Guide mechanism

Abstract

The present invention relates to the field of medical device robot technology, and in particular to a guiding mechanism comprising a main body, a driving mechanism arranged in the main body, and a clamping assembly, wherein the clamping assembly is used to clamp a slender medical device; in the guiding mechanism of the present invention, the driving mechanism and the clamping assembly are arranged in the main body, wherein the driving mechanism comprises a first driving assembly and a second driving assembly, so that the first driving assembly and the second driving assembly can cooperate with each other, and the slender medical device in the clamping assembly can be delivered, rotated, or a combined motion of delivery and rotation can be controlled by planetary gears to realize the movement of the slender medical device in multiple states, so as to solve the problem in the prior art that the delivery mechanism and the rotation mechanism are arranged on two drive mechanisms, resulting in a large number of drive mechanisms and cumbersome operation.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a guiding mechanism. Background Art

[0002] When performing vascular interventional surgery, existing interventional robots use a guiding mechanism to guide the guidewire to facilitate doctors' disassembly and assembly of guidewire catheters. Since the roller group in the guiding mechanism is prone to slipping during guidance, the guiding force is weakened and the guiding force and rotational force required for the operation are not met. The existing delivery mechanism and rotation mechanism are arranged on two drive mechanisms, resulting in more drive mechanisms and cumbersome operation, which brings great interference to the detection of delivery length and delivery resistance of slender medical devices. The existing guiding mechanism is large and heavy, and is not flexible enough when replaced as a consumable. In addition, the large clamping part will waste the effective use length of the slender medical device, increasing the length cost of the slender medical device. Summary of the Invention

[0003] The main purpose of the present invention is to provide a guiding mechanism, which aims to solve the problem that the delivery mechanism and the rotation mechanism of the above-mentioned existing guiding mechanism are arranged on two driving mechanisms, resulting in a large number of driving mechanisms and complicated operation.

[0004] In order to achieve the above-mentioned object, the technical solution of the present invention is as follows: a guiding mechanism, comprising:

[0005] A main body, a driving mechanism disposed in the main body, and a clamping assembly, wherein the clamping assembly is used to clamp an elongated medical device;

[0006] The drive mechanism includes a planetary gear set connected to the clamping assembly, a first drive assembly and a second drive assembly connected to the planetary gear set;

[0007] The first drive assembly cooperates with the second drive assembly to enable the planetary gear set to control the clamping assembly to deliver, rotate, or perform a combined motion of delivering and rotating the elongated medical device.

[0008] According to the above technical solution, in the guide mechanism, the planetary gear set includes a first planetary gear, the first planetary gear includes a first gear, a second gear, and a third gear, the first gear is provided with internal teeth and external teeth, the external teeth of the first gear are connected to the second drive assembly, the second gear is connected to the first drive assembly, one side of the third gear is meshed with the internal teeth of the first gear, and the other side of the third gear is meshed with the second gear;

[0009] When the third gear revolves around the inner teeth of the first gear, the third gear drives the clamping assembly to rotate, so that the clamping assembly rotates the slender medical device.

[0010] Using the above technical solution, in the guiding mechanism, the planetary gear set also includes a second planetary gear, the second planetary gear includes a fourth gear, a fifth gear and a sixth gear, the fourth gear is provided with internal teeth and external teeth, the fourth gear is connected to the second drive assembly, the fifth gear is connected to one side of the clamping assembly, one side of the sixth gear is meshed with the internal teeth of the fourth gear, and the other side of the sixth gear is meshed with the fifth gear.

[0011] According to the above technical solution, in the guide mechanism, the clamping assembly includes a mounting frame connected to the second gear and a roller group slidably connected to the mounting frame, and the roller group is used to clamp and deliver the slender medical device;

[0012] Among them, when the third gear rotates, the third gear drives the roller group to rotate, so that the roller group delivers the slender medical device; when the third gear rotates and revolves, the clamping assembly performs a compound motion of delivery and rotation on the slender medical device.

[0013] Using the above technical solution, in the guiding mechanism, the roller group includes at least one driving wheel and at least one transmission wheel, the driving wheel is connected to the second driving assembly, the driving wheel and the transmission wheel are arranged opposite to each other on the mounting frame, and the driving wheel and the transmission wheel cooperate to deliver and clamp the slender medical device.

[0014] According to the above technical solution, in the guide mechanism, the roller group is further provided with an anti-slip member for increasing friction; the anti-slip member comprises a silicone body provided on the outer surface of the roller group, and the silicone body is provided with a plurality of serrated grooves.

[0015] Using the above technical solution, in the guiding mechanism, the first driving component includes a first motor and a first gear set, one side of the first gear set is connected to the output shaft of the first motor, and the other side of the first gear set is connected to the second gear.

[0016] Using the above technical solution, in the guiding mechanism, the first gear group includes a first bevel gear, a second bevel gear and a first connecting shaft, the first bevel gear is connected to the output shaft of the first motor, the second bevel gear is meshed with the first bevel gear, and the second bevel gear is connected to the second gear through the first connecting shaft.

[0017] Using the above technical solution, in the guiding mechanism, the second driving assembly includes a second motor, a second gear set and a third gear set, the second gear set is connected to the output shaft of the second motor, and the third gear set is respectively connected to the third gear and the sixth gear.

[0018] Using the above technical solution, in the guiding mechanism, the second gear group includes a third bevel gear, a fourth bevel gear, a seventh gear, an eighth gear and a second connecting shaft; the third bevel gear is connected to the output shaft of the second motor, the third bevel gear is meshed with the fourth bevel gear, the seventh gear and the eighth gear are arranged on both sides of the second connecting shaft, the seventh gear is meshed with the external teeth of the first gear, and the eighth gear is meshed with the external teeth of the fourth gear.

[0019] According to the above technical solution, in the guiding mechanism, the third gear set includes a third connecting shaft and at least one fifth bevel gear, and the third connecting shaft is provided for the third gear and the fifth bevel gear to pass through.

[0020] According to the above technical solution, in the guide mechanism, a sixth bevel gear is provided at the bottom of the driving wheel, and the sixth bevel gear is meshedly connected with the fifth bevel gear.

[0021] According to the technical solution, in the guiding mechanism, a first connecting shaft sleeve for preventing falling off is provided between the third connecting shaft and the first connecting shaft, and a second connecting shaft sleeve for preventing falling off is provided between the mounting bracket and the third connecting shaft.

[0022] The beneficial effects brought by the present invention are as follows: In the guiding mechanism of the present invention, the driving mechanism and the clamping assembly are arranged in the main body, wherein the driving mechanism includes a first driving assembly and a second driving assembly, so that the first driving assembly and the second driving assembly can cooperate with each other, and the slender medical device in the clamping assembly can be delivered, rotated, or a combined movement of delivery and rotation by controlling the planetary gear, thereby realizing the movement of the slender medical device in multiple states, so as to solve the problem in the prior art that the delivery mechanism and the rotation mechanism are arranged on two driving mechanisms, resulting in a large number of driving mechanisms and cumbersome operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0024] Figure 2 It is a schematic diagram of the main structure of the present invention;

[0025] Figure 3 It is a schematic structural diagram of the roller assembly of the present invention;

[0026] Figure 4 This is a schematic structural diagram of the first drive assembly of the present invention;

[0027] Figure 5 This is a schematic structural diagram of the first gear set of the present invention;

[0028] Figure 6 This is a schematic diagram of the driving wheel structure of the present invention;

[0029] Figure 7 Schematic diagram of the structure of the third gear set of the present invention;

[0030] Figure 8 Schematic diagram of the second planetary gear structure of the present invention;

[0031] Among them, 1. Main body; 2. Drive mechanism; 3. Clamping assembly; 20. Planetary gear set; 21. First drive assembly; 22. Second drive assembly; 201. First planetary gear; 202. Second planetary gear; 2010. First gear; 2011. Second gear; 2012. Third gear; 2020. Fourth gear; 2021. Fifth gear; 2022. Sixth gear; 30. Mounting frame; 31. Roller assembly; 310. Driving wheel; 311. Transmission wheel; 32. Anti-slip member; 210 , first motor; 211, first gear group; 2110, first bevel gear; 2111, second bevel gear; 220, second motor; 221, second gear group; 222, third gear group; 2210, third bevel gear; 2211, fourth bevel gear; 2212, seventh gear; 2213, eighth gear; 2214, second connecting shaft; 2220, third connecting shaft; 2221, fifth bevel gear; 3100, sixth bevel gear; 10, first connecting sleeve; 11, second connecting sleeve.

[0032] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0033] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like to indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the said features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically defined.

[0035] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they may refer to fixed connections, detachable connections, or integral connections; they may refer to mechanical connections, direct connections, or indirect connections through an intermediate medium; they may refer to internal communication between two components or the interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0036] In the present invention, unless otherwise expressly specified or limited, a first feature being "above" or "below" a second feature may include the first and second features being in direct contact, or may include the first and second features being in contact not directly but through another feature between them. Furthermore, a first feature being "above," "above," and "above" a second feature may include the first feature being directly above or obliquely above the second feature, or may simply mean that the first feature is higher in level than the second feature. A first feature being "below," "below," and "below" a second feature may include the first feature being directly below or obliquely below the second feature, or may simply mean that the first feature is lower in level than the second feature.

[0037] like Figure 1 and Figure 2 As shown, an embodiment of the present application provides a guiding mechanism, comprising:

[0038] A main body 1, a driving mechanism 2 and a clamping assembly 3 arranged in the main body 1, wherein the clamping assembly 3 is used to clamp an elongated medical device;

[0039] The driving mechanism 2 includes a planetary gear set 20 connected to the clamping assembly 3, a first driving assembly 21 and a second driving assembly 22 connected to the planetary gear set 20;

[0040] The first drive assembly 21 cooperates with the second drive assembly 22 to enable the planetary gear set 20 to control the clamping assembly 3 to deliver, rotate, or perform a combined motion of delivering and rotating the elongated medical device.

[0041] In this embodiment, the drive mechanism 2 is configured to drive the clamping assembly 3 to clamp and rotate the slender medical device for delivery. Disposing the drive mechanism 2 and clamping assembly 3 within the main body 1 makes it easier for the drive mechanism 2 to control the clamping assembly 3. Conventional delivery mechanisms for slender medical devices are separated into two drive mechanisms, which increases resistance interference during delivery of the slender medical device. In this embodiment, by providing a single drive mechanism 2, and disposing the drive mechanism 2 within a single main body 1, the provision of a single drive mechanism can reduce resistance during delivery, increase the effective length of the slender medical device, and reduce errors in detecting resistance to delivery of the slender medical device. The first drive assembly 21 and the second drive assembly 22 can drive the planetary gear set 20, causing the planetary gear set 20 to control the rotation and delivery of the connected clamping assembly 3, or a combined rotation and delivery motion. In this embodiment, the slender medical device includes a catheter, a guidewire, etc.

[0042] Specifically, the first drive assembly 21 and the second drive assembly 22 cooperate with each other to control the planetary gear set 20 to deliver, rotate, or perform a combined movement of delivery and rotation on the slender medical device in the clamping assembly 3, thereby realizing the movement of the slender medical device in multiple states, thereby solving the problem in the prior art that the delivery mechanism and the rotation mechanism are respectively arranged on two drive mechanisms 2, resulting in a large number of drive mechanisms 2 and cumbersome operation.

[0043] In one embodiment, the length, width, and height of the main body 1 are 140 mm to 150 mm, 95 mm to 100 mm, and 110 mm to 120 mm, respectively, and the overall weight of the guide mechanism is less than or equal to 1 kg to 1.5 kg. Therefore, the main body 1 is relatively small and lightweight, allowing for the delivery of shorter, slender medical devices through the main body 1. This solves the problem in prior art guide mechanisms of wasting the length of slender medical devices due to the excessive size of the main body 1. mm refers to millimeters, and kg refers to kilograms.

[0044] like Figure 1 and Figure 4As shown, further, the planetary gear set 20 includes a first planetary gear 201, the first planetary gear 201 includes a first gear 2010, a second gear 2011 and a third gear 2012, the first gear 2010 is provided with internal teeth and external teeth, the external teeth of the first gear 2010 are connected to the second drive assembly 22, the second gear 2011 is connected to the first drive assembly 21, one side of the third gear 2012 is meshed with the internal teeth of the first gear 2010, and the other side of the third gear 2012 is meshed with the second gear 2011.

[0045] When the third gear 2012 revolves around the inner teeth of the first gear 2010 , the third gear 2012 drives the clamping assembly 3 to rotate through the second gear 2011 , so that the clamping assembly 3 rotates the slender medical device.

[0046] In this embodiment, the second drive assembly 22 drives the first gear 2010 of the first planetary gear 201, while the first drive assembly 21 drives the second gear 2011 of the first planetary gear 201. This allows the first planetary gear 201 to drive the elongated medical device through the clamping assembly 3 to perform delivery, rotation, or a combination of delivery and rotation. The first drive assembly 21 can drive the second gear 2011 to rotate, causing the second gear 2011 to rotate the third gear 2012. Because the third gear 2012 meshes with the internal teeth of the first gear 2010, the third gear 2012 revolves around the internal teeth of the first gear 2010. When the first gear 2010 and the second gear 2011 rotate simultaneously at the same angular velocity, the third gear 2012 only revolves around the first gear 2010. At this time, the rotation of the second gear 2011 drives the clamping assembly 3 to rotate, causing the clamping assembly 3 to rotate the elongated medical device without delivering it. This meets the requirement for the elongated medical device to rotate without delivering it during interventional procedures.

[0047] like Figure 8 As shown, the planetary gear set 20 further includes a second planetary gear 202, which includes a fourth gear 2020, a fifth gear 2021, and a sixth gear 2022. The fourth gear 2020 is provided with internal and external teeth and is connected to the second drive assembly 22. The fifth gear 2021 is connected to one side of the clamping assembly 3. One side of the sixth gear 2022 is meshed with the internal teeth of the fourth gear 2020, and the other side of the sixth gear 2022 is meshed with the fifth gear 2021.

[0048] In this embodiment, the second planetary gear 202 assists the operation of the first planetary gear 201. The clamping assembly 3 is positioned between the first and second planetary gears 201, ensuring more stable operation. Furthermore, the second planetary gear 202 shares the same structure with the first planetary gear 201, enabling synchronized operation of the second and first planetary gears 202 and 201. This provides greater stability and reliability during the operation of the first planetary gear 201, improving the overall safety of the guide mechanism. The fourth gear 2020 is equipped with external and internal teeth. The sixth gear 2022 is positioned between the fourth gear 2020 and the fifth gear 2021, meshing with each other. When the fifth gear 2021 rotates, it drives the sixth gear 2022 to orbit around the internal teeth of the fourth gear 2020. In this embodiment, the first and second planetary gears 201 and 202 have identical structures. When the first planetary gear 201 is operating, the second planetary gear 202 assists the first planetary gear 201 in synchronous operation. The fourth gear 2020 moves synchronously with the first gear 2010, the fifth gear 2021 moves synchronously with the second gear 2011, and the sixth gear 2022 moves synchronously with the third gear 2012. This arrangement of the second planetary gear 202 reduces the number of drive components, thereby ensuring both stability and miniaturization of the guide mechanism.

[0049] It is worth mentioning that by setting programs for the first drive component 21 and the second drive component 22, the first drive component 21 and the second drive component 22 drive the planetary gear set 20 at different speeds, and the planetary gear set 20 can be controlled to deliver and rotate the slender medical device on the clamping component 3, as well as perform a combined motion of delivery and rotation.

[0050] Specifically, the angular velocity of the first gear 2010 is set to w1, the angular velocity of the second gear 2011 is set to w2, the speed of the meshing point of the first gear 2010 and the third gear 2012 is set to v1, and the speed of the meshing point of the second gear 2011 and the third gear 2012 is set to v2. When w1=w2, that is, the first gear 2010 and the second gear 2011 are in the same direction and the same angular velocity and rotate clockwise, and the third gear 2012 performs a clockwise revolution motion (without self-rotation). At this time, the slender medical device rotates clockwise; when -w1=-w2, the first gear 2010 and the second gear 2011 are in the same direction and the same angular velocity and rotate clockwise. When the first gear 2010 rotates counterclockwise, the third gear 2012 rotates counterclockwise (without self-rotation), and the slender medical device rotates counterclockwise; when -v1=v2, the first gear 2010 rotates counterclockwise, the second gear 2011 rotates clockwise, and the third gear 2012 rotates clockwise (without self-rotation), so that the slender medical device is delivered to the first direction (front); when v1=-v2, the first gear 2010 rotates clockwise, the second gear 2011 rotates counterclockwise, and the third gear 2012 rotates counterclockwise without self-rotation, so that the slender medical device is delivered to the second direction (back); when w1=0, w2 rotates clockwise. When w1=0, w2 rotates counterclockwise, the first gear 2010 does not rotate, the second gear 2011 rotates clockwise, and the third gear 2012 rotates counterclockwise and revolves clockwise, so that the slender medical device is delivered to the first direction (front) and rotates clockwise at the same time, even if the slender medical device performs a compound motion; when w2=0, w3 rotates counterclockwise, the first gear 2010 does not rotate, the second gear 2011 rotates counterclockwise, and the third gear 2012 rotates clockwise and revolves counterclockwise, so that the slender medical device is delivered to the first direction (front) and the second direction (back) and rotates counterclockwise at the same time, even if the slender medical device performs a compound motion; when w2=0, w When w1 = 0, w1 rotates counterclockwise, and the third gear 2012 is in a clockwise orbital and counterclockwise rotation, the slender medical device is delivered in the first direction (forward) while rotating counterclockwise. When w2 = 0, w1 rotates clockwise, and the third gear 2012 is in a counterclockwise orbital and clockwise rotation, the slender medical device is delivered in the second direction (rearward) while rotating clockwise. Thus, when w1 and w2 are not equal to 0, the delivery and rotation of the slender medical device, as well as the combined delivery and rotation motions, can be controlled by controlling the first drive assembly 21 and the second drive assembly 22, achieving the desired delivery of the slender medical device through simple program control. In this embodiment, delivering the elongated medical device in the first direction (forward) refers to delivering the slender medical device into a blood vessel. Conversely, delivering the slender medical device in the second direction (rearward) refers to withdrawing the slender medical device from the blood vessel.

[0051] like Figure 4As shown, further, the clamping assembly 3 includes a mounting frame 30 connected to the second gear 2011 and a roller set 31 slidably connected to the mounting frame 30, and the roller set 31 is used to clamp and deliver the slender medical device.

[0052] In this embodiment, when the third gear 2012 and / or the sixth gear 2022 rotates, the third gear 2012 and / or the sixth gear 2022 drives the third gear set 222 to rotate, and the third gear set 222 drives the meshed sixth bevel gear 3100 to rotate, so that the sixth bevel gear 3100 drives the connected roller set 31 to rotate, thereby causing the roller set 31 to deliver the slender medical device; when the third gear 2012 and / or the sixth gear 2022 rotates and revolves, the clamping assembly 3 performs a compound motion of delivery and rotation on the slender medical device.

[0053] In this embodiment, the mounting frame 30 in the clamping assembly 3 is connected to the second gear 2011 of the first planetary gear 201. When the second gear 2011 rotates, the mounting frame 30 can rotate. A roller assembly 31 is provided on the mounting frame 30. The roller assembly 31 is used to clamp a slender medical device. When the roller assembly 31 rotates, the clamped slender medical device is delivered through friction. Specifically, when the third gear 2012 rotates, the first gear 2010 and the second gear 2011 rotate in opposite directions, causing the third gear 2012 to rotate in place. This in turn drives the roller assembly 31 to rotate, causing the roller assembly 31 to clamp and deliver the slender medical device. Furthermore, the rotation direction of the third gear 2012 can be controlled to control the rotation direction of the roller assembly, thereby controlling the delivery direction of the slender medical device driven by the roller assembly 31, thereby delivering or withdrawing the slender medical device. When the third gear 2012 performs both self-rotation and revolution motion, it indicates that the first gear 2010 and the second gear 2011 are running in the same direction, while the third gear 2012 rotates in the opposite direction to the first gear 2010 and the second gear 2011, so that the third gear 2012 performs both revolution and self-rotation motion simultaneously, thereby enabling the third gear 2012 to drive the mounting frame 30 to rotate through the second gear 2011, and at the same time, the third gear 2012 drives the roller assembly 31 to rotate, thereby achieving the combined motion of delivery and rotation of the slender medical device.

[0054] like Figure 7As shown, further, the roller group 31 includes at least one driving wheel 310 and at least one transmission wheel 311, the driving wheel 310 is connected to the second driving component 22, and the transmission wheel 311 is arranged on the mounting frame 30, and the driving wheel 310 cooperates with the transmission wheel 311 to deliver and clamp the slender medical device.

[0055] In this embodiment, the driving wheel 310 can be connected to the second driving assembly 22. The second driving assembly 22 drives the sixth bevel gear 3100 at the bottom of the driving wheel 310 to rotate, and the sixth bevel gear 3100 drives the driving wheel 310 to rotate. The slender medical device is clamped between the driving wheel 310 and the transmission wheel 311. When the driving wheel 310 rotates, the slender medical device can be clamped and delivered under the friction force between the driving wheel 310 and the transmission wheel 311, and the rotation direction of the driving wheel 310 can be controlled by the driving mechanism 2, thereby controlling the delivery direction of the slender medical device, so that the slender medical device can be delivered forward or backward.

[0056] like Figure 3 As shown, further, the roller assembly 31 is further provided with an anti-slip member 32 for increasing friction; the anti-slip member 32 includes a silicone body provided on the outer surface of the roller assembly 31, and the silicone body is provided with a plurality of serrated grooves.

[0057] In this embodiment, by providing an anti-slip member 32 for increasing friction on the roller group 31, the slender medical device can be stably delivered between the active wheel 310 and the transmission wheel 311, and the mounting frame 30 can be prevented from slipping and falling during rotation. By providing a silicone body on the outer surface of the active wheel 310 and the transmission wheel 311, and providing a number of serrated grooves on each silicone body, the friction of the active wheel 310 and the transmission wheel 311 on the slender medical device is increased, thereby solving the problem in the prior art that the clamping assembly 3 is prone to slipping when delivering the slender medical device, resulting in the delivery force and rotational force required for the surgery not being achieved when delivering the slender medical device.

[0058] like Figure 4 As shown, further, the first driving assembly 21 includes a first motor 210 and a first gear set 211 , one side of the first gear set 211 is connected to the output shaft of the first motor 210 , and the other side of the first gear set 211 is connected to the second gear 2011 .

[0059] In this embodiment, the output end of the first motor 210 drives the first gear set 211 to rotate, so that the first gear set 211 drives the second gear 2011 connected to the first planetary gear 201 to rotate, so that the second gear 2011 drives the mounting frame 30 to rotate, and the mounting frame 30 drives the slender medical device on the roller set 31 to clamp and rotate.

[0060] like Figure 5 As shown, further, the first gear set 211 includes a first bevel gear 2110, a second bevel gear 2111 and a first connecting shaft (not shown), the first bevel gear 2110 is connected to the output shaft of the first motor 210, the second bevel gear 2111 is meshed with the first bevel gear 2110, and the second bevel gear 2111 is connected to the second gear 2011 through the first connecting shaft.

[0061] In this embodiment, the output end of the first motor 210 drives the first bevel gear 2110 to rotate, the first bevel gear 2110 drives the second bevel gear 2111 to rotate, and the second bevel gear 2111 drives the second gear 2011 to rotate through the first connecting shaft, so that the second gear 2011 drives the mounting frame 30 to rotate, and the mounting frame 30 drives the slender medical device on the roller assembly 31 to clamp and rotate.

[0062] like Figure 5 As shown, further, the second driving assembly 22 includes a second motor 220, a second gear set 221 and a third gear set 222, the second gear set 221 is connected to the output shaft of the second motor 220, and the third gear set 222 is respectively connected to the third gear 2012 and the sixth gear 2022.

[0063] In this embodiment, the output end of the second motor 220 drives the second gear set 221 to rotate, and the second gear set 221 can drive the first gear 2010 to rotate, and then the first gear 2010 drives the third gear 2012 to rotate, and the second gear set 221 drives the fourth gear 2020 to rotate, and the fourth gear 2020 drives the sixth gear 2022 to rotate, so that the third gear 2012 and the sixth gear 2022 drive the roller set 31 to rotate, thereby achieving the clamping and delivery of the slender medical device in the roller set 31.

[0064] like Figure 5 and Figure 6 As shown, further, the second gear set 221 includes a third bevel gear 2210, a fourth bevel gear 2211, a seventh gear 2212, an eighth gear 2213 and a second connecting shaft 2214, the third bevel gear 2210 is connected to the output shaft of the second motor 220, the third bevel gear 2210 is meshed with the fourth bevel gear 2211, the seventh gear 2212 and the eighth gear 2213 are arranged on both sides of the second connecting shaft 2214, the seventh gear 2212 is meshed with the external teeth of the first gear 2010, and the eighth gear 2213 is meshed with the external teeth of the fourth gear 2020.

[0065] In this embodiment, the output shaft of the second motor 220 drives the third bevel gear 2210 to rotate, and the third bevel gear 2210 drives the fourth bevel gear 2211 to rotate. The fourth bevel gear 2211 is sleeved on the second connecting shaft 2214, and the seventh gear 2212 and the eighth gear 2213 are sleeved on the left and right sides of the second connecting shaft 2214, so that the fourth bevel gear 2211 drives the seventh gear 2212 and the eighth gear 2213 to rotate synchronously through the second connecting shaft 2214, the seventh gear 2212 drives the first gear 2010 to rotate through the outer teeth of the first gear 2010, and the eighth gear 2213 drives the fourth gear 2020 to rotate through the outer teeth of the fourth gear 2020, thereby making the first planetary gear 201 and the second planetary gear 202 operate synchronously.

[0066] like Figure 7 As shown, further, the third gear set 222 includes a third connecting shaft 2220 and at least one fifth bevel gear 2221 , and the third connecting shaft 2220 is for the third gear 2012 and the fifth bevel gear 2221 to pass through.

[0067] In this embodiment, the third gear set 222 is connected to the third gear 2012 and the sixth gear 2022. Specifically, the two ends of the third connecting shaft 2220 of the third gear set 222 are connected to the third gear 2012 and the sixth gear 2022, and the third gear 2012 is provided with a fifth bevel gear 2221, thereby driving the fifth bevel gear 2221 to rotate through the third connecting shaft 2220.

[0068] like Figure 6 As shown, further, a sixth bevel gear 3100 is provided at the bottom of the driving wheel 310 , and the sixth bevel gear 3100 is meshedly connected with the fifth bevel gear 2221 .

[0069] In this embodiment, the fifth bevel gear 2221 drives the sixth bevel gear 3100 to rotate, so that the sixth bevel gear 3100 drives the driving wheel 310 to rotate, so that the driving wheel 310 can clamp and deliver the slender medical device by cooperating with the transmission wheel 311.

[0070] like Figure 4 As shown, further, a first connecting shaft sleeve 10 for preventing from falling off is provided between the third connecting shaft 2220 and the first connecting shaft, and a second connecting shaft sleeve 11 for preventing from falling off is provided between the mounting bracket 30 and the third connecting shaft 2220 .

[0071] In this embodiment, the first connecting sleeve 10 is provided with a first through hole and a second through hole, and the second connecting sleeve 11 is provided with a third through hole and a fourth through hole; the first through hole and the third through hole are arranged relative to each other for the first connecting shaft to pass through, and the second through hole and the fourth through hole are arranged relative to each other for the third connecting shaft 2220 to pass through. By setting the first connecting sleeve 10, the third gear 2012 can be prevented from falling off when it makes an orbital motion on the second gear 2011. The second connecting sleeve 11 is set between the mounting frame 30 and the third connecting shaft 2220 to prevent the mounting frame 30 from falling off when it rotates, thereby ensuring the stability of the slender medical device during rotational delivery.

[0072] The above description is only a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A guiding mechanism, characterized in that: include: A main body, a driving mechanism disposed in the main body, and a clamping assembly, wherein the clamping assembly is used to clamp an elongated medical device; The drive mechanism includes a planetary gear set connected to the clamping assembly, a first drive assembly and a second drive assembly connected to the planetary gear set; The first drive assembly cooperates with the second drive assembly to enable the planetary gear set to control the clamping assembly to deliver, rotate, or perform a combined motion of delivering and rotating the elongated medical device; The planetary gear set includes a first planetary gear, which includes a first gear, a second gear, and a third gear. The first gear is provided with internal teeth and external teeth. The external teeth of the first gear are connected to the second drive assembly. The second gear is connected to the first drive assembly. One side of the third gear is meshed with the internal teeth of the first gear, and the other side of the third gear is meshed with the second gear. Wherein, the first driving assembly includes a first motor and a first gear set, one side of the first gear set is connected to the output shaft of the first motor, and the other side of the first gear set is connected to the second gear; The first gear set includes a first bevel gear, a second bevel gear and a first connecting shaft, the first bevel gear is connected to the output shaft of the first motor, the second bevel gear is meshed with the first bevel gear, and the second bevel gear is connected to the second gear through the first connecting shaft; The second drive assembly includes a second motor, a second gear set and a third gear set, and the second gear set is connected to the output shaft of the second motor; The third gear set includes a third connecting shaft and at least one fifth bevel gear, and the third connecting shaft is for the third gear and the fifth bevel gear to pass through; The clamping assembly includes a mounting bracket connected to the second gear, a first connecting shaft sleeve for preventing from falling off is provided between the third connecting shaft and the first connecting shaft, and a second connecting shaft sleeve for preventing from falling off is provided between the mounting bracket and the third connecting shaft.

2. The guiding mechanism according to claim 1, wherein: When the third gear revolves around the inner teeth of the first gear, the third gear drives the clamping assembly to rotate, so that the clamping assembly rotates the slender medical device.

3. The guiding mechanism according to claim 2, characterized in that: The planetary gear set also includes a second planetary gear, which includes a fourth gear, a fifth gear and a sixth gear. The fourth gear is provided with internal teeth and external teeth. The fourth gear is connected to the second drive assembly, the fifth gear is connected to one side of the clamping assembly, one side of the sixth gear is meshed with the internal teeth of the fourth gear, and the other side of the sixth gear is meshed with the fifth gear. The third gear set is respectively connected to the third gear and the sixth gear.

4. The guiding mechanism according to claim 3, characterized in that: The clamping assembly includes a roller assembly slidably connected to the mounting frame, the roller assembly being used to clamp and deliver the elongated medical device; Among them, when the third gear rotates, the third gear drives the roller group to rotate, so that the roller group delivers the slender medical device; when the third gear rotates and revolves, the clamping assembly performs a compound motion of delivery and rotation on the slender medical device.

5. The guiding mechanism according to claim 4, characterized in that: The roller assembly includes at least one driving wheel and at least one transmission wheel, the driving wheel is connected to the second driving assembly, the driving wheel and the transmission wheel are arranged opposite to each other on the mounting frame, and the driving wheel and the transmission wheel cooperate to deliver and clamp the slender medical device.

6. The guiding mechanism according to claim 5, characterized in that: The roller assembly is further provided with an anti-slip member for increasing friction; the anti-slip member comprises a silicone body provided on the outer surface of the roller assembly, and the silicone body is provided with a plurality of serrated grooves.

7. The guiding mechanism according to claim 4, characterized in that: The second gear set includes a third bevel gear, a fourth bevel gear, a seventh gear, an eighth gear and a second connecting shaft; the third bevel gear is connected to the output shaft of the second motor, the third bevel gear is meshed with the fourth bevel gear, the seventh gear and the eighth gear are arranged on both sides of the second connecting shaft, the seventh gear is meshed with the external teeth of the first gear, and the eighth gear is meshed with the external teeth of the fourth gear.

8. The guiding mechanism according to claim 5, characterized in that: A sixth bevel gear is provided at the bottom of the driving wheel, and the sixth bevel gear is meshedly connected with the fifth bevel gear.

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