Minimally invasive vascular intervention catheter rotation propulsion device

Abstract

The present invention discloses a minimally invasive vascular intervention catheter rotation propulsion device, including a base plate assembly connected to a positioning mechanical arm, and an outer protective shell is arranged at the upper middle position of the base plate assembly; connecting columns are installed on both sides of the outer protective shell by screws, and the outer end of the connecting column on the left side of the outer protective shell is connected to the penetration frame; the outer end of the connecting column on the right side of the outer protective shell is connected to the penetration frame. In the minimally invasive vascular intervention catheter rotation propulsion device, when two groups of clamping assemblies are simultaneously moved to separate from the adjustment plate, at this time, the two groups of clamping assemblies do not clamp the catheter, so if it is necessary to release the clamping of the clamping assembly on the catheter, it is only necessary to control the moving position of the two groups of clamping assemblies by rotating the chain plate conveying mechanism. The operation is convenient, time-saving and labor-saving. The two groups of clamping assemblies can continuously propel the clamped catheter, and the catheter can be well moved to a deeper designated position without repeated operations.

Description

Technical Field

[0001] The present invention relates to the technical field of vascular surgical intervention, and in particular to a minimally invasive vascular intervention catheter rotation propulsion device. Background Art

[0002] Vascular surgery interventional surgery is to puncture the blood vessels and then push the guide wire, catheter and other instruments into the blood vessels through a rotary propulsion device for minimally invasive treatment. Currently, the rotary propulsion device is used instead of manually pushing the catheter, which not only reduces the workload of doctors but also reduces surgical risks. Therefore, the use of the rotary propulsion device is particularly important for minimally invasive vascular interventional surgery.

[0003] 1. The patent name disclosed in the prior art with the announcement number "CN110151310B" is "A minimally invasive vascular interventional surgery robot catheter / guidewire rotation propulsion device", which discloses that the catheter is first inserted into the eccentric through hole of the clamping rod, and the eccentric wheel is driven to rotate by starting the opening and closing motor, thereby pushing the clamping end cover push block forward, compressing the opening and closing spring, so that the cover of the clamping end cover is separated from the end of the clamping rod, and the catheter can move freely forward and backward; when the catheter extends a certain length from the front end of the clamping rod, the opening and closing motor is started again to drive the eccentric wheel to rotate, so that the opening and closing spring is opened backward, and the clamping end cover is pressed against the front end of the clamping rod. Since the eccentric through hole through which the catheter passes is not concentric with the end cover through hole, the catheter is pressed, and the catheter cannot rotate and move freely in the eccentric through hole at this time. If the catheter needs to be rotated, the rotating motor 7 is started, and the driven friction wheel is driven by the active friction wheel to drive the clamping rod to rotate, thereby realizing the rotation of the catheter. If the catheter needs to be pushed forward or backward, the moving motor is started, and the screw rod on the synchronous belt fixing plate is driven forward and backward through the synchronous belt. The guide wire is passed through the catheter and finally passed out from the front end of the catheter for surgery;

[0004] The rotary propulsion device mentioned above starts the opening and closing motor to drive the eccentric wheel to rotate, so that the opening and closing spring is opened backward, and the wire clamping end cover is pressed against the front end of the wire clamping rod. Since the eccentric through hole through which the catheter passes is not concentric with the through hole of the end cover, the catheter is pressed. Clamping the catheter by the clamping mechanism mentioned above is not only complicated in structure and cumbersome in operation, but also needs to control the clamping mechanism again when the catheter does not need to be clamped, so the operation is cumbersome and inconvenient for the use of the rotary propulsion device.

[0005] 2. The patent name disclosed in the prior art with the announcement number "CN109821138B" is "A catheter and guidewire propulsion mechanism for a minimally invasive vascular interventional surgery robot". If each displacement mechanism fails to move the catheter and the guidewire to the specified position after one stroke, at this time, the cam rotary motor of the fine-tuning device rotates clockwise, and the protruding part of the cam presses the driven roller bracket, pushing the driven roller bracket to move toward the active roller bracket, and the tension spring is correspondingly stretched, and the driven roller presses against the active roller and reduces the groove gap between the active roller and the driven roller, so as to achieve the clamping of the catheter and the guidewire; The tube displacement mechanism, the guide wire displacement mechanism and the platform displacement mechanism all move in the opposite direction, and drive the catheter clamping and twisting device and the guide wire clamping and twisting device to move to the initial position (at this time, because the catheter and the guide wire are clamped on the fine-tuning device, the reverse movement of each displacement mechanism will not drive the catheter and the guide wire to move in the opposite direction), and the cam rotating motor of the fine-tuning device rotates counterclockwise again, so that the driven roller moves away from the active roller and increases the groove gap between the active roller and the driven roller; the catheter displacement mechanism, the guide wire displacement mechanism and the platform displacement mechanism all repeat the above operation until the catheter and the guide wire move to the designated position of the cardiovascular system;

[0006] The above-mentioned propulsion mechanism propels the catheter to the designated cardiovascular position by moving the guidewire displacement mechanism and the platform displacement mechanism left and right. Since the length of the entire propulsion device is fixed, each displacement mechanism cannot move the catheter to the designated position in one stroke, and repeated operations are required, which is troublesome to operate and inconvenient to continuously rotate and propel the catheter.

[0007] Therefore, we propose a minimally invasive vascular intervention catheter rotation propulsion device to solve the above-mentioned problems. Summary of the invention

[0008] The purpose of the present invention is to provide a minimally invasive vascular intervention catheter rotation propulsion device to solve the problem raised by the above-mentioned background technology that in the current market, when there is no need to clamp the catheter, the clamping mechanism needs to be controlled again to make the clamping mechanism disengage from the clamping of the catheter. Therefore, the operation is cumbersome and inconvenient to use the rotation propulsion device. Since the length of the entire propulsion device is fixed, each displacement mechanism cannot move the catheter to the specified position in one stroke, and repeated operation is required. Therefore, the operation is troublesome and inconvenient to continuously rotate and propel the catheter.

[0009] To achieve the above object, the present invention provides the following technical solution: a minimally invasive vascular intervention catheter rotation propulsion device, comprising a base plate assembly connected to a positioning mechanical arm, and an outer protective shell is provided at the upper middle position of the base plate assembly;

[0010] The left and right sides of the outer protective shell are both installed with connecting columns by screws, and the outer end of the connecting column on the left side of the outer protective shell is connected to the penetration frame;

[0011] The outer end of the connecting column on the right side of the outer protective shell is connected to the penetration frame;

[0012] The outer sides of the insertion frame and the exit frame are both connected with bearing rings through the bearings, and the lower outer sides of the bearing rings are connected to the bottom plate assembly through the bearing frame;

[0013] The upper and lower inner walls of the outer protective shell are both equipped with adjustment plates, through which the two clamping assemblies in one group can be driven to clamp the catheter;

[0014] The front side of the adjustment plate is provided with a chain plate type conveying mechanism, and the rear side of the chain plate type conveying mechanism is symmetrically provided with two sets of clamping assemblies, and the chain plate type conveying mechanism drives the two sets of clamping assemblies to reciprocate and rotate to continuously push the catheter;

[0015] A rotation control component is installed on the outer side of the penetration frame, and the penetration frame and the outer protective shell are driven to rotate by the rotation control component.

[0016] Preferably, the outer protective shell is arranged in a semicircular ring-shaped structure, and the length of the connecting column is greater than the sum of the length of the clamping assembly and the length of the moving block.

[0017] Through the above-mentioned structure, the length of the connecting column is greater than the sum of the length of the clamping assembly and the length of the moving block, so that the clamping assembly can rotate and move well.

[0018] Preferably, the chain-plate conveying mechanism includes two transmission rollers, and the upper and lower ends of the transmission rollers are rotatably connected to the connecting plate, and one side of the connecting plate is connected to the adjusting plate by a screw, and the chain-plate conveying mechanism also includes a sprocket connected by outer keys at the upper and lower ends of the transmission roller, and the outer side of the sprocket is meshed with a chain, and a chain plate assembly is installed between the upper and lower chains.

[0019] Through the arrangement of the above structure, the chain plate assembly can drive the clamping assembly to perform reciprocating rotational movement.

[0020] Preferably, two vertical rods are symmetrically installed in the grooves on one side of the two symmetrical chain plate assemblies, and the outer sides of the vertical rods are nested and connected with moving blocks, and one end of the moving blocks is connected to the clamping assembly;

[0021] Through the arrangement of the above structure, the moving block slides stably on the outer side of the vertical rod, which can ensure the stable lifting and lowering of the clamping assembly.

[0022] A rubber pad with an arc-shaped structure is installed inside one side of the clamping assembly, and a connecting spring is sleeved on the outer side of the vertical rod, and the other end of the connecting spring is connected to the moving block.

[0023] Through the arrangement of the above structure, the stored force of the connecting spring can drive the moving block to reset.

[0024] Preferably, the adjustment plate is arranged in an isosceles trapezoidal structure, and the adjustment plate drives the two clamping assemblies to move inward, and at the same time, the clamping assemblies form a sliding structure with the chain plate assembly through the moving block.

[0025] With the arrangement of the above structure, two clamping assemblies in one group can slide up and down to clamp or release the catheter well.

[0026] Preferably, the clamping assembly forms a reciprocating rotational movement with the outer protective shell through the chain plate assembly, and the clamping assembly intermittently clamps the catheter through an adjustment plate, and the length of the adjustment plate is smaller than the length of the outer protective shell.

[0027] Through the arrangement of the above structure, the length of the adjustment plate is smaller than the length of the outer protective shell, so that the clamping assembly can be well separated from the adjustment plate after moving to a certain position.

[0028] Preferably, the rotation control assembly includes a driven gear key-connected to the left outer side of the penetration frame, and the rear side of the driven gear is meshingly connected with a driving gear, and a rotating shaft is fixed through the inside of the driving gear, and the outer side of the rotating shaft is connected to a fixing frame through the bearing, and the bottom of the fixing frame is screwed to the base plate assembly.

[0029] Through the arrangement of the above structure, the driving gear can drive the driven gear to rotate, thereby enabling the entire rotary propulsion device to rotate and propel the catheter.

[0030] Preferably, the support frame on the outer side below the support ring is arranged in a "U" shape.

[0031] Through the arrangement of the above structure, the carrying ring can support the insertion frame and the exit frame, but does not ensure that the insertion frame and the exit frame can rotate stably.

[0032] Preferably, the insertion frame and the exit frame are both arranged in a circular ring shape, and four sets of mounting frames are symmetrically installed inside the insertion frame and the exit frame, and the inner side screws of the mounting frames are installed with mounting rods, and the outer side of the mounting rods is penetrated by a receiving ball.

[0033] By setting the above structure, the receiving ball can rotate outside the mounting rod.

[0034] Preferably, the highest point of the receiving ball is lower than the highest point of the mounting frame, and the highest point of the mounting frame is lower than the center position of the penetration frame, and the receiving ball rotates outside the mounting rod.

[0035] Through the arrangement of the above structure, the four groups of receiving balls can cooperate with each other to support the catheter, thereby reducing the friction between the catheter and the receiving balls and reducing damage to the catheter.

[0036] Compared with the prior art, the beneficial effects of the present invention are as follows: when the two sets of clamping assemblies of the minimally invasive vascular intervention catheter rotation propulsion device are simultaneously moved to separate from the adjustment plate, the two sets of clamping assemblies do not clamp the catheter at this time. Therefore, if it is necessary to release the clamping of the catheter by the clamping assembly, it is only necessary to control the moving position of the two sets of clamping assemblies by rotating the chain plate type conveying mechanism. The operation is convenient, time-saving and labor-saving. The two sets of clamping assemblies can continuously propel the clamped catheter, and the catheter can be well moved to a deeper designated position without repeated operations. The specific contents are as follows:

[0037] (1) When the chain plate type conveying mechanism drives the two groups of clamping assemblies to rotate back and forth, when one group of clamping assemblies slowly approaches the adjustment plate, the adjustment plate with an isosceles trapezoidal structure will squeeze the clamping assemblies, so that the two clamping assemblies in one group move inward at the same time to clamp and fix the catheter. When the two groups of clamping assemblies move to separate from the adjustment plate at the same time, the two groups of clamping assemblies do not clamp the catheter at this time. Therefore, if it is necessary to release the clamping of the clamping assembly on the catheter, it is only necessary to control the moving position of the two groups of clamping assemblies by rotating the chain plate type conveying mechanism. The operation is convenient and saves time and effort.

[0038] Furthermore, by sliding the moving block on the outside of the vertical rod, the up and down movement of the clamping assembly can be stably ensured, and by storing force of the connecting spring, it is convenient to drive the clamping assembly to move in the opposite direction and reset later;

[0039] (2) The two sets of clamping assemblies are driven to rotate back and forth by the rotation of the chain plate conveying mechanism. The two sets of clamping assemblies are used in conjunction with the adjustment plate to alternately clamp the catheter. Therefore, the two sets of clamping assemblies can continuously push the clamped catheter, and can well move the catheter to a deeper designated position without repeated operations;

[0040] (3) The setting of the connecting column facilitates the installation of the outer protective shell and the insertion frame and the exit frame, which not only avoids the outer protective shell from being placed in the air, but also makes the distance between the outer protective shell and the insertion frame and the exit frame convenient for the chain plate conveying mechanism to drive the clamping assembly to rotate and move;

[0041] (4) The rotation of the driving gear can drive the driven gear to rotate together, thereby enabling the driven gear to drive the insertion frame, the insertion frame and the outer protective shell to rotate together around the center of the outer protective shell, so as to facilitate the rotation and advancement of the clamped catheter to meet different usage requirements;

[0042] Furthermore, by using the supporting ring in conjunction with the supporting frame, the stable rotation of the penetration frame, the penetration frame and the outer protective shell can be ensured;

[0043] (5) The four sets of receiving balls are symmetrically arranged inside the insertion frame and the exit frame. When the two sets of clamping components do not clamp the catheter at the same time, the four sets of receiving balls can support the catheter to prevent the catheter from sagging downward, so that one of the clamping components can clamp the catheter well in the later stage;

[0044] (6) The catheter is clamped and pushed alternately by two sets of clamping assemblies, so that the contact area between the clamping assemblies and the entire catheter is small, and the clamping assemblies will not contact the outside of the entire catheter, thereby protecting the catheter and avoiding damage to the catheter. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0046] Figure 2 It is a rear view structural schematic diagram of the present invention;

[0047] Figure 3 For the present invention Figure 2 The enlarged structural diagram at A in the middle;

[0048] Figure 4 This is a schematic diagram of the three-dimensional structure of the outer protective shell of the present invention;

[0049] Figure 5 This is a schematic diagram of the rear view structure of the adjustment plate of the present invention;

[0050] Figure 6 It is a schematic diagram of the three-dimensional structure of the transmission roller of the present invention;

[0051] Figure 7 It is a cross-sectional structural schematic diagram of the connection between the chain plate assembly and the clamping assembly of the present invention;

[0052] Figure 8 It is a schematic diagram of the separation structure of the carrying ring and the penetration frame of the present invention;

[0053] Fig. 9 For the present invention Figure 8 Enlarged structural diagram at B in the middle.

[0054] In the figure: 1, bottom plate assembly; 2, outer protective shell; 3, connecting column; 4, insertion frame; 5, exit frame; 6, load-bearing ring; 7, load-bearing frame; 8, adjustment plate; 9, transmission roller; 10, connecting plate; 11, receiving ball; 111, mounting frame; 112, mounting rod; 12, driven gear; 13, driving gear; 14, rotating shaft; 15, fixing frame; 16, chain plate assembly; 17, clamping assembly; 171, rubber pad; 18, sprocket; 19, chain; 20, moving block; 21, connecting spring; 22, vertical rod. DETAILED DESCRIPTION

[0055] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0056] See also Figure 1-Figure 9 , the present invention provides the following technical solutions:

[0057] Embodiment 1: In this embodiment, the catheter can be clamped and released automatically and quickly, and the operation is convenient. For details, please refer to the attached Figure 1-Figure 2 , and attached Figure 4-Figure 7 As shown, a base plate assembly 1 connected to the positioning robot arm is provided with an outer protective shell 2 at the upper middle position of the base plate assembly 1; connecting columns 3 are installed on the left and right sides of the outer protective shell 2 by screws, and the outer end of the connecting column 3 on the left side of the outer protective shell 2 is connected to the penetration frame 5; the outer end of the connecting column 3 on the right side of the outer protective shell 2 is connected to the insertion frame 4; the outer sides of the penetration frame 4 and the penetration frame 5 are connected with a bearing ring 6 through the bearing, and the lower outer side of the bearing ring 6 is connected to the base plate assembly 1 through the bearing frame 7; the upper and lower inner walls of the outer protective shell 2 are provided with an adjusting plate 8, and the adjusting plate 8 can drive two clamping assemblies 17 in one group to clamp the catheter; a chain plate conveying mechanism is provided on the front side of the adjusting plate 8, and two groups of clamping assemblies 17 are symmetrically installed on the rear side of the chain plate conveying mechanism, and the two groups of clamping assemblies 17 are driven by the chain plate conveying mechanism to reciprocate and rotate to adjust the catheter The pipe is pushed continuously, and the chain plate conveying mechanism includes two driving rollers 9, and the upper and lower ends of the driving rollers 9 are rotatably connected to the connecting plate 10, and one side of the connecting plate 10 is connected to the adjusting plate 8 by screws, and the chain plate conveying mechanism also includes a sprocket 18 connected by outer keys at the upper and lower ends of the driving roller 9, and the outer side of the sprocket 18 is meshedly connected with a chain 19, and a chain plate assembly 16 is installed between the upper and lower chains 19, wherein one side of the two symmetrical chain plate assemblies 16 is internally grooved and symmetrically installed with two vertical rods 22, and the outer side of the vertical rod 22 is nested and connected with a moving block 20, and one end of the moving block 20 is connected to the clamping assembly 17, and a rubber pad 171 with an arc-shaped structure is installed inside one side of the clamping assembly 17, and a connecting spring 21 is sleeved on the outer side of the vertical rod 22, and the other end of the connecting spring 21 is connected to the moving block 20;

[0058] When performing minimally invasive vascular interventional treatment, the minimally invasive vascular interventional catheter rotary propulsion device is first moved into the working area. After reaching the working area, the right end of the minimally invasive vascular interventional catheter rotary propulsion device is connected to the positioning mechanical arm. Then, in conjunction with the medical imaging system and the operating device, the doctor can operate the rotary propulsion device. First, one end of the catheter is inserted into the insertion frame 4, the outer protective shell 2 and the exit frame 5 in sequence, and then one end of the catheter is pulled out from the exit frame 5. At this time, the catheter is between the two clamping assemblies 17 in a group. Then, one end of the catheter is inserted into the blood vessel, and then the upper end of one of the drive rollers 9 is connected to an external battery-powered motor through a coupling. At this time, the motor is started, and the output end of the motor drives the drive roller 9 to rotate, and then the drive roller 9 drives the outer sprocket 18 to rotate, and then the sprocket 18 drives the chain 19 to rotate, thereby making The chain 19 drives the chain plate assembly 16 to rotate and move. At this time, the chain plate assembly 16 drives a group of clamping assemblies 17 at the left rear to rotate to the front side of the transmission roller 9. At this time, the chain plate assembly 16 drives a group of clamping assemblies 17 at the right rear to move left. At this time, a group of clamping assemblies 17 at the right rear gradually contact the adjusting plate 8, and then the adjusting plate 8 with an isosceles trapezoidal structure will automatically push the clamping assembly 17, and at this time, a group of clamping assemblies 17 at the right rear move inwards. At this time, the moving block 20 on the outside of the clamping assembly 17 moves inwards on the outside of the vertical rod 22, thereby squeezing the connecting spring 21, so that the connecting spring 21 accumulates force, and then the clamping assembly 17 in the right rear group clamps the catheter well. At the same time, through the setting of the rubber pad 171, not only the stability of the clamped catheter is improved, but also the catheter can be protected to prevent the clamping assembly 17 from damaging the catheter.

[0059] The adjustment plate 8 is arranged in an isosceles trapezoidal structure, and the adjustment plate 8 drives the two clamping assemblies 17 to move inward, and at the same time, the clamping assembly 17 forms a sliding structure with the chain plate assembly 16 through the moving block 20. The clamping assembly 17 forms a reciprocating rotation movement with the outer protective shell 2 through the chain plate assembly 16, and the clamping assembly 17 intermittently clamps the catheter through the adjustment plate 8, and the length of the adjustment plate 8 is less than the length of the outer protective shell 2;

[0060] Then the chain plate assembly 16 continues to drive a group of clamping assemblies 17 at the right rear to move to the left, so that the group of clamping assemblies 17 at the right rear pulls the catheter to move to the left, which is convenient for pushing the catheter to the left. Then, when the group of clamping assemblies 17 at the right rear moves to the leftmost side and separates from the adjustment plate 8, the clamping assembly 17 is driven to move in the opposite direction and reset by the stored force of the connecting spring 21, so that the group of clamping assemblies 17 moved to the leftmost side automatically releases the clamping of the catheter, and at the same time, the other group of clamping assemblies 17 moves to a position where it has not yet contacted the adjustment plate 8, so the other group of clamping assemblies 17 also does not clamp the catheter. Then, when it is necessary to contact and clamp the catheter, it is only necessary to drive the two groups of clamping assemblies 17 to move to a position separated from the adjustment plate 8 through the chain plate conveying mechanism and the chain plate assembly 16. The structure is simple and the operation is convenient.

[0061] Embodiment 2: In this embodiment, the catheter can be continuously advanced, and the catheter can be well moved to a deeper designated position without repeated operations. For details, please refer to the attached Figure 5-Figure 6 As shown;

[0062] Then the chain plate assembly 16 continues to rotate, and at this time, a group of clamping assemblies 17 on the left side rotates from the gap between the outer protective shell 2 and the penetration frame 5 to the front side of the transmission roller 9, and then a group of clamping assemblies 17 on the right side rotates from the gap between the outer protective shell 2 and the penetration frame 4 to the rear side of the transmission roller 9. At this time, a group of clamping assemblies 17 on the right side slowly contacts the adjustment plate 8, so that the group of clamping assemblies 17 on the right side clamps the catheter again as shown above, so that the two groups of clamping assemblies 17 clamp the catheter alternately;

[0063] At the same time, the chain plate conveying mechanism drives the two sets of clamping components 17 to rotate back and forth, so that the entire minimally invasive vascular intervention catheter rotary propulsion device can continuously propel the catheter, and can well move the catheter to a deeper designated position without repeated operations;

[0064] Embodiment 3: In this embodiment, the clamped catheter can be rotated and pushed forward, and the moving direction of the catheter tip can be adjusted, so that the rotary push device can meet different usage requirements, with reference to the attached Figure 1-Figure 3 As shown, a rotation control component is installed on the outside of the penetration frame 5, and the penetration frame 5 and the outer protective shell 2 are driven to rotate by the rotation control component. The outer protective shell 2 is arranged in a semicircular ring shape, and the length of the connecting column 3 is greater than the sum of the length of the clamping component 17 and the length of the moving block 20. The rotation control component includes a driven gear 12 key-connected to the outside of the left side of the penetration frame 5, and the rear side of the driven gear 12 is meshedly connected with a driving gear 13, and a rotating shaft 14 is fixedly passed through the inside of the driving gear 13, and the outer side of the rotating shaft 14 is passed through the bearing to connect a fixing frame 15, and the bottom of the fixing frame 15 is screwed to the bottom plate component 1;

[0065] When the catheter needs to be rotated and pushed forward, on the basis of the first embodiment, the outer end of the rotating shaft 14 is connected to an external motor, the motor is started to drive the rotating shaft 14 to rotate, and the rotating shaft 14 drives the driving gear 13 to rotate. At this time, the driving gear 13 drives the meshing driven gear 12 to rotate, and then the driven gear 12 drives the penetration frame 5 to rotate. At this time, the penetration frame 5 drives the outer protective shell 2 and the penetration frame 4 to rotate together with the center of the outer protective shell 2 as the center through the connecting column 3, so that the clamping assembly 17 drives the clamped catheter to rotate and push forward;

[0066] The load-bearing frame 7 on the outside of the lower part of the load-bearing ring 6 is arranged in a "U"-shaped structure. The insertion frame 4 and the exit frame 5 are arranged in a circular ring-shaped structure, and four groups of mounting frames 111 are symmetrically installed inside the insertion frame 4 and the exit frame 5, and the inner screws of the mounting frames 111 are installed with mounting rods 112, and the outer side of the mounting rods 112 is penetrated by a receiving ball 11, the highest point of the receiving ball 11 is lower than the highest point of the mounting frame 111, and the highest point of the mounting frame 111 is lower than the center position of the insertion frame 4, and the receiving ball 11 rotates on the outer side of the mounting rod 112, and the insertion frame 4 and the exit frame 5 rotate stably in the load-bearing ring 6, and at the same time, the four groups of receiving balls 11 in the insertion frame 4 and the exit frame 5 can support the catheter to prevent the catheter from drooping downward, thereby completing a series of tasks.

[0067] Although the present invention has been described in detail with reference to the aforementioned embodiments, it is still possible for those skilled in the art to modify the technical solutions described in the aforementioned embodiments, or to make equivalent substitutions for some of the technical features therein. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A minimally invasive vascular intervention catheter rotation propulsion device, comprising a base plate assembly (1) connected to a positioning mechanical arm, wherein an outer protective shell (2) is provided at the upper middle portion of the base plate assembly (1); It is characterized in that Also includes: Connecting columns (3) are installed on both left and right sides of the outer protective shell (2) by means of screws, and the outer end of the connecting column (3) on the left side of the outer protective shell (2) is connected to the penetration frame (5); The outer end of the connecting column (3) on the right side of the outer protective shell (2) is connected to the penetration frame (4); The outer sides of the insertion frame (4) and the exit frame (5) are both connected to a bearing ring (6) through the bearing, and the lower outer side of the bearing ring (6) is connected to the bottom plate assembly (1) through a bearing frame (7); The upper and lower inner walls of the outer protective shell (2) are both provided with adjustment plates (8), and the adjustment plates (8) can drive two clamping assemblies (17) in a group to clamp the catheter; The front side of the adjustment plate (8) is provided with a chain plate type conveying mechanism, and the rear side of the chain plate type conveying mechanism is symmetrically provided with two groups of clamping assemblies (17), and the chain plate type conveying mechanism drives the two groups of clamping assemblies (17) to reciprocate and rotate to continuously push the catheter; A rotation control component is installed on the outer side of the penetration frame (5), and the penetration frame (5) and the outer protective shell (2) are driven to rotate by the rotation control component.

2. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 1, characterized in that: The outer protective shell (2) is arranged in a semi-circular ring-shaped structure, and the length of the connecting column (3) is greater than the sum of the length of the clamping assembly (17) and the length of the moving block (20).

3. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 1, characterized in that: The chain plate type conveying mechanism comprises two transmission rollers (9), and the upper and lower ends of the transmission rollers (9) are rotatably connected to the connecting plate (10), and one side of the connecting plate (10) is connected to the adjusting plate (8) via a screw, and the chain plate type conveying mechanism also comprises a sprocket wheel (18) connected to the outer sides of the upper and lower ends of the transmission roller (9) by keys, and the outer side of the sprocket wheel (18) is meshingly connected to a chain (19), and a chain plate assembly (16) is installed between the upper and lower chains (19).

4. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 3, characterized in that: Two vertical rods (22) are symmetrically installed in grooves on one side of the two symmetrical chain plate assemblies (16), and a moving block (20) is nested and connected to the outer side of the vertical rod (22), and one end of the moving block (20) is connected to the clamping assembly (17); A rubber pad (171) with an arc-shaped structure is installed inside one side of the clamping assembly (17), and a connecting spring (21) is sleeved on the outer side of the vertical rod (22), and the other end of the connecting spring (21) is connected to the moving block (20).

5. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 4, characterized in that: The adjustment plate (8) is arranged in an isosceles trapezoidal structure, and the adjustment plate (8) drives the two clamping assemblies (17) to move inwards, while the clamping assemblies (17) form a sliding structure with the chain plate assembly (16) through the moving block (20).

6. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 3, characterized in that: The clamping assembly (17) forms a reciprocating rotational movement with the outer protective shell (2) through the chain plate assembly (16), and the clamping assembly (17) intermittently clamps the catheter through the adjustment plate (8), and the length of the adjustment plate (8) is less than the length of the outer protective shell (2).

7. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 1, characterized in that: The rotation control assembly comprises a driven gear (12) key-connected to the left outer side of the penetration frame (5), and the rear side of the driven gear (12) is meshedly connected with a driving gear (13), and a rotating shaft (14) is fixedly passed through the interior of the driving gear (13), and the outer side of the rotating shaft (14) is passed through the bearing and connected with a fixing frame (15), and the bottom of the fixing frame (15) is screw-mounted with the bottom plate assembly (1).

8. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 1, characterized in that: The support frame (7) on the outer side below the support ring (6) is arranged in a "U"-shaped structure.

9. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 1, characterized in that: The insertion frame (4) and the exit frame (5) are both arranged in a circular ring-shaped structure, and four sets of mounting frames (111) are symmetrically installed inside the insertion frame (4) and the exit frame (5), and mounting rods (112) are screwed on the inner sides of the mounting frames (111), and receiving balls (11) are sleeved through the outer sides of the mounting rods (112).

10. The minimally invasive vascular intervention catheter rotation propulsion device according to claim 9, characterized in that: The highest point of the receiving ball (11) is lower than the highest point of the mounting frame (111), and the highest point of the mounting frame (111) is lower than the center position of the penetration frame (4), and the receiving ball (11) rotates outside the mounting rod (112).

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