A wire guide drive device and a wire guide robot

Abstract

This invention relates to the technical field of guide wire delivery and discloses a guide wire driving device and a guide wire robot. The guide wire driving device and guide wire robot provided by this invention include a delivery body and a rotating gear mounted on one side of the delivery body; the delivery gear is rotatably mounted on the other side of the delivery body, and the delivery body, rotating gear, and delivery gear are axially penetrated by an opening, through which the guide wire is inserted into the driving device; the delivery body is provided with a delivery mechanism driven by the delivery gear, and the delivery gear drives the delivery mechanism to deliver the guide wire through a transmission mechanism, which includes a clutch mechanism that can disengage from the delivery gear during lifting; a wire clamping mechanism is provided on the delivery body for pressing the guide wire along the opening into the delivery mechanism. This solves the technical problem in the prior art where different mechanisms are needed to control the axial and rotational movements of the guide wire, resulting in a large overall size and complex structure.

Description

[Technical Field]

[0001] This invention relates to the technical field of guide wire delivery, and particularly to a guide wire drive device and a guide wire robot. [Background Technology]

[0002] Interventional vascular surgery, a minimally invasive procedure aimed at treating vascular diseases or cancer, primarily relies on X-ray fluoroscopy to insert a thin catheter (less than a few millimeters in diameter) percutaneously through a blood vessel to the lesion site. This catheter then reaches the target organ for treatment. Currently, representative treatments using interventional vascular surgery worldwide, including in South Korea, include transarterial chemoembolization (TACE) for liver cancer, percutaneous angioplasty, and stent implantation for aortic diseases.

[0003] Current wire feeding devices require different mechanisms to control the axial and rotational movements of the wire, resulting in a large overall size and complex structure that cannot meet practical needs. [Summary of the Invention]

[0004] The purpose of this invention is to overcome the shortcomings of the prior art and provide a guide wire drive device and a guide wire robot, which aims to solve the technical problems of existing guide wire conveying devices, where different mechanisms are needed to control the axial and rotational movements of the guide wire, resulting in a large overall size and complex structure.

[0005] To achieve the above objectives, the present invention proposes a guide wire driving device, comprising a conveying body and a rotating gear mounted on one side of the conveying body; the conveying gear is rotatably mounted on the other side of the conveying body, and the conveying body, the rotating gear, and the conveying gear are axially penetrated by an opening, through which the guide wire is inserted into the driving device; the conveying body is provided with a conveying mechanism driven by the conveying gear, and the conveying gear drives the conveying mechanism to convey the guide wire through a transmission mechanism, the transmission mechanism including a clutch mechanism that can disengage from the conveying gear during lifting and lowering; a wire clamping mechanism is provided on the conveying body for pressing the guide wire into the conveying mechanism along the opening.

[0006] Preferably, the conveying mechanism includes a drive gear driven by the conveying gear, a driving silicone roller driven by the drive gear, and a pressing silicone roller corresponding to the driving silicone roller; a transmission mechanism is provided between the drive gear and the conveying gear.

[0007] Preferably, the rotating gear is a helical gear, and a first small helical gear is connected to the rotating gear.

[0008] Preferably, the conveying gear is a double-sided helical gear, with a second helical gear connected to the end of the conveying gear away from the conveying body, and the transmission mechanism connected to the end of the conveying gear closer to the conveying body.

[0009] Preferably, the transmission mechanism includes a helical gear and a driving cylindrical gear coaxially mounted with the helical gear, the driving cylindrical gear driving the driving gear to rotate.

[0010] Preferably, the clutch mechanism includes a clutch protrusion that engages with the helical gear and a push rod for mounting the clutch protrusion.

[0011] Preferably, the push rod is the central axis of the clutch protrusion, and the helical gear and the driving cylindrical gear are coaxially connected to the push rod.

[0012] Preferably, the clutch protrusion includes a disk and a shoulder disposed at the bottom of the disk; the helical gear is provided with a groove that mates with the shoulder.

[0013] Preferably, the helical gear is rotatably connected to a mounting base, which is mounted on the conveying body.

[0014] Preferably, the clutch protrusion is disposed between the helical gear and the driving cylindrical gear, and a spring is provided between the driving cylindrical gear and the conveying body.

[0015] Preferably, a clutch drive mechanism is connected to the clutch mechanism. The clutch drive mechanism includes a first motor, a crank mounted on the first motor, a slider mounted on the crank, a lifting groove disposed on the slider, and a lifting push rod that moves up and down along the lifting groove. The lifting push rod controls the clutch engagement and disengagement of the clutch mechanism.

[0016] Preferably, the crank is an L-shaped crank, and the side of the crank closest to the first motor has a moving groove.

[0017] Preferably, the first motor is provided with a turntable, and a movable shaft is eccentrically provided on the turntable, the movable shaft moving within the movable groove.

[0018] Preferably, a guide plate is also provided between the slider and the crank.

[0019] Preferably, the conveying body includes a base, a first stop and a second stop mounted on the base, and a mounting groove is formed between the first stop and the second stop. The wire clamping mechanism includes a knob block rotatably mounted on the second stop and a gate plate connected to the knob block. The gate plate is in close contact with the second stop and moves up and down in the mounting groove.

[0020] Preferably, the mounting groove includes an upper mounting groove and a lower mounting groove disposed below the upper mounting groove, wherein the opening of the upper mounting groove is larger than that of the lower mounting groove, and the opening of the lower mounting groove is adapted to the thickness of the gate plate.

[0021] Preferably, a guide block is also provided on the second stop block. The guide block is driven to move up and down by the knob block, and the guide block drives the gate plate to move up and down.

[0022] Preferably, the guide block and the gate are connected by several connecting shafts; the connecting shafts are provided with tension springs to keep the gate tightly against the second stop block.

[0023] Preferably, the second stop is provided with an arc-shaped guide groove, and the knob block is provided with a guide shaft that moves along the arc-shaped guide groove.

[0024] Preferably, a locking hole is provided at the bottom end of the arc guide groove; the guide shaft has a notch in the part inside the arc guide groove, the guide shaft is rotatably mounted on the knob block, and the guide shaft is fixed on the locking hole after rotation.

[0025] Preferably, the guide shaft is provided with a locking plate to control its rotation.

[0026] Preferably, a clamping device is provided on the base, the clamping device including a movable seat for mounting the clamping silicone roller and an adjusting rod for controlling the radial movement of the movable seat.

[0027] Preferably, the bottom of the adjusting rod is provided with a beveled groove, and the movable seat is provided with a guide post, which moves along the beveled groove.

[0028] Preferably, the adjusting rod has a socket, and a pin is connected to the socket; the pin extends upward through the adjusting rod.

[0029] Preferably, a release protrusion is provided on the knob block. When the knob block is rotated to the lowest point, the release protrusion presses down on the pin to disengage it from the socket.

[0030] Preferably, the adjusting rod is provided with a push block protrusion, and the knob is provided with a push block; as the knob rotates from the lowest point to the highest point, the push block pushes the push block protrusion to move the clamping silicone roller away from the guide wire.

[0031] Preferably, the second stop is provided with a plurality of guide grooves, and the gate is provided with protruding ribs that cooperate with the guide grooves.

[0032] The present invention proposes a guide wire driving device, which includes the above-mentioned guide wire driving device.

[0033] Compared with the prior art, the beneficial effects of the wire guide drive device and robot system provided by the present invention are as follows:

[0034] 1. The drive mechanism has an axial through-hole, and the guide wire is installed through the opening. This is more efficient and easier to install than the method of threading the wire from one end to the other.

[0035] 2. The guide wire is driven to rotate by the rotation of the rotating gear, and the guide wire is driven to be axially conveyed by the rotation of the conveying gear.

[0036] 3. When the rotational gear and the delivery gear rotate at the same speed, the guidewire rotates, making it easier to pass through tortuous and bifurcated blood vessels. When the rotational gear and the delivery gear rotate at different speeds, the guidewire moves both axially and rotationally. Adjusting the speed and direction of the rotational gear and the delivery gear can control the speed and direction of the guidewire's rotation and axial movement.

[0037] 4. The conveying gear drives the conveying body to convey the guide wire. The guide wire is inserted into the conveying body and the conveying gear through an opening. During the conveying process, the conveying gear rotates continuously, and the opening of the conveying gear separates from the opening of the conveying body. When it is necessary to remove the guide wire, the transmission mechanism and the conveying gear are separated by a clutch mechanism. While the conveying gear continues to rotate, the guide wire will not move forward or backward.

[0038] 5. The spring keeps the helical gear and the driving cylindrical gear engaged, allowing the guide wire to be conveyed during the rotation of the conveying gear. When the push rod is lifted, the helical gear and the driving cylindrical gear disengage; during the rotation of the helical gear, the driving cylindrical gear remains stationary.

[0039] 6. The first motor drives the crank to rotate, and the crank drives the slider to move radially, which in turn drives the push rod to move up and down, thereby controlling the state of the clutch mechanism.

[0040] 7. Rotate the knob to move the gate up and down. Moving it downwards will press the guide wire into the designated position.

[0041] 8. The opening of the upper mounting slot is larger than that of the lower mounting slot. When the gate is in the upper mounting slot, the guide wire can be inserted below the gate for easy pressing. The opening of the lower mounting slot is equal to the thickness of the gate to prevent the guide wire from detaching from the gate during pressing.

[0042] 9. The compression spring keeps the gate plate in close contact with the second stop block, creating a gap between the upper mounting groove and the gate plate to facilitate the insertion of the guide wire.

[0043] 10. By rotating the locking plate buckle, the guide shaft is locked in the locking hole to prevent the gate from rising and the guide wire from disengaging from the gate during the wire feeding process.

[0044] 11. During the rise of the gate, the rotary dial rotates counterclockwise. The knob dial is equipped with a push block. The push block pushes the push block protrusion of the adjusting rod to move to the right, pressing the silicone roller away from the driving silicone roller, thereby releasing the guide wire.

[0045] The features and advantages of the present invention will be described in detail through embodiments and in conjunction with the accompanying drawings. [Attached Image Description]

[0046] Figure 1 This is a schematic diagram of the overall structure of a guide wire driving device according to Embodiment 1 of the present invention.

[0047] Figure 2 This is a schematic diagram of the overall structure of a guide wire driving device according to Embodiment 1 of the present invention.

[0048] Figure 3 This is a schematic diagram of the main structure of a guide wire driving device according to Embodiment 1 of the present invention.

[0049] Figure 4 This is a schematic diagram of the internal conveying mechanism of a guide wire driving device according to Embodiment 1 of the present invention.

[0050] Figure 5 This is an enlarged structural schematic diagram of point A of a guide wire driving device according to Embodiment 1 of the present invention.

[0051] Figure 6 This is a schematic diagram of the guide wire driving device from another angle according to Embodiment 1 of the present invention.

[0052] Figure 7 This is a schematic diagram of a guide wire driving device according to Embodiment 2 of the present invention.

[0053] Figure 8 This is a schematic diagram of the structure of the second stop block in Embodiment 1 of the present invention.

[0054] Figure 9 This is a schematic diagram of the wire clamping mechanism according to Embodiment 1 of the present invention.

[0055] Figure 10 This is a schematic diagram of a guide wire driving device according to Embodiment 1 of the present invention, with the first and second stops removed.

[0056] Figure 11 This is a schematic diagram of the pressing device according to Embodiment 1 of the present invention.

[0057] Figure 12 This is a schematic diagram of the adjusting rod according to Embodiment 1 of the present invention.

[0058] In the diagram: 10. Conveying body; 11. Rotary gear; 12. Conveying gear; 13. Opening; 14. Conveying mechanism; 15. Drive gear; 16. Driving silicone roller; 17. Pressing silicone roller; 18. First small helical gear; 19. Second helical gear; 20. Transmission mechanism; 21. Helical gear; 22. Drive cylindrical gear; 23. Intermediate gear; 24. Clutch mechanism; 241. Clutch protrusion; 242. Push rod; 243. Disc; 244. Shoulder; 245. Groove; 25. Mounting base; 26. Clutch drive mechanism; 261. First motor; 262. Crank; 263. Slider; 264. Lifting groove; 265. Lifting push rod; 266. 1. Moving slot; 267. Turntable; 268. Moving shaft; 269. Guide plate; 30. Base; 31. First stop block; 32. Second stop block; 321. Arc guide slot; 322. Locking hole; 323. Guide slot; 33. Mounting slot; 331. Upper mounting slot; 332. Lower mounting slot; 34. Knob block; 341. Guide shaft; 342. Locking plate buckle; 343. Release protrusion; 344. Push block; 35. Gate plate; 351. Protruding rib; 36. Guide block; 37. Connecting shaft; 40. Pressing device; 41. Moving seat; 411. Guide column; 42. Adjusting rod; 421. Beveled groove; 422. Socket; 423. Push block protrusion; 43. Pin.

Detailed Implementation Methods

[0059] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0060] In the description of this invention, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0061] In the description of this invention, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0062] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0063] This invention provides a wire guide robot, which includes a wire guide drive device. The wire guide drive device is specifically described through the following embodiments.

[0064] Example 1

[0065] See Figure 1 , Figure 2 and Figure 6In an optional embodiment, this invention provides a guide wire driving device, including a conveying body 10 and a rotating gear 11 mounted on one side of the conveying body 10. A conveying gear 12 is rotatably mounted on the other side of the conveying body 10. The conveying body 10, the rotating gear 11, and the conveying gear 12 are axially penetrated by an opening 13, through which the guide wire is inserted into the driving device. Initially, the openings 13 are all located in the upper half of the driving mechanism. The height of the openings 13 is equal to the radius of the rotating gear 11, and the size of the openings 13 is larger than the guide wire. The conveying body 10 is provided with a conveying mechanism 14 driven by the conveying gear 12. The conveying gear 12 drives the conveying mechanism 14 to convey the guide wire through a transmission mechanism 20. The transmission mechanism 20 includes a clutch mechanism 24 that can disengage from the conveying gear 12 during lifting and lowering. A wire clamping mechanism is provided on the conveying body 10 to press the guide wire along the opening 13 into the conveying mechanism 14. Since the opening 13 and the guide wire are relatively small, it is difficult to manually insert them. Therefore, an additional wire clamping mechanism is used to insert them from above the opening 13 into the conveying mechanism 14 for conveying.

[0066] Preferably, the rotating gear 11 and the delivery gear 12 are respectively disposed on the left and right sides of the delivery body 10. The rotating gear 11 and the delivery body 10 are fixed together, and the rotating gear 11 rotates together with the delivery body 10. The diameters of the rotating gear 11 and the delivery gear 12 are equal. The rotation of the rotating gear 11 drives the drive mechanism to rotate, which can change the direction and position of the guidewire to facilitate passage in tortuous and bifurcated blood vessels. The rotation of the delivery gear 12 drives the guidewire to move forward or backward in the blood vessel. The two working together can better control the movement of the guidewire. The overall shape of the delivery body 10 is circular and the same size as the rotating gear 11. The rotation and axial movement of the guidewire require separate control structures, resulting in a more integrated, smaller, easier-to-place, and aesthetically pleasing design. The guidewire can be any tubular or strip-shaped medium that can be delivered in the blood vessel from a percutaneous interventional device; the guidewire is not limited to any specific delivery medium.

[0067] See Figure 2 and Figure 4 In an optional embodiment, the conveying mechanism 14 includes a drive gear 15 driven by the conveying gear 12, a driving silicone roller 16 driven by the drive gear 15, and a pressing silicone roller 17 corresponding to the driving silicone roller 16. A transmission mechanism 20 is provided between the drive gear 15 and the conveying gear 12.

[0068] The drive gear 15 and the drive silicone roller 16 are coaxially mounted. The clamping silicone roller 17 and the drive silicone roller 16 correspond one-to-one and clamp the guide wire. There is one drive gear 15 and one clamping silicone roller 17. The rotation of the drive gear 15 drives the drive silicone roller 16 to rotate synchronously. The drive silicone roller 17 rotates through friction, thus clamping the guide wire and causing it to move. The silicone material used is in contact with the guide wire to prevent hard contact from wearing it down.

[0069] There can be two or more drive gears 15. Power is transmitted between the drive gears 15 through intermediate gears 23. The tooth diameter of the intermediate gears 23 is smaller than that of the drive gears 15, making the transmission smoother. Preferably, there are three drive gears 15, which are evenly distributed axially on the drive mechanism, resulting in more contact points, more stable wire feeding, and less likelihood of the wire bending during feeding.

[0070] See Figure 3 In an optional embodiment, the rotating gear 11 is a helical gear, and a first small helical gear 18 is connected to the rotating gear 11. The rotating gear 11 is fixed together with the conveying body 10, and a gear end is provided on the side away from the conveying body 10. The first small helical gear 18 realizes the automatic driving of the rotating gear 11, thereby driving the rotation of the conveying body 10 and the guide wire.

[0071] See Figure 3 In an optional embodiment, the conveying gear 12 is a double-sided helical gear. A second helical gear 19 is connected to the end of the conveying gear 12 furthest from the conveying body 10, and a transmission mechanism 20 is connected to the end of the conveying gear 12 closest to the conveying body 10. The conveying gear 12 is rotatably connected to the conveying body 10. Gear surfaces are provided on both the left and right sides of the conveying gear 12. The end furthest from the conveying body 10 meshes with the second helical gear 19, and the rotation of the conveying gear 12 is automatically controlled via the second helical gear 19 to control the conveying state of the guide wire.

[0072] See Figure 4 In an optional embodiment, the transmission mechanism 20 includes a helical gear 21 and a driving cylindrical gear 22 coaxially mounted with the helical gear 21. The driving cylindrical gear 22 drives the driving gear 15 to rotate. The helical gear 21 and the driving cylindrical gear 22 are connected via the same fixed shaft, and both have the same angular velocity. The driving cylindrical gear 22 is directly or indirectly connected to the rightmost driving gear 15.

[0073] When there are preferably three driving gears 15, the driving cylindrical gear 22 can be directly connected to the driving gear 15, and the rightmost driving gear 15 can be thicker. The lower half of the rightmost driving gear 15 meshes with the driving cylindrical gear 22, and the upper half meshes with the middle gear 23. In this case, the two driving gears 15 on the left do not need to mesh with the driving cylindrical gear 22, and their thickness can be smaller. Other cases where there is only one driving gear 15 and the driving cylindrical gear 22 is indirectly connected to the driving gear 15 are simply cases of adding or removing gears or other mechanical structures, which will not be described in detail in the embodiments.

[0074] See Figure 5 In an optional embodiment, the clutch mechanism 24 includes a clutch protrusion 241 that engages with the helical gear 21 and a push rod 242 for mounting the clutch protrusion 241. The push rod 242 is the central axis of the clutch protrusion 241, and the helical gear 21 and the driving cylindrical gear 22 are coaxially connected to the push rod 242. The helical gear 21 has a through hole in the middle, into which the push rod 242 can be inserted. The clutch protrusion 241 includes a disk 243 and a shoulder 244 disposed at the bottom of the disk 243. Preferably, there are two shoulders 244, evenly distributed at the bottom of the disk 243. The helical gear 21 has a groove 245 that mates with the shoulder 244. The groove 245 is a cross-shaped groove. The helical gear 21 is rotatably connected to a mounting base 25, which is mounted on the conveying body 10. The mounting base 25 is Z-shaped and fixed to the bottom of the conveying body 10.

[0075] In an optional embodiment, a clutch protrusion 241 is disposed between the helical gear 21 and the driving cylindrical gear 22, and a spring is provided between the driving cylindrical gear 22 and the conveying body. The top of the push rod 242 is provided with a spring receiving cavity.

[0076] See Figure 1 and Figure 9 In an optional embodiment, the conveying body 10 includes a base 30, a first stop 31 and a second stop 32 mounted on the base 30, with a mounting groove 33 formed between the first stop 31 and the second stop 32. The wire clamping mechanism includes a rotary lever 34 rotatably mounted on the second stop 32 and a gate 35 connected to the rotary lever 34. The gate 35 is in close contact with the second stop 32 and moves up and down within the mounting groove 33. The guide wire is placed in the mounting groove 33, below the gate 35. Rotating the rotary lever 34 clockwise presses the guide wire down to a designated position. This solves the problem that manually placing a thin guide wire is cumbersome.

[0077] See Figure 9In an optional embodiment, the mounting groove 33 includes an upper mounting groove 331 and a lower mounting groove 332 disposed below the upper mounting groove 331. The opening of the upper mounting groove 331 is larger than that of the lower mounting groove 332. The upper mounting groove 331 and the lower mounting groove 332 are smoothly connected, preventing the gate 35 from getting stuck during descent. The opening of the lower mounting groove 332 is adapted to the thickness of the gate 35, i.e., approximately equal. When the guide wire is placed in the lower mounting groove 332, the gate 35 presses down to press the guide wire to the designated position, preventing it from getting stuck on the inner wall.

[0078] See Figure 10 In an optional embodiment, a guide block 36 is further provided on the second stop 32, and a guide groove is provided on the second stop 32 for the guide block 36. The guide block 36 moves up and down along the guide groove. The guide block 36 is driven to move up and down by a knob block 34, and the guide block 36 drives the gate plate 35 to move up and down. The guide block 36 and the gate plate 35 are connected by several connecting shafts 37. The second stop 32 is provided with a guide groove for the connecting shafts 37 to prevent the connecting shafts 37 from swaying left and right, and to move only in the height direction. A tension spring is provided on the connecting shafts 37 to keep the gate plate 35 tightly against the second stop 32. There is a gap between the gate plate 35 and the upper mounting groove 331, and the guide wire is inserted into the lower mounting groove 332 through the gap. When the gate plate 35 moves downward, it slowly enters the lower mounting groove 332 from the upper mounting groove 331 until the guide wire is pressed into the designated position for conveying.

[0079] See Figure 10 In an optional embodiment, the second stop 32 is provided with a plurality of guide grooves 323, and the gate plate 35 is provided with protruding ribs 351 that cooperate with the guide grooves 323. The protruding ribs 351 move up and down along the guide grooves 323, increasing the contact area, making the up and down movement more stable, preventing tilting, and improving the pressure on the guide wire. Because the overall device is small in size, the protruding ribs 351 also increase the strength of the gate plate 35, making it less prone to breakage.

[0080] See Figure 8 and Figure 10In an optional embodiment, the second stop 32 is provided with an arc-shaped guide groove 321, and the knob block 34 is provided with a guide shaft 341 that moves along the arc-shaped guide groove 321. A locking hole 322, which is hook-shaped, is provided at the bottom end of the arc-shaped guide groove 321. The portion of the guide shaft 341 within the arc-shaped guide groove 321 has a notch, making the end of the guide shaft 341 semi-circular, which moves within the arc-shaped guide groove 321. The guide shaft 341 is rotatably mounted on the knob block 34, and after rotation, it is fixed in the locking hole 322. A locking plate 342 is provided on the guide shaft 341 to control its rotation. Rotating the locking plate 342 causes the semi-circular end of the guide shaft 341 to engage in the locking hole 322, at which point the smooth surface of the guide shaft 341 faces upwards and the arc-shaped surface faces downwards, preventing the knob block 34 from moving. The smooth surface of the guide shaft 341 faces downwards, while the arc-shaped surface faces downwards, preventing the knob toggle 34 from moving. The locking plate 342 is L-shaped and has raised baffles in both the locked and unlocked states for easy operation.

[0081] See Figure 11 In an optional embodiment, a clamping device 40 is provided on the base 30. The clamping device 40 includes a movable seat 41 for mounting the clamping silicone roller 17 and an adjusting rod 42 for controlling the radial movement of the movable seat 41. When the adjusting rod 42 moves to the right, the movable seat 41 drives the clamping silicone roller 17 to move away from the driving silicone roller 16, releasing the guide wire. The movable seat 41 is provided with a spring that tends to move towards the driving silicone roller 16. When the adjusting rod 42 moves to the left, the movable seat 41 will slowly approach the driving silicone roller 16 until it clamps the guide wire.

[0082] See Figure 12 In an optional embodiment, a beveled groove 421 is provided at the bottom of the adjusting rod 42, and a guide post 411 is provided on the movable seat 41, which moves along the beveled groove 421. A sliding groove with only the adjusting rod 42 is provided on the base 30. The adjusting rod 42 moves axially, the guide post 411 moves along the beveled groove 421, and the movable seat 41 moves radially, thereby achieving the clamping and loosening of the guide wire.

[0083] See Figure 12 In an optional embodiment, the adjusting rod 42 is provided with a socket 422, and a pin 43 is connected to the socket 422. A spring is provided below the pin 43. The pin 43 extends upward through the adjusting rod 42. The adjusting rod 42 is provided with a hole through which the pin 43 passes, so that the movement of the adjusting rod 42 is not affected by the pin 43. The cross-section of the socket 422 is a right trapezoid, and the pin 43 corresponds to the socket 422, which can limit the position of the adjusting rod 42.

[0084] See Figure 10In an optional embodiment, a release protrusion 343 is provided on the knob block 34. When the knob block 34 is rotated to the lowest point, the release protrusion 343 presses down on the pin 43, causing it to disengage from the socket 422. When the knob block is in the highest position, the pin 43 and the socket 422 are engaged. The adjusting rod 42, through a spring, keeps the clamping silicone roller 17 pressed against the driving silicone roller 16. The pin 43, also through a spring, is always upward, able to promptly engage the adjusting rod 42. When the pin 43 engages the adjusting rod 42, the distance between the clamping silicone roller 17 and the driving silicone roller 16 is at its maximum. When the knob block 34 is rotated to the lowest point, the release protrusion 343 presses down on the pin 43, causing it to disengage from the socket 422, and the clamping silicone roller 17 moves to the left to clamp the guide wire. When the knob block 34 is rotated upward, it drives the adjusting rod 42 to move radially, and the distance between the clamping silicone roller 17 and the driving silicone roller 16 gradually increases, allowing the guide wire to be removed.

[0085] See Figure 3 In an optional embodiment, the adjusting rod 42 is provided with a push block protrusion 423, and the knob block 34 is provided with a push block 344. As the knob block 34 rotates from its lowest point to its highest point, the push block 344 pushes the push block protrusion 423 to move the mounting and clamping silicone roller 17 away from the guide wire. When the knob block 34 reaches its highest point, the distance between the clamping silicone roller 17 and the driving silicone roller 16 is at its maximum. At this time, the pin 43 rises and locks the insertion port 422, preventing the adjusting rod 42 from moving axially.

[0086] The specific working method is as follows:

[0087] In the initial state, the gate 35 is in the upper mounting groove 331 and close to the second stop 32. The pin 43 is engaged with the insertion port 422 of the adjusting rod 42, and the distance between the pressing silicone roller 17 and the driving silicone roller 16 is at its maximum. The guide wire is placed in the lower mounting groove 332, and the knob 34 is rotated clockwise, causing the gate 35 to move downwards and press the guide wire down. When the knob 34 is pressed to its lowest point, the guide wire is between the pressing silicone roller 17 and the driving silicone roller 16. The release protrusion 343 presses down the pin 43 to disengage it from the insertion port 422, and the pressing silicone roller 17 moves to the left to press the guide wire. The locking plate buckle 342 is turned so that the semi-circular end of the guide shaft 341 is engaged in the locking hole 322, and the knob 34 is fixed in place. The rotation of the drive gear drives the driving silicone roller 16 to rotate, thereby driving the guide wire to be conveyed. The delivery gear 12 and the delivery body 10 have the same opening 13. A spring presses against the clutch protrusion 241, causing it to engage with the groove 245. After the guidewire is inserted, rotating the delivery gear 12 will cause the guidewire to rotate. Once the guidewire reaches the designated position in the blood vessel, the delivery gear 12 stops rotating.

[0088] When the guide wire needs to be replaced, move the locking plate buckle 342 to disengage the semi-circular end of the guide shaft 341 from the locking hole 322, and then rotate the knob block 34 counterclockwise. The push block 344 of the knob block 34 pushes the push block protrusion 423, causing the adjusting rod 42 to move to the right. The clamping silicone roller 17 releases the guide wire, and the distance between the knob block 34 and the driving silicone roller 16 increases during the counterclockwise rotation of the knob block 34. When the knob block 34 is rotated to the highest point, the pin 43 moves upward under the action of the spring and locks the adjusting rod 42. The push rod 242 is lifted to separate the clutch protrusion 241 from the groove 245. At this time, rotate the conveying gear 12 to align the opening 13 of the conveying body 10 and the conveying gear 12, and remove the guide wire. The push rod 242 is no longer pushed upward, and the spring presses down on the push rod 242. After refilling the medium through opening 13 or replacing it with another guide wire, rotate the conveying gear 12. After rotating a certain angle, the clutch protrusion 241 and the groove 245 will re-engage, and the guide wire will rotate together with the conveying gear 12.

[0089] Example 2:

[0090] To improve the level of automation, a clutch drive mechanism 26 is added based on Embodiment 1. The clutch drive mechanism 26 is described in detail below.

[0091] See Figure 7 In an optional embodiment, a clutch drive mechanism 26 is connected to the clutch mechanism 24. The clutch drive mechanism 26 includes a first motor 261, a crank 262 mounted on the first motor 261, a slider 263 mounted on the crank 262, a lifting groove 264 disposed on the slider 263, and a lifting push rod 265 that moves up and down along the lifting groove 264. The lifting push rod 265 controls the clutch engagement and disengagement of the clutch mechanism 24.

[0092] See Figure 7 In an optional embodiment, the crank 262 is an L-shaped crank, and a moving groove 266 is provided on the side of the crank 262 near the first motor 261. The L-shaped crank rotates along the pivot in the middle, and the moving groove 266 can be configured to be open so that it will not disengage from there during the forward and reverse rotation of the motor.

[0093] See Figure 7 In an optional embodiment, the first motor 261 is provided with a turntable 267, and a movable shaft 268 is eccentrically provided on the turntable 267. The movable shaft 268 moves within a movable groove 266. The openings of the movable shaft 268 and the movable groove 266 are matched, and during the rotation of the turntable 267, it will drive the crank 262 to rotate.

[0094] See Figure 7In an optional embodiment, a guide plate 269 is further provided between the slider 263 and the crank 262. The guide plate 269 is fixed to another large fixed plate, not shown in the figure. The large fixed plate is provided with guide rails for the radial movement of the guide plate 269. The guide plate 269 allows the slider 263 to move more smoothly.

[0095] The specific working method is as follows:

[0096] The first motor 261 drives the turntable 267 to rotate, and the moving shaft 268 rotates with the turntable 267. The middle part of the L-shaped crank is rotatable. When the moving shaft 268 moves in the moving groove 266 of the crank 262, the crank 262 rotates. The other side of the crank 262 is connected to the guide plate 269, which is limited to moving back and forth. The slider 263 also moves back and forth with the guide plate 269. The slider 263 has a lifting groove 264. During the movement of the slider 263, the lifting push rod 265 will rise and fall along the lifting groove 264, thereby lifting or separating the push rod 242, which can replace the method of manually lifting the push rod 262.

[0097] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A guide wire driving device, characterized in that: For vascular intervention; comprising a delivery body (10) and a rotating gear (11) mounted on one side of the delivery body (10); a delivery gear (12) is rotatably mounted on the other side of the delivery body (10); the delivery body (10), the rotating gear (11), and the delivery gear (12) are axially penetrated by an opening (13), through which a guidewire is inserted into a driving device; the delivery body (10) is provided with a delivery mechanism (14) driven by the delivery gear (12), the delivery gear (12) drives the delivery mechanism (14) to deliver the guidewire through a transmission mechanism (20), the transmission mechanism (20) including a component that can disengage from the delivery gear during lifting and lowering ( 12) The clutch mechanism (24); A wire clamping mechanism is provided on the conveying body (10) for pressing the guide wire into the conveying mechanism (14) along the opening (13); The conveying body (10) includes a base (30), a first stop (31) and a second stop (32) mounted on the base (30), and an installation groove (33) is formed between the first stop (31) and the second stop (32). The wire clamping mechanism includes a knob block (34) rotatably mounted on the second stop (32) and a gate plate (35) connected to the knob block (34). The gate plate (35) is close to the second stop (32) and moves up and down in the installation groove (33).

2. The guide wire driving device as described in claim 1, characterized in that: The conveying mechanism (14) includes a drive gear (15) driven by the conveying gear (12), a driving silicone roller (16) driven by the drive gear (15), and a pressing silicone roller (17) corresponding to the driving silicone roller (16); a transmission mechanism (20) is provided between the drive gear (15) and the conveying gear (12).

3. The guide wire driving device as described in claim 1, characterized in that: The rotating gear (11) is a helical gear, and a first small helical gear (18) is connected to the rotating gear (11).

4. The guide wire driving device as described in claim 1, characterized in that: The conveying gear (12) is a double-sided helical gear. The end of the conveying gear (12) away from the conveying body (10) is connected to a second helical gear (19), and the end of the conveying gear (12) close to the conveying body (10) is connected to the transmission mechanism (20).

5. The guide wire driving device as described in claim 2, characterized in that: The transmission mechanism (20) includes a helical gear (21) and a driving cylindrical gear (22) coaxially mounted with the helical gear (21). The driving cylindrical gear (22) drives the driving gear (15) to rotate.

6. The guide wire driving device as described in claim 5, characterized in that: The clutch mechanism (24) includes a clutch protrusion (241) that engages with the helical gear (21) and a push rod (242) for mounting the clutch protrusion (241).

7. The guide wire driving device as described in claim 6, characterized in that: The push rod (242) is the central axis of the clutch protrusion (241), and the helical gear (21) and the driving cylindrical gear (22) are coaxially connected on the push rod (242).

8. The guide wire driving device as described in claim 6, characterized in that: The clutch protrusion (241) includes a disk (243) and a shoulder (244) provided at the bottom of the disk (243); the helical gear (21) is provided with a groove (245) that cooperates with the shoulder (244).

9. The guide wire driving device as described in claim 5, characterized in that: The helical gear (21) is rotatably connected to a mounting base (25), which is mounted on the conveying body (10).

10. The guide wire driving device as described in claim 6, characterized in that: The clutch protrusion (241) is disposed between the helical gear (21) and the driving cylindrical gear (22), and a spring is provided between the driving cylindrical gear (22) and the conveying body.

11. The guide wire driving device as described in claim 1, characterized in that: A clutch drive mechanism (26) is connected to the clutch mechanism (24). The clutch drive mechanism (26) includes a first motor (261), a crank (262) mounted on the first motor (261), a slider (263) mounted on the crank (262), a lifting groove (264) provided on the slider (263), and a lifting push rod (265) that moves up and down along the lifting groove (264). The lifting push rod (265) controls the clutch engagement and disengagement of the clutch mechanism (24).

12. The guide wire driving device as described in claim 11, characterized in that: The crank (262) is an L-shaped crank, and the crank (262) has a moving groove (266) on the side near the first motor (261).

13. The guide wire driving device as described in claim 12, characterized in that: The first motor (261) is provided with a turntable (267), and a moving shaft (268) is eccentrically provided on the turntable (267). The moving shaft (268) moves within the moving groove (266).

14. The guide wire driving device as described in claim 11, characterized in that: A guide plate (269) is also provided between the slider (263) and the crank (262).

15. The guide wire driving device as described in claim 1, characterized in that: The mounting groove (33) includes an upper mounting groove (331) and a lower mounting groove (332) disposed below the upper mounting groove (331). The opening of the upper mounting groove (331) is larger than that of the lower mounting groove (332), and the opening of the lower mounting groove (332) is adapted to the thickness of the gate (35).

16. The guide wire driving device as described in claim 1, characterized in that: A guide block (36) is also provided on the second stop block (32). The guide block (36) is driven up and down by the knob block (34), and the guide block (36) drives the gate plate (35) to move up and down.

17. A guide wire driving device as described in claim 16, characterized in that: The guide block (36) and the gate (35) are connected by several connecting shafts (37); the connecting shafts (37) are provided with tension springs to make the gate (35) fit tightly against the second stop block (32).

18. The guide wire driving device as described in claim 1, characterized in that: The second stop (32) is provided with an arc guide groove (321), and the knob block (34) is provided with a guide shaft (341) that moves along the arc guide groove (321).

19. A guide wire driving device as described in claim 18, characterized in that: A lock hole (322) is provided at the bottom end of the arc guide groove (321); the guide shaft (341) has a notch in part of the arc guide groove (321), the guide shaft (341) is rotatably mounted on the knob block (34), and the guide shaft (341) is fixed on the lock hole (322) after rotation.

20. The guide wire driving device as described in claim 18, characterized in that: A locking plate (342) is provided on the guide shaft (341) to control its rotation.

21. The guide wire driving device as described in claim 2, characterized in that: A pressing device (40) is provided on the base (30). The pressing device (40) includes a movable seat (41) for mounting the pressing silicone roller (17) and an adjusting rod (42) for controlling the radial movement of the movable seat (41).

22. The guide wire driving device as described in claim 21, characterized in that: A beveled groove (421) is provided at the bottom of the adjusting rod (42), and a guide post (411) is provided on the moving seat (41). The guide post (411) moves along the beveled groove (421).

23. The guide wire driving device as described in claim 21, characterized in that: The adjusting rod (42) is provided with a socket (422), and a pin (43) is connected to the socket (422); the pin (43) extends upward through the adjusting rod (42).

24. The guide wire driving device as described in claim 23, characterized in that: A release protrusion (343) is provided on the knob block (34). When the knob block (34) is rotated to the lowest point, the release protrusion (343) presses down on the pin (43) to disengage it from the socket (422).

25. The guide wire driving device as described in claim 22, characterized in that: The adjusting rod (42) is provided with a push block protrusion (423), and the knob block (34) is provided with a push block (344); during the process of the knob block (34) rotating from the lowest point to the highest point, the push block (344) pushes the push block protrusion (423) to move the clamping silicone roller (17) away from the guide wire.

26. The guide wire driving device as described in claim 1, characterized in that: The second stop (32) is provided with a plurality of guide grooves (323), and the gate plate (35) is provided with a rib (351) that cooperates with the guide grooves (323).

27. A wire guide robot, characterized in that: The guidewire drive device as described in any one of claims 1-26 was used.

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