Clamping and rotating device for electrophysiological instrument handle

Abstract

The invention discloses a clamping and rotating device of an electrophysiological instrument handle, and relates to the technical field of medical equipment.The clamping and rotating device comprises a mounting base, a clamping body, a clamping mechanism and a rotating mechanism, the clamping mechanism is arranged on one side of the mounting base, the clamping mechanism comprises two rotating clamping arms and a clamping driving mechanism, and the rotating clamping arms are arranged on the mounting base; and the rotating mechanisms are symmetrically and rotationally arranged on the two sides of the mounting base, and the rotating mechanisms are arranged on the other side of the mounting base. According to the device, the two rotating clamping arms can rotate, so that the two rotating clamping arms can conveniently drive the clamping bodies to oppositely clamp an instrument part, and meanwhile, the distributed clamping bodies of wheel-shaped structures and the supporting rotating wheel can rotate in the same direction at the same time, and due to the fact that the clamping bodies and the supporting rotating wheel are wheel-shaped bodies, the clamping bodies and the supporting rotating wheel can rotate in the same direction at the same time; most handle type electrophysiology instruments in the market can be controlled to achieve continuous multi-circle rotation movement, most instruments can be clamped in a matched mode conveniently, other structures do not need to be additionally arranged, and consumables do not need to be increased.

Description

Technical Field

[0001] The present invention relates to the technical field of medical devices, and particularly relates to a clamping and rotating device for the handle of an electrophysiological instrument. Background Art

[0002] Electrophysiological surgery is a minimally invasive surgery, which usually includes vascular puncture, atrial septum puncture, three-dimensional mapping, intracardiac ultrasound, ablation therapy, etc. In some surgical procedures, doctors need to wear lead aprons and be exposed to X-rays, such as atrial septum puncture. Even if the radiation dose each time is within the safe range, it will inevitably have a certain impact on the doctor's body in the case of accumulation. In addition, some surgical procedures are time-consuming, such as three-dimensional mapping, and the operation under X-rays is harmful to the doctor's body, and the long surgical procedure is also likely to cause the doctor's physical fatigue and thus affect the surgical effect. Therefore, it is a trend to use an electrophysiological instrument clamping device to operate the electrophysiological instrument.

[0003] In the prior art, there are some electrophysiological instrument clamping devices that can assist doctors in clamping instruments for remote control use. For example, the catheter delivery device of a vascular intervention surgical robot disclosed in the authorized publication number CN110327116B can clamp catheter instruments and uses a gear to drive two racks to rub up and down to achieve the axial rotation of the catheter.

[0004] However, due to the variety of electrophysiological instruments, the existing electrophysiological instrument clamping devices are generally specially customized for a certain type of instrument or additional structures are added, resulting in increased consumables and inconvenience in adapting to most electrophysiological instrument clamping and continuously rotating the instrument for multiple circles. For example, the catheter delivery device of a vascular intervention surgical robot disclosed in the above-mentioned authorized publication number CN110327116B realizes rubbing through the cooperation of a gear and a rack. Since the up and down rubbing distance of the rack is limited by the length of the rack, continuous multi-circle rotation cannot be achieved for large-diameter instruments, and the clamping and rotating operation functions achieved are not good enough. Summary of the Invention

[0005] The purpose of the present invention is to provide a clamping and rotating device for the handle of an electrophysiological instrument to solve the technical problems in the prior art that the electrophysiological instrument clamping device has limited adaptability to the clamped instruments and the function of simulating the rubbing and rotating of the instrument is not good enough.

[0006] The technical problems to be solved by the present invention can be realized through the following technical solutions:

[0007] A clamping and rotating device for the handle of an electrophysiological instrument, including a mounting base and a clamping body. There are two groups of the clamping bodies for clamping the instrument parts, and further includes:

[0008] Clamping mechanism, the clamping mechanism is arranged on one side of the mounting seat, and the clamping mechanism includes a rotating clamping arm and a clamping driving mechanism. There are two rotating clamping arms, which are symmetrically rotatably arranged on both sides of the mounting seat. The clamping body is correspondingly arranged at the end of the rotating clamping arm away from the mounting seat. The clamping driving mechanism is used to drive the two rotating clamping arms to rotate and clamp against each other;

[0009] Rotating mechanism, the rotating mechanism is arranged on the other side of the mounting seat. The rotating mechanism includes a supporting runner and a rotating driving mechanism. There are two supporting runners, which are respectively rotatably connected to both sides of the mounting seat. The clamping body is a runner structure. The rotating driving mechanism is used to drive each supporting runner and the clamping body to rotate simultaneously in the same direction.

[0010] Preferably, the clamping driving mechanism includes a first driving motor and a gear transmission mechanism. The first driving motor is fixedly installed on one side of the mounting seat. The first driving motor drives the two rotating clamping arms to rotate through the gear transmission mechanism.

[0011] Preferably, the gear transmission mechanism includes a first driving gear and a transmission gear set. The first driving gear is coaxially fixedly connected to the main shaft end of the first driving motor. The first driving gear is cooperatively connected to the two rotating clamping arms through the transmission gear set.

[0012] Preferably, the transmission gear set includes two first intermediate gears and two synchronizing gears. The two first intermediate gears and the two synchronizing gears are both arranged. The two first intermediate gears are rotatably connected to the mounting seat through a rotating shaft. The two first intermediate gears mesh with each other. The first driving gear meshes with one of the first intermediate gears. The end of each rotating clamping arm rotatably connected to the mounting seat is coaxially fixedly connected to the corresponding synchronizing gear. The first intermediate gear and the synchronizing gear are correspondingly meshed.

[0013] Preferably, the rotating clamping arm is a V-shaped arm.

[0014] Preferably, the rotating driving mechanism includes a second driving motor, a first gear transmission group and a second gear transmission group. The second driving motor is fixedly installed on the other side of the mounting seat. The second driving motor drives the two supporting runners to rotate simultaneously in the same direction through the first gear transmission group. The second gear transmission group is cooperatively connected to the first gear transmission group. The second gear transmission group is used to drive the two clamping bodies to rotate simultaneously in the same direction.

[0015] Preferably, the first gear transmission group includes a second driving gear and a transition gear. The second driving gear is coaxially fixedly connected to the main shaft end of the second driving motor. The transition gear is rotatably connected to the mounting seat, and the transition gear meshes with the second driving gear. Both of the two supporting runners are coaxially fixedly connected with a first linkage gear, and both of the two first linkage gears mesh with the transition gear.

[0016] Preferably, the second gear transmission group includes a second intermediate gear and a second linkage gear. There are two second intermediate gears, which are respectively rotatably connected to the corresponding rotating clamping arms. There are two second linkage gears, which are respectively rotatably connected to one end of the corresponding rotating clamping arm far from the mounting seat, and the clamping body is fixedly connected coaxially with the second linkage gear. Both the first linkage gear and the second linkage gear are meshed with the second intermediate gear.

[0017] Preferably, the surfaces of the clamping body and the supporting rotating wheel are both covered with a colloid layer.

[0018] Preferably, the clamping body is detachably connected to the rotating clamping arm.

[0019] Advantages of the present invention:

[0020] 1. The present invention can drive the first driving gear to rotate through the first driving motor. The first driving gear is transmitted through the first intermediate gear and the synchronous gear, so that the two rotating clamping arms rotate, thereby facilitating the two rotating clamping arms to drive the clamping body to clamp the instrument. At the same time, the second driving motor can also be used to drive the second driving gear to rotate. The second driving gear drives the distributed wheel-shaped clamping body and the supporting rotating wheel to rotate in the same direction through the first linkage gear, the second intermediate gear and the second linkage gear. Since both the clamping body and the supporting rotating wheel are wheel-shaped bodies, most of the electrophysiological instruments in the form of handles on the market can be manipulated to achieve continuous multi-turn rotational motion, which is convenient for adapting to clamping most instruments without adding other structures additionally and increasing consumables.

[0021] 2. The present invention uses the clamping body to clamp the instrument instead of the doctor's hand holding, and can drive the instrument to rotate, simulating the hand rubbing action, avoiding the influence of factors such as easy shaking and fatigue during the hand holding process on the surgical treatment effect, facilitating the improvement of the surgical efficiency, and at the same time facilitating the improvement of the accuracy of some electrophysiological surgeries, such as multi-region mapping in atrial fibrillation surgery; and it is also convenient for remote control, avoiding the doctor being exposed to some surgical environments with radiation. Description of the Drawings

[0022] Figure 1 is a schematic diagram of the overall structure of the present invention;

[0023] Figure 2 is a schematic diagram of the structure in which the clamping body and the supporting rotating wheel cooperate to clamp the instrument together;

[0024] Figure 3 is a schematic diagram of the structure in which the first linkage gear is connected to the supporting rotating wheel in the present invention;

[0025] Figure 4 is a schematic diagram of the structure in which the second linkage gear is cooperatively connected to the second driving gear in the present invention;

[0026] Figure 5 It is a schematic diagram of the steering of the first linkage gear and the second linkage gear in the present invention;

[0027] Figure 6 It is a schematic diagram of the clamp body and the supporting rotating wheel driving the instrument part to rotate in the present invention.

[0028] Description of reference numerals:

[0029] 1. Mounting seat; 2. First driving motor; 3. First driving gear; 4. First intermediate gear; 5. Synchronous gear; 6. Rotating clamp arm; 7. Clamp body; 8. Instrument part; 9. Second intermediate gear; 10. Supporting wheel; 11. Second driving motor; 12. Transition gear; 13. Second driving gear; 14. First linkage gear; 15. Second linkage gear. DETAILED DESCRIPTION

[0030] The specific embodiments of the present invention are described in detail below, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0031] like Figures 1 - 6 As shown, a clamping and rotating device for an electrophysiological instrument handle comprises a mounting seat 1 and a clamping body 7. The mounting seat 1 is used to be mounted on the execution end of a surgical robot as a support body of the electrophysiological instrument; the clamping body 7 is provided with two groups for clamping an instrument part 8. It should be noted that the instrument part 8 in the figure is only a schematic diagram, which is mostly a structure of a slender tube plus a handle; the device also includes a clamping mechanism and a rotating mechanism;

[0032] The clamping mechanism is arranged on one side of the mounting seat 1, and the clamping mechanism includes a rotating clamping arm 6 and a clamping driving mechanism. Two rotating clamping arms 6 are arranged and symmetrically distributed on both sides of the mounting seat 1, and one end of each rotating clamping arm 6 is rotatably connected to the mounting seat 1 through a rotating shaft, and a clamping body 7 is correspondingly arranged at one end of the rotating clamping arm 6 away from the mounting seat 1. The clamping driving mechanism is used to drive the two rotating clamping arms 6 to rotate and clamp, so that the two rotating clamping arms 6 can clamp the instrument part 8 through the clamping body 7;

[0033] The rotating mechanism is arranged on the other side of the mounting base 1, and the rotating mechanism includes a supporting wheel 10 and a rotating driving mechanism. Two supporting wheels 10 are arranged, and are respectively connected to both sides of the mounting base 1 through a rotating shaft. The two supporting wheels 10 are used to support the bottom of the instrument part 8. The clamping body 7 is a wheel structure. The rotating driving mechanism is used to drive each supporting wheel 10 and the clamping body 7 to rotate in the same direction at the same time, thereby driving the clamped instrument part 8 to rotate and adjust different angles and orientations.

[0034] In some specific embodiments, reference Figure 1As shown, the clamping drive mechanism includes a first drive motor 2 and a gear transmission mechanism. The first drive motor 2 is fixedly installed on one side of the mounting seat 1, and the first drive motor 2 drives two rotating clamping arms 6 to rotate through the gear transmission mechanism.

[0035] Among them, the gear transmission mechanism includes a first driving gear 3 and a transmission gear set. The first driving gear 3 is coaxially and fixedly connected to the spindle end of the first drive motor 2, and the first driving gear 3 is cooperatively connected to two rotating clamping arms 6 through the transmission gear set.

[0036] In some specific implementation schemes, the transmission gear set includes a first intermediate gear 4 and a synchronizing gear 5. There are two first intermediate gears 4 and two synchronizing gears 5. The two first intermediate gears 4 are rotatably connected to the mounting seat 1 through a rotating shaft. The two first intermediate gears 4 mesh with each other. The first driving gear 3 meshes with one of the first intermediate gears 4. One end of each rotating clamping arm 6 rotatably connected to the mounting seat 1 is coaxially and fixedly connected to the corresponding synchronizing gear 5. The first intermediate gear 4 and the synchronizing gear 5 are correspondingly meshed.

[0037] When it is necessary to clamp the instrument part 8, first place the instrument part 8 on two support rollers 10, and then control the first drive motor 2 to operate, so that it drives the first driving gear 3 to rotate clockwise. The first driving gear 3 drives the meshing first intermediate gear 4 to rotate counterclockwise, and the other first intermediate gear 4 rotates clockwise. Then the two first intermediate gears 4 respectively drive the corresponding meshing synchronizing gears 5 to rotate, and the two synchronizing gears 5 respectively drive the corresponding rotating clamping arms 6 to rotate, so as to facilitate the clamping action of the two rotating clamping arms 6, and clamp the instrument part 8 through the clamp body 7.

[0038] It should be noted that the rotating clamping arm 6 can be a V-shaped arm, which is convenient for the end of the rotating clamping arm 6 connected to the clamp body 7 to clamp the instrument part 8.

[0039] In some specific implementation schemes, referring to Figure 2 As shown, the rotation drive mechanism includes a second drive motor 11, a first gear transmission group and a second gear transmission group. The second drive motor 11 is fixedly installed on the other side of the mounting seat 1. The second drive motor 11 drives two support rollers 10 to rotate simultaneously and in the same direction through the first gear transmission group. The second gear transmission group is cooperatively connected to the first gear transmission group, and the second gear transmission group is used to drive two clamp bodies 7 to rotate simultaneously and in the same direction.

[0040] Among them, referring to Figure 3 and Figure 4As shown, the first gear transmission group includes a second driving gear 13 and an intermediate gear 12. The second driving gear 13 is coaxially and fixedly connected to the spindle end of the second driving motor 11. The intermediate gear 12 is rotatably connected to the mounting base 1 through a rotating shaft, and the intermediate gear 12 meshes with the second driving gear 13. Both supporting rotating wheels 10 are coaxially and fixedly connected with a first linkage gear 14, and both first linkage gears 14 mesh with the intermediate gear 12. The rotation axis around which one end of the rotating clamping arm 6 is rotatably connected to the mounting base 1 corresponds and coincides with the rotation axis of the first linkage gear 14.

[0041] Reference Figure 5 and Figure 6 As shown, when the second driving motor 11 drives the second driving gear 13 to rotate counterclockwise, the intermediate gear 12 rotates clockwise. The rotating intermediate gear 12 drives both first linkage gears 14 to rotate counterclockwise synchronously. Each first linkage gear 14 drives the corresponding supporting rotating wheel 10 to rotate synchronously.

[0042] In addition, the second gear transmission group includes two second intermediate gears 9 and two second linkage gears 15. The two second intermediate gears 9 are respectively rotatably connected to the corresponding rotating clamping arms 6 through rotating shafts. The two second linkage gears 15 are respectively rotatably connected to the ends of the corresponding rotating clamping arms 6 far from the mounting base 1, and the clamping body 7 is coaxially and fixedly connected corresponding to the second linkage gear 15. Both the second linkage gear 15 and the first linkage gear 14 mesh with the second intermediate gear 9. And because the rotation axis around which one end of the rotating clamping arm 6 is rotatably connected to the mounting base 1 corresponds and coincides with the rotation axis of the first linkage gear 14, during the rotation of the rotating clamping arm 6, the second intermediate gear 9 can move circumferentially around the first linkage gear 14.

[0043] When the clockwise rotating intermediate gear 12 drives the first linkage gears 14 on both sides to rotate counterclockwise, each first linkage gear 14 drives the corresponding meshing second intermediate gear 9 to rotate clockwise. The second intermediate gear 9 drives the corresponding second linkage gear 15 to rotate counterclockwise, thereby realizing the synchronous rotation of the clamping body 7 and facilitating the rotation of the clamped instrument part 8.

[0044] In some specific implementation schemes, the surfaces of the clamping body 7 and the supporting rotating wheels 10 are both covered with a colloid layer, and anti-slip lines can also be provided on the surface of the colloid layer to facilitate the clamping of the instrument part 8 and drive the instrument part 8 to rotate.

[0045] In some specific embodiments, the clamping body 7 is detachably connected to the rotating clamping arm 6, which is convenient for replacement and also facilitates changing to different sizes to cope with different instrument parts 8. Specifically, a part of the connecting shaft connecting the second linkage gear 15 to the rotating clamping arm 6 can be extended, and a protruding positioning pin is fixedly arranged at a position near the end of the connecting shaft. A perforation matching the connecting shaft is opened at the center position of the clamping body 7 of the rotating wheel structure, and a pin slot matching the positioning pin is opened on the inner wall of the perforation. At the same time, the end of the connecting shaft is provided with a thread and a fastening nut is provided. In this way, when installing the clamping body 7 of the rotating wheel structure, the perforation at the center position of the clamping body 7 is aligned with the connecting shaft, and the pin slot is aligned with the positioning pin. Then, the clamping body 7 is snapped on, and the fastening nut is threadedly connected, so that the fastening nut fixes and abuts the clamping body 7 against the second linkage gear 15, realizing the relative fixation between the clamping body 7 and the second linkage gear 15. When replacement is needed, reverse operation can be carried out for disassembly.

[0046] To facilitate the understanding of this solution embodiment by those skilled in the art, the working principle of this solution will be briefly described below in combination with a specific application scenario:

[0047] The mounting base 1 of this solution is fixedly installed at the execution end of the surgical robot. When clamping the instrument part 8, the handle part of the instrument part 8 is placed between the two supporting rotating wheels 10. Then, a control instruction is sent through the control system to control the operation of the first driving motor 2, so that it drives the first driving gear 3 to rotate clockwise. The first driving gear 3 drives the engaged first intermediate gear 4 to rotate counterclockwise, and the other first intermediate gear 4 rotates clockwise. Then, the two first intermediate gears 4 respectively drive the corresponding engaged synchronous gears 5 to rotate, and the two synchronous gears 5 respectively drive the corresponding rotating clamping arms 6 to rotate, facilitating the clamping action of the two rotating clamping arms 6. The instrument part 8 is clamped by the clamping body 7 to complete the clamping action.

[0048] When it is necessary to rotate and adjust the instrument part 8 to simulate the hand rubbing action, the second driving motor 11 is started. If the second driving motor 11 drives the second driving gear 13 to rotate counterclockwise, the intermediate gear 12 rotates clockwise. The rotating intermediate gear 12 drives the two first linkage gears 14 to rotate synchronously counterclockwise, and each first linkage gear 14 drives the corresponding supporting rotating wheel 10 to rotate synchronously counterclockwise.

[0049] And each first linkage gear 14 also drives the corresponding engaged second intermediate gear 9 to rotate clockwise, and the second intermediate gear 9 drives the corresponding second linkage gear 15 to rotate counterclockwise, thereby realizing the synchronous rotation of the clamping body 7, that is, all the clamping bodies 7 and the supporting rotating wheels 10 rotate in the same direction, facilitating the rotation of the clamped instrument part 8.

[0050] Then, in combination with other linear conveying mechanisms, it is convenient to complete relevant surgical operations.

[0051] The above are only several specific embodiments of the present invention. However, the embodiments of the present invention are not limited thereto, and any changes that can be conceived by those skilled in the art shall fall within the protection scope of the present invention.

Claims

1. A clamping and rotating device for an electrophysiological instrument handle, comprising a mounting base (1) and a clamping body (7). There are two groups of the clamping bodies (7) for clamping an instrument part (8), and it is characterized in that, It further includes: A clamping mechanism, which is arranged on one side of the mounting base (1). The clamping mechanism includes a rotating clamping arm (6) and a clamping driving mechanism. There are two rotating clamping arms (6), which are symmetrically rotatably arranged on both sides of the mounting base (1). The clamping body (7) is correspondingly arranged at the end of the rotating clamping arm (6) away from the mounting base (1). The clamping driving mechanism is used to drive the two rotating clamping arms (6) to rotate and clamp against each other. A rotating mechanism, which is arranged on the other side of the mounting base (1). The rotating mechanism includes a supporting runner (10) and a rotating driving mechanism. There are two supporting runners (10), which are respectively rotatably connected to both sides of the mounting base (1). The clamping body (7) is a runner structure. The rotating driving mechanism is used to drive each supporting runner (10) and the clamping body (7) to rotate simultaneously in the same direction.

2. The clamping and rotating device of the electrophysiological instrument handle according to claim 1, characterized in that, The clamping driving mechanism includes a first driving motor (2) and a gear transmission mechanism. The first driving motor (2) is fixedly installed on one side of the mounting base (1). The first driving motor (2) drives the two rotating clamping arms (6) to rotate through the gear transmission mechanism.

3. The clamping and rotating device of an electrophysiological instrument handle according to claim 2, wherein, The gear transmission mechanism includes a first driving gear (3) and a transmission gear set. The first driving gear (3) is coaxially and fixedly connected to the main shaft end of the first driving motor (2). The first driving gear (3) is cooperatively connected to the two rotating clamping arms (6) through the transmission gear set.

4. The clamping and rotating device of an electrophysiological instrument handle according to claim 3, characterized in that, The transmission gear set includes two first intermediate gears (4) and two synchronizing gears (5). The two first intermediate gears (4) are rotatably connected to the mounting base (1) through a rotating shaft. The two first intermediate gears (4) are meshed with each other. The first driving gear (3) is meshed with one of the first intermediate gears (4). The end of each rotating clamping arm (6) rotatably connected to the mounting base (1) is coaxially and fixedly connected to the corresponding synchronizing gear (5). The first intermediate gear (4) and the synchronizing gear (5) are correspondingly meshed.

5. The clamping and rotating device of an electrophysiological instrument handle according to claim 1, characterized in that, The rotating clamping arm (6) is a V-shaped arm.

6. The clamping and rotating device of an electrophysiological instrument handle according to claim 1, characterized in that, The rotating driving mechanism includes a second driving motor (11), a first gear transmission group and a second gear transmission group. The second driving motor (11) is fixedly installed on the other side of the mounting base (1). The second driving motor (11) drives the two supporting runners (10) to rotate simultaneously in the same direction through the first gear transmission group. The second gear transmission group is cooperatively connected to the first gear transmission group and is used to drive the two clamping bodies (7) to rotate simultaneously in the same direction.

7. The clamping and rotating device of an electrophysiological instrument handle according to claim 6, characterized in that, The first gear transmission group includes a second driving gear (13) and an intermediate gear (12). The second driving gear (13) is coaxially and fixedly connected to the main shaft end of the second driving motor (11). The intermediate gear (12) is rotatably connected to the mounting base (1) and is meshed with the second driving gear (13). Both of the two supporting runners (10) are coaxially and fixedly connected with a first linkage gear (14), and both of the two first linkage gears (14) are meshed with the intermediate gear (12).

8. The clamping and rotating device of an electrophysiological instrument handle according to claim 7, characterized in that, The second gear transmission group includes a second intermediate gear (9) and a second linkage gear (15). There are two second intermediate gears (9), which are respectively rotatably connected to the corresponding rotating clamping arms (6). There are two second linkage gears (15), which are respectively rotatably connected to one end of the corresponding rotating clamping arm (6) away from the mounting base (1), and the clamping body (7) is fixedly connected coaxially with the second linkage gear (15). Both the second linkage gear (15) and the first linkage gear (14) are meshed with the second intermediate gear (9).

9. The clamping and rotating device of an electrophysiological instrument handle according to claim 1, characterized in that, The surfaces of the clamping body (7) and the supporting runner (10) are both covered with a colloid layer.

10. The clamping and rotating device of an electrophysiological instrument handle according to claim 1, characterized in that, The clamping body (7) is detachably connected to the rotating clamping arm (6).

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