Guide wire bionic pushing device of piezoelectric driving double-compliance micro-motion clamp

Abstract

The invention relates to a guide wire bionic pushing device of a piezoelectric driving double-compliance micro-motion clamp, which comprises a power mechanism and a guide wire pushing mechanism, and the guide wire pushing mechanism uses four groups of bridge type units and a clamping input end; the two middle transmission ends, the three clamping and fixing racks, the two first-stage lever units, the two second-stage lever units and the power mechanism form a guide wire rear clamping mechanism. The driving clamping input end changes and amplifies translational motion in the axial direction of the power mechanism into motion perpendicular to the direction of the power mechanism through the bridge type unit. By means of the middle transmission end, displacement motion amplification is conducted through the first-stage lever unit and the second-stage lever unit, and finally clamping motion of the clamping mechanism after wire guiding is achieved. The guide wire pushing mechanism and the guide wire clamping mechanism cooperatively move to achieve continuous clamping and pushing of the guide wire, the problem that in the prior art, a guide wire pushing mechanism cannot give consideration to pushing continuity and pushing precision is solved, and compactness and light weight of the device are achieved.

Description

Technical Field

[0001] The invention relates to the field of medical equipment, and in particular to a guidewire catheter pushing device for vascular intervention surgery. Background Art

[0002] Guidewires and catheters are basic interventional instruments. Conventional guidewires or catheter front ends do not have the ability to move forward or turn autonomously. During interventional surgery, physicians use finger "push, pull, twist" and other actions to control the pre-bend direction of the guidewire / catheter to point to or turn into different blood vessels. In order to reduce the radiation dose of physicians in interventional surgery and improve the control accuracy, vascular interventional surgery robots use friction wheels or clamps to simulate the movements of physicians' fingers to control instruments such as guidewires / catheters. At present, common push mechanisms can be roughly divided into friction wheel form and linear platform form according to design, but no matter what form of guidewire push mechanism, it cannot take into account both push continuity and push accuracy, and the mechanism itself has problems such as bulkiness and non-compactness. Therefore, inventing a new twisting guidewire push device that is smart and lightweight, and has both push continuity and push accuracy is of great significance to vascular interventional surgery. Compliant micro-clamps can realize operations such as picking up, clamping and releasing, and are therefore widely used in micro-assembly, biomedicine, aerospace and military fields. If this technology is used, it is necessary to rotate and fine-tune the clamped guidewire. Therefore, the micro-clamp should have a twisting function while completing the clamping. Therefore, inventing a new bionic guidewire pushing device based on a compliant micro-clamp that is smart and lightweight and has both twisting continuity and pushing accuracy and a driving method thereof is of great significance for vascular intervention surgery.

[0003] After searching the prior art literature, it was found that the Chinese patent application No. 202211023569.0, publication No. CN117653876A, and the patent application named "Guiding device, guide wire pushing device and surgical instrument" discloses a guiding device, a guide wire pushing device and a surgical instrument. However, in this technology, the guide wire pushing motion is driven by a friction wheel, and slippage is inevitable during pushing. The Chinese patent application No. 201810752787.5, publication No. CN109106449A, and the patent application named "A cardiovascular and cerebrovascular interventional surgical robot and a guide wire catheter pushing method thereof" discloses a cardiovascular and cerebrovascular interventional surgical robot and a guide wire catheter pushing method thereof. However, in this technology, the guide wire pushing motion is realized by the motion of a linear motion module, and the device volume of the linear motion module is usually large.

[0004] "Design and Static Characteristic Analysis of Flexible Micro-Clamps Based on Piezoelectric Drive" in "Sensors and Microsystems" (Volume 41, 2022) discloses the use of piezoelectric ceramics to realize micro-clamps through a bridge amplifier mechanism and a lever mechanism, and the power transmission mechanism therein is not suitable for the precise operation requirements in interventional surgery. "Research on Key Technologies of Thin-Wall Structure Polishing Devices" (2008.06) discloses the use of electrostrictive ceramic micro-motion platforms to achieve micro-precise displacements, but the micro-clamp mechanism is not realized therein. Patent document (CN101359082A) discloses a two-dimensional flexible hinge workbench with closed-loop control of optical fiber displacement feedback, in which the piezoelectric ceramic driver used can only achieve two-dimensional linear motion and cannot achieve micro-clamping action. Patent document (CN 109157287A) discloses a robot slave that can sense the travel resistance and clamping force of a catheter or guidewire, in which an ultrasonic motor is used to achieve the movement of the guidewire through a flexible hinge. The drive structure and force transmission structure therein are different from the present application and cannot achieve high-precision control. Patent document (CN 112879513 A) discloses a micro-displacement amplification mechanism, an amplification system, an amplification method, a measurement system, an aircraft engine and a test bench. Patent document (CN 114246686 A) discloses an interventional surgical manipulator with terminal micro-motion error compensation. Patent document (CN 118304001 A) discloses an interventional drive device and a surgical robot. The above-mentioned prior arts all use a combination of micro-clamps and micro-motion drives, and the control accuracy and continuity of the movements are quite different from those of this application. Chinese patent application number 2023105928218, publication number CN116408768A, a patent application named "A two-degree-of-freedom large-stroke micro-clamp with rubbing operation", discloses a two-degree-of-freedom large-stroke micro-clamp with rubbing operation. However, in this technology, the rubbing operation of the micro-clamp requires two piezoelectric ceramic drivers to achieve. Chinese patent application number 2024109126140, publication number CN118456475A, entitled "A clamp-torsion coupling compliant micro-manipulation device and its motion control method", discloses a clamp-torsion coupling compliant micro-manipulation device and its motion control method. However, in this technology, the twisting action of the compliant micro-manipulation device is realized by a stepping servo motor, and the device is large in size.

[0005] Since the vascular interventional surgery robot needs to simulate the movements of the doctor's fingers during the interventional surgery, the common push mechanism currently has the following two implementation schemes according to the design:

[0006] (1) The friction wheel push device is small in size and can achieve continuous pushing. However, it may slip during pushing, which affects the pushing accuracy.

[0007] (2) The push accuracy of the clamp composed of linear modules is high, but its push is discontinuous and the equipment is large. Since the main motion of the flexible micro-motion clamp is the clamping motion, there are generally two implementation plans for realizing the rotational motion of the clamped object:

[0008] (1) Adding additional piezoelectric ceramic actuators to provide a second micro-twist motion degree of freedom, but this will increase the number of actuators.

[0009] (2) Using a rotary motor to rotate the entire compliant micro-motion clamp, thereby achieving rotational motion of the clamped object, but this method will increase the size of the entire device. Summary of the invention

[0010] In order to solve the above-mentioned deficiencies in the prior art, the present invention provides a bionic guide wire pushing device with a piezoelectric driven double flexible micro-motion clamp. The entire device consists of a power mechanism, a front guide wire pushing mechanism, a front guide wire clamping mechanism, a rear guide wire pushing mechanism and a rear guide wire clamping mechanism, which are compactly assembled and move in coordination, so as to solve the problem that the guide wire pushing mechanism in the prior art cannot take into account both pushing continuity and pushing accuracy, and realizes the compactness and lightweight of the device itself, and the flexible micro-motion clamp can realize rotation without the need for an additional driver.

[0011] The present invention discloses a bionic guide wire pushing device with a piezoelectric driven double-compliant micro-clamp, which comprises a power mechanism, a guide wire clamping mechanism, a guide wire pushing mechanism and a driving control mechanism, and the improvement thereof is:

[0012] The guide wire clamping mechanism comprises a guide wire rear clamping mechanism and a guide wire front clamping mechanism;

[0013] The guide wire pushing mechanism includes a guide wire rear pushing mechanism and a guide wire front pushing mechanism;

[0014] The guide wire rear clamping mechanism and the guide wire front clamping mechanism both include a power mechanism, a primary lever unit, a bridge unit, a secondary lever unit and a clamping and fixing frame;

[0015] The guide wire rear pushing mechanism and the guide wire front pushing mechanism both include a pushing fixed frame, a flexible hinge, and a rigid pushing connecting rod;

[0016] The guide wire rear clamping mechanism and the guide wire rear pushing mechanism form a guide wire driving mechanism;

[0017] The guide wire front clamping mechanism and the guide wire front pushing mechanism constitute another set of guide wire driving mechanisms;

[0018] Under the control of the driving control mechanism, when the guide wire rear clamping mechanism clamps or clamps and rotates the guide wire, the guide wire rear pushing mechanism drives the guide wire to move; then, the guide wire rear clamping mechanism releases the guide wire, the guide wire front clamping mechanism clamps or clamps and rotates the guide wire, the guide wire rear pushing mechanism retreats, and the guide wire front pushing mechanism drives the guide wire to move;

[0019] The two groups of guide wire driving mechanisms drive the guide wire alternately, thereby achieving continuous movement of the guide wire.

[0020] The guide wire mentioned above is for illustration only, and refers to, but is not limited to, other tubular, filamentary, and strip-shaped surgical instruments that can be used to twist and deliver, such as catheters, puncture needles, biopsy needles, etc.

[0021] Furthermore, the primary lever unit in the guide wire rear clamping mechanism includes a clamping fixed frame, flexible hinge 1, flexible hinge 2, flexible hinge 3, and rigid rod 1; the secondary lever unit includes flexible hinge 4, rigid rod 2; the bridge unit includes flexible hinge 5, rigid rod 3, and flexible hinge 6; and the guide wire front clamping mechanism is provided with the same structure.

[0022] Furthermore, in the guide wire rear clamping mechanism, one end of the guide wire power mechanism is connected to the clamping fixed frame, and the other end is connected to the clamping input end. The power mechanism drives the clamping input end to reciprocate along the x-axis, thereby driving the bridge unit to reciprocate along the x-axis through the middle transmission end. The reciprocating motion of the bridge unit drives the primary lever unit to make reciprocating swings along the y-axis direction, and finally the primary lever unit drives the secondary lever unit to reciprocate. The two ends of the rigid rod of the secondary lever unit are respectively provided with a rear clamping left jaw and a rear clamping right jaw. During the reciprocating swing of the rigid rod two, the rear clamping left jaw and the rear clamping right jaw realize the clamping and anti-loosening of the guide wire, and the guide wire front clamping mechanism is provided with the same structure.

[0023] Furthermore, the bridge unit of the rear guide wire clamping mechanism is arranged on both sides of the power mechanism, and its structure is: one end of the flexible hinge five is connected to the clamping fixed frame, and the other end is connected to the rigid rod two, and the end of the rigid rod two away from the flexible hinge five is connected to the middle power transmission end through the flexible hinge six, and the rigid rod two of the bridge unit is connected to the clamping input end through the flexible hinge transmission connection of the bridge unit, and the front guide wire clamping mechanism is arranged with the same structure.

[0024] Furthermore, the primary lever unit of the guide wire rear clamping mechanism is arranged on the outside of the bridge unit, and its structure is: the inner side of the rigid rod 1 in the primary lever unit is connected to the middle transmission end through a flexible hinge 2, and the outer side of the rigid rod 1 close to one end of the clamping fixed frame is connected to the rigid rod 2 in the secondary lever unit through a flexible hinge 3, and the guide wire front clamping mechanism is arranged with the same structure.

[0025] Furthermore, the secondary lever unit of the guide wire rear clamping mechanism is arranged on the outside of the primary lever unit, and its structure is: one end of the rigid rod 2 is connected to the clamping fixed frame through a flexible hinge 4, and the other end is respectively provided with a rear clamping left clamping jaw and a rear clamping right clamping jaw, and the inner side of the rigid rod 2 is connected to the rigid rod 1 of the primary lever unit through a flexible hinge 3, and the guide wire front clamping mechanism is provided with the same structure.

[0026] Furthermore, the guide wire rear pushing mechanism includes a pushing and fixing frame, a flexible hinge seven, a rigid pushing connecting rod and a power structure. The power mechanism is arranged in a groove of the pushing and fixing frame. One end of the power mechanism is connected to the pushing and fixing frame, and the other end is connected to the rigid pushing connecting rod. The two sides of the rear part of the rigid pushing connecting rod are connected to the pushing and fixing frame through the flexible hinge seven. A parallel pushing rod is arranged at the front end of the rigid pushing connecting rod, and a fixing screw hole is arranged at the end of the pushing rod. The fixing bolt passes through the fixing screw hole to connect the guide wire rear clamping mechanism and the guide wire rear pushing mechanism together. The guide wire front pushing mechanism is arranged with the same structure.

[0027] Furthermore, the guide wire rear clamping mechanism and the guide wire rear pushing mechanism are connected together by fixing bolts, and a rectangular gasket, a rounded gasket 1 and a rounded gasket 2 are arranged between the guide wire rear clamping mechanism and the guide wire rear pushing mechanism, and bolt holes are arranged on the rectangular gasket, the rounded gasket 1 and the rounded gasket 2. The fixing bolt passes through the bolt holes on the rectangular gasket, the rounded gasket 1 and the rounded gasket 2, one end is screwed into the corresponding screw hole of the guide wire rear clamping mechanism, and the other end is screwed into the corresponding screw hole on the guide wire rear pushing mechanism, thereby connecting the guide wire rear clamping mechanism and the guide wire rear pushing mechanism together, and the guide wire front clamping mechanism and the guide wire front pushing mechanism are arranged with the same structure.

[0028] Furthermore, a rectangular gasket is arranged between the clamping fixed frame and the rod seat of the rigid push connecting rod, and a rounded gasket 1 and a rounded gasket 2 are arranged between the push rod end of the rigid push connecting rod and the threaded seat at one end of the rigid rod.

[0029] Furthermore, the guide wire support plate is connected to the clamping input end by bolts, and the guide wire can slide in the through hole of the guide wire support plate, and the power mechanism is a piezoelectric ceramic driver. Different motion modes of the guide wire clamping mechanism can be excited by the clamping drive frequency and the rotation drive frequency. When the piezoelectric ceramic driver receives the telescopic drive frequency, the two ends of the driver can be relatively far away or close to each other, stimulating the clamping motion mode of the clamping arm of the guide wire clamping mechanism, thereby realizing the clamping motion of the guide wire; when the piezoelectric ceramic driver receives the rotation drive frequency, the two ends of the driver can be relatively far away or close to each other, while being able to stimulate the up and down swinging motion mode of the clamping arm of the guide wire clamping mechanism, thereby realizing the guide wire being rotated by a certain angle while being clamped.

[0030] The entire device consists of a power mechanism, a front guide wire pushing mechanism, a front guide wire clamping mechanism, a rear guide wire pushing mechanism and a rear guide wire clamping mechanism, which are compactly assembled and move in coordination, so as to solve the problem that the guide wire pushing mechanism in the prior art cannot take into account both pushing continuity and pushing accuracy, and realizes the compactness and lightweight of the device itself. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is an overall diagram of the system structure of the present invention.

[0032] Figure 2 It is an exploded diagram of the system structure of the present invention.

[0033] Figure 3 It is a schematic diagram of the clamping structure of the present invention.

[0034] Figure 4 It is a schematic diagram of the push structure of the present invention.

[0035] Figure 5 It is a schematic diagram of the clamping deformation principle of the present invention.

[0036] Figure 6 It is a push deformation principle diagram of the present invention.

[0037] Figure 7 This is a system driving timing diagram of the present invention.

[0038] Figure 8 Schematic diagram of the guide wire pushing state of the present invention

[0039] Fig. 9 A three-dimensional schematic diagram of the guide wire clamping state of the present invention

[0040] Fig.10 This is a three-dimensional diagram of the guide wire of the present invention after being clamped and rotated

[0041] Fig.11 This is a working state diagram of the guide wire rotation of the present invention

[0042] Fig.12 FIG. 4 is a diagram showing a variation of the system structure of the present invention. DETAILED DESCRIPTION

[0043] The following is a detailed description of an embodiment of the present invention. This embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation method and a specific operation process are given, but the protection scope of the present invention is not limited to the following embodiment.

[0044] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0045] like Figure 1-12 As shown: A bionic guide wire pushing device with a piezoelectric driven double-compliant micro-clamp, the pushing device comprises a power mechanism, a guide wire clamping mechanism, a guide wire pushing mechanism and a driving control mechanism, characterized in that:

[0046] The guide wire clamping mechanism comprises a guide wire rear clamping mechanism and a guide wire front clamping mechanism;

[0047] The guide wire pushing mechanism includes a guide wire rear pushing mechanism and a guide wire front pushing mechanism;

[0048] The guide wire rear clamping mechanism and the guide wire front clamping mechanism both include a power mechanism, a primary lever unit, a bridge unit, a secondary lever unit and a clamping and fixing frame;

[0049] The guide wire rear pushing mechanism and the guide wire front pushing mechanism both include a pushing fixed frame, a flexible hinge, and a rigid pushing connecting rod;

[0050] The guide wire rear clamping mechanism and the guide wire rear pushing mechanism form a guide wire driving mechanism;

[0051] The guide wire front clamping mechanism and the guide wire front pushing mechanism constitute another set of guide wire driving mechanisms;

[0052] Under the control of the driving control mechanism, when the guide wire rear clamping mechanism clamps the guide wire, the guide wire rear pushing mechanism drives the guide wire to move; then, the guide wire rear clamping mechanism releases the guide wire, the guide wire front clamping mechanism clamps the guide wire, the guide wire rear pushing mechanism retreats, and the guide wire front pushing mechanism drives the guide wire to move;

[0053] The two groups of guide wire driving mechanisms drive the guide wire alternately, thereby achieving continuous movement of the guide wire.

[0054] The guide wire mentioned above is for illustration only, and refers to, but is not limited to, other tubular, filamentary, and strip-shaped surgical instruments that can be used to twist and deliver, such as catheters, puncture needles, biopsy needles, etc.

[0055] Among them, the first-level lever unit in the guide wire rear clamping mechanism includes a clamping fixed frame 24, a flexible hinge 1 32, a flexible hinge 2 33, a flexible hinge 3 35, and a rigid rod 1 34; the second-level lever unit 36 ​​includes a flexible hinge 4 37, a rigid rod 2 38; the bridge unit 27 includes a flexible hinge 5 28, a rigid rod 3 29 and a flexible hinge 6 30; and the guide wire front clamping mechanism is provided with the same structure.

[0056] Among them, in the guide wire rear clamping mechanism 6, one end of the guide wire power mechanism is connected to the clamping fixed frame 24, and the other end is connected to the clamping input end 25. The power mechanism drives the clamping input end 25 to reciprocate along the x-axis, thereby driving the bridge unit 27 to reciprocate along the x-axis through the middle transmission end 26. The reciprocating motion of the bridge unit 27 drives the primary lever unit 31 to make reciprocating swings along the y-axis direction, and finally the primary lever unit 31 drives the secondary lever unit 36 ​​to swing back and forth. The ends of the rigid rod 2 38 of the secondary lever unit 36 ​​are respectively provided with a rear clamping left jaw 20 and a rear clamping right jaw 21. During the reciprocating swing of the rigid rod 2 38, the rear clamping left jaw 20 and the rear clamping right jaw 21 realize the clamping and release of the guide wire 17. The guide wire front clamping mechanism 8 is provided with the same structure.

[0057] The guide wire forward pushing motion is in the same form as the guide wire backward pushing motion. In terms of the guide wire backward clamping motion, when the piezoelectric ceramic driver 3 works with a driving signal of a normal frequency, it can excite the clamping modal vibration type of the clamping arm in the guide wire backward clamping mechanism 6 to achieve the guide wire clamping motion. The guide wire forward clamping motion is in the same form as the guide wire backward clamping motion. When the piezoelectric ceramic driver 3 works with a driving signal of a specific frequency, it can excite the up and down swinging modal vibration type of the clamping arm in the guide wire backward clamping mechanism 6 to achieve the guide wire rotation motion.

[0058] Among them, the bridge unit 27 of the rear guide wire clamping mechanism 6 is arranged on both sides of the power mechanism, and its structure is: one end of the flexible hinge five 28 is connected to the clamping fixed frame 24, and the other end is connected to the rigid rod two 29, and the end of the rigid rod two 29 away from the flexible hinge five 28 is connected to the middle power transmission end 26 through the flexible hinge six 30, and the rigid rod two 38 of the bridge unit is connected to the clamping input end 25 through the bridge unit flexible hinge transmission, and the front guide wire clamping mechanism 8 is provided with the same structure.

[0059] Among them, the primary lever unit 31 of the guide wire rear clamping mechanism 6 is arranged on the outside of the bridge unit, and its structure is: the inner side of the rigid rod 1 34 in the primary lever unit 31 is connected to the middle transmission end 26 through a flexible hinge 2 33, and the outer side of the rigid rod 1 34 close to one end of the clamping fixed frame 24 is connected to the rigid rod 2 38 in the secondary lever unit 36 ​​through a flexible hinge 3 35, and the guide wire front clamping mechanism 8 is provided with the same structure.

[0060] Among them, the secondary lever unit 36 ​​of the guide wire rear clamping mechanism 6 is arranged on the outside of the primary lever unit 31, and its structure is: one end of the rigid rod 238 is connected to the clamping fixed frame 24 through a flexible hinge 437, and the other end is respectively provided with a rear clamping left jaw 20 and a rear clamping right jaw 21, and the inner side of the rigid rod 238 is connected to the rigid rod 1 34 of the primary lever unit 31 through a flexible hinge 335, and the guide wire front clamping mechanism 8 is provided with the same structure.

[0061] Among them, the guide wire rear pushing mechanism 5 includes a pushing and fixing frame 39, a flexible hinge seven 42, a rigid pushing connecting rod 41 and a power structure. The power mechanism is arranged in the groove of the pushing and fixing frame 39, one end of the power mechanism is connected to the pushing and fixing frame 39, and the other end is connected to the rigid pushing connecting rod 41. The two sides of the rear part of the rigid pushing connecting rod 41 are connected to the pushing and fixing frame 39 through the flexible hinge seven 42. A parallel pushing rod is arranged at the front end of the rigid pushing connecting rod 41, and a fixing screw hole is arranged at the end of the pushing rod. The fixing bolt passes through the fixing screw hole to connect the guide wire rear clamping mechanism and the guide wire rear pushing mechanism together, and the guide wire front pushing mechanism is arranged with the same structure.

[0062] Among them, the guide wire rear clamping mechanism and the guide wire rear pushing mechanism are connected together by fixing bolts, and a rectangular gasket 9, a rounded gasket 1 10 and a rounded gasket 2 11 are arranged between the guide wire rear clamping mechanism and the guide wire rear pushing mechanism, and bolt holes are arranged on the rectangular gasket 9, the rounded gasket 1 10 and the rounded gasket 2 11. The fixing bolt passes through the bolt holes on the rectangular gasket 9, the rounded gasket 1 10 and the rounded gasket 2 11, one end of which is screwed to the corresponding screw hole of the guide wire rear clamping mechanism, and the other end of which is screwed to the corresponding screw hole on the guide wire rear pushing mechanism, thereby connecting the guide wire rear clamping mechanism and the guide wire rear pushing mechanism together, and the guide wire front clamping mechanism and the guide wire front pushing mechanism are arranged with the same structure.

[0063] Among them, the rectangular gasket 9 is arranged between the clamping fixed frame 24 and the rod seat of the rigid push connecting rod 41, and the rounded gasket 10 and the rounded gasket 2 11 are arranged between the push rod end of the rigid push connecting rod 41 and the threaded seat at one end of the rigid rod 1 34.

[0064] The guide wire support sheet is connected to the clamping input end by bolts, the guide wire 17 can slide in the through hole of the guide wire support sheet, and the power mechanism is a piezoelectric ceramic driver.

[0065] The guide wire twisting and pushing device includes a power mechanism, a guide wire rear pushing mechanism, a guide wire rear clamping mechanism, a guide wire front pushing mechanism, a guide wire front clamping mechanism, a gasket, a guide wire, a guide wire support sheet and a clamping claw. First, a guide wire rear pushing mechanism is formed using a group of pushing units, a pushing fixed frame and a power mechanism. When the power mechanism is working, the pushing unit is driven to complete the axial translational movement along the power mechanism. The composition and working principle of the guide wire front pushing mechanism are the same as those of the guide wire rear pushing mechanism. Secondly, four groups of bridge units, a clamping input end, two middle transmission ends, three clamping fixed frames, two groups of primary lever units, two groups of secondary lever units and a power mechanism are used to form the guide wire rear clamping mechanism. When the power mechanism is working, the clamping input end is driven to complete the translational movement along the axial direction of the power mechanism. The clamping input end changes the translational movement along the axial direction of the power mechanism through the bridge unit and amplifies it into a movement perpendicular to its direction. With the help of the middle transmission end, the displacement movement is amplified by the primary lever unit and the secondary lever unit, and finally the clamping movement of the wire guide rear clamping mechanism is realized. The composition and working principle of the wire guide rear clamping mechanism are the same as those of the wire guide front clamping mechanism.

[0066] like Figure 1 As shown, this embodiment includes: piezoelectric ceramic driver 1, piezoelectric ceramic driver 2, piezoelectric ceramic driver 3, piezoelectric ceramic driver 4, guide wire rear pushing mechanism 5, guide wire rear clamping mechanism 6, guide wire front pushing mechanism 7, guide wire front clamping mechanism 8, rectangular gasket 9, rounded corner gasket 1 10, rounded corner gasket 2 11, rectangular gasket 12, rounded corner gasket 3 13, rounded corner gasket 4 14, triangular gasket 1 15, triangular gasket 2 16, guide wire 17, guide wire support sheet 1 18, guide wire support sheet 2 19, rear clamping left clamping jaw 20, rear clamping right clamping jaw 21, front clamping right clamping jaw 22 and front clamping left clamping jaw 23. Among them, the movement principle of the guide wire rear pushing mechanism 5 is the same as that of the guide wire front pushing mechanism 7, and the movement principle of the guide wire rear clamping mechanism 6 is the same as that of the guide wire front clamping mechanism 8. For convenience, only the specific composition of the guide wire rear pushing mechanism 5 and the guide wire rear clamping mechanism 6 is described below.

[0067] The guide wire rear pushing mechanism 5 comprises: a pushing fixed frame 39 and a pushing unit 40. The pushing unit 40 comprises a rigid pushing rod 41 and a flexible hinge 42. The pushing fixed frame 39 and the rigid pushing rod 41 are connected in transmission via the flexible hinge 42.

[0068] The guide wire rear clamping mechanism 6 comprises: a clamping fixed frame 24, a clamping input end 25, a middle transmission end 26, a bridge unit 27, a primary lever unit 31 and a secondary lever unit 36. Among them: the bridge unit 27 comprises a flexible hinge 5 28, a rigid rod 3 29 and a flexible hinge 6 30. The primary lever unit 31 comprises a clamping fixed frame 24, a flexible hinge 1 32, a flexible hinge 2 33, a rigid rod 1 34 and a flexible hinge 3 35. The secondary lever unit 36 ​​comprises a flexible hinge 4 37 and a rigid rod 2 38. The clamping and fixing frame 24 is connected to the rigid rod 29 through a flexible hinge chain 28, the clamping input end 25 is connected to the rigid rod 3 29 through a flexible hinge 5 28, the middle transmission end 26 is connected to the rigid rod 3 29 through a flexible hinge 6 30, the middle transmission end 26 is connected to the rigid rod 1 34 through a flexible hinge 2 33, the clamping and fixing frame 24 is connected to the rigid rod 1 34 through a flexible hinge 1 32, the rigid rod 1 34 is connected to the rigid rod 2 38 through a flexible hinge 3 35, and the rigid rod 2 38 is connected to the clamping and fixing frame 24 through a flexible hinge 4 37.

[0069] The guide wire rear pushing mechanism 5, guide wire rear clamping mechanism 6, guide wire front pushing mechanism 7 and guide wire front clamping mechanism 8 all adopt an integrated structure, which is integrated by slow-wire wire cutting overall processing technology. It does not require assembly and has a compact structure, which effectively avoids the generation of assembly errors and meets the high-precision requirements.

[0070] This embodiment works in the following manner: in terms of the guide wire rear pushing movement, the piezoelectric ceramic driver 1 applies force in the X-direction to drive the pushing unit 40 to move in the X-direction.

[0071] The guidewire forward pushing motion is the same as the guidewire backward pushing motion.

[0072] In terms of the clamping movement after the guide wire, the piezoelectric ceramic driver 3 applies force in the X-direction to drive the clamping input end 25 to move in the X-direction. At the same time, the clamping input end 25 changes the movement in the X-direction to the Y-direction through the bridge unit 27. Further, the bridge unit 27 transmits the movement in the Y-direction to the secondary lever unit 36 ​​through the primary lever unit. Finally, the secondary lever unit 36 ​​outputs the clamping movement in the Y-direction.

[0073] The guidewire front clamping movement is the same as the guidewire rear clamping movement.

[0074] The guide wire rear pushing mechanism 5 and the guide wire rear clamping mechanism 6 are fixedly connected by bolts through a rectangular gasket 9, a rounded gasket 10 and a rounded gasket 2 11.

[0075] The guide wire front pushing mechanism 7 and the guide wire front clamping mechanism 8 are fixedly connected by bolts through a rectangular gasket 12, a rounded gasket three 13 and a rounded gasket four 14.

[0076] The guide wire rear pushing mechanism 5 and the guide wire front pushing mechanism 7 are fixedly connected by means of a triangular gasket 15 and a triangular gasket 16 using bolts.

[0077] The guide wire rear clamping mechanism 6 and the guide wire supporting plate 18 are fixedly connected by bolts.

[0078] The guide wire front clamping mechanism 8 and the guide wire supporting plate 19 are fixedly connected by bolts.

[0079] The guide wire rear clamping mechanism 6 and the rear clamping left clamping jaw 20 are fixedly connected by bolts.

[0080] The guide wire rear clamping mechanism 6 and the rear clamping right clamping jaw 21 are fixedly connected by bolts.

[0081] The guide wire front clamping mechanism 8 and the front clamping left clamping jaw 23 are fixedly connected by bolts.

[0082] The guide wire front clamping mechanism 8 and the front clamping right clamping jaw 22 are fixedly connected by bolts.

[0083] The guide wire rear pushing mechanism 5, guide wire rear clamping mechanism 6, guide wire front pushing mechanism 7 and guide wire front clamping mechanism 8 all adopt an integrated structure, which is integrated by slow-wire wire cutting overall processing technology. It does not require assembly and has a compact structure, which effectively avoids the generation of assembly errors and meets the high-precision requirements.

[0084] The pushing motion of the guide wire is completed by the coordinated motion of the guide wire rear pushing mechanism 5, the guide wire rear clamping mechanism 6, the guide wire front pushing mechanism 7 and the guide wire front clamping mechanism 8. Figure 7As shown: Taking the guide wire forward direction as an example, the guide wire rear clamping mechanism 6 driven by the piezoelectric ceramic driver 3 first realizes the clamping movement, and then the guide wire rear clamping mechanism 6 enters the holding stage. At the same time, the guide wire rear pushing mechanism 5 driven by the piezoelectric ceramic driver 1 realizes the forward pushing movement. So far, the system completes the first stepping movement of the guide wire pushing. Subsequently, the guide wire rear pushing mechanism 5 driven by the piezoelectric ceramic driver 1 realizes the retreat movement, and at the same time, the guide wire rear clamping mechanism driven by the piezoelectric ceramic driver 3 realizes the release movement, and the guide wire front clamping mechanism 8 driven by the piezoelectric ceramic driver 4 realizes the clamping movement. Subsequently, the guide wire front clamping mechanism 8 driven by the piezoelectric ceramic driver 4 enters the holding stage, and at the same time, the guide wire rear pushing mechanism 7 driven by the piezoelectric ceramic driver 2 realizes the forward pushing movement. So far, the system completes the second stepping movement of the guide wire pushing. Subsequently, the guide wire rear clamping mechanism 8 driven by the piezoelectric ceramic driver 4 realizes the release movement, while at the same time, the guide wire rear pushing mechanism 7 driven by the piezoelectric ceramic driver 2 performs the retreat movement, and the guide wire front clamping mechanism driven by the piezoelectric ceramic driver 3 performs the clamping movement. At this point, the system enters the next step cycle.

[0085] The rotational movement of the guide wire is completed by the rear clamping mechanism 6 or the front clamping mechanism 8. When the piezoelectric ceramic driver 4 operates with a driving signal of a specific frequency (rotational driving frequency), it can excite the up and down swinging modal vibration of the clamping arm in the front clamping mechanism 8 to drive the guide wire, thereby realizing the rotational movement of the guide wire.

[0086] The guide wire mentioned in the present invention is for illustration only, and refers to, but is not limited to, other tubular, filamentary, and strip-shaped surgical instruments that can be used to twist and deliver, such as catheters, puncture needles, biopsy needles, etc.

[0087] This embodiment includes but is not limited to Figure 1 The structural form is as follows: Fig.12 As shown, the placement position of the guide wire can be changed by changing the length and assembly method of the clamping jaws 20-23.

[0088] The invented piezoelectric driven double compliant micro-clamp guide wire twisting and pushing device can effectively solve the problem that the guide wire pushing mechanism in the prior art cannot take into account both the pushing continuity and the pushing accuracy, and realizes the compactness and lightness of the device itself.

[0089] The technical features of the above-described embodiments can be combined arbitrarily. In order to make the description concise, all possible combinations of the technical features in the above-described embodiments are not described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification. The above-described embodiments only express several implementation methods of the present application, and the description is relatively specific and detailed, but it cannot be understood as a limitation on the scope of the patent application. It should be pointed out that for ordinary technicians in this field, without departing from the concept of the present application, several deformations and improvements can be made, which all belong to the scope of protection of the present application. Therefore, the scope of protection of the patent application of this application shall be based on the attached claims.

Claims

1. A bionic guidewire pushing device with a piezoelectric driven double-compliant micro-clamp, the pushing device comprising a power mechanism, a guidewire clamping mechanism, a guidewire pushing mechanism and a drive control mechanism, characterized in that: The guide wire clamping mechanism comprises a guide wire rear clamping mechanism and a guide wire front clamping mechanism; The guide wire pushing mechanism includes a guide wire rear pushing mechanism and a guide wire front pushing mechanism; The guide wire rear clamping mechanism and the guide wire front clamping mechanism both include a power mechanism, a primary lever unit, a bridge unit, a secondary lever unit and a clamping and fixing frame; The guide wire rear pushing mechanism and the guide wire front pushing mechanism both include a pushing fixed frame, a flexible hinge, and a rigid pushing connecting rod; The guide wire rear clamping mechanism and the guide wire rear pushing mechanism form a guide wire driving mechanism; The guide wire front clamping mechanism and the guide wire front pushing mechanism constitute another set of guide wire driving mechanisms; Under the control of the driving control mechanism, when the guide wire rear clamping mechanism clamps or clamps and rotates the guide wire, the guide wire rear pushing mechanism drives the guide wire to move; then, the guide wire rear clamping mechanism releases the guide wire, the guide wire front clamping mechanism clamps or clamps and rotates the guide wire, the guide wire rear pushing mechanism retreats, and the guide wire front pushing mechanism drives the guide wire to move; The two groups of guide wire driving mechanisms drive the guide wire alternately, thereby achieving continuous movement of the guide wire.

2. The guidewire bionic pushing device according to claim 1, wherein: The primary lever unit in the guide wire rear clamping mechanism comprises a clamping fixed frame (24), a flexible hinge 1 (32), a flexible hinge 2 (33), a flexible hinge 3 (35), and a rigid rod 1 (34); the secondary lever unit (36) comprises a flexible hinge 4 (37), a rigid rod 2 (38); the bridge unit (27) comprises a flexible hinge 5 (28), a rigid rod 3 (29), and a flexible hinge 6 (30); and the guide wire front clamping mechanism is provided with the same structure.

3. The guide wire bionic pushing device according to claim 2, wherein: In the guide wire rear clamping mechanism (6), one end of the guide wire power mechanism is connected to the clamping fixed frame (24), and the other end is connected to the clamping input end (25). The power mechanism drives the clamping input end (25) to reciprocate along the x-axis, thereby driving the bridge unit (27) to reciprocate along the x-axis through the middle transmission end (26). The reciprocating motion of the bridge unit (27) drives the primary lever unit (31) to make a reciprocating swing along the y-axis direction. Finally, the primary lever unit (31) drives the secondary lever unit (36) to reciprocate. The ends of the rigid rod 2 (38) of the secondary lever unit (36) are respectively provided with a rear clamping left clamping jaw (20) and a rear clamping right clamping jaw (21). During the reciprocating swing of the rigid rod 2 (38), the rear clamping left clamping jaw (20) and the rear clamping right clamping jaw (21) realize the clamping and anti-loosening of the guide wire (17). The guide wire front clamping mechanism (8) is provided with the same structure.

4. The guide wire bionic pushing device according to claim 3, wherein: The bridge unit (27) of the guide wire rear clamping mechanism (6) is arranged on both sides of the power mechanism, and its structure is as follows: one end of the flexible hinge five (28) is connected to the clamping fixed frame (24), and the other end is connected to the rigid rod two (29); the end of the rigid rod two (29) away from the flexible hinge five (28) is connected to the middle power transmission end (26) through the flexible hinge six (30); the rigid rod two (38) of the bridge unit is connected to the clamping input end (25) through the bridge unit flexible hinge transmission connection; the guide wire front clamping mechanism (8) is provided with the same structure.

5. The guide wire bionic pushing device according to claim 4, wherein: The primary lever unit (31) of the guide wire rear clamping mechanism (6) is arranged on the outside of the bridge unit, and its structure is as follows: the inner side of the rigid rod 1 (34) in the primary lever unit (31) is connected to the middle transmission end (26) through the flexible hinge 2 (33), and the outer side of the rigid rod 1 (34) close to one end of the clamping fixed frame (24) is connected to the rigid rod 2 (38) in the secondary lever unit (36) through the flexible hinge 3 (35). The guide wire front clamping mechanism (8) is provided with the same structure.

6. The guidewire bionic pushing device according to claim 5, wherein: The secondary lever unit (36) of the guide wire rear clamping mechanism (6) is arranged on the outside of the primary lever unit (31), and its structure is as follows: one end of the rigid rod 2 (38) is connected to the clamping fixed frame (24) through a flexible hinge 4 (37), and the other end is respectively provided with a rear clamping left clamping jaw (20) and a rear clamping right clamping jaw (21), and the inner side of the rigid rod 2 (38) is connected to the rigid rod 1 (34) of the primary lever unit (31) through a flexible hinge 3 (35), and the guide wire front clamping mechanism (8) is provided with the same structure.

7. The guidewire bionic pushing device according to claim 6, wherein: The guide wire rear pushing mechanism (5) comprises a pushing fixed frame (39), a flexible hinge seven (42), a rigid pushing connecting rod (41) and a power structure. The power mechanism is arranged in a groove of the pushing fixed frame (39). One end of the power mechanism is connected to the pushing fixed frame (39), and the other end is connected to the rigid pushing connecting rod (41). Both sides of the rear part of the rigid pushing connecting rod (41) are connected to the pushing fixed frame (39) through the flexible hinge seven (42). A parallel pushing rod is arranged at the front end of the rigid pushing connecting rod (41). A fixing screw hole is arranged at the end of the pushing rod. A fixing bolt passes through the fixing screw hole to connect the guide wire rear clamping mechanism and the guide wire rear pushing mechanism together. The guide wire front pushing mechanism is provided with the same structure.

8. The guidewire bionic pushing device according to claim 7, wherein: The guide wire rear clamping mechanism and the guide wire rear pushing mechanism are connected together by fixing bolts. A rectangular gasket (9), a rounded corner gasket 1 (10) and a rounded corner gasket 2 (11) are arranged between the guide wire rear clamping mechanism and the guide wire rear pushing mechanism. Bolt through holes are arranged on the rectangular gasket (9), the rounded corner gasket 1 (10) and the rounded corner gasket 2 (11). The fixing bolt passes through the bolt through holes on the rectangular gasket (9), the rounded corner gasket 1 (10) and the rounded corner gasket 2 (11). One end of the fixing bolt is screwed into the corresponding screw hole of the guide wire rear clamping mechanism, and the other end is screwed into the corresponding screw hole on the guide wire rear pushing mechanism, so that the guide wire rear clamping mechanism and the guide wire rear pushing mechanism are connected together. The guide wire front clamping mechanism and the guide wire front pushing mechanism are arranged with the same structure.

9. The guidewire bionic pushing device according to claim 8, wherein: A rectangular gasket (9) is arranged between the clamping and fixing frame (24) and the rod seat of the rigid push connecting rod (41), and a rounded gasket 1 (10) and a rounded gasket 2 (11) are arranged between the push rod end of the rigid push connecting rod (41) and the threaded seat at one end of the rigid rod 1 (34).

10. The guidewire bionic pushing device according to claim 9, wherein: The guide wire support plate is connected to the clamping input end by bolts, and the guide wire (17) can slide in the through hole of the guide wire support plate. The power mechanism is a piezoelectric ceramic driver. Different motion modes of the guide wire clamping mechanism can be excited by the clamping drive frequency and the rotation drive frequency. When the piezoelectric ceramic driver receives the telescopic drive frequency, the two ends of the driver can be relatively far away from or close to each other, thereby exciting the clamping motion mode of the clamping arm of the guide wire clamping mechanism, thereby realizing the clamping motion of the guide wire; when the piezoelectric ceramic driver receives the rotation drive frequency, the two ends of the driver can be relatively far away from or close to each other, thereby exciting the up and down swinging motion mode of the clamping arm of the guide wire clamping mechanism, thereby realizing that the guide wire is rotated by a certain angle while being clamped.

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