Modularized guide wire motion guiding and detecting device for vascular intervention surgical robot

Abstract

The invention discloses a modular guide wire movement guiding and detecting device for a vascular intervention surgical robot, and relates to the field of medical instruments. Comprising a photoelectric sensor, a guide mechanism, a fixing module and a connecting piece, the photoelectric sensor has a sensing interval and is used for detecting whether a guide wire exists in a catheter, light holes are reserved in the two sides of the guide mechanism and matched with the photoelectric sensor, conical holes are reserved in the two ends of the guide mechanism, and enough space is reserved for filling the guide wire into the catheter. And the device is fixed on the main body structure of the vascular intervention surgical robot through the fixing module. The driving unit is used for applying driving force to the movement of the guide wire, and the guide wire can be automatically loaded / unloaded into and out of the catheter in combination with the guide mechanism and the photoelectric sensor. Compared with the mode that a doctor manually evacuates the guide wire out of the catheter, more convenience is provided, the number of times that the doctor enters an operating room is reduced, preparation is made for injection medicine to enter the catheter, the operation efficiency is improved, and the operation time is saved.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a modular guide wire motion guiding and detecting device for a vascular interventional surgery robot. Background Art

[0002] The movement and rotation of the guidewire in the catheter of the vascular interventional surgery robot requires a guidewire drive device to complete the guidewire movement. The guidewire drive device is installed at one end of the vascular interventional surgery robot, and the guidewire is delivered by friction. During the operation, when the doctor needs to inject drugs into the catheter, he needs to enter the operating room to manually withdraw the wire, then inject the drug into the catheter, and then manually deliver the guidewire into the catheter. There is a certain amount of radiation in the operating room, and the doctor needs to enter the operating room multiple times to complete the operation, which poses certain physical hazards to the doctor. Summary of the invention

[0003] The purpose of the present invention is to solve the above-mentioned problems in the prior art and to provide a modular guide wire motion guiding and detecting device for a vascular interventional surgical robot. The device can make the guide wire move along a specific track, and at the same time use a photoelectric sensor to detect the guide wire position, and then perform loading and unloading operations, to help doctors complete the automatic feeding and withdrawal of the guide wire, reduce the number of times doctors enter the operating room, prepare for drug injection, shorten the operation time, and improve surgical efficiency.

[0004] In order to achieve the above object, the present invention adopts the following technical scheme:

[0005] A modular guide wire motion guiding and detecting device for a vascular interventional surgical robot comprises a driving unit, a guiding mechanism and a photoelectric sensor which are arranged in sequence; the driving unit is used to drive the guide wire to move, the front and rear sides of the guiding structure are provided with tapered holes for the guide wire to pass through, and the left and right sides of the guiding mechanism are provided with light-transmitting holes; the sensing working range of the photoelectric sensor is located at the guide wire motion path; the light-transmitting hole is located on the emission signal path of the photoelectric sensor, and the guide wire position is detected by using the photoelectric signal through the light-transmitting hole; the tapered hole gradually shrinks from the large end diameter of the guiding mechanism to the small end diameter at the light-transmitting hole.

[0006] The driving unit comprises a friction wheel and a driving wheel, and the guide wire is located between the friction wheel and the driving wheel. The guide wire is driven to move by the rotation of the driving wheel.

[0007] The diameter of the light-transmitting hole is matched to the diameter of the guide wire, allowing light to pass through so as to monitor the guide wire.

[0008] The diameter of the small end of the tapered hole is slightly larger than the diameter of the guide wire. During the automatic wire feeding process, there is enough space between the small end and the large end of the tapered hole, which is convenient for automatic loading and unloading of the guide wire.

[0009] The present invention also includes a fixing module, which is used to fix the photoelectric sensor on the vascular intervention surgery robot.

[0010] The present invention also comprises a connecting piece, wherein the connecting piece adopts bolt connection to fix the guide mechanism between the transmitter and the receiver of the photoelectric sensor.

[0011] The guide mechanism is in the shape of a long strip. After the guide wire exits the detection position of the photoelectric sensor, the guide wire still exists in the guide mechanism. At this time, the doctor can inject the drug into the empty catheter. After the injection is completed, the guide wire can be automatically loaded into the catheter.

[0012] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0013] The modular guide wire motion guide and detection device for vascular interventional surgery robot described in the present invention detects the guide wire position status through signal transmission between the photoelectric sensor transmitter and the receiver. The guide wire can be automatically loaded and unloaded in and out of the catheter. The doctor can save the manual wire feeding and wire withdrawal operations, reduce the number of times entering the operating room, and prepare for drug injection, help the doctor complete the operation, improve the operation efficiency, and reduce the operation time. The tapered hole design of the modular guide wire motion guide and detection device can reduce the complexity of the guide wire automatically entering the catheter. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 A schematic diagram of the structure of the photoelectric sensor and the guide mechanism assembly;

[0015] Figure 2 It is a schematic diagram of the exploded structure of the photoelectric sensor and the guide mechanism;

[0016] Figure 3 It is an exploded schematic diagram of the working principle of the device of the present invention;

[0017] Figure 4 This is a schematic diagram of the installation position of the device of the present invention in a vascular interventional surgery robot.

[0018] Reference numerals: photoelectric sensor 1 , fixing module 2 , guiding mechanism 3 , connecting piece 4 , guide wire 5 , catheter 6 , catheter clamp 7 , friction wheel 8 , driving wheel 9 . DETAILED DESCRIPTION

[0019] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention clearer and more understandable, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments.

[0020] Example 1

[0021] See also Figures 1 to 4, the device of the present invention comprises a driving unit, a guide mechanism 3 and a photoelectric sensor 1 which are arranged in sequence;

[0022] The driving unit is used to drive the guide wire 5 to move;

[0023] The guide mechanism 3 is used to make the guide wire 5 move along a specific track;

[0024] A space is reserved between the transmitter and the receiver of the photoelectric sensor 1 for the guide mechanism 3 to be placed;

[0025] Specifically, the driving unit includes a friction wheel 8 and a driving wheel 9, and the guide wire 5 is located between the friction wheel 8 and the driving wheel 9. The driving wheel 9 rotates to drive the guide wire 5 to move, thereby realizing automatic loading and unloading of the guide wire 5;

[0026] Specifically, conical holes for the guide wire 5 to pass through are provided on the front and rear sides of the guide structure, and light-transmitting holes are provided on the left and right sides of the guide mechanism 3; the sensing working area of ​​the photoelectric sensor 1 is located at the movement path of the guide wire 5; the light-transmitting hole is precisely located on the emission signal path of the photoelectric sensor 1, and the position of the guide wire 5 is detected by using the photoelectric signal through the light-transmitting hole; the conical hole gradually shrinks from the large end diameter of the guide mechanism 3 to the small end diameter at the light-transmitting hole, so as to guide the guide wire 5 to smoothly enter the small end diameter part from the large end diameter part.

[0027] The diameter of the light-transmitting hole is adapted to the diameter of the guide wire 5, allowing light to pass through so as to monitor the guide wire 5. In addition, the diameter of the light-transmitting hole is comparable to the diameter of the guide wire 5, which can ensure the effectiveness and reliability of the light-transmitting effect. The light-transmitting hole cannot be too small to block the signal emitted by the transmitter of the photoelectric sensor 1 and affect the receiving ability of the receiver; nor can it be too large to affect the reception of the signal by the receiver when the guide wire 5 enters the light-transmitting hole.

[0028] The diameter of the small end of the tapered hole is slightly larger than the diameter of the guide wire 5 . During the automatic wire feeding process, the guide wire 5 has enough space with the large end to facilitate the automatic loading and unloading of the guide wire 5 .

[0029] Specifically, according to different diameters of the guide wire 5 (including 0.10 inches, 0.14 inches, 0.18 inches, 0.25 inches, 0.35 inches and 0.38 inches), the diameters of the light-transmitting hole and the tapered hole will be adjusted accordingly to match the diameter of the guide wire 5 .

[0030] This embodiment further includes a fixing module 2 and a connecting member 4. The fixing module 2 is used to fix the photoelectric sensor 1 on the vascular interventional surgery robot; the connecting member 4 uses bolts to fix the guide mechanism 3 between the transmitter and the receiver of the photoelectric sensor 1.

[0031] The guide mechanism 3 is in the shape of an elongated strip. After the guide wire 5 exits the detection position of the photoelectric sensor 1 , the guide wire 5 still exists in the guide mechanism 3 . At this time, the doctor can inject the drug into the empty catheter 6 . After the injection is completed, the guide wire 5 can be automatically loaded into the catheter 6 .

[0032] More specifically, the end of the guide mechanism 3 close to the driving wheel 9 is slightly longer. After the guide wire 5 is unloaded from the catheter 6 and leaves the light-transmitting hole, the guide wire 5 still exists in the guide mechanism 3. During the automatic loading process of the guide wire 5, the auxiliary guide wire 5 enters the catheter 6.

[0033] In operation, the catheter 6 is fixed by the catheter clamp 7, the guide mechanism 3 and the photoelectric sensor 1 are located between the drive unit and the catheter clamp 7, the photoelectric sensor 1 and the connecting member 4 are fixed to the fixing module 2 by bolt connection, and the guide mechanism 3 is fixed to the connecting member 4 by bolt connection. In this way, the accuracy and controllability of the movement of the guide wire 5 are ensured, and the loading and unloading process of the guide wire 5 is made more efficient and reliable.

[0034] The principle of the present invention is as follows:

[0035] In the device, the light-transmitting hole of the guide mechanism 3 cooperates with the emitter of the photoelectric sensor 1. The emitter transmits a signal through the light-transmitting hole to detect whether the guide wire 5 is present in the catheter 6. Once the guide wire 5 is detected, the photoelectric sensor 1 receives a feedback signal, thereby realizing accurate detection and monitoring of the position of the guide wire 5.

[0036] Specifically, after the drug is injected into the catheter 6 before the operation, the guide wire 5 is loaded into the catheter 6 .

[0037] Furthermore, during the operation, after the medicine in the catheter 6 is used up, the modular guidewire motion guide and detection device helps the doctor to automatically withdraw the guidewire 5 from the catheter 6, preparing for the doctor to enter the operating room to inject the medicine into the catheter 6, and the subsequent driving unit automatically loads the guidewire 5 into the catheter 6 to continue the operation.

Claims

1. A modular guidewire motion guidance and detection device for a vascular interventional surgery robot, characterized in that: It comprises a driving unit, a guiding mechanism and a photoelectric sensor which are arranged in sequence; the driving unit is used to drive the guide wire to move, the front and rear sides of the guiding structure are provided with tapered holes for the guide wire to pass through, and the left and right sides of the guiding mechanism are provided with light-transmitting holes; the sensing working range of the photoelectric sensor is located at the guide wire movement path; the light-transmitting hole is located on the emission signal path of the photoelectric sensor, and the guide wire position is detected by using the photoelectric signal through the light-transmitting hole; the tapered hole gradually shrinks from the large end diameter of the guiding mechanism to the small end diameter at the light-transmitting hole.

2. A modular guidewire motion guiding and detecting device for a vascular interventional surgery robot according to claim 1, characterized in that: The driving unit comprises a friction wheel and a driving wheel, and the guide wire is located between the friction wheel and the driving wheel. The guide wire is driven to move by the rotation of the driving wheel.

3. A modular guidewire motion guiding and detecting device for a vascular interventional surgery robot according to claim 1, characterized in that: The diameter of the light-transmitting hole is matched to the diameter of the guide wire, allowing light to pass through so as to monitor the guide wire.

4. A modular guidewire motion guiding and detecting device for a vascular interventional surgery robot according to claim 1, characterized in that: The diameter of the small end of the tapered hole is slightly larger than the diameter of the guide wire. During the automatic wire feeding process, there is enough space between the small end and the large end of the tapered hole, which is convenient for automatic loading and unloading of the guide wire.

5. The modular guidewire motion guiding and detecting device for a vascular interventional surgery robot according to claim 1, characterized in that: It also includes a fixing module, which is used to fix the photoelectric sensor on the vascular intervention surgery robot.

6. A modular guidewire motion guiding and detecting device for a vascular interventional surgery robot according to claim 1, characterized in that: The device also comprises a connecting piece, which is connected by bolts to fix the guide mechanism between the transmitter and the receiver of the photoelectric sensor.

7. A modular guidewire motion guiding and detecting device for a vascular interventional surgery robot according to claim 1, characterized in that: The guide mechanism is in the shape of a long strip. After the guide wire exits the detection position of the photoelectric sensor, the guide wire still exists in the guide mechanism. At this time, the doctor can inject the drug into the empty catheter. After the injection is completed, the guide wire can be automatically loaded into the catheter.

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