Interventional device motion control device

Abstract

The present invention discloses an interventional instrument motion control device, which includes a fixed component and a detachable component; the fixed component includes a first base body, a first driving mechanism and a second driving mechanism, and the first driving mechanism and the second driving mechanism are respectively arranged on the first base body; the detachable component includes a second base body, a hollow rotating shaft, a pinch wheel assembly and a clamping component; the first base body and the second base body are detachably connected; the hollow rotating shaft and the pinch wheel assembly are respectively rotatably arranged on the second base body, and an interventional instrument can sequentially pass through the axial hole of the hollow rotating shaft and the clamping opening of the pinch wheel assembly; the clamping component is connected to the hollow rotating shaft; the first driving mechanism is connected to the hollow rotating shaft to drive the interventional instrument to perform circumferential rotation; the second driving mechanism is connected to the pinch wheel assembly to drive the interventional instrument to perform axial movement. The present invention can not only realize the detachable of the whole device, the axial feeding and rotation of the interventional instrument at the same time, but also avoid the problem of motor cable winding during use.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly to a movement control device for an interventional device. Background Art

[0002] An interventional device is a surgical instrument used for interventional treatment. In interventional treatment, a small channel with a diameter of a few millimeters is made in a blood vessel or on the skin through a natural body cavity of a human body or by using a surgical method, so that an interventional device such as a guide wire, a puncture needle or a catheter can enter the human body for minimally invasive treatment or examination. The interventional device is a key link in interventional treatment, and the interventional device needs to be configured with a related movement control device to perform guiding support and feeding on the interventional device before it enters the human body.

[0003] The existing movement control device for an interventional device can only separately achieve the axial feeding of the interventional device or separately achieve the rotational movement of the interventional device, and cannot achieve the two movements in the same device. Or when performing the axial feeding and rotational movement of the interventional device, there are problems of complex structure and non-detachability, resulting in inconvenience in disinfecting the components in contact with the interventional device and easy generation of cross-contamination. In addition, when controlling the rotational movement of the interventional device, the driving motor of the existing movement control device for an interventional device is usually fixedly connected to a roller driving mechanism. When the roller driving mechanism is driven to rotate due to the rotational requirement of the interventional device, the driving motor will rotate synchronously with the roller driving mechanism, resulting in easy winding of the motor cable. Summary of the Invention

[0004] The present invention provides a movement control device for an interventional device to solve at least one technical problem existing in the prior art, and to achieve driving the interventional device to perform axial feeding and rotational movement simultaneously, and to facilitate the disassembly and cleaning of the components in contact with the interventional device.

[0005] The present invention provides a movement control device for an interventional device, including: a fixed component and a detachable component; the fixed component includes a first seat body, a first driving mechanism and a second driving mechanism, and the first driving mechanism and the second driving mechanism are respectively arranged on the first seat body;

[0006] The detachable component includes a second seat body, a hollow rotating shaft, a clamping wheel assembly and a clamping component; the first seat body and the second seat body are detachably connected; the hollow rotating shaft and the clamping wheel assembly are respectively rotatably arranged on the second seat body, and the interventional device can sequentially pass through the axial hole of the hollow rotating shaft and the clamping opening of the clamping wheel assembly; the clamping component is connected to the hollow rotating shaft to clamp the interventional device in the axial hole.

[0007] Wherein, the first driving mechanism is connected to the hollow rotating shaft to drive the intervention instrument to perform circumferential rotation through the clamping assembly and the hollow rotating shaft; the second driving mechanism is connected to the pinch wheel assembly to drive the intervention instrument to perform axial movement through the pinch wheel assembly.

[0008] According to an intervention instrument motion control device provided by the present invention, an opening is provided on the side wall of the hollow rotating shaft, and the opening communicates with the axial center hole;

[0009] The clamping assembly is arranged on the outer side wall of the hollow rotating shaft, and at least part of the clamping assembly can extend into the axial center hole through the opening to press the intervention instrument against the hole wall of the axial center hole.

[0010] According to an intervention instrument motion control device provided by the present invention, the clamping assembly includes a fixed seat, a pressing member and a first elastic member;

[0011] The fixed seat is arranged on the outer side wall of the hollow rotating shaft; the pressing member is movably arranged on the fixed seat and can pass through the opening; the first elastic member is arranged between the fixed seat and the pressing member;

[0012] In the case where the first elastic member is in the first state, the pressing end of the pressing member is located in the axial center hole and presses the intervention instrument against the hole wall of the axial center hole; in the case where the first elastic member is in the second state, the pressing end of the pressing member is separated from the intervention instrument.

[0013] According to an intervention instrument motion control device provided by the present invention, the pressing member includes an operating rod and a pressing block, the fixed seat is provided with a guiding hole, the operating rod is movably inserted through the guiding hole, and the pressing block is arranged at one end of the operating rod;

[0014] The first elastic member includes a spring, the spring is sleeved on the operating rod, one end of the spring abuts against the fixed seat, and the other end abuts against the pressing block.

[0015] According to an intervention instrument motion control device provided by the present invention, the first driving mechanism includes a first driving motor and a first gear transmission assembly;

[0016] The first gear transmission assembly at least includes a first gear and a second gear, the output end of the first driving motor is connected to the first gear, the first gear and the second gear are power-coupled, and the second gear is coaxially arranged with the hollow rotating shaft.

[0017] An interventional instrument motion control device provided according to the present invention, wherein the clamping wheel assembly includes a driving wheel assembly and a driven wheel assembly, and a clamping opening is formed between the driving wheel assembly and the driven wheel assembly;

[0018] The second driving mechanism is connected to the driving wheel assembly, and the driven wheel assembly is movably disposed on the second seat body and can move between a first position close to the driving wheel assembly and a second position away from the driving wheel assembly.

[0019] An interventional instrument motion control device provided according to the present invention, wherein the second driving mechanism includes a second driving motor, a bevel gear transmission assembly, and a second gear transmission assembly;

[0020] The bevel gear transmission assembly includes a first bevel gear and a second bevel gear, and the first bevel gear and the second bevel gear are respectively rotatably disposed on the first seat body; the second gear transmission assembly includes a transmission gear and a driving gear;

[0021] The output end of the second driving motor is coaxially connected to the first bevel gear, the first bevel gear and the second bevel gear are meshed, the transmission gear and the second bevel gear are coaxially connected, the transmission gear and the driving gear are meshed, and the driving gear and the driving wheel assembly are coaxially connected.

[0022] An interventional instrument motion control device provided according to the present invention, wherein the second seat body includes a first mounting plate and a second mounting plate;

[0023] The first mounting plate and the second mounting plate are spaced apart, the hollow rotating shaft is rotatably disposed between the first mounting plate and the second mounting plate, and the clamping wheel assemblies are provided on both the first mounting plate and the second mounting plate;

[0024] The driving wheel assemblies on the first mounting plate and the driving wheel assemblies on the second mounting plate are power-coupled and connected through a third gear transmission assembly to achieve synchronous rotation;

[0025] The driven wheel assemblies on the first mounting plate and the driven wheel assemblies on the second mounting plate are linked to achieve synchronous movement between the first position and the second position.

[0026] An interventional instrument motion control device provided according to the present invention, wherein sliding guiding mechanisms are provided between the driven wheel assemblies on the first mounting plate and the first mounting plate, and between the driven wheel assemblies on the second mounting plate and the second mounting plate; the driven wheel assemblies on the first mounting plate and the driven wheel assemblies on the second mounting plate are connected through a linkage member;

[0027] Wherein, the sliding guiding mechanism includes a slide rail and a slider, and the slide rail and the slider are slidably matched along the connecting direction of the first position and the second position.

[0028] According to an interventional device motion control device provided by the present invention, the first seat body is further provided with a third driving mechanism; the third driving mechanism includes a third driving motor, a lead screw transmission mechanism and a driving rod;

[0029] The output end of the third driving motor is connected to the lead screw of the lead screw transmission mechanism, the lead screw nut of the lead screw transmission mechanism is connected to the driving rod, and the driving rod is used to drive the driven wheel assembly to move relative to the second seat body along the connecting direction of the first position and the second position.

[0030] According to an interventional device motion control device provided by the present invention, the first seat body and the second seat body are detachably connected through a quick-release assembly; the quick-release assembly includes a first positioning component, a second positioning component and a pawl assembly; the pawl assembly includes a pawl seat, a second elastic member and a pawl;

[0031] The first positioning component and the pawl are arranged on the first seat body, and the second positioning component is arranged on the second seat body; the first positioning component is provided with a first through hole, the second positioning component is provided with a second through hole, and the first positioning component and the second positioning component are connected through a positioning structure, and the first through hole and the second through hole are communicated;

[0032] The middle part of the pawl is rotatably arranged on the pawl seat, the first end of the pawl and the pawl seat are connected through the second elastic member, and the second end of the pawl can pass through the first through hole and the second through hole and extend to the side of the second positioning component away from the first positioning component;

[0033] In the case where the second elastic member is in an initial state, the second end of the pawl is clamped with the second positioning component, so that the first positioning component and the second positioning component are connected as a whole; in the case where the second elastic member is in a compressed state, the second end of the pawl is separated from the second positioning component, so that the first positioning component and the second positioning component can be separated.

[0034] The interventional device motion control device provided by the present invention includes a fixed component and a detachable component. By detachably connecting the first seat body of the fixed component and the second seat body of the detachable component, it is convenient to detach the detachable component from the fixed component for cleaning.

[0035] Meanwhile, since the driving part and the executing part associated with the interventional instrument in the interventional instrument motion control device are arranged on the first seat body and the second seat body, and the interventional instrument is sequentially passed through the axial hole of the hollow rotating shaft and the clamping opening of the clamping wheel assembly, after the fixed assembly and the detachable assembly are assembled, the interventional instrument in the hollow rotating shaft is clamped by the clamping assembly, and the hollow rotating shaft is driven to rotate by the first driving mechanism, so that the interventional instrument can rotate circumferentially along with the hollow rotating shaft, and the clamping wheel assembly is driven to rotate by the second driving mechanism, and the clamping action of the clamping wheel assembly can be used to drive the interventional instrument to move axially, avoiding the problem that the motor cable is easily wound due to the synchronous rotation of the existing driving motor following the roller driving mechanism.

[0036] As can be seen from the above, the present invention can not only realize the disassembly of the whole device, the axial feeding and rotation of the interventional instrument at the same time, but also avoid the problem of motor cable winding in use.

[0037] Meanwhile, based on the above settings, the present invention can separate the rotation function and the axial feeding function of the interventional instrument, which is convenient for quickly installing and disassembling the detachable assembly, and the whole interventional instrument motion control device simplifies the complexity of the design structure, realizes the miniaturized design of the overall structure, and is convenient for adjusting the position and posture of the whole interventional instrument motion control device by the robotic arm to meet the use requirements of various application scenarios.

[0038] The additional aspects and advantages of the present invention will be partly given in the following description, partly will become obvious from the following description, or will be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained according to these drawings without creative efforts.

[0040] Figure 1 is a schematic structural diagram of the interventional instrument motion control device provided by the present invention;

[0041] Figure 2 is one of the schematic structural diagrams of the detachable assembly provided by the present invention;

[0042] Figure 3 is the second of the schematic structural diagrams of the detachable assembly provided by the present invention;

[0043] Figure 4 is a schematic structural diagram of the cooperation between the hollow rotating shaft and the clamping assembly provided by the present invention;

[0044] Figure 5 is one of the structural schematic diagrams of the fixing component provided by the present invention;

[0045] Figure 6 is the second of the structural schematic diagrams of the fixing component provided by the present invention;

[0046] Figure 7 is the structural schematic diagram of the quick-release component provided by the present invention.

[0047] Reference numerals:

[0048] 1. Fixing component; 11. First seat body; 12. First driving mechanism; 13. Second driving mechanism; 14. Third driving mechanism; 121. First driving motor; 122. First gear transmission assembly; 1221. First gear; 1222. Second gear; 1223. Third gear; 131. Second driving motor; 132. Bevel gear transmission assembly; 133. Second gear transmission assembly; 134. Third gear transmission assembly; 1321. First bevel gear; 1322. Second bevel gear; 1331. Driving gear; 1332. Driven gear; 1341. First synchronous gear; 1342. Second synchronous gear; 141. Third driving motor; 142. Lead screw transmission mechanism; 143. Driving rod;

[0049] 2. Detachable component; 21. Second seat body; 22. Hollow rotating shaft; 23. Clamping wheel assembly; 24. Clamping component; 211. First mounting plate; 212. Second mounting plate; 213. Sliding guiding mechanism; 221. Opening; 231. Driving wheel assembly; 232. Driven wheel assembly; 233. Linkage member; 241. Fixed seat; 242. Pressing member; 243. First elastic member; 2421. Operating rod; 2422. Pressing block; 2131. Slide rail; 2132. Slide block;

[0050] 3. Quick-release component; 31. First positioning member; 32. Second positioning member; 33. Pressing claw assembly; 311. First through hole; 321. Second through hole; 331. Pressing claw seat; 332. Second elastic member; 333. Pressing claw. Detailed embodiments

[0051] To make the objectives, technical solutions and advantages of the present invention clearer, the technical solutions in the present invention will be clearly and completely described below with reference to the accompanying drawings in the present invention. Apparently, the described embodiments are some but not all of the embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art without making creative efforts based on the embodiments in the present invention belong to the scope of protection of the present invention.

[0052] The following is combined with Figures 1 - 7, the motion control device for interventional instruments provided by the present invention will be described in detail through specific embodiments and their application scenarios.

[0053] As Figure 1 shown, this embodiment provides a motion control device for interventional instruments, including: a fixed component 1 and a detachable component 2; the fixed component 1 includes a first seat body 11, a first driving mechanism 12, a second driving mechanism 13, and a third driving mechanism 14, and the first driving mechanism 12, the second driving mechanism 13, and the third driving mechanism 14 are respectively arranged on the first seat body 11.

[0054] The detachable component 2 includes a second seat body 21, a hollow rotating shaft 22, a clamping wheel assembly 23, and a clamping component 24; the first seat body 11 and the second seat body 21 can be detachably connected through locking parts such as bolts and pins and / or positioning structures; the hollow rotating shaft 22 and the clamping wheel assembly 23 are respectively rotatably arranged on the second seat body 21, and the interventional instrument can sequentially pass through the axial hole of the hollow rotating shaft 22 and the clamping opening of the clamping wheel assembly 23; the clamping component 24 is connected to the hollow rotating shaft 22 to clamp the interventional instrument in the axial hole.

[0055] Among them, the first driving mechanism 12 is connected to the hollow rotating shaft 22 to drive the interventional instrument to perform circumferential rotation through the clamping component 24 and the hollow rotating shaft 22; the second driving mechanism 13 is connected to the clamping wheel assembly 23 to drive the interventional instrument to perform axial movement through the clamping wheel assembly 23.

[0056] In practical applications, the hollow rotating shaft 22 and the clamping wheel assembly 23 can be arranged oppositely to ensure that the axial hole of the hollow rotating shaft 22 and the clamping opening of the clamping wheel assembly 23 are distributed on the extension path of the interventional instrument. For example, in this embodiment, the clamping opening can be arranged along the center line of the axial hole, or the offset distance of the clamping opening relative to the center line of the axial hole can be controlled within a preset range to ensure that after the interventional instrument passes through the axial hole of the hollow rotating shaft 22, it can pass through the clamping opening of the clamping wheel assembly 23 again.

[0057] At the same time, the clamping wheel assembly 23 can be provided with a plurality of clamping wheels, and a clamping opening for clamping the interventional instrument is formed between the plurality of clamping wheels, and the second driving mechanism 13 can be connected to at least one of the plurality of clamping wheels. Since each clamping wheel is in rolling contact with the interventional instrument, and the clamping opening between the clamping wheels clamps the interventional instrument, when at least one of the plurality of clamping wheels rotates under the drive of the second driving mechanism 13, based on the contact friction force between the clamping wheel and the interventional instrument, the interventional instrument can be driven to perform directional feeding along the axial direction.

[0058] In addition, the first seat body 11 of this embodiment is suitable for being detachably connected to the robotic arm, and the position and posture of the entire motion control device for interventional instruments can be adjusted through the robotic arm.

[0059] As can be seen from the above, the movement control device of the interventional instrument of the present invention is provided with a fixed component 1 and a detachable component 2. By detachably connecting the first seat body 11 of the fixed component 1 and the second seat body 21 of the detachable component 2, it is convenient to detach the detachable component 2 from the fixed component 1 for cleaning or disposable replacement.

[0060] At the same time, since the driving part and the executing part associated with the interventional instrument in the movement control device of the interventional instrument are arranged on the first seat body 11 and the second seat body 21, and the interventional instrument sequentially passes through the axial hole of the hollow rotating shaft 22 and the clamping port of the clamping wheel assembly 23. After the assembly of the fixed component 1 and the detachable component 2 is completed, the interventional instrument in the hollow rotating shaft 22 is clamped by the clamping component 24, and the hollow rotating shaft 22 is driven to rotate by the first driving mechanism 12, so that the interventional instrument can rotate circumferentially along with the hollow rotating shaft 22, and the clamping wheel assembly 23 is driven to rotate by the second driving mechanism 13, and the clamping action of the clamping wheel assembly 23 can be used to drive the interventional instrument to move axially, avoiding the problem of winding of the motor cable caused by the synchronous rotation of the driving motor following the roller driving mechanism in the prior art.

[0061] As can be seen from the above, the present invention can not only realize the detachable of the whole device, the axial feeding and rotation of the interventional instrument, but also avoid the problem of winding of the motor cable during use.

[0062] In some embodiments, as Figure 1 and Figure 4 shown, the side wall of the hollow rotating shaft 22 of this embodiment is provided with an opening 221, and the opening 221 communicates with the axial hole. Among them, the axial hole penetrates through the hollow rotating shaft 22 along the axial direction of the hollow rotating shaft 22, and the axial hole is not specifically shown in Figure 4 .

[0063] At the same time, the clamping component 24 is arranged on the outer side wall of the hollow rotating shaft 22. The clamping component 24 can adopt a bolt locking part, or a telescopic driving part such as an electric push rod or a hydraulic cylinder. There is no specific limitation on this, as long as it is ensured that at least part of the clamping component 24 can extend into the axial hole through the opening 221 to press the interventional instrument against the hole wall of the axial hole.

[0064] In this way, based on the clamping component 24, the interventional instrument passing through the axial hole can be fixed on the hollow rotating shaft 22, so that the interventional instrument can rotate synchronously with the hollow rotating shaft 22, thereby realizing the circumferential rotation of the interventional instrument.

[0065] Optionally, the clamping assembly 24 of this embodiment includes a fixed seat 241, a pressing member 242, and a first elastic member 243. The fixed seat 241 is provided on the outer side wall of the hollow rotating shaft 22; the pressing member 242 is movably provided on the fixed seat 241 and can pass through the opening 221; the first elastic member 243 is provided between the fixed seat 241 and the pressing member 242.

[0066] In the case where the first elastic member 243 is in the first state, the pressing end of the pressing member 242 is located within the axial center hole and presses the interventional instrument against the hole wall of the axial center hole; in the case where the first elastic member 243 is in the second state, the pressing end of the pressing member 242 is separated from the interventional instrument.

[0067] In practical applications, it can be set that the deformation amount of the first elastic member 243 in the first state is less than the deformation amount of the first elastic member 243 in the second state, and the length of the first elastic member 243 in the first state is greater than the length of the first elastic member 243 in the second state. For example, the first state of the first elastic member 243 is the natural elongation state, while the second state of the first elastic member 243 is the compressed state; or, the first state of the first elastic member 243 is the first compressed state, while the second state of the first elastic member 243 is the second compressed state.

[0068] In this way, when the first elastic member 243 is in the first state, the operator does not need to apply a driving force to the pressing member 242. Under the action of the first elastic member 243, it can be ensured that the interventional instrument is clamped between the pressing end of the pressing member 242 and the hole wall of the axial center hole, so that the interventional instrument can rotate circumferentially along with the hollow rotating shaft 22 without manual intervention.

[0069] Correspondingly, when it is necessary to take out the interventional instrument from the axial center hole, only need to ensure that the hollow rotating shaft 22 stops rotating, and then manually pull the pressing member 242, so that the pressing end of the pressing member 242 can be separated from the interventional instrument.

[0070] It should be noted here that in order to ensure that the interventional instrument can rotate circumferentially or feed axially respectively, it should be ensured that the pressing force of the pressing end of the pressing member 242 on the interventional instrument is less than the clamping force and feeding force of the clamping opening of the clamping wheel assembly 23 on the interventional instrument.

[0071] In some embodiments, as Figure 4 shown, the pressing member 242 of this embodiment includes an operating rod 2421 and a pressing block 2422. The fixed seat 241 is provided with a guiding hole, the operating rod 2421 is movably passed through the guiding hole, and the pressing block 2422 is provided at one end of the operating rod 2421.

[0072] At the same time, the first elastic member 243 includes a spring. The spring is sleeved on the operating rod 2421, one end of the spring abuts against the fixed seat 241, and the other end abuts against the pressing block 2422.

[0073] To ensure that the pressing member 242 can stably press the interventional instrument against the wall of the axial hole, a plurality of operating rods 2421 may be provided on the pressing member 242. The plurality of operating rods 2421 are arranged side by side. One ends of the plurality of operating rods 2421 are commonly connected to the pressing block 2422, and the other ends of the plurality of operating rods 2421 are commonly connected to the handle. The staff can conveniently control the contact or separation between the pressing member 242 and the interventional instrument by holding the handle.

[0074] In some embodiments, as Figure 3 and Figure 5 shown, the first driving mechanism 12 of this embodiment includes a first driving motor 121 and a first gear transmission assembly 122.

[0075] The first gear transmission assembly 122 at least includes a first gear 1221 and a second gear 1222. The output end of the first driving motor 121 is connected to the first gear 1221. The first gear 1221 and the second gear 1222 are power-coupled. The second gear 1222 and the hollow rotating shaft 22 are coaxially arranged.

[0076] Specifically, the first driving motor 121 may adopt a servo motor. The first driving motor 121 can drive the first gear 1221 to rotate synchronously with it. Based on the power transmission between the first gear 1221 and the second gear 1222, the hollow rotating shaft 22 can be driven to rotate relative to the first seat body 11 through the second gear 1222. Among them, the hollow rotating shaft 22 is rotationally connected to the first seat body 11 through a bearing.

[0077] Of course, to achieve the compactness of the overall structure of the interventional instrument motion control device, a third gear 1223 may also be provided in the first gear transmission assembly 122 of this embodiment. The first gear 1221 and the third gear 1223 are meshed, and the third gear 1223 and the second gear 1222 are meshed. Thus, based on the third gear 1223, it can be ensured that the positions of the first driving motor 121 and the hollow rotating shaft 22 are misaligned, so as to reserve sufficient space on the first seat body 11 for arranging other driving mechanisms.

[0078] Based on the solution of the above embodiment, as Figure 2 and Figure 3 shown, the pinch wheel assembly 23 of this embodiment includes a driving wheel assembly 231 and a driven wheel assembly 232. A clamping opening is formed between the driving wheel assembly 231 and the driven wheel assembly 232. The second driving mechanism 13 is connected to the driving wheel assembly 231. The driven wheel assembly 232 is movably arranged on the second seat body 21 and can move between a first position close to the driving wheel assembly 231 and a second position away from the driving wheel assembly 231.

[0079] It is understandable that since the interventional instrument is clamped between the driving wheel assembly 231 and the driven wheel assembly 232, the driving wheel assembly 231 can rotate relative to the second seat body 21 under the drive of the second driving mechanism 13 to apply contact friction force to the interventional instrument, and the driven wheel assembly 232 rotates passively along with the interventional instrument. Thus, based on the cooperation between the pinch wheel assembly 23 and the interventional instrument, the interventional instrument can be driven to move axially along its axis by the pinch wheel assembly 23.

[0080] Wherein, the position of the driven wheel assembly 232 arranged on the second seat body 21 is adjustable, so as to adjust the position of the driven wheel assembly 232 relative to the driving wheel assembly 231 according to actual requirements, and the clamping opening can clamp interventional instruments of different specifications and sizes.

[0081] As Figure 2 and Figure 3 shown, the driving wheel assembly 231 of this embodiment includes a fixed support, a first rotating shaft and a first roller. The fixed support is fixedly connected to the second seat body 21. The first rotating shaft is rotatably installed on the fixed support, and the first roller is sleeved on the first rotating shaft.

[0082] Correspondingly, the driven wheel assembly 232 includes a moving support, a second rotating shaft and a second roller. The moving support is movably arranged on the second seat body 21 along the direction of the connection line between the first position and the second position. The second rotating shaft is rotatably installed on the moving support, and the second roller is sleeved on the second rotating shaft.

[0083] Wherein, the second driving mechanism 13 is connected to the first rotating shaft of the driving wheel assembly 231 to drive the first rotating shaft to rotate relative to the fixed support. A clamping opening for clamping the interventional instrument is formed between the first roller and the second roller, and both the first roller and the second roller can be concave wheels.

[0084] In some embodiments, as Figure 2 、 Figure 5 and Figure 6 shown, the second driving mechanism 13 of this embodiment includes a second driving motor 131, a bevel gear transmission assembly 132 and a second gear transmission assembly 133. The bevel gear transmission assembly 132 includes a first bevel gear 1321 and a second bevel gear 1322. The first bevel gear 1321 and the second bevel gear 1322 are respectively rotatably arranged on the first seat body 11. The second gear transmission assembly 133 includes a transmission gear 1331 and a driving gear 1332.

[0085] Specifically, the second drive motor 131 can be a servo motor. The output end of the second drive motor 131 is coaxially connected to the first bevel gear 1321. The first bevel gear 1321 and the second bevel gear 1322 are meshed, and the rotation axis of the first bevel gear 1321 and the rotation axis of the second bevel gear 1322 can be set perpendicular to each other. At the same time, the transmission gear 1331 is coaxially connected to the second bevel gear 1322. The transmission gear 1331 and the drive gear 1332 are meshed, and the drive gear 1332 is coaxially connected to the driving wheel assembly 231. The drive gear 1332 can be coaxially arranged on the first rotating shaft of the driving wheel assembly 231.

[0086] In some embodiments, as Figure 2 and Figure 3 shown, the second seat body 21 of this embodiment includes a first mounting plate 211 and a second mounting plate 212.

[0087] The first mounting plate 211 and the second mounting plate 212 are arranged at intervals, and the hollow rotating shaft 22 is rotatably arranged between the first mounting plate 211 and the second mounting plate 212. In practical applications, the first mounting plate 211 and the second mounting plate 212 can be arranged in parallel. The first end of the hollow rotating shaft 22 is rotatably connected to the first mounting plate 211 through a bearing, and the second end of the hollow rotating shaft 22 is rotatably connected to the second mounting plate 212 through a bearing. The first mounting plate 211 and the second mounting plate 212 are respectively detachably connected to the first seat body 11.

[0088] Furthermore, clamping wheel assemblies 23 are provided on both the first mounting plate 211 and the second mounting plate 212. The driving wheel assembly 231 on the first mounting plate 211 and the driving wheel assembly 231 on the second mounting plate 212 are power-coupled through a third gear transmission assembly 134 to achieve synchronous rotation. The driven wheel assembly 232 on the first mounting plate 211 and the driven wheel assembly 232 on the second mounting plate 212 are linked to move synchronously between a first position and a second position.

[0089] Among them, the third gear transmission assembly 134 of this embodiment includes a first synchronous gear 1341 and a second synchronous gear 1342. The first synchronous gear 1341 is coaxially arranged on the first rotating shaft of the driving wheel assembly 231 on the first mounting plate 211, and the second synchronous gear 1342 is coaxially arranged on the first rotating shaft of the driving wheel assembly 231 on the second mounting plate 212. The first synchronous gear 1341 and the second synchronous gear 1342 can be connected through a transmission mechanism such as a chain, a belt, or a gear to conveniently achieve the synchronous rotation of the driving wheel assembly 231 on the first mounting plate 211 and the driving wheel assembly 231 on the second mounting plate 212.

[0090] Based on the above settings, in this embodiment, not only can the driving wheel assemblies 231 of the two sets of clamping wheel assemblies 23 be controlled to rotate synchronously, but also the sizes of the clamping openings of the two sets of clamping wheel assemblies 23 can be adjusted synchronously. Since the two sets of clamping wheel assemblies 23 are respectively arranged at both ends of the hollow rotating shaft 22, the stability of driving the intervention instrument to feed axially can be achieved through the two sets of clamping wheel assemblies 23.

[0091] In some embodiments, as Figure 2 shown, in order to ensure the stability of the relative movement of the two sets of driven wheel assemblies 232 with respect to the second seat body 21, in this embodiment, a sliding guiding mechanism 213 is provided between the driven wheel assembly 232 on the first mounting plate 211 and the first mounting plate 211, and between the driven wheel assembly 232 on the second mounting plate 212 and the second mounting plate 212.

[0092] In some examples, the sliding guiding mechanism 213 includes a slide rail 2131 and a slider 2132, and the slide rail 2131 and the slider 2132 are slidably engaged along the connection direction of the first position and the second position.

[0093] Optionally, in this embodiment, the slide rail 2131 can be arranged on the first mounting plate 211 or the second mounting plate 212 of the second seat body 21, and the slider 2132 can be arranged on the moving support of the driven wheel assembly 232. Of course, the moving support of the driven wheel assembly 232 can also be used as the slider 2132, and a chute capable of slidably engaging with the slide rail 2131 can be arranged on the moving support.

[0094] Furthermore, the driven wheel assemblies 232 on the first mounting plate 211 and the driven wheel assemblies 232 on the second mounting plate 212 in this embodiment are connected by a linkage member 233. In practical applications, an operator can manually synchronously adjust the positions of the two sets of driven wheel assemblies 232 through the linkage member 233. Of course, in this embodiment, the linkage member 233 can also be directly connected to a linear driving mechanism, and the position of the driven wheel assembly 232 relative to the driving wheel assembly 231 can be adjusted through the linear driving mechanism.

[0095] In some examples, as Figure 5 shown, the first seat body 11 of this embodiment is further provided with a third driving mechanism 14; the third driving mechanism 14 includes a third driving motor 141, a lead screw transmission mechanism 142, and a driving rod 143; the third driving motor 141 can adopt a servo motor well-known in the art.

[0096] The output end of the third driving motor 141 is connected to the lead screw of the lead screw transmission mechanism 142, the lead screw nut of the lead screw transmission mechanism 142 is connected to the driving rod 143, and the driving rod 143 is connected to the linkage member 233. The driving rod 143 is used to drive the driven wheel assembly 232 to move relative to the second seat body 21 along the connection direction of the first position and the second position.

[0097] Specifically, the third drive motor 141 can drive the rotation of the lead screw of the lead screw transmission mechanism 142. Since the lead screw and the lead screw nut of the lead screw transmission mechanism 142 are in threaded engagement, the lead screw nut is slidably mounted on the guide rod, and the guide rod is arranged along the extension direction of the lead screw. Then, under the limitation and guidance of the guide rod, the lead screw nut can only move along the extension direction of the guide rod and drive the two sets of driven wheel assemblies 232 to move along the connection line direction between the first position and the second position.

[0098] In practical applications, in this embodiment, a lapping member can be arranged on the linkage member 233, and the drive rod 143 is arranged on the side of the lapping member away from the driving wheel assembly 231. Thus, when the drive rod 143 of the third drive mechanism 14 moves toward the side close to the driving wheel assembly 231, the drive rod 143 can gradually approach the lapping member and contact the lapping member, and then push the driven wheel assembly 232 to move toward the side of the driving wheel assembly 231, so as to realize the clamping of the intervention instrument through the clamping port of the clamping wheel assembly 23. When the drive rod 143 of the third drive mechanism 14 moves toward the side away from the driving wheel assembly 231, the drive rod 143 will separate from the lapping member and no longer adjust the clamping of the clamping port.

[0099] Based on the solution of the above embodiment, since the detachable component 2 is directly in contact with the intervention instrument, in order to quickly assemble the detachable component 2 on the fixed component 1 during work (surgery), and facilitate the disassembly and cleaning of the detachable component 2 after the work (surgery) is completed, the first seat body 11 and the second seat body 21 of this embodiment are detachably connected through the quick-release component 3.

[0100] As Figure 7 shown, the quick-release component 3 of this embodiment includes a first positioning component 31, a second positioning component 32, and a claw pressing component 33; the claw pressing component 33 includes a claw pressing seat 331, a second elastic member 332, and a claw 333.

[0101] The first positioning component 31 and the claw 333 are arranged on the first seat body 11, and the second positioning component 32 is arranged on the second seat body 21; the first positioning component 31 is provided with a first through hole 311, the second positioning component 32 is provided with a second through hole 321, and the first positioning component 31 and the second positioning component 32 are connected through a positioning structure, so that the first through hole 311 and the second through hole 321 are communicated.

[0102] The middle part of the claw 333 is rotatably arranged on the claw pressing seat 331. A second elastic member 332 is connected between the first end of the claw 333 and the claw pressing seat 331. The second end of the claw 333 can pass through the first through hole 311 and the second through hole 321 and extend to the side of the second positioning component 32 away from the first positioning component 31.

[0103] Among them, the middle part of the pressing claw 333 can be hinged to the pressing claw seat 331 through a pin shaft, and the second elastic member 332 can be a spring well-known in the art. By adjusting the deformation state of the second elastic member 332, the angle between the pressing claw 333 and the central axis of the first through hole 311 or the second through hole 321 can be adjusted.

[0104] In the case where the second elastic member 332 is in the initial state, the second end of the pressing claw 333 is clamped with the second positioning member 32, so that the first positioning member 31 and the second positioning member 32 are connected as a whole; in the case where the second elastic member 332 is in the compressed state, the second end of the pressing claw 333 is separated from the second positioning member 32, so that the first positioning member 31 and the second positioning member 32 can be separated.

[0105] In practical applications, since the second seat body 21 includes a first mounting plate 211 and a second mounting plate 212, in order to ensure the structural stability of the entire device, in this embodiment, quick-release components 3 can be provided between the first mounting plate 211 and the first seat body 11, and between the second mounting plate 212 and the first seat body 11.

[0106] In order to facilitate the positioning connection of the first positioning member 31 and the second positioning member 32, a tongue can be provided at one end of the first positioning member 31 facing the second positioning member 32, and a slot can be provided at one end of the second positioning member 32 facing the first positioning member 31. Among them, the tongue can be inserted into the slot, the first through hole 311 penetrates through the tongue and is coaxially arranged with the tongue, and the slot and the second through hole 321 are coaxially arranged.

[0107] In this way, when assembling the quick-release component 3, only need to press the first end of the pressing claw 333 first, so that the second elastic member 332 is in the compressed state, ensure that the second end of the pressing claw 333 can pass through the first through hole 311 and the second through hole 321 until it extends to the side of the second positioning member 32 away from the first positioning member 31; then, release the first end of the pressing claw 333, and under the drive of the second elastic member 332, the second end of the pressing claw 333 automatically clamps with the second positioning member 32, thereby connecting the first positioning member 31 and the second positioning member 32 as a whole.

[0108] Correspondingly, when disassembling the quick-release component 3, only need to press the first end of the pressing claw 333 to separate the pressing claw 333 from the second positioning member 32, and the operation is simple and convenient.

[0109] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An interventional device motion control device, characterized in that, Including: a fixed component and a detachable component; The fixed component includes a first base body, a first driving mechanism, and a second driving mechanism. The first driving mechanism and the second driving mechanism are respectively arranged on the first base body; The detachable component includes a second base body, a hollow rotating shaft, a clamping wheel assembly, and a clamping component; the first base body and the second base body are detachably connected; the hollow rotating shaft and the clamping wheel assembly are respectively rotatably arranged on the second base body, and an intervention instrument can sequentially pass through the axial hole of the hollow rotating shaft and the clamping opening of the clamping wheel assembly; the clamping component is connected to the hollow rotating shaft to clamp the intervention instrument in the axial hole; Wherein, the first driving mechanism is connected to the hollow rotating shaft to drive the intervention instrument to perform circumferential rotation through the clamping component and the hollow rotating shaft; the second driving mechanism is connected to the clamping wheel assembly to drive the intervention instrument to perform axial movement through the clamping wheel assembly; An opening is provided on the side wall of the hollow rotating shaft, and the opening communicates with the axial hole; the clamping component is arranged on the outer side wall of the hollow rotating shaft, and at least part of the clamping component can extend into the axial hole through the opening to press the intervention instrument against the hole wall of the axial hole.

2. The intervention instrument movement control device according to claim 1, characterized in that The clamping component includes a fixed seat, a pressing member, and a first elastic member; The fixed seat is arranged on the outer side wall of the hollow rotating shaft; the pressing member is movably arranged on the fixed seat and can pass through the opening; the first elastic member is arranged between the fixed seat and the pressing member; When the first elastic member is in the first state, the pressing end of the pressing member is located in the axial hole and presses the intervention instrument against the hole wall of the axial hole; when the first elastic member is in the second state, the pressing end of the pressing member is separated from the intervention instrument.

3. The intervention instrument movement control device according to claim 2, characterized in that The pressing member includes an operating rod and a pressing block. The fixed seat is provided with a guiding hole, the operating rod is movably arranged through the guiding hole, and the pressing block is arranged at one end of the operating rod; The first elastic member includes a spring. The spring is sleeved on the operating rod, one end of the spring abuts against the fixed seat, and the other end abuts against the pressing block.

4. The intervention instrument movement control device according to claim 1, characterized in that The first driving mechanism includes a first driving motor and a first gear transmission assembly; The first gear transmission assembly at least includes a first gear and a second gear. The output end of the first driving motor is connected to the first gear, the first gear and the second gear are power-coupled, and the second gear is coaxially arranged with the hollow rotating shaft.

5. The movement control device for an interventional instrument according to any one of claims 1 to 4, characterized in that, The clamping wheel assembly includes a driving wheel assembly and a driven wheel assembly, and a clamping opening is formed between the driving wheel assembly and the driven wheel assembly; The second driving mechanism is connected to the driving wheel assembly. The driven wheel assembly is movably arranged on the second seat body and can move between a first position close to the driving wheel assembly and a second position away from the driving wheel assembly.

6. The movement control device for an interventional instrument according to claim 5, wherein the second driving mechanism includes a second driving motor, a bevel gear transmission assembly, and a second gear transmission assembly; the bevel gear transmission assembly includes a first bevel gear and a second bevel gear, and the first bevel gear and the second bevel gear are respectively rotatably arranged on the first seat body; the second gear transmission assembly includes a transmission gear and a driving gear; the output end of the second driving motor is coaxially connected to the first bevel gear, the first bevel gear and the second bevel gear are meshed, the transmission gear and the second bevel gear are coaxially connected, the transmission gear and the driving gear are meshed, and the driving gear and the driving wheel assembly are coaxially connected.

7. The movement control device for an interventional instrument according to claim 5, wherein the second seat body includes a first mounting plate and a second mounting plate; the first mounting plate and the second mounting plate are arranged at intervals, the hollow rotating shaft is rotatably arranged between the first mounting plate and the second mounting plate, and the clamping wheel assemblies are arranged on both the first mounting plate and the second mounting plate; the driving wheel assemblies on the first mounting plate and the driving wheel assemblies on the second mounting plate are power-coupled and connected through a third gear transmission assembly to achieve synchronous rotation; the driven wheel assemblies on the first mounting plate and the driven wheel assemblies on the second mounting plate are linked and connected to achieve synchronous movement between the first position and the second position.

8. The movement control device for an interventional instrument according to claim 7, wherein sliding guiding mechanisms are arranged between the driven wheel assemblies on the first mounting plate and the first mounting plate, and between the driven wheel assemblies on the second mounting plate and the second mounting plate; the driven wheel assemblies on the first mounting plate and the driven wheel assemblies on the second mounting plate are connected through a linkage; wherein, the sliding guiding mechanism includes a slide rail and a slider, and the slide rail and the slider are slidably matched along the connection direction of the first position and the second position.

9. The movement control device for an interventional instrument according to claim 5, wherein the first seat body is further provided with a third driving mechanism; the third driving mechanism includes a third driving motor, a lead screw transmission mechanism, and a driving rod; the output end of the third driving motor is connected to the lead screw of the lead screw transmission mechanism, the lead screw nut of the lead screw transmission mechanism is connected to the driving rod, and the driving rod is used to drive the driven wheel assembly to move relative to the second seat body along the connection direction of the first position and the second position.

10. The movement control device for an interventional instrument according to any one of claims 1 to 4, characterized in that, The first seat body and the second seat body are detachably connected through a quick-release assembly; the quick-release assembly includes a first positioning member, a second positioning member, and a claw assembly; the claw assembly includes a claw seat, a second elastic member, and a claw. The first positioning component and the pressing claw are arranged on the first seat body, and the second positioning component is arranged on the second seat body; the first positioning component is provided with a first through hole, and the second positioning component is provided with a second through hole, and the first positioning component and the second positioning component are connected by a positioning structure, so that the first through hole and the second through hole are connected; The middle part of the pressing claw is rotatably arranged on the pressing claw seat, the first end of the pressing claw is connected to the pressing claw seat through the second elastic member, and the second end of the pressing claw can pass through the first through hole and the second through hole and extend to the side of the second positioning component away from the first positioning component; When the second elastic member is in an initial state, the second end of the pressing claw is engaged with the second positioning member so that the first positioning member and the second positioning member are connected as a whole; when the second elastic member is in a compressed state, the second end of the pressing claw is separated from the second positioning member so that the first positioning member and the second positioning member can be separated.

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