Clamping device capable of being used for three-dimensional positioning of medical robot

Abstract

The invention discloses a clamping device capable of being used for three-dimensional positioning of a medical robot. The clamping device comprises a fixing frame, a guide wire, a two-way threaded rod arranged between the inner walls of the two sides of the fixing frame, a guide assembly arranged on the circumferential outer wall of the two-way threaded rod and a rotating assembly arranged on the circumferential outer wall of the two-way threaded rod. The two ends of the two-way threaded rod are rotationally connected with the inner walls of the two sides of the fixing frame correspondingly, a first motor is fixedly connected to one side of the fixing frame, and one end of the first motor penetrates through the fixing frame and is fixedly connected with one end of the two-way threaded rod; and through the arrangement of the bidirectional threaded rod and the first motor, the medical robot can achieve linear motion of the guide wire in the fixing frame. The first motor drives the two-way threaded rod to rotate, and the first guide block and the second guide block which are in threaded connection are used for controlling the guide wire to advance or retreat. Meanwhile, due to the fact that a stable mechanical transmission structure is adopted, the guide wire is prevented from shifting and shaking in the propelling process.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and in particular to a clamping device that can be used for stereoscopic positioning of a medical robot. Background Art

[0002] Medical robot guidewire is a precision instrument used to assist doctors in performing intravascular interventional surgery. This technology combines the precise control capabilities of robots with the flexibility of traditional guidewires, helping doctors complete complex intravascular operations more accurately and safely.

[0003] In the existing medical robot guidewire operation, there are many problems that need to be solved, which seriously affect the safety, accuracy and efficiency of the operation. First, the precise positioning of the guidewire is a major challenge; during cardiovascular interventional surgery or neurosurgery, the current guidewire advancement system is difficult to achieve high-precision linear motion, which causes the guidewire to easily deviate and jitter during the advancement process, affecting the safety and accuracy of the operation. Secondly, the lack of a stable advancement mechanism makes it impossible for the guidewire to maintain a stable path in complex paths, especially when facing curved or narrow areas, which increases the risk of surgery. In addition, the existing equipment lacks operational flexibility, and when handling soft or easily deformable guidewire materials, the guidewire is often damaged due to excessive pressure, and it is difficult to simulate the fine movements of human fingers, which limits its application in complex surgical environments.

[0004] At the same time, these devices have poor adaptability to guidewires of different diameters or types, and require significant adjustments to settings when switching guidewire types, which reduces surgical efficiency and increases the workload of medical staff. Finally, most existing devices rely on manual operation, lack automation functions and bionic design, increase the workload of medical staff, and perform poorly when performing delicate tasks, making it difficult to meet the needs of modern medical surgery.

[0005] Therefore, it is necessary to provide a clamping device that can be used for stereoscopic positioning of a medical robot to solve the above technical problems. Summary of the invention

[0006] The present invention overcomes the deficiencies of the prior art and provides a clamping device that can be used for stereoscopic positioning of a medical robot.

[0007] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is: a clamping device that can be used for stereoscopic positioning of a medical robot, comprising a fixing frame and a guide wire, a bidirectional threaded rod arranged between the inner walls on both sides of the fixing frame, a guide component arranged on the circumferential outer wall of the bidirectional threaded rod, and a rotating component arranged on the circumferential outer wall of the bidirectional threaded rod;

[0008] The two ends of the bidirectional threaded rod are rotatably connected to the inner walls of the fixed frame on both sides respectively, and a first motor is fixedly connected to one side of the fixed frame, and one end of the first motor passes through the fixed frame and is fixedly connected to one end of the bidirectional threaded rod;

[0009] The guide assembly includes: two connecting blocks and two transmission blocks, a first guide wheel is rotatably connected between the two connecting blocks, a second guide wheel is rotatably connected between the two transmission blocks, a transmission rod is fixedly connected to the bottom of the two connecting blocks, the two transmission rods respectively penetrate the two transmission blocks and are slidably connected, U-shaped rods are fixedly connected on both sides of the two transmission blocks, a second guide block is fixedly connected between the two U-shaped rods, and the second guide block is threadedly connected to the circumferential outer wall of the bidirectional threaded rod.

[0010] In a preferred embodiment of the present invention, the bottom of the transmission block is fixedly connected to a sleeve, the bottom of the transmission rod is fixedly connected to a limit block, the circumferential outer wall of the limit block is slidably connected to the circumferential inner wall of the sleeve, the circumferential outer wall of the transmission rod is sleeved with a spring, one end of the spring is fixedly connected to the upper surface of the limit block, and the other end of the spring is fixedly connected to the bottom of the transmission block.

[0011] In a preferred embodiment of the present invention, a third motor is fixedly connected to one side of one of the connecting blocks, and one end of the output shaft of the third motor passes through one of the connecting blocks and is fixedly connected to the rotating shaft of the first guide wheel.

[0012] In a preferred embodiment of the present invention, two penetrating second sliding grooves are provided on both sides of the fixing frame, and the two U-shaped rods are respectively located in the two opposite second sliding grooves and are slidably connected.

[0013] In a preferred embodiment of the present invention, the rotating assembly includes a first guide block, which is threadedly connected to the circumferential outer wall of the bidirectional threaded rod, and a fixed rod is fixedly connected to the upper surface of the first guide block. A first sliding groove is provided on the upper surface of the fixed frame, and the fixed rod is located in the first sliding groove and is slidably connected.

[0014] In a preferred embodiment of the present invention, a second motor is fixedly connected to the top of the fixing rod, a fixing cylinder is fixedly connected to the top of the second motor, and a transmission groove is formed on the circumferential outer wall of the fixing cylinder.

[0015] In a preferred embodiment of the present invention, a clamping cylinder is rotatably connected to the circumferential inner wall of the fixing cylinder.

[0016] In a preferred embodiment of the present invention, one end of the output shaft of the second motor is fixedly connected to a gear.

[0017] In a preferred embodiment of the present invention, the gear is meshed with the circumferential outer wall of the clamping cylinder.

[0018] In a preferred embodiment of the present invention, the guide wire is located between the first guide wheel and the second guide wheel, and the other end of the guide wire is located in the clamping cylinder.

[0019] The present invention solves the defects existing in the background technology and has the following beneficial effects:

[0020] (1) The present invention provides a clamping device that can be used for stereoscopic positioning of a medical robot. Through the coordinated work of a bidirectional threaded rod and a first motor, the medical robot can realize the linear motion of a guide wire in a fixed frame. The first motor drives the bidirectional threaded rod to rotate, and the first guide block and the second guide block connected by threads are used to control the advance or retreat of the guide wire. The positioning of the guide wire during operation is ensured, and at the same time, due to the use of a stable mechanical transmission structure, the deviation and jitter problems that may occur in the guide wire during the advancement process are avoided. In addition, the first guide wheel and the second guide wheel in the guide assembly provide a two-point contact advancement mechanism for the front end of the guide wire, which ensures the stability of the guide wire path and improves the safety and accuracy of the surgical operation.

[0021] (2) The present invention provides a clamping device that can be used for stereoscopic positioning of a medical robot. The setting of the rotating component imitates the twisting action of the human thumb and index finger, providing the ability to wrap, contact and control the rear end of the guide wire. The second motor drives the gear to rotate and engage with the outer wall of the clamping cylinder, so that the clamping cylinder can rotate around the guide wire to achieve an action similar to twisting an object with fingers. This not only makes the operation of the robot more natural and smooth, but also enhances its flexibility and can better adapt to the needs of complex surgical environments.

[0022] (3) The present invention provides a clamping device that can be used for stereoscopic positioning of a medical robot. The arrangement of a spring and a transmission rod significantly improves the stability and flexibility of the first guide wheel and the second guide wheel in guidewire operation. The spring can absorb and alleviate the impact force encountered during the guidewire advancement process by providing the necessary elastic support, ensuring that the guidewire can maintain a stable forward direction even in the face of complex paths. This elastic mechanism enables the guide wheel to quickly adjust its position when external conditions change, and automatically reset when conditions return to normal, effectively avoiding the risk of the guidewire deviating from the predetermined trajectory. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work.

[0024] Figure 1is a three-dimensional structural diagram of the appearance of the device body of a preferred embodiment of the present invention;

[0025] Figure 2 is a cross-sectional structural diagram of a guide assembly according to a preferred embodiment of the present invention;

[0026] Figure 3 is a cross-sectional structural diagram of a rotating assembly of a preferred embodiment of the present invention;

[0027] In the figure: 1. fixed frame; 2. first motor; 3. bidirectional threaded rod; 4. rotating assembly; 401. first guide block; 402. fixed rod; 403. second motor; 404. fixed cylinder; 405. clamping cylinder; 406. gear; 407. transmission groove; 5. guide assembly; 501. second guide block; 502. U-shaped rod; 503. connecting block; 504. first guide wheel; 505. third motor; 506. transmission block; 507. second guide wheel; 508. transmission rod; 509. sleeve; 510. limit block; 511. spring; 6. first slide groove; 7. guide wire; 8. second slide groove. DETAILED DESCRIPTION

[0028] 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.

[0029] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention can also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0030] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the scope of protection of the present application. In addition, the terms "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the invention, unless otherwise specified, "multiple" means two or more.

[0031] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood by specific circumstances.

[0032] like Figure 1 As shown, the present invention provides a clamping device that can be used for stereo positioning of a medical robot, comprising a fixed frame 1 and a guide wire 7, a bidirectional threaded rod 3 arranged between the inner walls on both sides of the fixed frame 1, a guide component 5 arranged on the circumferential outer wall of the bidirectional threaded rod 3, and a rotating component 4 arranged on the circumferential outer wall of the bidirectional threaded rod 3;

[0033] like Figure 1-Figure 2 As shown, the two ends of the bidirectional threaded rod 3 are rotatably connected to the inner walls of the two sides of the fixed frame 1 respectively, and the first motor 2 is fixedly connected to one side of the fixed frame 1, and one end of the first motor 2 passes through the fixed frame 1 and is fixedly connected to one end of the bidirectional threaded rod 3;

[0034] The guide assembly 5 includes: two connecting blocks 503 and two transmission blocks 506, a first guide wheel 504 is rotatably connected between the two connecting blocks 503, a second guide wheel 507 is rotatably connected between the two transmission blocks 506, a transmission rod 508 is fixedly connected to the bottom of the two connecting blocks 503, the two transmission rods 508 respectively penetrate the two transmission blocks 506 and are slidably connected, U-shaped rods 502 are fixedly connected to both sides of the two transmission blocks 506, a second guide block 501 is fixedly connected between the two U-shaped rods 502, and the second guide block 501 is threadedly connected to the circumferential outer wall of the bidirectional threaded rod 3;

[0035] The guide assembly 5 includes: two connecting blocks 503 and two transmission blocks 506, a first guide wheel 504 is rotatably connected between the two connecting blocks 503, a second guide wheel 507 is rotatably connected between the two transmission blocks 506, a transmission rod 508 is fixedly connected to the bottom of the two connecting blocks 503, the two transmission rods 508 respectively penetrate the two transmission blocks 506 and are slidably connected, U-shaped rods 502 are fixedly connected to both sides of the two transmission blocks 506, a second guide block 501 is fixedly connected between the two U-shaped rods 502, and the second guide block 501 is threadedly connected to the circumferential outer wall of the bidirectional threaded rod 3;

[0036] The bottom of the transmission block 506 is fixedly connected with a sleeve 509, and the bottom of the transmission rod 508 is fixedly connected with a limit block 510. The circumferential outer wall of the limit block 510 is slidably connected to the circumferential inner wall of the sleeve 509. The circumferential outer wall of the transmission rod 508 is sleeved with a spring 511, one end of the spring 511 is fixedly connected to the upper surface of the limit block 510, and the other end of the spring 511 is fixedly connected to the bottom of the transmission block 506. One side of one of the connecting blocks 503 is fixedly connected with a third motor 505, and one end of the output shaft of the third motor 505 passes through one of the connecting blocks 503 and is fixedly connected to the rotating shaft of the first guide wheel 504. Two penetrating second slide grooves 8 are provided on both sides of the fixed frame 1, and the two U-shaped rods 502 are respectively located in the two opposite second slide grooves 8 and are slidably connected.

[0037] It should be noted that the bidirectional threaded rod 3 is rotatably connected to the inner walls of both sides of the fixed frame 1 and is driven to rotate by the first motor 2. This design ensures that the bidirectional threaded rod 3 can rotate smoothly, and the position movement of the guide assembly 5 is controlled by the cooperation between the threads thereon and the second guide block 501. The power provided by the first motor 2 enables the entire system to have linear motion capabilities, thereby ensuring that the guide wire 7 can be accurately positioned to the desired position.

[0038] The arrangement of the spring 511 and the transmission rod 508 in the guide assembly 5 provides the first guide wheel 504 and the second guide wheel 507 with necessary elastic support and buffering functions. The spring 511 can absorb and alleviate the impact force encountered during the advancement of the guide wire, ensuring that the guide wire can maintain a stable forward direction even in the face of a complex path. In addition, the transmission rod 508 allows the guide wheels to be fine-tuned according to actual needs, so that they can flexibly adjust their positions according to the changing path of the guide wire. This adaptive capability not only increases the flexibility of the system, but also improves the reliability of operation, especially when handling soft or deformable guide wire materials, preventing the guide wire from being damaged due to excessive compression. At the same time, the presence of the spring 511 ensures that this adjustment is smooth and reversible, realizing real-time compensation and optimization of the guide wire path.

[0039] like Figure 1-Figure 3As shown: the rotating assembly 4 includes a first guide block 401, the first guide block 401 is threadedly connected to the circumferential outer wall of the bidirectional threaded rod 3, the upper surface of the first guide block 401 is fixedly connected to a fixing rod 402, the upper surface of the fixing frame 1 is provided with a first sliding groove 6, and the fixing rod 402 is located in the first sliding groove 6 and is slidably connected;

[0040] The top of the fixed rod 402 is fixedly connected to the second motor 403, the top of the second motor 403 is fixedly connected to the fixed cylinder 404, the circumferential outer wall of the fixed cylinder 404 is provided with a transmission groove 407, the circumferential inner wall of the fixed cylinder 404 is rotatably connected to the clamping cylinder 405, one end of the output shaft of the second motor 403 is fixedly connected to the gear 406, the gear 406 is meshed with the circumferential outer wall of the clamping cylinder 405, the guide wire 7 is located between the first guide wheel 504 and the second guide wheel 507, and the other end of the guide wire 7 is located in the clamping cylinder 405.

[0041] It should be noted that the rotating assembly 4 realizes the control and stable clamping of the rear end of the guide wire 7 through the arrangement of the first guide block 401, the fixed rod 402, the second motor 403, the fixed cylinder 404, the clamping cylinder 405 and the gear 406. The first guide block 401 is threadedly connected to the circumferential outer wall of the bidirectional threaded rod 3, so that it can move linearly according to the rotation of the bidirectional threaded rod 3, and through the sliding connection of the fixed rod 402 in the first slide groove 6, it is ensured that the rotating assembly 4 can smoothly adjust the position to achieve accurate positioning of the guide wire 7. The second motor 403 fixed on the top of the fixed rod 402 drives the gear 406 to rotate, and the gear 406 meshes with the circumferential outer wall of the clamping cylinder 405 to realize the rotation control of the clamping cylinder 405, simulating the twisting action of the human thumb and index finger, and providing the guide wire 7 with stable wrapping contact and fine operation ability. This can not only firmly clamp the guide wire 7, but also provide the necessary rotational force when needed, helping the guide wire to pass smoothly through complex paths or narrow areas, while avoiding damage to the guide wire due to excessive compression, thereby improving the safety and flexibility of the operation.

[0042] In addition, the clamping cylinder 405 can rotate freely in the fixed cylinder 404, and the transmission groove 407 ensures stability during the rotation process, further enhancing the reliability of the device body. The power support provided by the second motor 403 enables the clamping cylinder 405 to respond to different surgical requirements, especially when handling soft or easily deformable guide wire materials, effectively preventing guide wire damage.

[0043] Embodiment 1:

[0044] The present invention utilizes the bidirectional threaded rod 3 and the first motor 2 to work together to achieve the linear motion of the guide wire 7 in the fixed frame 1. The first motor 2 drives the bidirectional threaded rod 3 to rotate, and the first guide block 401 and the second guide block 501 that are threadedly connected can accurately control the advance or retreat of the guide wire 7. This design ensures high-precision positioning of the guide wire 7 during operation, while avoiding the deviation and jitter problems that may occur during the advancement of the guide wire. The first guide wheel 504 and the second guide wheel 507 in the guide assembly 5 provide a two-point contact propulsion mechanism for the front end of the guide wire, which ensures the stability of the guide wire path and greatly improves the safety and accuracy of the surgical operation;

[0045] The design of the spring 511 and the transmission rod 508 in the guide assembly 5 significantly enhances the flexibility and reliability of the system. The spring 511 can absorb and alleviate the impact force encountered during the advancement of the guidewire, ensuring that the guidewire can maintain a stable forward direction even in the face of complex paths. The transmission rod 508 allows the guide wheels to be fine-tuned according to actual needs, so that they can flexibly adjust their positions according to the changing path of the guidewire. This adaptive capability not only increases the flexibility of the system, but also improves the reliability of operation, especially when dealing with soft or easily deformable guidewire materials, preventing damage to the guidewire due to excessive compression. In addition, the presence of the spring 511 ensures that this adjustment is smooth and reversible, achieving real-time compensation and optimization of the guidewire path;

[0046] The rotating assembly 4 realizes the control and stable clamping of the rear end of the guide wire 7. The second motor 403 drives the gear 406 to rotate and mesh with the circumferential outer wall of the clamping cylinder 405, simulating the twisting action of the human thumb and index finger, providing the guide wire 7 with stable wrapping contact and fine operation ability. This design can not only firmly clamp the guide wire 7, but also provide the necessary rotational force when needed, helping the guide wire to pass smoothly through complex paths or narrow areas. The clamping cylinder 405 can rotate freely in the fixed cylinder 404, and the design of the transmission groove 407 ensures stability during the rotation process, further enhancing the reliability of the system. Overall, the rotating assembly 4 improves the flexibility and safety of the guide wire operation, enabling the medical robot to successfully complete tasks in various complex situations.

[0047] The above is based on the ideal embodiment of the present invention. Through the above description, relevant personnel can make various changes and modifications without departing from the technical concept of the present invention. The technical scope of the present invention is not limited to the content in the specification, but must be determined according to the scope of the claims.

Claims

1. A clamping device for stereo positioning of a medical robot, comprising a fixing frame (1) and a guide wire (7), a bidirectional threaded rod (3) arranged between the inner walls of both sides of the fixing frame (1), a guide assembly (5) arranged on the circumferential outer wall of the bidirectional threaded rod (3), and a rotating assembly (4) arranged on the circumferential outer wall of the bidirectional threaded rod (3), characterized in that ； The two ends of the bidirectional threaded rod (3) are rotatably connected to the inner walls of the fixed frame (1) on both sides, and a first motor (2) is fixedly connected to one side of the fixed frame (1); one end of the first motor (2) passes through the fixed frame (1) and is fixedly connected to one end of the bidirectional threaded rod (3); The guide assembly (5) comprises: two connecting blocks (503) and two transmission blocks (506); a first guide wheel (504) is rotatably connected between the two connecting blocks (503); a second guide wheel (507) is rotatably connected between the two transmission blocks (506); a transmission rod (508) is fixedly connected to the bottom of the two connecting blocks (503); the two transmission rods (508) respectively penetrate the two transmission blocks (506) and are slidably connected; U-shaped rods (502) are fixedly connected to both sides of the two transmission blocks (506); a second guide block (501) is fixedly connected between the two U-shaped rods (502); and the second guide block (501) is threadedly connected to the circumferential outer wall of the bidirectional threaded rod (3).

2. A clamping device for stereoscopic positioning of a medical robot according to claim 1, characterized in that: The bottom of the transmission block (506) is fixedly connected to a sleeve (509), the bottom of the transmission rod (508) is fixedly connected to a limit block (510), the circumferential outer wall of the limit block (510) is slidably connected to the circumferential inner wall of the sleeve (509), the circumferential outer wall of the transmission rod (508) is sleeved with a spring (511), one end of the spring (511) is fixedly connected to the upper surface of the limit block (510), and the other end of the spring (511) is fixedly connected to the bottom of the transmission block (506).

3. A clamping device for stereoscopic positioning of a medical robot according to claim 1, characterized in that: A third motor (505) is fixedly connected to one side of one of the connection blocks (503), and one end of the output shaft of the third motor (505) passes through one of the connection blocks (503) and is fixedly connected to the rotating shaft of the first guide wheel (504).

4. The clamping device for stereoscopic positioning of a medical robot according to claim 1, characterized in that: Two penetrating second sliding grooves (8) are provided on both sides of the fixed frame (1), and the two U-shaped rods (502) are respectively located in the two opposite second sliding grooves (8) and are slidably connected.

5. The clamping device for stereoscopic positioning of a medical robot according to claim 1, characterized in that: The rotating assembly (4) comprises a first guide block (401), the first guide block (401) being threadedly connected to the circumferential outer wall of the bidirectional threaded rod (3), the upper surface of the first guide block (401) being fixedly connected to a fixing rod (402), the upper surface of the fixing frame (1) being provided with a first sliding groove (6), the fixing rod (402) being located in the first sliding groove (6) and being slidably connected.

6. A clamping device for stereoscopic positioning of a medical robot according to claim 5, characterized in that: The top of the fixed rod (402) is fixedly connected to a second motor (403), the top of the second motor (403) is fixedly connected to a fixed cylinder (404), and a transmission groove (407) is provided on the circumferential outer wall of the fixed cylinder (404).

7. A clamping device for stereoscopic positioning of a medical robot according to claim 6, characterized in that: The circumferential inner wall of the fixing cylinder (404) is rotatably connected to a clamping cylinder (405).

8. The clamping device for stereoscopic positioning of a medical robot according to claim 1, characterized in that: One end of the output shaft of the second motor (403) is fixedly connected to a gear (406).

9. A clamping device for stereoscopic positioning of a medical robot according to claim 8, characterized in that: The gear (406) is meshed with the circumferential outer wall of the clamping cylinder (405).

10. The clamping device for stereoscopic positioning of a medical robot according to claim 1, characterized in that: The guide wire (7) is located between the first guide wheel (504) and the second guide wheel (507), and the other end of the guide wire (7) is located in the clamping cylinder (405).

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