Guide wire and catheter delivery device for a vascular intervention robot

Abstract

The application provides a guide wire and catheter conveying device of a vascular interventional surgery robot, which comprises a base plate and a driving motor, the base plate is provided with a pressing mechanism and a driving mechanism, the pressing mechanism comprises a cam, a guide wheel support, a first linear guide mechanism, a second linear guide mechanism and a resisting plate, a compression spring for pressing the guide wheel towards the resisting plate is arranged between the guide wheel support and the base plate, the guide wheel support is provided with a guide wheel, the guide wheel is freely rotatable relative to the guide wheel support, the guide wheel support comprises a pulling arm, and the pulling arm is abutted against the cam; the driving mechanism drives the resisting plate to reciprocate along the second linear guide mechanism. The application has the advantages that the guide wire and catheter are stably clamped, the structure is simple and compact, and the transmission is accurate and stable.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a guidewire and catheter delivery device for a vascular interventional surgery robot. Background Technology

[0002] Interventional vascular surgery is a method in which doctors, guided by digital subtraction angiography (DSA) equipment, manipulate interventional instruments within the body's blood vessels to accurately reach the lesion and perform treatment. Common interventional instruments include venous catheters, guidewires, filters, and spring-loaded emboli. Interventional vascular surgery has become an important means of treating cardiovascular diseases, and compared with traditional surgery, it features smaller incisions, faster recovery, and better results.

[0003] Traditionally, interventional vascular surgery involves surgeons manually inserting catheters and guidewires into the patient's body. During this procedure, the movement of the catheter or guidewire within the blood vessel primarily involves forward and backward movements along its axis, as well as circumferential rotation. This means applying axial thrust, tension, and torque to the guidewire or guidewire from the external portion of the vessel. Due to the small size of the object being operated on, this procedure demands a high level of skill from the surgeon, requiring extensive training. Furthermore, the generally long duration of the procedure can lead to fatigue and hand tremors, increasing potential risks. Additionally, the presence of medical imaging equipment exposes surgeons to prolonged radiation exposure, posing a significant health risk.

[0004] To address the drawbacks of manual guidewire manipulation, vascular interventional surgical robots have emerged. These robots utilize mechanical structures to achieve axial movement and circumferential rotation of the guidewire and catheter, thus replacing manual operation by the surgeon. Current vascular interventional robots mostly employ clamping mechanisms to hold the guidewire and catheter in place, followed by a drive mechanism that applies axial thrust to them, propelling them along their axis. This process involves two main issues: firstly, ensuring sufficient clamping force to prevent slippage; and secondly, ensuring the axial thrust is periodic—the drive mechanism applies force during clamping and resets when the clamp is released. The drive mechanism must be compact to reduce the size of the guidewire and catheter delivery device. Furthermore, the drive mechanism typically uses an electric motor as its power source, converting the motor's rotation into the reciprocating motion of the clamping mechanism, requiring a stable and precise transmission mechanism.

[0005] Patent CN114521970A discloses a motion control device for a guidewire and a surgical robot, including a support base, a drive unit, a transmission unit, and a rotating unit. The guidewire is disposed in the rotating unit, and the drive unit is connected to the rotating unit through the transmission unit, thereby driving the rotating unit to perform linear and rotational movements. In this patent's solution, the guidewire is clamped by rollers arranged opposite each other. The friction between the rollers and the guidewire provides the power for the axial movement of the guidewire. However, the rollers and the guidewire have point contact, resulting in a limited contact area, which can easily lead to slippage during the axial movement of the guidewire. Summary of the Invention

[0006] The purpose of this invention is to provide a guidewire and catheter delivery device for a vascular interventional surgery robot, which features stable guidewire and catheter clamping, simple and compact structure, and precise and stable transmission.

[0007] The technical solution of this invention is:

[0008] A guidewire and catheter delivery device for a vascular interventional surgical robot includes a base plate and a drive motor. The base plate is equipped with a clamping mechanism and a driving mechanism. The clamping mechanism includes a cam, a guide wheel bracket, a first linear guide mechanism, a second linear guide mechanism, and a stop plate. The first and second linear guide mechanisms are perpendicular to each other. The guide wheel bracket is slidably connected to the base plate via the first linear guide mechanism. The stop plate is perpendicular to the direction of the first linear guide mechanism and is slidably connected to the base plate via the second linear guide mechanism. The guide wheel bracket has a guide wheel whose axis is parallel to the stop plate. The guide wheel and guide wheel bracket rotate freely. A compression spring is provided between the guide wheel bracket and the base plate to press the guide wheel against the stop plate. The guide wheel bracket includes a pulling arm that abuts against the cam. The cam is driven by the drive motor. The driving mechanism drives the stop plate to reciprocate along the second linear guide mechanism.

[0009] In this invention, the guide wire and guide tube to be transported are positioned between the guide wheel and the abutment plate, with the axial direction of the guide wire and guide tube parallel to the direction of the second linear guide mechanism. Under the action of the compression spring, the guide wheel abuts against the abutment plate, clamping the guide wire and guide tube between the guide wheel and the abutment plate. The guide wheel is the driven wheel, and the abutment plate moves from the starting point to the end point of the stroke under the action of the drive mechanism, thereby driving the guide wire and guide tube to move along its axis.

[0010] After the plate reaches the end of its stroke, the drive motor drives the cam to rotate. The cam pushes the pull arm to move away from the plate. The pull arm drives the guide wheel bracket, which in turn drives the guide wheel, causing the guide wheel to disengage from the plate. The plate returns to the beginning of its stroke. The cam rotates further, and under the action of the compression spring, the guide wheel re-engages with the plate. This process repeats intermittently, causing the guide wire and guide tube to move along their axis.

[0011] In this invention, the frictional force driving the guidewire and conduit movement comes from the friction between the abutment plate and the guidewire. The method of clamping the guidewire and conduit by the guide wheel abutting against the abutment plate, compared to the prior art method of clamping the guidewire and conduit by two rollers, effectively increases the contact area between the clamping element and the guidewire / conduit, thereby increasing friction, preventing slippage between the guidewire / conduit and the clamping element, and improving the stability of guidewire / conduit delivery. Furthermore, using a cam to intermittently clamp the mechanism offers the advantages of simple structure and convenient control.

[0012] Specifically,

[0013] The drive mechanism includes a fixed shaft, a rotary arm, a connecting rod, and a transmission assembly. The fixed shaft is vertically fixed to the base plate. The rotary arm rotates freely with respect to the fixed shaft. One end of the base plate is provided with a connecting plate perpendicular to the base plate. The connecting plate is provided with a strip-shaped hole. One end of the connecting rod is hinged to the end of the rotary arm. The other end of the connecting rod is provided with a narrow diameter section whose diameter matches the width of the strip-shaped hole. The transmission assembly converts the rotation of the drive motor into the reciprocating swing of the rotary arm around the fixed shaft.

[0014] Specifically, the diameter of the narrow section is smaller than the diameter of the connecting rod body. The diameter of the narrow section matches the width of the slot, allowing the narrow section to be inserted into the slot. An end screw is then installed at the end of the narrow section to keep it within the slot. The end screw is coaxially threaded with the narrow section, and the diameter of the cap of the end screw is the same as the diameter of the connecting rod body.

[0015] In this invention, when the guide wheel presses the guide wire and guide tube against the stop plate, the stop plate reciprocates along the second linear guide mechanism to drive the guide wire and guide tube to move. When the guide wheel releases the guide wire and guide tube, the stop plate returns to its original position. The reciprocating motion of the stop plate along the second linear guide mechanism can be achieved in various ways, such as by a motor driving a synchronous belt, a lead screw, or by a cam combined with a spring. All of these methods can achieve the above functions. However, since the movement of the guide wire and guide tube requires high precision and stability, methods such as synchronous belts, lead screws, and chains all require precise control of the motor's rotation direction and cycle. This undoubtedly places high demands on the control of this device. The cam and spring driving method is also unsuitable due to the unstable elasticity of the spring.

[0016] In this invention, the swing of the rotary arm drives the connecting rod, which in turn drives the abutment plate to move along the second linear guide mechanism. Through a stable hinge structure, the reciprocating swing of the rotary arm is converted into the reciprocating motion of the abutment plate along the second linear guide mechanism, which has the advantages of precise transmission and simple structure.

[0017] Specifically, the power source for the reciprocating swing of the rotary arm comes from the drive motor. The uniform rotation of the drive motor output is transmitted to the reciprocating swing of the rotary arm in the following way.

[0018] The transmission assembly includes a swing plate, a connecting shaft, and a conical connector. The rotary arm is provided with a swing plate insert shaft whose axis intersects and is perpendicular to the axis of the fixed shaft. The swing plate is provided with an insert shaft sleeve and a connecting shaft sleeve whose axes are perpendicular to each other. The swing plate is rotatably connected to the rotary arm through the swing plate insert shaft and the insert shaft sleeve. The axis of the connecting shaft sleeve passes through the intersection of the axis of the fixed shaft and the axis of the insert shaft sleeve. The conical connector includes two sleeves whose axes form an angle α with each other. The two sleeves are fixedly connected to the rotating shaft of the drive motor and the connecting shaft, respectively. The end of the connecting shaft away from the conical connector is rotatably connected to the connecting shaft sleeve.

[0019] During the use of this invention, the conical connector rotates around the axis of the sleeve fixedly connected to the drive motor, driven by the drive motor. The other sleeve and its connecting shaft rotate along the conical surface. This rotation acts on the swing plate through the connecting shaft sleeve. The up and down displacement of the connecting shaft is converted into the up and down rotation of the swing plate around the swing plate insertion shaft. The left and right displacement of the swing plate is converted into the swing of the rotating arm around the fixed shaft.

[0020] This transmission component can conveniently and stably convert the uniform rotation of the drive motor into the swing of the rotary arm, thereby driving the reciprocating motion of the stop plate. It features a simple structure, stable and precise operation, and convenient control.

[0021] In this invention, the drive motor for driving the connecting member and the drive motor for driving the cam can be two separate motors, or a single drive motor can be used to drive both through a corresponding transmission mechanism.

[0022] Specifically,

[0023] The first linear guide mechanism includes a guide support and a guide slide rod. The guide support is provided with a guide slide hole that cooperates with the guide slide rod. One end of the guide slide rod is fixedly connected to the guide wheel bracket, and the other end of the guide slide rod passes through the guide slide hole. A compression spring is sleeved on the guide slide rod between the guide support and the guide wheel bracket.

[0024] Specifically, the guide wheel bracket includes an upper frame plate and a lower frame plate that are parallel to each other. A guide wheel shaft is provided between the upper and lower frame plates, and the guide wheel is rotatably connected to the guide wheel bracket through the guide wheel shaft.

[0025] Furthermore, at least two guide wheel shafts are provided between the upper and lower frame plates, and the guide wheel shafts are arranged in a direction perpendicular to the first linear guide mechanism.

[0026] The length of the abutment in the direction of the second linear guide mechanism is greater than the distance between any two adjacent guide wheels.

[0027] Multiple guide wheel shafts can be installed on the upper and lower frame plates, with at least two guide wheels simultaneously abutting against the back plate. This increases the contact area between the guide wire / guide tube and the back plate, and also increases the stability of the first linear guide mechanism under force.

[0028] Specifically, the second linear guide mechanism includes a linear slide rail and a slider that cooperates with the linear slide rail, and the abutment plate is fixedly connected to the slider.

[0029] Specifically, the slewing arm includes an upper arm plate and a lower arm plate, which are connected by a connecting rib. The middle part of the upper and lower arm plates is rotatably connected to a fixed shaft. A slewing arm shaft is provided between the ends of the upper and lower arm plates, and the slewing arm is hinged to the end of the connecting rod through the slewing arm shaft.

[0030] Specifically, the connecting rib has a notch in the middle, and the swing plate insert shaft is located inside the notch.

[0031] The advantages and positive effects of this invention are: due to the adoption of the above technical solution, the guidewire and catheter are stably clamped during the delivery process, and the structure is simple, compact, and the transmission is precise and stable. Attached Figure Description

[0032] Figure 1 This is a schematic diagram of the structural principle of the present invention.

[0033] Figure 2 This is a schematic diagram showing the state where the stop plate is in its initial stroke position and clamps the guide wire and catheter.

[0034] Figure 3 This is a schematic diagram showing the state where the stop plate is in its stroke termination position and clamps the guide wire and catheter.

[0035] Figure 4 This is a schematic diagram showing the state where the stop plate is at the end of its stroke and the guidewire and catheter are released.

[0036] Figure 5 This is a schematic diagram showing the state where the stop plate is at the beginning of its stroke and the guidewire and catheter are released.

[0037] Figure 6 This is a schematic diagram illustrating the structural principle of the guide wheel bracket and the first linear guide mechanism in the clamping mechanism.

[0038] Figure 7 This is a schematic diagram illustrating the structural principle of the guide wheel on the guide wheel bracket.

[0039] Figure 8 This is a schematic diagram of the structural principle of the drive mechanism.

[0040] Figure 9 This is a schematic diagram of the structural principle of the tapered connector.

[0041] In the picture:

[0042] 1. Substrate; 2. Wire guide support plate; 3. Pressing mechanism

[0043] 4. Drive mechanism; 5. End shaft of the first drive motor; 6. Rotating shaft of the second drive motor.

[0044] 7. Guide wire 31, cam 32, guide wheel bracket

[0045] 33. First linear guide mechanism; 34. Second linear guide mechanism; 35. Support plate.

[0046] 36. Compression spring; 41. Fixed shaft; 42. Rotary arm

[0047] 43. Connecting rod; 44. Swing plate; 45. Connecting shaft

[0048] 46. ​​Conical connector 321, guide wheel 322, pulling arm

[0049] 331, guide support; 332, guide slide rod; 351, connecting plate

[0050] 421. Swing plate insert shaft; 422. Rotary arm shaft; 441. Insert shaft bushing

[0051] 442, connecting shaft sleeve 3511, strip hole Detailed Implementation

[0052] like Figure 1 , 6 As shown in Figures 7, 8, and 9, this invention:

[0053] A guidewire and catheter delivery device for a vascular interventional surgery robot includes a base plate 1 and a drive motor. Guidewire support plates 2 are provided at both ends of the base plate to lift the guidewire to a certain height. The guidewire support plates are provided with grooves corresponding to the guidewire and catheter.

[0054] The substrate is provided with a pressing mechanism 3 and a driving mechanism 4.

[0055] The clamping mechanism includes a cam 31, a guide wheel bracket 32, a first linear guide mechanism 33, a second linear guide mechanism 34, and a stop plate 35.

[0056] The directions of the first linear guide mechanism 33 and the second linear guide mechanism 34 are perpendicular to each other, and the guide wheel bracket 32 ​​is slidably connected to the base plate 1 through the first linear guide mechanism 33.

[0057] The first linear guide mechanism includes a guide support 331 and a guide slide rod 332. The guide support 331 is fixed on the base plate. The guide support is provided with a guide slide hole that cooperates with the guide slide rod. One end of the guide slide rod 332 is fixedly connected to the guide wheel bracket 32. The other end of the guide slide rod 332 passes through the guide slide hole. A compression spring 36 is sleeved on the guide slide rod 332 between the guide support 331 and the guide wheel bracket 32.

[0058] The guide wheel bracket consists of an upper and lower frame plate that are parallel to each other. One end of the upper and lower frame plates is connected by a vertical plate, forming a C-shaped structure. A guide wheel shaft is provided between the ends of the upper and lower frame plates away from the vertical plate. The guide wheel shaft is perpendicular to the upper and lower frame plates, and a guide wheel 321 is provided on the guide wheel shaft. The guide wheel is rotatably connected to the guide wheel shaft. The end of the guide slide rod is fixedly connected to the vertical plate, and a compression spring abuts against the guide support and the vertical plate. A U-shaped arm is provided on the side of the vertical plate away from the guide wheel. The part of the U-shaped arm parallel to the vertical plate is the pull arm 322. A cam is provided on the inner side of the U-shaped arm, and the cam abuts against the pull arm. The first drive motor that drives the cam is provided on the lower side of the base plate. The end shaft 5 of the first drive motor passes through the base plate and is connected to the cam 31, driving the cam 31 to rotate.

[0059] Three guide wheel shafts are provided between the upper and lower frame plates, and the three guide wheel shafts are arranged at equal intervals along a direction perpendicular to the first linear guide mechanism.

[0060] The abutment 35 is perpendicular to the direction of the first linear guide mechanism 33, and the abutment 35 is slidably connected to the base plate via the second linear guide mechanism 34. The second linear guide mechanism includes a linear slide rail and a slider that cooperates with the linear slide rail, and the abutment is fixedly connected to the slider. The axis of the guide wheel is parallel to the abutment.

[0061] The drive mechanism 4 drives the abutment plate 35 to reciprocate along the second linear guide mechanism 34.

[0062] The drive mechanism includes a fixed shaft 41, a rotary arm 42, a connecting rod 43, and a transmission assembly. The fixed shaft 41 is vertically fixed to the base plate 1. The rotary arm 42 rotates freely with the fixed shaft. One end of the abutment plate is provided with a connecting plate 351 perpendicular to the abutment plate 35. The connecting plate is provided with a strip hole 3511. One end of the connecting rod 43 is hinged to the end of the rotary arm 42. The other end of the connecting rod 43 is provided with a narrow diameter section whose diameter matches the width of the strip hole 3511. The transmission assembly converts the rotation of the drive motor into the reciprocating swing of the rotary arm 42 around the fixed shaft 41.

[0063] The transmission assembly includes a swing plate 44, a connecting shaft 45, and a tapered connector 46. The rotary arm 42 has a swing plate insert shaft 421 whose axis intersects and is perpendicular to the axis of the fixed shaft 41. The swing plate 44 has an insert shaft sleeve 441 and a connecting shaft sleeve 442 with mutually perpendicular axes. The swing plate 44 is semi-circular in shape. The insert shaft sleeves 441 are located at both ends of the swing plate 44, and the connecting shaft sleeve 442 is located in the middle of the swing plate 44. The swing plate 44 is connected via the swing plate insert shaft 45. Shaft 421 and insert shaft sleeve 441 are rotatably connected to rotary arm 42. The axis of connecting shaft sleeve 442 passes through the intersection of the axis of fixed shaft 41 and the axis of insert shaft sleeve 441. The conical connector 46 includes two sleeves whose axes form an angle α with each other. The two sleeves are connected to each other as a whole by a connecting plate. The two sleeves are fixedly connected to the rotating shaft 6 of the second drive motor and the connecting shaft 45, respectively. The end of the connecting shaft 45 away from the conical connector 46 is rotatably connected to the connecting shaft sleeve 442.

[0064] The slewing arm 42 includes an upper arm plate and a lower arm plate, which are connected by a connecting rib. The middle part of the upper and lower arm plates is rotatably connected to a fixed shaft. A slewing arm shaft 422 is provided between the ends of the upper and lower arm plates. The slewing arm is hinged to the end of the connecting rod through the slewing arm shaft.

[0065] The connecting rib has a notch in the middle, and the swing plate insert shaft 421 is located inside the notch.

[0066] like Figure 2-5 ,

[0067] The working process of this example:

[0068] In the initial position, the guide wheel, under the action of the compression spring 36, presses the guide wire 7 against the abutment plate 35. At this time, the abutment plate is located at the beginning position of its stroke.

[0069] The first and second drive motors rotate, and the guide wheel 321 continues to press the guide wire 7. The abutment plate 35 moves from the starting position to the ending position of its stroke, driving the guide wire and guide tube forward. When the abutment plate reaches the ending position of its stroke, the cam drives the pull arm to overcome the pressure of the compression spring and separate the guide wheel from the abutment plate. The abutment plate then begins to return from the ending position to the starting position. When the abutment plate returns to the starting position, under the action of the compression spring, the guide wheel presses back onto the abutment plate, clamping the guide wire and guide tube again. This reciprocating motion drives the guide wire and guide tube forward intermittently.

[0070] The foregoing has provided a detailed description of one embodiment of the present invention, but this description is merely a preferred embodiment and should not be construed as limiting the scope of the invention. All equivalent variations and modifications made within the scope of the claims of this invention should still fall within the patent coverage of this invention.

Claims

1. A guidewire and catheter delivery device for a vascular interventional surgical robot, characterized in that: It includes a base plate and a drive motor, and the base plate is provided with a pressing mechanism and a driving mechanism. The pressing mechanism includes a cam, a guide wheel bracket, a first linear guide mechanism, a second linear guide mechanism, and a stop plate. The directions of the first linear guide mechanism and the second linear guide mechanism are perpendicular to each other. The guide wheel bracket is slidably connected to the base plate through the first linear guide mechanism. The stop plate is perpendicular to the direction of the first linear guide mechanism and is slidably connected to the base plate through the second linear guide mechanism. The guide wheel bracket is provided with a guide wheel, the axis of which is parallel to the stop plate. The guide wheel and the guide wheel bracket can rotate freely. A compression spring is provided between the guide wheel bracket and the base plate to press the guide wheel against the stop plate. The guide wheel bracket includes a pull arm that abuts against the cam. The cam is driven by a drive motor. The driving mechanism drives the abutment plate to reciprocate along the second linear guide mechanism. The driving mechanism includes a fixed shaft, a rotary arm, a connecting rod, and a transmission assembly. The fixed shaft is vertically fixed to the base plate. The rotary arm rotates freely with the fixed shaft. One end of the abutment plate is provided with a connecting plate perpendicular to the abutment plate. The connecting plate is provided with a strip hole. One end of the connecting rod is hinged to the end of the rotary arm. The other end of the connecting rod is provided with a narrow diameter section whose diameter matches the width of the strip hole. The transmission assembly converts the rotation of the drive motor into the reciprocating swing of the rotary arm around the fixed shaft.

2. The guidewire and catheter delivery device for the vascular interventional surgery robot according to claim 1, characterized in that: The transmission assembly includes a swing plate, a connecting shaft, and a conical connector. The rotary arm is provided with a swing plate insert shaft whose axis intersects and is perpendicular to the axis of the fixed shaft. The swing plate is provided with an insert shaft sleeve and a connecting shaft sleeve whose axes are perpendicular to each other. The swing plate is rotatably connected to the rotary arm through the swing plate insert shaft and the insert shaft sleeve. The axis of the connecting shaft sleeve passes through the intersection of the axis of the fixed shaft and the axis of the insert shaft sleeve. The conical connector includes two sleeves whose axes form an angle α with each other. The two sleeves are fixedly connected to the rotating shaft of the drive motor and the connecting shaft, respectively. The end of the connecting shaft away from the conical connector is rotatably connected to the connecting shaft sleeve.

3. The guidewire and catheter delivery device for the vascular interventional surgical robot according to claim 1, characterized in that: The first linear guide mechanism includes a guide support and a guide slide rod. The guide support is provided with a guide slide hole that cooperates with the guide slide rod. One end of the guide slide rod is fixedly connected to the guide wheel bracket, and the other end of the guide slide rod passes through the guide slide hole. A compression spring is sleeved on the guide slide rod between the guide support and the guide wheel bracket.

4. The guidewire and catheter delivery device for the vascular interventional surgery robot according to claim 1, characterized in that: The guide wheel bracket consists of an upper and lower frame plate that are parallel to each other. A guide wheel axle is provided between the upper and lower frame plates, and the guide wheel is rotatably connected to the guide wheel bracket through the guide wheel axle.

5. The guidewire and catheter delivery device for the vascular interventional surgical robot according to claim 4, characterized in that: At least two guide wheel shafts are provided between the upper and lower frame plates, and the guide wheel shafts are arranged in a direction perpendicular to the first linear guide mechanism.

6. The guidewire and catheter delivery device for the vascular interventional surgical robot according to claim 5, characterized in that: The length of the abutment in the direction of the second linear guide mechanism is greater than the distance between any two adjacent guide wheels.

7. The guidewire and catheter delivery device for the vascular interventional surgery robot according to claim 1, characterized in that: The second linear guide mechanism includes a linear slide rail and a slider that cooperates with the linear slide rail, and the abutment plate is fixedly connected to the slider.

8. The guidewire and catheter delivery device for the vascular interventional surgery robot according to claim 2, characterized in that: The slewing arm includes an upper arm plate and a lower arm plate, which are connected by a connecting rib. The middle part of the upper and lower arm plates is rotatably connected to a fixed shaft. A slewing arm shaft is provided between the ends of the upper and lower arm plates, and the slewing arm is hinged to the end of the connecting rod through the slewing arm shaft.

9. The guidewire and catheter delivery device for the vascular interventional surgery robot according to claim 8, characterized in that: The connecting rib has a notch in the middle, and the swing plate insert shaft is located inside the notch.

Images