Medical intervention device driving assembly

Abstract

The invention belongs to the technical field of medical equipment, and discloses a medical intervention equipment driving assembly, the driving assembly is used for driving a catheter and a guide wire of an intervention operation, the driving assembly comprises a driven part, the two ends of the driven part are each provided with four sets of roller assemblies, the roller assemblies are distributed in the transverse direction and the longitudinal direction, and each set of roller assembly is composed of a plurality of rollers; front-and-back movement and forward-and-reverse rotation movement of a catheter or a guide wire are controlled through an inclined small roller in the roller assembly, the catheter or the guide wire penetrates through the roller assembly, the rollers on the two sides clamp the catheter or the guide wire, and front-and-back movement or forward-and-reverse rotation of the catheter or the guide wire is controlled by controlling the rotation direction of a first driving motor and a second driving motor. And seamless switching of movement modes such as forward and backward movement, forward and backward twisting movement and rotation forward and backward movement of the guide wire catheter can be achieved only through mutual matching of forward and backward rotation and stop of the two driving motors, electric control of the motors is small, the structure is simple, and operation is convenient. Switching is direct, the speed is high, the cost is greatly reduced, the size is greatly reduced, the fault risk is smaller, control instructions of doctors can be efficiently executed, and the operation time is shortened.

Description

Technical Field

[0001] The present invention belongs to the technical field of medical equipment, and in particular to a driving component of a medical interventional equipment. Background Art

[0002] Catheter guidewire intervention is a minimally invasive treatment technology that is widely used in a variety of interventional procedures, such as: Vascular interventional therapy is used to treat vascular stenosis or occlusion, such as coronary artery disease and peripheral vascular disease. Interventional therapy has the characteristics of less trauma, more indications, definite efficacy, and quick recovery after surgery. For the treatment of femoral head necrosis, DSA interventional therapy directly injects drugs into the blood supply artery of the femoral head through a catheter, improves the blood supply of the femoral head, promotes the removal of metabolic products, gradually absorbs necrotic bone, and the drugs also slowly form new bone; During coronary artery intervention, the guidewire is used to assist in inserting the angiography tube. After the angiography is completed, the guidewire can be directly exchanged to start interventional treatment. The selection and operation skills of the guidewire are crucial to the success of the operation. Commonly used devices for interventional treatment of peripheral vascular diseases include catheters, guidewires, balloon dilatation catheters, intravascular stents, etc. Guidewires are the "pioneers" entering the human peripheral blood vessels and have the functions of introduction, support, opening, and exchange. Neurovascular interventional therapy: In the field of neurovascular intervention, guidewires are used to guide microcatheters, stents and other interventional devices through narrowed or occluded blood vessels to reach the lesion site for treatment; Recanalization of dialysis fistula occlusion and radial artery occlusion requires the use of a dedicated guidewire to help open the occluded blood vessels.

[0003] Traditional interventional surgery mainly relies on doctors to manually operate guidewires and catheters, and complete the surgery under the guidance of X-ray fluoroscopy. Currently, surgical robots are also used to help doctors operate guidewires and catheters. During interventional surgery, doctors will adjust the operation method of the guidewire in real time according to the needs of the surgery and the difficulties encountered, including twisting the guidewire to change its direction. The distal flexibility of the guidewire enables it to achieve a certain degree of rotation in the blood vessel. The existing surgical robots are used for guidewire twisting and forward and backward movement. The functions are two independent modules. When converting from twisting to forward and backward movement, the clamping motor needs to be controlled to loosen the twisting mechanism, and then another clamping motor is controlled to clamp the forward and backward movement rollers to achieve the switching of the movement state. Switching back also requires the same number of steps. The number of electronic controls and servo motors is large (more than four), the structure is complex, the switching process has many control steps, and the time is lengthy, resulting in excessive cost, large size, high risk of hardware failure, high risk of program error, and excessive consumption of precious surgical time. Summary of the invention

[0004] The purpose of the present invention is to provide a medical interventional device driving assembly to solve the problems of large size, high cost, complex structure, difficult maintenance and low efficiency of interventional surgical equipment in the prior art.

[0005] In order to achieve the above-mentioned purpose, the present invention provides the following technical solutions: a medical interventional equipment driving assembly, which is used to drive a catheter guidewire for interventional surgery, including a driven part, roller assemblies are provided at both ends of the driven part, the roller assemblies are provided with 4 groups, and the roller assemblies are distributed in two groups in the horizontal and vertical directions, each group of roller assemblies is composed of a plurality of rollers, a mounting seat is provided at the top of the roller assembly, mounting holes are arranged in an array at the bottom of the mounting seat, the tops of the rollers are fixedly connected to the mounting holes, a bearing mounting position is provided at the top of the mounting seat, a lower mounting seat is fixed to the bottom of the roller, and the lower mounting seat is driven by the driving assembly.

[0006] Preferably, the driving assembly includes a first driving motor and a second driving motor, and the first driving motor and the second driving motor are arranged diagonally, a roller linkage gear is fixed to the circumferential surface of the lower mounting seat, the surfaces of the two horizontal groups of roller linkage gears are meshed, and the two vertical groups of roller linkage gears are driven by the first driving motor and the second driving motor respectively, the bottom of the first driving motor and the second driving motor are both fixed with a motor base, the first driving motor drives one group of roller assemblies to rotate, and drives the other horizontal group of roller assemblies to rotate towards each other, the second driving motor drives the vertical group of roller assemblies to rotate, and drives the other horizontal group of roller assemblies to rotate towards each other. By controlling the rotation direction of the first drive motor and the second drive motor to control the forward and backward movement and the forward and reverse rotation of the catheter guide wire, a higher degree of operational accuracy is provided, especially in complex and narrow vascular pathways, which can reduce errors in human operation, reduce the fatigue of doctors, and improve the stability and accuracy of the operation, thereby improving the success rate of the operation, reducing the occurrence of complications, and reducing the amount of radiation received by doctors during the operation, thereby improving the efficiency of the operation and reducing the surgical pressure on patients and doctors. If in certain emergency situations, the patient cannot be transferred to a hospital with surgical conditions in time, the drive component of the present invention can assist in realizing remote surgery.

[0007] Preferably, bearings are provided between the top of the first drive motor and the second drive motor and the roller linkage gear respectively, and the components are assembled and connected with the main structure through the bearings. The bearings can reduce the direct contact between the motor shaft, the linkage gear and the main structure, reduce the friction coefficient, reduce energy loss, extend the service life of the motor and the linkage gear, ensure the precise alignment of the motor shaft and the linkage gear, improve the transmission efficiency, and the bearings can effectively support the torque and load generated by the motor, and transfer these loads to the linkage gear, absorb the vibration generated during the operation of the motor, and reduce the impact of the vibration on the linkage gear and other mechanical components.

[0008] Preferably, the rollers are all placed at an angle, and the inclined small rollers are controlled by the rotation of a roller group. The force generated by each small roller can be decomposed into components in two directions, one along the plane of the roller group, and the other perpendicular to the plane of the roller group. When the roller group rotates at different speeds, the forces generated by the four groups of rollers can be synthesized in the vertical and horizontal directions, thereby achieving movement in any direction, thereby driving the catheter or guide wire to move forward and backward or rotate forward and reverse.

[0009] Preferably, the thickness of the middle portion of the roller is greater than the thickness of the two ends of the roller.

[0010] Preferably, the roller inclination directions of the roller assemblies are the same in the transverse direction, and the roller inclination directions of the roller assemblies are opposite in the longitudinal direction.

[0011] Preferably, the roller is composed of a central steel shaft and a soft rubber sleeve, and the soft rubber sleeve is nested on the surface of the central steel shaft. The soft rubber sleeve increases the friction between the roller and the guide wire catheter, and also protects the guide wire catheter to prevent damage.

[0012] The beneficial effects of the present invention are as follows: The present invention controls the forward and backward movement and the forward and reverse rotation movement of the catheter or the guide wire by means of the inclined small roller in the roller assembly, passes the catheter or the guide wire through the roller assembly, and the rollers on both sides clamp it, and then turns on the first driving motor to drive one group of roller assemblies to rotate, and the roller linkage gear located on the surface of the lower mounting seat at the bottom of the roller assembly drives the other group of roller linkage gears to rotate horizontally, thereby driving the other group of roller assemblies to rotate toward each other, and then turns on the second driving motor to drive the longitudinal group of roller assemblies to rotate, and the roller linkage gear on the surface of the lower mounting seat at the bottom of the longitudinal group of roller assemblies driven by the second driving motor drives the other group of roller linkage gears to rotate horizontally, thereby It drives another set of roller assemblies to rotate in opposite directions. If the rotation direction of the second drive motor is opposite to that of the first drive motor, the catheter guide wire is controlled to move forward and backward. If the rotation direction of the second drive motor is the same as that of the first drive motor, the catheter guide wire is controlled to rotate forward and reverse, providing a higher degree of operating accuracy. The motion mode of the driven part can be switched by simply switching the drive signal. There is no need for a complex mechanical switching structure, and the motion mode can be switched seamlessly. The motor has less electronic control, simple structure, direct switching, fast speed, greatly reduced cost, greatly reduced size, and lower risk of failure. It can efficiently execute the doctor's control instructions and shorten the operation time. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention; Figure 2 It is a structural schematic diagram of the driving assembly of the present invention; Figure 3 It is a schematic structural diagram of the transverse and longitudinal rollers of the present invention.

[0014] The reference numerals are as follows: 1. Driven part; 2. Roller; 3. Roller linkage gear; 4. First drive motor; 5. Second drive motor; 6. Motor base; 7. Bearing; 8. Mounting seat; 9. Bearing mounting position. DETAILED DESCRIPTION

[0015] 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.

[0016] Example: like Figures 1 to 3 As shown, an embodiment of the present invention provides a medical intervention device driving component, a medical intervention device driving component, the driving component is used to drive a catheter guide wire of an interventional surgery, and includes a driven member 1, roller assemblies are provided at both ends of the driven member 1, the roller assemblies are provided with 4 groups, and the roller assemblies are distributed in two groups horizontally and two groups vertically, the rollers 2 of the horizontal roller assemblies are inclined in the same direction, and the rollers 2 of the vertical roller assemblies are inclined in opposite directions, each group of roller assemblies is composed of a plurality of rollers 2, a mounting seat 8 is provided at the top of the roller assembly, and mounting holes are arranged in an array at the bottom of the mounting seat 8, and the tops of the rollers 2 are fixedly connected to the mounting holes Next, a bearing mounting position 9 is provided on the top of the mounting seat 8, and a lower mounting seat is fixed at the bottom of the roller 2. The lower mounting seat is driven by a driving assembly. The rollers 2 are placed at an inclination of 45 degrees. The small rollers inclined at 45 degrees are controlled by the rotation of the roller group. The force generated by each small roller can be decomposed into two components, one along the plane of the roller group and one perpendicular to the plane of the roller group. When the roller group rotates at different speeds, the forces generated by the four groups of roller groups can be synthesized in the vertical and horizontal directions, thereby achieving movement in any direction, thereby driving the catheter or guide wire to move forward and backward or rotate forward and reverse. The thickness of the middle part of the roller 2 is greater than the thickness of the two ends of the roller 2. The roller 2 is composed of a central steel shaft and a soft rubber sleeve, and the soft rubber sleeve is nested on the surface of the central steel shaft. The soft rubber sleeve increases the friction between the roller 2 and the guide wire catheter, and also protects the guide wire catheter to prevent damage.

[0017] The driving assembly includes a first driving motor 4 and a second driving motor 5, and the first driving motor 4 and the second driving motor 5 are arranged diagonally. A roller linkage gear 3 is fixed on the circumference of the lower mounting seat. The surfaces of the two groups of roller linkage gears 3 are meshed in the horizontal direction, and the two groups of roller linkage gears 3 in the longitudinal direction are driven by the first driving motor 4 and the second driving motor 5 respectively. The bottom of the first driving motor 4 and the second driving motor 5 are fixed with a motor base 6. The first driving motor 4 drives one group of roller assemblies to rotate, driving the other group of roller assemblies in the horizontal direction to rotate toward each other. The second driving motor 5 drives a group of roller assemblies in the longitudinal direction to rotate, and drives the other group of roller assemblies in the horizontal direction to rotate toward each other. The forward and backward movement and the forward and reverse rotation of the catheter guide wire are controlled by controlling the rotation direction of the first driving motor 4 and the second driving motor 5, providing a higher degree of operating accuracy, and only the forward, reverse and stop of the two driving motors are required to realize the seamless switching of the forward and backward movement, forward and reverse twisting movement, rotational forward and backward movement and other movement modes of the guide wire catheter. The motor has less electronic control, simple structure, direct switching, fast speed, greatly reduced cost, greatly reduced volume, smaller risk of failure, and can efficiently execute the control instructions of the doctor, shortening the operation time.

[0018] Bearings 7 are provided between the top of the first drive motor 4 and the second drive motor 5 and the roller linkage gear 3 respectively. The components are assembled and connected with the main structure through the bearings 7. The bearings 7 can reduce the direct contact between the motor shaft, the linkage gear 3 and the main structure, reduce the friction coefficient, reduce energy loss, extend the service life of the motor and the linkage gear 3, ensure the precise alignment of the motor shaft and the linkage gear 3, and improve the transmission efficiency. The bearings 7 can effectively support the torque and load generated by the motor, and transfer these loads to the linkage gear 3, absorb the vibration generated when the motor is running, and reduce the influence of the vibration on the linkage gear 3 and other mechanical parts.

[0019] The working principle of the present invention is as follows: the catheter or guide wire is passed through the roller assembly, and the rollers 2 on both sides clamp it. The first drive motor 4 is turned on to drive one group of roller assemblies to rotate clockwise, and the roller linkage gear 3 located on the surface of the lower mounting seat at the bottom of the roller assembly drives another group of roller linkage gears 3 to rotate counterclockwise, thereby driving the other group of roller assemblies in the horizontal direction to rotate counterclockwise, and then the second drive motor 5 is turned on to drive the longitudinal group of roller assemblies to rotate counterclockwise, and the roller linkage gear 3 on the surface of the lower mounting seat at the bottom of the longitudinal group of roller assemblies driven by the second drive motor 5 drives the other group of roller linkage gears 3 in the horizontal direction to rotate, thereby driving the other group of roller assemblies in the horizontal direction to rotate clockwise, thereby controlling the catheter guide wire to move forward and backward. If the second drive motor 5 rotates clockwise, the catheter guide wire is controlled to rotate in the forward and reverse directions. If only one of the first drive motor 4 and the second drive motor 5 is driven, the catheter guide wire can be rotated while moving forward and backward.

[0020] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0021] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A medical interventional device drive assembly, the drive assembly being used to drive a catheter guidewire for interventional surgery, comprising a driven component (1), characterized in that: Roller assemblies are provided at both ends of the driven member (1), the roller assemblies are provided with four groups, and the roller assemblies are distributed in two groups in the horizontal and vertical directions, each group of roller assemblies is composed of a plurality of rollers (2), a mounting seat (8) is provided at the top of the roller assembly, mounting holes are provided in an array at the bottom of the mounting seat (8), the tops of the rollers (2) are fixedly connected to the mounting holes, a bearing mounting position (9) is provided at the top of the mounting seat (8), a lower mounting seat is fixed at the bottom of the roller (2), and the lower mounting seat is driven by the driving assembly.

2. The medical intervention device driving assembly according to claim 1, characterized in that: The driving assembly comprises a first driving motor (4) and a second driving motor (5), and the first driving motor (4) and the second driving motor (5) are arranged diagonally, a roller linkage gear (3) is fixed to the circumferential surface of the lower mounting seat, two groups of roller linkage gears (3) are meshed with each other in the transverse direction, and the two groups of roller linkage gears (3) are driven by the first driving motor (4) and the second driving motor (5) respectively in the longitudinal direction, and a motor base (6) is fixed to the bottom of each of the first driving motor (4) and the second driving motor (5).

3. The medical intervention device driving assembly according to claim 1, characterized in that: Bearings (7) are provided between the tops of the first drive motor (4) and the second drive motor (5) and the roller linkage gear (3).

4. The medical intervention device driving assembly according to claim 1, characterized in that: The rollers (2) are all placed at an angle.

5. The medical intervention device driving assembly according to claim 1, characterized in that: The thickness of the middle portion of the roller (2) is greater than the thickness of the two ends of the roller (2).

6. The medical intervention device driving assembly according to claim 1, characterized in that: The rollers (2) of the roller assembly have the same inclination direction in the transverse direction, and the rollers (2) of the roller assembly have opposite inclination directions in the longitudinal direction.

7. The medical intervention device driving assembly according to claim 1, characterized in that: The roller (2) is composed of a central steel shaft and a soft rubber sleeve, and the soft rubber sleeve is embedded in the surface of the central steel shaft.

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