Modular Guidewire / Catheter Drive System Based on Friction Wheels

Abstract

The present invention discloses a modular guide wire / catheter driving system based on friction wheels. The modular guide wire / catheter driving system based on friction wheels includes a single guide wire / catheter driving module. The single guide wire / catheter driving module includes a guide wire / catheter driving module group, a first driving mechanism and a second driving mechanism. The guide wire / catheter driving module group includes a driving friction wheel and an auxiliary friction wheel. The auxiliary friction wheel cooperates with the driving friction wheel to clamp a single guide wire / catheter. The first driving mechanism drives the driving friction wheel to rotate so as to drive the single guide wire / catheter to move forward and backward. The second driving mechanism drives the guide wire / catheter driving module group to rotate, thereby driving the single guide wire / catheter to perform a self-rotation movement. The number of guide wires / catheters that can be driven by the present invention and the movement length of the guide wires / catheters are not limited. It is applicable to driving guide wires / catheters with different design principles and can meet the requirements of different vascular intervention surgeries.

Description

Technical Field

[0001] The present invention relates to the technical field of vascular intervention driving instruments, and in particular to a modular guide wire / catheter driving system based on friction wheels. Background Art

[0002] With the development of robot technology, minimally invasive surgery has gradually moved from the laboratory into clinical applications. Vascular intervention is a rapidly developing field in recent years, and large medical enterprises at home and abroad have all laid out research and development in this field. The so-called vascular intervention is an operating technique that uses instruments such as catheters and guide wires to diagnose and treat blood vessels or organs such as the heart through blood vessels under the guidance of medical imaging equipment.

[0003] Generally speaking, a vascular intervention robot system mainly consists of catheter and guide wire instruments, a catheter and guide wire driving device, and a medical imaging navigation system. The existing driving devices for catheters and guide wires generally adopt an integral design method. That is, once designed and built, the number of catheters and guide wires used and even the length of the catheters and guide wires are limited to a certain extent, so the applicable surgical types and surgical target positions are limited. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art. For this reason, an object of the present invention is to provide a modular guide wire / catheter driving system based on friction wheels. The number of guide wires / catheters that can be driven by the modular guide wire / catheter driving system based on friction wheels and the movement length of the guide wires / catheters are not limited, and it is applicable to driving guide wires / catheters with different design principles, which can meet the requirements of different vascular intervention surgeries.

[0005] According to an embodiment of the present invention, the modular guide wire / catheter driving system based on friction wheels includes a single guide wire / catheter driving module, and the single guide wire / catheter driving module includes:

[0006] A guide wire / catheter driving module, the guide wire / catheter driving module includes a driving friction wheel and an auxiliary friction wheel, and the auxiliary friction wheel cooperates with the driving friction wheel to clamp a single guide wire / catheter;

[0007] A first driving mechanism, the first driving mechanism drives the driving friction wheel to rotate to drive the single guide wire / catheter to move forward and backward;

[0008] A second driving mechanism, the second driving mechanism drives the guide wire / catheter driving module to rotate, and then drives the single guide wire / catheter to rotate.

[0009] The modular wire / catheter drive system based on friction wheels according to an embodiment of the present invention can be used alone or in combination according to actual surgical needs. Each individual wire / catheter drive module can be used to drive a single wire or a single catheter to perform forward and backward movements and rotational movements. According to different design principles of the catheter and wire, for example, some use the cooperation of a catheter and a wire to achieve bending movement in the blood vessel to reach the target position in the blood vessel, and some require the cooperation of two catheters and a wire to achieve the control of blood vessel intervention. The modular wire / catheter drive system based on friction wheels of the present invention is modularly designed, can be easily replicated and used in combination to drive different numbers of catheters and wires, and is independent of each other without interference. Therefore, it can be used to drive catheters and wires with different design principles and does not limit the movable distance of catheter B and wire A. Thus, the application scope of the present invention is wider and can meet the needs of different blood vessel intervention surgeries.

[0010] In some embodiments, the wire / catheter drive module further includes a support frame and an auxiliary friction wheel bracket. The left and right ends of the active friction wheel are rotatably supported on the left and right sides of the support frame, and the left and right ends of the auxiliary friction wheel are rotatably provided on the left and right sides of the auxiliary friction wheel bracket; the support frame includes an upper plate, and the auxiliary friction wheel bracket is suspended below the upper plate in an adjustable up and down manner.

[0011] In some embodiments, an adjustment bolt and a linear motion pair are provided between the auxiliary friction wheel bracket and the upper plate. The lower end of the adjustment bolt is threadedly connected to a threaded hole at the top of the auxiliary friction wheel bracket, the upper end of the adjustment bolt penetrates through the upper plate and is rotatably fixed to the upper plate, and the axial two ends of the linear motion pair are respectively connected to the upper plate and the top of the auxiliary friction wheel bracket.

[0012] In some embodiments, the minimum distance between the thread teeth on the adjustment bolt is greater than the minimum width of the thread teeth on the adjustment bolt. A compression spring is sleeved outside the linear motion pair, and the two ends of the compression spring respectively abut against the upper plate and the top of the auxiliary friction wheel bracket.

[0013] In some embodiments, two active friction wheels and two auxiliary friction wheels are respectively provided corresponding to each other. The two active friction wheels and the two auxiliary friction wheels are arranged at intervals front and back. An auxiliary support catheter is provided between the two active friction wheels, and the single wire / catheter penetrates through the auxiliary support catheter.

[0014] In some embodiments, a plurality of grooves are spaced apart on the outer peripheral surface of the active friction wheel, and the extending directions of the plurality of grooves are perpendicular to the movement direction of the single wire / catheter.

[0015] In some embodiments, the second driving mechanism includes a flange connecting shaft and a second driving component. A rear bracket is provided at the rear side of the wire / catheter driving module. The flange connecting shaft is rotatably supported on the rear bracket. The rear side of the support frame is a rear side plate. The flange connecting shaft is fixedly connected to both the second driving component and the rear side plate. The second driving component is used to drive the flange connecting shaft to rotate about its own axis. The single wire / catheter penetrates through the rear side plate, the flange connecting shaft, and the rear bracket.

[0016] In some embodiments, the first driving mechanism includes a driving shaft, a first driving component, and a gear set. The front side of the support frame is a front side plate. One end of the driving shaft is rotatably supported on the front side plate. The first driving component is connected to the driving shaft to drive the driving shaft to rotate about its own axis. The gear set includes a main bevel gear, a transmission gear set, and a first gear. The main bevel gear is coaxially installed on the driving shaft. The first gear is coaxially connected to the driving friction wheel. The main bevel gear drives the first gear to rotate through the transmission gear set. The single wire / catheter penetrates through the driving shaft and the front side plate.

[0017] In some embodiments, the driving shaft can move forward and backward relative to the front side plate. The driving shaft is connected to the output end of a push rod motor through a connecting rod. The push rod motor can be telescoped to drive the driving shaft to move forward or backward.

[0018] In some embodiments, the driving shaft is a spline shaft. A spline sleeve, a flange spline sleeve, and a spline shaft snap ring are sequentially sleeved on the spline shaft from front to back. Among them, the spline sleeve and the flange spline sleeve are arranged on the splined part of the spline shaft. A front bracket is provided at the front side of the wire / catheter driving module. The spline sleeve is rotatably supported on the front bracket. The first driving component is connected to the spline sleeve to drive the spline sleeve to rotate about its own axis. The main bevel gear is installed on the flange spline sleeve. A spring is sleeved outside the spline sleeve. One end of the spring abuts against the main bevel gear.

[0019] In some embodiments, both the first driving component and the second driving component include a pulley and a stepper motor. A main synchronous pulley of the pulley is connected to the output shaft of the stepper motor. A slave synchronous pulley of the pulley of the first driving component is coaxially and fixedly connected to the driving shaft. A slave synchronous pulley of the pulley of the second driving component is coaxially connected to the flange connecting shaft.

[0020] Additional aspects and advantages of the present invention will be given in part in the following description, become apparent in part from the following description, or be understood through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The above and / or additional aspects and advantages of the present invention will become apparent and be readily understood from the following description of embodiments in conjunction with the accompanying drawings, wherein:

[0022] Figure 1 FIG. is a schematic structural diagram of a friction wheel-based modular guide wire / catheter driving system according to an embodiment of the present invention when it includes a single guide wire / catheter driving module.

[0023] Figure 2 FIG. is a schematic structural diagram of a friction wheel-based modular guide wire / catheter driving system according to an embodiment of the present invention when it includes two single guide wire / catheter driving modules.

[0024] Figure 3 FIG. is a schematic structural diagram of a friction wheel-based modular guide wire / catheter driving system according to an embodiment of the present invention when it includes three single guide wire / catheter driving modules.

[0025] Figure 4 FIG. is a schematic structural diagram of a single guide wire / catheter driving module in an embodiment of the present invention.

[0026] Figure 5 FIG. is a schematic structural diagram of an adjusting bolt and a compression spring in a guide wire / catheter driving module in an embodiment of the present invention.

[0027] Figure 6 FIG. is a schematic structural diagram of the thread teeth of an adjusting bolt and the thread teeth of an auxiliary friction wheel bracket in an embodiment of the present invention.

[0028] Figure 7 FIG. is a schematic structural diagram of a flange connecting shaft in an embodiment of the present invention.

[0029] Figure 8 FIG. is a schematic structural diagram of a first driving mechanism in an embodiment of the present invention.

[0030] Figure 9 FIG. is a schematic structural diagram of a spline sleeve shaft clamp and a spring in an embodiment of the present invention.

[0031] Reference numerals:

[0032] Single guide wire / catheter driving module 1000, connecting plate 2000, robotic arm 3000

[0033] Guide wire / catheter driving module 1

[0034] Active friction wheel 101, auxiliary friction wheel 102, support frame 103, upper plate 1031

[0035] Rear side plate 1032, front side plate 1033, side plate 1034, triangular plate body 1035, plate body 1036

[0036] Auxiliary friction wheel bracket 104, support side plate 1041, cross plate 1042, adjusting bolt 105

[0037] Thread tooth 1051, linear motion pair 106, smooth rod 1061, linear bearing 1062

[0038] Compression spring 107, auxiliary support conduit 108

[0039] First drive mechanism 2

[0040] Gear set 201, main bevel gear 2011, first gear 2012, transmission gear set 2013

[0041] Sub-bevel gear 20131, third gear 20132, second gear 2014, drive shaft 202

[0042] First drive assembly 203, spline sleeve 204, flange spline sleeve 205, bearing bushing 206

[0043] Large bearing clamp 207, spline sleeve shaft clamp 208, spring 209

[0044] Second drive mechanism 3

[0045] Flange connecting shaft 301, second drive assembly 302

[0046] Rear bracket 4, connecting rod 5, push rod motor 6, front bracket 7, first support plate 8

[0047] Second support plate 9, support part 10, guide wire A, conduit B Detailed implementation manner

[0048] The embodiments of the present invention will be described in detail below. Examples of the embodiments are shown in the drawings, where the same or similar reference numerals represent the same or similar elements or elements with the same or similar functions throughout. The embodiments described below with reference to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation of the present invention.

[0049] The present invention provides a modular guide wire / catheter driving system based on friction wheels to solve the problem that the driving devices for catheter guide wires in the prior art are generally of an integral design. That is, once designed and built, the number of catheter guide wires used and even the length of the catheter guide wires are limited to a certain extent, resulting in limited applicable surgical types and surgical target positions. The limitation of the number of catheter guide wires used specifically means that since the existing driving devices for catheter guide wires are of an integral design, when it is necessary to drive one guide wire and two catheters according to the surgical type, the driving device for catheter guide wires that can drive one guide wire and one catheter cannot be used. When it is necessary to drive one guide wire and one catheter according to the surgical type, the driving device for catheter guide wires that can drive one guide wire and two catheters cannot be used either, that is, the number of catheter guide wires that can be driven is limited to a certain extent. The limitation of the length of the catheter guide wires used specifically means that since the existing driving devices for catheter guide wires are generally of an integral design, the distance between the part for driving the catheter and the part for driving the guide wire in the driving device for catheter guide wires is fixed and non-adjustable. When it is necessary to adjust the position of the catheter, the movable distance of the catheter can only be limited to the distance between the part for driving the catheter and the part for driving the guide wire, thus limiting the movable length of the catheter and unable to meet the requirements of different vascular intervention surgeries.

[0050] The following will describe the modular guide wire / catheter driving system based on friction wheels of the present invention in conjunction with Figures 1 to 9 to describe the modular guide wire / catheter driving system based on friction wheels of the present invention.

[0051] As Figures 1 to 9 shown, the modular guide wire / catheter driving system based on friction wheels according to an embodiment of the present invention includes a single guide wire / catheter driving module 1000. The single guide wire / catheter driving module 1000 includes a guide wire / catheter driving module 1, a first driving mechanism 2, and a second driving mechanism 3. The guide wire / catheter driving module 1 includes a driving friction wheel 101 and an auxiliary friction wheel 102. The auxiliary friction wheel 102 cooperates with the driving friction wheel 101 to clamp a single guide wire A / catheter B. The first driving mechanism 2 drives the driving friction wheel 101 to rotate to drive the single guide wire A / catheter B to move forward and backward. The second driving mechanism 3 drives the guide wire / catheter driving module 1 to rotate, thereby driving the single guide wire A / catheter B to rotate.

[0052] Specifically, a single guide wire A / catheter B refers to a single guide wire A or a single catheter B. The single guide wire / catheter driving module 1000 can only drive a single guide wire A or a single catheter B. The modular guide wire / catheter driving system based on friction wheels can be provided with one or more according to the number of catheters B and guide wires A to be driven. For example, when it is necessary to drive one guide wire A and one catheter B, the modular guide wire / catheter driving system based on friction wheels is provided with two (such asFigure 2 As shown in [figure reference], when it is necessary to drive a guide wire A and two catheters B, where one of the two catheters B is an inner catheter and the other is an outer catheter, the guide wire A is threaded through the inner catheter, and the inner catheter is threaded through the outer catheter. At this time, on the basis of the existing two friction-wheel-based modular guide wire / catheter drive systems, adding one more friction-wheel-based modular guide wire / catheter drive system is sufficient, so that there are three friction-wheel-based modular guide wire / catheter drive systems. The three friction-wheel-based modular guide wire / catheter drive systems respectively drive a guide wire A and two catheters B (as Figure 3 shown). That is to say, the friction-wheel-based modular guide wire / catheter drive system is modularly designed, and multiple friction-wheel-based modular guide wire / catheter drive systems can be conveniently used in combination to drive catheters B and guide wires A with different design principles, meeting the requirements of different vascular intervention surgeries. When there are multiple friction-wheel-based modular guide wire / catheter drive systems, they are independent of each other and do not interfere with each other. The distance between multiple friction-wheel-based modular guide wire / catheter drive systems can be adjusted arbitrarily, so it will not limit the movement length of the catheter B or the guide wire A, and thus will not limit the target surgical positions that the guide wire A or the catheter B can reach.

[0053] Specifically, as Figure 1 shown, the friction-wheel-based modular guide wire / catheter drive system further includes a connecting plate 2000 and a robotic arm 3000. A single guide wire / catheter drive module 1000 can be fixedly installed on the robotic arm 3000 through the connecting plate 2000. The robotic arm 3000 plays a role in supporting and positioning, and can conveniently change the position of the single guide wire / catheter drive module 1000.

[0054] Specifically, as Figure 4 shown, the guide wire / catheter drive module 1 includes a driving friction wheel 101 and an auxiliary friction wheel 102. The auxiliary friction wheel 102 cooperates with the driving friction wheel 101 to clamp a single guide wire A / catheter B; that is to say, a single guide wire A or a single catheter B is located between the driving friction wheel 101 and the auxiliary friction wheel 102, and the driving friction wheel 101 and the auxiliary friction wheel 102 apply extrusion force to the single guide wire A or the single catheter B to clamp the single guide wire A or the single catheter B. The first driving mechanism 2 drives the driving friction wheel 101 to rotate to drive the single guide wire A / catheter B to move forward and backward; the second driving mechanism 3 drives the guide wire / catheter drive module 1 to rotate, and then drives the single guide wire A / catheter B to rotate, so that the single guide wire / catheter drive module 1000 can be used to drive a single guide wire A or a single catheter B in two degrees of freedom of rotation and forward and backward movement.

[0055] According to the friction-wheel-based modular guidewire / catheter drive system of the embodiments of the present invention, according to the actual surgical requirements, it can be used alone or in combination of multiple units. Moreover, each single guidewire / catheter drive module 1000 can be used to drive a single guidewire A or a single catheter B to perform forward and backward movements and rotational movements. According to different design principles of the catheter B and the guidewire A, for example, some are that one catheter B and one guidewire A cooperate with each other to achieve a bending movement in the blood vessel so as to reach the target position in the blood vessel, and some are that the cooperation of two catheters B and one guidewire A is required to achieve the control of blood vessel intervention. The friction-wheel-based modular guidewire / catheter drive system of the present invention is modularly designed, can be easily replicated and used in combination to drive different numbers of catheters and guidewires, and is independent of each other without interference. Thus, it can be used to drive catheters B and guidewires A with different design principles and does not limit the movable distance of the catheter B and the guidewire A. Therefore, the applicable scope of the present invention is wider and can meet the requirements of different blood vessel intervention surgeries.

[0056] In some embodiments, as Figure 4 and Figure 5 shown, the guidewire / catheter drive module 1 further includes a support frame 103 and an auxiliary friction wheel bracket 104. The left and right ends of the driving friction wheel 101 are rotatably supported on the left and right sides of the support frame 103, and the left and right ends of the auxiliary friction wheel 102 are rotatably provided on the left and right sides of the auxiliary friction wheel bracket 104. The support frame 103 includes an upper plate 1031, and the auxiliary friction wheel bracket 104 is suspended below the upper plate 1031 in a vertically adjustable manner. The auxiliary friction wheel bracket 104 is suspended below the upper plate 1031 in a vertically adjustable manner, that is, the distance between the driving friction wheel 101 and the auxiliary friction wheel 102 is adjustable. In this way, on the one hand, it enables the single guidewire / catheter drive module 1000 of the present invention to clamp guidewires A or catheters B with different diameters, thereby making the universality of the present invention better; on the other hand, it can also change the magnitude of the extrusion force for clamping a single guidewire A / catheter B, so as to achieve a better driving effect; on the still other hand, it also makes the installation and disassembly of the guidewire A or the catheter B more convenient.

[0057] In some embodiments, an adjusting bolt 105 and a linear motion pair 106 are provided between the auxiliary friction wheel bracket 104 and the upper plate 1031. The lower end of the adjusting bolt 105 is threadedly connected to the threaded hole at the top of the auxiliary friction wheel bracket 104. The upper end of the adjusting bolt 105 penetrates through the upper plate 1031 and is rotatably fixed to the upper plate 1031. It should be noted that here it means that the upper end of the adjusting bolt 105 can rotate relative to the upper plate 1031 but cannot move up and down relative to the upper plate 1031. The axial ends of the linear motion pair 106 are respectively connected to the upper plate 1031 and the top of the auxiliary friction wheel bracket 104. It can be understood that the linear motion pair 106 can expand and contract in the up and down directions. When it is necessary to adjust the distance between the driving friction wheel 101 and the auxiliary friction wheel 102, the adjusting bolt 105 is rotated. Since the adjusting bolt 105 is threadedly connected to the auxiliary friction wheel bracket 104, the auxiliary friction wheel bracket 104 will move downward or upward, thereby realizing the adjustment of the distance between the driving friction wheel 101 and the auxiliary friction wheel 102. The distance between the driving friction wheel 101 and the auxiliary friction wheel 102 is adjustable. On the one hand, it enables the single wire / duct driving module 1000 of the present invention to clamp wires A or ducts B with different diameters, thereby making the present invention more versatile. On the other hand, it can also change the magnitude of the extrusion force for clamping a single wire A / duct B, thereby achieving a better driving effect. On the further hand, it also makes the installation and disassembly of the wire A or the duct B more convenient. The setting of the linear motion pair 106 is used to restrict the degrees of freedom of the auxiliary friction wheel bracket 104 in other directions when moving up and down. Preferably, a plurality of linear motion pairs 106 are symmetrically arranged with respect to the adjusting bolt 105, so as to achieve a better guiding effect.

[0058] Further, as Figure 5 shown, the auxiliary friction wheel bracket 104 includes two support side plates 1041 spaced apart from each other left and right, and a cross plate 1042 between the two support side plates 1041. The left and right ends of the cross plate 1042 are respectively fixedly connected to the two support side plates 1041. The left and right ends of the auxiliary friction wheel 102 are respectively rotatably mounted on the left and right support side plates 1041 through bearings. The lower end of the adjusting bolt 105 is threadedly connected to the cross plate 1042, and the lower end of the linear motion pair 106 is connected to the cross plate 1042.

[0059] More specifically, as Figure 5 shown, the linear motion pair 106 includes a smooth rod 1061 and a linear bearing 1062, and the smooth rod 1061 can move along the linear bearing 1062.

[0060] In some embodiments, the minimum distance between the thread teeth 1051 on the adjusting bolt 105 is greater than the minimum width of the thread teeth 1051 on the adjusting bolt 105 (as Figure 6As shown in the figure, a compression spring 107 is sleeved outside the linear motion pair 106 (as Figure 5 shown). Both ends of the compression spring 107 abut against the upper plate 1031 and the top of the auxiliary friction wheel bracket 104 respectively. The minimum distance between the thread teeth 1051 on the adjusting bolt 105 is greater than the minimum width of the thread teeth 1051 on the adjusting bolt 105. It can be understood that since the threaded hole on the auxiliary friction wheel bracket 104 is in threaded fit with the adjusting bolt 105, the minimum distance between the thread teeth on the threaded hole of the auxiliary friction wheel bracket 104 is also greater than the minimum width of the thread teeth on the threaded hole of the auxiliary friction wheel bracket 104, and the specific values of the minimum distance between the thread teeth and the minimum width of the thread teeth are equal to the corresponding values of the adjusting bolt 105. Thus, after the adjusting bolt 105 is rotated to a suitable position, the auxiliary friction wheel bracket 104 still has space for up and down movement relative to the adjusting bolt 105; by arranging the compression spring 107 between the upper plate 1031 and the auxiliary friction wheel bracket 104, the extrusion force of the auxiliary friction wheel 102 and the driving friction wheel 101 on a single guide wire A or a single catheter B can always be determined by the compression amount of the compression spring 107. At this time, another function of the adjusting bolt 105 is to determine the relative initial position between the auxiliary friction wheel 102 and the driving friction wheel 101, so that the extrusion force received by the catheter B or the guide wire A is only generated by the compression spring 107. If the distance between the auxiliary friction wheel 102 and the driving friction wheel 101 is directly adjusted by the adjusting bolt 105, that is, the extrusion force of the auxiliary friction wheel 102 and the driving friction wheel 101 on the catheter B or the guide wire A, it is easy to make the extrusion force too large or too small. If it is too large, it may damage the catheter B or the guide wire A. On the contrary, if the extrusion force is too small, the catheter B or the guide wire A may slip during movement, thus affecting the driving accuracy of the catheter B or the guide wire A. Therefore, by arranging the compression spring 107, the compression spring 107 can provide a spring force as a stable and reliable extrusion force on the catheter B or the guide wire A, thus well avoiding the occurrence of the above problems.

[0061] In some embodiments, as Figure 4 shown, two driving friction wheels 101 and two auxiliary friction wheels 102 are respectively provided. The two driving friction wheels 101 and the two auxiliary friction wheels 102 are arranged at intervals front and back. In this way, it is beneficial to increase the reliability when driving the catheter B or the guide wire A to move and reduce the situation of slipping of the catheter B or the guide wire A during movement. An auxiliary support catheter 108 is arranged between the two driving friction wheels 101. A single guide wire A / catheter B passes through the auxiliary support catheter 108. By arranging the auxiliary support catheter 108 to limit the part of the guide wire A or the catheter B between the two driving friction wheels 101, it is beneficial to avoid the position of the catheter B or the guide wire A from shifting during movement.

[0062] In some embodiments, as Figure 5 shown, a plurality of grooves are provided at intervals on the outer peripheral surface of the driving friction wheel 101, and the extending direction of the plurality of grooves is perpendicular to the moving direction of a single guide wire A / catheter B. In this way, the friction force between the driving friction wheel 101 and a single guide wire A / catheter B can be increased, and the occurrence of slipping of a single guide wire A / catheter B during movement can be reduced.

[0063] In some embodiments, as Figure 7 and Figure 8 shown, the second driving mechanism 3 includes a flange connecting shaft 301 and a second driving assembly 302. A rear bracket 4 is provided at the rear side of the guide wire / catheter driving module 1. The flange connecting shaft 301 is rotatably supported on the rear bracket 4, for example, installed on the rear bracket 4 through a bearing. The rear side of the support frame 103 is a rear side plate 1032. The flange connecting shaft 301 is fixedly connected to both the second driving assembly 302 and the rear side plate 1032. The second driving assembly 302 is used to drive the flange connecting shaft 301 to rotate around its own axis. A single guide wire A / catheter B penetrates through the rear side plate 1032, the flange connecting shaft 301, and the rear bracket 4. Since the flange connecting shaft 301 is fixedly connected to the rear side plate 1032, that is, fixedly connected to the support frame 103, when the second driving assembly 302 drives the flange connecting shaft 301 to rotate around its own axis, the support frame 103 will be driven to rotate, so that the entire guide wire / catheter driving module 1 will rotate together. At the same time, since a single guide wire A / catheter B is clamped between the auxiliary friction wheel 102 and the driving friction wheel 101, a single guide wire A / catheter B will follow and rotate synchronously around its own axis, that is, the self-rotation movement of a single guide wire A / catheter B is realized.

[0064] Specifically, as Figure 7 shown, the flange connecting shaft 301 has a flange plate, and the flange connecting shaft 301 is fixedly connected to the rear side plate 1032 through the flange plate. One end of the flange connecting shaft 301 penetrates through the rear side plate 1032 and extends to one side of the driving friction wheel 101, which is beneficial to ensuring that the axis position of the catheter B / guide wire A remains unchanged when the guide wire / catheter driving module 1 rotates. As Figure 8 shown, the other end of the flange connecting shaft 301 penetrates through the rear bracket 4 and is fixedly connected to the second driving assembly 302.

[0065] In some embodiments, as Figure 8As shown in the figure, the first driving mechanism 2 includes a gear set 201, a driving shaft 202, and a first driving component 203. The front side of the support frame 103 is the front side plate 1033. One end of the driving shaft 202 is rotatably supported on the front side plate 1033. The first driving component 203 is connected to the driving shaft 202 to drive the driving shaft 202 to rotate around its own axis. The gear set 201 includes a main bevel gear 2011, a transmission gear set 2013, and a first gear 2012. The main bevel gear 2011 is coaxially installed on the driving shaft 202. The first gear 2012 is coaxially connected to the driving friction wheel 101. The main bevel gear 2011 drives the first gear 2012 to rotate through the transmission gear set 2013. A single wire A / catheter B passes through the driving shaft 202 and the front side plate 1033. It can be understood that the first driving component 203 drives the driving shaft 202 to rotate around its own axis. The main bevel gear 2011 is connected to the driving shaft 202. When the driving shaft 202 rotates, it will drive the main bevel gear 2011 to rotate synchronously and in the same direction. Then, through the transmission of the transmission gear set 2013, the first gear 2012 will rotate accordingly, thereby driving the driving friction wheel 101 to rotate. When the driving friction wheel 101 rotates, under the action of friction, it will drive the wire A or the catheter B to move forward or backward. By changing the rotation direction of the first driving component 203 driving the driving shaft 202 around its own axis, the forward or backward movement of the catheter B or the wire A can be controlled.

[0066] Specifically, the driving friction wheel 101 is connected to the driving friction wheel shaft through a shaft key. Both ends of the driving friction wheel shaft are rotatably fixed on the left and right side plates 1034 of the support frame 103 through bearings. The right end of the driving friction wheel shaft extends out of the side plate 1034 and is connected with a first gear 2012 through a shaft key. The position of the first gear 2012 relative to the driving friction wheel shaft is restricted by a shaft clamp and a step on the driving friction wheel shaft.

[0067] When there are two driving friction wheels 101, there are also two corresponding first gears 2012. A second gear 2014 is provided between the two first gears 2012. Both first gears 2012 are meshed with the second gear 2014. The rotation speeds and rotation directions of the two driving friction wheels 101 are exactly the same.

[0068] Optionally, as Figure 8 shown, the second gear 2014 is arranged between the right side plate 1034 of the support frame 103 and the triangular plate body 1035. Both ends of the second gear 2014 are rotatably arranged on the side plate 1034 and the triangular plate body 1035 through bearings.

[0069] Optionally, as Figure 8As shown, the transmission gear set 2013 includes a secondary bevel gear 20131 and a third gear 20132. The secondary bevel gear 20131 and the third gear 20132 are coaxially arranged and rotate synchronously in the same direction. The main bevel gear 2011 meshes with the secondary bevel gear 20131, and the third gear 20132 meshes with the first gear 2012 to achieve transmission.

[0070] Preferably, as Figure 8 shown, plate bodies 1036 are provided on both the left and right sides of the combined gear formed by the secondary bevel gear 20131 and the third gear 20132. The plate bodies 1036 are spaced apart from each other relatively and fixed by bolts. One of the plate bodies 1036 is fixed on the support frame 103, and both ends of the combined gear of the secondary bevel gear 20131 and the third gear 20132 are rotatably mounted on the two plate bodies 1036 through bearings.

[0071] In some embodiments, as Figure 9 shown, the drive shaft 202 can move back and forth relative to the front side plate 1033. Specifically, the drive shaft 202 is connected to the front side plate 1033 through a linear bearing, so as to ensure that the drive shaft 202 can not only move back and forth relative to the front side plate 1033 but also rotate relative to the front side plate 1033. The drive shaft 202 is connected to the output end of the push rod motor 6 through a connecting rod 5, and the push rod motor 6 can be telescoped to drive the drive shaft 202 to move forward or backward. If the main bevel gear 2011 always remains in meshing with the transmission gear set 2013, since the main bevel gear 2011 is connected to the first drive assembly 203 through the drive shaft 202, when the first drive assembly 203 is not working, it is very difficult for the drive shaft 202 to rotate, that is, it is very difficult for the main bevel gear 2011 to rotate. When the entire wire / catheter drive module 1 rotates, the secondary bevel gear 20131 of the transmission gear set 2013 will revolve around the main bevel gear 2011, and at the same time, the secondary bevel gear 20131 will rotate on its own axis, so that the driving friction wheel 101 rotates. That is, when the wire A or the catheter B rotates around its own axis, the driving friction wheel 101 will drive the wire A or the catheter B to move forward or backward, and further cause the rotation of the wire A and the catheter B around their own axes to be unable to be realized independently. Therefore, in the present invention, by setting the push rod motor 6, when the push rod motor 6 drives the drive shaft 202 to move forward, the main bevel gear 2011 and the secondary bevel gear 20131 are separated, so that the rotation of the secondary bevel gear 20131 on its own axis can be well avoided, and the rotational movement of the wire A and the catheter B around their own axes can be independently realized, improving the driving stability and accuracy of the wire / catheter drive module 1. When the push rod motor 6 drives the drive shaft 202 to move backward, the main bevel gear 2011 and the secondary bevel gear 20131 are meshed, and the main bevel gear 2011 can normally drive the driving friction wheel 101 to rotate.

[0072] Specifically, a bearing is provided between the front end of the drive shaft 202 and the connecting rod 5, so that the drive shaft 202 is rotatable relative to the connecting rod 5. Bearing clamps are provided on both the front side and the rear side of the bearing to restrict the position of the bearing on the drive shaft 202.

[0073] In some embodiments, as Figure 9 shown, the drive shaft 202 is a spline shaft. A spline sleeve 204, a flange spline sleeve 205, and a spline sleeve shaft clamp 208 are sleeved on the spline shaft in sequence from front to back. Among them, the spline sleeve 204 and the flange spline sleeve 205 are provided on the splined part of the spline shaft. Thus, when the spline sleeve 204 rotates, it can drive the spline shaft and the flange spline sleeve 205 to rotate. The spline sleeve shaft clamp 208 is used to restrict the position of the flange spline sleeve 205. A front bracket 7 is provided on the front side of the wire / catheter driving module 1. The spline sleeve is rotatably supported on the front bracket 7. Specifically, a bearing sleeve 206 is installed on the spline sleeve 204. A bearing is installed on the bearing sleeve 206 and connected to the front bracket 7. One side of the bearing contacts the step of the bearing sleeve 206, and the other side is limited by a large bearing clamp 207 installed on the bearing sleeve 206. The first driving component 203 is connected to the spline sleeve to drive the spline sleeve to rotate around its own axis. The main bevel gear 2011 is installed on the flange spline sleeve 205. More specifically, the flange spline sleeve 205 has a flange, and the main bevel gear 2011 is fixedly connected to the flange of the flange spline sleeve 205. A spring 209 is sleeved outside the spline sleeve. One end of the spring 209 abuts against the main bevel gear 2011.

[0074] When the main bevel gear 2011 and the secondary bevel gear 20131 are engaged, there is a spacing between the spline sleeve 204 and the flange spline sleeve 205. When the push rod of the push rod motor 6 extends, the push rod will drive the connecting rod 5, the two bearing clamps on the spline shaft, and the entire spline shaft to move forward, that is, the spline shaft moves forward relative to the linear bearing fixedly installed on the front side plate 1033. At this time, due to the existence of the spline sleeve shaft clamp 208, the flange spline sleeve 205 also moves together, so as to realize the separation of the main bevel gear 2011 and the secondary bevel gear 20131. On the contrary, when the push rod of the push rod motor 6 retracts, the spline shaft moves in the reverse direction. If no mechanism is provided to help the flange spline sleeve 205 reset, the flange spline sleeve 205 may not move or it is difficult to fully reset. Therefore, a spring 209 is added between the main bevel gear 2011 and the first driving component 203 here, so that when the push rod of the push rod motor 6 retracts, the flange spline sleeve 205 and the main bevel gear 2011 can also return to the initial position together under the action of the restoring force of the spring 209, that is, the position where the main bevel gear 2011 and the secondary bevel gear 20131 can be engaged. It should be noted that when the push rod of the push rod motor 6 extends or retracts, the spline sleeve 204 will not move together with the drive shaft 202.

[0075] In some embodiments, both the first driving component 203 and the second driving component 302 include a pulley and a stepper motor. A main synchronous pulley of the pulley is connected to the output shaft of the stepper motor. A secondary synchronous pulley of the pulley of the first driving component 203 is coaxially and fixedly connected to the driving shaft 202 (as Figure 8 shown), and a secondary synchronous pulley of the pulley of the second driving component 302 is coaxially connected to the flange connecting shaft 301 (as Figure 4 shown). It can be understood that a belt is used to connect the main synchronous pulley and the secondary synchronous pulley. The stepper motor of the first driving component 203 drives the driving shaft 202 to rotate through the pulley, and the stepper motor of the second driving component 302 drives the flange connecting shaft 301 to rotate through the pulley.

[0076] Optionally, as Figure 4 shown, the single wire / guide tube driving module 1000 further includes a first support plate 8 and a second support plate 9. The first support plate 8 is located above the second support plate 9. The front bracket 7 and the rear bracket 4 are both installed on the first support plate 8. A support portion 10 is provided between the first support plate 8 and the second support plate 9. The stepper motor of the first driving component 203 is installed on the first support plate 8 or the second support plate 9, and the stepper motor of the second driving component 302 is installed on the first support plate 8 or the second support plate 9. The push rod motor 6 is installed on the first support plate 8 through a push rod motor bracket (as Figure 9 shown).

[0077] Optionally, the secondary synchronous pulley of the pulley of the first driving component 203 is fixed to the spline sleeve 204 by a set screw; the secondary synchronous pulley of the pulley of the second driving component 302 is fixed to the flange connecting shaft 301 by a set screw.

[0078] In the description of this specification, the descriptions with reference to the terms "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. mean that the specific features, structures, or characteristics described in connection 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, or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0079] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principles and purposes of the present invention. The scope of the present invention is defined by the claims and their equivalents.

Claims

1. A modular guide wire / catheter driving system based on friction wheels, characterized in that, it includes a single guide wire / catheter driving module, and the single guide wire / catheter driving module includes: a guide wire / catheter driving module group, the guide wire / catheter driving module group includes a driving friction wheel and an auxiliary friction wheel, and the auxiliary friction wheel cooperates with the driving friction wheel to clamp a single guide wire / catheter; a first driving mechanism, the first driving mechanism drives the driving friction wheel to rotate so as to drive the single guide wire / catheter to move forward and backward; a second driving mechanism, the second driving mechanism drives the guide wire / catheter driving module group to rotate, and further drives the single guide wire / catheter to rotate; the guide wire / catheter driving module group further includes a support frame and an auxiliary friction wheel bracket, the left and right ends of the driving friction wheel are rotatably supported on the left and right sides of the support frame, and the left and right ends of the auxiliary friction wheel are rotatably arranged on the left and right sides of the auxiliary friction wheel bracket; the support frame includes an upper plate, and the auxiliary friction wheel bracket is suspended below the upper plate in an adjustable up and down manner; an adjusting bolt and a linear motion pair are arranged between the auxiliary friction wheel bracket and the upper plate, the lower end of the adjusting bolt is threadedly connected with a threaded hole at the top of the auxiliary friction wheel bracket, the upper end of the adjusting bolt penetrates through the upper plate and is rotatably fixed to the upper plate, and the axial two ends of the linear motion pair are respectively connected with the upper plate and the top of the auxiliary friction wheel bracket; the minimum distance between the thread teeth on the adjusting bolt is greater than the minimum width of the thread teeth on the adjusting bolt, a compression spring is sleeved outside the linear motion pair, and the two ends of the compression spring respectively abut against the upper plate and the top of the auxiliary friction wheel bracket; the second driving mechanism includes a flange connecting shaft and a second driving component, a rear bracket is arranged at the rear side of the guide wire / catheter driving module group, the flange connecting shaft is rotatably supported on the rear bracket, the rear side of the support frame is a rear side plate, the flange connecting shaft is fixedly connected with the second driving component and the rear side plate, the second driving component is used to drive the flange connecting shaft to rotate around its own axis, and the single guide wire / catheter penetrates through the rear side plate, the flange connecting shaft and the rear bracket; the first driving mechanism includes a driving shaft, a first driving component and a gear set, the front side of the support frame is a front side plate, one end of the driving shaft is rotatably supported on the front side plate, the first driving component is connected with the driving shaft to drive the driving shaft to rotate around its own axis, and the single guide wire / catheter penetrates through the driving shaft and the front side plate.

2. The modular guide wire / catheter driving system based on friction wheels according to claim 1, characterized in that, a plurality of grooves are spaced apart on the outer peripheral surface of the driving friction wheel, and the extending directions of the plurality of grooves are perpendicular to the moving direction of the single guide wire / catheter.

3. The modular guide wire / catheter driving system based on friction wheels according to claim 1, characterized in that, The gear set includes a main bevel gear, a transmission gear set, and a first gear. The main bevel gear is coaxially installed on the drive shaft. The first gear is coaxially connected to the driving friction wheel. The main bevel gear drives the first gear to rotate through the transmission gear set.

4. The modular guide wire / catheter drive system based on a friction wheel according to claim 3, wherein, it further includes a push rod motor. The drive shaft is movable back and forth relative to the front side plate. The drive shaft is connected to the output end of the push rod motor through a connecting rod. The push rod motor is telescopic to drive the drive shaft to move forward or backward.

5. The modular guide wire / catheter drive system based on a friction wheel according to claim 4, wherein, the drive shaft is a spline shaft. A spline sleeve, a flange spline sleeve, and a spline shaft retaining ring are sequentially sleeved on the spline shaft from front to back. Among them, the spline sleeve and the flange spline sleeve are arranged on the splined part of the spline shaft. A front bracket is provided on the front side of the guide wire / catheter drive module. The spline sleeve is rotatably supported on the front bracket. The first drive assembly is connected to the spline sleeve to drive the spline sleeve to rotate around its own axis. The main bevel gear is installed on the flange spline sleeve. A spring is sleeved outside the spline sleeve. One end of the spring abuts against the main bevel gear.

6. The modular guide wire / catheter drive system based on a friction wheel according to claim 1, wherein, both the first drive assembly and the second drive assembly include a pulley and a stepping motor. A main synchronous pulley of the pulley is connected to the output shaft of the stepping motor. A slave synchronous pulley of the pulley of the first drive assembly is coaxially and fixedly connected to the drive shaft. A slave synchronous pulley of the pulley of the second drive assembly is coaxially connected to the flange connecting shaft.

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