Roller drive mechanism and interventional instrument motion control device

Abstract

The application relates to the technical field of medical devices, and provides a roller driving mechanism and an interventional device motion control device.The roller driving mechanism comprises a first driving wheel, a first driven wheel, a first driving wheel and a second driving wheel.The first driving wheel and the first driven wheel are respectively in contact with opposite sides of an interventional device, and the interventional device is clamped between the first driving wheel and the first driven wheel.The first driving wheel is fixedly connected with the first driving wheel, the second driving wheel is meshingly connected with the first driving wheel, the second driving wheel is used for driving the first driving wheel to rotate, the first driving wheel drives the first driving wheel to rotate, and the first driving wheel drives the interventional device to feed.The roller driving mechanism can avoid the problem that when the roller driving mechanism rotates, the motor synchronously rotates due to the fixed connection between the motor and the driving wheel in the roller driving mechanism, and the motor cable is wound.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a roller drive mechanism and a motion control device for interventional instruments. 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, they require a mechanism for axial feeding, known as the feeding drive mechanism.

[0003] Existing axial feed drive mechanisms typically employ linear drive mechanisms or roller drive mechanisms. When driven by a linear drive mechanism, the length of the linear drive mechanism determines the feed distance, thus limiting the feed distance. When driven by a roller drive mechanism, the linear motion of the linear drive mechanism can be converted into the rotational motion of the roller, infinitely extending the feed distance and overcoming the length limitation of the linear motion mechanism. However, the motor driving the roller rotation is usually installed together with the roller, forming part of the roller drive mechanism. When the roller drive mechanism is driven to rotate due to the need for the interventional instrument to rotate, the motor will rotate synchronously with the roller drive mechanism, causing the motor cable to become entangled. Summary of the Invention

[0004] This invention provides a roller drive mechanism and an interventional device motion control device to solve the problem in the prior art where the motor rotates synchronously with the roller drive mechanism, causing the cables on the motor to become tangled.

[0005] The first aspect of the present invention provides a roller drive mechanism, comprising:

[0006] First driving wheel, first driven wheel, first drive wheel, and second drive wheel;

[0007] The first driving wheel and the first driven wheel respectively contact the opposite sides of the interventional device and clamp the interventional device between the first driving wheel and the first driven wheel;

[0008] The first drive wheel is fixedly connected to the first drive wheel, and the second drive wheel is meshed with the first drive wheel. The second drive wheel is used to drive the first drive wheel to rotate, so that the first drive wheel drives the first drive wheel to rotate, and the first drive wheel drives the interventional instrument to advance.

[0009] In one embodiment, it further includes: a rotating roller, a gear pin, and a rack plate;

[0010] The rotating roller is fixedly connected to the second drive wheel;

[0011] The rack plate is provided with a hollow section, and straight racks are provided on the horizontally opposite sides of the hollow section;

[0012] The gear pins are disposed on the side of the rotating roller away from the second drive wheel and are distributed along a portion of the circumferential edge of the rotating roller;

[0013] The gear pin passes through the hollowed-out portion and meshes with the straight rack.

[0014] In one embodiment, it further includes: a guide plate;

[0015] The guide plate includes a fixing part;

[0016] The rack plate is provided with a horizontally extending first guide rail on the side near the second drive wheel, and the fixing part is slidably connected to the first guide rail, which can drive the guide plate to move horizontally.

[0017] In one embodiment, the guide plate further includes: a first guide portion, a second guide portion, a third guide portion, and a fourth guide portion;

[0018] The circumferential surface of the rotating roller is provided with a first groove and a second groove, and the first groove and the second groove are respectively located at the two ends of the arc segment formed by the gear pin;

[0019] The first guide portion and the second guide portion extend horizontally relative to each other, and are located on the same horizontal plane as the first groove and the second groove when the rotating roller rotates to the bottom of the rack;

[0020] The third guide portion and the fourth guide portion extend horizontally relative to each other, and are located on the same horizontal plane as the first groove and the second groove when the rotating roller rotates to the top of the rack;

[0021] The shape and size of the first guide portion and the third guide portion match the first groove, and the shape and size of the second guide portion and the fourth guide portion match the second groove.

[0022] In one embodiment, it further includes: a second guide rail and a guide rail connector;

[0023] The second guide rail extends vertically and is arranged parallel to the rack plate;

[0024] One end of the guide rail connector is fixedly connected to the side of the rack plate away from the second drive wheel, and the other end of the guide rail connector is slidably connected to the second guide rail, so that when the guide rail connector moves vertically along the second guide rail, it can drive the rack plate to move vertically.

[0025] In one embodiment, it further includes: a fixed plate, a second driving wheel, and a second driven wheel;

[0026] The first drive wheel and the second drive wheel are disposed opposite to each other on the fixed plate and are located on both sides of the fixed plate;

[0027] The first driven wheel and the second driven wheel are disposed opposite to each other on the fixed plate and are located on both sides of the fixed plate;

[0028] The fixed plate is provided with a through hole, the first driving wheel and the first driven wheel are respectively disposed on both sides of the through hole, and the second driving wheel and the second driven wheel are respectively disposed on both sides of the through hole, so that the interventional instrument can pass through the through hole and be clamped between the first driving wheel and the first driven wheel, and between the second driving wheel and the second driven wheel.

[0029] In one embodiment, it further includes: a first synchronous pulley, a second synchronous pulley, and a synchronous belt;

[0030] The first drive wheel, the first driving wheel, and the first synchronous wheel are coaxially and fixedly connected.

[0031] The second synchronizing pulley and the second driving pulley are coaxially and fixedly connected;

[0032] The fixing plate is provided with a notch, and the first synchronous wheel and the second synchronous wheel are located on both sides of the notch and are located on the same vertical plane;

[0033] The timing belt passes through the notch and is arranged around the outer circumference of the first timing pulley and the second timing pulley.

[0034] In one embodiment, it further includes: a tensioning wheel;

[0035] The tensioning wheel is mounted on the fixed plate;

[0036] The tensioning wheel is located on either side of the notch and is on the same vertical plane as the first synchronous wheel and the second synchronous wheel;

[0037] The timing belt passes through the notch and is arranged around the outer circumference of the first timing pulley, the second timing pulley, and the tensioning pulley.

[0038] In one embodiment, it further includes: a spring, a spring clamping member, and a first driven wheel mounting base;

[0039] The first driven wheel mounting base includes a mounting base base plate and a mounting base side plate;

[0040] The first driven wheel is mounted on the base plate of the mounting base;

[0041] A third guide rail is provided on the fixed plate. The mounting base plate and the spring clamping member are disposed on the third guide rail. The spring is disposed between the spring clamping member and the mounting base side plate. The spring clamping member can slide along the third guide rail and apply a force perpendicular to the feeding direction of the interventional device to the mounting base side plate through the spring, so that the first driven wheel moves closer to or further away from the first driving wheel, thereby adjusting the clamping force on the interventional device.

[0042] A second aspect of the present invention provides a motion control device for interventional instruments, including the roller drive mechanism described in any of the above claims.

[0043] The above-described one or more technical solutions in the embodiments of the present invention have at least one of the following technical effects:

[0044] The roller drive mechanism provided by this invention includes: a first driving wheel, a first driven wheel, a first drive wheel, and a second drive wheel. The first driving wheel and the first driven wheel respectively contact opposite sides of the interventional instrument, clamping the interventional instrument between the first driving wheel and the first driven wheel. The first drive wheel is fixedly connected to the first driving wheel, and the second drive wheel is meshed with the first drive wheel. The second drive wheel drives the first drive wheel to rotate, which in turn drives the first drive wheel to rotate, and the first driving wheel feeds the interventional instrument. This invention utilizes the drive wheel to drive the driving wheel to rotate, thereby feeding the interventional instrument. It eliminates the need for a motor to directly drive the driving wheel, avoiding the problem of motor cable entanglement caused by the fixed connection between the motor and the driving wheel in the roller drive mechanism during rotational motion.

[0045] Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. Attached Figure Description

[0046] 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.

[0047] Figure 1 This is one of the schematic diagrams of the roller drive mechanism provided in the embodiments of the present invention;

[0048] Figure 2 This is the second schematic diagram of the roller drive mechanism provided in the embodiment of the present invention;

[0049] Figure 3 This is one of the partial structural schematic diagrams of the roller drive mechanism provided in the embodiments of the present invention;

[0050] Figure 4 This is a second partial structural schematic diagram of the roller drive mechanism provided in an embodiment of the present invention;

[0051] Figure 5 This is the third partial structural schematic diagram of the roller drive mechanism provided in the embodiment of the present invention;

[0052] Figure 6 This is a schematic diagram of the roller drive mechanism provided in an embodiment of the present invention driving the rotating roller to rotate;

[0053] Figure 7 This is the fourth partial structural schematic diagram of the roller drive mechanism provided in the embodiments of the present invention.

[0054] Figure label:

[0055] 1-First driving wheel; 2-First driven wheel; 3-First drive wheel; 4-Second drive wheel; 5-Rotating roller; 51-First groove; 52-Second groove; 6-Gear pin; 7-Rack plate; 71-Hollowed part; 72-Straight rack; 73-First guide rail; 8-Guide plate; 81-First guide part; 82-Second guide part; 83-Third guide part; 84-Fourth guide part; 85-Fixing part; 9-Second guide rail; 10-Guide rail connector; 11-Fixing plate; 111-Through hole; 112-Notch; 113-Third guide rail; 12-Second driving wheel; 13-Second driven wheel; 14-First synchronous wheel; 15-Second synchronous wheel; 16-Tensioning wheel; 17-Spring; 18-Spring clamping part; 19-First driven wheel mounting seat; 191-Mounting seat base plate; 192-Mounting seat side plate. Detailed Implementation

[0056] 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.

[0057] 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.

[0058] 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.

[0059] 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.

[0060] 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.

[0061] Figure 1 This is one of the schematic diagrams of the roller drive mechanism provided in the embodiments of the present invention; Figure 2This is the second schematic diagram of the roller drive mechanism provided in the embodiment of the present invention; see reference. Figure 1 and Figure 2 The present invention provides a roller drive mechanism, comprising: a first driving wheel 1, a first driven wheel 2, a first driving wheel 3, and a second driving wheel 4;

[0062] The first driving wheel 1 and the first driven wheel 2 respectively contact the opposite sides of the interventional device and clamp the interventional device between the first driving wheel 1 and the first driven wheel 2;

[0063] The first drive wheel 3 is fixedly connected to the first drive wheel 1, and the second drive wheel 4 is meshed with the first drive wheel 3. The second drive wheel 4 is used to drive the first drive wheel 3 to rotate, so that the first drive wheel 3 drives the first drive wheel 1 to rotate, and the first drive wheel 1 drives the interventional instrument to advance.

[0064] The first driving wheel 1 can be fixedly connected to the first drive wheel 3 coaxially via a rotating shaft. When the second drive wheel 4 rotates, it drives the first drive wheel 3 to rotate, and the first drive wheel 3 drives the first driving wheel 1 to rotate synchronously. Since the interventional device is clamped between the first driving wheel 1 and the first driven wheel 2, the rotation of the first driving wheel 1 will drive the interventional device to feed, and the interventional device will drive the first driven wheel 2 to rotate, and the rotation direction of the first driven wheel 2 is opposite to that of the first driving wheel 1.

[0065] The roller drive mechanism provided in this embodiment includes: a first driving wheel, a first driven wheel, a first drive wheel, and a second drive wheel. The first driving wheel and the first driven wheel respectively contact opposite sides of the interventional device, clamping the interventional device between the first driving wheel and the first driven wheel. The first drive wheel is fixedly connected to the first driving wheel, and the second drive wheel is meshed with the first drive wheel. The second drive wheel drives the first drive wheel to rotate, which in turn drives the first drive wheel to rotate, and the first driving wheel feeds the interventional device. This embodiment utilizes the drive wheel to drive the driving wheel to rotate, thereby feeding the interventional device. It eliminates the need for a motor to directly drive the driving wheel, avoiding the problem of motor cable entanglement that can occur when the roller drive mechanism rotates synchronously due to the fixed connection between the motor and the driving wheel within the roller drive mechanism.

[0066] Figure 3 This is one of the partial structural schematic diagrams of the roller drive mechanism provided in the embodiments of the present invention; Figure 4 This is a second partial structural schematic diagram of the roller drive mechanism provided in an embodiment of the present invention; Figure 5 This is the third partial structural schematic diagram of the roller drive mechanism provided in this embodiment of the invention; see reference. Figure 1-5 In one embodiment, in order to drive the second drive wheel to rotate, a rotating roller 5, a gear pin 6, and a rack plate 7 may also be provided;

[0067] The rotating roller 5 is fixedly connected to the second drive wheel 4;

[0068] The rack plate 7 is provided with a hollow part 71, and straight racks 72 are provided on the horizontally opposite sides of the hollow part 71.

[0069] The gear pin 6 is located on the side of the rotating roller 5 away from the second drive wheel 4, and is distributed along a portion of the circumferential edge of the rotating roller 5;

[0070] The gear pin 6 passes through the hollow part 71 and meshes with the straight rack 72.

[0071] The rotating roller 5 can be fixedly connected to the second drive wheel 4 coaxially via a rotating shaft.

[0072] It should be noted that the gear pins 6 are not distributed along the circumference of the rotating roller 5, but only along a portion of the circumference. When the rack plate 7 moves vertically, the straight racks 72 on both sides of the hollowed-out portion 71 alternately mesh with the gear pins 6 and drive the rotating roller 5 to rotate, thereby driving the second drive wheel 4 to rotate. If the distribution of the gear pins 6 allows the straight racks 72 on both sides of the hollowed-out portion 71 to simultaneously contact and mesh with the gear pins 6, then when the rack plate 7 moves vertically, the straight racks 72 on both sides of the hollowed-out portion 71 will simultaneously apply a vertically upward or vertically downward force to the gear pins 6, causing the rotating roller 5 to be unable to rotate.

[0073] This embodiment, by setting a rack and a gear pin meshing with the rack, can drive the rotating roller to rotate when the rack plate moves vertically, thereby driving the second drive wheel to rotate.

[0074] Figure 6 This is a schematic diagram of the roller drive mechanism driving the rotating roller to rotate, provided in an embodiment of the present invention; see reference. Figure 1-6 In one embodiment, a guide plate 8 may also be provided to guide the rotating roller 5;

[0075] Guide plate 8 includes a fixing part 85;

[0076] A horizontally extending first guide rail 73 is provided on the side of the rack plate 7 near the second drive wheel 4. The fixing part 85 is slidably connected to the first guide rail 73, which can drive the guide plate 8 to move horizontally.

[0077] The guide plate 8 also includes: a first guide section 81, a second guide section 82, a third guide section 83, and a fourth guide section 84;

[0078] The circumferential surface of the rotating roller 5 is provided with a first groove 51 and a second groove 52, and the first groove 51 and the second groove 52 are respectively located at the two ends of the arc segment formed by the gear pin 6.

[0079] The first guide portion 81 and the second guide portion 82 extend horizontally relative to each other, and are located on the same horizontal plane as the first groove 51 and the second groove 52 when the rotating roller 5 rotates to the bottom of the rack 72;

[0080] The third guide portion 83 and the fourth guide portion 84 extend horizontally relative to each other, and are located on the same horizontal plane as the first groove 51 and the second groove 52 when the rotating roller 5 rotates to the top of the rack 72;

[0081] The shapes and dimensions of the first guide portion 81 and the third guide portion 83 are matched with the first groove 51, and the shapes and dimensions of the second guide portion 82 and the fourth guide portion 84 are matched with the second groove 52.

[0082] When the rack plate 7 moves vertically upward, it drives the gear pin 6 to move, which in turn drives the rotating roller 5 to move to the bottom of the rack 72. The first groove 51 and the second groove 52 of the rotating roller 5 are located on the same horizontal plane as the first guide part 81 and the second guide part 82. The guide plate 8 moves horizontally along the first guide rail 73, which allows the first guide part 81 to be embedded in the first groove 51 of the rotating roller 5 or the second guide part 82 to be embedded in the second groove 52 of the rotating roller.

[0083] When the first guide part 81 is inserted into the first groove 51 of the rotating roller 5, the rack plate 7 moves vertically downward. The first guide part 81 then applies a downward force to the rotating roller 5 through the first groove 51, causing the rotating roller 5 to rotate counterclockwise. This causes the gear pin 6 to mesh with the straight rack 72 on the same side of the first groove 51, and the rotating roller 5 to start rotating counterclockwise.

[0084] When the second guide portion 82 is inserted into the second groove 52 of the rotating roller 5, the rack plate 7 moves vertically downward. The second guide portion 82 then applies a downward force to the rotating roller 5 through the second groove 52, causing the rotating roller 5 to rotate clockwise. This causes the gear pin 6 to mesh with the straight rack 72 on the same side of the second groove 52, and the rotating roller 5 to start rotating clockwise.

[0085] When the rack plate 7 moves vertically downward, it drives the gear pin 6 to move, which in turn drives the rotating roller 5 to move to the top of the rack 72. The first groove 51 and the second groove 52 of the rotating roller 5 are on the same horizontal plane as the third guide part 83 and the fourth guide part 84. The guide plate 8 moves horizontally along the first guide rail 73, so that the third guide part 83 can be embedded in the first groove 51 of the rotating roller 5 or the fourth guide part 84 can be embedded in the second groove 52 of the rotating roller 5.

[0086] When the third guide part 83 is inserted into the first groove 51 of the rotating roller 5, the rack plate 7 moves vertically upward. The third guide part 83 then applies an upward force to the rotating roller 5 through the first groove 51, causing the rotating roller 5 to rotate counterclockwise. This causes the gear pin 6 to mesh with the straight rack 72 on the same side of the first groove 51, and the rotating roller 5 to start rotating counterclockwise.

[0087] When the fourth guide part 84 is inserted into the second groove 52 of the rotating roller 5, the rack plate 7 moves vertically upward. The fourth guide part 84 then applies an upward force to the rotating roller 5 through the second groove 52, causing the rotating roller 5 to rotate clockwise. This causes the gear pin 6 to mesh with the straight rack 72 on the same side of the second groove 52, and the rotating roller 5 to start rotating clockwise.

[0088] It should be noted that in this embodiment, both clockwise and counterclockwise directions are based on... Figure 2 and Figure 4 For reference only.

[0089] Furthermore, the following references Figure 6 To describe the specific process of rotating and rolling one revolution, it should be noted that, due to... Figure 6 This is a rear view, therefore in Figure 6 The clockwise direction of the rotating roller 5 shown in the image is the counterclockwise direction described in this example. Figure 6 The counterclockwise direction shown is the same as the clockwise direction described in this embodiment. In the following detailed process description, the clockwise and counterclockwise directions in this example will still be used as the reference, that is, the directions described below are the same as... Figure 6 The display direction is reversed.

[0090] When the rotating roller 5 is at the bottom of the rack 72, the sliding guide plate 8 inserts the second guide part 82 into the second groove 52 of the rotating roller 5, controlling the rack plate 7 to move vertically downward. The second guide part 82 applies a downward force to the rotating roller 5 through the second groove 52, causing the rotating roller 5 to rotate clockwise. This causes the gear pin 6 to mesh with the rack 72 on the same side of the second groove 52, starting to drive the rotating roller 5 to rotate clockwise until the rotating roller 5 rotates half a turn and is at the top of the rack 72. At this time, the sliding guide plate 8 then inserts the fourth guide part 8... 4. The second groove 52 of the rotating roller 5 is embedded, controlling the rack plate 7 to move vertically upward. The fourth guide part 84 applies an upward force to the rotating roller 5 through the second groove 52, causing the rotating roller 5 to continue rotating clockwise. This causes the gear pin 6 to mesh with the straight rack 72 on the same side of the second groove 52, starting to drive the rotating roller 5 to continue rotating clockwise until the rotating roller 5 rotates half a turn and is located at the bottom of the straight rack 72. At this point, the rotating roller 5 has completed one clockwise rotation. The counterclockwise rotation of the rotating roller 5 is carried out in the same way, which will not be described in detail here.

[0091] It should be noted that when the rotating roller 5 rotates clockwise or counterclockwise to the middle position of the length of the rack 72, if it is necessary to change the direction of rotation, it can be achieved directly by the reverse movement of the rack plate 7. It is not necessary to adjust the direction of rotation when the rotating roller 5 rotates to the bottom or top of the rack 72, thus meeting the requirement of adjusting the feed direction at any time during the feeding of interventional instruments.

[0092] This embodiment provides a horizontally sliding guide plate with guide parts that match the first and second grooves of the rotating roller. When the rotating roller rotates to the top or bottom of the rack, the guide parts and grooves work together to guide the rotation direction of the rotating roller, causing the rack and the rotating gear to mesh and complete the rotation of the rotating roller.

[0093] See Figure 1 and Figure 3 In one embodiment, in order to drive the rack plate 7 to move in the vertical direction, a second guide rail 9 and a guide rail connector 10 may also be provided;

[0094] The second guide rail 9 extends vertically and is set parallel to the rack plate 7;

[0095] One end of the guide rail connector 10 is fixedly connected to the side of the rack plate 7 away from the second drive wheel 4, and the other end of the guide rail connector 10 is slidably connected to the second guide rail 9, so that when the guide rail connector 10 moves vertically along the second guide rail 9, it can drive the rack plate 7 to move vertically.

[0096] In this embodiment, a second guide rail is set that extends vertically and is parallel to the rack plate. The second guide rail is connected to the rack plate using a guide rail connector, so that the rack plate can move in the extension direction of the second guide rail, that is, it can move in the vertical direction.

[0097] Optionally, the number of driving wheels and driven wheels used in conjunction can be one set, two sets or more sets. The following describes the case where the number of driving wheels and driven wheels is two sets.

[0098] See Figure 1 and Figure 2 In one embodiment, in order to increase the driving force and clamping force, a fixed plate 11, a second driving wheel 12 and a second driven wheel 13 may also be provided;

[0099] The first drive wheel 1 and the second drive wheel 12 are disposed opposite each other on the fixed plate 11 and are located on both sides of the fixed plate 11;

[0100] The first driven wheel 2 and the second driven wheel 13 are disposed opposite each other on the fixed plate 11 and are located on both sides of the fixed plate 11;

[0101] The fixed plate 11 is provided with a through hole 111. The first driving wheel 1 and the first driven wheel 2 are respectively provided on both sides of the through hole 111. The second driving wheel 12 and the second driven wheel 13 are respectively provided on both sides of the through hole 111, so that the interventional instrument can pass through the through hole 111 and be clamped between the first driving wheel 1 and the first driven wheel 2, and between the second driving wheel 12 and the second driven wheel 13.

[0102] When the first driving wheel 1 is driven to rotate, the interventional device is fed by force. At the same time, the first driven wheel 2, the second driving wheel 12, and the second driven wheel 13 are all rotated by force due to the feeding of the interventional device. The second driving wheel 12 rotates in the same direction as the first driving wheel 1, and the second driven wheel 13 rotates in the same direction as the first driven wheel 2, but in the opposite direction to the rotation of the first driving wheel 1 and the second driving wheel 12.

[0103] Furthermore, the addition of a second driving wheel 12 and a second driven wheel 13 provides the interventional device with an additional clamping part, resulting in a more secure clamping.

[0104] This embodiment increases the driving force and clamping force for feeding the interventional device by adding a second driving wheel and a second driven wheel, which enables the interventional device to be fed more stably.

[0105] See Figure 1 and Figure 2 In one embodiment, in order to further provide a stable driving force for the feeding of the interventional device, a first synchronous pulley 14, a second synchronous pulley 15 and a synchronous belt may also be provided;

[0106] The first drive wheel 3, the first driving wheel 1, and the first synchronous wheel 14 are coaxially and fixedly connected.

[0107] The second synchronous pulley 15 and the second driving pulley 12 are coaxially and fixedly connected;

[0108] The fixing plate 11 is provided with a notch 112, the first synchronous wheel 14 and the second synchronous wheel 15 are located on both sides of the notch 112 and the first synchronous wheel 14 and the second synchronous wheel 15 are located on the same vertical plane;

[0109] The timing belt passes through the notch and is arranged around the outer circumference of the first timing pulley 14 and the second timing pulley 15.

[0110] In this embodiment, the first and second synchronous pulleys are wrapped around the inner side of the synchronous belt. When the first drive pulley rotates, the first synchronous pulley can drive the second synchronous pulley to rotate synchronously through the synchronous belt. The second synchronous pulley then drives the second drive pulley to rotate synchronously, thereby achieving synchronous rotation of the first and second drive pulleys and increasing the driving force for the interventional device.

[0111] See Figure 1 and Figure 2 In one embodiment, a tensioning pulley 16 may also be provided to make the timing belt tighter;

[0112] The tensioning wheel 16 is mounted on the fixed plate 11;

[0113] The tensioning pulley 16 is located on either side of the notch 112 and is on the same vertical plane as the first synchronous pulley 14 and the second synchronous pulley 15;

[0114] The timing belt passes through the notch and is arranged around the outer circumference of the first timing pulley 14, the second timing pulley 15 and the tension pulley 16.

[0115] In this embodiment, by simultaneously placing the first synchronous pulley, the second synchronous pulley, and the tensioning pulley inside the same synchronous belt, the tensioning pulley applies additional support force to the synchronous belt, thereby tensioning the synchronous belt. This causes the synchronous belt to apply greater pressure to the first and second synchronous pulleys, resulting in better synchronization between the first and second driving pulleys.

[0116] Figure 7 This is the fourth partial structural schematic diagram of the roller drive mechanism provided in this embodiment of the invention; see also Figure 2 and Figure 7 In one embodiment, in order to adjust the clamping force of the first driving wheel 1 and the first driven wheel 2 on the interventional device, a spring 17, a spring clamping member 18, and a first driven wheel mounting seat 19 may also be provided;

[0117] The first driven wheel mounting base 19 includes a mounting base base plate 191 and a mounting base side plate 192;

[0118] The first driven wheel 2 is mounted on the base plate 191 of the mounting base;

[0119] A third guide rail 113 is provided on the fixed plate 11. The mounting base plate 191 and the spring clamping member 18 are provided on the third guide rail 113. The spring 17 is provided between the spring clamping member 18 and the mounting base side plate 192. The spring clamping member 18 can slide along the third guide rail 113 and apply a force perpendicular to the feeding direction of the interventional device to the mounting base side plate 192 through the spring 17, so that the first driven wheel 2 moves closer to or further away from the first driving wheel 1, thereby adjusting the clamping force on the interventional device.

[0120] This embodiment provides a spring and a spring clamping member on the side of the first driven wheel away from the first driving wheel. The spring clamping member can slide closer to or further away from the first driven wheel on the third guide rail, thereby compressing or relaxing the spring between the spring clamping member and the mounting base side plate of the first driven wheel. This pushes or pulls the mounting base bottom plate of the first driven wheel on the third guide rail toward or away from the first driving wheel, thus adjusting the distance between the first driving wheel and the first driven wheel, and consequently adjusting the clamping force of the interventional device.

[0121] In one embodiment, an interventional device motion control device is also provided, including the roller drive mechanism of the above embodiments, so that the interventional device motion control device has all the beneficial effects of the above embodiments, which will not be repeated here.

[0122] 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 roller drive mechanism, characterized in that, include: The components include a first driving wheel, a first driven wheel, a first drive wheel, a second drive wheel, a rotating roller, a gear pin, a rack plate, and a guide plate. The first driving wheel and the first driven wheel respectively contact the opposite sides of the interventional device and clamp the interventional device between the first driving wheel and the first driven wheel; The first drive wheel is fixedly connected to the first drive wheel, and the second drive wheel is meshed with the first drive wheel. The second drive wheel is used to drive the first drive wheel to rotate, so that the first drive wheel drives the first drive wheel to rotate, and the first drive wheel drives the interventional instrument to advance. The rotating roller is fixedly connected to the second drive wheel; The rack plate is provided with a hollow section, and straight racks are provided on the horizontally opposite sides of the hollow section; The gear pins are disposed on the side of the rotating roller away from the second drive wheel and are distributed along a portion of the circumferential edge of the rotating roller; The gear pin passes through the hollowed-out portion and meshes with the straight rack; The guide plate includes a fixing part; The rack plate is provided with a horizontally extending first guide rail on the side near the second drive wheel, and the fixing part is slidably connected to the first guide rail, which can drive the guide plate to move horizontally; The guide plate further includes: a first guide section, a second guide section, a third guide section, and a fourth guide section; The circumferential surface of the rotating roller is provided with a first groove and a second groove, and the first groove and the second groove are respectively located at the two ends of the arc segment formed by the gear pin; The first guide portion and the second guide portion extend horizontally relative to each other, and are located on the same horizontal plane as the first groove and the second groove when the rotating roller rotates to the bottom of the rack; The third guide portion and the fourth guide portion extend horizontally relative to each other, and are located on the same horizontal plane as the first groove and the second groove when the rotating roller rotates to the top of the rack; The shape and size of the first guide portion and the third guide portion match the first groove, and the shape and size of the second guide portion and the fourth guide portion match the second groove.

2. The roller drive mechanism according to claim 1, characterized in that, Also includes: Second guide rail and guide rail connector; The second guide rail extends vertically and is arranged parallel to the rack plate; One end of the guide rail connector is fixedly connected to the side of the rack plate away from the second drive wheel, and the other end of the guide rail connector is slidably connected to the second guide rail, so that when the guide rail connector moves vertically along the second guide rail, it can drive the rack plate to move vertically.

3. The roller drive mechanism according to claim 1, characterized in that, Also includes: Fixed plate, second driving wheel and second driven wheel; The first drive wheel and the second drive wheel are disposed opposite to each other on the fixed plate and are located on both sides of the fixed plate; The first driven wheel and the second driven wheel are disposed opposite to each other on the fixed plate and are located on both sides of the fixed plate; The fixed plate is provided with a through hole, the first driving wheel and the first driven wheel are respectively disposed on both sides of the through hole, and the second driving wheel and the second driven wheel are respectively disposed on both sides of the through hole, so that the interventional instrument can pass through the through hole and be clamped between the first driving wheel and the first driven wheel, and between the second driving wheel and the second driven wheel.

4. The roller drive mechanism according to claim 3, characterized in that, Also includes: First synchronous pulley, second synchronous pulley, and synchronous belt; The first drive wheel, the first driving wheel, and the first synchronous wheel are coaxially and fixedly connected. The second synchronizing pulley and the second driving pulley are coaxially and fixedly connected; The fixing plate is provided with a notch, and the first synchronous wheel and the second synchronous wheel are located on both sides of the notch and are located on the same vertical plane; The timing belt passes through the notch and is arranged around the outer circumference of the first timing pulley and the second timing pulley.

5. The roller drive mechanism according to claim 4, characterized in that, Also includes: Tensioner wheel; The tensioning wheel is mounted on the fixed plate; The tensioning wheel is located on either side of the notch and is on the same vertical plane as the first synchronous wheel and the second synchronous wheel; The timing belt passes through the notch and is arranged around the outer circumference of the first timing pulley, the second timing pulley, and the tensioning pulley.

6. The roller drive mechanism according to claim 3, characterized in that, Also includes: Spring, spring clamping element, first driven wheel mounting base; The first driven wheel mounting base includes a mounting base base plate and a mounting base side plate; The first driven wheel is mounted on the base plate of the mounting base; A third guide rail is provided on the fixed plate. The mounting base plate and the spring clamping member are disposed on the third guide rail. The spring is disposed between the spring clamping member and the mounting base side plate. The spring clamping member can slide along the third guide rail and apply a force perpendicular to the feeding direction of the interventional device to the mounting base side plate through the spring, so that the first driven wheel moves closer to or further away from the first driving wheel, thereby adjusting the clamping force on the interventional device.

7. A motion control device for interventional instruments, characterized in that, Includes the roller drive mechanism as described in any one of claims 1-6.

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