Wire guide catheter continuous wire advancing and rotating mechanism and vascular cavity intervention surgery robot

Abstract

The application provides a guide wire catheter continuous wire advancing and rotating mechanism and a vascular cavity intervention surgery robot, which comprises a support guiding device, a thrust device, a first power assembly and a second power assembly; a guide wire catheter is installed in the support guiding device and guided and supported by the support guiding device, the first power assembly and the second power assembly are arranged on both sides of the guide wire catheter, the thrust device pushes the first power assembly and the second power assembly to press on the guide wire catheter; the movement direction of the conveying belt of the first power assembly and the second power assembly forms an included angle a with the axial movement direction of the guide wire catheter. The application adjusts the movement speed and the movement direction of the conveying belt of the two power assemblies which form the included angle with the guide wire catheter to obtain different rotating and axial movement speed combinations of the guide wire catheter, and is suitable for various use requirements.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical equipment, in particular to a guide wire and catheter continuous advancing and retracting mechanism and a blood vessel cavity interventional surgery robot. BACKGROUND

[0002] As a minimally invasive surgery, blood vessel interventional surgery has a small damage range compared with traditional surgery, reduces patient pain, has fewer complications, and has a short recovery period, so it has become an important means of blood vessel disease treatment. However, this has given rise to another problem, that is, doctors are often exposed to radiation. Therefore, a blood vessel interventional surgery robot for assisting doctors should be developed and gradually become a research and development hotspot.

[0003] The existing blood vessel robot has a roller type and a reciprocating dragging type. The patent with application number 202111009785.5 belongs to the reciprocating dragging type, and its structure is a clamping or rotating mechanism driven by a sliding table to realize the advancing and retracting and rotating actions of the tube wire. The contact point of the roller type structure clamping the tube wire is small, which can easily cause damage to the tube wire. Moreover, the rotating structure and the roller conveying are two separate mechanisms, and the axial size cannot be small. The reciprocating dragging type structure has a relatively large axial size and cannot continuously advance the wire. SUMMARY

[0004] In view of the defects in the prior art, the purpose of the present application is to provide a guide wire and catheter continuous advancing and retracting mechanism and a blood vessel cavity interventional surgery robot.

[0005] According to the present application, a guide wire and catheter continuous advancing and retracting mechanism is provided, which comprises a support guide device, a thrust device, a first power assembly, and a second power assembly.

[0006] The guide wire and catheter are installed in the support guide device and guided and supported by the support guide device. The first power assembly and the second power assembly are arranged on both sides of the guide wire and catheter. The thrust device pushes the first power assembly and the second power assembly to press on the guide wire and catheter.

[0007] The movement direction of the conveying belt of the first power assembly and the second power assembly forms an included angle a with the axial movement direction of the guide wire and catheter.

[0008] Preferably, the support guide device, the first power assembly, and the second power assembly are installed on a bottom plate.

[0009] Preferably, the support guide device comprises a first support, a first support bracket, a second support bracket, and a second support.

[0010] The first support bracket and the second support bracket are mounted on the bottom plate, the first support is mounted on the first support bracket, and the second support is mounted on the second support bracket;

[0011] The guide wire catheter passes through the first support and the second support in the axial direction and is allowed to move axially relative to the first support and the second support.

[0012] Preferably, the first power assembly comprises a first power, a first driving wheel, a first conveying belt, a first base, and a first driven wheel.

[0013] The first driving wheel and the first driven wheel are rotatably mounted on the first base, the first conveying belt is mounted on the first driving wheel and the first driven wheel, and the output end of the first power is connected to the first driving wheel and drives the first driving wheel to rotate.

[0014] Preferably, the second power assembly comprises a second power, a second base, a second driving wheel, a second conveying belt, and a second driven wheel.

[0015] The second driving wheel and the second driven wheel are rotatably mounted on the second base, the second conveying belt is mounted on the second driving wheel and the second driven wheel, and the output end of the second power is connected to the second driving wheel and drives the second driving wheel to rotate.

[0016] Preferably, the second base is fixedly mounted on the bottom plate, the first base is slidably mounted on the bottom plate, the first base is moved towards the second base by the pushing of the pushing device and clamps the guide wire catheter between the first conveying belt and the second conveying belt.

[0017] Preferably, the rotation directions of the first conveying belt and the second conveying belt are parallel and form an included angle a with the axial movement direction of the guide wire catheter.

[0018] Preferably, a first stopper is arranged on the inner ring side of the first conveying belt, and the first stopper contacts one side of the guide wire catheter close to the first conveying belt;

[0019] A second stopper is arranged on the inner ring side of the second conveying belt, and the second stopper contacts one side of the guide wire catheter close to the second conveying belt.

[0020] Preferably, the pushing device comprises a spring, a handle, and a guide column.

[0021] The guide column is fixedly connected with the first base at one end and connected with the handle at the other end, the spring ring is sleeved on the guide column, one end of the spring is connected with the first base, and the other end of the spring is connected with the bottom plate, and the first base forms a pre-pressure force in the direction of the guide wire catheter under the spring elastic force.

[0022] Compared with the prior art, the application has the following beneficial effects:

[0023] The application adjusts the movement speed and movement direction of the two power assembly conveying belts which form an included angle with the guide wire catheter to obtain different rotation and axial movement speed combinations of the guide wire catheter, and is suitable for various use requirements. BRIEF DESCRIPTION OF DRAWINGS

[0024] Other features, objects and advantages of the application will become more apparent from the following detailed description of non-limiting embodiments, made with reference to the accompanying drawings:

[0025] Figure 1 It is an overall structure diagram of the guide wire catheter continuous wire feeding and rotating mechanism;

[0026] Figure 2 It is a structure diagram of the first power assembly;

[0027] Figure 3 It is a structure diagram of the second power assembly;

[0028] Figure 4 It is a top view diagram of the guide wire catheter continuous wire feeding and rotating mechanism;

[0029] Figure 5 It is a structure diagram of the thrust device;

[0030] Figure 6 It is a front view diagram of the guide wire catheter continuous wire feeding and rotating mechanism;

[0031] In the drawings:

[0032] DETAILED DESCRIPTION

[0033] The application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the application, but do not limit the application in any form. It should be pointed out that, for those skilled in the art, without departing from the concept of the application, a number of changes and improvements can be made. These all belong to the protection scope of the application.

[0034] Example 1

[0035] As Figure 1 , Figure 4 and Figure 6As shown, the embodiment provides a guide wire catheter continuous feeding and rotating mechanism for vascular cavity intervention robot, which specifically comprises a support guiding device, a thrust device, a first power assembly 1 and a second power assembly 7; the support guiding device, the first power assembly 1 and the second power assembly 7 are installed on a bottom plate 6. A guide wire catheter 4 is installed in the support guiding device and guided and supported by the support guiding device, the first power assembly 1 and the second power assembly 7 are arranged on both sides of the guide wire catheter 4, and the thrust device pushes the first power assembly 1 and the second power assembly 7 to press on the guide wire catheter 4; the moving direction of the conveying belt of the first power assembly 1 and the second power assembly 7 forms an angle a with the axial moving direction of the guide wire catheter 4.

[0036] As shown, Figure 2 The first power assembly 1 comprises a first power 101, a first driving wheel 102, a first conveying belt 103, a first base 104 and a first driven wheel 106; the first driving wheel 102 and the first driven wheel 106 are rotatably installed on the first base 104, the first conveying belt 103 is installed on the first driving wheel 102 and the first driven wheel 106, and the output end of the first power 101 is connected to the first driving wheel 102 and drives the first driving wheel 102 to rotate. The first stop block 105 is arranged on the inner ring side of the first conveying belt 103, and the first stop block 105 is close to the side of the first conveying belt 103 contacting the guide wire catheter 4.

[0037] As shown, Figure 3 The second power assembly 7 comprises a second power 701, a second base 702, a second driving wheel 703, a second conveying belt 705 and a second driven wheel 706; the second driving wheel 703 and the second driven wheel 706 are rotatably installed on the second base 702, the second conveying belt 705 is installed on the second driving wheel 703 and the second driven wheel 706, and the output end of the second power 701 is connected to the second driving wheel 703 and drives the second driving wheel 703 to rotate. The second stop block 704 is arranged on the inner ring side of the second conveying belt 705, and the second stop block 704 is close to the side of the second conveying belt 705 contacting the guide wire catheter 4.

[0038] The rotating directions of the first conveying belt 103 and the second conveying belt 705 are parallel and form an angle a with the axial moving direction of the guide wire catheter 4. The second base 702 is fixedly installed on the bottom plate 6, the first base 104 is slidingly installed on the bottom plate 6, the first base 104 moves towards the second base 702 by the pushing of the thrust device and clamps the guide wire catheter 4 between the first stop block 105 and the second stop block 704.

[0039] The support and guide device comprises a first support 3, a first support bracket 5, a second support bracket 8 and a second support 9; the first support bracket 5 and the second support bracket 8 are installed on a base plate 6, the first support 3 is installed on the first support bracket 5, the second support 9 is installed on the second support bracket 8, and the guide wire catheter 4 passes through the first support 3 and the second support 9 in the axial direction and is allowed to move axially relative to the first support 3 and the second support 9.

[0040] As shown in Figure 5 , the thrust device comprises a spring 2, a handle 10 and a guide column 11; one end of the guide column 11 is fixedly connected to a first base 104, the other end is connected to the handle 10, the spring 2 is sleeved on the guide column 11, one end of the spring 2 is connected to the first base 104, and the other end is connected to the base plate 6; the first base 104 forms a pre-pressure in the direction of the guide wire catheter 4 under the elastic force of the spring 2.

[0041] In one embodiment, the movement of the guide wire catheter 4 is achieved by dragging by a power device connected to one end of the guide wire catheter 4; the steering and rotation speed adjustment of the first power 101 and the second power 701 are the existing technologies in the art.

[0042] Example 2

[0043] Example 2 is a preferred example of Example 1.

[0044] As shown in Figure 1 , the present embodiment comprises a first power assembly 1, a spring 2, a first support 3, a first support bracket 5, a base plate 6, a second power assembly 7, a second support bracket 8, a second support 9 and a handle 10. The second power assembly 7 and the first power assembly 1 are fixed to the base plate 6, the first support bracket 5 and the second support bracket 8 are fixed to the base plate 6, the first support 3 is fixed to the first support bracket 5, and the second support 9 is fixed to the second support bracket 8. The first support 3 and the second support 9 are used for supporting and guiding the guide wire catheter 4, preventing the guide wire catheter 4 from deforming and deviating from the movement trajectory.

[0045] As shown in Figure 2 and Figure 3 , the second power assembly 7 and the first power assembly 1 cooperate with different movements for advancing and retreating and rotating the guide wire catheter 4. The first power assembly 1 is one of the power assemblies of the guide wire catheter 4, comprising a first power 101, a first driving wheel 102, a first conveying belt 103, a first base 104, a first stop block 105 and a first driven wheel 106. The second power assembly 7 is one of the power assemblies of the guide wire catheter 4, comprising a second power 701, a second base 702, a second driving wheel 703, a second stop block 704, a second conveying belt 705 and a second driven wheel 706.

[0046] As shown in Figure 4 and Figure 5As shown, the force clamping the guide wire catheter 4 is realized by the spring force of the spring 2 plus the first stopper 105 and the second stopper 704. When the guide wire catheter 4 needs to be removed, the handle 10 is pulled outwardly to make the first power assembly 1 disengage from the pressing position, at which time the guide wire catheter 4 can be taken out.

[0047] As shown, the force clamping the guide wire catheter 4 is realized by the spring force of the spring 2 plus the first stopper 105 and the second stopper 704. When the guide wire catheter 4 needs to be removed, the handle 10 is pulled outwardly to make the first power assembly 1 disengage from the pressing position, at which time the guide wire catheter 4 can be taken out. Figure 6 As shown, the force clamping the guide wire catheter 4 is realized by the spring force of the spring 2 plus the first stopper 105 and the second stopper 704. When the guide wire catheter 4 needs to be removed, the handle 10 is pulled outwardly to make the first power assembly 1 disengage from the pressing position, at which time the guide wire catheter 4 can be taken out.

[0048] I. When the guide wire catheter 4 moves axially, the conveying belts on the second power assembly 7 and the first power assembly 1 move at the same speed in the same direction, the first support 3 and the second support 9 play the roles of support and guide to make the guide wire catheter 4 move in the designated direction, and the speed of the first conveying belt 103 and the second conveying belt 705 is v, at which time the moving speed of the guide wire catheter 4 is v x cos(a);

[0049] II. When the guide wire catheter 4 only rotates, the conveying belts on the second power assembly 7 and the first power assembly 1 move at the same speed in the opposite direction, at which time the axial moving speed of the guide wire catheter 4 is v x cos(a) - v x cos(a) = 0, and the circumferential direction of the guide wire catheter 4 has v x sin(a) and -v x sin(a) respectively, which is equivalent to a pair of force couples acting in the circumferential direction, making the guide wire catheter 4 rotate, and the circumferential linear speed is v x sin(a), so at this time the guide wire catheter 4 only rotates without axial movement;

[0050] III. When the guide wire catheter 4 rotates and moves axially at the same time, the conveying belts on the second power assembly 7 and the first power assembly 1 move at different speeds, and the speed of the second conveying belt 705 is v1 and the speed of the first conveying belt 103 is v2, at which time the axial moving speed of the guide wire catheter 4 is in the range of v1 x sin(a) to v2 x sin(a), and the circumferential linear speed is in the range of v1 x cos(a) to v2 x cos(a).

[0051] 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 indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the devices or elements 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.

[0052] The specific embodiments of the present application are described above. It needs to be understood that the present application is not limited to the specific embodiments described above, and various changes or modifications can be made by those skilled in the art within the scope of the claims, which does not affect the essential content of the present application. The embodiments of the present application and the features in the embodiments can be combined with each other at will without conflict.

Claims

1. A continuous wire feeding, retraction, and rotation mechanism for a guidewire catheter, characterized in that, include: Supporting guide device, thrust device, first power assembly (1) and second power assembly (7); The guidewire conduit (4) is installed in the support and guide device and is guided and supported by the support and guide device. The first power assembly (1) and the second power assembly (7) are provided on both sides of the guidewire conduit (4). The thrust device pushes the first power assembly (1) and the second power assembly (7) to press on the guidewire conduit (4). The first power assembly (1) includes: a first power source (101), a first drive wheel (102), a first conveyor belt (103), a first base (104), and a first driven wheel (106). The first driving wheel (102) and the first driven wheel (106) are rotatably mounted on the first base (104), the first conveyor belt (103) is mounted on the first driving wheel (102) and the first driven wheel (106), and the output end of the first power (101) is connected to the first driving wheel (102) and drives the first driving wheel (102) to rotate; The second power assembly (7) includes: a second power source (701), a second base (702), a second drive wheel (703), a second conveyor belt (705), and a second driven wheel (706); The second driving wheel (703) and the second driven wheel (706) are rotatably mounted on the second base (702), the second conveyor belt (705) is mounted on the second driving wheel (703) and the second driven wheel (706), and the output end of the second power (701) is connected to the second driving wheel (703) and drives the second driving wheel (703) to rotate; A second stop (704) is provided on the inner ring side of the second conveyor belt (705), and the second stop (704) is close to the side of the second conveyor belt (705) that contacts the guide wire tube (4); The rotation directions of the first conveyor belt (103) and the second conveyor belt (705) are parallel and form an angle α with the axial movement direction of the guide wire (4).

2. The continuous wire feeding and retraction and rotation mechanism of the guidewire catheter according to claim 1, characterized in that: The support and guide device, the first power component (1) and the second power component (7) are mounted on the base plate (6).

3. The continuous wire feeding and retraction and rotation mechanism for the guidewire catheter according to claim 2, characterized in that, The support and guide device includes: a first support (3), a first support bracket (5), a second support bracket (8), and a second support (9); The first support bracket (5) and the second support bracket (8) are mounted on the base plate (6), the first support (3) is mounted on the first support bracket (5), and the second support (9) is mounted on the second support bracket (8); The guidewire catheter (4) passes axially through the first support (3) and the second support (9) and allows axial movement relative to the first support (3) and the second support (9).

4. The continuous wire feeding and retraction and rotation mechanism of the guidewire catheter according to claim 2, characterized in that: A first stop (105) is provided on the inner ring side of the first conveyor belt (103), and the first stop (105) is close to the side of the first conveyor belt (103) that contacts the guide wire tube (4).

5. The continuous wire feeding and retraction and rotation mechanism for the guidewire catheter according to claim 4, characterized in that: The second base (702) is fixedly installed on the base plate (6), and the first base (104) is slidably installed on the base plate (6). The first base (104) is pushed by the thrust device to move toward the second base (702) and clamp the guide wire (4) between the first stop (105) and the second stop (704).

6. The continuous wire feeding and retraction and rotation mechanism for the guidewire catheter according to claim 4, characterized in that, The thrust device includes: a spring (2), a handle (10), and a guide post (11); One end of the guide post (11) is fixedly connected to the first base (104), and the other end is connected to the handle (10). The spring (2) is looped on the guide post (11). One end of the spring (2) is connected to the first base (104), and the other end is connected to the base plate (6). The first base (104) forms a pre-pressure in the direction of the guide wire guide tube (4) under the elastic force of the spring (2).

7. A vascular interventional surgical robot, characterized in that: The guidewire catheter continuous advance and retraction and rotation mechanism described in any one of claims 1-6 is adopted.

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