A guide wire clamping device of a vascular interventional operating robot

Abstract

The application provides a guide wire clamping device of a vascular interventional surgery robot, which comprises a fixed clamping block and a movable clamping block connected to the fixed clamping block, and a clamping component for clamping a guide wire is arranged between the fixed clamping block and the movable clamping block; the movable clamping block can be switched between a clamping position and a releasing position, the movable clamping block has a tendency to move to the clamping position under force, and the clamping component clamps the guide wire under the action of the fixed clamping block and the movable clamping block when the movable clamping block is in the clamping position; the two ends of a memory alloy wire are fixed on the fixed clamping block and the movable clamping block respectively, and the memory alloy wire can be deformed after being electrified, so that the movable clamping block can be moved to the releasing position and the clamping component can release the guide wire. The guide wire clamping device can realize switching between clamping the guide wire and releasing the guide wire by using the electrification deformation characteristics of the memory alloy wire.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a guidewire clamping device for a vascular interventional surgery robot. Background Technology

[0002] In existing vascular interventional surgical robots, both guidewire translation and rotation require the assistance of guidewire clamping devices. These clamping devices operate in two states: clamped and released. Some existing vascular surgical robot systems separate the translation and rotation functions, allowing only one mechanism to clamp the guidewire during translation or rotation, while the other remains released. This necessitates two sets of clamping devices for automatic guidewire clamping and release, resulting in complex mechanical structures for both translation and rotation. Other vascular surgical robot systems integrate guidewire translation and rotation into a single device, where the guidewire remains clamped throughout movement and released during guidewire handling. When using an automated clamping device, this also inevitably requires complex mechanical structures. Summary of the Invention

[0003] To address the problems existing in the prior art, this application proposes a guidewire clamping device for a vascular interventional surgical robot. This device does not require driving components such as motors and cylinders, nor does it require complex transmission components. It features simple structure, low cost, and simple control.

[0004] To achieve the above objectives, this application proposes a guidewire clamping device for a vascular interventional surgery robot, comprising a fixed clamping block (1) and a movable clamping block (2) connected to the fixed clamping block (1). A clamping component for clamping the guidewire is provided between the fixed clamping block (1) and the movable clamping block (2). The movable clamping block (2) can switch between a clamping position and a releasing position. The movable clamping block (2) tends to move towards the clamping position under force. When the movable clamping block (2) is in the clamping position, the clamping component clamps the guidewire under the action of the fixed clamping block (1) and the movable clamping block (2). The two ends of a shape memory alloy wire (5) are respectively fixed to the fixed clamping block (1) and the movable clamping block (2). When the shape memory alloy wire (5) is energized, it deforms, which can move the movable clamping block (2) to the releasing position, so that the clamping component releases the guidewire.

[0005] In some embodiments, a track groove (9) is provided on the fixed clamping block (1), the track groove (9) forms a closed loop track, one end of the pull rod (8) is connected to the movable clamping block (2), and the other end is located in the track groove (9). When the movable clamping block (2) moves, the pull rod (8) can move along the track groove (9). A flat spring (10) is provided on the fixed clamping block (1), and the pressure of the flat spring (10) always acts on the pull rod (8), so that the pull rod (8) keeps in contact with the bottom surface of the track groove (9).

[0006] In some embodiments, the track groove (9) contains a V-shaped track, the V-shaped track is close to the movable clamping block (2), and the opening of the V-shaped track faces the movable clamping block (2). When the pull rod (8) moves along the track groove (9), the setting of the V-shaped track can prevent the pull rod (8) from moving continuously in the direction of the clamping position.

[0007] In some embodiments, the track groove (9) includes multiple track segments, and a bend is formed at the connection of two adjacent track segments. Along the depth direction of the track groove (9), in two adjacent track segments, the end of the previous track segment and the beginning of the next track segment have a height difference, and the end of the previous track segment is higher than the beginning of the next track segment. The beginning and end of the same track segment have different heights.

[0008] In some embodiments, the lower end of the movable clamping block (2) is hinged to the fixed clamping block (1); or, the movable clamping block (2) is slidably connected to the fixed clamping block (1); or, the movable clamping block (2) is a flexible structure, and its lower end is fixed to the fixed clamping block (1).

[0009] In some embodiments, both the movable clamping block (2) and the fixed clamping block (1) are provided with fixing posts (14), and the two ends of the clamping spring are respectively connected to the fixing posts (14) on the movable clamping block (2) and the fixed clamping block (1). The clamping spring causes the movable clamping block (2) to always tend to move towards the clamping position.

[0010] In some embodiments, the two ends of the memory alloy wire (5) are respectively provided with fixing rings (19), and the two ends of the memory alloy wire (5) are respectively fixed on the fixed clamping block (1) and the movable clamping block (2) by the two fixing rings (19); the fixed clamping block (1) is also provided with a winding post (6) with the function of a fixed pulley, so as to realize the reversal of the memory alloy wire (5).

[0011] In some embodiments, a screw hole (15) is provided on the fixed clamping block (1), and the screw hole (15) is used in conjunction with the lead screw. The two constitute a guide wire translation thread pair. By rotating the lead screw, the fixed clamping block (1) can be translated.

[0012] In some embodiments, a power supply unit (7) for supplying power to the shape memory alloy wire (5) is also provided on the fixed clamping block (1). The power supply unit (7) includes a conductive post (21) fixed on the fixed clamping block (1). The conductive post (21) is used to guide and supply power to the shape memory alloy wire (5) fixed on the movable clamping block (2). The conductive post (21) is electrically connected to the first sliding conductive spring (1301) via a first wire (201). The shape memory alloy wire (5) fixed on the fixed clamping block (1) is electrically connected to the second sliding conductive spring (1302) via a second wire (202). The first sliding conductive spring (1301) and the second sliding conductive spring (1302) are provided on the fixed clamping block (1) for electrical connection with the power supply device, so as to realize that the shape memory alloy wire (5) can always be powered during the translation of the fixed clamping block (1).

[0013] In some embodiments, the guidewire clamping device of the vascular interventional surgical robot further includes a clamping state detection mechanism (11) for detecting whether the movable clamping block (2) has moved to the clamping position. The clamping state detection mechanism (11) includes a first electrode contact (2301) and a second electrode contact (2302) fixed at intervals on the fixed clamping block (1). The first electrode contact (2301) is electrically connected to a third sliding conductive spring (1303) via a third wire (203), and the second electrode contact (2302) is connected to a fourth sliding conductive spring (1303) via a fourth wire (204). The electric spring sheet (1304) is electrically connected. The third sliding conductive spring sheet (1303) and the fourth sliding conductive spring sheet (1304) are disposed on the fixed clamping block (1) for electrical connection with the clamping state detection circuit. The movable clamping block (2) is provided with a first conductive element (2401). When the movable clamping block (2) moves to the clamping position, the two ends of the first conductive element (2401) contact the first electrode contact (2301) and the second electrode contact (2302) respectively, so that the first electrode contact (2301) and the second electrode contact (2302) are electrically connected.

[0014] In some embodiments, the fixing clamping block (1) is circular or partially circular, and a toothed structure is provided on the outer surface of the fixing clamping block (1) along the circumferential direction; the fixing clamping block (1) is disposed on the base (17), and a rotary drive spline gear (18) is also provided on the base (17). The rotary drive spline gear (18) meshes with the toothed structure on the fixing clamping block (1). By driving the spline shaft of the external device, the rotary drive spline gear (18) can be driven to rotate, so that the fixing clamping block (1) can rotate, thereby realizing the rotation function of the guide wire; a screw hole (15) is provided on the base (17), and the screw hole (15) is used in conjunction with the lead screw. The two constitute a guide wire translational thread pair. By rotating the lead screw, the fixing clamping block (1) can be translated.

[0015] In some embodiments, a power supply unit (7) for supplying power to the shape memory alloy wire (5) is disposed on the fixed clamping block (1) and the base (17). The power supply unit (7) includes a conductive post (21) fixed on the fixed clamping block (1). The conductive post (21) is used to guide and supply power to the shape memory alloy wire (5) fixed on the movable clamping block (2). The conductive post (21) is electrically connected to a first arc-shaped conductive wire (2201) via a fifth wire (205). The first arc-shaped conductive wire (2201) is disposed on the fixed clamping block (1). When the fixed clamping block (1) rotates, the first arc-shaped conductive wire (2201) is always electrically connected to a fifth sliding conductive spring (1305) disposed on the base (17). The fifth sliding conductive spring (1305) is connected to a ninth wire and The ninth sliding conductive spring on the base (17) is electrically connected; the shape memory alloy wire (5) fixed on the fixed clamping block 1 is electrically connected to the second arc-shaped conductive wire (2202) via the sixth wire (206). The second arc-shaped conductive wire (2202) is set on the fixed clamping block (1). When the fixed clamping block (1) is rotating, the second arc-shaped conductive wire (2202) is always electrically connected to the sixth sliding conductive spring (1306) on the base (17). The sixth sliding conductive spring (1306) is electrically connected to the tenth sliding conductive spring on the base (17) via the tenth wire. The ninth and tenth sliding conductive springs are used to be electrically connected to the power supply device so as to ensure that the shape memory alloy wire (5) can always be powered during the translation and rotation of the fixed clamping block (1).

[0016] In some embodiments, the guidewire clamping device of the vascular interventional surgical robot further includes a clamping state detection mechanism (11) for detecting whether the movable clamping block (2) has moved to the clamping position. The clamping state detection mechanism (11) includes a third arc-shaped conductive wire (2203) and a fourth arc-shaped conductive wire (2204) respectively disposed on the fixed clamping block (1). When the fixed clamping block (1) is rotating, the third arc-shaped conductive wire (2203) is always electrically connected to the seventh sliding conductive spring (1307) disposed on the base (17). The seventh sliding conductive spring (1307) is electrically connected to the eleventh sliding conductive spring disposed on the base (17) via the eleventh wire. When the fixed clamping block (1) is rotating, the fourth arc-shaped conductive wire (2204) is always connected to the eighth sliding conductive spring (1307) disposed on the base (17). 308) Electrical connection, the eighth sliding conductive spring (1308) is electrically connected to the twelfth sliding conductive spring on the base (17) via the twelfth wire; the eleventh sliding conductive spring and the twelfth sliding conductive spring are used to be electrically connected to the clamping state detection circuit; the third arc-shaped conductive wire (2203) is also electrically connected to the third electrode contact (2303) via the seventh wire (207), and the fourth arc-shaped conductive wire (2204) is also electrically connected to the fourth electrode contact (2304) via the eighth wire (208). A second conductive element (2402) is provided on the movable clamping block (2). When the movable clamping block (2) moves to the clamping position, the two ends of the second conductive element (2402) are in contact with the third electrode contact (2303) and the fourth electrode contact (2304) respectively, so that the third electrode contact (2303) and the second electrode contact (2304) are electrically connected.

[0017] The beneficial effect of this solution is that the guide wire clamping device of the above-mentioned vascular interventional surgery robot utilizes the electrical deformation characteristics of the shape memory alloy wire. By controlling the short-term on-off of the shape memory alloy wire, the device can switch between and maintain the two states of clamping and releasing the guide wire through the action of the pull rod and the track groove structure. The shape memory alloy wire can provide stable linear drive capability. Compared with the method of using cylinders or motors, it has the advantages of simple structure, low cost and simple control, and does not require complex transmission components. Attached Figure Description

[0018] Figure 1 A schematic diagram of the guidewire clamping device of the vascular interventional surgery robot in Embodiment 1 is shown, wherein (a) is a rear view schematic diagram and (b) is a front view schematic diagram.

[0019] Figure 2 An exploded structural diagram of the guidewire clamping device of the vascular interventional surgery robot in Embodiment 1 is shown.

[0020] Figure 3 A three-dimensional structural diagram of the fixed clamping block and the movable clamping block in Embodiment 1 is shown, where (a) is one angle and (b) is another angle.

[0021] Figure 4 The diagram shows the structure of the fixed clamping block and the movable clamping block in Embodiment 1, where (a) is a front view and (b) is a rear view.

[0022] Figure 5 A schematic diagram of the track groove is shown, in which (a) shows the position of the lever in the clamped and released states, (b) shows the height difference of each track segment in the track groove, and (c) shows the path of the lever moving in the track groove.

[0023] Figure 6 A partial structural schematic diagram of the guidewire clamping device of the vascular interventional surgery robot in Embodiment 2 is shown, wherein (a) is a rear view structural schematic diagram and (b) is a front view structural schematic diagram.

[0024] Figure 7 An exploded view of a portion of the guidewire clamping device of the vascular interventional surgery robot in Embodiment 2 is shown.

[0025] Figure 8 A schematic diagram of the guidewire clamping device of the vascular interventional surgery robot in Embodiment 2 is shown.

[0026] Figure 9 A partial structural schematic diagram of the guidewire clamping device of the vascular interventional surgery robot in Embodiment 2 in a rotating state is shown.

[0027] Figure 10 A schematic diagram of the guidewire clamping device of the vascular interventional surgery robot in Embodiment 3 is shown, wherein (a) is a front view schematic diagram and (b) is a schematic diagram of the structure after a fixing plate is hidden.

[0028] Figure 11 A schematic diagram of the guidewire clamping device of the vascular interventional surgery robot in Embodiment 4 is shown, wherein (a) is a front view schematic diagram and (b) is a three-dimensional schematic diagram of the fixed clamping block and the movable clamping block.

[0029] Figure 12 (a) shows a structural schematic diagram of the shape memory alloy wire, (b) shows a structural schematic diagram of the power supply section of the shape memory alloy wire in some embodiments, and (c) shows a structural schematic diagram of the power supply section of the shape memory alloy wire in other embodiments.

[0030] Figure 13(a) shows a structural schematic diagram of the clamping state detection mechanism in some embodiments, and (b) shows a structural schematic diagram of the clamping state detection mechanism in other embodiments.

[0031] Reference numerals: 1-Fixed clamping block, 2-Modible clamping block, 3-First clamping spring, 4-Second clamping spring, 5-Memory alloy wire, 6-Winding post, 7-Power supply unit, 8-Pull rod, 9-Trajectory groove, 10-Plane spring, 11-Clamping status detection mechanism, 12-Clamping pad, 13-Sliding conductive spring, 14-Fixed post, 15-Screw hole, 16-Sliding guide hole, 17-Base, 18-Rotary drive spline gear, 19-Fixed ring, 201-First wire, 202-Second wire, 203-Third wire, 204-Fourth wire, 205-Fifth wire, 206-Sixth wire, 207-Seventh wire, 208-Eighth wire, 21-Conductive post, 2201-First arc-shaped guide Electrical wire, 2202-Second arc-shaped conductive wire, 2203-Third arc-shaped conductive wire, 2204-Fourth arc-shaped conductive wire, 2301-First electrode contact, 2302-Second electrode contact, 2303-Third electrode contact, 2304-Fourth electrode contact, 2401-First conductive element, 2402-Second conductive element, 25-Slide groove, 26-Compression spring, 27-Fixing plate, 1301-First sliding conductive spring, 1302-Second sliding conductive spring, 1303-Third sliding conductive spring, 1304-Fourth sliding conductive spring, 1305-Fifth sliding conductive spring, 1306-Sixth sliding conductive spring, 1307-Seventh sliding conductive spring, 1308-Eighth sliding conductive spring. Detailed Implementation

[0032] To make the technical problems solved by this application, the technical solutions adopted, and the technical effects achieved clearer, the technical solutions of the embodiments of this application will be further described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0033] In the description of this application, unless otherwise expressly specified and limited, the terms "connected," "linked," and "fixed" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral part; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; they can refer to the internal communication of two components or the interaction between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0034] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0035] In the description of this application, it should be understood that the terms "first," "second," etc., are used to distinguish similar objects, rather than to describe or indicate a specific order or sequence. The terms "upper," "lower," "front," "rear," "left," "right," "top," "bottom," "inner," "outer," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and 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, and therefore should not be construed as a limitation of this application.

[0036] The technical solution of this application will be further described below with reference to the accompanying drawings and specific embodiments.

[0037] The guidewire clamping device of the vascular interventional surgery robot involved in this application includes a fixed clamping block 1 and a movable clamping block 2 connected to the fixed clamping block 1. A clamping component for clamping the guidewire is provided between the fixed clamping block 1 and the movable clamping block 2. Specifically, the clamping component is a clamping pad 12 made of soft material, which is in direct contact with the guidewire to increase friction. The structure of the clamping component can refer to the prior art, which is not the focus of protection of this embodiment, and will not be described in detail here.

[0038] The movable clamping block 2 can switch between a clamping position and a loosening position. The movable clamping block 2 always tends to move towards the clamping position under force. When the movable clamping block 2 is in the clamping position, the clamping component clamps the guide wire under the action of the fixed clamping block 1 and the movable clamping block 2. The two ends of the shape memory alloy wire 5 are respectively fixed to the fixed clamping block 1 and the movable clamping block 2. When the shape memory alloy wire 5 is energized, it deforms, causing the movable clamping block 2 to move to the loosening position, thus releasing the guide wire from the clamping component. The deformation of the shape memory alloy wire 5 in this application can be achieved by changing the current magnitude, energizing time, effective length, diameter, etc.

[0039] Since the shape memory alloy wire 5 cannot be energized for extended periods, it cannot provide holding force. To address this issue, a track groove 9 (e.g., a cam groove) is provided on the fixed clamping block 1. This track groove 9 forms a closed-loop track. One end of a pull rod 8, possessing tensile and compressive stiffness, is connected to the movable clamping block 2 (movable connection), while its other end lies within the track groove 9. When the movable clamping block 2 moves, the pull rod 8 can move along the track groove 9. To prevent the pull rod 8 from detaching from the track groove 9, a flat spring 10 is provided on the fixed clamping block 1. The pressure of the flat spring 10 always acts on the pull rod 8, ensuring that the pull rod 8 remains in contact with the bottom surface of the track groove 9. Through this structural design, by simply controlling the short-term on / off energization of the shape memory alloy wire 5, the movable clamping block 2 can switch between and maintain its position between clamping and releasing.

[0040] Specifically, the track groove 9 contains a V-shaped track, which is close to the movable clamping block 2, and the opening of the V-shaped track faces the movable clamping block 2. When the pull rod 8 moves along the track groove 9, the V-shaped track prevents the pull rod 8 from moving continuously to the left (in the direction of the clamping position). Figure 2 As shown.

[0041] To enable the pull rod 8 to move along the trajectory of the track groove 9, the track groove 9 includes multiple track segments. A bend is formed at the connection point of two adjacent track segments. Along the depth direction of the track groove 9, in two adjacent track segments, the end of the preceding track segment and the beginning of the following track segment have a height difference, with the end of the preceding track segment higher than the beginning of the following track segment. The beginning and end of the same track segment may have different heights, such as... Figure 5 As shown in (b), specifically, it can include four trajectory segments. The height of the end of the first trajectory segment a is higher than the height of its beginning. The height difference between the end of the first trajectory segment a and the beginning of the second trajectory segment b is d1. The height difference between the end of the second trajectory segment b and the beginning of the third trajectory segment c is d2. The height difference between the end of the third trajectory segment c and the beginning of the fourth trajectory segment d is d3. The height difference between the end of the fourth trajectory segment d and the beginning of the first trajectory segment a is d4. The second trajectory segment b and the third trajectory segment c form a V-shaped trajectory. The height of the beginning of the second trajectory segment b, the third trajectory segment c, and the fourth trajectory segment d is higher than the height of the end. With the above structure and the cooperation of the flat spring 10, the pull rod 8 can only move along the trajectory of the trajectory groove 9.

[0042] like Figure 5As shown in (a), point A represents the position of the pull rod 8 when the guide wire is in the clamped state, and point B represents the position of the pull rod 8 when the guide wire is in the released state. Specifically, the initial state is that the guide wire is in the clamped state. When it is necessary to release the guide wire, the shape memory alloy wire 5 is energized for the first time, causing the shape memory alloy wire 5 to deform and drive the movable clamping block 2 to move to the right, as shown in (a). Figure 5 As shown in (c), at this time, the movable clamping block 2 drives the pull rod 8 to move along the first trajectory segment a until it reaches the end of the first trajectory segment a. Since there is a height difference d1 between the end of the first trajectory segment a and the beginning of the second trajectory segment b, the pull rod 8 will transition to the beginning of the second trajectory segment b, at which point the guide wire has been released. When the shape memory alloy wire 5 is energized for the first time, the shape memory alloy wire 5 resets. At this time, the movable clamping block 2 is forced (e.g., by the force of the clamping spring) and moves to the left. The movable clamping block 2 drives the pull rod 8 to move along the second trajectory segment b until it reaches the bottom of the V-shaped trajectory, which is the beginning of the third trajectory segment c. The bottom of the V-shaped trajectory can prevent the movable clamping block 2 from moving further to the left, thereby keeping the movable clamping block 2 in the released position, so that the guide wire is in the released state. Then, the shape memory alloy wire 5 is energized for the second time, causing the shape memory alloy wire 5 to deform and drive the guide wire to move to the left. The movable clamping block 2 moves to the right, causing the pull rod 8 to move along the third trajectory segment c until it reaches the end of the third trajectory segment c. Since there is a height difference between the end of the third trajectory segment c and the beginning of the fourth trajectory segment d, the pull rod 8 will transition to the beginning of the fourth trajectory segment d. When the memory alloy wire 5 is energized for the second time, the memory alloy wire 5 resets. At this time, the movable clamping block 2 is forced (e.g., by the force of the clamping spring) to move to the left, causing the pull rod 8 to move along the fourth trajectory segment d until it reaches the end of the fourth trajectory segment d. Since there is a height difference between the end of the fourth trajectory segment d and the beginning of the first trajectory segment a, the pull rod 8 will transition to the beginning of the first trajectory segment a, i.e., point A. At this time, the movable clamping block 2 remains in the clamping position, keeping the guide wire in a clamped state. Then, when the memory alloy wire 5 is energized again, the next cycle begins.

[0043] Example 1

[0044] like Figures 1 to 5 As shown, in this embodiment, the movable clamping block 2 is a flexible structure, and its lower end is fixed on the fixed clamping block 1. Controlling the gap between the movable clamping block 2 and the fixed clamping block 1 can achieve the clamping or loosening of the guide wire.

[0045] To achieve the translation of the guide wire, a screw hole 15 is provided on the fixed clamping block 1. This screw hole 15 has the characteristics of a T-nut or a ball screw nut. The screw hole 15 is used in conjunction with a lead screw, and the two form a guide wire translational threaded pair. By rotating the lead screw, the fixed clamping block 1 can be translated. In order to ensure the smooth movement of the fixed clamping block 1, a sliding guide hole 16 is also provided on the fixed clamping block 1. It is used in conjunction with a guide post, and the two form a guide wire translational sliding pair, which plays a guiding role during the translation of the fixed clamping block 1.

[0046] Both the movable clamping block 2 and the fixed clamping block 1 are provided with fixing posts 14. The two ends of a clamping spring are respectively connected to the fixing posts 14 on the movable clamping block 2 and the fixed clamping block 1. The clamping springs cause the movable clamping block 2 to have a constant tendency to move towards the clamping position. Specifically, to ensure that the movable clamping block 2 moves smoothly and evenly under force, fixing posts 14 are provided on both the front and rear surfaces of the fixed clamping block 1 and the movable clamping block 2. The two ends of a first clamping spring 3 are respectively connected to two fixing posts 14 on the front surfaces of the movable clamping block 2 and the fixed clamping block 1, and the two ends of a second clamping spring 4 are respectively connected to two fixing posts 14 on the rear surfaces of the movable clamping block 2 and the fixed clamping block 1. When the shape memory alloy wire 5 is energized, the force generated by its deformation is opposite in direction to the force of the clamping spring, and the force generated by the deformation of the shape memory alloy wire 5 is greater than the force of the clamping spring, so that the movable clamping block 2 can move to the released position.

[0047] like Figure 12 As shown in (a), the two ends of the shape memory alloy wire 5 are respectively provided with fixing rings 19, and the two ends of the shape memory alloy wire 5 are fixed to the fixed clamping block 1 and the movable clamping block 2 by the two fixing rings 19. The fixed clamping block 1 is also provided with a winding post 6 that acts as a fixed pulley to realize the reversal of the shape memory alloy wire 5.

[0048] The fixing clamping block 1 is also provided with a power supply part 7 for supplying power to the shape memory alloy wire 5. In this embodiment, for example... Figure 12As shown in (b), the power supply unit 7 includes a conductive post 21 fixed on the fixed clamping block 1. The conductive post 21 is used to guide and supply power to the shape memory alloy wire 5 fixed on the movable clamping block 2. The conductive post 21 is electrically connected to the first sliding conductive spring 1301 via the first wire 201. The shape memory alloy wire 5 fixed on the fixed clamping block 1 is electrically connected to the second sliding conductive spring 1302 via the second wire 202. The first sliding conductive spring 1301 and the second sliding conductive spring 1302 are disposed on the fixed clamping block 1 for electrical connection with the power supply device, so as to ensure that the shape memory alloy wire 5 can always be powered during the translation of the fixed clamping block 1.

[0049] The guidewire clamping device of the vascular interventional surgery robot involved in this application also includes a clamping state detection mechanism 11, used to detect whether the movable clamping block 2 has moved to the clamping position. Specifically, as shown in the figure... Figure 13 As shown in (a), the clamping state detection mechanism 11 includes a first electrode contact 2301 and a second electrode contact 2302 fixed at intervals on the fixed clamping block 1. The first electrode contact 2301 is electrically connected to a third sliding conductive spring 1303 via a third wire 203, and the second electrode contact 2302 is electrically connected to a fourth sliding conductive spring 1304 via a fourth wire 204. The third sliding conductive spring 1303 and the fourth sliding conductive spring 1304 are disposed on the fixed clamping block 1 for electrical connection with the clamping state detection circuit. A first conductive element 2401 is provided on the movable clamping block 2. When the movable clamping block 2 moves to the clamping position, the two ends of the first conductive element 2401 contact the first electrode contact 2301 and the second electrode contact 2302 respectively, so that the first electrode contact 2301 and the second electrode contact 2302 are electrically connected.

[0050] Example 2

[0051] The structure of this embodiment is basically the same as that of embodiment 1, with only some structural differences. This embodiment will not repeat the other structures that are the same as those in embodiment 1.

[0052] like Figures 6 to 9As shown, in this embodiment, the fixing clamping block 1 is a gear clamping block, that is, the fixing clamping block 1 is circular or partially circular, and has a toothed structure on its outer surface along the circumference. The fixing clamping block 1 is mounted on the base 17, and a rotary drive spline gear 18 is also provided on the base 17. The rotary drive spline gear 18 meshes with the toothed structure on the fixing clamping block 1. By driving the external spline shaft, the rotary drive spline gear 18 can be driven to rotate, thereby causing the fixing clamping block 1 to rotate, realizing the rotation function of the guide wire. Specifically, the structural form between the base 17, the rotary drive spline gear 18, and the toothed structure of the fixing clamping block 1 can refer to the prior art, which is not the focus of this embodiment and will not be described in detail here.

[0053] In this embodiment, the screw hole 15 is provided on the base 17. The screw hole 15 is used in conjunction with the lead screw, and the two form a guide wire translation thread pair. By rotating the lead screw, the translation of the fixed clamping block 1 can be realized.

[0054] In this embodiment, as Figure 12 As shown in (c), to adapt to the shape of the fixed clamping block 1, the power supply unit 7 is disposed on the fixed clamping block 1 and the base 17. Specifically, the power supply unit 7 includes a conductive post 21 fixed on the fixed clamping block 1. The conductive post 21 is used to guide and supply power to the shape memory alloy wire 5 fixed on the movable clamping block 2. The conductive post 21 is electrically connected to the first arc-shaped conductive wire 2201 via the fifth wire 205. The first arc-shaped conductive wire 2201 is disposed on the fixed clamping block 1. When the fixed clamping block 1 rotates, the first arc-shaped conductive wire 2201 is always electrically connected to the fifth sliding conductive spring 1305 disposed on the base 17. The fifth sliding conductive spring 1305 is electrically connected to the ninth sliding conductive spring disposed on the base 17 via the ninth wire; the shape memory alloy wire 5 fixed on the fixed clamping block 1 is electrically connected to the second arc-shaped conductive wire 2202 via the sixth wire 206. The second arc-shaped conductive wire 2202 is disposed on the fixed clamping block 1. When the fixed clamping block 1 rotates, the second arc-shaped conductive wire 2202 is always electrically connected to the sixth sliding conductive spring 1306 disposed on the base 17. The sixth sliding conductive spring 1306 is electrically connected to the tenth sliding conductive spring disposed on the base 17 via the tenth wire; the ninth sliding conductive spring and the tenth sliding conductive spring (e.g. Figure 8 As shown, the part located at the bottom of the base 17 is used to electrically connect to the power supply device so as to ensure that the shape memory alloy wire 5 can always be powered during the translation and rotation of the fixed clamping block 1.

[0055] In this embodiment, as Figure 13As shown in (b), the clamping state detection mechanism 11 includes a third arc-shaped conductive wire 2203 and a fourth arc-shaped conductive wire 2204 respectively disposed on the fixed clamping block 1. During the rotation of the fixed clamping block 1, the third arc-shaped conductive wire 2203 is always electrically connected to the seventh sliding conductive spring 1307 disposed on the base 17. The seventh sliding conductive spring 1307 is electrically connected to the eleventh sliding conductive spring disposed on the base 17 via the eleventh wire. During the rotation of the fixed clamping block 1, the fourth arc-shaped conductive wire 2204 is always electrically connected to the eighth sliding conductive spring 1308 disposed on the base 17. The eighth sliding conductive spring 1308 is electrically connected to the twelfth sliding conductive spring disposed on the base 17 via the twelfth wire. The eleventh and twelfth sliding conductive springs (e.g., Figure 8 As shown, the wire located at the bottom of the base 17 is used for electrical connection with the clamping state detection circuit. The third arc-shaped conductive wire 2203 is also electrically connected to the third electrode contact 2303 via the seventh wire 207, and the fourth arc-shaped conductive wire 2204 is also electrically connected to the fourth electrode contact 2304 via the eighth wire 208. A second conductive element 2402 is provided on the movable clamping block 2. When the movable clamping block 2 moves to the clamping position, the two ends of the second conductive element 2402 contact the third electrode contact 2303 and the fourth electrode contact 2304 respectively, so that the third electrode contact 2303 and the second electrode contact 2304 are electrically connected.

[0056] Example 3

[0057] The structure of this embodiment is basically the same as that of embodiment 1, with only some structural differences. This embodiment will not repeat the other structures that are the same as those in embodiment 1.

[0058] In this embodiment, as Figure 10 As shown, the movable clamping block 2 is slidably connected to the fixed clamping block 1. Specifically, two fixed plates 27 are provided opposite to each other on the fixed clamping block 1. Each fixed plate 27 has a sliding groove 25. For example, two sliding grooves 25 are provided at intervals along the vertical direction on each fixed plate 27 so that the movable clamping block 2 can move more smoothly. The movable clamping block 2 is provided with a slider that cooperates with the sliding groove 25. A compression spring 26 (two can be provided) is provided between the movable clamping block 2 and the fixed clamping block 1. The compression spring 26 makes the movable clamping block 2 always tend to move towards the clamping position.

[0059] Example 4

[0060] The structure of this embodiment is basically the same as that of embodiment 1, with only some structural differences. This embodiment will not repeat the other structures that are the same as those in embodiment 1.

[0061] In this embodiment, as Figure 11 As shown, the lower end of the movable clamping block 2 is hinged to the fixed clamping block 1.

[0062] The guidewire clamping device of the vascular interventional surgery robot involved in this application utilizes the electrical deformation characteristics of shape memory alloy wire. By controlling the short-term on / off power of the shape memory alloy wire, the device can switch between and maintain the two states of clamping and releasing the guidewire through the action of the pull rod and the track groove structure. The shape memory alloy wire can provide stable linear drive capability. Compared with the method of using cylinders or motors, it has the advantages of simple structure, low cost and simple control, and does not require complex transmission components.

[0063] The above description is merely a preferred embodiment of this application, but the scope of protection of this application is not limited thereto. Any equivalent substitutions or modifications made by those skilled in the art within the scope of the technology disclosed in this application, based on the technical solution and concept of this application, should be included within the scope of protection of this application.

Claims

1. A guidewire clamping device for a vascular interventional surgical robot, characterized in that: The device includes a fixed clamping block (1) and a movable clamping block (2) connected to the fixed clamping block (1). A clamping component for clamping the guide wire is provided between the fixed clamping block (1) and the movable clamping block (2). The movable clamping block (2) can switch between a clamping position and a loosening position. The movable clamping block (2) tends to move towards the clamping position when subjected to force. When the movable clamping block (2) is in the clamping position, the clamping component clamps the guide wire under the action of the fixed clamping block (1) and the movable clamping block (2). The two ends of the shape memory alloy wire (5) are fixed to the fixed clamping block (1) and the movable clamping block (2) respectively. When the shape memory alloy wire (5) is energized, it deforms, which can move the movable clamping block (2) to the loosening position and allow the clamping component to release the guide wire. The fixed clamping block (1) is provided with a track groove (9), which forms a closed loop track. One end of the pull rod (8) is connected to the movable clamping block (2), and the other end is located in the track groove (9). When the movable clamping block (2) moves, the pull rod (8) can move along the track groove (9). The fixed clamping block (1) is provided with a flat spring (10), and the pressure of the flat spring (10) always acts on the pull rod (8), so that the pull rod (8) keeps in contact with the bottom surface of the track groove (9).

2. The guidewire clamping device of the vascular interventional surgical robot according to claim 1, characterized in that: The track groove (9) contains a V-shaped track, which is close to the movable clamping block (2) and the opening of the V-shaped track faces the movable clamping block (2). When the pull rod (8) moves along the track groove (9), the V-shaped track can prevent the pull rod (8) from moving continuously toward the clamping position.

3. The guidewire clamping device of the vascular interventional surgical robot according to claim 2, characterized in that: The track groove (9) includes multiple track segments. A bend is formed at the connection between two adjacent track segments. Along the depth direction of the track groove (9), in two adjacent track segments, the end of the previous track segment and the beginning of the next track segment have a height difference, and the end of the previous track segment is higher than the beginning of the next track segment. The beginning and end of the same track segment have different heights.

4. The guidewire clamping device of the vascular interventional surgical robot according to claim 1, characterized in that: The lower end of the movable clamping block (2) is hinged to the fixed clamping block (1); or, the movable clamping block (2) is slidably connected to the fixed clamping block (1); or, the movable clamping block (2) is a flexible structure, and its lower end is fixed to the fixed clamping block (1).

5. The guidewire clamping device of the vascular interventional surgical robot according to claim 1, characterized in that: Both the movable clamping block (2) and the fixed clamping block (1) are provided with fixed posts (14). The two ends of the clamping spring are respectively connected to the fixed posts (14) on the movable clamping block (2) and the fixed clamping block (1). The clamping spring makes the movable clamping block (2) tend to move towards the clamping position.

6. The guidewire clamping device of the vascular interventional surgical robot according to claim 1, characterized in that: The two ends of the memory alloy wire (5) are respectively provided with fixing rings (19), and the two ends of the memory alloy wire (5) are respectively fixed on the fixed clamping block (1) and the movable clamping block (2) by the two fixing rings (19); the fixed clamping block (1) is also provided with a winding post (6) with the function of a fixed pulley, so as to realize the reversal of the memory alloy wire (5).

7. The guidewire clamping device for a vascular interventional surgical robot according to any one of claims 1 to 6, characterized in that: A screw hole (15) is provided on the fixed clamping block (1). The screw hole (15) is used in conjunction with the lead screw. The two form a guide wire translation thread pair. By rotating the lead screw, the fixed clamping block (1) can be translated.

8. The guidewire clamping device of the vascular interventional surgical robot according to claim 7, characterized in that: The fixed clamping block (1) is also provided with a power supply part (7) for supplying power to the shape memory alloy wire (5). The power supply part (7) includes a conductive post (21) fixed on the fixed clamping block (1). The conductive post (21) is used to guide and supply power to the shape memory alloy wire (5) fixed on the movable clamping block (2). The conductive post (21) is electrically connected to the first sliding conductive spring (1301) via the first wire (201). The shape memory alloy wire (5) fixed on the fixed clamping block (1) is electrically connected to the second sliding conductive spring (1302) via the second wire (202). The first sliding conductive spring (1301) and the second sliding conductive spring (1302) are provided on the fixed clamping block (1) for electrical connection with the power supply device, so as to realize that the shape memory alloy wire (5) can always be powered during the translation of the fixed clamping block (1).

9. The guidewire clamping device of the vascular interventional surgical robot according to claim 7, characterized in that: The guidewire clamping device of the vascular interventional surgery robot also includes a clamping state detection mechanism (11) for detecting whether the movable clamping block (2) has moved to the clamping position. The clamping state detection mechanism (11) includes a first electrode contact (2301) and a second electrode contact (2302) fixed at intervals on the fixed clamping block (1). The first electrode contact (2301) is electrically connected to a third sliding conductive spring (1303) via a third wire (203), and the second electrode contact (2302) is connected to a fourth sliding conductive spring (1303) via a fourth wire (204). 1304) Electrical connection, the third sliding conductive spring (1303) and the fourth sliding conductive spring (1304) are disposed on the fixed clamping block (1) for electrical connection with the clamping state detection circuit. The movable clamping block (2) is provided with a first conductive element (2401). When the movable clamping block (2) moves to the clamping position, the two ends of the first conductive element (2401) respectively contact the first electrode contact (2301) and the second electrode contact (2302), so that the first electrode contact (2301) and the second electrode contact (2302) are electrically connected.

10. The guidewire clamping device for a vascular interventional surgical robot according to any one of claims 1 to 6, characterized in that: The fixed clamping block (1) is circular or partially circular, and a toothed structure is provided on the outer surface of the fixed clamping block (1) along the circumference. The fixed clamping block (1) is set on the base (17), and a rotary drive spline gear (18) is also provided on the base (17). The rotary drive spline gear (18) meshes with the toothed structure on the fixed clamping block (1). By driving the external spline shaft, the rotary drive spline gear (18) can be driven to rotate, so that the fixed clamping block (1) can rotate, thereby realizing the rotation function of the guide wire. A screw hole (15) is provided on the base (17). The screw hole (15) is used in conjunction with the lead screw. The two constitute a guide wire translation thread pair. By rotating the lead screw, the fixed clamping block (1) can be translated.

11. The guidewire clamping device for the vascular interventional surgical robot according to claim 10, characterized in that: A power supply unit (7) for supplying power to the shape memory alloy wire (5) is provided on the fixed clamping block (1) and the base (17). The power supply unit (7) includes a conductive post (21) fixed on the fixed clamping block (1). The conductive post (21) is used to guide and supply power to the shape memory alloy wire (5) fixed on the movable clamping block (2). The conductive post (21) is electrically connected to the first arc-shaped conductive wire (2201) via a fifth wire (205). The first arc-shaped conductive wire (2201) is provided on the fixed clamping block (1). When the fixed clamping block (1) is rotating, the first arc-shaped conductive wire (2201) is always electrically connected to the fifth sliding conductive spring (1305) provided on the base (17). The fifth sliding conductive spring (1305) is connected to the base via a ninth wire. The ninth sliding conductive spring on (17) is electrically connected; the shape memory alloy wire (5) fixed on the fixed clamping block (1) is electrically connected to the second arc-shaped conductive wire (2202) via the sixth wire (206). The second arc-shaped conductive wire (2202) is set on the fixed clamping block (1). When the fixed clamping block (1) is rotating, the second arc-shaped conductive wire (2202) is always electrically connected to the sixth sliding conductive spring (1306) set on the base (17). The sixth sliding conductive spring (1306) is electrically connected to the tenth sliding conductive spring set on the base (17) via the tenth wire. The ninth sliding conductive spring and the tenth sliding conductive spring are used to be electrically connected to the power supply device so as to ensure that the shape memory alloy wire (5) can always be powered during the translation and rotation of the fixed clamping block (1).

12. The guidewire clamping device for the vascular interventional surgical robot according to claim 10, characterized in that: The guidewire clamping device of the vascular interventional surgery robot also includes a clamping state detection mechanism (11) for detecting whether the movable clamping block (2) has moved to the clamping position. The clamping state detection mechanism (11) includes a third arc-shaped conductive wire (2203) and a fourth arc-shaped conductive wire (2204) respectively disposed on the fixed clamping block (1). When the fixed clamping block (1) is rotating, the third arc-shaped conductive wire (2203) is always electrically connected to the seventh sliding conductive spring (1307) disposed on the base (17). The seventh sliding conductive spring (1307) is electrically connected to the eleventh sliding conductive spring disposed on the base (17) via the eleventh wire. When the fixed clamping block (1) is rotating, the fourth arc-shaped conductive wire (2204) is always connected to the eighth sliding conductive spring (1308) disposed on the base (17). Electrical connection: the eighth sliding conductive spring (1308) is electrically connected to the twelfth sliding conductive spring on the base (17) via the twelfth wire; the eleventh sliding conductive spring and the twelfth sliding conductive spring are used to be electrically connected to the clamping state detection circuit; the third arc-shaped conductive wire (2203) is also electrically connected to the third electrode contact (2303) via the seventh wire (207), and the fourth arc-shaped conductive wire (2204) is also electrically connected to the fourth electrode contact (2304) via the eighth wire (208). A second conductive element (2402) is provided on the movable clamping block (2). When the movable clamping block (2) moves to the clamping position, the two ends of the second conductive element (2402) are in contact with the third electrode contact (2303) and the fourth electrode contact (2304) respectively, so that the third electrode contact (2303) and the second electrode contact (2302) are electrically connected.

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