Quick release intervention instrument motion control device

Abstract

The application provides a quick dismounting intervention instrument motion control device, which comprises a feeding assembly and a fixing assembly, the feeding assembly is provided with a clamping mechanism for clamping an intervention instrument and a rotary driving mechanism connected with the clamping mechanism, the rotary driving mechanism is used for driving the clamping mechanism to rotate, so as to drive the intervention instrument to feed along a target direction; the fixing assembly is provided with a linear driving mechanism and a fixing support for supporting the feeding assembly, the linear driving mechanism is connected with the rotary driving mechanism and provides a rotary driving force for the rotary driving mechanism; the fixing support is connected with a pressing assembly, and the fixing support and the pressing assembly cooperate to press the feeding assembly. Through the cooperation of the fixing assembly and the pressing assembly and the pressing of the feeding assembly, the feeding assembly can be quickly dismounted, the feeding assembly is a passive structure, the driving source is arranged on the fixing assembly, the volume of the feeding assembly is reduced, the new feeding assembly is convenient to replace, and the feeding assembly can be dismounted and sterilized for multiple times.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a motion control device for quick disassembly of interventional devices. Background Technology

[0002] Interventional devices are surgical instruments used in interventional treatments. In interventional treatments, tiny channels (a few millimeters in diameter) are created in the body through natural cavities or surgical techniques in blood vessels or skin to allow interventional devices such as guidewires, puncture needles, or catheters to enter the body for minimally invasive treatment or examination. Interventional devices are a crucial component of interventional treatments. Before entering the body, these devices require a mechanism for guidance, support, and feeding; this is known as the interventional device motion control device.

[0003] After interventional devices are inserted into the human body, their surfaces become contaminated with bodily fluids or blood. After each surgery or examination, the components in contact with the interventional device need to be replaced. Currently, the feeding mechanism and interventional device are a single unit; discarding them directly would be wasteful due to the presence of electrical components such as motors. Disinfecting the feeding mechanism carries the risk of incomplete sterilization and cross-infection. Therefore, it is necessary to propose a motion control device for interventional devices that can be quickly disassembled. Summary of the Invention

[0004] This invention provides a quick-disassembly motion control device for interventional instruments, which addresses the shortcomings of existing technologies where the feeding mechanism and interventional instrument are an integral structure. If the device is discarded directly, it is wasteful because it contains electrical components such as motors. Furthermore, if the feeding mechanism is disinfected, there is a risk of incomplete disinfection, which could lead to cross-infection.

[0005] This invention provides a quick-release interventional device motion control device, comprising:

[0006] A feeding assembly includes a clamping mechanism for holding an interventional instrument and a rotary drive mechanism connected to the clamping mechanism, wherein the rotary drive mechanism drives the clamping mechanism to rotate, thereby driving the interventional instrument to feed along a target direction.

[0007] The fixed assembly includes a linear drive mechanism and a fixed bracket for supporting the feed assembly. The linear drive mechanism is connected to the rotary drive mechanism and provides a rotary drive force to the rotary drive mechanism. The fixed bracket is connected to a clamping assembly, and the fixed bracket and the clamping assembly cooperate to clamp the feed assembly.

[0008] According to the present invention, a quick-release interventional device motion control device is provided, wherein the fixation assembly further includes:

[0009] A rotary motor is mounted on the fixed bracket and meshes with a rotating gear on the feed assembly to drive the feed assembly to rotate.

[0010] According to the present invention, a quick-release interventional device motion control device is provided, wherein the fixation assembly further includes:

[0011] A rotating gear, mounted on a fixed support, is used to drive the rotating gear to rotate.

[0012] A synchronizing pulley is mounted on the rotary motor and the rotary gear, driving the rotary motor and the rotary gear to rotate synchronously.

[0013] According to the present invention, a motion control device for quick disassembly of interventional instruments includes a linear drive mechanism comprising:

[0014] The first driving mechanism includes a first linear motion mechanism and a second linear motion mechanism. The first linear motion mechanism and the second linear motion mechanism respectively drive the first linear component and the second linear component to move up and down. The first linear component drives the rack plate in the rotary driving mechanism to move up and down through a connecting member. The second linear component drives the guide part in the rotary driving mechanism to move left and right through a first connecting rod assembly. The up and down movement of the rack plate and the left and right movement of the guide part realize the rotation of the drive roller. The rotation of the drive roller realizes the rotation of the first roller assembly.

[0015] The second drive mechanism drives the third linear component to move up and down through the third linear motion mechanism, and drives the second roller assembly to move towards the first roller assembly through the second linkage assembly, which can clamp the interventional instrument and provide clamping force.

[0016] According to the present invention, a motion control device for quick-disassembly interventional instruments includes a drive mechanism comprising:

[0017] A linear motion mechanism includes a linear motion mounting base, a linear screw motor mounted on the linear motion mounting base, a lead screw connected to the linear screw motor, and a drive positioning component mounted on the linear motion mounting base.

[0018] The transmission pin includes a first transmission pin, a second transmission pin, and a third transmission pin. The first transmission pin is mounted on the first linear assembly and inserted into the first drive positioning part; the second transmission pin is mounted on the second linear assembly and inserted into the second drive positioning part; and the third transmission pin is mounted on the third linear assembly and inserted into the third drive positioning part.

[0019] According to the present invention, a quick-release interventional device motion control device is provided, wherein the clamping assembly includes:

[0020] The first pressure claw mounting base is provided on the fixed bracket;

[0021] The second pressure claw mounting base is provided on the fixed bracket;

[0022] The pressure claw assembly has one end hinged to the first pressure claw mounting base and the other end detachably connected to the second pressure claw mounting base.

[0023] According to the motion control device for quick disassembly of interventional instruments provided by the present invention, the clamping assembly further includes:

[0024] A magnetic adsorption element is provided on the first pressure claw mounting base and the pressure claw assembly.

[0025] According to the motion control device for quick disassembly of interventional instruments provided by the present invention, the clamping assembly further includes:

[0026] The push rod passes through the pressure claw assembly and provides clamping force to the feed assembly.

[0027] According to the motion control device for quick disassembly of interventional instruments provided by the present invention, the clamping assembly further includes:

[0028] The pressure claw connector is hinged at the top to the second pressure claw mounting base, has a slot on one side for engaging with the pressure claw assembly, and has an elastic element on the other side for contacting the second pressure claw mounting base.

[0029] According to the present invention, a quick-release interventional device motion control device is provided, wherein the clamping mechanism includes a first roller assembly and a second roller assembly, the first roller assembly and the second roller assembly cooperate to clamp the interventional device, and the first roller assembly is connected to the rotary drive mechanism.

[0030] According to the motion control device for quick disassembly of interventional instruments provided by the present invention, the feed assembly further includes:

[0031] A feed mounting base, wherein the first roller assembly and the second roller assembly are mounted on the feed mounting base;

[0032] A bearing housing is fitted onto the feed mounting base, and the fixed bracket forms a support step, with the bearing housing disposed on the support step.

[0033] According to the motion control device for quick disassembly of interventional instruments provided by the present invention, the feed assembly further includes:

[0034] The clamping drive mechanism is connected to the feed mounting base and drives the second roller assembly to move towards the first roller assembly, clamping the interventional instrument and providing clamping force.

[0035] The motion control device for quick disassembly of interventional instruments provided by the present invention further includes:

[0036] A drive component is connected to the fixed component to adjust the placement angle and orientation of the fixed component and the feed component.

[0037] The quick-disassembly interventional device motion control device provided by the present invention, by setting a fixing component and a clamping component, in conjunction with a clamping feed component, facilitates the quick disassembly of the feed component. The feed component has a passive structure, and the drive source is set on the fixing component, which reduces the size of the feed component and facilitates the replacement of a new feed component. The feed component can also be disassembled and disinfected multiple times. Attached Figure Description

[0038] To more clearly illustrate the technical solutions in this invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0039] Figure 1 This is a schematic diagram of the motion control device for quick disassembly of interventional instruments provided by the present invention.

[0040] Figure 2 This is a schematic diagram of the motion control device for quick disassembly of interventional instruments provided by the present invention from one perspective;

[0041] Figure 3 This is a structural schematic diagram of the quick-disassembly interventional device motion control device provided by the present invention from another perspective.

[0042] Figure 4 This is a structural schematic diagram of the quick-disassembly interventional device motion control device provided by the present invention from a third perspective.

[0043] Figure 5 This is a schematic diagram of the rotary drive mechanism;

[0044] Figure 6 This is a structural schematic diagram of the feed component from one perspective;

[0045] Figure 7 This is a structural schematic diagram of the feed assembly from another perspective;

[0046] Figure 8 This is a structural diagram of the first linear motion mechanism and the second linear motion mechanism;

[0047] Figure 9 This is a schematic diagram of the second drive mechanism;

[0048] Figure 10 This is a structural schematic diagram of the clamping assembly.

[0049] Figure label:

[0050] 1-Feed assembly; 11-First roller assembly; 12-Second roller assembly; 13-Feed mounting base; 131-First rotating axis; 132-Second rotating axis; 133-Third rotating axis; 134-Fourth rotating axis; 135-Fifth rotating axis; 14-Bearing housing; 141-Positioning rod; 142-Second positioning V-groove; 15-Rotary drive mechanism; 151-Connector; 152-Rack plate; 1521-Straight rack; 153-Guide part; 154-Drive roller; 1541-Gear pin ; 155-First drive gear; 156-Second drive gear; 157-First connecting rod assembly; 158-Roller synchronous pulley; 16-Rotating gear; 17-First linear assembly; 171-First transmission pin; 172-First positioning pin; 18-Second linear assembly; 181-Second transmission pin; 182-Second positioning pin; 19-Clamping drive mechanism; 191-Third linear assembly; 192-Third transmission pin; 193-Third positioning pin; 194-Second connecting rod assembly; 195-Second connecting member; 196-Third connecting piece; 2-Fixing assembly; 21-Fixing bracket; 211-Supporting step; 22-Rotary motor; 23-Rotary gear; 24-Synchronous pulley; 25-First drive mechanism; 251-First linear motion mechanism; 2511-Linear motion mounting base; 2512-Linear screw motor; 2513-Lead screw; 2514-First drive positioning part; 252-Second linear motion mechanism; 2521-Second drive positioning part; 253-First positioning fixture; 254-Second positioning fixture 26-First positioning V-groove; 27-Second drive mechanism; 271-Third linear motion mechanism; 272-Third drive positioning component; 3-Clamping assembly; 31-First pressure claw mounting base; 32-Second pressure claw mounting base; 33-Pressure claw assembly; 331-Pressure claw; 332-Top rod mounting component; 34-Magnetic adsorption component; 35-Top rod; 351-Spring; 36-Pressure claw connector; 361-Slot; 362-Elastic component; 363-Handle; 37-Rotating shaft; 4-Interventional instrument; 5-Robot arm. Detailed Implementation

[0051] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0052] In the description of the embodiments of this application, it should be noted that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "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 the embodiments of 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 the embodiments of this application. In addition, the terms "first," "second," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0053] In the description of the embodiments of this application, it should be noted that, unless otherwise explicitly specified and limited, the terms "connected" and "linked" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; 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. Those skilled in the art can understand the specific meaning of the above terms in the embodiments of this application based on the specific circumstances.

[0054] In the embodiments of this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can mean that the first feature is in direct contact with the second feature, or that the first feature is in indirect contact with the second feature through an intermediate medium. Furthermore, "above," "on top of," and "over" the second feature can mean that the first feature is directly above or diagonally above the second feature, or simply that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature can mean that the first feature is directly below or diagonally below the second feature, or simply that the first feature is at a lower horizontal level than the second feature.

[0055] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., refer to specific features, structures, materials, or characteristics described in connection with that embodiment or example, which are included in at least one embodiment or example of the embodiments of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, without contradiction, those skilled in the art can combine and integrate the different embodiments or examples described in this specification, as well as the features of different embodiments or examples.

[0056] Figures 1-10 This is a schematic diagram of the motion control device for quick disassembly of interventional instruments provided by the present invention; see reference. Figures 1-10This invention provides a quick-disassembly interventional device motion control device, comprising:

[0057] The feeding assembly 1 is provided with a clamping mechanism for clamping the interventional instrument and a rotary drive mechanism 15 connected to the clamping mechanism. The rotary drive mechanism 15 is used to drive the clamping mechanism to rotate so as to drive the interventional instrument 4 to feed along the target direction.

[0058] The fixed component 2 is provided with a linear drive mechanism and a fixed bracket 21 for supporting the feed component 1. The linear drive mechanism is connected to the rotary drive mechanism 15 and provides a rotary drive force to the rotary drive mechanism 15. The fixed bracket 21 is connected to a clamping component 3, and the fixed bracket 21 and the clamping component 3 cooperate to clamp the feed component 1.

[0059] Specifically, the clamping component 3 is used to clamp the feed component 1 onto the fixed bracket 21 or to loosen the feed component 1 to complete disassembly.

[0060] Optionally, the clamping mechanism includes a first roller assembly 11 and a second roller assembly 12, which cooperate to clamp the interventional instrument 4 and drive the interventional instrument 4 to advance by friction; the first roller assembly 11 is connected to the rotary drive mechanism.

[0061] Specifically, both the first roller assembly 11 and the second roller assembly 12 are in contact with the interventional device 4. The first roller assembly 11 is the driving roller assembly, and the second roller assembly 12 is the driven roller assembly. When the first roller assembly 11 rotates, it drives the interventional device 4 to advance along the target direction through friction. The interventional device 4 drives the second roller assembly 12 to rotate through friction.

[0062] The fixed bracket 21 has an overall U-shaped cross-section, supporting both ends of the feeding assembly 1. The interventional instrument 4 passes through the feeding assembly 1 and is fed under the drive of the first roller assembly 11 and the second roller assembly 12. The first roller assembly 11 and the second roller assembly 12 also provide support and guidance for the interventional instrument 4.

[0063] Specifically, the number of clamping components 3 is at least one set, located at one end of the feeding component 1. In this embodiment, the number of clamping components 3 is two sets, ensuring that both ends of the feeding component 1 can be detached.

[0064] In other embodiments, the number of clamping components 3 can be a set, one end of the feeding component 1 can be a cylindrical structure, which can be inserted into the fixing component 2 or the interventional instrument 4 can pass through, and the other end of the feeding component 1 is provided on the fixing bracket 21 via the clamping component 3.

[0065] It is understandable that after a minimally invasive surgery or examination, both the interventional device 4 and the feeding component 1 are contaminated with bodily fluids. The interventional device 4 can be replaced by disassembling the feeding component 1. This embodiment of the invention, by setting a fixing component 2 and a clamping component 3, allows the feeding component 1 to be pressed against the fixing bracket 21 or released for disassembly, enabling rapid disassembly and simple operation. The fixing bracket 21 and the clamping component 3 work together to clamp the feeding component 1, facilitating rapid disassembly. The feeding component 1 is a passive structure (without a motor), and the drive source (linear drive mechanism) is located on the fixing component 2, reducing the size of the feeding component 1 and facilitating replacement with a new one. The feeding component 1 can also be disassembled and sterilized multiple times.

[0066] Based on the above embodiments, as a preferred embodiment, such as Figure 4 As shown, the feed assembly 1 further includes:

[0067] Feed mounting base 13, the first roller assembly 11 and the second roller assembly 12 are mounted on the feed mounting base 13;

[0068] The bearing housing 14 is fitted onto the feed mounting base 13, and the fixed bracket 21 forms a support step 211, on which the bearing housing 14 is disposed.

[0069] Optionally, the feed mounting base 13 provides support for the first roller assembly 11 and the second roller assembly 12. The number of sets of the first roller assembly 11 and the second roller assembly 12 can be two. Simultaneously setting two sets of the first roller assembly 11 and the second roller assembly 12 can improve the feed force on the interventional instrument 4, and at the same time, ensure that the bending degree of the interventional instrument 4 in this section is less than the target value.

[0070] Optionally, a support step 211 can be constructed to provide a support and mounting location for the feed assembly 1. When replacing the new interventional instrument 4 and the feed assembly 1, first open the two clamping components 3 on the fixing bracket 21, and then place the feed assembly 1 on the support step 211.

[0071] Specifically, the bearing housing 14 is located on the support step 211 and can be used to realize the rotation of the feed assembly 1 and the interventional instrument 4.

[0072] It is understood that the embodiments of this application, by setting the feed mounting base 13 and the bearing seat 14, can be used to realize the rotation of the feed assembly 1 and the interventional instrument 4, thereby improving flexibility while ensuring the stability of the feed assembly 1.

[0073] Based on the above embodiments, as a preferred embodiment, the feed component 1 further includes:

[0074] The rotary drive mechanism 15 is provided with a connector 151, a rack plate 152, and a guide part 153;

[0075] The feed mounting base 13 is provided with a first rotating shaft 131, a second rotating shaft 132, a third rotating shaft 133, a fourth rotating shaft 134 and a fifth rotating shaft 135; the rotation drive mechanism 15 is connected to the feed mounting base 13 and cooperates with the feed mounting base 13 to drive the first roller assembly 11 and the second roller assembly 12 to rotate.

[0076] The specific steps for coordinating the rotation of the first roller assembly 11 and the second roller assembly 12 are as follows: A second rotating shaft 132 is fitted outside the first rotating shaft 131 and can move up and down axially along the first rotating shaft 131 via a guide rail. A third rotating shaft 133 is fitted outside the second rotating shaft 132 and can move up and down axially along the second rotating shaft 132 via a guide rail. A first linear assembly 17 is provided with a first transmission pin 171 and a first positioning pin 172. The first linear assembly 17 is fitted outside the second rotating shaft 132, with one end away from the feed mounting seat 13 and rotatably connected to the second rotating shaft 132. A second transmission pin 181 and a second positioning pin 182 are fixedly mounted on the second linear assembly 18. The second linear assembly 18 is fitted outside the third rotating shaft 133, with one end away from the feed mounting seat 13 and rotatably connected to the third rotating shaft 133. A rack plate 152 is fixedly connected to one end of the second rotating shaft 132 via a connector 151, and the first linear assembly 17 can drive the rack plate 152 to move up and down. The guide part 153 is fixedly connected to one end of the third rotating shaft 133 via the first link assembly 157. The first link assembly 157 is used to drive the guide part 153 to move back and forth in the horizontal direction through the up and down movement of the third rotating shaft 133.

[0077] The gear pins 1541 are located on the side of the drive roller 154 away from the first drive gear 155 and are evenly distributed on a portion of the outer periphery of the drive roller 154. The rack 1521 meshes with the gear pins 1541 to realize the rotation and direction of the drive roller 154. When the drive roller 154 moves to the top or bottom of the rack plate 152, the left and right movement of the guide part 153, in conjunction with the up and down movement of the rack plate 152, realizes the direction and rotation of the drive roller 154.

[0078] The drive roller 154 is fixedly connected to the first drive gear 155, and the first roller assembly 11 is fixedly connected to the second drive gear 156. When the drive roller 154 rotates, the first roller assembly 11 rotates through the meshing of the first drive gear 155 and the second drive gear 156. The roller synchronizing wheel 158 is used to drive the other set of first roller assemblies to rotate through one set of first roller assemblies 11.

[0079] The clamping drive mechanism 19 can drive the second roller assembly 12 to move towards the first roller assembly 11 to clamp the interventional instrument and provide clamping force. Specifically, the fourth rotating shaft 134 is sleeved outside the fifth rotating shaft 135 and can move up and down along the axial direction of the fifth rotating shaft 153 via a guide rail. The third linear assembly 191 is provided with a third transmission pin 192 and a third positioning pin 193, and the third linear assembly 191 is rotatably connected to the fifth rotating shaft 135. The second connecting member 195 is fixedly connected to one end of the fifth rotating shaft via a second connecting rod assembly 194, and the third connecting member 196 is fixedly connected to the second roller assembly 12, with the second connecting member 195 in contact with the third connecting member 196. The second connecting rod assembly 194 is used to realize the forward and backward movement of the second connecting member 195 through the up and down movement of the fifth rotating shaft 135, and the movement direction of the second connecting member 195 is perpendicular to the axial direction of the fourth rotating shaft. The forward and backward movement of the second connector 195 drives the forward and backward movement of the second roller assembly 12. The second roller assembly 12 cooperates with the first roller assembly 11 to clamp the interventional instrument and provide clamping force.

[0080] Based on the above embodiments, as a preferred embodiment, the fixing component 2 further includes:

[0081] A rotary motor 22 is mounted on the fixed bracket 21 and meshes with the rotating gear 16 on the feed assembly 1 to drive the feed assembly 1 to rotate.

[0082] The gear on the rotary motor 22 meshes with the rotating gear 16 on the feed assembly 1. The rotary motor 22 can drive the feed assembly 1 to rotate. The gear meshing method facilitates the quick installation and disassembly of the assembly.

[0083] In this embodiment, the rotary motor 22 directly meshes with the rotary gear 16, eliminating the need for an intermediate driven wheel.

[0084] It is understood that, by setting a rotary motor 22, the present application embodiment can control the feeding component 1 to drive the interventional device 4 to rotate axially while the interventional device 4 is fed in the target direction, so as to adjust the feeding angle of the interventional device 4 in the human body, and facilitate the quick installation and disassembly of the disassembly component.

[0085] Based on the above embodiments, as a preferred embodiment, the fixing component 2 further includes:

[0086] A rotating gear 23 is mounted on a fixed bracket 21 to drive the rotating gear 16 to rotate; the rotating gear 23 meshes with the rotating gear 16 for easy disassembly.

[0087] Synchronous pulley 24 is mounted on the rotary motor 22 and the rotary gear 23, driving the rotary motor 22 and the rotary gear 23 to rotate synchronously.

[0088] Understandably, in this embodiment, the rotary motor 22 drives the rotary gear 23 to rotate via the synchronous pulley 24, and the rotary gear 23 drives the rotating gear 16 to rotate. By setting the synchronous pulley 24, the rotational speed of the rotating gear 16 can be adjusted. At the same time, while the interventional instrument 4 is being fed along the target direction, the feeding assembly 1 can be controlled to drive the interventional instrument 4 to rotate axially, so as to adjust the feeding angle of the interventional instrument 4 in the human body, and facilitate the quick installation and removal of the disassembly assembly.

[0089] Based on the above embodiments, as a preferred embodiment, such as Figure 6 As shown, the fixing component 2 further includes:

[0090] The first drive mechanism 25 includes a first linear motion mechanism 251 and a second linear motion mechanism 252. A first drive positioning part 2514 is fixedly installed on the first linear motion mechanism 251, and a second drive positioning part 2521 is fixedly installed on the second linear motion mechanism 252. Through a linkage mechanism, it drives the first roller assembly 11 to rotate around its axis. The first linear motion mechanism 251 and the second linear motion mechanism 252 respectively drive the first linear assembly 17 and the second linear assembly 18 to move up and down. The first linear assembly 17 drives the rack plate in the rotary drive mechanism to move up and down through a connecting member. The second linear assembly 18 drives the guide portion in the rotary drive mechanism to move left and right through a first linkage assembly. The rotation of the rollers is achieved through the up-and-down movement of the rack plate and the left-and-right movement of the guide portion, thus rotating the first roller assembly.

[0091] The first drive mechanism 25 provides driving force to the first roller assembly 11 to complete the feeding of the interventional instrument 4.

[0092] The second drive mechanism 27 includes a third linear motion mechanism 271. A third drive positioning component 272 is fixedly mounted on the third linear motion mechanism 271. Through the conversion of the linkage mechanism, it drives the second roller assembly 12 to move towards the first roller 11 to clamp the interventional device and provide clamping force. The third linear motion mechanism drives the third linear assembly to move up and down, and the second linkage assembly drives the second roller assembly to move towards the first roller assembly to clamp the interventional device and provide clamping force.

[0093] Optionally, the second linear motion mechanism 252 includes:

[0094] Linear motion mounting base 2511, linear screw motor 2512 mounted on the linear motion mounting base 2511, lead screw 2513 connected to the linear screw motor 2512, and drive positioning component 2514 mounted on the linear motion mounting base 2511;

[0095] The first linear motion mechanism 251 and the third linear motion mechanism 271 are the same as the second linear motion mechanism 252.

[0096] The transmission pins include a first transmission pin 171, a second transmission pin 181, and a third transmission pin 192. The first transmission pin 171 is inserted into the first drive positioning part 2514, the second transmission pin 181 is inserted into the second drive positioning part 2521, and the third transmission pin 192 is inserted into the third drive positioning part 272. When the feed assembly 1 is installed on the fixed assembly 2, the first drive positioning part 2514, driven by the first linear motion mechanism 251, drives the first transmission pin 171 to move up and down. The second drive positioning part 2521, driven by the second linear motion mechanism 252, enables the second transmission pin 181 to move up and down, and through the linkage mechanism, drives the first roller assembly 11 to rotate around the axis. The third drive positioning part 272, driven by the third linear motion mechanism 271, enables the third transmission pin 192 to move up and down. The second roller assembly 12 moves towards the first roller 11 to provide clamping force for the interventional instrument, thereby enabling the interventional instrument 4 to be fed along the target direction.

[0097] The first positioning pin 172 and the second positioning pin 182 are inserted into the first positioning fixture 253, and the third positioning pin 193 is inserted into the second positioning fixture 254. The initial positions of the first linear assembly 17, the second linear assembly 18, and the third linear assembly 191 can be positioned by the first positioning fixture 253 and the second positioning fixture 254. The positioning fixtures are disassembled after the transmission pins are inserted into their respective drive positioning parts.

[0098] Optionally, to improve the stability of the bearing housing 14, a first positioning V-groove 26 can be provided on the fixing component 2, and a positioning rod 141 and a second positioning V-groove 142 can be provided on the bearing housing 14. The first positioning V-groove 26 contacts the bearing housing 14 via the positioning rod 141, and the clamping component 3 applies pressure to the bearing housing 14 via the second positioning V-groove 142. The first positioning V-groove 26, the positioning rod 141, and the second positioning V-groove 142 cooperate to clamp the bearing housing 14.

[0099] It is understood that the embodiments of this application reduce costs by setting a drive mechanism that is separate from the feed mechanism, eliminating the need to replace the drive mechanism.

[0100] Based on the above embodiments, as a preferred embodiment, such as Figure 7 As shown, the clamping assembly 3 includes:

[0101] The first pressure claw mounting base 31 is provided on the fixed bracket 21;

[0102] The second pressure claw mounting base 32 is provided on the fixed bracket 21;

[0103] The pressure claw assembly 33 is hinged at one end to the first pressure claw mounting base 31 via a rotating shaft 37, and detachably connected at the other end to the second pressure claw mounting base 32.

[0104] Optionally, the clamping assembly 3 further includes:

[0105] A magnetic adsorption component 34 is provided on the first pressure claw mounting base 31 and the pressure claw assembly 33. The magnetic adsorption component 34 can ensure that the pressure claw assembly 33 is in the open state when the pressure assembly 3 is opened, and the pressure claw 331 cooperates with the slot 361 to lock it.

[0106] The push rod 35 passes through the pressure claw assembly 33 and provides clamping force to the feed assembly 1.

[0107] Specifically, the pressure claw assembly 33 includes a pressure claw 331 and a push rod mounting member 332 connected to the pressure claw 331. The push rod passes through the push rod mounting member 332, and a spring 351 is sleeved on the outer side of the push rod 35. The spring 351 provides clamping force for the clamping assembly 3. The push rod 35 can slide perpendicularly to the push rod mounting member 332, and when it cooperates with the second positioning V-groove 142, it can provide a positioning function for the feed assembly 1.

[0108] The pressure claw connector 36 is hinged to the second pressure claw mounting base 32 at its top, has a slot 361 on one side that engages with the pressure claw assembly 33, and an elastic element 362 on the other side that contacts the second pressure claw mounting base 32.

[0109] The pressure claw connector 36 is also provided with a handle 363. By rotating the handle 363, the pressure claw 331 can be unlocked. The elastic element 362 provides elastic force to the handle 363, limiting the rotation angle of the handle 363 and ensuring that the handle can be rotated back to the initial angle.

[0110] It is understandable that the clamping assembly with a detachable structure is designed for ease of operation and enables quick disassembly.

[0111] Based on the above embodiments, as a preferred embodiment, it further includes:

[0112] The robotic arm 5 is connected to the fixed component 2 and adjusts the placement angle and posture of the fixed component 2 and the feeding component 1.

[0113] The robotic arm 5 can also be converted into a multi-joint arm, which can support the fixing component 2 and the feeding component 1, and place the fixing component 2 and the feeding component 1 above the natural cavity of the human body for easy feeding.

[0114] In summary, the quick-disassembly interventional device motion control device provided by the present invention, by setting a fixing component and a clamping component, can press the feeding component onto the fixing bracket or release the feeding component to complete disassembly, thereby achieving quick disassembly and simple operation.

[0115] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A motion control device for quick-disassembly interventional instruments, characterized in that, include: The feeding assembly includes a clamping mechanism for holding an interventional instrument and a rotary drive mechanism connected to the clamping mechanism. The rotary drive mechanism drives the clamping mechanism to rotate, thereby driving the interventional instrument to feed along a target direction. The clamping mechanism includes a first roller assembly and a second roller assembly, which cooperate to clamp the interventional instrument. The first roller assembly is connected to the rotary drive mechanism. The fixed assembly includes a linear drive mechanism and a fixed bracket for supporting the feed assembly. The linear drive mechanism is connected to the rotary drive mechanism and provides a rotary drive force to the rotary drive mechanism. The fixed bracket is connected to a clamping assembly, and the fixed bracket and the clamping assembly cooperate to clamp the feed assembly. The feed assembly also includes a feed mounting base, a rotary drive mechanism, a first linear assembly, a second linear assembly, and a clamping drive mechanism; The feed mounting base is provided with a first rotating shaft, a second rotating shaft, a third rotating shaft, a fourth rotating shaft, and a fifth rotating shaft. The second rotating shaft is sleeved on the outside of the first rotating shaft and moves up and down in the axial direction of the first rotating shaft via a guide rail. The third rotating shaft is sleeved on the outside of the second rotating shaft and moves up and down in the axial direction of the second rotating shaft via a guide rail. The first linear assembly is sleeved on the outside of the second rotating shaft. The fourth rotating shaft is sleeved on the outside of the fifth rotating shaft and moves up and down in the axial direction of the fifth rotating shaft via a guide rail. The rotary drive mechanism includes a connector, a rack plate, a guide portion, a drive roller, a first drive gear, a second drive gear, and a first linkage assembly. The rack plate is fixedly connected to one end of a second rotating shaft via the connector. The guide portion is fixedly connected to one end of a third rotating shaft via the first linkage assembly. The first linkage assembly drives the guide portion to move back and forth in the horizontal direction via the up and down movement of the third rotating shaft. The drive roller is fixedly connected to the first drive gear, and the first roller assembly is fixedly connected to the second drive gear. The first drive gear and the second drive gear mesh. The clamping drive mechanism includes a third linear assembly, a second linkage assembly, and a second connecting member. The third linear assembly is rotatably connected to a fifth rotating shaft. The forward and backward movement of the second connecting member drives the forward and backward movement of the second roller assembly. The second connecting member is fixedly connected to one end of the fifth rotating shaft through the second linkage assembly. The second linkage assembly is used to realize the forward and backward movement of the second connecting member through the up and down movement of the fifth rotating shaft. The linear drive mechanism includes: The first driving mechanism includes a first linear motion mechanism and a second linear motion mechanism. The first linear motion mechanism and the second linear motion mechanism respectively drive the first linear component and the second linear component to move up and down. The first linear component drives the rack plate in the rotary driving mechanism to move up and down through a connecting member. The second linear component drives the guide part in the rotary driving mechanism to move left and right through a first connecting rod assembly. The up and down movement of the rack plate and the left and right movement of the guide part realize the rotation of the drive roller. The rotation of the drive roller realizes the rotation of the first roller assembly. The second drive mechanism is equipped with a third linear motion mechanism. The third linear motion mechanism drives the third linear component to move up and down, and drives the second roller assembly to move towards the first roller assembly through the second linkage assembly, so as to clamp the interventional instrument and provide clamping force.

2. The quick-disassembly interventional device motion control device according to claim 1, characterized in that, The fixing component also includes: A rotary motor is mounted on the fixed bracket and meshes with a rotating gear on the feed assembly to drive the feed assembly to rotate.

3. The quick-disassembly interventional device motion control device according to claim 2, characterized in that, The fixing component also includes: A rotating gear, mounted on a fixed support, is used to drive the rotating gear to rotate. A synchronizing pulley is mounted on the rotary motor and the rotary gear, driving the rotary motor and the rotary gear to rotate synchronously.

4. The quick-disassembly interventional device motion control device according to claim 1, characterized in that, A linear motion mechanism includes a linear motion mounting base, a linear screw motor mounted on the linear motion mounting base, a lead screw connected to the linear screw motor, and a drive positioning component mounted on the linear motion mounting base. The transmission pin includes a first transmission pin, a second transmission pin, and a third transmission pin. The first transmission pin is mounted on the first linear assembly and inserted into the first drive positioning part; the second transmission pin is mounted on the second linear assembly and inserted into the second drive positioning part; and the third transmission pin is mounted on the third linear assembly and inserted into the third drive positioning part.

5. The quick-disassembly interventional device motion control device according to claim 1, characterized in that, The clamping assembly includes: The first pressure claw mounting base is provided on the fixed bracket; The second pressure claw mounting base is provided on the fixed bracket; The pressure claw assembly has one end hinged to the first pressure claw mounting base and the other end detachably connected to the second pressure claw mounting base.

6. The quick-disassembly interventional device motion control device according to claim 5, characterized in that, The clamping assembly also includes: A magnetic adsorption element is provided on the first pressure claw mounting base and the pressure claw assembly.

7. The quick-disassembly interventional device motion control device according to claim 6, characterized in that, The clamping assembly also includes: The push rod passes through the pressure claw assembly and provides clamping force to the feed assembly.

8. The quick-disassembly interventional device motion control device according to claim 7, characterized in that, The clamping assembly also includes: The pressure claw connector is hinged at the top to the second pressure claw mounting base, has a slot on one side for engaging with the pressure claw assembly, and has an elastic element on the other side for contacting the second pressure claw mounting base.

9. The quick-disassembly interventional device motion control device according to claim 1, characterized in that, The feed assembly further includes: A bearing housing is fitted onto the feed mounting base, and the fixed bracket forms a support step, with the bearing housing disposed on the support step.

10. The quick-disassembly interventional device motion control device according to claim 1, characterized in that, Also includes: A drive component is connected to the fixed component to adjust the placement angle and orientation of the fixed component and the feed component.

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