Clamp for clamping and continuously rotating a catheter guide wire

Abstract

The application provides a clamp capable of clamping and continuously rotating a catheter guide wire, comprising a chuck device and a driving device; the chuck device is used for clamping a clamped member, and a chuck clamping button for switching an open state and a clamping state is arranged on the chuck device; the driving device comprises a clamping motor and a connecting rod mechanism, the clamping motor is in transmission connection with the connecting rod mechanism, and the connecting rod mechanism is in transmission connection with the chuck clamping button. The application provides power clamping of the catheter guide wire through a lead screw nut mechanism in the driving device, guarantees the reliability of clamping, separates the lead screw nut mechanism from the chuck device, thereby leaving space for continuous rotation of the chuck device, so as to realize continuous rotation of the catheter guide wire, and the application has the advantages of simple structure, separate operation of clamping action and rotating action, high clamping efficiency, sufficient continuity of rotating the catheter guide wire, simple overall operation, and greatly improved operability of the robot and surgical effect.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of interventional surgery robot, in particular to a clamp capable of clamping and continuously rotating a catheter guide wire. BACKGROUND

[0002] Clamping and rotating a catheter guide wire are two very basic and important actions of an interventional surgery robot, which directly affect the operability and surgery effect of the robot. Clamping the catheter guide wire is the basis of rotating the catheter guide wire.

[0003] Due to the requirement of sterilization, clamping the catheter guide wire and rotating the catheter guide wire are often biased, and it is difficult to perfectly balance the efficiency of the two. There are two main designs for clamping and rotating the catheter guide wire. One design is to directly clamp the catheter guide wire by a motor screw mechanism. The clamping efficiency of this way is high. However, in this design, the motor needs to be covered by a sterile protective sleeve bag, so that the angle of the clamp rotating the catheter guide wire is limited each time, and the continuity of rotating the catheter guide wire is not enough. The other design is to place the guide wire in a closed rotating guide wire box, and clamp and twist the guide wire to rotate by the friction wheel inside the box. In this design, the efficiency of rotating the guide wire is high, and the guide wire can be continuously rotated, but it is not very convenient to clamp the guide wire, and the guide wire model that can be clamped is very limited.

[0004] Therefore, the inventor believes that it is necessary to provide a clamp capable of clamping and continuously rotating a catheter guide wire, which clamps the catheter guide wire by a motor screw mechanism and can rotate the entire clamp head part to continuously rotate the catheter guide wire after clamping. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a clamp capable of clamping and continuously rotating a catheter guide wire.

[0006] According to the clamp capable of clamping and continuously rotating a catheter guide wire provided by the present application, the clamp head device is used to clamp the clamped part, and a clamp head clamping button for switching between an open state and a clamping state is arranged on the clamp head device. The driving device includes a clamping motor and a connecting rod mechanism, the clamping motor is in transmission connection with the connecting rod mechanism, and the connecting rod mechanism is in transmission connection with the clamp head clamping button.

[0007] Preferably, the clamped part includes a catheter and a guide wire with a diameter of less than 3 mm.

[0008] Preferably, a transmission gear box is further included, and the clamp head device and the driving device are both mounted on the transmission gear box. The clamp head device includes an open gear, and the open gear is in transmission connection with the transmission gear box.

[0009] Preferably, the driving device further comprises a clamping motor housing and a clamping motor base, the clamping motor is fixedly installed on the clamping motor base and arranged in the clamping motor housing, and the clamping motor housing is fixedly installed on the top of the transmission gear box.

[0010] Preferably, the output shaft of the clamping motor is a horizontally arranged clamping lead screw, a clamping nut is arranged on the clamping lead screw, the clamping lead screw is in transmission connection with the clamping nut, and the clamping nut can move left and right along the clamping lead screw.

[0011] Preferably, the head of the clamping lead screw is provided with a clamping lead screw head fixing frame, two parallel clamping guide rails are arranged between the clamping lead screw head fixing frame and the clamping motor base, and the clamping guide rails pass through the clamping nut.

[0012] Preferably, the connecting rod mechanism comprises a clamping push rod and a clamping transmission bent rod, two ends of the clamping push rod are fixedly connected with the clamping nut and the clamping transmission bent rod respectively, the clamping transmission bent rod is in L-shaped, a clamping transmission button is arranged at the lower end of the clamping transmission bent rod, and the clamping transmission button is in transmission connection with the clamping head clamping button.

[0013] Preferably, the clamping head device comprises a left clamping head part and a right clamping head part, the left clamping head part and the right clamping head part cooperate to clamp the clamped part, and the clamping head clamping button is arranged at one end of the left clamping head part away from the right clamping head part.

[0014] Preferably, the clamping head device comprises a self-locking structure for keeping the clamping or opening state.

[0015] Preferably, the manufacturing materials of the clamping head device and the transmission gear box are biocompatible materials, and the outside of the driving device is wrapped with a sterile protective sleeve bag.

[0016] Compared with the prior art, the present application has the following beneficial effects:

[0017] 1. The present application provides a clamping power clamping catheter guide wire through the lead screw nut mechanism in the driving device, ensures the reliability of clamping, separates the lead screw nut mechanism from the clamping head device, thereby leaving space for continuous rotation of the clamping head device to realize continuous rotation of the catheter guide wire, has simple structure, separate operation of clamping action and rotation action, high clamping efficiency, sufficient continuity of rotating catheter guide wire, simple overall operation, and greatly improved operability and surgical effect of the robot.

[0018] 2、The present application realizes the clamping of the chuck part and the opening of the chuck part by adopting the abutting cooperation of the clamping transmission button and the chuck clamping button, thereby simplifying the transmission connection structure between the driving device and the chuck device, and helping to improve the reliability and operability.

[0019] 3、The present application adopts the transmission cooperation of the lead screw and the nut in the driving device, which can ensure the stability of transmission and the operability of the robot. BRIEF DESCRIPTION OF DRAWINGS

[0020] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0021] Figure 1 It is a schematic diagram of the overall structure of the clamp which can clamp and continuously rotate the catheter guide wire;

[0022] Figure 2 It is a schematic diagram of the structure of the driving device;

[0023] Figure 3 It is a schematic diagram of the clamp which can clamp and continuously rotate the catheter guide wire when clamping;

[0024] Figure 4 It is a schematic diagram of the clamp which can clamp and continuously rotate the catheter guide wire when the driving device loosens and maintains the clamping state;

[0025] Figure 5 It is a schematic diagram of the clamp which can clamp and continuously rotate the catheter guide wire when starting to rotate

[0026] Figure 6 It is a schematic diagram of the clamp which can clamp and continuously rotate the catheter guide wire when continuously rotating.

[0027] In the drawings:

[0028] Chuck device 1 Left chuck part 12 Chuck clamping button 13

[0029] Right chuck part 14 Open gear 15 Transmission gear box 2

[0030] Clamping motor housing 3 Clamping motor 31 Clamping motor base 32

[0031] Clamping lead screw 33 Clamping guide rail 34 Clamping nut 35

[0032] Clamping lead screw head fixing frame 36 Clamping push rod 37 Clamping transmission elbow 41

[0033] Clamping transmission button 42 Clamped part 5 DETAILED DESCRIPTION

[0034] The application will be described in detail below with specific examples. The following examples will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the application. These are within the scope of protection of the application.

[0035] As shown in Figure 1 and 2 A clamp for clamping and continuously rotating a catheter guide wire is provided according to the application, comprising a chuck device 1, a transmission gear box 2, and a driving device, the chuck device 1 and the driving device are both mounted on the transmission gear box 2, and the transmission gear box 2 is in transmission connection with the chuck device 1; the chuck device 1 is used for clamping a clamped member 5, and the chuck device 1 is provided with a chuck clamping button 13 for switching between an open state and a clamping state; the driving device comprises a clamping motor 31 and a connecting rod mechanism, the clamping motor 31 and the connecting rod mechanism are in transmission connection, and the connecting rod mechanism is in transmission connection with the chuck clamping button 13.

[0036] The clamped member 5 in this application, i.e. the object that can be clamped, is various catheters and guide wires that meet the requirements, generally catheters and guide wires with a diameter of less than 3 mm, so many catheters and guide wires on the market can be used, and the size of the clamp and the shape of the chuck can also be changed as needed.

[0037] The driving device further comprises a clamping motor housing 3 and a clamping motor base 32, the clamping motor 31 is tightly mounted on the clamping motor base 32 and is arranged in the clamping motor housing 3, and the clamping motor housing 3 is tightly mounted on the top of the transmission gear box 2.

[0038] The clamping power is provided by the clamping motor 31, the output shaft of the clamping motor 31 is a horizontally arranged clamping lead screw 33, the clamping lead screw 33 is provided with a clamping nut 35, and the clamping lead screw 33 is in transmission connection with the clamping nut 35. The head of the clamping lead screw 33 is provided with a clamping lead screw head fixing frame 36, which holds the head of the clamping lead screw 33 and improves the load of the clamping lead screw 33 and reduces the shaking of the clamping lead screw 33. Two parallel clamping guide rails 34 are arranged between the clamping lead screw head fixing frame 36 and the clamping motor base 32, the clamping guide rails 34 pass through the clamping nut 35, the clamping nut 35 can move left and right in the horizontal direction along the clamping lead screw 33, the position of the clamping nut 35 is accurate when moving and does not shake obviously. The moving distance of the clamping nut 35 is about 20 mm.

[0039] The connecting rod mechanism includes a clamping push rod 37 and a clamping transmission bent rod 41, both ends of the clamping push rod 37 are fixedly connected with the clamping nut 35 and the clamping transmission bent rod 41 respectively; the clamping transmission bent rod 41 is L-shaped, and a clamping transmission button 42 is arranged at the lower end of the clamping transmission bent rod 41, and the clamping transmission button 42 is in transmission connection with the collet clamping button 13. The clamping motor 31 drives the clamping nut 35 to move left and right through the clamping lead screw 33, and drives the movement of the clamping transmission button 42 through the clamping push rod 37 and the clamping transmission bent rod 41. The movement of the collet transmission button 42 provides the power for the collet device 1 to clamp or release the catheter and the guide wire.

[0040] The collet device 1 includes a left collet part 12 and a right collet part 14, the left collet part 12 and the right collet part 14 cooperate to clamp the clamped member 5, and the collet clamping button 13 is arranged at one end of the left collet part 12 away from the right collet part 14. The movement distance of the collet clamping button 13 is about 16 mm, and when the collet device 1 is in an open state, the distance between the left collet part 12 and the right collet part 14 is greater than 8 mm.

[0041] The collet device 1 includes a self-locking structure for keeping the clamped or open state. The collet device 1 can realize self-locking through the internal mechanical structure, so as to keep the state of clamping or releasing the catheter and the guide wire as needed. The mechanical principle for realizing this function is not described in detail in the present application. Although the collet device 1 has the function of self-locking clamping the catheter and the guide wire, it is sterile itself, so it needs external power to help it switch between the two states of clamping and releasing the catheter and the guide wire. The present application mainly describes the transmission process of the clamping power.

[0042] The collet device 1 also includes an open gear 15 in transmission connection with the transmission gear box 2. The transmission gear box 2 can transmit rotary power to the collet device 1 in a sterile manner, and mesh with the open gear 15 on the collet device 1, and the specific structure is not shown in the present application. The collet device 1 and the transmission gear box 2 are both passive, so they need to be made of biocompatible materials and ensure their sterility.

[0043] The power input parts such as the clamping motor housing 3, the clamping push rod 37, the clamping transmission bent rod 41 and the clamping transmission button 42 are active, but their movements are very simple and the movement distance is very limited, so they can be wrapped with a sterile protective sleeve bag with a matching shape to meet the sterile requirement.

[0044] When the catheter guide wire is released by the collet device 1, the left collet part 12 is in the open state, and the collet clamping button 13 is at the leftmost position. On the other hand, the clamping nut 35 is at the leftmost position, which makes the clamping push rod 37 also at the leftmost position, and the clamping transmission bent rod 41 and the clamping transmission button 42 are also at the leftmost position. The clamping transmission button 42 is separated from the collet clamping button 79.

[0045] As shown in Figure 3 , when clamping is needed, the clamping motor 31 rotates to drive the clamping screw rod 33 to rotate, and the clamping nut 35 is pushed to move to the rightmost position, which makes the clamping push rod 37, the clamping transmission bent rod 41 move to the rightmost position, and the clamping transmission button 42 moves to the rightmost position. When the clamping transmission button 42 moves, it contacts the collet clamping button 13, pushes the left collet part 12 to move to the rightmost state, and pushes the right collet part 14 to move to the rightmost position, and the catheter guide wire is clamped. It should be noted that at this time, the collet transmission button 13 is in contact with and pressed by the collet device 1, so the collet device 1 cannot rotate.

[0046] As shown in Figure 4 , next, the clamping motor 31 reverses rotation, pushing the clamping nut 35 to move to the leftmost position, which makes the clamping push rod 37, the clamping transmission bent rod 41 move back to the leftmost position, and the clamping transmission button 42 also move back to the leftmost position. The clamping transmission button 42 is separated from the collet clamping button 13 and maintains a certain distance. Because the collet device 1 has a self-locking function, the left collet part 12 and the right collet part 14 are slightly left shifted by a small distance, but still maintain the state of clamping the catheter guide wire. In this case, the collet transmission button 42 is separated from the collet part, which prepares for rotating the collet device 1. Figure 3

[0047] As shown in Figure 5 , the power from the transmission gear box 2 makes the open gear 15 slightly rotate by a certain angle, drives the entire collet device 1 to rotate around its center of rotation by a small angle, and further helps the catheter guide wire to rotate by a small angle. The collet clamping button 13 may move to the leftmost position under the action of centrifugal force, but sufficient movement space makes it not interfere with the clamping transmission button 42.

[0048] As shown in Figure 6 , the entire collet device 1 can move to an arbitrary angle by driving the open gear 15. When the collet device 1 rotates, the clamping motor 31 does not work, and the clamping transmission button 42 can always be kept at the leftmost position.

[0049] ​The catheter guide wire can rotate at a uniform and fast speed by any angle, or even fast reverse rotation and back and forth twisting under the drive of the collet device 1. The rotation of the catheter guide wire is reliable as long as the clamping is reliable. This effect of the present application can increase the flexibility of the doctor operating the surgical robot.

[0050] Since the collet device 1 needs to be opened or clamped in the initial state, the rotation angle of the collet needs to be monitored in actual use, and the rotation of the clamping motor 31 and the movement of the clamping transmission button 42 can be strictly controlled when the collet rotation angle is near 0 degrees. An automatic program can be used to execute the clamping command after the collet device 1 is automatically returned to the horizontal position, to ensure the safety and convenience of the surgical operation.

[0051] In order to loosen the catheter guide wire, the collet device 1 still needs to be rotated to the horizontal initial position as shown. Figure 4 The clamping motor 31 is rotated to drive the clamping nut 35 and the clamping transmission button 42 to the rightmost position, and then the collet clamping button 13 is pressed again. Then, the clamping motor 31 is reversed to drive the clamping nut 35 and the clamping transmission button 42 to the leftmost position, and the left collet part 12 is switched from the self-locking clamping state to the open state. In this way, the catheter guide wire is loosened and can be conveniently taken out by the doctor.

[0052] In the device intervention surgery, the operation of rotating the catheter guide wire and the operation of clamping and loosening the catheter guide wire do not need to be performed at the same time, and the collet device 1 can be opened in the initial state. In fact, when the catheter guide wire moves to the blood vessel branch position, the catheter guide wire can be clamped to continuously rotate. When the catheter guide wire passes through the blood vessel branch, a smooth position can be selected to rotate the collet to the horizontal initial position to loosen the guide wire. These operations can be realized through a simple automatic program in the future, although some time is occupied, but it is an effective method.

[0053] The present application provides a clamped power clamping catheter guide wire through the screw nut mechanism in the driving device, ensures the reliability of clamping, and lays the foundation for rotating the catheter guide wire. When the catheter guide wire is rotated, the screw nut mechanism for clamping is disconnected from the transmission between the collet device 1, thereby leaving space for continuous rotation of the collet device 1 to realize continuous rotation of the catheter guide wire. The present application has simple structure, high clamping efficiency, separate clamping action and rotation action, sufficient continuity of rotating the catheter guide wire, simple overall operation, and greatly improved operability and surgical effect of the robot.

[0054] In the description of the present application, it should be understood that the terms "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like refer to the orientation or positional relationship shown in the drawings, and are only intended to facilitate the description of the present application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0055] The specific embodiments of the present application are described above. It should be understood that the present application is not limited to the above specific embodiments, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which do not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be arbitrarily combined with each other without conflict, provided that the combinations do not conflict.

Claims

1. A clamp that can grip and continuously rotate a catheter guide wire, characterized by, The utility model relates to a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment.

2. The catheter guide wire gripping and continuously rotating device according to claim 1, wherein The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment.

3. The catheter guide wire gripping and continuously rotating device according to claim 1, wherein The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment.

4. The gripper that can grip and continuously rotate the catheter guide wire according to claim 3, wherein, The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment.

5. The catheter guide wire gripping and continuously rotating device according to claim 1, wherein The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment.

6. The catheter guide wire gripping and continuously rotating device of claim 1, wherein, The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. The utility model discloses a drive device and a chuck device, and belongs to the field of medical equipment. 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