Continuously rotatable open gear wire guide and interventional surgical robot

Abstract

The application provides an open gear type guide wire clamp capable of continuous rotation in the technical field of interventional surgery robots, and an interventional surgery robot, which comprises a gear assembly, a connecting flange and a clamp head part, the gear assembly is connected to the clamp head part through the flange assembly, the gear assembly comprises an open driven gear, and the open driven gear is provided with an open sliding bearing; the open driven gear rotates around the open sliding bearing, the open sliding bearing drives the clamp head part to rotate, the clamp head part clamps a guide wire, the guide wire rotates, and the guide wire is installed or taken out through the open driven gear. Through the open gear structure, the guide wire is conveniently installed and taken out, the gear drives the guide wire to rotate, the open sliding bearing supports the open gear to rotate, the overall open type feature is maintained, one driving gear and two idler gears are used to drive the open gear, it is ensured that the driving gear can be transmitted to the terminal open gear through the idler gears at any angle position, and the function of continuously rotating the catheter guide wire for one whole circle is realized.

Description

Technical Field

[0001] This invention relates to the field of interventional surgical robot technology, specifically to a continuously rotatable open gear guidewire clamp and an interventional surgical robot. Background Technology

[0002] Rotating the catheter and guidewire in interventional surgery robots is a fundamental and important function that directly affects the quality and efficiency of the surgery.

[0003] Due to aseptic requirements, the rotation angle of the actuator is somewhat limited, and there are currently two main designs for rotating guidewires. One design involves clamping the guidewire with a clamp, then rotating the entire clamp via a motor, thus rotating the guidewire. However, this design limits the angle of rotation each time, requiring the assistance of a small clamp to achieve continuous rotation. The other existing design encloses the guidewire in a dedicated rotating guidewire box, using a pair of mutually pressing friction wheels to hold the guidewire in place. The guidewire rotates by the coordinated rotation of the two friction wheels. However, in this design, guidewire installation is not very convenient, and only specific guidewires can be rotated, resulting in poor versatility.

[0004] A search of existing technologies revealed Chinese invention patent publication number CN110801571A, which discloses a guidewire and catheter manipulation device for interventional embolization surgery. This device includes a guidewire and catheter advancement module, a guidewire and catheter rotation module, a retractable catheter mechanism, a movable angiography catheter locking mechanism, a guidewire force feedback module, and a control system. The guidewire and catheter advancement module comprises a guidewire feed end micro-precision screw module and a catheter feed end micro-precision screw module, and also includes a press-moving slider. The guidewire and catheter rotation module consists of a hollow rotating indexing plate and a guidewire and catheter locking device. The retractable catheter mechanism includes three sets of retractable catheters. The guidewire force feedback module includes a thin-film pressure sensor and a pressure acquisition card. The movable angiography catheter locking mechanism is located at the front of the catheter feed end micro-precision screw module. The control system is used to coordinate the operation of the advancement module and the rotation module. This patented technology suffers from the aforementioned related problems. Summary of the Invention

[0005] In view of the deficiencies in the prior art, the purpose of this invention is to provide a continuously rotatable open gear guide wire clamp and interventional surgical robot.

[0006] According to the present invention, a continuously rotatable open gear type wire guide clamp includes a gear assembly, a connecting flange, and a clamping part. The gear assembly is connected to the clamping part through the flange assembly. The gear assembly includes an open driven gear, and an open sliding bearing is provided on the open driven gear.

[0007] An open driven gear rotates around an open sliding bearing, which in turn drives the chuck to rotate. The chuck clamps the guide wire, which then rotates. The guide wire is installed or removed via the open driven gear.

[0008] Preferably, the open driven gear is provided with a fan-shaped opening, through which the guide wire is installed or removed;

[0009] The angle of the fan-shaped opening is 50-70°.

[0010] Preferably, the gear assembly further includes a drive gear, a left idler gear, and a right idler gear, wherein the drive gear meshes with the left idler gear and the right idler gear respectively, and the left idler gear and the right idler gear mesh with an open driven gear respectively;

[0011] The drive gear drives the left and right idler gears to rotate, and the left and right idler gears drive the open driven gear to rotate.

[0012] Preferably, the drive gear drives the left idler wheel and the right idler wheel to rotate simultaneously, and the left idler wheel and the right idler wheel simultaneously drive the open driven gear to rotate continuously.

[0013] Preferably, the open sliding bearing includes an open sliding bearing inner core, an open sliding bearing outer ring, and an open sliding bearing retaining ring. The open sliding bearing inner core is connected to the base, the open sliding bearing outer ring is connected to the open driven gear, the open sliding bearing outer ring is connected to the chuck portion via a connecting flange, and the open sliding bearing retaining ring is connected to the open sliding bearing inner core.

[0014] The open driven gear drives the outer ring of the open sliding bearing to rotate, and the outer ring of the open sliding bearing drives the chuck to rotate.

[0015] Preferably, the inner core, outer ring, and retaining ring of the open sliding bearing are all provided with fan-shaped openings.

[0016] Preferably, the open sliding bearing inner core and the open sliding bearing outer ring have bearing transition fillets on their fan-shaped openings;

[0017] When the outer ring of an open sliding bearing rotates, the inner core of the open sliding bearing smoothly moves in and out through the bearing transition fillet.

[0018] Preferably, a power input shaft is connected to the drive gear, and the power input shaft drives the drive gear to rotate relative to the base;

[0019] The left and right idler wheels are each equipped with an idler wheel shaft.

[0020] Preferably, it also includes a housing and a base, with the housing and base being fitted and connected together;

[0021] The drive gear is connected to the base via the power input shaft. The left and right idler wheels are connected to the base via idler wheel shafts. The outer casing and the base form a closed space, sealing the drive gear, left idler wheel, and right idler wheel inside the closed space.

[0022] The present invention also provides an interventional surgical robot, including a continuously rotatable open gear-type guidewire clamp.

[0023] Compared with the prior art, the present invention has the following beneficial effects:

[0024] (1) The present invention uses an open gear structure to facilitate the installation and removal of the guide wire, and the rotation of the gear drives the rotation of the guide wire; an open sliding bearing is used to support the rotation of the open gear, maintaining the open feature of the entire fixture.

[0025] (2) The present invention uses a mechanism of one driving gear and two idler gears to drive the open gear to rotate, ensuring that the rotation of the driving gear can be transmitted to the end open gear through the idler gear at any angle position, so as to realize the function of continuous full-circle rotation of the guide wire. Attached Figure Description

[0026] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings:

[0027] Figure 1 This is a schematic diagram of the structure of the present invention;

[0028] Figure 2 This is a diagram of the internal structure of the present invention;

[0029] Figure 3 This is a schematic diagram of the gear assembly in this invention;

[0030] Figure 4 This is a partial cross-sectional view of the present invention;

[0031] Figure 5 This is a schematic diagram of the operation of the present invention. Figure 1 ;

[0032] Figure 6 This is a schematic diagram of the operation of the present invention. Figure 2 ;

[0033] Figure 7 This is a simplified mechanical diagram of the four gears of the present invention.

[0034] Figure label:

[0035] 1. Drive gear; 2. Left idler gear; 3. Right idler gear; 4. Open driven gear; 5. Connecting flange; 6. Chuck assembly; 7. Open sliding bearing; 71. Open sliding bearing inner core; 72. Open sliding bearing outer ring; 73. Open sliding bearing retaining ring; 74. Bearing transition fillet; 8. Housing; 91. Power input shaft; 92. Idler gear shaft; 10. Guide wire; 11. Base. Detailed Implementation

[0036] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0037] Example 1

[0038] This invention provides a continuously rotatable open gear type wire clamp, such as... Figure 1-7 As shown, it includes a gear assembly, a connecting flange 5, and a chuck portion 6. The gear assembly is connected to the chuck portion 6 via the flange assembly 5.

[0039] The gear assembly also includes a drive gear 1, a left idler gear 2, a right idler gear 3, and an open driven gear 4. The drive gear 1 meshes with the left idler gear 2 and the right idler gear 3, respectively, and the left idler gear 2 and the right idler gear 3 mesh with the open driven gear 4. Preferably, the open driven gear 4 has a fan-shaped opening through which the guide wire 10 is installed or removed. Preferably, the angle of the fan-shaped opening is 60°. The open driven gear 4 is fixedly connected to an open sliding bearing 7, and the open driven gear 4 rotates around the open sliding bearing 7.

[0040] A power input shaft 91 is connected to the drive gear 1, which drives the drive gear 1 to rotate relative to the base 11. Idler wheels 2 and 3 are each equipped with an idler wheel shaft 92. The drive gear 1 is connected to the base 11 via the power input shaft 91, and the left and right idler wheels 2 and 3 are respectively connected to the base 11 via their idler wheel shafts 92. The outer casing 8 is fitted and connected to the base 11 to form a closed space, sealing the drive gear 1, left idler wheel 2, and right idler wheel 3 within this closed space.

[0041] Working principle: The drive gear 1 drives the left idler gear 2 and the right idler gear 3 to rotate simultaneously. The left idler gear 2 and the right idler gear 3 simultaneously drive the open driven gear 4 to rotate continuously. The open driven gear 4 rotates around the open sliding bearing 7. The open sliding bearing 7 drives the chuck part 6 to rotate. The chuck part 6 clamps the guide wire 10, and the guide wire 10 rotates. The guide wire 10 is installed or removed through the open driven gear 4.

[0042] When the chuck part 6 and the guide wire 10 rotate to Figure 6 In this state, drive gear 1 is still meshed with left idler gear 2 and right idler gear 3, and both left idler gear 2 and right idler gear 3 are meshed with open driven gear 4. At this time, open driven gear 4 is in a state similar to... Figure 2 In the overdrive state shown, the direction of rotation and speed of the open driven gear 4 remain consistent with the previous two states. However, compared to... Figure 2 The difference is that at this time, the chuck part 6 is relative to... Figure 2 The chuck has rotated half a turn, with the opening facing upwards. After a period of time, the chuck section 6 will switch to a state where the left idler wheel 2 is driven alone, similar to... Figure 5 The state of the right idler wheel 3 being pushed alone is similar, only the chuck positions are symmetrical. Therefore Figure 6 It is a transitional state.

[0043] pass Figure 2 , Figure 5 , Figure 6 The continuous switching between states enables the continuous rotation of the chuck section 6 and the guide wire 10, with the direction of rotation always consistent with the initial state, resulting in smooth rotation. Since the gear speed ratio is fixed, the speed of the chuck section 6 also remains constant when the speed of the drive gear 1 is constant, which is very helpful in controlling the speed of the guide wire.

[0044] More specifically, the left idler gear 2 and the right idler gear 3 are exactly the same size. The open driven gear 4 is not a complete cylindrical gear, but has a fan-shaped opening. The function of this fan-shaped opening is to make the rotated unit have an open structure, which facilitates the installation or removal of the guide wire 10.

[0045] When the drive gear 1 rotates, the left idler gear 2 and the right idler gear 3 are simultaneously driven by the drive gear 1 and begin to rotate in the same direction. The left idler gear 2 and the right idler gear 3 then simultaneously drive the open driven gear 4 to rotate, which in turn drives the guide wire 10 to rotate. Because the left idler gear 2 and the right idler gear 3 rotate in the same direction and at the same speed, the rotation of the open driven gear 4 is smooth and they do not jam. At this time, the presence of the left idler gear 2 and the right idler gear 3 is actually an overdrive for the open driven gear 4, but when the angle rotates to... Figure 5 The situation is different when the position shown is as indicated.

[0046] Figure 5 In the middle, the drive gear still meshes with the left idler gear 2 and the right idler gear 3, driving them to rotate. However, the left idler gear 2 is no longer meshed with the open driven gear 4. The right idler gear 3 will continue to drive the open driven gear 4 to rotate in the original direction, and the speed will remain the same as before.

[0047] First, the fan-shaped opening angle of the open driven gear 4 needs to be carefully considered. If the fan-shaped opening angle is too small, the installation and clamping of the guide wire 10 will be very difficult, which is not conducive to the doctor's operation. If the fan-shaped opening angle is too large, the meshing range will be limited, making it difficult to achieve a full rotation of the open gear 4. To achieve a full rotation, Figure 6 The scenario shown must be achievable. Based on this consideration, the fan-shaped opening angle in the illustration is set to 60 degrees.

[0048] Once the open driven gear 4 is selected, the placement of the drive gear 1 and the left idler gear 2 and right idler gear 3 also needs to meet special requirements. It should be noted that since the left idler gear 2 and right idler gear 3 need to mesh with the drive gear 1 and the open driven gear 4 simultaneously, these four gears are in an over-constrained state. In addition to meeting the general requirements for gear installation, the requirements for the meshing point also need to be met. Figure 7 A simplified mechanical diagram of four gears is presented. Let l1 be arc A1A2, l2 be arc A1MB1, and l3 be arc B1B2. Then, the tooth pitch p (where p = m * 3.14, and m is the gear module) must be an integer multiple of l1 + 2 * l2 + l3. Using this geometric relationship as a constraint, and in conjunction with the standard gear mounting conditions, the required geometric gear can be solved using a numerical program. For example, in the illustration, the radius of the driving gear is 25mm, the radii of the left and right idler gears are 20mm, and the radius of the open driven gear is 40mm. A usable engineering solution is found: h1 = 24.12mm, h2 = 46.44mm, and x = 37.99mm.

[0049] Example 2

[0050] This embodiment 2 is based on embodiment 1, and realizes the connection between the open driven gear 4 and the chuck part 6. Specifically:

[0051] The open sliding bearing 7 includes an inner core 71, an outer ring 72, and a retaining ring 73. The inner core 71 is fixedly connected to the base 11 and remains stationary. The outer ring 72 is fixedly connected to the driven gear 4 and rotates with the driven gear 4. The outer ring 72 is partially connected to the chuck portion 6 via a connecting flange 5. The retaining ring 73 is fixedly connected to the inner core 71 and serves as a constraint and limit, remaining stationary. The driven gear 4 drives the outer ring 72 to rotate, which in turn drives the connecting flange 5 to rotate, thereby causing the chuck portion 6 to rotate, enabling the chuck to function as a rotating guide wire.

[0052] Preferably, the inner core 71, outer ring 72, and retaining ring 73 of the open sliding bearing are all provided with fan-shaped openings of the same angle. Furthermore, the fan-shaped openings of the inner core 71 and outer ring 72 are provided with bearing transition fillets 74; when the outer ring 72 rotates, the inner core 71 smoothly moves in and out through the bearing transition fillets 74.

[0053] More specifically, Figure 4 In this invention, the inner core 71 of the open sliding bearing is fixed to the base 11, and the outer ring 72 of the open sliding bearing is fixed to the open driven gear 4 and the connecting flange 5. The contact surface between the two is the bearing grinding surface, which should be as smooth as possible and use a clearance fit. Both the inner core 71 and the outer ring 72 of the open sliding bearing have bearing transition fillets 74 at their openings to facilitate smooth entry and exit of the outer ring 72 into the inner core 71 during full rotation. The retaining ring 73 of the open bearing is fixed to the inner core 71, and a clearance fit should be used between the outer ring 72 and the retaining ring 73 to reduce sliding friction. The reason why a sliding bearing can be used in this invention is mainly based on two facts. First, the resistance of the rotating guide wire 10 is very small, only on the order of 0.1 Ncm, so a certain amount of friction can be allowed within the bearing, as long as it does not significantly affect the rotational performance of the guide wire 10. Second, when rotating the guidewire 10, although coaxiality is important, precision does not need to be extremely accurate. Even an error of a few millimeters will not affect the outcome of the surgery.

[0054] Example 3

[0055] The present invention also provides an interventional surgical robot, including a continuously rotatable open gear-type guidewire clamp.

[0056] During use, the overall structure of the continuously rotating open gear guide wire clamp must be kept sterile.

[0057] In the description of this application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this application.

[0058] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A continuously rotatable open toothed wire guide clip, characterized in that, It comprises a gear assembly, a connecting flange (5), a chuck part (6) and a base (11), the gear assembly connects the chuck part (6) through the connecting flange (5), the gear assembly comprises an open driven gear (4), and the open driven gear (4) is provided with an open sliding bearing (7); The open driven gear (4) rotates around the open sliding bearing (7), the open sliding bearing (7) drives the chuck part (6) to rotate, the chuck part (6) clamps a guide wire (10), the guide wire (10) rotates, and the guide wire (10) is installed or taken out through the open driven gear (4); The open driven gear (4) is provided with a sector opening, and the guide wire (10) is installed or taken out through the sector opening; The angle of the sector opening is 50-70°; The gear assembly further comprises a driving gear (1), a left idler (2) and a right idler (3), the driving gear (1) is engaged with the left idler (2) and the right idler (3) respectively, and the left idler (2) and the right idler (3) are engaged with the open driven gear (4) respectively; The driving gear (1) drives the left idler (2) and the right idler (3) to rotate simultaneously, and the left idler (2) and the right idler (3) simultaneously drive the open driven gear (4) to rotate continuously; The open sliding bearing (7) comprises an open sliding bearing inner core (71), an open sliding bearing outer ring (72) and an open sliding bearing retainer (73), the open sliding bearing inner core (71) is connected to the base (11), the open sliding bearing outer ring (72) is connected to the open driven gear (4), the open sliding bearing outer ring (72) is connected to the chuck part (6) through the connecting flange (5), and the open sliding bearing retainer (73) is connected to the open sliding bearing inner core (71), The open driven gear (4) drives the open sliding bearing outer ring (72) to rotate, and the open sliding bearing outer ring (72) drives the chuck part (6) to rotate.

2. The continuously rotatable, open-gear style guide wire clip of claim 1, wherein, The open sliding bearing inner core (71), the open sliding bearing outer ring (72) and the open sliding bearing retainer (73) are all provided with the sector opening.

3. The continuously rotatable, open-gear, guidewire clip of claim 1, wherein, The sector opening of the open sliding bearing inner core (71) and the open sliding bearing outer ring (72) is provided with a bearing transition fillet (74); When the open sliding bearing outer ring (72) rotates, the open sliding bearing inner core (71) is flexibly in and out through the bearing transition fillet (74).

4. The continuously rotatable, open-gear, guidewire clip of claim 1, wherein, The driving gear (1) is connected with a power input shaft (91), and the power input shaft (91) drives the driving gear (1) to rotate relative to the base (11); The left idler (2) and the right idler (3) are respectively provided with idler rotating shafts (92).

5. The continuously rotatable, open-gear, guidewire clip of claim 4, wherein, It further comprises an outer shell (8), and the outer shell (8) is adaptively connected with the base (11). The driving gear (1) is connected to the base (11) through the power input shaft (91), the left idler (2) and the right idler (3) are respectively connected to the base (11) through the idler rotating shaft (92), the shell (8) and the base (11) form a closed space, and the driving gear (1), the left idler (2) and the right idler (3) are sealedly connected inside the closed space.

6. An interventional procedure robot, characterized by An open gear wire guide that can be continuously rotated according to any one of claims 1-5.

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