Calibration tool and calibration method for force sensor of guide wire delivery mechanism

Abstract

The invention provides a calibration tool for a force sensor of a guide wire delivery mechanism. The calibration tool comprises a calibration module and an inspection module, a dynamometer is mounted on the calibration module, a linear module is mounted on the inspection module, a first force transducer is mounted on the linear module in a sliding manner, a second force transducer is mounted in the guide wire delivery mechanism, and the first force transducer is coaxially connected with the dynamometer or the second force transducer through a guide wire; the linear module drives the first force transducer to slide, and the reading of the first force transducer is calibrated by using the reading of the dynamometer, or the reading of the second force transducer is calibrated by using the reading of the first force transducer; according to the invention, the dynamometer on the calibration module is utilized to calibrate the first force transducer on the inspection module, and then the calibrated first force transducer is utilized to calibrate the second force transducer, so that the calibration precision of the second force transducer in the guide wire delivery mechanism is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of force sensor calibration, and in particular to a calibration tool and a calibration method for a force sensor of a guidewire delivery mechanism. Background Art

[0002] Vascular interventional surgical robots rely on guidewire delivery mechanisms for minimally invasive procedures. Real-time force detection at the guidewire tip is a key guarantee for surgical safety. Neurovascular walls are only 0.1-0.3mm thick, and a guidewire contact force exceeding 0.5N can cause perforation. In calcified coronary artery lesions, lateral friction forces of 0.3N can cause plaque detachment and trigger myocardial infarction. Clinically, force detection requires a force detection error of ≤±0.1N (equivalent to the drag force accuracy of a single hair). However, the actual operating environment of a guidewire is subject to interference such as inclination changes. The measured error of an uncalibrated sensor can reach 0.3N, exceeding the safety threshold by 300%.

[0003] Current guidewire delivery mechanisms generally lack dedicated force sensor calibration solutions. Existing technologies directly use uncalibrated force sensors, whose output values are subject to superimposed interference from assembly stress, temperature drift, posture changes, etc., resulting in large errors between the actual force applied to the guidewire during vascular interventional surgery and the force sensor detection readings, thereby increasing surgical risks.

[0004] Based on the above problems, there is an urgent need to propose a guidewire force calibration device and method for vascular interventional surgery. Summary of the Invention

[0005] The present invention proposes a calibration tool and calibration method for a force sensor of a guidewire delivery mechanism, which solves the problem in the prior art that the force sensor of the guidewire delivery mechanism has large errors and is prone to causing surgical risks due to the lack of a dedicated force sensor calibration device for the guidewire delivery mechanism.

[0006] The technical solution of the present invention is achieved as follows: A first aspect of the present invention provides a calibration tool for a force sensor of a guidewire delivery mechanism, comprising a calibration module and a test module, wherein the test module is detachably connected to the calibration module or the guidewire delivery mechanism; a force gauge is installed on the calibration module, a linear module is installed on the test module, a first force sensor is slidably installed on the linear module, a second force sensor is installed in the guidewire delivery mechanism, and the first force sensor is coaxially connected to the force gauge or the second force sensor via a guidewire; the first force sensor is driven to slide by the linear module, and the reading of the force gauge is used to calibrate the reading of the first force sensor, or the reading of the first force sensor is used to calibrate the reading of the second force sensor.

[0007] Specifically, the linear module includes a U-shaped seat, the inner bottom surface of the U-shaped seat is provided with a slide rail, a slider is slidably installed on the slide rail, and the first force sensor is installed on the slider; a screw rod is installed between the two side plates of the U-shaped seat, the screw rod is threadedly connected to the center hole of the slider, and one end of the screw rod extends to the outside of the side plate and a first knob is installed.

[0008] Specifically, the force-bearing ends of the force gauge and the first force sensor are both equipped with a guide wire clamp, and the force-bearing end of the first force sensor is equipped with a connecting piece, and the connecting piece is connected to the guide wire clamp through a first spring. A guide rod is provided inside the first spring, and one end of the guide rod is fixedly connected to the connecting piece, and the other end is inserted into the guide hole at the rear end of the guide wire clamp.

[0009] Specifically, the calibration module includes a base plate, one end of which is hinged to the angle adjustment plate through a hinge, the dynamometer is installed on one end of the angle adjustment plate through a bracket, and the inspection module is installed on the other end of the angle adjustment plate through a quick-release assembly; a support locking assembly is installed on the base plate, and the support locking assembly is connected to the angle adjustment plate for supporting the angle adjustment plate and locking the adjustment angle.

[0010] Furthermore, the support locking assembly includes a support frame installed on the base plate, the top surface of the support frame is provided with a strip hole along the length direction of the base plate, a hinge support is slidably embedded in the strip hole, a support rod is rotatably connected to the hinge support, and the other end of the support rod is hinged to the side of the angle adjustment plate; a fixing screw is provided on the hinge support for fixing the hinge support to the base plate.

[0011] Furthermore, an indicator plate is installed at one end of the base plate, and an arc-shaped groove is provided on the indicator plate, and the center of the arc-shaped groove is collinear with the pin shaft of the hinge; an indicator block is provided on the outer side of the indicator plate, and a scale line is provided on the indicator plate to match the indicator block; the indicator block is fixed on a pin, and the pin passes through the arc-shaped groove and is fixed on the side wall of the angle adjustment plate; a connecting rod is provided at the rear end of the indicator block, and a ring is provided at the rear end of the connecting rod, and the ring is sleeved on the pin shaft of the hinge.

[0012] Specifically, the scale line is a wire groove, and the radial cross-section of the wire groove is semicircular; a blind hole is provided on the inner side of the front end of the indicator block, and a second spring and a limiting ball are provided in the blind hole, and the second spring is used to force the limiting ball to move outward into the wire groove.

[0013] Specifically, the quick-release assembly includes a holder mounted on the angle adjustment plate and a limiting cap mounted on the first extension plate at the bottom of the inspection module, an insertion rod movably mounted in the limiting cap, a second knob provided at the top end of the insertion rod, a first limiting cross bar provided at the lower end of the insertion rod, a socket provided on the top surface of the holder for inserting the insertion rod, and avoidance grooves matching the first limiting cross bar provided on both sides of the socket; a first limiting ring is provided in the cavity of the limiting cap, a second limiting ring is provided at the upper end of the insertion rod, a third spring is provided between the first limiting ring and the second limiting ring, and the third spring is used to force the insertion rod to move in a direction away from the holder; a second limiting cross bar is provided in the middle of the insertion rod, and the second limiting cross bar is located below the first limiting ring.

[0014] Specifically, a plurality of counterweight blocks are installed in the bracket, a plurality of positioning holes are opened on the counterweight blocks, and a plurality of positioning columns matching the positioning holes are provided on the bottom surface of the bracket.

[0015] A second aspect of the present invention provides a method for calibrating a force sensor of a guidewire delivery mechanism, comprising the following steps: S1, fixedly connecting the inspection module and the calibration module, and coaxially connecting the dynamometer and the first force sensor via a guide wire; S2, driving the first force sensor toward or away from the force gauge through the linear module to push or pull the guide wire, and reading multiple sets of first force sensor and force gauge readings; S3, using a least squares fitting method to calculate a first calibration coefficient between the first force sensor reading and the force meter reading; S4, removing the inspection module from the calibration module, and fixedly connecting the inspection module to the guidewire delivery mechanism, and coaxially connecting the guidewire output by the guidewire delivery mechanism to the first force sensor; S5, driving the first force sensor to move closer to or away from the guidewire delivery mechanism via the linear module to push or pull the guidewire, and readings from multiple sets of first force sensors and second force sensors; S6, calibrating the reading of the first force sensor based on the first calibration coefficient; S7, using the least squares method to fit and calculate a second calibration coefficient between the reading of the second force sensor and the reading of the calibrated first force sensor, and calibrating the reading of the second force sensor based on the second calibration coefficient.

[0016] Compared with the prior art, the present invention has the following beneficial effects: (1) The present invention designs a calibration module and a test module. The force gauge on the calibration module is first used to calibrate the first force sensor on the test module. The calibrated first force sensor on the test module is then used to calibrate the second force sensor on the guidewire delivery mechanism. This greatly improves the calibration accuracy of the second force sensor in the guidewire delivery mechanism. (2) The present invention can simulate the force conditions of the guidewire delivery mechanism at different inclination angles by designing an angle adjustment plate on the calibration module, thereby further improving the calibration accuracy of the first force sensor in the inspection module and the calibration accuracy of the second force sensor in the guidewire delivery mechanism; (3) The present invention installs a spring between the first force sensor of the inspection module and the guidewire holder, so that the first force sensor is flexibly connected to the guidewire output by the force gauge or the guidewire delivery mechanism, which can better simulate the scene of guidewire delivery in the blood vessel and further improve the calibration accuracy of the second force sensor in the guidewire delivery mechanism; (4) The present invention connects the inspection module with the calibration module or the guidewire delivery mechanism by designing a quick-release assembly, which can realize the rapid disassembly and assembly of the inspection module and greatly improve the hardware assembly efficiency of the calibration tooling. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] 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 of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0018] Figure 1 This is a schematic diagram of the structure of the connection between the calibration module and the inspection module in an embodiment of the present invention; Figure 2 This is a schematic structural diagram of a linear module according to an embodiment of the present invention; Figure 3 Schematic diagram of the connection structure between the guide wire holder and the connector in an embodiment of the present invention; Figure 4 This is a schematic diagram of the state of the calibration module after adjusting the tilt angle in an embodiment of the present invention; Figure 5 This is a schematic diagram of the assembly structure of the indicator plate and the indicator block in an embodiment of the present invention; Figure 6 An exploded schematic diagram of an indicator plate and an indicator block in an embodiment of the present invention; Figure 7 This is a schematic cross-sectional view of the quick-release assembly after connection in an embodiment of the present invention; Figure 8This is a schematic diagram of the structure of the quick-release assembly after disassembly in an embodiment of the present invention; Figure 9 Schematic diagram of the structure of the guidewire delivery mechanism in an embodiment of the present invention; In the figure: 1. Calibration module; 2. Inspection module; 3. Dynamometer; 4. Linear module; 5. First force sensor; 6. U-shaped seat; 7. Slide rail; 8. Slider; 9. Screw; 10. First knob; 11. Guide wire holder; 12. Connector; 13. First spring; 14. Guide rod; 15. Bottom plate; 16. Hinge; 17. Angle adjustment plate; 18. Bracket; 19. Quick release assembly; 20. Support frame; 21. Strip hole; 22. Hinge support; 23. Support rod; 24. Set screw; 25. Indicator plate; 2 6. Arc groove; 27. Indicator block; 28. Scale line; 29. Pin; 30. Connecting rod; 31. Limiting ball; 32. Socket; 33. First extension plate; 34. Limiting cap; 35. Insert rod; 36. Second knob; 37. First limiting rod; 38. Socket; 39. Avoidance groove; 40. First limiting ring; 41. Second limiting ring; 42. Second limiting cross bar; 43. Counterweight; 44. Positioning protrusion; 45. Pad; 46. Linear sliding module; 47. Guide wire clamping and rotating assembly; 48. Second extension plate. DETAILED DESCRIPTION

[0019] The following will clearly and completely describe the technical solutions of the present invention in conjunction with the embodiments of the present invention. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0020] Reference Figures 1 to 9 In a first aspect, the present invention provides a calibration tool for a force sensor of a guidewire delivery mechanism, comprising a calibration module 1 and a test module 2, wherein the test module 2 is detachably connected to the calibration module 1 or the guidewire delivery mechanism; a force gauge 3 is mounted on the calibration module 1, a linear module 4 is mounted on the test module 2, a first force sensor 5 is slidably mounted on the linear module 4, a second force sensor is mounted in the guidewire delivery mechanism, and the first force sensor 5 is coaxially connected to the force gauge 3 or the second force sensor via a guidewire; the first force sensor 5 is driven to slide by the linear module 4, and the reading of the force gauge 3 is used to calibrate the reading of the first force sensor 5, or the reading of the first force sensor 5 is used to calibrate the reading of the second force sensor.

[0021] The present invention designs a calibration module 1 and a testing module 2. First, the force gauge 3 on the calibration module 1 is used to calibrate the first force sensor 5 on the testing module 2. Then, the calibrated first force sensor 5 on the testing module 2 is used to calibrate the second force sensor on the guidewire delivery mechanism, thereby greatly improving the calibration accuracy of the second force sensor in the guidewire delivery mechanism.

[0022] Specifically, if Figure 2 As shown, the linear module 4 includes a U-shaped seat 6, the inner bottom surface of which is provided with a slide rail 7, a slider 8 is slidably mounted on the slide rail 7, and the first force sensor 5 is mounted on the slider 8; a screw rod 9 is mounted between the two side plates of the U-shaped seat 6, the screw rod 9 is threadedly connected to the center hole of the slider 8, and one end of the screw rod 9 extends to the outside of the side plate and is mounted with a first knob 10; by rotating the first knob 10, the screw rod 9 is driven to rotate, and the slider 8 slides linearly along the slide rail 7 under the drive of the screw rod 9, thereby driving the first force sensor 5 to pull or push the guide wire. In this embodiment, the two ends of the screw rod 9 are smooth rods, and the two ends of the screw rod 9 are mounted on the side plates on both sides of the U-shaped seat 6 through bearings.

[0023] Specifically, if Figure 3 As shown, the force-bearing ends of the force gauge 3 and the first force sensor 5 are both equipped with a guidewire holder 11. The force-bearing end of the first force sensor 5 is equipped with a connector 12. The connector 12 is connected to the guidewire holder 11 via a first spring 13. A guide rod 14 is provided inside the first spring 13. One end of the guide rod 14 is fixedly connected to the connector 12, and the other end extends into the guide hole at the rear end of the guidewire holder 11. By installing the first spring 13 between the first force sensor 5 of the inspection module 2 and the guidewire holder 11, the first force sensor 5 is flexibly connected to the force gauge 3 or the guidewire output by the guidewire delivery mechanism, which can better simulate the scenario of guidewire delivery within a blood vessel (the blood vessel wall is also elastic), further improving the calibration accuracy of the second force sensor in the guidewire delivery mechanism.

[0024] In this embodiment, the head of the guide wire clamp 11 is a rotating clamping component, and the guide wire can be clamped or loosened by rotating the head of the guide wire clamp 11 (in the specific implementation process, other structures with the function of clamping the guide wire can also be used). The tail of the guide wire clamp 11 is a shaft sleeve (the inside of the shaft sleeve is a guide hole), and the shaft sleeve sliding sleeve is arranged on the guide rod 14, so that the guide wire clamp 11 and the guide wire can only be displaced in an axial straight line.

[0025] Specifically, if Figure 1 、 4As shown, the calibration module 1 includes a base plate 15, one end of which is hinged to an angle adjustment plate 17 via a hinge 16. The dynamometer 3 is mounted on one end of the angle adjustment plate 17 via a bracket 18, and the inspection module 2 is mounted on the other end of the angle adjustment plate 17 via a quick-release assembly 19. A support and locking assembly is mounted on the base plate 15, which is connected to the angle adjustment plate 17 to support the angle adjustment plate 17 and lock the adjustment angle. By designing the angle adjustment plate 17 on the calibration module 1, the force conditions of the guidewire delivery mechanism at different inclination angles can be simulated, thereby further improving the calibration accuracy of the first force sensor 5 in the inspection module 2 and the calibration accuracy of the second force sensor in the guidewire delivery mechanism. By designing the quick-release assembly 19 to connect the inspection module 2 to the calibration module 1 or the guidewire delivery mechanism, the inspection module 2 can be quickly disassembled and assembled, greatly improving the hardware assembly efficiency of the calibration tooling.

[0026] Further, if Figure 4 As shown, the support locking assembly includes a support frame 20 installed on the base plate 15, and a strip hole 21 is opened on the top surface of the support frame 20 along the length direction of the base plate 15, and a hinge support 22 is slidably embedded in the strip hole 21, and a support rod 23 is rotatably connected to the hinge support 22, and the other end of the support rod 23 is hinged to the side of the angle adjustment plate 17; a set screw 24 is provided on the hinge support 22 for fixing the hinge support 22 on the base plate 15. When it is necessary to lift the inclination of the angle adjustment plate 17 upward, it is necessary to loosen the set screw 24 first, and then lift the inclination of the angle adjustment plate 17 upward. At the same time, the hinge support 22 will slide to the left (close to the hinge 16) along the strip hole 21, and the support rod 23 will support the angle adjustment plate 17. When it is lifted to the target angle, the hinge support 22 is fixed to the base plate 15 by tightening the set screw 24 to prevent the hinge support 22 from sliding along the strip hole 21, thereby fixing the angle of the angle adjustment plate 17; the working principle of lowering the inclination of the angle adjustment plate 17 is the same.

[0027] In this embodiment, Figure 4 As shown, there are two support frames 20, which are respectively arranged on both sides of the angle adjustment plate 17, and the corresponding two hinge supports 22 are connected by a connecting plate (not shown in the figure) to ensure that the two hinge supports 22 slide synchronously in the two strip holes 21, thereby improving the stability of the support locking assembly.

[0028] In this embodiment, Figure 4As shown, a pad 45 is provided at the right end of the base plate 15 (the end away from the hinge 16) for supporting the right end of the angle adjustment plate 17 so that the angle adjustment plate 17 can remain horizontal (parallel to the base plate 15) after it falls. Since the angle adjustment plate 17 and the left end of the base plate 15 are hinged by the hinge 16 and the pin, after the angle adjustment plate 17 falls, there will be a certain distance between the left end of the angle adjustment plate 17 and the base plate 15. Therefore, the pad 45 is provided at the right end of the base plate 15, which can cooperate with the hinge 16 at the left end to keep the angle adjustment plate 17 parallel to the base plate 15.

[0029] Further, if Figure 4-6 As shown, an indicator plate 25 is installed at one end of the base plate 15, and an arc-shaped groove 26 is opened on the indicator plate 25, and the center of the arc-shaped groove 26 is collinear with the pin of the hinge 16; an indicator block 27 is provided on the outer side of the indicator plate 25, and a scale line 28 is provided on the indicator plate 25 to cooperate with the indicator block 27; the indicator block 27 is fixed on a pin 29, and the pin 29 passes through the arc-shaped groove 26 and is fixed on the side wall of the angle adjustment plate 17; a connecting rod 30 is provided at the rear end of the connecting rod 30, and a collar is provided at the rear end of the connecting rod 30, and the collar is sleeved on the pin of the hinge 16; by rotating the angle adjustment plate 17, the indicator block 27 can be driven by the pin 29 to slide along the arc-shaped groove 26 (and also rotate around the pin), so that the angle between the angle adjustment plate 17 and the base plate 15 can be accurately read by the cooperation between the indicator block 27 and the scale line 28.

[0030] Specifically, if Figure 6 As shown, the scale lines 28 are wire grooves with a semicircular radial cross-section. A blind hole (not shown) is provided on the inner front end of the indicator block 27. A second spring and a retaining ball 31 are located within the blind hole. The second spring forces the retaining ball 31 outward into the wire groove. By combining the wire groove with the second spring and retaining ball 31, when the angle adjustment plate 17 is raised to the target angle, the retaining ball 31 engages the wire groove under the action of the second spring, indicating that the angle has been adjusted to the desired angle.

[0031] Specifically, if Figure 1 、 4, 7, and 8, the quick-release assembly 19 includes a holder 32 mounted on the angle adjustment plate 17 and a limiting cap 34 mounted on the first extension plate 33 at the bottom of the inspection module 2. A rod 35 is movably installed in the limiting cap 34. The top of the rod 35 is provided with a second knob 36. The lower end of the rod 35 is provided with a first limiting cross bar. The top surface of the holder 32 is provided with a socket 38 for inserting the rod 35. Both sides of the socket 38 are provided with avoidance bars that match the first limiting cross bar. Let groove 39; a first limiting ring 40 is provided in the cavity of the limiting cap 34, a second limiting ring 41 is provided at the upper end of the insertion rod 35, a third spring is provided between the first limiting ring 40 and the second limiting ring 41, and the third spring is used to force the insertion rod 35 to move in a direction away from the card seat 32; a second limiting cross bar 42 is provided in the middle of the insertion rod 35, and the second limiting cross bar 42 is located below the first limiting ring 40 to prevent the insertion rod 35 from escaping from the top outlet of the limiting cap 34.

[0032] In this embodiment, Figure 4 As shown, a positioning protrusion 44 is provided on the angle adjustment plate 17, and a positioning recess matching the positioning protrusion 44 is provided on the bottom surface of the first extension plate 33, so as to facilitate the rapid positioning of the inspection module 2 and the angle adjustment plate 17. When the limiting cap 34 and the insertion rod 35 on the first extension plate 33 are docked with the holder 32 on the angle adjustment plate 17 and the positioning protrusion 44 is matched with the positioning recess, the guide wire clamp 11 at the end of the first force sensor 5 and the guide wire clamp 11 at the end of the force gauge 3 are just in a coaxial state.

[0033] The working principle of the quick-release assembly 19 is as follows: When the inspection module 2 needs to be fixed on the angle adjustment plate 17, it is only necessary to place the inspection module 2 on the angle adjustment plate 17 of the calibration module 1, so that the insertion rod 35 on the first extension plate 33 is aligned with the seat 32 on the angle adjustment plate 17 and the positioning protrusion 44 is matched with the positioning recess, and then the first limit cross bar is parallel to the avoidance groove 39 by rotating the second knob 36, and then the second knob 36 is pressed down to make the first cross bar pass through the avoidance groove 39, and then the second knob 36 is rotated to make the first limit cross bar parallel to the avoidance groove 39. When the second limit ring 41 is rotated and the second limit ring 39 is rotated, the third spring pushes the second limit ring 41 to move upward, driving the insertion rod 35 to move upward until the first cross bar abuts against the holder 32; if the inspection module 2 needs to be removed from the angle adjustment plate 17, just rotate the second knob 36 again until the first limit cross bar is parallel to the avoidance groove 39, and then release the second knob 36. The third spring will push the second limit ring 41 to move upward, driving the insertion rod 35 to retract from the holder 32, thereby completing the unlocking of the inspection module 2 and the angle adjustment plate 17.

[0034] In this embodiment, Figure 9As shown, the connection method between the inspection module 2 and the guidewire delivery mechanism is the same as above. The guidewire delivery mechanism includes a linear sliding module 46 and a guidewire clamping and rotating assembly 47. The guidewire clamping and rotating assembly 47 is fixed on the sliding part of the linear sliding module 46 through a connecting plate. The linear sliding module 46 drives the guidewire clamping and rotating assembly 47 to slide linearly along the guidewire delivery direction, thereby realizing the forward and backward movement of the guidewire; the front end of the linear sliding module 46 is provided with a second extension plate 48, and the second extension plate 48 is provided with the above-mentioned seat 32 and positioning protrusion 44.

[0035] Specifically, if Figure 1 、 4 As shown, several counterweight blocks 43 are installed in the bracket 18, and several positioning holes are opened on the counterweight blocks 43. The bottom surface of the bracket 18 is provided with several positioning columns matching the positioning holes; by installing several counterweight blocks 43 in the bracket 18, it is used to balance the center of gravity and prevent the center of gravity from being offset.

[0036] A second aspect of the present invention provides a method for calibrating a force sensor of a guidewire delivery mechanism, comprising the following steps: S1, fixedly connect the inspection module 2 to the calibration module 1, and coaxially connect the dynamometer 3 to the first force sensor 5 through a guide wire; S2, driving the first force sensor 5 toward or away from the force gauge 3 through the linear module 4 to push or pull the guide wire, and readings of multiple groups of first force sensors 5 and force gauges 3; S3, using the least squares method to fit and calculate a first calibration coefficient between the reading of the first force sensor 5 and the reading of the force gauge 3; S4, detaching the inspection module 2 from the calibration module 1, and fixedly connecting the inspection module 2 to the guidewire delivery mechanism, and coaxially connecting the guidewire output by the guidewire delivery mechanism to the first force sensor 5; S5, driving the first force sensor 5 toward or away from the guidewire delivery mechanism through the linear module 4 to push or pull the guidewire, and readings of multiple groups of the first force sensor 5 and the second force sensor; S6, calibrating the reading of the first force sensor 5 based on the first calibration coefficient; S7, using the least squares method to fit and calculate a second calibration coefficient between the reading of the second force sensor and the reading of the calibrated first force sensor 5, and calibrating the reading of the second force sensor based on the second calibration coefficient.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A calibration tool for a force sensor of a guidewire delivery mechanism, characterized in that: The invention comprises a calibration module (1) and a test module (2), wherein the test module (2) is detachably connected to the calibration module (1) or the guide wire delivery mechanism; a dynamometer (3) is installed on the calibration module (1), a linear module (4) is installed on the test module (2), a first force sensor (5) is slidably installed on the linear module (4), a second force sensor is installed in the guide wire delivery mechanism, and the first force sensor (5) is coaxially connected to the dynamometer (3) or the second force sensor via a guide wire; the first force sensor (5) is driven to slide by the linear module (4), and the reading of the dynamometer (3) is used to calibrate the reading of the first force sensor (5), or the reading of the first force sensor (5) is used to calibrate the reading of the second force sensor.

2. A calibration tool for a force sensor of a guidewire delivery mechanism according to claim 1, characterized in that: The linear module (4) includes a U-shaped seat (6), the inner bottom surface of the U-shaped seat (6) is provided with a slide rail (7), a slider (8) is slidably mounted on the slide rail (7), and the first force sensor (5) is mounted on the slider (8); a screw rod (9) is installed between the two side plates of the U-shaped seat (6), the screw rod (9) is threadedly connected to the center hole of the slider (8), and one end of the screw rod (9) extends to the outside of the side plate and is mounted with a first knob (10).

3. A calibration tool for a force sensor of a guidewire delivery mechanism according to claim 1, characterized in that: The force-bearing ends of the dynamometer (3) and the first force sensor (5) are both equipped with a guide wire clamp (11), and the force-bearing end of the first force sensor (5) is equipped with a connecting piece (12), and the connecting piece (12) is connected to the guide wire clamp (11) via a first spring (13), and a guide rod (14) is provided inside the first spring (13), and one end of the guide rod (14) is fixedly connected to the connecting piece (12), and the other end is inserted into the guide hole at the rear end of the guide wire clamp (11).

4. A calibration tool for a force sensor of a guidewire delivery mechanism according to claim 1, characterized in that: The calibration module (1) comprises a base plate (15), one end of the base plate (15) is hinged to an angle adjustment plate (17) via a hinge (16), the dynamometer (3) is mounted on one end of the angle adjustment plate (17) via a bracket (18), and the inspection module (2) is mounted on the other end of the angle adjustment plate (17) via a quick-release assembly (19); a support locking assembly is mounted on the base plate (15), the support locking assembly is connected to the angle adjustment plate (17), and is used to support the angle adjustment plate (17) and lock the adjustment angle.

5. A calibration tool for a force sensor of a guidewire delivery mechanism according to claim 4, characterized in that: The support locking assembly includes a support frame (20) installed on the base plate (15), the top surface of the support frame (20) is provided with a strip hole (21) along the length direction of the base plate (15), a hinge support (22) is slidably embedded in the strip hole (21), a support rod (23) is rotatably connected to the hinge support (22), and the other end of the support rod (23) is hinged to the side of the angle adjustment plate (17); a set screw (24) is provided on the hinge support (22) for fixing the hinge support (22) on the base plate (15).

6. A calibration tool for a force sensor of a guidewire delivery mechanism according to claim 4, characterized in that: An indicator plate (25) is installed at one end of the base plate (15), and an arc groove (26) is provided on the indicator plate (25), and the center of the arc groove (26) is collinear with the pin shaft of the hinge (16); an indicator block (27) is provided on the outer side of the indicator plate (25), and a scale line (28) is provided on the indicator plate (25) to match the indicator block (27); the indicator block (27) is fixed on a pin (29), and the pin (29) passes through the arc groove (26) and is fixed on the side wall of the angle adjustment plate (17); a connecting rod (30) is provided at the rear end of the indicator block (27), and a collar is provided at the rear end of the connecting rod (30), and the collar is sleeved on the pin shaft of the hinge (16).

7. A calibration tool for a force sensor of a guidewire delivery mechanism according to claim 6, characterized in that: The scale line (28) is a wire groove, and the radial cross section of the wire groove is semicircular; a blind hole is provided on the inner side of the front end of the indicator block (27), and a second spring and a limiting ball (31) are provided in the blind hole, and the second spring is used to force the limiting ball (31) to move outward into the wire groove.

8. A calibration tool for a force sensor of a guidewire delivery mechanism according to claim 4, characterized in that: The quick-release assembly (19) comprises a holder (32) mounted on the angle adjustment plate (17) and a limiting cap (34) mounted on the first extension plate (33) at the bottom of the inspection module (2); a rod (35) is movably mounted in the limiting cap (34); a second knob (36) is provided at the top end of the rod (35); a first limiting cross bar is provided at the lower end of the rod (35); a socket (38) for inserting the rod (35) is provided on the top surface of the holder (32); and two sides of the socket (38) are provided with a first stopper. An avoidance groove (39) matches the limiting cross bar; a first limiting ring (40) is provided in the cavity of the limiting cap (34), a second limiting ring (41) is provided at the upper end of the insertion rod (35), a third spring is provided between the first limiting ring (40) and the second limiting ring (41), and the third spring is used to force the insertion rod (35) to move in a direction away from the card seat (32); a second limiting cross bar (42) is provided in the middle of the insertion rod (35), and the second limiting cross bar (42) is located below the first limiting ring (40).

9. A calibration tool for a force sensor of a guidewire delivery mechanism according to claim 4, characterized in that: A plurality of counterweight blocks (43) are installed in the bracket (18), a plurality of positioning holes are opened on the counterweight blocks (43), and a plurality of positioning columns matching the positioning holes are provided on the bottom surface of the bracket (18).

10. A method for calibrating a force sensor of a guidewire delivery mechanism, based on the calibration tool according to any one of claims 1 to 9, characterized in that: The following steps are involved: S1, fixedly connecting the inspection module (2) and the calibration module (1), and coaxially connecting the dynamometer (3) and the first force sensor (5) via a guide wire; S2, driving the first force sensor (5) to move closer to or away from the force gauge (3) via the linear module (4) to push or pull the guide wire, and readings of multiple groups of the first force sensor (5) and the force gauge (3); S3, using a least squares fitting calculation to obtain a first calibration coefficient between the reading of the first force sensor (5) and the reading of the force gauge (3); S4, detaching the inspection module (2) from the calibration module (1), and fixedly connecting the inspection module (2) to the guidewire delivery mechanism, and coaxially connecting the guidewire output by the guidewire delivery mechanism to the first force sensor (5); S5, driving the first force sensor (5) to move closer to or away from the guide wire delivery mechanism via the linear module (4) to push or pull the guide wire, and readings of multiple groups of the first force sensor (5) and the second force sensor; S6, calibrating the reading of the first force sensor (5) based on the first calibration coefficient; S7, using the least squares method to fit and calculate a second calibration coefficient between the reading of the second force sensor and the reading of the calibrated first force sensor (5), and calibrating the reading of the second force sensor based on the second calibration coefficient.

Images