An over-the-wire delivery device and interventional robot

Abstract

This application belongs to the field of medical devices and relates to a delivery device for a long-end medical device, including a sliding mechanism, a delivery mechanism, a driving mechanism, and a force detection mechanism. The sliding mechanism includes a base and a slide table slidably mounted on the base, the sliding direction of the slide table being parallel to the delivery direction of the long-end medical device. The delivery mechanism is disposed on the slide table. The driving mechanism includes a first driving component and a second driving component disposed on the base, and the output ends of the first driving component and the second driving component are connected to the delivery mechanism for driving the delivery mechanism to deliver the long-end medical device. The force detection mechanism is disposed on the base, and the detection end of the force detection mechanism is connected to the slide table. When the delivery of the long-end medical device is obstructed, the force detection mechanism and the slide table cooperate to detect the delivery resistance of the long-end medical device. This application also relates to an interventional robot. The technical solution provided by this application can effectively improve the force detection accuracy of long medical device delivery.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an end-to-end delivery device and interventional robot. Background Technology

[0002] Currently, in the slave delivery devices of interventional robots, the motor and overall components are directly mounted on the force detection mechanism. This makes the force detection components susceptible to the vibration force generated by the motor and overall components during operation, resulting in deviations in the detection results. Moreover, the weight of the motor itself is directly added to the force detection mechanism, increasing the load on the delivery force detection mechanism and further affecting the detection results, resulting in low force detection accuracy. Summary of the Invention

[0003] This application provides a slave delivery device and an interventional robot to solve the problem of low delivery force detection accuracy of slender medical devices in the prior art.

[0004] To address the aforementioned technical problems, this application provides a delivery force detection mechanism for interventional robots, employing the following technical solution:

[0005] The slave-end delivery device includes a sliding mechanism, a delivery mechanism, a driving mechanism, and a force detection mechanism;

[0006] The sliding mechanism includes a base and a slide table slidably mounted on the base, wherein the sliding direction of the slide table is parallel to the delivery direction of the elongated medical device.

[0007] The delivery mechanism is disposed on the slide; the driving mechanism includes a first driving component and a second driving component disposed on the base, and the output ends of the first driving component and the second driving component are connected to the delivery mechanism for driving the delivery mechanism to deliver a slender medical device;

[0008] The force detection mechanism is located on the base, and the detection end of the force detection mechanism is connected to the slide. When the delivery of a slender medical device is obstructed, the force detection mechanism and the slide cooperate to detect the delivery resistance of the slender medical device.

[0009] Furthermore, the delivery mechanism includes two sets of clamping wheel assemblies disposed on the slide table;

[0010] The output end of the first drive component is driven to at least one set of the clamping wheel assemblies, and is used to drive the two sets of clamping wheel assemblies to cooperate in clamping or releasing the slender medical device; the output end of the second drive component is driven to at least one set of the clamping wheel assemblies, and is used to drive the two sets of clamping wheel assemblies to cooperate in delivering the slender medical device.

[0011] Furthermore, the delivery mechanism also includes a platform connected to the slide and a sliding platform slidably mounted on the platform;

[0012] The two sets of clamping wheel assemblies are respectively disposed on the platform and the transfer platform;

[0013] The output end of the first drive component is connected to the stage transmission and is used to drive the stage to slide on the platform, so that the two sets of clamping wheel assemblies cooperate to clamp or release the slender medical device.

[0014] Furthermore, the first drive assembly includes a drive shaft, a first drive element, and a first linear module;

[0015] The drive shaft is slidably mounted on the slide table, and both ends of the drive shaft are respectively connected to the sliding end of the moving platform and the first linear module.

[0016] The first driving member is mounted on the base, and the output end of the first driving member is connected to the drive shaft for driving the moving platform to slide back and forth on the platform via the drive shaft, so that the two sets of clamping wheel assemblies cooperate to clamp or release the slender medical device.

[0017] The first linear module is disposed on the base, and the sliding direction of the sliding end of the first linear module is parallel to the delivery direction of the elongated medical device.

[0018] Furthermore, the delivery mechanism also includes a limiting component;

[0019] The limiting component includes a limiting boss disposed on the platform and a limiting groove formed in the moving platform; the limiting boss and the limiting groove cooperate to limit the sliding position of the moving platform.

[0020] Furthermore, the drive mechanism also includes a magnetic wheel transmission assembly disposed on the base;

[0021] One end of the magnetic wheel transmission assembly is connected to one of the clamping wheel assemblies, and the other end of the magnetic wheel transmission assembly is connected to the output end of the second drive assembly.

[0022] Furthermore, the delivery mechanism also includes a detachable component for detachably connecting the slide and the platform;

[0023] The detachable component includes a first connecting part that is driven to the magnetic wheel transmission component and a second connecting part that is driven to the clamping wheel component; the first connecting part is located on the side of the slide table near the platform, and the second connecting part is located on the side of the platform near the slide table, and the first connecting part and the second connecting part are detachably connected.

[0024] Furthermore, the force detection mechanism includes a traction component, a force detection component, and a controller disposed on the base;

[0025] The traction assembly is connected to the slide table and is used to apply traction force to the slide table;

[0026] The detection end of the force detection component is connected to the slide table and is used to detect the traction force on the slide table;

[0027] The controller is electrically connected to the force detection component and is used to determine the delivery resistance of the slender medical device based on the traction force applied to the slide.

[0028] Furthermore, the traction assembly includes an elastic traction member and a first force transmission member; the elastic traction member is disposed on the base; both ends of the first force transmission member are respectively connected to the slide table and the traction force of the elastic traction member;

[0029] The force detection assembly includes a force sensor and a second force transmission component; the force sensor is disposed on the base and electrically connected to the controller; one end of the second force transmission component is connected to the slide table, and the other end of the second force transmission component is disposed at the detection end of the force sensor;

[0030] The elastic traction member is used to bring the other end of the second force transmission member close to the detection end of the force sensor, so that the force sensor cooperates with the second force transmission member to detect the traction force on the slide.

[0031] To address the aforementioned technical problems, this application also provides an interventional robot, employing the technical solution described below:

[0032] Includes the end-delivery device as described above.

[0033] Compared with the prior art, the embodiments of this application have the following advantages: This application sets the delivery mechanism on the slide and sets the drive mechanism and force detection mechanism on the base. This separates the drive mechanism from the slide, so that when the slender medical device delivered by the delivery mechanism is obstructed, the delivery resistance of the slender medical device fed back to the force detection mechanism by the slide will not be affected by the working vibration of the drive mechanism and its own weight, thereby effectively improving the detection accuracy of the force detection mechanism. Attached Figure Description

[0034] To more clearly illustrate the solutions in this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0035] Figure 1 This is a three-dimensional structural diagram of the end-delivery device according to an embodiment of this application;

[0036] Figure 2 This is a top view of the delivery mechanism in the end-delivery device according to an embodiment of this application;

[0037] Figure 3 This is a bottom view of the delivery mechanism in the end delivery device according to an embodiment of this application;

[0038] Figure 4 This is a three-dimensional structural diagram of the sliding mechanism and the force detection mechanism in the end delivery device according to an embodiment of this application;

[0039] Figure 5 This is a first-view exploded perspective view of the sliding mechanism and force detection mechanism in the end delivery device according to an embodiment of this application;

[0040] Figure 6 This is a second-view exploded perspective view of the sliding mechanism and force detection mechanism in the end delivery device according to an embodiment of this application;

[0041] Figure 7 This is a three-dimensional structural diagram of the delivery mechanism in the end delivery device of this application (cover closed state) holding a slender medical device.

[0042] Figure 8 This is a three-dimensional structural diagram of the delivery mechanism in the end delivery device of this application, which clamps a slender medical device (with the cover open).

[0043] Figure label:

[0044] 100. Sliding mechanism; 110. Base; 120. Slide table; 121. Second slide groove; 200. Delivery mechanism; 210. Clamping wheel assembly; 211. Clamping wheel; 220. Platform; 221. Limiting boss; 222. First slide groove; 230. Moving platform; 231. Limiting groove; 232. Mounting groove; 240. First connecting part; 250. Second connecting part; 260. Guide member; 270. Buffer spring; 300. Drive mechanism; 310. First drive assembly; 311. Drive Shaft; 312, First drive component; 313, First linear module; 314, Second linear module; 320, Second drive assembly; 321, Second drive component; 330, Magnetic wheel transmission assembly; 331, Magnetic wheel; 340, Encoder; 400, Force detection mechanism; 410, Elastic traction component; 420, First force transmission component; 430, Force sensor; 440, Second force transmission component; 450, Fixing base; 500, Cover; 510, Limiting notch; 600, Slender medical device. Detailed Implementation

[0045] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used herein in the specification of the application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing drawings of this application are intended to cover non-exclusive inclusion. The terms "first," "second," etc., in the specification, claims, or foregoing drawings of this application are used to distinguish different objects, not to describe a particular order.

[0046] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0047] To facilitate understanding, the terminology mentioned in the specific implementation methods will be explained below:

[0048] Slender medical devices 600 (see Figure 7 and Figure 8 ), which is a guidewire or catheter.

[0049] See Figure 1 and Figure 4 This application provides an embodiment for delivering a slender medical device 600 (see...). Figure 7 and Figure 8 The slave delivery device includes a sliding mechanism 100, a delivery mechanism 200, a driving mechanism 300, and a force detection mechanism 400;

[0050] The sliding mechanism 100 includes a base 110 and a slide 120 slidably mounted on the base 110. The sliding direction of the slide 120 is the same as that of the elongated medical device 600 (see...). Figure 7 and Figure 8 The delivery direction is parallel;

[0051] The delivery mechanism 200 is disposed on the slide table 120; the driving mechanism 300 includes a first driving component 310 and a second driving component 320 disposed on the base 110, and the output ends of the first driving component 310 and the second driving component 320 are connected to the delivery mechanism 200 for driving the delivery mechanism 200 to deliver the slender medical device 600 (see Figure 7 and Figure 8 );

[0052] The force detection mechanism 400 is disposed on the base 110, and the detection end of the force detection mechanism 400 is connected to the slide 120; when the slender medical device 600 (see Figure 7 and Figure 8 When delivery is obstructed, the force detection mechanism 400 cooperates with the slide table 120 to detect the slender medical device 600 (see...). Figure 7 and Figure 8 Delivery resistance.

[0053] The working principle and beneficial effects of the end-delivery device of this application are as follows: When the delivery mechanism 200 delivers the elongated medical device 600 (see...) Figure 7 and Figure 8 When obstruction occurs (e.g., reaching the blood vessel wall), the slender medical device 600 (see...) Figure 7 and Figure 8 The delivery mechanism 200 cannot continue to deliver the medical device 600 because of the sliding connection between the slide 120 and the base 110, causing the delivery mechanism 200 to act on the slender medical device 600 (see...). Figure 7 and Figure 8 The delivery force acts directly on the slide 120, thereby driving the slide 120 to slide on the base 110, and feeding back the delivery force to the force detection mechanism 400. Then, the force detection mechanism 400 determines the elongated medical device 600 (see [reference]) based on the delivery force. Figure 7 and Figure 8 The delivery resistance is reduced, so during the force feedback process, since the delivery mechanism 200 is set on the slide table 120 and the drive mechanism 300 and the force detection mechanism 400 are set on the base 110, the delivery force fed back from the slide table 120 to the force detection mechanism 400 is not affected by the working vibration of the drive mechanism 300 and its own weight, resulting in high detection accuracy.

[0054] In some embodiments, the base 110 and the slide 120 can be slidably connected by a slider and a slide rail; in other embodiments, see Figure 1 and Figure 4 The base 110 and the slide 120 are slidably connected by a cross roller guide. Compared with the slide 120 and the slide rail, the cross roller guide has less friction, thereby improving the sliding accuracy of the slide 120 on the base 110.

[0055] In some embodiments, see Figure 1 and Figure 2 The delivery mechanism 200 includes two sets of clamping wheel assemblies 210 disposed on the slide table 120; the drive mechanism 300 includes a first drive assembly 310 and a second drive assembly 320 disposed on the base 110.

[0056] The output end of the first drive assembly 310 is connected to at least one set of clamping wheel assemblies 210 for driving the two clamping wheel assemblies 210 to move closer to or away from the elongated medical device 600 (see...). Figure 7 and Figure 8 Compared to traditional manual clamping or release of slender medical devices 600 (see...), Figure 7 and Figure 8 The high degree of automation effectively reduces the labor intensity of operators and also avoids the need for operators to handle slender medical devices (see 600). Figure 7 and Figure 8 During the process, it is not affected by radiation from other equipment, so it is highly safe.

[0057] The output end of the second drive component 320 is connected to at least one set of clamping wheel assemblies 210 for transmission; in practical applications, when the slender medical device 600 (see...) Figure 7 and Figure 8 When the device is held by two sets of clamping wheel assemblies 210, the second drive assembly 320 drives one or both sets of clamping wheel assemblies 210 to rotate, thereby enabling the two sets of clamping wheel assemblies 210 to deliver the slender medical device 600 (see...). Figure 7 and Figure 8 ).

[0058] In some embodiments, see Figure 1 and Figure 4 The delivery mechanism 200 further includes a platform 220 connected to the slide 120 and a sliding platform 230 slidably mounted on the platform 220; two sets of clamping wheel assemblies 210 are respectively disposed on the platform 220 and the sliding platform 230.

[0059] The output end of the first drive component 310 is connected to the stage 230 for driving the stage 230 to slide back and forth on the platform 220. This allows the clamping wheel assembly 210 on the stage 230 to move closer to or further away from the clamping wheel assembly 210 on the platform 220, thereby enabling the two sets of clamping wheels to clamp or release the long medical device. This achieves a high degree of automation, avoiding operator interference with the long and slender medical device 600 (see...). Figure 7 and Figure 8 During the loading and unloading process, it is not exposed to radiation from other equipment, so it is highly safe.

[0060] In some embodiments, the platform 220 is provided with a first slide groove 222, and the moving platform 230 is slidably mounted in the first slide groove 222. In practical applications, under the driving action of the first driving component 310, the moving platform 230 slides on the first slide groove 222, causing the clamping wheel assembly 210 on the moving platform 230 to move closer to or away from the clamping wheel assembly 210 on the platform 220. In this way, the first slide groove 222 ensures the accuracy of the sliding position of the moving platform 230, thereby ensuring that the two sets of clamping wheel assemblies 210 cooperate to clamp or release the slender medical device 600 (see Figure 7 and Figure 8 Stability of use.

[0061] In some embodiments, see Figure 1 , Figures 4 to 6 The first drive assembly 310 includes a drive shaft 311, a first drive element 312, and a first linear module 313;

[0062] The drive shaft 311 is slidably mounted on the slide table 120 and both ends of the drive shaft 311 are respectively connected to the sliding end of the shift table 230 and the first linear module 313.

[0063] The first driving member 312 is mounted on the base 110, and the output end of the first driving member 312 is connected to the drive shaft 311 for driving the stage 230 to slide back and forth on the platform 220 via the drive shaft 311, so that the two sets of clamping wheel assemblies 210 cooperate to clamp or release the slender medical device 600 (see Figure 7 and Figure 8 );

[0064] The first linear module 313 is disposed on the base 110, and the sliding direction of the sliding end of the first linear module 313 is parallel to that of the elongated medical device 600 (see...). Figure 7 and Figure 8 The delivery direction is parallel.

[0065] In practical applications, the first driving component 312 drives the driving shaft 311 to slide on the slide table 120, thereby causing the movable stage 230 connected to the driving shaft 311 to slide back and forth on the platform 220. This allows the clamping wheel assembly 210 on the movable stage 230 to move closer to or further away from the clamping wheel assembly 210 on the platform 220, resulting in a high degree of automation and avoiding the need for operators to manually handle the loading and unloading of slender medical devices 600 (see...). Figure 7 and Figure 8 It is safe to be protected from radiation from equipment.

[0066] When the second drive assembly 320 drives the two sets of clamping wheel assemblies 210 to deliver the slender medical device 600 (see...) Figure 7 and Figure 8When obstructed, due to the sliding connection between the stage 220 and the base 110, the delivery mechanism 200 acts on the slender medical device 600 (see...). Figure 7 and Figure 8 The delivery force acts directly on the slide 120. When the slide 120 slides on the base 110, it may exert a force on the drive shaft 311 in the direction of sliding of the slide 120 (elongated medical device 600 (see...)). Figure 7 and Figure 8 The force acting in the delivery direction allows the drive shaft 311 to slide along the slide 120 direction via the first linear module 313 (see the slender medical device 600). Figure 7 and Figure 8 The force is slid in the delivery direction to counteract the effect of the force, thereby achieving the purpose of shock absorption and avoiding impact on the detection of the force detection mechanism 400, thus improving the accuracy of force detection.

[0067] In some embodiments, see Figures 2 to 4 The aforementioned moving platform 230 is provided with a mounting groove 232, which is detachably connected to the end of the drive shaft 311 near the moving platform 230, so that different types of moving platforms 230 can be replaced according to different usage requirements, making it widely applicable; the detachable connection can be a screw connection, a snap-fit ​​connection, a plug-in connection, etc., and no specific limitation is made here.

[0068] In some embodiments, the slide table 120 is provided with a second slide groove 121; the second slide groove 121 is an elongated slide groove, the length direction of which is parallel to the sliding direction of the shift table 230 on the platform 220, and the drive shaft 311 is slidably mounted on the elongated slide groove so that when the first drive member 312 drives the shift table to slide on the first slide groove 222 through the drive shaft 311, the drive shaft 311 can slide back and forth on the elongated slide groove, thereby enabling the clamping wheel assembly 210 on the shift table 230 to approach or move away from the clamping wheel assembly 210 on the platform 220.

[0069] In some embodiments, the first driving member 312 is a drive motor, and the output end of the drive motor is connected to the drive shaft 311 for transmission. In other embodiments, the first driving member 312 may also be a cylinder drive structure, a hydraulic drive structure, etc., which are not specifically limited here.

[0070] In some embodiments, see Figure 5 and Figure 6The first drive assembly 310 also includes a second linear module 314 disposed on the base 110. The sliding direction of the sliding end of the second linear module 314 is parallel to the sliding direction of the stage 230 on the platform 220. The output end of the first drive member 312 is connected to the sliding end of the second linear module 314. The first linear module 313 is slidably connected to the second linear module 314. In practical applications, the first drive member 312 drives the sliding end of the second linear module 314 to slide, thereby causing the drive shaft 311 on the first sliding module slidably connected to the second linear module 314 to slide on the slide 120, which in turn causes the stage 230 to slide back and forth on the slide 120, so that the two sets of clamping wheel assemblies 210 cooperate to clamp or release the slender medical device 600 (see Figure 7 and Figure 8 This ensures the accuracy of the sliding position of the drive shaft 311.

[0071] In some embodiments, see Figure 5 and Figure 6 The first linear module 313 is mounted on the base 110, and the second linear module 314 is mounted on the sliding end of the first linear module 313. In this case, the end of the drive shaft 311 away from the stage 230 is connected and fixed to the sliding end of the second linear module 314. In other embodiments, the second linear module 314 is mounted on the base 110, and the first linear module 313 is mounted on the sliding end of the second linear module 314. In this case, the end of the drive shaft 311 away from the stage 230 is connected and fixed to the sliding end of the first linear module 313. By stacking the first linear module 313 and the second linear module 314, the space occupied by the two can be reduced, and the compactness of the device can be improved.

[0072] In some embodiments, the first linear module 313 and / or the second linear module 314 are a combination of a slider and a slide rail, wherein the slider serves as a sliding end, and the linear movement of the drive shaft 311 on the first linear module 313 or the second linear module 314 is achieved by the slider sliding back and forth on the slide rail.

[0073] In some embodiments, see Figure 2 and Figure 3 When the platform 220 is provided with a first groove 222 and the moving platform 230 is slidably installed in the first groove 222, the delivery mechanism 200 also includes a guide 260 provided in the first groove 222 and the moving platform 230 is slidably installed on the guide 260. In this way, the accuracy of the sliding position of the moving platform 230 can be further improved by the cooperation between the first groove 222 and the guide 260.

[0074] In some embodiments, the guide member 260 is a sliding shaft, one end of which is fixedly connected to the inner sidewall of the first sliding groove 222, and the other end of which passes through the movable platform 230 and is slidably connected to the movable platform 230; in other embodiments, the guide member 260 is a guide rail, which is mounted on the first sliding groove 222, and the movable platform 230 is slidably mounted on the guide rail.

[0075] In some embodiments, see Figures 2 to 4 The delivery mechanism 200 also includes a limiting component; the limiting component further restricts the sliding position of the stage 230 to avoid excessive displacement of the stage 230, which could damage the long medical device when the two sets of clamping wheel assemblies 210 are used for clamping, and also to prevent the sliding connection structure between the stage 230 and the base 110 from failing, which could lead to the failure of the clamping structure of the two clamping wheel assemblies 210.

[0076] In some embodiments, the limiting component includes a limiting boss 221 disposed on the platform 220 and a limiting groove 231 formed on the moving platform 230. The limiting boss 221 and the limiting groove 231 cooperate to limit the sliding position of the moving platform 230, thereby ensuring the accuracy of the sliding position of the moving platform 230.

[0077] In some embodiments, the limiting groove 231 may be formed on the side of the moving platform 230, in which case the limiting protrusion 221 is provided on the sliding path of the moving platform 230 in the first sliding groove 222; during the sliding process of the moving platform 230 in the first sliding groove 222, if the limiting protrusion 221 contacts the limiting groove 231, the two cooperate to limit the sliding position of the moving platform 230. In other embodiments, see Figure 2 The aforementioned limiting groove 231 can be formed in the middle of the shift platform 230. In this case, the limiting groove 231 is a limiting elongated groove, and the aforementioned limiting boss 221 is provided in the limiting groove 231. During the sliding process of the shift platform 230 in the first sliding groove 222, the limiting groove 231 moves synchronously with the shift platform 230. When one end of the limiting groove 231 abuts against the limiting boss 221, the limiting groove 231 and the limiting boss 221 cooperate to limit the sliding position of the shift platform 230. Compared with the embodiment where "the limiting groove 231 is formed on the side of the shift platform 230", "the limiting groove 231 can be formed in the middle of the shift platform 230" can reduce the space occupied by the limiting component on the delivery mechanism 200, and the structure is compact and reliable.

[0078] In some embodiments, see Figure 2 When the guide 260 is a sliding shaft and the limiting groove 231 can be opened in the middle of the moving platform 230, one end of the sliding shaft abuts against the inner wall of the first sliding groove 222, and the other end or middle of the sliding shaft is connected and fixed to the limiting boss 221. In this way, the position of the sliding shaft is fixed by the inner wall of the first sliding groove 222 and the limiting boss 221, which is a clever design.

[0079] In some embodiments, see Figure 2 When the guide member 260 is a sliding shaft and the limiting groove 231 can be opened in the middle of the moving platform 230, the limiting component also includes a buffer spring 270. The buffer spring 270 is sleeved on the sliding shaft, and the two ends of the buffer spring 270 abut against one end of the limiting groove 231 and the side of the limiting boss 221 near the end of the limiting groove 231, respectively. When the first driving member 312 drives the moving platform 230 to slide on the first sliding platform 120 through the driving shaft 311, so that the two sets of clamping wheel assemblies 210 are close, the buffer spring 270 is used to prevent the moving platform 230 from colliding with the limiting boss 221 and causing wear.

[0080] In some embodiments, see Figures 4 to 6 The drive mechanism 300 also includes a magnetic wheel transmission assembly 330 disposed on the base 110;

[0081] One end of the magnetic wheel transmission assembly 330 is connected to one of the clamping wheel assemblies 210, and the other end of the magnetic wheel transmission assembly 330 is connected to the output end of the second drive assembly 320.

[0082] The magnetic wheel transmission assembly 330 uses magnetic force to transmit the driving force generated by the second drive assembly 320 to the clamping wheel assembly 210. Compared with the transmission gear transmission, there is no wear caused by gear meshing and radial runout of the gear ring. This avoids the fluctuations generated during gear transmission from affecting the detection of the force detection mechanism 400 and improves the detection accuracy of the force detection mechanism 400.

[0083] In some embodiments, see Figures 1 to 6 The aforementioned magnetic wheel transmission assembly 330 includes at least two magnetic wheels 331, one of which is connected to the second drive assembly 320. The aforementioned clamping wheel assembly 210 includes at least two clamping wheels 211, in which at least one clamping wheel 211 is connected to a corresponding magnetic wheel 331. When the second drive assembly 320 drives the magnetic wheel 331 connected to it to rotate, the magnetic wheel 331 connected to the second drive assembly 320 drives the other magnetic wheels 331 to rotate according to the attraction of like poles and the repulsion of unlike poles, thereby realizing the transmission of the driving force of the second drive assembly 320 to the clamping wheel assembly 210, and thus realizing the delivery of the slender medical device 600 (see Figure 7 and Figure 8 ).

[0084] In some embodiments, the second drive assembly 320 includes a second drive member 321 and a transmission structure. The output end of the second drive member 321 is connected to one end of the transmission structure, and the other end of the transmission structure is connected to the magnetic wheel. The transmission structure serves as a transmission medium, thereby enabling the second drive member 321 to drive the magnetic wheel to rotate.

[0085] The second driving component 321 mentioned above can be a drive motor, a rotary cylinder, etc., and is not specifically limited here; the transmission structure mentioned above can be a synchronous belt transmission structure, a gear transmission structure, etc., and is not specifically limited here.

[0086] In some embodiments, see Figure 1 and Figure 6 The aforementioned drive mechanism 300 also includes an encoder 340 disposed on the base 110, and at least one clamping wheel 211 in the aforementioned clamping wheel assembly 210 is connected to the encoder 340 in a driving connection; when the two sets of clamping wheel assemblies 210 cooperate to deliver the slender medical device 600 (see Figure 7 and Figure 8 When the encoder 340 collects the rotational speed of the clamping wheel 211 connected to it, it can then determine the slender medical device 600 (see [reference]) based on the rotational speed. Figure 7 and Figure 8 The delivery speed is optimized to allow operators to adjust the speed in a timely manner according to production needs, making it highly practical.

[0087] In some embodiments, see Figures 2 to 6 The delivery mechanism 200 also includes a detachable assembly for detachably connecting the slide 120 and the platform 220;

[0088] The detachable component includes a first connecting portion 240 that is driven to the magnetic wheel transmission assembly 330 and a second connecting portion 250 that is driven to the clamping wheel assembly 210; the first connecting portion 240 is disposed on the side of the slide 120 near the platform 220, and the second connecting portion 250 is disposed on the side of the platform 220 near the slide 120, and the first connecting portion 240 and the second connecting portion 250 are detachably connected.

[0089] The second connecting part 250 and the first connecting part 240 work together as the transmission medium between the magnetic wheel transmission assembly 330 and the clamping wheel assembly 210. At the same time, the first connecting part 240 and the second connecting part 250 realize the detachable connection between the stage 220 and the slide 120. The design is ingenious and different stages 220 can be replaced according to actual use needs to adapt to long medical devices of different models and specifications, which has strong versatility.

[0090] In some embodiments, the first connecting part 240 and the second connecting part 250 can be connected by fitting. The platform 220 and the slide 120 can be connected by fitting the first connecting part 240 onto the second connecting part 250, or the platform 220 and the slide 120 can be separated by disassembling the first connecting part 240 from the second connecting part 250. The operation is simple. In other embodiments, the first connecting part 240 and the second connecting part 250 can be a plug-in detachable structure, a snap-fit ​​plug-in detachable structure, etc., which are not specifically limited here.

[0091] In some embodiments, see Figures 2 to 6 In the transmission connection between the "magnetic wheel 331 in the magnetic wheel transmission assembly 330" and the "clamping wheel 211 in the clamping wheel assembly 210", the magnetic wheel 331 is transmissionally connected to the first connecting part 240, and the clamping wheel 211 is transmissionally connected to the second connecting part 250.

[0092] In some embodiments, see Figure 1 ,and Figures 4 to 6 The force detection mechanism 400 includes a traction component, a force detection component, and a controller disposed on the base 110;

[0093] The traction assembly is connected to the slide table 120 and is used to apply traction force to the slide table 120;

[0094] The detection end of the force detection component is connected to the slide table 120 and is used to detect the traction force received by the slide table 120;

[0095] The controller is electrically connected to the force detection component and is used to determine the slender medical device 600 (see [reference]) based on the traction force received by the slide 120. Figure 7 and Figure 8 Delivery resistance.

[0096] Initially, a traction force is applied to the slide 120 via the traction assembly, and the force detection assembly detects the traction force A on the slide 120; when the delivery mechanism 200 delivers the elongated medical device 600 (see... Figure 7 and Figure 8 Delivery obstructed (e.g., for elongated medical devices 600 (see...)) Figure 7 and Figure 8 When the slender medical device (600) reaches the blood vessel wall, it... Figure 7 and Figure 8 Delivery could not continue, and due to the sliding connection between the slide 120 and the base 110, the action on the elongated medical device 600 (see...) was disrupted. Figure 7 and Figure 8The delivery force of the traction component acts directly on the slide 120, thereby causing the slide 120 to slide on the base 110, which in turn causes the traction force of the traction component on the slide 120 to change. At this time, the force detection component detects the traction force B on the slide 120. Then, the controller calculates the slender medical device 600 (see [reference]) based on the traction force A and the traction force B. Figure 7 and Figure 8 The delivery resistance is reduced because the delivery mechanism 200 is mounted on the slide table 120, and the drive mechanism 300 and the force detection mechanism 400 are mounted on the base 110. As a result, the delivery force fed back from the slide table 120 to the force detection mechanism 400 is not affected by the working vibration of the drive mechanism 300 or its own weight, resulting in high detection accuracy.

[0097] In some embodiments, the force detection component is a miniature planar force sensor 430, an S-type force sensor 430, a column sensor, a miniature pressure sensor, a lever sensor, etc., and is not specifically limited herein.

[0098] In some embodiments, see Figures 4 to 6 The traction assembly includes an elastic traction member 410 and a first force transmission member 420; the elastic traction member 410 is disposed on the base 110; the two ends of the first force transmission member 420 are respectively connected to the slide table 120 and the traction force of the elastic traction member 410.

[0099] The force detection assembly includes a force sensor 430 and a second force transmission component 440; the force sensor 430 is disposed on the base 110 and electrically connected to the controller; one end of the second force transmission component 440 is connected to the slide table 120, and the other end of the second force transmission component 440 is disposed at the detection end of the force sensor 430.

[0100] In this embodiment, the elastic traction member 410 applies a traction force to the slide table 120 through the first force transmission member 420, causing the other end of the second force transmission member 440 connected to the slide table 120 to approach the detection end of the force sensor 430. This enables the force sensor 430 to detect the traction force applied by the elastic traction member 410 to the slide table 120. The controller then calculates and determines the slender medical device 600 (see [reference]) based on the detected traction force. Figure 7 and Figure 8 Delivery resistance.

[0101] In some embodiments, see Figures 4 to 6The second force transmitter 440 is in contact with the force sensor 430. When the slide table 120 slides on the base 110 under the action of the delivery force, the second force transmitter 440 applies pressure to the detection end of the force sensor 430, causing the traction force applied by the elastic traction member 410 to the slide table 120 to change, and the traction force value B is detected by the force sensor 430. In other embodiments, the second force transmitter 440 and the force sensor 430 are in non-contact connection. In this case, a magnetic attraction member (such as a magnet) can be set on the second force transmitter 440, or the second force transmitter 440 can be a magnetic attraction member. The force sensor 430 is a Hall pressure sensor 430. During the movement of the second force transmitter 440 with the slide table 120, the magnetic field strength acting on the Hall pressure sensor 430 changes as the second force transmitter 440 moves closer to or further away from the Hall pressure sensor 430. The traction force value B is obtained by detecting this change in magnetic field strength.

[0102] In the above, the second force transmission component 440 and the force sensor 430 are connected in a non-contact manner, which, compared to a contact connection, avoids wear and tear between the second force transmission component 440 and the force sensor 430, thereby effectively extending their service life.

[0103] In some embodiments, if the sliding direction of the slide 120 on the base 110 is the direction in which the second force transmitter 440 approaches the force sensor 430, the elongated medical device 600 is determined by calculating the sum of the traction force B and the traction force A (see...). Figure 7 and Figure 8 The magnitude of the resistance experienced by the long medical device is determined by calculating the difference between the traction force B and the traction force A when the sliding direction of the slide table 120 on the base 110 is the direction in which the second force transmission component 440 moves away from the force sensor 430.

[0104] In some embodiments, see Figure 5 The aforementioned traction assembly also includes a fixing seat 450 for fixing one end of the elastic traction member 410, and the other end of the elastic traction member 410 is connected and fixed to the other end of the first force transmission member 420.

[0105] In some embodiments, see Figures 4 to 6 The elastic traction member 410 is a tension spring. The other end of the fixed seat and the first force transmission member 420 are both provided with hook grooves for connecting with the hook of the tension spring, thereby installing and fixing the tension spring. In some other embodiments, the elastic traction member 410 is a spring. The two ends of the spring abut against the fixed seat and the other end of the first force transmission member 420, respectively, thereby installing and fixing the spring.

[0106] In some embodiments, see Figure 7 and Figure 8 The end-delivery device also includes a cover 500, which is rotatably mounted on the stage 220; when the two sets of clamping wheel assemblies 210 cooperate to clamp the elongated medical device 600 (see... Figure 7 and Figure 8 When the cover 500 comes into contact with the platform 220, the cover 500 is in a closed state, and one or two sets of clamping wheel assemblies 210 are located in the sealed space formed by the cover 500 and the platform 220, thus protecting one or two sets of clamping wheel assemblies 210.

[0107] In some embodiments, see Figure 7 and Figure 8 The cover 500 is provided with a limiting part so that when the cover 500 is in the closed state, the limiting part can restrict the elongated medical device 600 (see Figure 7 and Figure 8 The vertical position is limited to ensure the slender medical device 600 (see Figure 7 and Figure 8 Precision of delivery location; when a slender medical device 600 (see [reference]) needs to be removed and is held by two sets of clamping wheel assemblies 210, it is subject to [further details needed]. Figure 7 and Figure 8 When this is done, the cover 500 can be opened to put it in the open state, at which point the slender medical device 600 (see...) can be inserted. Figure 7 and Figure 8 )take out.

[0108] In some embodiments, see Figure 7 and Figure 8 The aforementioned limiting portion is a limiting notch 510, which is used for supplying a slender medical device 600 (see...). Figure 7 and Figure 8 By delivering the device while the housing 500 is sealed, the limiting notch 510 and the surface of the stage 220 form a limiting space, thereby creating a space for the elongated medical device 600 (see [reference]). Figure 7 and Figure 8 The vertical position is limited.

[0109] This application also provides an interventional robot, including the end-to-end delivery device as described above.

[0110] In this embodiment, the interventional robot also includes a master device, through which the operator can control the slave device, such as controlling the slave delivery device to deliver a slender medical device 600 (see...). Figure 7 and Figure 8 ).

[0111] In some embodiments, the master device may be a joystick and / or operation buttons. The operator inputs operation commands via the joystick and / or operation buttons to start or stop the delivery mechanism 200 and drive mechanism 300 in the slave delivery device. In other embodiments, the master device may be a control terminal (such as a touchscreen, mobile phone, tablet, PC, etc.). The operator inputs operation commands via the control terminal to similarly start or stop the delivery mechanism 200 and drive mechanism 300 in the slave delivery device.

[0112] When delivery unit 200 delivers the elongated medical device 600 (see...) Figure 7 and Figure 8 When obstruction occurs (e.g., reaching the blood vessel wall), the slender medical device 600 (see...) Figure 7 and Figure 8 The delivery mechanism 200 cannot continue to deliver the medical device 600 because of the sliding connection between the slide 120 and the base 110, causing the delivery mechanism 200 to act on the slender medical device 600 (see...). Figure 7 and Figure 8 The delivery force acts directly on the slide 120, thereby driving the slide 120 to slide on the base 110, and feeding back the delivery force to the force detection mechanism 400. Then, the force detection mechanism 400 determines the elongated medical device 600 (see [reference]) based on the delivery force. Figure 7 and Figure 8 The delivery resistance is reduced, so during the force feedback process, since the delivery mechanism 200 is set on the slide table 120 and the drive mechanism 300 and the force detection mechanism 400 are set on the base 110, the delivery force fed back from the slide table 120 to the force detection mechanism 400 is not affected by the working vibration of the drive mechanism 300 and its own weight, resulting in high detection accuracy.

[0113] Obviously, the embodiments described above are only some embodiments of this application, not all embodiments. The accompanying drawings show preferred embodiments of this application, but do not limit the patent scope of this application. This application can be implemented in many different forms; rather, the purpose of providing these embodiments is to provide a more thorough and comprehensive understanding of the disclosure of this application. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing specific embodiments, or make equivalent substitutions for some of the technical features. Any equivalent structures made using the content of this application's specification and drawings, directly or indirectly applied to other related technical fields, are similarly within the scope of patent protection of this application.

Claims

1. An over-the-wire delivery device for delivering an elongated medical device, comprising: The slave-end delivery device includes a sliding mechanism, a delivery mechanism, a driving mechanism, and a force detection mechanism; The sliding mechanism includes a base and a slide table slidably mounted on the base, wherein the sliding direction of the slide table is parallel to the delivery direction of the elongated medical device. The delivery mechanism is disposed on the slide; the driving mechanism includes a first driving component and a second driving component disposed on the base, and the output ends of the first driving component and the second driving component are connected to the delivery mechanism for driving the delivery mechanism to deliver a slender medical device; The force detection mechanism is located on the base, and the detection end of the force detection mechanism is connected to the slide. When the delivery of a slender medical device is obstructed, the force detection mechanism and the slide cooperate to detect the delivery resistance of the slender medical device.

2. The over-the-wire delivery device of claim 1, wherein, The delivery mechanism includes two sets of clamping wheel assemblies disposed on the slide table; The output end of the first drive component is driven to at least one set of the clamping wheel assemblies, and is used to drive the two sets of clamping wheel assemblies to cooperate in clamping or releasing the slender medical device; the output end of the second drive component is driven to at least one set of the clamping wheel assemblies, and is used to drive the two sets of clamping wheel assemblies to cooperate in delivering the slender medical device.

3. The over-the-wire delivery device of claim 2, wherein, The delivery mechanism further includes a platform connected to the slide and a sliding platform slidably mounted on the platform; The two sets of clamping wheel assemblies are respectively disposed on the platform and the transfer platform; The output end of the first drive component is connected to the stage transmission and is used to drive the stage to slide on the platform, so that the two sets of clamping wheel assemblies cooperate to clamp or release the slender medical device.

4. The over-the-wire delivery device of claim 3, wherein, The first drive assembly includes a drive shaft, a first drive element, and a first linear module; The drive shaft is slidably mounted on the slide table, and both ends of the drive shaft are respectively connected to the sliding end of the moving platform and the first linear module. The first driving member is mounted on the base, and the output end of the first driving member is connected to the drive shaft for driving the moving platform to slide back and forth on the platform via the drive shaft, so that the two sets of clamping wheel assemblies cooperate to clamp or release the slender medical device. The first linear module is disposed on the base, and the sliding direction of the sliding end of the first linear module is parallel to the delivery direction of the elongated medical device.

5. The over-the-wire delivery device of claim 3, wherein, The delivery mechanism also includes a limiting component; The limiting component includes a limiting boss disposed on the platform and a limiting groove formed in the moving platform; the limiting boss and the limiting groove cooperate to limit the sliding position of the moving platform.

6. The over-the-wire delivery device of claim 3, wherein, The drive mechanism also includes a magnetic wheel transmission assembly disposed on the base; One end of the magnetic wheel transmission assembly is connected to one of the clamping wheel assemblies, and the other end of the magnetic wheel transmission assembly is connected to the output end of the second drive assembly.

7. The over-the-wire delivery device of claim 6, wherein, The delivery mechanism also includes a detachable component for detachably connecting the slide and the platform; The detachable component includes a first connecting part that is driven to the magnetic wheel transmission component and a second connecting part that is driven to the clamping wheel component; the first connecting part is located on the side of the slide table near the platform, and the second connecting part is located on the side of the platform near the slide table, and the first connecting part and the second connecting part are detachably connected.

8. The slave-end delivery device according to any one of claims 1 to 7, characterized in that, The force detection mechanism includes a traction component, a force detection component, and a controller, all mounted on the base. The traction assembly is connected to the slide table and is used to apply traction force to the slide table; The detection end of the force detection component is connected to the slide table and is used to detect the traction force on the slide table; The controller is electrically connected to the force detection component and is used to determine the delivery resistance of the slender medical device based on the traction force received by the slide.

9. The over-the-wire delivery device of claim 8, wherein, The traction assembly includes an elastic traction member and a first force transmission member; the elastic traction member is disposed on the base; the two ends of the first force transmission member are respectively connected to the slide table and the traction force of the elastic traction member; The force detection assembly includes a force sensor and a second force transmission component; the force sensor is disposed on the base and electrically connected to the controller; one end of the second force transmission component is connected to the slide table, and the other end of the second force transmission component is disposed at the detection end of the force sensor; The elastic traction member is used to bring the other end of the second force transmission member close to the detection end of the force sensor, so that the force sensor cooperates with the second force transmission member to detect the traction force on the slide.

10. An interventional robot characterized by Includes the end-delivery device as described in any one of claims 1 to 9.

Images