Pneumatic device for guidewire clamping and interventional surgery robot

Abstract

The present invention provides a pneumatic device for clamping a guidewire and an interventional surgical robot, comprising a guidewire conveying device and a guidewire clamping device, wherein the guidewire conveying device comprises a driving wheel assembly and a driven wheel assembly, wherein the guidewire clamping device drives the driven wheel assembly to approach or move away from the driving wheel assembly; the driven wheel assembly and the driving wheel assembly both clamp the guidewire, and both the driven wheel assembly and the driving wheel assembly rotate in coordination with the guidewire; further comprising a support structure and a guidewire rotating mechanism, wherein the guidewire rotating mechanism, the guidewire conveying device and the guidewire clamping device are all mounted on the support structure, wherein the guidewire rotating mechanism drives the guidewire conveying device and the guidewire clamping device to rotate, and a connecting air path is provided on the guidewire rotating mechanism, wherein the connecting air path is connected to a left air inlet and a right air inlet. The gas-driven guidewire clamping device is used to push the driven wheel assembly to approach or move away from the driving wheel assembly, thereby achieving stable clamping and conveying of the guidewire, and convenient loading and unloading, and the pressure of multiple driven wheels moving simultaneously is consistent.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a pneumatic device for guidewire clamping and an interventional surgery robot. Background Art

[0002] Vascular interventional surgery is a method in which doctors manipulate interventional instruments to move in human blood vessels under the guidance of DSA equipment, ultimately accurately reaching the lesion and performing treatment. Common interventional instruments include intravenous catheters, guide wires, filters, spring emboli, etc. Vascular interventional surgery has become an important means of treating cardiovascular diseases. Compared with traditional surgical operations, it has the characteristics of small incisions, quick recovery, and good results.

[0003] The existing Chinese patent document with publication number CN113995941A discloses a minimally invasive vascular interventional surgery robot catheter guidewire collaborative execution device, including: a base part; a sliding table, slidably mounted on the base part; a catheter delivery part, slidably mounted on the base part, for delivering and twisting the catheter; two guidewire clamping parts, both fixedly mounted on the base part, for clamping the guidewire; two balloon stent delivery parts, both fixedly mounted on the sliding table, for delivering the balloon stent; and a dual guidewire delivery part, fixedly mounted on the sliding table, for delivering and twisting the guidewire, wherein the catheter delivery part, the guidewire clamping part, the balloon stent delivery part and the dual guidewire delivery part are sequentially arranged above the base part.

[0004] In the prior art, the guide wire is clamped by a clamping part, and the delivery of the guide wire requires the aid of other driving structures, which has a complex structure and poor stability, and there is room for improvement. Summary of the invention

[0005] In view of the defects in the prior art, an object of the present invention is to provide a pneumatic device for guidewire clamping and an interventional surgery robot.

[0006] According to the present invention, a pneumatic device for clamping a guide wire comprises a guide wire conveying device and a guide wire clamping device, wherein the guide wire conveying device comprises a driving wheel assembly and a driven wheel assembly, and the guide wire clamping device drives the driven wheel assembly to approach or move away from the driving wheel assembly; a gap is formed between the driving wheel assembly and the driven wheel assembly for the guide wire to pass through, and both the driven wheel assembly and the driving wheel assembly clamp the guide wire, and both the driven wheel assembly and the driving wheel assembly rotate in cooperation with the guide wire.

[0007] Preferably, the guide wire clamping device includes a valve body, a left air inlet, a right air inlet, a piston rod and a piston, and the left air inlet and the right air inlet are respectively arranged on both sides of the valve body; the piston rod penetrates into the valve body from the side where the left air inlet is located, and penetrates out from the side where the right air inlet is located, and both ends of the piston rod extend out of the valve body, and one end of the piston rod is connected to the driven wheel assembly; a gap is formed between the hole on the valve body for the piston rod to pass through and the piston rod, and the gap is connected to the left air inlet and the right air inlet respectively; the piston is arranged in the middle of the piston rod, the piston and the side wall of the gap are slidably matched, and the piston closes the gap to prevent gas from passing through.

[0008] Preferably, the left air inlet duct includes a left air pipe joint, a left main air inlet duct and a left air inlet hole, and the left air pipe joint, the left main air inlet duct and the left air inlet hole are connected in sequence, and the left air inlet hole is connected to the gap formed by the valve body and the piston rod; the right air inlet duct includes a right air pipe joint, a right main air inlet duct and a right air inlet hole, and the right air pipe joint, the right main air inlet duct and the right air inlet hole are connected in sequence, and the right air inlet hole is connected to the gap formed by the valve body and the piston rod.

[0009] Preferably, the guide wire conveying device also includes a guide wire conveying base, and the driving wheel assembly includes a driving wheel, a first synchronous pulley, a connecting shaft, a synchronous belt and a first driving device; the connecting shaft is rotatably mounted on the guide wire conveying base, the driving wheel is fastened to the side of the connecting shaft extending out of the guide wire conveying base, the first synchronous pulley is fastened to the other side of the connecting shaft extending out of the guide wire conveying base, and the synchronous belt transmission connects the output shaft of the first driving device and the first synchronous pulley.

[0010] An interventional surgical robot provided according to the present invention also includes a supporting structure and a guide wire rotating mechanism, wherein the guide wire rotating mechanism, the guide wire conveying device and the guide wire clamping device are all installed on the supporting structure, and the guide wire rotating mechanism drives the guide wire conveying device and the guide wire clamping device to rotate. A connecting air path is provided on the guide wire rotating mechanism, and the connecting air path is connected to the left air inlet duct and the right air inlet duct.

[0011] Preferably, the guide wire rotating mechanism includes a rotating mechanism fixed shaft and a rotating output sleeve, the rotating output sleeve is sleeved on the rotating mechanism fixed shaft and rotatably cooperated therewith, the rotating mechanism fixed shaft is provided with a channel allowing the guide wire to pass through; the connecting air path includes an air inlet joint, an air outlet joint, an air inlet duct and an air ring, the air inlet joint is arranged on the rotating mechanism fixed shaft, the air outlet joint is arranged on the rotating output sleeve, the air inlet duct is arranged in the rotating mechanism fixed shaft, and the air ring is arranged between the rotating mechanism fixed shaft and the rotating output sleeve; the air inlet joint is connected with the air inlet duct, the air inlet duct is connected with the air ring, and the air ring is connected with the air outlet joint.

[0012] Preferably, a plurality of the air outlet connectors are arranged on the rotating output sleeve, the air rings correspond to the air outlet connectors one by one, and an O-ring is arranged between any two adjacent air rings.

[0013] Preferably, the support structure allows the guide wire conveying device, the guide wire clamping device and the guide wire rotating mechanism to rotate freely, and the guide wire conveying device and the guide wire rotating mechanism are both arranged linearly on the support structure.

[0014] Preferably, a guide wire guide cylinder is provided on the support structure at one end of the guide wire rotating mechanism away from the guide wire conveying device, and the central axis of the guide wire guide cylinder is colinear with the rotation axis of the guide wire rotating mechanism.

[0015] Preferably, the interventional surgery robot uses materials that meet magnetic resonance compatibility requirements, and the materials used by the interventional surgery robot include polymer materials, copper alloys, ceramics and titanium alloys.

[0016] Compared with the prior art, the present invention has the following beneficial effects:

[0017] 1. The present invention uses a gas-driven guide wire clamping device to push the driven wheel assembly close to or away from the driving wheel assembly, thereby achieving stable clamping and conveying of the guide wire, convenient loading and unloading, and achieving consistent pressure on the guide wire or catheter when multiple driven wheels move simultaneously.

[0018] 2. The present invention solves the problem of rotation and entanglement of the connecting air pipe of the guide wire rotating mechanism by adopting a gas slip ring structure, thereby achieving the effect of rotating the guide wire at any angle.

[0019] 3. The present invention adopts materials that meet the compatibility performance of magnetic resonance, so that the robot system can work under the guidance of XMR images, that is, the surgical operation can be completed normally under the guidance of X-ray / angiography (DSA) / computed tomography (CT) or magnetic resonance (MR) images. The material selection of the robot system not only reduces the interference of the robot system by the external magnetic field, but also reduces the impact on the imaging quality of magnetic resonance and the like.

[0020] 4. The present invention drives the guide wire to advance or retreat through the guide wire conveying mechanism and drives the guide wire conveying mechanism to rotate 360 ​​degrees through the guide wire rotating mechanism, thereby realizing the combination of guide wire advancement or retreat and guide wire rotation, and then utilizes the catheter conveying mechanism to drive the catheter to advance or retreat, thereby realizing the synchronous composite movement of guide wire conveying, guide wire rotation at any angle and catheter conveying.

[0021] 5. The present invention can complete the adaptation and interventional operation of two types of guidewire catheters, coaxial and Y-shaped, by installing a guide plate with different catheter guide grooves and guidewire guide grooves. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Other features, objects and advantages of the present invention will become more apparent from the detailed description of non-limiting embodiments made with reference to the following drawings:

[0023] Figure 1 This is an axial schematic diagram of the overall structure of the interventional surgery robot mainly embodied in the present invention;

[0024] Figure 2 This is a schematic diagram mainly showing the overall structure of the interventional surgery robot of the present invention;

[0025] Figure 3 It is a schematic diagram mainly showing the overall structure of the guide wire delivery mechanism of the present invention;

[0026] Figure 4 It is a schematic diagram of the back side of the overall structure of the guide wire delivery device mainly embodied in the present invention;

[0027] Figure 5 This is a schematic diagram of the front side of the overall structure of the guide wire delivery device mainly embodied in the present invention;

[0028] Figure 6 It is a schematic diagram mainly showing the overall structure of the guide wire delivery device of the present invention;

[0029] Figure 7 This is a half-section view mainly showing the overall structure of the drive shaft of the present invention;

[0030] Figure 8 It is a half-section view mainly showing the overall structure of the first driving device of the present invention;

[0031] Fig. 9 This is a half-section view mainly showing the overall structure of the driven shaft of the present invention;

[0032] Fig.10 This is a side schematic diagram of the overall structure of the driven shaft mainly embodied in the present invention;

[0033] Fig.11 It is a schematic diagram mainly showing the overall structure of the guide wire clamping device of the present invention.

[0034] Fig.12 It is a side schematic diagram mainly showing the overall structure of the guide wire rotating mechanism of the present invention;

[0035] Fig.13 This is an axial schematic diagram mainly showing the overall structure of the guide wire rotating mechanism of the present invention;

[0036] Fig.14 It is a half-section schematic diagram of the guide wire rotating mechanism mainly embodied in the present invention;

[0037] Fig.15 It is a schematic diagram mainly showing the overall structure of the catheter delivery mechanism of the present invention.

[0038] As shown in the figure:

[0039] Guide wire conveying mechanism 100 First synchronous pulley 1163 Mounting bracket 1211

[0040] Guide wire conveying device 110 Drive wheel mounting base 1165 Guide wire rotating mechanism 200

[0041] Synchronous belt 111 Connecting shaft 1166 Guide wire rotation output connecting plate 201

[0042] Ceramic bearing 1121 First connecting screw 1167 Rotating output sleeve 2021

[0043] First motor mounting seat 1122 Guide wire delivery base 117 Air ring 2022

[0044] Transmission shaft 1123 Guide groove 1171 Rotating mechanism fixed shaft 2024

[0045] Second synchronous pulley 1124 Mounting screw 1172 O-ring 2026

[0046] First pneumatic motor 1125 Slide rail 1173 Air inlet 2027

[0047] Guide boss 1126 Guide wire guide column 118 Bearing pressure plate 2029

[0048] Tension screw 113 Synchronous belt guide column 119 Inlet connector 203

[0049] Cover plate 114 First air motor air inlet 1127 Second air motor air inlet 204

[0050] Driven wheel assembly 115 Guide wire clamping device 120 Second pneumatic motor 205

[0051] Driven wheel 1151 Left air pipe joint 1201 Second motor mounting seat 206

[0052] Installation shaft 1152 Left main air intake duct 1202 Transmission gear pair 207

[0053] Driven wheel mounting base 1153 Left air inlet 1203 Air outlet connector 208

[0054] Compression screw 1155 Valve body 1204 Catheter delivery mechanism 300

[0055] Guide mounting groove 1156 Operating handle 1205 Catheter delivery device 310

[0056] Second connecting screw 1157 Right tracheal joint 1206 Catheter clamping device 320

[0057] Connection hole 1158 Right main air intake duct 1207 Support structure 400

[0058] Driving wheel assembly 116 Piston 1208 Guide wire guide cylinder 403

[0059] Driving wheel 1161 Right air inlet 1209 Guide plate 501

[0060] Locking screw 1162 Piston rod 1210 Guide wire 601

[0061] Catheter 602 DETAILED DESCRIPTION

[0062] The present invention is described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present invention, but are not intended to limit the present invention in any form. It should be noted that, for those of ordinary skill in the art, several changes and improvements can also be made without departing from the concept of the present invention. These all belong to the protection scope of the present invention.

[0063] like Figure 1 As shown, a pneumatic device for guidewire clamping and an interventional surgical robot provided according to the present invention include a guidewire conveying mechanism 100 , a guidewire rotating mechanism 200 , a catheter conveying mechanism 300 and a supporting structure 400 .

[0064] like Figure 1 and Figure 2 As shown, the guide wire delivery mechanism 100 is rotatably arranged on the support structure 400, and the guide wire delivery mechanism 100 drives the guide wire 601 to advance or withdraw. The guide wire rotation mechanism 200 is positioned and installed on the support structure 400, and the guide wire rotation mechanism 200 drives the guide wire delivery mechanism 100 to rotate. The catheter delivery mechanism 300 is fixedly installed on the support structure 400, and the catheter delivery mechanism 300 drives the catheter 602 to advance or withdraw. It should be noted that the support structure 400 allows both the guide wire delivery mechanism 100 and the guide wire rotation mechanism 200 to rotate freely, and the guide wire delivery mechanism 100 and the guide wire rotation mechanism 200 are both arranged linearly on the support structure 400.

[0065] The catheter conveying mechanism 300 drives the catheter 602 to advance or withdraw the wire. The guide wire 601 passes through the guide wire rotating mechanism 200 and the guide wire conveying mechanism 100 in sequence, wherein the guide wire conveying mechanism 100 directly acts on the guide wire 601 to drive the guide wire 601 to advance or withdraw the wire, and the guide wire rotating mechanism 200 drives the guide wire conveying mechanism 100 to rotate, and also realizes the drive guide wire 601 to rotate. When the guide wire conveying mechanism 100 operates alone, the guide wire 601 can be advanced or withdrawn. When the guide wire rotating mechanism 200 operates alone, the guide wire 601 can be rotated. When the guide wire conveying mechanism 100 and the guide wire rotating mechanism 200 work together, the synchronous composite motion of advancing or withdrawing the guide wire 601, rotating the guide wire 601, and conveying the catheter 602 can be realized.

[0066] Specifically, the support structure 400 serves as the installation base for the guidewire delivery mechanism 100 , the guidewire rotation mechanism 200 and the catheter delivery mechanism 300 , and has a certain structural strength, and its material and strength can meet the requirements of the use environment of the interventional surgical robot.

[0067] like Figure 3 , Figure 4 , Figure 5 , Figure 6 , Figure 7 , Figure 8 , Fig. 9 as well as Fig.10 As shown, the guide wire delivery mechanism 100 includes a guide wire delivery base 117, a guide wire delivery device 110 and a guide wire clamping device 120, and both the guide wire delivery device 110 and the guide wire clamping device 120 are mounted on the guide wire delivery base 117. The guide wire delivery device 110 includes a driving wheel assembly 116 and a driven wheel assembly 115, both of which are mounted on the guide wire delivery base 117, and a gap is formed between the driven wheel assembly 115 and the driving wheel assembly 116 for the guide wire 601 to pass through, and both the driven wheel assembly 115 and the driving wheel assembly 116 clamp the guide wire 601, and both the driven wheel assembly 115 and the driving wheel assembly 116 are rotationally matched with the guide wire 601.

[0068] A cover plate 114 is installed on the guide wire delivery base 117, and the cover plate 114 is installed on the side of the guide wire delivery base 117 through which the guide wire passes. When the cover plate 114 is closed, a space is formed between the cover plate 114 and the guide wire delivery base 117 to protect the driven wheel assembly 115 and the driving wheel assembly 116.

[0069] A guide wire guide column 118 is fixedly mounted on the guide wire delivery base 117. The guide wire guide column 118 is located at a gap formed between the driven wheel assembly 115 and the driving wheel assembly 116 for the guide wire 601 to pass through. A guide wire guide groove is provided at one end of the guide wire guide column 118 away from the guide wire delivery base 117. The guide wire guide groove is open in a direction away from the guide wire delivery base 117. When the cover plate 114 is closed, the cover plate 114 cooperates with the guide wire guide groove on the guide wire guide column 118 to form a guide hole, which helps to improve the stability of guide wire delivery.

[0070] More specifically, the driving wheel assembly 116 includes a driving wheel 1161, a first synchronous pulley 1163, a connecting shaft 1166, a synchronous belt 111 and a first driving device. A driving wheel mounting base 1165 is provided in the middle of the connecting shaft 1166, the driving wheel mounting base 1165 is fastened and connected with the guide wire delivery base 117 by screws, the connecting shaft 1166 coaxially passes through the driving wheel mounting base 1165, and the connecting shaft 1166 is rotatably connected with the driving wheel mounting base 1165 through a ceramic bearing 1121. The rotatable connection between the connecting shaft 1166 and the guide wire delivery base 117 is realized, and then the connecting shaft 1166 is rotatably mounted on the guide wire delivery base 117.

[0071] The driving wheel 1161 is fastened to the side of the connecting shaft 1166 extending out of the guide wire delivery base 117 through the first connecting screw 1167, and the first synchronous pulley 1163 is fastened to the other side of the connecting shaft 1166 extending out of the guide wire delivery base 117 through the locking screw 1162, and the synchronous belt 111 drives and connects the output shaft of the first driving device and the first synchronous pulley 1163. The output shaft of the first driving device rotates, and the first synchronous pulley 1163 is driven to rotate through the synchronous belt 111, thereby driving the connecting shaft 1166 to rotate, and then driving the driving wheel 1161 to rotate.

[0072] The first driving device includes a first pneumatic motor 1125, a first motor mounting seat 1122, a second synchronous pulley 1124 and a transmission shaft 1123. The first motor mounting seat 1122 is fastened to the first pneumatic motor 1125 assembly by bolts. The first motor mounting seat 1122 is a hollow structure with one side open, and the output shaft of the first pneumatic motor 1125 extends into the motor mounting seat. Both the second synchronous pulley 1124 and the transmission shaft 1123 are installed in the hollow structure of the first motor mounting seat 1122. One end of the transmission shaft 1123 is coaxially fastened to the output shaft of the first pneumatic motor 1125, and the other end of the transmission shaft 1123 is rotatably connected to the first motor mounting seat 1122 through a ceramic bearing 1121. The second synchronous pulley 1124 is coaxially fastened to the transmission shaft 1123 by screws.

[0073] The second synchronous pulley 1124 and the first synchronous pulley 1163 are located on the same side of the guide wire delivery base 117, and the second synchronous pulley 1124 is connected to the first synchronous pulley 1163 through the synchronous belt 111. The first motor mounting seat 1122 is threadedly connected with a tensioning screw 113, and the threaded end of the tensioning screw 113 extends into the first motor mounting seat 1122 and abuts against the synchronous belt 111. The tightness of the synchronous belt 111 can be adjusted by rotating the tensioning screw 113. A guide boss 1126 is formed at one end of the first motor mounting seat 1122 away from the first pneumatic motor 1125, and a guide groove 1171 is formed on the guide wire delivery base 117. The guide boss 1126 penetrates into the guide groove 1171 and is fastened to the guide wire delivery base 117 through the mounting screw 1172. Thus, the fastening installation of the first drive device on the guide wire delivery base 117 is realized, and the first drive device can be ensured to be installed at a designated position.

[0074] A feasible implementation of the present application is: four first synchronous pulleys 1163 are installed at intervals on the guide wire conveying base 117, and the second synchronous pulley 1124 is connected to the four first synchronous pulleys 1163 through a synchronous belt. The rotation of the second synchronous pulley 1124 can simultaneously drive the four first synchronous pulleys 1163 to rotate, and then simultaneously drive the four driving wheels to rotate.

[0075] A synchronous belt guide column 119 is fixedly mounted on the guide wire conveying base 117. The synchronous belt guide column 119 increases the number of teeth meshing between the synchronous belt 111 and the four first synchronous belt wheels 1163, thereby ensuring the reliability of transmission.

[0076] The driven wheel assembly 115 includes a driven wheel 1151, which is located on the same side of the guide wire conveying base 117 as the driving wheel 1161. The driven wheel 1151 and the driving wheel 1161 correspond to each other one by one and are arranged opposite to each other, and the distance between the driven wheel 1151 and the guide wire conveying base 117 is equal to the distance between the driving wheel 1161 and the guide wire conveying base 117.

[0077] The driven wheel assembly 115 also includes a mounting shaft 1152 and a driven wheel mounting base 1153. The driven wheel 1151 is fastened to one end of the mounting shaft 1152 by a second connecting screw 1157, and the other end of the mounting shaft 1152 is rotatably connected to the driven wheel mounting base 1153 by a ceramic bearing 1121. A guide mounting groove 1156 is provided on the driven wheel mounting base 1153, and a slide rail 1173 is provided on the guide wire delivery base 117. The length direction of the slide rail 1173 is in the same direction as the direction in which the driven wheel 1151 approaches or moves away from the driving wheel 1161. The slide rail 1173 is adapted to the guide mounting groove 1156, and the slide rail 1173 allows the driven wheel mounting base 1153 to pass through.

[0078] like Fig.11As shown, the guide wire clamping device 120 is arranged on a side of the driven wheel assembly 115 away from the driving wheel assembly 116, and the guide wire clamping device 120 drives the driven wheel assembly 115 to approach or move away from the driving wheel assembly 116. The guide wire clamping device 120 includes a valve body 1204, a piston rod 1210, a piston 1208, a left air inlet and a right air inlet. The valve body 1204 is the installation base of the guide wire clamping device 120, and the shape of the valve body 1204 is approximately rectangular, and the valve body 1204 has a certain structural strength and sealing performance.

[0079] The left air inlet 2027 and the right air inlet 2027 are respectively arranged on both sides of the valve body 1204. The valve body 1204 is provided with a piston rod 1210, which penetrates from the side where the left air inlet 2027 of the valve body 1204 is located, and penetrates from the side where the right air inlet 2027 of the valve body 1204 is located, and both ends of the piston rod 1210 extend out of the valve body 1204. The piston rod 1210 passes through the left air inlet 2027 and the right air inlet 2027 respectively, and the piston rod 1210 and the valve body 1204 are slidably matched. There is a gap between the hole on the valve body 1204 through which the piston rod 1210 passes and the piston rod 1210, so that the piston rod 1210 is used for the sliding match of the valve body 1204, and the gap between the valve body 1204 and the piston rod 1210 is communicated with the left air inlet 2027 and the right air inlet 2027 respectively.

[0080] The piston 1208 is installed in the middle of the piston rod 1210. The piston 1208 is located in the pore between the valve body 1204 and the piston rod 1210. The piston 1208 slides with the side wall of the pore, and the piston 1208 closes the pore to prevent gas from passing through. It should be noted that the piston 1208 is located between the connection between the pore and the left air inlet 2027 and the connection between the pore and the right air inlet 2027. When the left air inlet 2027 introduces high-pressure gas, the high-pressure gas enters the pore and pushes the piston 1208 to move in the pore toward the right air inlet 2027, thereby driving the piston rod 1210 to move.

[0081] Further, the left air inlet 2027 is integrated on the valve body 1204, and the left air inlet 2027 includes a left air pipe joint 1201, a left main air inlet 1202 and a left air inlet hole 1203. The left air pipe joint 1201, the left main air inlet 1202 and the left air inlet hole 1203 are connected in sequence, the left air pipe joint 1201 is connected to an external pipeline, and the left air inlet hole 1203 is connected to the pore formed by the valve body 1204 and the piston rod 1210, thereby realizing the left air inlet 2027 being connected to the pore formed by the valve body 1204 and the piston rod 1210.

[0082] The right air intake duct is integrated on the valve body 1204, and the right air intake duct includes a right air pipe connector 1206, a right main air intake duct 1207 and a right air intake hole 1209. The right air pipe connector 1206, the right main air intake duct 1207 and the right air intake hole 1209 are connected in sequence. The right air pipe connector 1206 is connected to an external pipeline, and the right air intake hole 1209 is connected to the gap formed by the valve body 1204 and the piston rod 1210, thereby realizing the connection between the right air intake duct 2027 and the gap formed by the valve body 1204 and the piston rod 1210.

[0083] More specifically, mounting brackets 1211 are fixedly mounted on the valve bodies 1204 at both ends of the left air inlet and the right air inlet, and both mounting brackets 1211 are fixedly connected to the guide wire delivery base 117 by screws, and the number of piston rods 1210 is equal to and corresponds to the number of driven wheels 1151. The length direction of the piston rod 1210 is in the same direction as the movement direction, and is in the same direction as the direction in which the driven wheel 1151 approaches or moves away from the driving wheel 1161. A connecting hole 1158 is provided on the driven wheel mounting base 1153 of any driven wheel 1151, and an adjustment gap is provided on one side of the connecting hole 1158. The end of the piston rod 1210 close to the corresponding driven wheel 1151 extends into the connecting hole 1158, and a clamping screw 1155 is threadedly connected to the driven wheel mounting base 1153. The clamping screw 1155 threadedly passes through the adjustment gap. The size of the adjustment gap is controlled by adjusting the tightness of the clamping screw 1155, thereby realizing a fastened connection between the piston rod 1210 and the driven wheel mounting base 1153.

[0084] A preferred implementation is that the end of any piston rod 1210 that passes through the valve body 1204 away from the driven wheel assembly 115 is connected to an operating handle 1205. The staff can control the piston rod 1210 to move away from or close to the driven wheel assembly 115 through the operating handle 1205, which helps to improve the convenience of operation.

[0085] A feasible implementation is that four driven wheels 1151 are arranged at equal intervals, and four piston rods 1210 are also arranged at equal intervals on the valve body 1204. When high-pressure gas is introduced into the left air pipe joint 1201, it enters the pores of the piston rod 1210 and the valve body 1204 through the left main air inlet 1202 and the four left air inlet holes 1203, respectively, pushing the piston 1208 to move rightward, thereby moving the piston rod 1210 to move rightward, and then pushing the driven wheel 1151 to move along the slide rail 1173 toward the direction close to the driving wheel assembly 116, until the driven wheel 1151 and the driving wheel 1161 cooperate to clamp the guide wire 601, thereby driving the guide wire 601 to advance or retreat, and at the same time, the piston 1208 pushes the gas on the right side of the pore through the right air inlet hole 1209, enters the right main air inlet 1207, enters the pipeline loop through the right air pipe joint 1206. Similarly, the introduction of high-pressure gas from the right tracheal connector 1206 can cause the piston rod 1210 to move leftward, driving the driven wheel to move along the slide rail 1173 away from the drive wheel assembly 116 to facilitate the loading and unloading of the guide wire.

[0086] like Fig.12 , Fig.13 as well as Fig.14 As shown, the guide wire rotating mechanism 200 includes a guide wire rotating output connecting plate 201, a rotating mechanism fixed shaft 2024, a rotating output sleeve 2021, a transmission gear pair 207, and a second driving device. A hole is provided in the rotating mechanism fixed shaft 2024 for allowing the guide wire to pass through, the rotating mechanism fixed shaft 2024 is fixedly connected to the support structure 400 by bolts, the rotating output sleeve 2021 is rotationally connected to the rotating structure fixed shaft, the guide wire rotating output connecting plate 201 is fastened to the rotating output sleeve 2021 and the guide wire delivery base 117, and the end of the guide wire delivery base 117 away from the guide wire rotating mechanism 200 is rotationally connected to the support structure 400. The second driving device is fastened to the support structure 400, and the output shaft of the second driving device is transmission-connected to the rotating output sleeve 2021 through the transmission gear pair 207.

[0087] Specifically, the rotating output sleeve 2021 is coaxially sleeved with the rotating mechanism fixed shaft 2024 , and the rotating output sleeve 2021 is rotationally connected to the rotating mechanism fixed shaft 2024 through two front and rear ceramic bearings 1121 , and is installed and fixed using a bearing pressure plate 2029 .

[0088] The second driving device includes a second pneumatic motor 205, and a second motor mounting seat 206 is provided on the second pneumatic motor 205. The second motor mounting seat 206 is fastened to the support structure 400 by bolts, so as to realize the stable installation of the second pneumatic motor 205 on the support structure 400. The second pneumatic motor 205 is located at one end of the rotating mechanism fixed shaft 2024 away from the guide wire delivery base 117, and the output shaft of the second pneumatic motor 205 is coaxially fastened to one gear of the transmission gear pair 207, and the other gear of the transmission gear pair 207 is fastened to the rotating output sleeve 2021, so as to realize that the second pneumatic motor 205 rotates to drive the transmission gear pair 207, thereby driving the rotating output sleeve 2021 to rotate, and then driving the guide wire delivery base 117 to rotate, so as to realize the 360-degree rotation of the guide wire delivery mechanism 100.

[0089] A guide wire guide cylinder 403 is provided on the support structure 400 at one end of the guide wire rotating mechanism 200 away from the guide wire conveying mechanism 100, and the central axis of the guide wire guide cylinder 403 is colinear with the rotation axis of the guide wire conveying device 110. The guide wire guide cylinder 403 is connected to a channel set in the rotating mechanism fixed shaft 2024 for allowing the guide wire to pass through.

[0090] Furthermore, a communicating air path is provided on the guide wire rotating mechanism 200, and the communicating air path includes an air inlet connector 203, an air outlet connector 208, an air inlet duct 2027, an air ring 2022, and an O-ring 2026. The air inlet duct 2027 is located inside the fixed shaft of the rotating structure, and the air inlet connector 203 is installed at one end of the rotating mechanism fixed shaft 2024 away from the guide wire delivery base 117, and the air inlet connector 203 is communicated with the air inlet duct 2027. Another feasible implementation of the present application is that the air inlet duct 2027 is located between the rotating mechanism fixed shaft 2024 and the rotating output sleeve 2021.

[0091] The air outlet connector 208 is installed on the rotating output sleeve 2021. The air outlet connector 208 is connected to the air inlet 2027 through the air ring 2022. The air ring 2022 is set on the rotating output sleeve 2021. The air ring 2022 can also be set on the rotating mechanism fixed shaft 2024 and the rotating output sleeve 2021. There are multiple air outlet connectors 208 on the rotating output sleeve 2021. Any two adjacent air rings 2022 are sealed by an O-ring 2026 to ensure the sealing between each air path. The left air pipe connector 1201, the right air pipe connector 1206 and the first air motor air inlet 1127 are respectively connected to the corresponding air outlet connector 208 through the air pipe, so that the air pipe used for connection can be rotated at any angle with the guide wire conveying mechanism 100. The second air motor air inlet 204 is connected to the external air source through the air pipe.

[0092] like Figure 1 , Figure 2 as well as Fig.15 As shown, the catheter delivery mechanism 300 includes a catheter delivery device 310 and a catheter clamping device 320. Specifically, the structure, working principle, and installation method of the catheter delivery mechanism 300 are the same as those of the guide wire delivery mechanism 100, and are not described in detail here. It should be noted that: since the catheter delivery device 310 does not have an integrated rotational motion, the air tube on the catheter delivery mechanism 300 can be directly connected to an external air source.

[0093] It should be emphasized that the guidewire delivery mechanism 100 and the catheter delivery mechanism 300 are located on the same side of the support structure 400. The end of the support structure 400 close to the guidewire delivery mechanism 100 and the catheter delivery mechanism 300 is detachably connected with a guide plate 501, and a guide wire guide groove and a catheter guide groove are provided on the guide plate 501. The guide wire guide groove and the catheter guide groove are parallel or intersecting and merged into one guide groove. Thus, the adaptation and intervention operation of two types of guidewires 601 and catheters 602 of coaxial type and Y type are realized.

[0094] It needs to be further clarified that the interventional surgical robot uses materials that meet the compatibility performance of magnetic resonance. The materials used in the interventional surgical robot include polymer materials, copper alloys, ceramics and titanium alloys. This allows the robot system to work under the guidance of XMR images, that is, the surgical operation can be completed normally under the guidance of X-ray / angiography (DSA) / computed tomography (CT) or magnetic resonance (MR) images. The material selection of the robot system not only reduces the interference of the robot system by the external magnetic field, but also reduces the impact on the imaging quality of magnetic resonance and other imaging.

[0095] In the description of the present application, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0096] The above describes the specific embodiments of the present invention. It should be understood that the present invention is not limited to the above specific embodiments, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present invention. In the absence of conflict, the embodiments of the present application and the features in the embodiments can be combined with each other arbitrarily.

Claims

1. A pneumatic device for clamping a guide wire, characterized in that: The invention comprises a guide wire conveying device (110) and a guide wire clamping device (120), wherein the guide wire conveying device (110) comprises a driving wheel assembly (116) and a driven wheel assembly (115), and the guide wire clamping device (120) drives the driven wheel assembly (115) to move closer to or farther from the driving wheel assembly (116); A gap is formed between the driving wheel assembly (116) and the driven wheel assembly (115) for the guide wire (601) to pass through, the driven wheel assembly (115) and the driving wheel assembly (116) both clamp the guide wire (601), and both the driven wheel assembly (115) and the driving wheel assembly (116) are rotatably matched with the guide wire (601); The guide wire clamping device (120) comprises a valve body (1204), a left air inlet, a right air inlet, a piston rod (1210) and a piston (1208), wherein the left air inlet and the right air inlet are respectively arranged on two sides of the valve body (1204); The piston rod (1210) penetrates from the side of the valve body (1204) where the left air inlet is located, and exits from the side of the valve body (1204) where the right air inlet is located, and both ends of the piston rod (1210) extend out of the valve body (1204), and one end of the piston rod (1210) is connected to the driven wheel assembly (115); A gap is formed between the hole on the valve body (1204) through which the piston rod (1210) passes and the piston rod (1210), and the gap is respectively connected to the left air inlet and the right air inlet; The piston (1208) is arranged in the middle of the piston rod (1210), the piston (1208) is slidably engaged with the side wall of the pore, and the piston (1208) closes the pore to prevent gas from passing through.

2. The pneumatic device for guide wire clamping according to claim 1, characterized in that: The left air inlet passage comprises a left air pipe joint (1201), a left main air inlet passage (1202) and a left air inlet hole (1203); the left air pipe joint (1201), the left main air inlet passage (1202) and the left air inlet hole (1203) are connected in sequence, and the left air inlet hole (1203) is connected to a gap formed by a valve body (1204) and a piston rod (1210); The right air intake passage comprises a right air pipe joint (1206), a right main air intake passage (1207) and a right air intake hole (1209); the right air pipe joint (1206), the right main air intake passage (1207) and the right air intake hole (1209) are connected in sequence, and the right air intake hole (1209) is connected to a gap formed by a valve body (1204) and a piston rod (1210).

3. The pneumatic device for guide wire clamping according to claim 1, characterized in that: The guide wire delivery device (110) further comprises a guide wire delivery base (117); the driving wheel assembly (116) comprises a driving wheel (1161), a first synchronous pulley (1163), a connecting shaft (1166), a synchronous belt (111), and a first driving device; The connecting shaft (1166) is rotatably mounted on the guide wire conveying base (117), the driving wheel (1161) is fixedly mounted on the side of the connecting shaft (1166) extending out of the guide wire conveying base (117), the first synchronous pulley (1163) is fixedly mounted on the other side of the connecting shaft (1166) extending out of the guide wire conveying base (117), and the synchronous belt (111) is transmission-connected to the output shaft of the first driving device and the first synchronous pulley (1163).

4. An interventional surgery robot, characterized in that: The invention comprises a pneumatic device for guide wire clamping as claimed in any one of claims 1 to 3, and further comprises a support structure (400) and a guide wire rotating mechanism (200), wherein the guide wire rotating mechanism (200), the guide wire conveying device (110) and the guide wire clamping device (120) are all mounted on the support structure (400), the guide wire rotating mechanism (200) drives the guide wire conveying device (110) and the guide wire clamping device (120) to rotate, and a connecting air path is arranged on the guide wire rotating mechanism (200), and the connecting air path is respectively connected to the left air inlet and the right air inlet.

5. The interventional surgery robot according to claim 4, characterized in that: The guide wire rotating mechanism (200) comprises a rotating mechanism fixed shaft (2024) and a rotating output sleeve (2021); the rotating output sleeve (2021) is sleeved on the rotating mechanism fixed shaft (2024) and rotatably cooperates therewith; a hole is provided in the rotating mechanism fixed shaft (2024) for allowing the guide wire (601) to pass through; The communicating air path comprises an air inlet joint (203), an air outlet joint (208), an air inlet duct (2027), and an air ring (2022); the air inlet joint (203) is arranged on a rotating mechanism fixed shaft (2024); the air outlet joint (208) is arranged on a rotating output sleeve (2021); the air inlet duct (2027) is arranged inside the rotating mechanism fixed shaft (2024); and the air ring (2022) is arranged between the rotating mechanism fixed shaft (2024) and the rotating output sleeve (2021); The air inlet connector (203) is in communication with an air inlet passage (2027), the air inlet passage (2027) is in communication with an air ring (2022), and the air ring (2022) is in communication with an air outlet connector (208).

6. The interventional surgery robot according to claim 5, characterized in that: A plurality of the air outlet connectors (208) are arranged on the rotating output sleeve (2021), the air rings (2022) correspond one to one with the air outlet connectors (208), and an O-ring (2026) is arranged between any two adjacent air rings (2022).

7. The interventional surgery robot according to claim 4, characterized in that: The support structure (400) allows the guide wire conveying device (110), the guide wire clamping device (120) and the guide wire rotating mechanism (200) to rotate freely, and the guide wire conveying device (110) and the guide wire rotating mechanism (200) are arranged linearly on the support structure (400).

8. The interventional surgery robot according to claim 4, characterized in that: A guide wire guide cylinder (403) is provided on the support structure (400) at one end of the guide wire rotating mechanism (200) away from the guide wire conveying device (110), and the central axis of the guide wire guide cylinder (403) is colinear with the rotation axis of the guide wire rotating mechanism (200).

9. The interventional surgery robot according to claim 4, characterized in that: The interventional surgery robot uses materials that meet magnetic resonance compatibility requirements, and the materials used by the interventional surgery robot include polymer materials, copper alloys, ceramics, and titanium alloys.

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