A clutch device and robotic system for percutaneous interventional device replacement

Abstract

This invention relates to the technical field of robot-assisted devices, and discloses a clutch device and robot system for replacing percutaneous interventional devices. The clutch device provided by this invention includes a transport body; a transport gear is rotatably mounted on one side of the transport body, and the rotating gear and the transport gear are axially penetrated by an opening through which the percutaneous interventional device is inserted; the transport body is provided with a transport mechanism driven by the transport gear, and the transport gear drives the transport mechanism to transport the percutaneous interventional device through a transmission mechanism, the transmission mechanism including a clutch mechanism that can disengage from the transport gear during lifting and lowering. This solves the technical problem in the prior art where the percutaneous interventional device always moves forward or backward during the rotation of the transport gear.

Description

[Technical Field]

[0001] This invention relates to the technical field of robot-assisted devices, and in particular to a clutch device and robot system for percutaneous interventional device replacement. [Background Technology]

[0002] Interventional embolization surgery typically requires a surgeon to create a tiny incision on the body surface under the guidance and monitoring of digital angiography, MRI, and X-ray imaging equipment. Using a puncture needle, catheter, and guidewire, a basic channel is first established. An angiography catheter is then inserted through the incision, and the guidewire is inserted into the catheter, ensuring it extends beyond the catheter's tip. Under the guidance of the medical imaging, the surgeon inserts the guidewire and catheter through the incision and along the angiography catheter into the blood vessel. Upon reaching the bifurcation, one hand stabilizes the catheter to prevent movement, while the other hand manipulates the tail of the guidewire, pushing it to a certain displacement and rotating it at an angle to guide it to a specific position. Then, one hand holds the guidewire to prevent further movement, while the other hand manipulates the catheter's tail, guiding the catheter's movement accordingly. The surgeon alternately manipulates the guidewire and catheter in this manner, with the guidewire always in front of the catheter, guiding its advancement until it reaches the target blood vessel. Once the target blood vessel is reached, the operator needs to hold the catheter, slowly withdraw the guidewire, and then inject the required dose of embolic agent from the back end of the catheter to achieve the surgical requirements.

[0003] Catheters and other thin medical devices can be used in minimally invasive medical procedures to diagnose and treat a variety of vascular system diseases, including neurovascular intervention (NVI) (also known as neurointerventional surgery), percutaneous coronary intervention (PCI), and peripheral vascular intervention (PVI). These procedures typically involve guiding a guidewire through the vascular system and advancing a catheter via the guidewire to perform the treatment. Catheter insertion begins using standard percutaneous techniques, with the appropriate vessel, such as an artery or vein, being introduced through an instrument sheath. After the instrument sheath, sheath, or guide catheter is advanced over the diagnostic guidewire to the primary location, such as the internal carotid artery for NVI, the coronary ostium for PCI, or the superficial femoral artery for PVI. A guidewire adapted to the vascular system is then guided through the sheath or guide catheter to the target location within the vascular system.

[0004] Robotic catheter-based surgical systems have been developed to assist physicians in performing catheter insertion procedures such as NVI, PCI, and PVI. Examples of NVI procedures include coil embolization of aneurysms, fluid embolization of arteriovenous malformations, and mechanical thrombectomy for large vessel occlusion following acute ischemic stroke. In NVI procedures, physicians use a robotic system to achieve access to the target lesion by manipulating a neurovascular guidewire and microcatheter, thereby providing treatment to restore normal blood flow. The target access is achieved via a sheath or guide catheter, although intermediate catheters may be needed to access more distal areas or provide adequate support for the microcatheter and guidewire. Depending on the lesion and treatment type, the distal tip of the guidewire is navigated into or through the lesion. For example, to treat an aneurysm, the microcatheter is advanced into the lesion, the guidewire is removed, and then an instrument to block blood flow into the aneurysm is deployed through the microcatheter. Therefore, during guidewire removal, the guidewire delivery mechanism releases the guidewire to keep it stationary for easy removal and replacement with other medical devices. [Summary of the Invention]

[0005] The purpose of this invention is to overcome the shortcomings of the prior art and provide a clutch device and robot system for percutaneous interventional device replacement. By adding a clutch mechanism to separate the transmission mechanism and the delivery gear, it aims to solve the technical problem in the prior art where the percutaneous interventional device always moves forward or backward during the rotation of the delivery gear.

[0006] To achieve the above objectives, the present invention proposes a clutch device for percutaneous interventional device replacement, comprising a delivery body; a delivery gear is rotatably mounted on one side of the delivery body, the rotating gear and the delivery gear are axially penetrated by an opening, and a guide wire is inserted through the opening; the delivery body is provided with a delivery mechanism driven by the delivery gear, the delivery gear drives the delivery mechanism to deliver the guide wire through a transmission mechanism, the transmission mechanism including a clutch mechanism that can disengage from the delivery gear during lifting and lowering.

[0007] Preferably, the conveying mechanism includes a drive gear driven by the conveying gear, a driving silicone roller driven by the drive gear, and a pressing silicone roller corresponding to the driving silicone roller; a transmission mechanism is provided between the drive gear and the conveying gear.

[0008] Preferably, the transmission mechanism is connected to one end of the conveying gear near the conveying body.

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

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

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

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

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

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

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

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

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

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

[0019] To achieve the above objectives, the present invention proposes a robot system that uses the aforementioned clutch device for guide wire replacement.

[0020] Compared with the prior art, the beneficial effects of the clutch device and robotic system for replacing percutaneous interventional devices (such as guidewires, catheters, etc.) provided by the present invention are as follows:

[0021] 1. The conveying gear drives the conveying body to convey the guide wire. The guide wire is inserted into the conveying body and the conveying gear through an opening. During the conveying process, the conveying gear rotates continuously, and the opening of the conveying gear separates from the opening of the conveying body. When it is necessary to remove the guide wire, the transmission mechanism and the conveying gear are separated by a clutch mechanism. While the conveying gear continues to rotate, the guide wire will not move forward or backward.

[0022] 2. The spring keeps the helical gear and the driving cylindrical gear engaged, allowing the guide wire to be conveyed during the rotation of the conveying gear. When the push rod is lifted, the helical gear and the driving cylindrical gear disengage; during the rotation of the helical gear, the driving cylindrical gear remains stationary.

[0023] 3. The first motor drives the crank to rotate, and the crank drives the slider to move radially, which in turn drives the push rod to move up and down, thereby controlling the state of the clutch mechanism.

[0024] The features and advantages of the present invention will be described in detail through embodiments and in conjunction with the accompanying drawings. [Attached Image Description]

[0025] Figure 1 This is a schematic diagram of a clutch device for percutaneous interventional device replacement according to Embodiment 1 of the present invention.

[0026] Figure 2 This is a schematic diagram of a clutch device for percutaneous interventional device replacement according to Embodiment 2 of the present invention.

[0027] Figure 3 This is a schematic diagram of the internal structure of a clutch device for percutaneous interventional device replacement according to Embodiment 1 of the present invention.

[0028] Figure 4 This is a schematic diagram of the delivery mechanism of a clutch device for percutaneous interventional device replacement according to Embodiment 1 of the present invention.

[0029] Figure 5 This is an enlarged structural diagram of point A of a clutch device for percutaneous interventional device replacement according to Embodiment 1 of the present invention.

[0030] Figure 6 This is a schematic diagram of the main structure of a clutch device for percutaneous interventional device replacement according to Embodiment 1 of the present invention.

[0031] In the diagram: 10. Conveyor guide wire; 12. Conveyor gear; 13. Opening; 14. Conveyor mechanism; 15. Drive gear; 16. Drive silicone roller; 17. Pressing silicone roller; 19. Second helical gear; 20. Transmission mechanism; 21. Helical gear; 22. Drive cylindrical gear; 23. Intermediate gear; 24. Clutch mechanism; 241. Clutch protrusion; 242. Push rod; 243. Disc; 244. Shoulder; 245. Groove; 25. Mounting base; 26. Clutch drive mechanism; 261. First motor; 262. Crank; 263. Slider; 264. Lifting groove; 265. Lifting push rod; 266. Moving groove; 267. Turntable; 268. Moving shaft; 269. Guide plate.

Detailed Implementation Methods

[0032] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. However, it should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of the invention. Furthermore, descriptions of well-known structures and technologies are omitted in the following description to avoid unnecessarily obscuring the concept of the invention.

[0033] In the description of this invention, it should be noted that when an element is referred to as being "fixed to" or "set on" another element, it can be directly on or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to or indirectly connected to the other element.

[0034] In the description of this invention, it should be noted that the terms "center," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, or the orientation or positional relationship commonly used when the product of this invention is in use. They are used only for the convenience of describing the invention and for simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," and "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified. "Several" means one or more, unless otherwise explicitly specified.

[0035] In the description of this invention, it should also be noted that, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," and "link" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0036] This invention provides a robot system that uses the following clutch device for guide wire replacement.

[0037] Example 1:

[0038] See Figure 1A clutch device for changing percutaneous interventional devices includes a delivery body 10. In this embodiment, the percutaneous interventional device uses a guidewire as the main delivery device. A delivery gear 12 is rotatably mounted on one side of the delivery body 10. The delivery body 10 and the delivery gear 12 are axially penetrated by an opening 13, through which the guidewire is inserted. The delivery body 10 is provided with a delivery mechanism 14 driven by the delivery gear 12. During rotation, the delivery gear 12 drives the delivery mechanism 14 to deliver the guidewire via a transmission mechanism 20. The transmission mechanism 20 includes a clutch mechanism 24 that can disengage from the delivery gear 12 during lifting and lowering. The delivery gear 12 is rotatably mounted on the right side of the delivery body 10.

[0039] When the guide wire needs to be removed, it needs to be released. However, when the conveying gear 12 stops rotating, the opening 13 is not aligned with the opening 13 of the conveying body 10. To remove the guide wire, the conveying gear 12 needs to be rotated to align the openings 13 of both. However, the guide wire generally does not move once it reaches the desired position. To prevent the conveying gear 12 from continuously conveying the guide wire, a clutch mechanism 24 is added to prevent the conveying gear 12 from conveying the guide wire. Specifically, in this embodiment, both the conveying body 10 and the conveying gear 12 have openings 13. When the openings 13 of the conveying body 10 and the conveying gear 12 correspond, the guide wire can be inserted. However, during the guide wire conveying process, the conveying gear 12 is always rotating, and the openings 13 of both will deviate. During guide wire replacement, the conveying gear 12 must first be rotated to align the openings 13 of both, but at this time, the guide wire should ideally not move forward or backward. The lifting clutch mechanism 24 completely disengages the guide gear 12, so that the guide wire does not move during the rotation of the conveying gear 12. The aforementioned complete separation should be understood as ensuring that the conveying gear 12 cannot drive the conveying mechanism 14 to convey the guide wire during rotation, rather than complete non-contact.

[0040] See Figure 3 and Figure 4 In an optional embodiment, the conveying mechanism 14 includes a drive gear 15 driven by the conveying gear 12, a driving silicone roller 16 driven by the drive gear 15, and a pressing silicone roller 17 corresponding to the driving silicone roller 16. A transmission mechanism 20 is provided between the drive gear 15 and the conveying gear 12.

[0041] The drive gear 15 and the drive silicone roller 16 are coaxially mounted. The clamping silicone roller 17 and the drive silicone roller 16 correspond one-to-one and clamp the guidewire. There is one drive gear 15 and one clamping silicone roller 17. The rotation of the drive gear 15 drives the drive silicone roller 16 to rotate synchronously. The drive silicone roller 16 drives the clamping silicone roller 17 to rotate through friction, thus clamping the guidewire and moving it. The silicone material used is in contact with the guidewire to prevent hard contact from wearing down the guidewire. Blood vessels can be easily punctured by worn guidewires, causing greater harm.

[0042] There can be two or more drive gears 15. Power is transmitted between the drive gears 15 through intermediate gears 23. The tooth diameter of the intermediate gears 23 is smaller than that of the drive gears 15, making the transmission smoother. Preferably, there are three drive gears 15, which are evenly distributed axially on the drive mechanism, resulting in more contact points, more stable wire feeding, and less likelihood of the wire bending during feeding.

[0043] See Figure 4 In an optional embodiment, a transmission mechanism 20 is connected to one end of the conveying gear 12 near the conveying body 10. The transmission mechanism 20 further includes a helical gear 21 and a driving cylindrical gear 22 coaxially mounted with the helical gear 21, the driving cylindrical gear 22 driving the driving gear 15 to rotate. The conveying gear 12 can be a single-sided gear with a gear surface on the side near the helical gear 21. The conveying gear 12 can also be a double-sided helical gear, such as... Figure 6 As shown, gear surfaces are provided on both the left and right sides of the conveying gear 12. The end away from the conveying body 10 meshes with the second helical gear 19. The second helical gear 19 can be controlled by a motor, thereby automatically controlling the rotation of the conveying gear 12 to control the conveying state of the guide wire.

[0044] See Figure 4 and Figure 5 In an optional embodiment, the clutch mechanism 24 includes a clutch protrusion 241 that engages with the helical gear 21 and a push rod 242 for mounting the clutch protrusion 241. The push rod 242 is the central axis of the clutch protrusion 241, and the helical gear 21 and the driving cylindrical gear 22 are coaxially connected to the push rod 242. The helical gear 21 has a through hole in the middle, into which the push rod 242 can be inserted. The clutch protrusion 241 includes a disk 243 and a shoulder 244 disposed at the bottom of the disk 243. Preferably, there are two shoulders 244, evenly distributed at the bottom of the disk 243. The helical gear 21 has a groove 245 that mates with the shoulder 244. The groove 245 is a cross-shaped groove. The helical gear 21 is rotatably connected to a mounting base 25, which is mounted on the conveying body 10. The mounting base 25 is Z-shaped and fixed to the bottom of the conveying body 10.

[0045] See Figure 4The clutch protrusion 241 is disposed between the helical gear 21 and the driving cylindrical gear 22, and a spring is provided between the driving cylindrical gear 22 and the conveying body. The top of the push rod 242 is provided with a spring receiving cavity.

[0046] In the actual work process:

[0047] Initially, the delivery gear 12 and the opening 13 of the delivery body 10 are aligned, and the spring presses against the clutch protrusion 241, engaging it with the groove 245. After inserting the guidewire, rotating the delivery gear 12 will cause the guidewire to rotate. Once the guidewire reaches the designated position in the blood vessel, the delivery gear 12 stops rotating. The push rod 242 is then lifted to separate the clutch protrusion 241 from the groove 245. At this point, the delivery gear 12 is rotated again to align the opening 13 of the delivery body 10 and the delivery gear 12, and the guidewire is removed. The push rod 242 is no longer pressed upwards, and the spring depresses it. After re-inserting the medium through the opening 13 or replacing it with another guidewire, rotating the delivery gear 12 will cause the clutch protrusion 241 to re-engage with the groove 245, and the guidewire will rotate with the delivery gear 12 again.

[0048] Example 2:

[0049] To improve the level of automation, a clutch drive mechanism 26 is added based on Embodiment 1. The clutch drive mechanism 26 is described in detail below.

[0050] See Figure 2 In an optional embodiment, a clutch drive mechanism 26 is connected to the clutch mechanism 24. The clutch drive mechanism 26 includes a first motor 261, a crank 262 mounted on the first motor 261, a slider 263 mounted on the crank 262, a lifting groove 264 disposed on the slider 263, and a lifting push rod 265 that moves up and down along the lifting groove 264. The lifting push rod 265 controls the clutch engagement and disengagement of the clutch mechanism 24.

[0051] See Figure 2 In an optional embodiment, the crank 262 is an L-shaped crank, and a moving groove 266 is provided on the side of the crank 262 near the first motor 261. The L-shaped crank rotates along the pivot in the middle, and the moving groove 266 can be configured to be open so that it will not disengage from there during the forward and reverse rotation of the motor.

[0052] See Figure 2 In an optional embodiment, the first motor 261 is provided with a turntable 267, and a movable shaft 268 is eccentrically provided on the turntable 267. The movable shaft 268 moves within a movable groove 266. The openings of the movable shaft 268 and the movable groove 266 are matched, and during the rotation of the turntable 267, it will drive the crank 262 to rotate.

[0053] See Figure 2In an optional embodiment, a guide plate 269 is further provided between the slider 263 and the crank 262. The guide plate 269 is fixed to another large fixed plate, not shown in the figure. The large fixed plate is provided with guide rails for the radial movement of the guide plate 269. The guide plate 269 allows the slider 263 to move more smoothly.

[0054] The specific working method is as follows:

[0055] The first motor 261 drives the turntable 267 to rotate, and the moving shaft 268 rotates with the turntable 267. The middle part of the L-shaped crank is rotatable. When the moving shaft 268 moves in the moving groove 266 of the crank 262, the crank 262 rotates. The other side of the crank 262 is connected to the guide plate 269, which is limited to moving back and forth. The slider 263 also moves back and forth with the guide plate 269. The slider 263 has a lifting groove 264. During the movement of the slider 263, the lifting push rod 265 will rise and fall along the lifting groove 264, thereby lifting or separating the push rod 242, which can replace the method of manually lifting the push rod 262.

[0056] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions or improvements made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A clutch device for percutaneous interventional device replacement, comprising a delivery body (10); characterized in that: A conveying gear (12) is rotatably mounted on one side of the conveying body (10). The conveying body (10) and the conveying gear (12) are axially penetrated by an opening (13), and the percutaneous intervention device is inserted through the opening (13). The conveying body (10) is provided with a conveying mechanism (14) driven by the conveying gear (12). The conveying gear (12) drives the conveying mechanism (14) to convey the percutaneous intervention device through a transmission mechanism (20). The transmission mechanism (20) includes a clutch mechanism (24) that can disengage from the conveying gear (12) during lifting. The conveying gear (12) is a double-sided helical gear, and the end of the conveying gear (12) near the conveying body (10) is connected to the transmission mechanism (24). The transmission mechanism (20) has a second helical gear (19) connected to one end away from the conveying body (10); the transmission mechanism (20) also includes a helical gear (21) and a driving cylindrical gear (22) coaxially mounted with the helical gear (21). The driving cylindrical gear (22) drives the driving gear (15) to rotate; the clutch mechanism (24) includes a clutch protrusion (241) engaging with the helical gear (21) and a push rod (242) for mounting the clutch protrusion (241); the clutch protrusion (241) includes a disc (243) and a shoulder (244) provided at the bottom of the disc (243); the helical gear (21) is provided with a groove (245) that cooperates with the shoulder (244).

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

3. A clutch device for percutaneous interventional device replacement as described in claim 1, characterized in that: The push rod (242) is the central axis of the clutch protrusion (241), and the helical gear (21) and the driving cylindrical gear (22) are coaxially connected on the push rod (242).

4. A clutch device for percutaneous interventional device replacement as described in claim 1, characterized in that: The helical gear (21) is rotatably connected to a mounting base (25), which is mounted on the conveying body (10).

5. A clutch device for percutaneous interventional device replacement as described in claim 1, characterized in that: The clutch protrusion (241) is disposed between the helical gear (21) and the driving cylindrical gear (22), and a spring is provided between the driving cylindrical gear (22) and the conveying body.

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

7. A clutch device for percutaneous interventional device replacement as described in claim 6, characterized in that: The crank (262) is an L-shaped crank, and the crank (262) has a moving groove (266) on the side near the first motor (261).

8. A clutch device for percutaneous interventional device replacement as described in claim 7, characterized in that: The first motor (261) is provided with a turntable (267), and a moving shaft (268) is eccentrically provided on the turntable (267). The moving shaft (268) moves within the moving groove (266).

9. A clutch device for percutaneous interventional device replacement as described in claim 8, characterized in that: A guide plate (269) is also provided between the slider (263) and the crank (262).

10. A robot system, characterized in that: The clutch device for percutaneous interventional device replacement as described in any one of claims 1-9 was used.

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