0058] Step 4, the second controllable elastic deformation device is controlled to release the guide wire 100, and the first controllable elastic deformation device is controlled to clamp the guide wire 100, and then steps 2-3 are repeated to realize the continuous translation of the guide wire 100 in one direction.

[0059] 2) When the guide wire needs to be rotated

[0060] Step 1, when the controllable elastic deformation devices are not deformed and are in the initial state, the guide wire 100 is loaded.

[0061] Step 2, at least one controllable elastic deformation device is controlled to clamp the guide wire 100, and the two controllable elastic deformation devices are recorded as the first controllable elastic deformation device and the second controllable elastic deformation device, respectively, when both of the two controllable elastic deformation devices are controlled to clamp the guide wire 100, jump to step 31; when the first controllable elastic deformation device is controlled to clamp the guide wire 100, jump to step 32.

[0062] Step 31, drive the first wire rotation gear 9 and the second wire rotation gear 10 to rotate in the same direction at the same time to realize the rotation of the guide wire 100.

[0063] Specifically, the driving of the first wire rotation gear 9 and the second wire rotation gear 10 to rotate in the same direction at the same time in step 31 can be realized by the spline shaft 21 and the transmission gear 22.

[0064] Step 32, divided into the following four cases: first, drive the first wire rotation gear 9 corresponding to the first controllable elastic deformation device to rotate to realize the rotation of the guide wire 100.

[0065] Second, alternately control the first controllable elastic deformation device and the second controllable elastic deformation device to clamp the guide wire 100, at this time, drive the first wire rotation gear 9 and the second wire rotation gear 10 to rotate in the same direction at the same time or alternately drive the first wire rotation gear 9 and the second wire rotation gear 10 to rotate in the same direction (that is, when the first controllable elastic deformation device is controlled to clamp the guide wire 100, drive the first wire rotation gear 9 corresponding to the first controllable elastic deformation device to rotate), to realize the rotation of the guide wire 100.

[0066] Third, when the first wire rotation gear 9 and the second wire rotation gear 10 have no gap, or have a small gap that does not affect the whole rotation of the first wire rotation gear 9 and the second wire rotation gear 10, drive the first wire rotation gear 9 and the second wire rotation gear 10 to rotate in opposite directions, then control the first controllable elastic deformation device to release the guide wire 100, control the second controllable elastic deformation device to clamp the guide wire 100, drive the first wire rotation gear 9 and the second wire rotation gear 10 to rotate in opposite directions respectively, then control the first controllable elastic deformation device to clamp the guide wire 100, control the second controllable elastic deformation device to release the guide wire 100, and repeat the above operation to realize the continuous rotation of the guide wire 100 in one direction.

[0067] Fourth, when the first wire rotation gear 9 and the second wire rotation gear 10 have a larger gap, drive the first wire rotation gear 9 and the second wire rotation gear 10 to rotate in opposite directions, when rotating to the corresponding limit stroke position, control the first controllable elastic deformation device to release the guide wire 100, control the second controllable elastic deformation device to clamp the guide wire 100, then drive the first wire rotation gear 9 and the second wire rotation gear 10 to rotate in opposite directions respectively until the corresponding limit stroke position, then control the first controllable elastic deformation device to clamp the guide wire 100, control the second controllable elastic deformation device to release the guide wire 100, and repeat the above operation to realize the continuous rotation of the guide wire 100 in one direction.

[0068] Specifically, the driving of the first wire rotating gear 9 and the second wire rotating gear 10 in step 32 can be realized by the spline shaft 21 and the transmission gear 22.

[0069] 3) When it is required to simultaneously realize the translational wire feeding and the rotational wire guiding, the relevant steps of the translational wire feeding and the relevant steps of the rotational wire guiding can be simultaneously performed, wherein in the relevant steps of the rotational wire guiding, the scheme of alternately controlling the first controllable elastic deformation device and the second controllable elastic deformation device to clamp the wire 100 in the translational wire feeding is selected.

[0070] The wire guiding control device and the control method for the vascular interventional robot disclosed in the present application can realize the rotating and feeding actions of the wire in the blood vessel. Since the wire is clamped by the controllable elastic deformation device during the wire feeding and the wire rotating, the phenomenon of the wire slipping during the wire feeding and the wire being pulled out of the wire feeding mechanism during the wire feeding can be avoided, the precision of the wire feeding is effectively improved, the failure rate of the wire feeding process is effectively reduced, the operation precision is higher, and the operation is more smooth. In addition, the doctor can realize the motion control of the wire by the remote operation device, the harm of the long-time radiation to the body can be avoided.

[0071] The above is only the preferred specific implementation manner of the present application, but the protection scope of the present application is not limited to this. Any person skilled in the art can make equivalent replacement or change according to the technical scheme and the concept of the present application within the technical range disclosed in the present application, which should be covered in the protection scope of the present application.

Claims

1. A guidewire control device for a vascular intervention robot, characterized by: The cam is adapted to move the first and second guide wheels relative to each other when the guide wheels are in a rotational direction relative to each other, and the cam is adapted to move the first and second guide wheels relative to each other when the guide wheels are in a rotational direction relative to each other.

2. The guidewire control device for a vascular intervention robot according to claim 1, characterized in that: The first wire feeding slider includes two side uprights arranged opposite to each other, which are respectively referred to as the first side upright and the second side upright. A gear positioning support structure is provided on the first side upright and / or the second side upright. A bottom plate is connected between the first side upright and the second side upright. The bottom plate cooperates with the slide rail. Threaded holes are provided at corresponding positions of the first side upright and the second side upright. The threads in the threaded holes cooperate with the threads at the left end portion of the lead screw; the threads in the threaded holes in the second wire feeding slider cooperate with the threads at the right end portion of the lead screw. The remaining structure is the same as that of the first wire feeding slider.

3. The guidewire control device for a vascular intervention robot according to claim 2, characterized in that: It also includes one or two spline shafts. When two spline shafts are included, the two spline shafts are arranged on the front and rear sides of the screw, and the left and right ends of each spline shaft respectively pass through the through holes on the first wire feeding slider and the second wire feeding slider. When the first wire feeding slider and the second wire feeding slider move along the slide rail, they can be guided by the spline shaft. A transmission gear is provided on at least one spline shaft between the first side vertical plate and the second side vertical plate in the first wire feeding slider and / or the second wire feeding slider. The transmission gear can move left and right along the spline shaft under the drive of the corresponding first wire feeding slider or the second wire feeding slider, and can rotate under the action of the spline shaft. The transmission gear is meshed with the corresponding first wire rotating gear or the second wire rotating gear, and each spline shaft can rotate under the action of the corresponding second driving mechanism. When the spline shaft is driven to rotate, the first wire rotating gear and / or the second wire rotating gear can be rotated.

4. The guidewire control device for a vascular intervention robot according to claim 3, characterized in that: The first driving mechanism includes a first input bevel gear rotatably connected to the base plate, the first input bevel gear meshes with a first driving bevel gear rotatably connected to a mounting plate, the mounting plate is set on the base plate, the first driving bevel gear is connected to the lead screw, and when the first input bevel gear is driven to rotate, the lead screw can be rotated; when two spline shafts are included, two second driving mechanisms are correspondingly provided, and the structure of the second driving mechanism is as follows: it includes a second input bevel gear rotatably connected to the base plate, the second input bevel gear meshes with a second driving bevel gear rotatably connected to the mounting plate, the second driving bevel gear is connected to the spline shaft, and when the second input bevel gear is driven to rotate, the spline shaft can be rotated.

5. The guidewire control device for a vascular intervention robot according to claim 2, characterized in that: The structure of the controllable elastic deformation device is as follows: it includes an elastic deformation structure capable of clamping the guide wire when deformed, and an extrusion mechanism disposed on both sides of the elastic deformation structure and capable of deforming the elastic deformation structure.

6. The guidewire control device for a vascular intervention robot according to claim 5, characterized in that: The squeezing mechanism squeezes the elastic deformation structure to cause it to deform when power is on or off.

7. The guidewire control device for a vascular intervention robot according to claim 6, characterized in that: The left and right sides of the first wire rotating gear and the second wire rotating gear are respectively provided with a first electrode sheet as a positive electrode and a second electrode sheet as a negative electrode. The positive electrode and the negative electrode of the extrusion mechanism are respectively connected to the first electrode sheet and the second electrode sheet through wires. When the first wire rotating gear and the second wire rotating gear rotate, the first electrode sheet is always in contact with the first rotating electrode spring sheet arranged on the corresponding first side vertical plate, and the second electrode sheet is always in contact with the second rotating electrode spring sheet arranged on the corresponding second side vertical plate. A first wiring groove and a second wiring groove are respectively provided on the first side vertical plate and the second side vertical plate. The first rotating electrode spring sheet is connected to the first translation electrode spring sheet arranged on the bottom plate through a wire arranged in the first wiring groove, and the second rotating electrode spring sheet is connected to the second translation electrode spring sheet arranged on the bottom plate through a wire arranged in the second wiring groove. The first translation electrode spring sheet is always in contact with a slide rail made of conductive material as the positive electrode, and the second translation electrode spring sheet is always in contact with a slide rail made of conductive material as the negative electrode. Each slide rail is used to connect to an external power supply.

8. The guidewire control device for a vascular intervention robot according to claim 1, characterized in that: The first and second wire rotating gears are notched gears. When the notch is too large to achieve a full circle of rotation, two limiting structures are provided on the first and second wire rotating gears. The two limiting structures are used to limit the clockwise and counterclockwise rotation limit positions of the corresponding first and second wire rotating gears, respectively, so that the first and second wire rotating gears cannot continue to rotate after rotating to the notch.

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