A detachable intervention device control device driven by a friction wheel

Abstract

The present invention discloses a detachable intervention instrument control device driven by a friction wheel, which relates to the field of medical devices and includes a controlled handle, a matching handle housing, a friction wheel control system, a friction wheel control module, a positioning module, and a jaw drive module; the matching handle housing is used to uniformize the curvature of the outer knob part of the controlled handle; the friction wheel control system includes a fixed frame, an upper housing, a lower housing, a translation motor, and a translation gear; the fixed frame fixes each module of the overall system; the upper housing is used to fix the moving parts of each module; the lower housing is used to fix the fixed parts of each module and is equipped with a translation motor and a slider, and is externally connected to other bases; the translation motor is used to drive the translation gear; the translation gear is used to cooperate with the rack of other bases for translational movement; the friction wheel control module drives the knob of the controlled handle through three friction wheels; the positioning module cooperates with the matching housing so that the controlled handle obtains axial positioning and fixation.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and particularly to a detachable intervention instrument control device driven by a friction wheel. Background Art

[0002] During the implementation of an interventional operation, doctors need to be exposed to the radiation environment for a long time, and long-term continuous operation will cause certain harm to the doctor's body. At the same time, the demand for this operation is large, and the decentralization of medical resources also needs to be solved. Therefore, technicians in this field are committed to developing a remote teleoperation device suitable for the handle of a specific interventional instrument, so that doctors can perform the delivery and treatment of interventional instruments in a remote control manner. Summary of the Invention

[0003] The present invention provides a detachable intervention instrument control device driven by a friction wheel to solve at least one of the above technical problems in the prior art.

[0004] To achieve the above object, the present invention provides a detachable intervention instrument control device driven by a friction wheel, including a controlled handle, and further including an adapter handle housing, a friction wheel control system, a friction wheel control module, a positioning module, and a jaw drive module;

[0005] The adapter handle housing is used to equalize the curvature of the outer knob part of the controlled handle;

[0006] The friction wheel control system includes a fixed frame, an upper housing, a lower housing, a translation motor, and a translation gear;

[0007] The fixed frame fixes each module of the overall system; the upper housing is used to fix the movable parts of each module and unify the motion states of each module; the lower housing is used to fix the fixed parts of each module, and is equipped with the translation motor and a slider, and is externally connected to other bases; the translation motor is used to drive the translation gear; the translation gear is used to cooperate with the rack of other bases for translational motion;

[0008] The friction wheel control module drives the knob of the controlled handle through three friction wheels;

[0009] The positioning module cooperates with the adapter housing to axially position and fix the controlled handle;

[0010] The jaw drive module is used to drive the last knob at the end.

[0011] In some embodiments of the present invention, the friction wheel control module includes a control module movable housing, a control module fixed housing, a friction wheel, a driven gear, a driven large gear, a driving large gear, and a first driving motor;

[0012] The movable housing of the control module is equipped with the driven large gear, the driven gear, and the friction wheel, and the whole can rotate around the middle friction wheel shaft;

[0013] The fixed housing of the control module is equipped with the driving large gear, the first driving motor, the driven gear, and the friction wheel, and the whole is fixed on the base;

[0014] The friction wheel drives the controlled handle knob by driving the adapter housing;

[0015] The driven gears form a gear set and drive the friction wheel;

[0016] The driven large gear forms a gear set;

[0017] The driving large gear is driven by the first driving motor and forms a gear set;

[0018] The first driving motor drives the friction wheel by driving the gear set of the whole module.

[0019] In some embodiments of the present invention, the positioning module includes a movable housing of the positioning module, and the movable housing of the positioning module rotates around a central axis as a whole, and this axis is coaxial with the rotation axis of the friction wheel module.

[0020] In some embodiments of the present invention, the positioning module includes a fixed housing of the positioning module, and the fixed housing of the positioning module is fixed on the base.

[0021] In some embodiments of the present invention, the positioning module includes a plastic-coated guide wheel, and the plastic-coated guide wheel is used to limit the axial movement of the adapter housing and constrain the radial direction of the controlled handle.

[0022] In some embodiments of the present invention, the jaw driving module includes a friction wheel and a second driving motor, and the second driving motor is used to drive the friction wheel.

[0023] In some embodiments of the present invention, the jaw driving module includes a jaw driving housing, and the jaw driving housing is used to fix the jaw driving module on the fixed frame.

[0024] In some embodiments of the present invention, the friction wheel control system indirectly controls the knob through a friction wheel set.

[0025] In some embodiments of the present invention, the friction wheels in the friction wheel set maintain synchronization through mechanical transmission.

[0026] In some embodiments of the present invention, each of the knobs is closed-loop controlled by an independent motor.

[0027] Technical effects:

[0028] By indirectly controlling the knob using a friction wheel set, ensuring synchronization through mechanical transmission between the friction wheels, and performing closed-loop control on different knobs by independent motors, it is possible to perform closed-loop driving on each motor by a specified control device, thereby remotely controlling the interventional instrument controlled by the device for surgery. To a certain extent, it solves the problem that doctors need to be trapped in harmful rays for a long time, and by arranging the device, it can, to a certain extent, achieve the sinking of medical resources and optimize the layout of medical resources.

[0029] The concept, specific structure, and technical effects of the present invention will be further described below in conjunction with the accompanying drawings to fully understand the purpose, features, and effects of the present invention. Description of the Drawings

[0030] Figure 1 is a schematic structural diagram of the overall controller in an embodiment of the present invention;

[0031] Figure 2 is a side view of the small sheath controller in an embodiment of the present invention;

[0032] Figure 3 is a rear view of the small sheath controller in an embodiment of the present invention;

[0033] Figure 4 is an assembly diagram of the friction wheel control module in an embodiment of the present invention;

[0034] Figure 5 is a front view of the positioning module in an embodiment of the present invention;

[0035] Figure 6 is a schematic internal structure diagram of the positioning module in an embodiment of the present invention. Detailed Embodiments

[0036] The following introduces multiple preferred embodiments of the present invention with reference to the accompanying drawings of the specification to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms of embodiments, and the protection scope of the present invention is not limited to the embodiments mentioned in the text.

[0037] In the accompanying drawings, components with the same structure are denoted by the same reference numerals, and components with similar structures or functions are denoted by similar reference numerals. The size and thickness of each component shown in the drawings are arbitrarily shown, and the present invention does not limit the size and thickness of each component. To make the illustration clearer, the thickness of some components in the drawings is appropriately exaggerated.

[0038] As Figures 1 to 6As shown in the figure, the embodiment of the present application provides a detachable interventional device control device driven by a friction wheel. The present application is an improvement based on the adapter handle housing (001) of the handle device of the relevant patents of Huihe (such as CN113558828A, CN113349846A, CN113332564A, CN306571815S). Its delivery device (100) includes a fixed frame (110), a friction wheel control module (120), a positioning module (130), and a jaw drive module (140). The fixed frame (110) is provided with a translation gear (114) that can cooperate with the rack of the overall control device system base to realize the translational movement of the entire sheath controller. The friction wheel control module (120) has three first friction wheels (123). The three friction wheels of the same set of friction wheel control modules are driven by a gear set with each other to ensure that the driving speed ratio of this set of friction wheels is 1:1:1. The set has a relative rotation between the third friction wheel and its fixed seat and the first friction wheel and its fixed seat with the second friction wheel shaft as the axis. The positioning module (130) is a set of rotatable power-off systems with the same rotation axis as the friction wheel control module. This system can cooperate with some modified features on the controlled specific handle to produce an axial fixation effect on the original handle (000). The fixed frame (110) integrates several friction wheel control modules (120) and a positioning module (130) and is the overall load-bearing component of the control system. At the end of the control system, a single second friction wheel (141) (with the same parameters as the friction wheel control module) and its second drive motor (142) are used to drive the jaw knob of the original handle (000). The clamping force is the same as the pressing force after the large sheath control bending friction wheel of the large sheath control system is installed. The entire system can be divided into a lower base and an upper opening and closing part with the second friction wheel shaft of the friction wheel control module (120) as the boundary. They are connected by a tension spring on the fixed frame (110) of the controller, so that the original system equipment can be quickly fixed to or quickly disassembled from the system. When the original system equipment is fixed to the system, the pressing force is about 30N.

[0039] During actual control, the software part reads the control signal, feeds it back to the motor part, and drives it through the friction wheel control knob. During operation, the controller can be directly used to control it.

[0040] By indirectly controlling the knob using a friction wheel set, ensuring synchronization between the friction wheels through mechanical transmission, and performing closed-loop control on different knobs by independent motors, it is possible to use a specified control device to perform closed-loop driving on each motor, thereby remotely controlling the interventional device controlled by this device for surgery, which can solve the problem that doctors are trapped by harmful rays for a long time to a certain extent. And by arranging this device, it is possible to achieve the sinking of medical resources to a certain extent and optimize the layout of medical resources.

[0041] The following is a description of each attached drawing one by one:

[0042] Figure 1 It shows a schematic diagram of the overall controller. Due to volume limitations, the first set of friction wheel control modules (120) need to install the motor in reverse to achieve volume optimization. The friction wheel control module (120) and the positioning module (130) are fixed through the upper housing (111) and the lower housing (112) of the fixed frame (110) to ensure that the structural strength and overall stiffness meet the usage requirements. A jaw drive module (140) can also be configured at the end;

[0043] Figure 2 and Figure 3 They respectively show the side view and the rear view of the small sheath controller. Among them, the bottom translation gear (114) is driven by the translation motor (113) and is connected to the rack of the base. Since the friction wheel control module (120) system needs an appropriate pressing force to work, the upper housing (111) and the lower housing (112) provide adjustable spring fixing positions to provide a suitable pressing force for the system. The knob at the very end is driven by the jaw control module. The jaw drive module (140) is fixed to the fixed frame (110) through the jaw drive housing (143). The second friction wheel (141) is driven by the corresponding second drive motor (142) to drive the adapter handle housing (001) of the controlled handle, and then drive the knob at the end of the original handle (000). The same principle is used for driving and controlling other knobs;

[0044] Figure 4 It shows an assembly drawing of the friction wheel control module. 120 is the friction wheel control module, which is the core modular execution device of the control system. Combining Figure 5 and Figure 6 , this system uses the first drive motor (127) as the power source and is transmitted through a series of gear systems to make the friction wheel sets operate synchronously. Each component is fixed to the control module movable housing (121) and the control module fixed housing (122), which are respectively used as the opening and closing part and the fixed part, and are finally fixed to the small sheath controller housing, and the small sheath controller housing includes the upper housing (111) and the lower housing (112);

[0045] Figure 5 It shows the front view of the positioning module, Figure 6The internal structure of the positioning module is shown. The overall positioning module is similar to the friction wheel control module, where the plastic-coated guide wheel is tangent to the small sheath control handle. The movable housing and fixed housing of the positioning module have functions similar to those of the movable housing (121) and fixed housing (122) of the control module. The plastic-coated guide wheel is used to limit the axial movement of the adapter handle housing (001) and impose a certain constraint on the radial direction of the controlled handle (000). The movable housing of the positioning module rotates as a whole around an axis in the middle, and this axis is coaxial with the rotation axis of the friction wheel control module (120); the fixed housing of the positioning module is fixed to the fixed frame (110) as a whole.

[0046] The following is a detailed description of each feature label in the attached drawings:

[0047] 000, the controlled handle (or the original handle), is the original execution device of the interventional instrument;

[0048] 001, the adapter handle housing, is used to equalize the curvature of the outer knob part of the controlled handle (000);

[0049] 100, the friction wheel control system, the general assembly;

[0050] 110, the fixed frame, on which each module of the overall system is fixed. It is the load-bearing core of the entire device;

[0051] 111, the upper housing, which fixes the movable parts of each module and unifies the motion states of each module;

[0052] 112, the lower housing, which fixes the fixed parts of each module and is equipped with a translation motor (113) and a slider, and is externally connected to other bases;

[0053] 113, the translation motor, is used to drive the translation gear (114);

[0054] 114, the translation gear, is used to cooperate with the rack of other bases for translational motion;

[0055] 120, the friction wheel control module, the core driving component; drives the knobs of each controlled handle (000) through three friction wheels;

[0056] 121, the movable housing of the control module, which is equipped with a driven large gear (125) and a set of driven gears (124) - the first friction wheel (123), and can rotate as a whole around the middle friction wheel axis;

[0057] 122, the fixed housing of the control module, which is equipped with a driving large gear (126), a first driving motor (127) and a set of driven gears (124) - the first friction wheel (123), and is fixed to the fixed frame (110) as a whole;

[0058] 123. The first friction wheel, which is the core component for driving the adapter handle housing (001) and thus driving the knob of the original handle (000);

[0059] 124. The driven gear, which forms a gear set and drives the first friction wheel (123);

[0060] 125. The large driven gear, which forms a gear set;

[0061] 126. The large driving gear, which is driven by the first driving motor and forms a gear set;

[0062] 127. The first driving motor, which drives the gear set of the whole module and thus drives the first friction wheel (123);

[0063] 130. The positioning module, which cooperates with the adapter handle housing (001) so that the original handle (000) can obtain axial positioning and fixing effects;

[0064] 140. The jaw driving module, which is used to drive the last knob at the end;

[0065] 141. The second friction wheel, which is made of the same material as the first friction wheel (123) and may have a different diameter;

[0066] 142. The second driving motor, which is used to drive the second friction wheel (141);

[0067] 143. The jaw driving housing, which is used to fix the system to the fixed frame (110).

[0068] It should be noted that the feature marks in the specification of this application use the marked form in brackets, that is, "A(B)", where A is the feature and B is the mark (or called label, number).

[0069] The preferred specific embodiments of the present invention have been described in detail above. It should be understood that those of ordinary skill in the art can make many modifications and variations based on the concept of the present invention without creative labor. Therefore, all technical solutions that can be obtained by those skilled in the art in the technical field according to the concept of the present invention through logical analysis, reasoning or limited experiments on the basis of the prior art should be within the protection scope determined by the claims.

Claims

1. A friction wheel-driven detachable intervention device control device, including a controlled handle, characterized in that, It further includes an adapter handle housing, a friction wheel control system, a friction wheel control module, a positioning module, and a jaw drive module; The adapter handle housing is used to uniformize the curvature of the outer knob part of the controlled handle; The friction wheel control system includes a fixed frame, an upper housing, a lower housing, a translation motor, and a translation gear; The fixed frame fixes each module of the overall system; the upper housing is used to fix the moving parts of each module and unify the motion states of each module; the lower housing is used to fix the fixed parts of each module and is equipped with the translation motor and a slider, and is externally connected to other bases; the translation motor is used to drive the translation gear; the translation gear is used to cooperate with the rack of other bases for translational motion; Multiple sets of the friction wheel control modules are provided, and the fixed frame integrates multiple sets of the friction wheel control modules and one positioning module; Each friction wheel control module is provided with three friction wheels. The friction wheels within the same set of the friction wheel control module are driven by a gear set with each other, and the driving speed ratio of the friction wheels within the same set of the friction wheel control module is 1:1:

1. With the second friction wheel shaft as the axis, the third friction wheel and its fixed seat within the same set of the friction wheel control module rotate relative to the first friction wheel and its fixed seat; The friction wheel control module drives the knob of the controlled handle through three friction wheels; The positioning module cooperates with the adapter handle housing so that the controlled handle obtains axial positioning and fixation; The jaw drive module is used to drive the last knob at the end.

2. The detachable interventional device control device driven by a friction wheel according to claim 1, wherein, The friction wheel control module includes a control module movable housing, a control module fixed housing, friction wheels, driven gears, a driven large gear, a driving large gear, and a driving motor; The control module movable housing is equipped with the driven large gear, the driven gears, and the friction wheels, and can rotate around the middle friction wheel shaft as a whole; The control module fixed housing is equipped with the driving large gear, the driving motor, the driven gears, and the friction wheels, and is fixed on the base as a whole; The friction wheels drive the knob of the controlled handle by driving the adapter handle housing; The driven gears form a gear set and drive the friction wheels; The driven large gear forms a gear set; The driving large gear is driven by the driving motor and forms a gear set; The driving motor drives the friction wheels through the gear set of the whole module.

3. The detachable intervention instrument control device driven by a friction wheel according to claim 1, characterized in that, The positioning module includes a positioning module movable housing, and the positioning module movable housing rotates around a shaft in the middle as a whole, and this shaft is coaxial with the rotation shaft of the friction wheel control module.

4. The friction wheel-driven detachable interventional device control device according to claim 1, characterized in that, The positioning module includes a positioning module fixed housing, and the positioning module fixed housing is fixed on the base.

5. The detachable interventional device control device driven by a friction wheel according to claim 1, characterized in that, The positioning module includes a plastic-coated guide wheel, and the plastic-coated guide wheel is used to limit the axial movement of the adapter handle housing and constrain the radial direction of the controlled handle.

6. The detachable intervention device control device driven by a friction wheel according to claim 1, characterized in that, The jaw drive module includes a jaw drive module friction wheel and a jaw drive module driving motor, and the jaw drive module driving motor is used to drive the jaw drive module friction wheel.

7. The detachable interventional instrument control device driven by a friction wheel according to claim 1, wherein The jaw driving module includes a jaw driving housing for fixing the jaw driving module to the fixed frame.

8. The detachable interventional device control device driven by a friction wheel according to claim 1, characterized in that, The friction wheel control system indirectly controls the knob through a friction wheel set.

9. The friction wheel-driven detachable interventional device manipulation device according to claim 8, wherein The friction wheels of the friction wheel control module are synchronized by mechanical transmission.

10. The friction wheel-driven detachable interventional device control device according to claim 8, characterized in that, Each of the knobs is closed-loop controlled by an independent motor.

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