An interventional surgical robot catheter rotation slave end actuator

Abstract

The present invention relates to an interventional surgical robot catheter rotation slave end actuator, comprising: a support frame, the support frame is connected to the outer shell of a guidewire advancement mechanism; a Y-valve assembly, the Y-valve assembly is fixed to the top of the support frame; a silicone wheel group, the silicone wheel in the silicone wheel group abuts against the Y-valve, and the silicone wheel drives the Y-valve to rotate synchronously, and the silicone wheel has an anti-slip portion on its outer circumference; and a pressure arm mechanism, the pressure arm mechanism drives the silicone wheel to rotate, and is used to change the state of the silicone wheel and the Y-valve being pressed or separated. The present invention discloses an interventional surgical robot catheter rotation slave end actuator, the silicone wheel group is a disposable consumable, which is disinfected before use and recycled after use, reducing the problem of tedious device disinfection. By adopting the pressure arm mechanism to change the state of the silicone wheel and the Y-valve being pressed or separated, the problem of the catheter rotation control mechanism being unsuitable for the universal Y-valve and the inaccurate control of the catheter rotation is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of minimally invasive vascular interventional surgery, and more particularly to a rotary slave end actuator for a catheter of an interventional surgery robot. Background Art

[0002] Minimally invasive cardiovascular interventional therapy is a primary treatment for cardiovascular and cerebrovascular diseases. Compared to traditional surgical procedures, it offers significant advantages, including smaller incisions and shorter postoperative recovery times. Cardiovascular interventional surgery involves a physician manually inserting devices such as catheters, guidewires, and stents into the patient's body to complete the treatment.

[0003] During interventional procedures, DSA emits X-rays, which can cause a rapid decline in the physician's physical strength, concentration, and stability. This can lead to decreased precision and potentially life-threatening accidents such as vascular endothelial damage and vascular perforation and rupture caused by improper thrust. Long-term cumulative ionizing radiation exposure can significantly increase a physician's risk of leukemia, cancer, and acute cataracts. The accumulation of radiation exposure by physicians during interventional procedures has become a significant issue that harms their careers and hinders the development of interventional surgery. Robotic technology can effectively address these issues, significantly improving surgical precision and stability while minimizing radiation exposure to interventional physicians and reducing the risk of intraoperative accidents. Catheter rotation control is a critical step in interventional procedures.

[0004] At present, there are several problems with the rotation control of catheters in interventional surgical robots in China: (1) It is inconvenient to fix the catheter clamping parts; (2) It is inconvenient to disinfect the control parts; (3) The rotation control of the catheter is only applicable to a specific Y-valve; (4) The consumables on the machine may not be clamped tightly with the Y-valve; (5) There is a risk of slipping of the consumables; and (6) The synchronous belt drive is prone to slipping.

[0005] Therefore, how to provide an actuator for rotating the slave end of an interventional surgical robot catheter is an urgent problem that needs to be solved by those skilled in the art. Summary of the Invention

[0006] To this end, the purpose of the present invention is to propose an interventional surgical robot catheter rotation slave end actuator to solve the problems existing in the existing interventional surgical robot catheter rotation control.

[0007] The present invention provides an interventional surgical robot catheter rotation slave end actuator, comprising:

[0008] a support frame connected to the outer shell of the guidewire advancing mechanism;

[0009] A Y-valve assembly, the Y-valve assembly being fixed to the top of the support frame;

[0010] A silicone wheel assembly, wherein the silicone wheel in the silicone wheel assembly abuts against the Y-valve and drives the Y-valve to rotate synchronously, and the silicone wheel has an anti-slip portion on its outer circumference; and

[0011] The arm pressing mechanism drives the silicone wheel to rotate and is used to change the state of the silicone wheel and the Y valve being pressed or separated.

[0012] It can be seen from the above technical solution that compared with the prior art, the present invention discloses a catheter rotation slave end actuator for an interventional surgical robot. The silicone wheel group is a disposable consumable, which is disinfected before use and recycled after use, reducing the tedious problem of device disinfection. By adopting a pressure arm mechanism to change the state of the silicone wheel and the Y valve being pressed or separated, the problem that the catheter rotation control mechanism is not suitable for the general Y valve and the catheter rotation control is not accurate is solved.

[0013] Since the prior art uses a rotating part that controls the specific structure of the front end of the Y-valve, and since different Y-valves have different shapes, the diameter and size of the rotating part at the front end of the Y-valve also vary. The use of a fixed Y-valve can facilitate structural design, but it greatly limits actual clinical use. There are dozens of types of Y-valves on the market, and the use of different Y-valves may not be able to achieve rotational control of the catheter for other equipment. The present invention uses a pressure arm mechanism and a silicone wheel set. This method is not limited to a specific Y-valve, that is, regardless of the diameter and shape of the rotating part at the front end of the Y-valve, this mechanism can compress the front end of the Y-valve to ensure that the pressure rod will not slip on the rotation of the front end of the Y-valve, and is applicable to all Y-valves.

[0014] In addition, the outer circumference of the silicone wheel has an anti-slip portion to prevent transmission slippage.

[0015] Furthermore, the pressure arm mechanism includes a rotating motor, a pressure rod shell, and a gear transmission group; the rotating motor is fixed to the support frame through a rotating motor bracket; the output shaft of the rotating motor is connected to the input end of the gear transmission group, and the output end of the gear transmission group is connected to the silicone wheel; the gear transmission group is installed in the pressure rod shell.

[0016] Furthermore, the pressure rod shell includes a pressure rod upper shell and a pressure rod lower shell that are buckled together.

[0017] Furthermore, the gear transmission group includes a first gear, a first transmission gear, a second transmission gear, a second gear and a bearing; the output end of the rotating motor is connected to the first gear, and the first transmission gear is arranged vertically and meshed with the first gear; the second transmission gear is coaxial with the first transmission gear and arranged in opposite directions, and the second gear is arranged vertically and meshed with the second transmission gear; the first gear, the first transmission gear, the second transmission gear and the second gear are all bevel gears, and they all have the bearings at their shaft diameters, and the bearings are fixed in the pressure rod shell.

[0018] Furthermore, the pressure arm mechanism also includes: a screw stepper motor, a first connecting plate, a slide rail, a nut slider, a push rod, a pressure sensor and a spring; the screw stepper motor is fixed to the guide wire advancement mechanism through a stepper motor bracket, the first connecting plate is fixed to the pressure rod shell, and the slide rail is provided on it, the nut slider slides on the slide rail driven by the screw stepper motor, and the push rod is fixed to the top of the nut slider; one end of the pressure sensor is fixed to the bottom of the pressure rod shell, and the other end is fixed to the second connecting plate, and the second connecting plate is fixed to the nut slider; a push piece is provided at the bottom of the pressure sensor corresponding to the pushing part of the push rod; the spring is provided between the second connecting plate and the spring fixing plate at the top of the pressure sensor.

[0019] Furthermore, the silicone wheel set also includes: a wheel axle and a magnet ring; a groove for mounting the silicone wheel is formed on the outer circle of the wheel axle, and a mounting ring groove is formed at its axis; the magnet ring is installed in the mounting ring groove and is magnetically connected to the pressure arm mechanism.

[0020] Furthermore, the anti-slip portion is a plurality of anti-slip teeth arranged at equal intervals. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0022] Figure 1 and Figure 2 This is an overall schematic diagram of the actuator mechanism for the rotation slave end of the catheter of the interventional surgery robot;

[0023] Figure 3 This is an exploded view of the actuator for rotating the slave end of the interventional surgical robot catheter;

[0024] Figure 4 This is a schematic diagram of the assembly of the pressure rod housing and the gear transmission group;

[0025] Figure 5 This is the exploded view of the compression rod housing and gear transmission assembly;

[0026] Figure 6 Shows a schematic diagram of the positions of the spring, slide rail, and slider;

[0027] Figure 7 This is a schematic diagram of the silicone wheel set;

[0028] Figure 8 This is an exploded view of the silicone wheel set;

[0029] In the picture:

[0030] 101. Pressure rod upper housing; 102. Pressure rod lower housing; 103. Bearing; 104. Second transmission gear; 105. First transmission gear; 106. First gear; 107. Second gear; 108. Stepper motor bracket; 109. Lead screw stepper motor; 110. First connecting plate; 111. Push rod; 112. Support frame; 113. Rotating motor; 114. Rotating motor bracket; 115. Pressure sensor; 116. Second connecting plate; 117. Spring; 118. Nut slider; 119. Slide rail; 120. Spring fixing plate.

[0031] 200, silicone wheel assembly, 201, silicone wheel; 202, wheel axle; 203, magnet ring;

[0032] 300. Y-valve assembly. DETAILED DESCRIPTION

[0033] The following describes embodiments of the present invention in detail, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended to be used to explain the present invention, and are not to be construed as limiting the present invention.

[0034] In the description of the present invention, it should be understood that the terms "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the mechanism or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore should not be understood as limiting the present invention.

[0035] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0036] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0037] See attached Figure 1-3 , an embodiment of the present invention discloses an interventional surgical robot catheter rotation slave end actuator, comprising: a support frame 112, wherein the support frame 112 is connected to the housing of the guidewire advancing mechanism;

[0038] A Y-valve assembly 300, wherein the Y-valve assembly 300 is fixed to the top of the support frame 112; a silicone wheel assembly 200, wherein the silicone wheel 201 in the silicone wheel assembly 200 abuts against the Y-valve, and the silicone wheel 201 drives the Y-valve to rotate synchronously, and the silicone wheel 201 has an anti-slip portion on its outer circumference; and a pressure arm mechanism, wherein the pressure arm mechanism drives the silicone wheel 201 to rotate and is used to change the state of the silicone wheel 201 abutting against or separating from the Y-valve. The present invention discloses a catheter rotation slave end actuator for an interventional surgical robot. The silicone wheel assembly is a disposable consumable that is sterilized before use and recycled after use, thereby reducing the tedious problem of device disinfection. By adopting the pressure arm mechanism to change the state of the silicone wheel abutting against or separating from the Y-valve, the problem that the catheter rotation control mechanism is not suitable for a universal Y-valve and the catheter rotation control is not accurate is solved.

[0039] Since the prior art uses a rotating part that controls the specific structure of the front end of the Y-valve, and since different Y-valves have different shapes, the diameter and size of the rotating part at the front end of the Y-valve also vary. The use of a fixed Y-valve can facilitate structural design, but it greatly limits actual clinical use. There are dozens of types of Y-valves on the market, and the use of different Y-valves may not be able to achieve rotational control of the catheter for other equipment. The present invention uses a pressure arm mechanism and a silicone wheel set. This method is not limited to a specific Y-valve, that is, regardless of the diameter and shape of the rotating part at the front end of the Y-valve, this mechanism can compress the front end of the Y-valve to ensure that the pressure rod will not slip on the rotation of the front end of the Y-valve, and is applicable to all Y-valves.

[0040] In addition, the outer circumference of the silicone wheel has an anti-slip portion to prevent transmission slippage.

[0041] Advantageously, see Appendix Figure 1-5 The pressure arm mechanism includes a rotating motor 113, a pressure rod shell, and a gear transmission group; the rotating motor 113 is fixed to the support frame 112 through a rotating motor bracket 114; the output shaft of the rotating motor 113 is connected to the input end of the gear transmission group, and the output end of the gear transmission group is connected to the silicone wheel 201; the gear transmission group is installed in the pressure rod shell.

[0042] Specifically, the gear transmission assembly includes a first gear 106, a first transmission gear 105, a second transmission gear 104, a second gear 107, and a bearing 103. The output end of the rotary motor 113 is connected to the first gear 106, and the first transmission gear 105 is arranged perpendicularly and meshed with the first gear 106. The second transmission gear 104 is coaxial with the first transmission gear 105 and arranged in opposite directions. The second gear 107 is arranged perpendicularly and meshed with the second transmission gear 104. The first gear 106, the first transmission gear 105, the second transmission gear 104, and the second gear 107 are all bevel gears, each having the bearing 103 at its axis, which is fixed within the pressure rod housing. Rotating the rotary motor 113 thus rotates the second gear 107, and the front end of the second gear 107 is connected to the silicone roller. This allows the silicone roller to rotate clockwise and counterclockwise.

[0043] The pressure rod shell includes a pressure rod upper shell 101 and a pressure rod lower shell 102 that are buckled together.

[0044] More advantageously, see the attached Figure 2 、 3and 6, the pressure arm mechanism also includes: a screw stepper motor 109, a first connecting plate 110, a slide rail 119, a nut slider 118, a push rod 111, a pressure sensor 115 and a spring 117; the screw stepper motor 109 is fixed to the guide wire propulsion mechanism through the stepper motor bracket 108, the first connecting plate 110 is fixed to the pressure rod housing, and the slide rail 119 is provided on it, and the nut slider 118 slides on the slide rail 119 under the drive of the screw stepper motor 109, The push rod 111 is fixed to the top of the nut slider 118; one end of the pressure sensor 115 is fixed to the bottom of the pressure rod shell, and the other end is fixed to the second connecting plate 116, and the second connecting plate 116 is fixed to the nut slider 118; a push piece is provided at the bottom of the pressure sensor 115 corresponding to the pushing part of the push rod 111; the spring 117 is provided between the second connecting plate 116 and the spring fixing plate 120 at the top of the pressure sensor 115, and there are two springs to play a buffering role.

[0045] When the lead screw stepper motor 109 rotates, it lifts the entire compression rod housing. The lead screw stepper motor 109 is mounted on the motor bracket 108, which is fixed to the guide wire advancement mechanism. The axis of the lead screw stepper motor 109 aligns with the linear guide rail on the first connecting plate 110. When the lead screw stepper motor 109 rotates, it drives the nut slider on the guide rail to move linearly. As a result, the lead screw stepper motor 109 rotates, driving the nut slider downward. This, in turn, pulls the spring fixing plate 120 on the pressure sensor 115 through the spring on the second connecting plate 116. The spring fixing plate 120 is mounted on the pressure sensor 115, the other end of which is fixed to the compression rod lower housing 102. This pulls the entire compression rod housing downward, rotating around the axis of the rotating motor 113. When the silicone wheel strikes the rotating portion at the front end of the Y-valve, the pressure sensor detects an increase in the applied pressure. By adjusting the position of the nut slider via the lead screw stepper motor 109, the spring can be adjusted to the appropriate pressure level. The spring is set to play a buffering role, and the mechanism also has a certain ability to adapt the pressing force.

[0046] See attached Figure 7 and 8 The silicone wheel assembly 200 further includes: an axle 202 and a magnet ring 203. A groove for mounting the silicone wheel 201 is formed on the outer circumference of the axle 202, and a mounting ring groove is formed at its axis. The magnet ring 203 is mounted within the mounting ring groove and is magnetically connected to the pressure arm mechanism. The silicone wheel is connected to the front end boss of the second gear 107 by magnetic adsorption. The anti-slip portion comprises a plurality of anti-slip teeth arranged at equal intervals; this increases contact friction and prevents slipping during rotation with the Y-valve.

[0047] The interventional surgical robot provided by the present invention has a catheter rotation slave end actuator. When the operation starts, the machine will return to the initial position, and the doctor will place the Y valve in the Y valve installation assembly. After it is fixed, the doctor will start to install the silicone wheel on the catheter rotation slave end actuator. After the installation is completed, the lid of the disinfection box is closed. After the system receives the disinfection box closing signal, the system will automatically move the pressure rod downward to complete the clamping action of the silicone wheel on the Y valve. Then, the doctor controls the rotation of the guide catheter or the angiography catheter through the control box outside the operating room, and can rotate clockwise and counterclockwise to complete the surgical procedure. After the operation is completed, when the lid of the disinfection box is opened, the system will automatically lift the pressure rod and return it to its original position. Finally, the doctor removes the silicone wheel and recycles it uniformly.

[0048] The present invention solves the problems that there is currently no rotation control device suitable for the guiding catheter of the interventional surgical robot, the disinfection of the rotation control device is cumbersome, the catheter rotation control device is not suitable for the universal Y valve, and the catheter rotation control is not accurate.

[0049] The present invention is specifically suitable for the catheter rotation control of interventional surgical robots, and can be applied to most common Y-valves on the market, with a wide range of applications. The catheter rotation is controlled by a disposable consumable method that is easy to install and remove, which effectively solves the problem of cumbersome device disinfection in actual clinical practice. The overall structure of the present invention is simple, and it adopts a gear transmission method with good stability. It adopts a modular method for easy assembly and debugging. It adopts an automatic clamping Y-valve and an automatic release method after use. It is very simple and convenient to use, simple to operate, and highly practical. The silicone wheel of the present invention adopts a design with increased texture, which increases friction and can effectively prevent slipping. A dual structure of spring and pressure feedback is used to realize the pressure arm clamping the Y-valve. The spring has a certain adaptability, which increases the safety of the system.

[0050] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification.

[0051] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A rotary slave end actuator for a catheter of an interventional surgical robot, characterized in that: include: A support frame (112), the support frame (112) being connected to the outer shell of the guidewire advancing mechanism; A Y-valve assembly (300), the Y-valve assembly (300) being fixed to the top of the support frame (112); A silicone wheel assembly (200), wherein a silicone wheel (201) in the silicone wheel assembly (200) abuts against the Y-valve, and the silicone wheel (201) drives the Y-valve to rotate synchronously, and an anti-slip portion is provided on the outer circumference of the silicone wheel (201); and an arm pressing mechanism, the arm pressing mechanism drives the silicone wheel (201) to rotate and is used to change the state of the silicone wheel (201) being pressed against or separated from the Y valve; The pressure arm mechanism comprises a rotary motor (113), a pressure rod housing, and a gear transmission group; the rotary motor (113) is fixed to the support frame (112) via a rotary motor bracket (114); the output shaft of the rotary motor (113) is connected to the input end of the gear transmission group, and the output end of the gear transmission group is connected to the silicone wheel (201); the gear transmission group is installed in the pressure rod housing; The pressure arm mechanism further comprises: a lead screw stepper motor (109), a first connecting plate (110), a slide rail (119), a nut slider (118), a push rod (111), a pressure sensor (115) and a spring (117); the lead screw stepper motor (109) is fixed to the guide wire advancing mechanism via a stepper motor bracket (108); the first connecting plate (110) is fixed to the pressure rod housing, and the slide rail (119) is provided on the first connecting plate; the nut slider (118) slides on the slide rail (118) driven by the lead screw stepper motor (109) 119), the push rod (111) is fixed to the top of the nut slider (118); one end of the pressure sensor (115) is fixed to the bottom of the pressure rod shell, and the other end is fixed to the second connecting plate (116), and the second connecting plate (116) is fixed to the nut slider (118); a push piece is provided at the bottom of the pressure sensor (115) corresponding to the pushing portion of the push rod (111); the spring (117) is provided between the second connecting plate (116) and the spring fixing plate (120) at the top of the pressure sensor (115).

2. The interventional surgical robot catheter rotation slave end actuator according to claim 1, characterized in that: The pressure rod shell comprises a pressure rod upper shell (101) and a pressure rod lower shell (102) that are buckled together.

3. The interventional surgical robot catheter rotation slave end actuator according to claim 1, characterized in that: The gear transmission group includes a first gear (106), a first transmission gear (105), a second transmission gear (104), a second gear (107) and a bearing (103); the output end of the rotating motor (113) is connected to the first gear (106), the first transmission gear (105) and the first gear (106) are arranged vertically and meshed with each other; the second transmission gear (104) and the first transmission gear (105) are coaxial and arranged in opposite directions, and the second gear (107) and the second transmission gear (104) are arranged vertically and meshed with each other; the first gear (106), the first transmission gear (105), the second transmission gear (104) and the second gear (107) are all bevel gears, and the shaft diameters of the first gear (106) and the second gear (104) are provided with the bearing (103), and the bearing (103) is fixed in the pressure rod housing.

4. The interventional surgical robot catheter rotation slave end actuator according to any one of claims 1 to 3, characterized in that: The silicone wheel assembly (200) further comprises: a wheel axle (202) and a magnet ring (203); a groove for mounting the silicone wheel (201) is formed on the outer circumference of the wheel axle (202), and a mounting ring groove is formed at the axis thereof; the magnet ring (203) is mounted in the mounting ring groove and is magnetically connected to the pressure arm mechanism.

5. The catheter rotation slave end actuator of an interventional surgical robot according to any one of claims 1 to 3, characterized in that: The anti-slip portion is a plurality of anti-slip teeth arranged at equal intervals.

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