A clamping device that can be used for stereoscopic positioning of medical robots

Abstract

The present invention discloses a clamping device that can be used for stereoscopic positioning of a medical robot, comprising a fixed frame and a guide wire, a bidirectional threaded rod arranged between the inner walls on both sides of the fixed frame, a guide assembly arranged on the circumferential outer wall of the bidirectional threaded rod, and a rotating assembly arranged on the circumferential outer wall of the bidirectional threaded rod; the two ends of the bidirectional threaded rod are respectively rotatably connected to the inner walls on both sides of the fixed frame, a first motor is fixedly connected to one side of the fixed frame, one end of the first motor passes through the fixed frame and is fixedly connected to one end of the bidirectional threaded rod; through the arrangement of the bidirectional threaded rod and the first motor, the medical robot can achieve linear motion of the guide wire within the fixed frame. The first motor drives the bidirectional threaded rod to rotate, and the first guide block and the second guide block that are threadedly connected can control the forward or backward movement of the guide wire. This ensures the positioning of the guide wire during operation, and at the same time, due to the use of a stable mechanical transmission structure, the guide wire is prevented from deflecting and shaking during the advancement 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 robotic guidewires are precision instruments used to assist doctors during endovascular interventional procedures. This technology combines the precise control of a robot with the flexibility of a traditional guidewire, enabling doctors to perform complex endovascular procedures 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; when performing cardiovascular interventional surgery or neurosurgery, the current guidewire propulsion system is difficult to achieve high-precision linear motion, which makes the guidewire prone to deviation and jitter during the propulsion process, affecting the safety and accuracy of the operation. Secondly, the lack of a stable propulsion 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 operational flexibility of existing equipment is insufficient. 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] Furthermore, these devices have limited adaptability to guidewires of varying diameters or types, requiring significant adjustments to settings when switching between guidewire types, reducing surgical efficiency and increasing the workload of medical staff. Finally, existing devices, which mostly rely on manual operation and lack automated features and biomimetic design, increase the workload of medical staff and perform poorly when performing delicate tasks, making them difficult to meet the demands 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 object, the present invention adopts the following technical solution: a clamping device that can be used for stereoscopic positioning of a medical robot, comprising a fixed frame and a guide wire, a bidirectional threaded rod disposed between inner walls on both sides of the fixed frame, a guide assembly disposed on the circumferential outer wall of the bidirectional threaded rod, and a rotating assembly disposed 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. 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 pass through the two transmission blocks and are slidably connected, a U-shaped rod is fixedly connected to 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] The guide wire is located between the first guide wheel and the second guide wheel.

[0011] 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.

[0012] 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.

[0013] 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.

[0014] 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 the upper surface of the first guide block is fixedly connected to a fixed rod, and the upper surface of the fixed frame is provided with a first sliding groove, and the fixed rod is located in the first sliding groove and is slidably connected.

[0015] In a preferred embodiment of the present invention, the top of the fixed rod is fixedly connected to a second motor, the top of the second motor is fixedly connected to a fixed cylinder, a transmission groove is opened on the circumferential outer wall of the fixed cylinder, and the other end of the guide wire is located in the clamping cylinder.

[0016] In a preferred embodiment of the present invention, a clamping cylinder is rotatably connected to the inner circumferential wall of the fixing cylinder.

[0017] In a preferred embodiment of the present invention, one end of the output shaft of the second motor is fixedly connected to a gear.

[0018] In a preferred embodiment of the present invention, the gear is engaged with the circumferential outer wall of 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 the 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 forward or backward movement 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 propulsion 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 medical robots. The arrangement of the rotating assembly simulates the twisting action of the human thumb and index finger, providing wrapping contact and control capabilities for the rear end of the guidewire. The second motor drives the gear to rotate and engage with the outer wall of the clamping cylinder, allowing the clamping cylinder to rotate around the guidewire, achieving 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, enabling it to 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 medical robots. The arrangement of springs and transmission rods significantly improves the stability and flexibility of the first guide wheel and the second guide wheel during guidewire operation. The springs can absorb and alleviate the impact force encountered during the advancement of the guidewire by providing the necessary elastic support, ensuring that the guidewire can maintain a stable forward direction even when faced with complex paths. This elastic mechanism enables the guide wheels to quickly adjust their positions 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 following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments described in the present invention. Those skilled in the art can derive other drawings based on these drawings without inventive efforts.

[0024] Figure 1This is 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 according to 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 clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. 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 making creative efforts 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. However, the present invention can also be implemented in other ways different from those described herein. Therefore, the scope of protection 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 orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply 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 the indicated technical features. Therefore, features defined as "first", "second", etc. can explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0031] In the description of this application, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; they can refer to mechanical connections or electrical connections; they can refer to direct connections or indirect connections through an intermediate medium; and they can refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in this application based on specific circumstances.

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

[0033] like Figure 1-Figure 2 As shown, both 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;

[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, and a second guide wheel 507 is rotatably connected between the two transmission blocks 506. The bottoms of the two connecting blocks 503 are fixedly connected to transmission rods 508. The two transmission rods 508 respectively penetrate the two transmission blocks 506 and are slidably connected. Both sides of the two transmission blocks 506 are fixedly connected to U-shaped rods 502. A second guide block 501 is fixedly connected between the two U-shaped rods 502. 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, and a second guide wheel 507 is rotatably connected between the two transmission blocks 506. The bottoms of the two connecting blocks 503 are fixedly connected to transmission rods 508. The two transmission rods 508 respectively penetrate the two transmission blocks 506 and are slidably connected. Both sides of the two transmission blocks 506 are fixedly connected to U-shaped rods 502. A second guide block 501 is fixedly connected between the two U-shaped rods 502. 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 to the 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 the fixed frame 1 and is driven by the first motor 2. This design ensures smooth rotation of the bidirectional threaded rod 3. The threads on the bidirectional threaded rod 3 cooperate with the second guide block 501 to control the position and movement of the guide assembly 5. The power provided by the first motor 2 enables the entire system to achieve linear motion, thereby ensuring that the guide wire 7 can be accurately positioned at the desired location.

[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 guide wire advancement process, 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 as needed, 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, particularly when processing 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, achieving 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, which is threadedly connected to the circumferential outer wall of the bidirectional threaded rod 3. A fixing rod 402 is fixedly connected to the upper surface of the first guide block 401. A first sliding groove 6 is formed on the upper surface of the fixing frame 1. 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, and the top of the second motor 403 is fixedly connected to the fixed cylinder 404. A transmission groove 407 is provided on the circumferential outer wall of the fixed cylinder 404, and 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, and the gear 406 is engaged 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 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 its position to achieve accurate positioning of the guide wire 7. The second motor 403 fixed to the top of the fixed rod 402 drives the gear 406 to rotate, and the gear 406 engages with the circumferential outer wall of the clamping cylinder 405 to realize rotation control of the clamping cylinder 405, simulating the twisting action of the human thumb and index finger, and providing stable wrapping contact and fine operation capabilities for the guide wire 7. This not only firmly clamps the guide wire 7, but also provides 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] Furthermore, the clamping cylinder 405 is able to rotate freely within the fixed cylinder 404, and the provision of the transmission slot 407 ensures stability during rotation, further enhancing the reliability of the device. The power provided by the second motor 403 enables the clamping cylinder 405 to respond to different surgical requirements, especially when handling soft or easily deformable guidewire materials, effectively preventing guidewire damage.

[0043] Example 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 connected by threads can accurately control the forward or backward movement of the guide wire 7. This design ensures high-precision positioning of the guide wire 7 during operation, while avoiding the problems of deviation and jitter 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, ensuring the stability of the guide wire path and greatly improving 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 ability 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 pressure. 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 engage 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 capabilities. 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 guide wire operation, enabling the medical robot to successfully complete tasks in various complex situations.

[0047] The above description is based on the ideal embodiment of the present invention. Based on the above description, relevant personnel are fully capable of making various changes and modifications without departing from the technical scope of this invention. The technical scope of this invention is not limited to the content of the specification and must be determined according to the scope of the claims.

Claims

1. A clamping device for stereoscopic 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 of both sides of the fixed frame (1), a guide assembly (5) arranged on the outer circumference of the bidirectional threaded rod (3), and a rotating assembly (4) arranged on the outer circumference 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 each of the two connecting blocks (503); the two transmission rods (508) respectively penetrate the two transmission blocks (506) and are slidably connected; a U-shaped rod (502) is fixedly connected to both sides of each 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); The guide wire (7) is located between the first guide wheel (504) and the second guide wheel (507).

2. The clamping device for stereoscopic positioning of a medical robot according to claim 1, characterized in that: The bottom of each transmission block (506) is fixedly connected to a sleeve (509), and the bottom of each 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). A spring (511) is sleeved on the circumferential outer wall of the transmission rod (508). 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. The 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 connecting blocks (503), 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).

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) 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 fixed rod (402), the upper surface of the fixed frame (1) is provided with a first sliding groove (6), and the fixed rod (402) is located in the first sliding groove (6) and is slidably connected.

6. The 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), the circumferential outer wall of the fixed cylinder (404) is provided with a transmission groove (407), and the other end of the guide wire (7) is located in the clamping cylinder (405).

7. The clamping device for stereoscopic positioning of a medical robot according to claim 6, characterized in that: The inner circumferential 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 6, characterized in that: One end of the output shaft of the second motor (403) is fixedly connected to a gear (406).

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

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