Elongate interventional instrument operating mechanism

Abstract

The application provides an elongated interventional instrument operating mechanism, which comprises a trapezoidal nut, an elongated interventional instrument and a trapezoidal screw, the top of the trapezoidal screw is provided with a cut groove, the spiral central axis of the cut groove coincides with the central axis of the trapezoidal screw, and the elongated interventional instrument is coiled and embedded in the cut groove; the trapezoidal nut is in threaded engagement with the trapezoidal screw, one end of the elongated interventional instrument is fixedly connected with the trapezoidal screw, and the other end of the elongated interventional instrument is tangentially output from the trapezoidal nut. The elongated interventional instrument is coiled on the trapezoidal screw, and the cooperation of the trapezoidal screw and the trapezoidal nut realizes the function of long-distance linear conveying of the elongated interventional instrument, the cut groove is arranged on the trapezoidal screw, which helps to reduce the damage of the elongated interventional instrument to the inner cavity structure and is not prone to slipping, and the structure is compact.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and more specifically, to a slender interventional device operating mechanism. Background Technology

[0002] With the development of minimally invasive surgical techniques, the approach of using instruments to intervene through natural cavities of the human body, such as the cardiovascular system, bronchi, and urethra, and guided by medical imaging to reach the vicinity of the lesion for diagnosis, biopsy, or surgery, is becoming increasingly widely used in various departments. The interventional instruments used are mostly slender instruments with good elasticity and smooth surfaces, such as guidewires and catheters.

[0003] Using robots to assist doctors can reduce their workload, shorten operation time, and speed up patient recovery, becoming an emerging trend. Currently, many robotic systems capable of manipulating slender instruments have been introduced, but most are based on friction wheels, using clamping and squeezing mechanisms for operation.

[0004] The prior art includes a Chinese patent application document with publication number CN115177369A, which discloses an interventional surgical robot end guidewire and catheter control device. The device uses a first drive unit to drive a rotating mechanism to rotate a stent, which in turn drives a drive assembly to rotate. The drive assembly then drives the guidewire or catheter to rotate around its axis. A second drive unit drives a delivery mechanism to rotate the drive assembly, which in turn drives the guidewire or catheter to be delivered axially. In the above process, the guidewire (or catheter) advances, retreats, or rotates continuously.

[0005] The existing drive mechanism has the following drawbacks and needs improvement:

[0006] 1. Using two friction wheels to clamp and squeeze poses a risk of damaging the internal structure of slender interventional devices.

[0007] 2. Using two friction wheels for drive can easily lead to slippage. The smaller the diameter of the slender interventional device, the higher the risk of slippage.

[0008] 3. The drive device has a complex structure and requires a large space, resulting in overcrowding on the operating table. Summary of the Invention

[0009] In view of the deficiencies in the prior art, the purpose of this invention is to provide a slender interventional device operating mechanism.

[0010] According to the present invention, a slender interventional device operating mechanism includes a trapezoidal nut, a slender interventional device, and a trapezoidal screw. The top of the trapezoidal cross-section of the trapezoidal screw is provided with a groove, the helical central axis of the groove coincides with the central axis of the trapezoidal screw, and the slender interventional device is coiled and embedded in the groove. The trapezoidal nut is threadedly engaged with the trapezoidal screw, one end of the slender interventional device is fixedly connected to the trapezoidal screw, and the other end of the slender interventional device is output tangentially from the trapezoidal nut.

[0011] Preferably, the lead of the groove is the same as the lead of the trapezoidal screw.

[0012] Preferably, the system further includes a drive unit, wherein the trapezoidal screw and the trapezoidal nut are detachably connected to the drive unit, and the drive unit drives the trapezoidal screw and the trapezoidal nut to rotate respectively.

[0013] Preferably, it further includes a guiding device, which includes an outlet guide nozzle and an axial guide, with a guide groove connecting the axial guide and the outlet guide nozzle. The slender interventional instrument enters along the guide groove from the free end tangentially output from the trapezoidal nut and exits through the outlet guide nozzle.

[0014] Preferably, the axial guide includes an outer guide and an inner guide, the outer guide being coaxially nested on the inner guide, and the guide groove being disposed on the outer wall of the inner guide and the inner wall of the outer guide.

[0015] Preferably, a ball bearing is provided between the trapezoidal screw and the trapezoidal nut to form a ball bearing nut pair.

[0016] Preferably, it further includes a nut driving device, which includes an inner rotating rocker arm and a linear slide rail. The inner rotating rocker arm is slidably connected to the linear slide rail, and one end of the linear slide rail is fastened to a trapezoidal nut.

[0017] Preferably, the trapezoidal screw includes a hollow structure, and the output end for driving the inner rotating rocker arm to rotate passes through the hollow structure of the trapezoidal screw and is connected to the inner rotating rocker arm in a transmission manner, and the output end for driving the inner rotating rocker arm to rotate does not interfere with the trapezoidal screw.

[0018] Preferably, it further includes a guiding device, which includes an outlet guide nozzle and an axial guide, and a guiding groove is connected between the axial guide and the outlet guide nozzle. The slender interventional instrument enters along the guiding groove from the free end of the trapezoidal nut tangentially and exits through the outlet guide nozzle. The nut driving device also includes a buckle, which is disposed at the end of the straight slide away from the trapezoidal nut, and the buckle is engaged with the guiding device.

[0019] Preferably, it also includes a tail cover, which is snap-fitted onto the side of the trapezoidal nut away from the guide device.

[0020] Compared with the prior art, the present invention has the following beneficial effects:

[0021] 1. This invention achieves the function of long-distance linear transport of slender interventional instruments by winding them around a trapezoidal screw and using the cooperation of the trapezoidal screw and trapezoidal nut. The trapezoidal screw has grooves, which helps to reduce the occurrence of damage to the internal structure of the slender interventional instruments by compression, and it is not easy to slip, resulting in a compact structure.

[0022] 2. This invention enables linear displacement and rotational movement of slender interventional instruments through the cooperation of trapezoidal nuts and trapezoidal screws, and can combine linear displacement and rotational movement as needed, which helps to improve the operability of the operating mechanism.

[0023] 3. This invention allows for the replacement of the ball nut assembly and guide device by detachably connecting the trapezoidal nut and trapezoidal screw to the drive unit. Combined with 3D printing manufacturing technology, it solves the problems of cumbersome parts replacement and high costs. Attached Figure Description

[0024] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0025] Figure 1 This is a cross-sectional view illustrating the fit between the trapezoidal nut and the trapezoidal screw in Embodiment 1 of the present invention.

[0026] Figure 2 The schematic diagram of the nut driving principle in Embodiment 1 is the main embodiment of this invention;

[0027] Figure 3 The screw drive principle diagram in Embodiment 1 is the main embodiment of this invention;

[0028] Figure 4 This is a schematic diagram of the overall structure of the operating mechanism in Embodiment 2 of the present invention;

[0029] Figure 5 This is an exploded view of the operating mechanism in Embodiment 2 of the present invention;

[0030] Figure 6 This is an exploded schematic diagram illustrating the guiding device in Embodiment 2 of the present invention;

[0031] Figure 7 This is an exploded view of the ball screw pair in Embodiment 2 of the present invention.

[0032] As shown in the figure:

[0033] Trapezoidal nut 101, tail cover 206

[0034] Slender interventional instrument 102 with internal rotating output end 207

[0035] Trapezoidal screw 103, internal rotating output end support 208

[0036] Outlet guide nozzle 202, hollow pneumatic slip ring 209

[0037] Drive unit 201 Inner guide 210

[0038] Outer guide 203, inner rotating rocker arm 211

[0039] 204 buckle, 2123 ball bearing

[0040] Straight slide 205 Detailed Implementation

[0041] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0042] Example 1

[0043] like Figure 1 , Figure 2 as well as Figure 3 As shown, the present invention provides a slender interventional device operating mechanism, comprising a trapezoidal nut 101, a slender interventional device 102, and a trapezoidal screw 103. The top of the trapezoidal cross-section of the trapezoidal screw 103 is provided with a groove, the helical central axis of which coincides with the central axis of the trapezoidal screw 103. The slender interventional device 102 is coiled and embedded in the groove. The trapezoidal nut 101 is threadedly engaged with the trapezoidal screw 103. One end of the slender interventional device 102 is fixedly connected to the trapezoidal screw 103, and the other end of the slender interventional device 102 is output tangentially from the trapezoidal nut 101.

[0044] Since the trapezoidal screw 103 and the trapezoidal nut 101 are in a helical mechanical fit, when the trapezoidal screw 103 and the trapezoidal nut 101 rotate relative to each other, an axial linear displacement will be generated, that is, relative helical motion.

[0045] Specifically, the lead of the groove is the same as the lead of the trapezoidal screw 103. Its function is to guide the slender interventional instrument 102 to be wound around the trapezoidal screw 103 in a non-overlapping manner.

[0046] When the trapezoidal screw 103 is fixed, and the trapezoidal nut 101 rotates from the free end of the slender interventional device 102 towards the fixed end of the slender interventional device 102, the slender interventional device 102 coiled on the trapezoidal screw 103 will be released. This causes the free end of the slender interventional device 102 to continuously extend, achieving a helical motion around the fixed trapezoidal screw 103, i.e., a helical ejection motion.

[0047] When the trapezoidal nut 101 is fixed and the trapezoidal screw 103 rotates actively, the slender interventional instrument 102, due to its good elasticity, will straighten out the groove, causing the free end of the slender interventional instrument 102 to elongate tangentially along the trapezoidal nut 101. At the same time, the trapezoidal screw 103 will also move axially along the trapezoidal nut 101.

[0048] By changing the direction of the motion output end of the slender interventional device 102, the motion direction of the free end of the slender interventional device 102 is made to coincide with the axial direction of the trapezoidal screw 103. Different motion modes of the free end of the slender interventional device 102 are achieved by combining the different motions of the trapezoidal nut 101 and the trapezoidal screw 103.

[0049] When the trapezoidal nut 101 is fixed and the trapezoidal screw 103 rotates, the output end of the slender interventional device 102 can be operated to make a pure linear motion.

[0050] When the trapezoidal nut 101 and the trapezoidal screw 103 rotate at the same speed, the output end of the slender interventional device 102 can be operated to rotate in the same direction.

[0051] When the trapezoidal screw 103 is fixed and the trapezoidal nut 101 is rotated, the output end of the slender interventional device 102 can be operated to make a helical motion, which includes linear motion along the axial direction of the trapezoidal screw 103 and rotational motion around the axial direction of the trapezoidal screw 103.

[0052] It should be noted that the slender interventional device 102 of this application includes a guidewire or catheter.

[0053] Example 2

[0054] Based on Embodiment 1, the present invention provides a slender interventional device operating mechanism, such as... Figure 4 , Figure 5 , Figure 6 as well as Figure 7 As shown, it also includes a drive unit 201 and a guide device. The drive unit 201 provides power to both the trapezoidal nut 101 and the trapezoidal screw 103, and the guide device guides and restricts the movement of the slender interventional instrument 102.

[0055] Specifically, a ball bearing 2123 is provided between the trapezoidal screw 103 and the trapezoidal nut 101 to form a ball bearing nut pair. The ball bearing 2123 is a ceramic ball bearing, which can reduce the friction between the trapezoidal screw 103 and the trapezoidal nut 101 and increase the smoothness of the movement of the screw pair.

[0056] One feasible implementation is as follows: the overall dimensions are 204mm x 62mm x 125mm (length x width x height), capable of operating a slender interventional instrument 102 with a diameter of 0.8mm ± 0.1mm. The linear motion range of the end of the slender interventional instrument 102 can reach 860mm, and the rotational motion range is 360°. The diameter of the ball bearing 2123 is 3mm, the coiling diameter of the slender interventional instrument 102 is 50mm, and the design is that the slender interventional instrument 102 is coiled 5.5 times. The trapezoidal nut 101 has a ball bearing circulation track inside. During assembly, the ball bearing 2123 is placed while the trapezoidal screw 103 is screwed in, and special lubricant is applied after assembly.

[0057] The drive unit 201 internally encapsulates two motors and their drive circuit boards. A power supply interface is located at the rear of the drive unit 201. The trapezoidal screw 103 and trapezoidal nut 101 are detachably connected to the drive unit 201, and the drive unit 201 drives both the trapezoidal screw 103 and the trapezoidal nut 101 to rotate. This detachable connection between the drive unit 201 and the trapezoidal nut 101 and trapezoidal screw 103 improves the ease of assembly and disassembly of the drive unit 201 and the ball nut assembly.

[0058] A hollow pneumatic slip ring 209 is provided on the drive unit 201. An inner rotation output end support 208 is installed on the rotor of the hollow pneumatic slip ring 209. The rotor of the hollow pneumatic slip ring 209 can also rotate actively and is driven by the drive unit 201.

[0059] The guiding device is used to guide and restrict the movement of the movable end of the slender interventional instrument 102. Preferably, the guiding device guides the movement direction of the slender interventional instrument 102 to coincide with the axial direction of the trapezoidal screw 103. The guiding device includes an outlet guide nozzle 202 and an axial guide. A guide groove connects the axial guide and the outlet guide nozzle 202. The slender interventional instrument 102 enters along the guide groove from the free end tangentially output from the trapezoidal nut 101 and exits through the outlet guide nozzle 202. The axial guide includes an outer guide 203 and an inner guide 210. The outer guide 203 is coaxially nested on the inner guide 210. The guide groove is provided on the outer wall of the inner guide 210 and the inner wall of the outer guide. The cooperation between the inner guide 210 and the outer guide 203 facilitates the smoothing of the guide groove inside the axial guide. This design chooses to use sandpaper to polish and apply Teflon tape.

[0060] A nut driving device is provided between the drive unit 201 and the trapezoidal nut 101. The nut driving device includes an inner rotating rocker arm 211, a linear slide rail 205, and a latch 204. The inner rotating rocker arm 211 is slidably connected to the linear slide rail 205, and one end of the linear slide rail 205 is fastened to the trapezoidal nut 101. The trapezoidal screw 103 has a hollow structure. The output end for driving the rotation of the inner rotating rocker arm 211 passes through the hollow structure of the trapezoidal screw 103 and is connected to the inner rotating rocker arm 211 for transmission. The output end for driving the rotation of the inner rotating rocker arm 211 does not interfere with the trapezoidal screw 103. The latch 204 is located at the end of the linear slide rail 205 away from the trapezoidal nut 101, and the latch 204 is engaged with the guide device.

[0061] The inner rotating rocker arm 211 is connected to the inner rotating output end support 208 via the inner rotating output end 207. The inner rotating output end 207 and the inner rotating rocker arm 211 work together to transmit the first rotational driving force to the trapezoidal nut 101. Due to the helical motion, the nut will move linearly along its own axis. This motion causes the inner rotating rocker arm 211 to slide passively on the linear slide rail 205, ensuring the stable transmission of the rotational driving force. At the same time, the bottom of the trapezoidal screw 103 is fixed to the rotor of the hollow pneumatic slip ring 209 by radial set screws, so that the second rotational driving force of the drive unit 201 is transmitted to the trapezoidal screw 103.

[0062] It also includes a tail cover 206, which is snapped onto the side of the trapezoidal nut 101 away from the guide device. The tail cover 206 ensures that the instrument section wound on the trapezoidal screw 103 is not exposed and causes cross-contamination with the external environment.

[0063] It should be noted that the drive unit 201, ball bearing nut assembly, guide device, and tail cover 206 constitute the disposable part. After use, the slender interventional instrument 102 can be completely stored and coiled on the trapezoidal screw 103. The set screw connecting the trapezoidal screw 103 to the rotor of the hollow pneumatic slip ring 209 will be exposed and can be removed. Then, open the clip 204, remove the guide device to expose the mounting screw between the inner rotating rocker arm 211 and the inner rotating output end 207, and it can be removed. The main body of the disposable part is manufactured using 3D printing, and the main material is photosensitive resin, which has the advantages of low cost and convenient manufacturing.

[0064] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0065] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A slender interventional device operating mechanism, characterized in that, It includes a trapezoidal nut (101), a slender interventional device (102), and a trapezoidal screw (103). The top of the trapezoidal section of the trapezoidal screw (103) is provided with a groove, and the helical central axis of the groove coincides with the central axis of the trapezoidal screw (103). The slender interventional device (102) is coiled and embedded in the groove. The trapezoidal nut (101) is threadedly engaged with the trapezoidal screw (103), one end of the slender interventional device (102) is fixedly connected to the trapezoidal screw (103), and the other end of the slender interventional device (102) is output tangentially from the trapezoidal nut (101).

2. The slender interventional device operating mechanism as described in claim 1, characterized in that, The lead of the groove is the same as that of the trapezoidal screw (103).

3. The slender interventional device operating mechanism as described in claim 1, characterized in that, It also includes a drive unit (201), wherein the trapezoidal screw (103) and the trapezoidal nut (101) are detachably connected to the drive unit (201), and the drive unit (201) drives the trapezoidal screw (103) and the trapezoidal nut (101) to rotate respectively.

4. The slender interventional device operating mechanism as described in claim 1, characterized in that, It also includes a guiding device, which includes an outlet guide nozzle (202) and an axial guide, with a guide groove connecting the axial guide and the outlet guide nozzle (202). The slender interventional instrument (102) enters along the guide groove from the free end of the trapezoidal nut (101) tangentially output and exits from the outlet guide nozzle (202).

5. The slender interventional device operating mechanism as described in claim 4, characterized in that, The axial guide includes an outer guide (203) and an inner guide (210), the outer guide (203) being coaxially nested on the inner guide (210), and the guide groove being disposed on the outer wall of the inner guide (210) and the inner wall of the outer guide (203).

6. The slender interventional device operating mechanism as described in claim 1, characterized in that, A ball bearing (2123) is provided between the trapezoidal screw (103) and the trapezoidal nut (101) to form a ball bearing nut pair.

7. The slender interventional device operating mechanism as described in claim 1, characterized in that, It also includes a nut driving device, which includes an inner rotating rocker arm (211) and a linear slide (205). The inner rotating rocker arm (211) is slidably connected to the linear slide (205), and one end of the linear slide (205) is fastened to a trapezoidal nut (101).

8. The slender interventional device operating mechanism as described in claim 7, characterized in that, The trapezoidal screw (103) includes a hollow structure. The output end for driving the inner rotating rocker arm (211) to rotate passes through the hollow structure of the trapezoidal screw (103) and is connected to the inner rotating rocker arm (211) in a transmission connection. The output end for driving the inner rotating rocker arm (211) to rotate does not interfere with the trapezoidal screw (103).

9. The slender interventional device operating mechanism as described in claim 7, characterized in that, It also includes a guiding device, which includes an outlet guide nozzle (202) and an axial guide, with a guide groove connecting the axial guide and the outlet guide nozzle (202). The slender interventional instrument (102) enters along the guide groove from the free end of the trapezoidal nut (101) tangentially output and exits from the outlet guide nozzle (202). The nut driving device also includes a buckle (204), which is located at one end of the linear slide (205) away from the trapezoidal nut (101) and is engaged with the guide device.

10. The slender interventional device operating mechanism as described in claim 9, characterized in that, It also includes a tail cover (206) that snaps onto the side of the trapezoidal nut (101) away from the guide device.

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