Transmission device for vascular intervention instrument

Abstract

The invention discloses a transmission device for a vascular intervention instrument, and belongs to the technical field of medical equipment manufacturing, the transmission device comprises a first motor, a box body and the vascular intervention instrument, an output shaft of the first motor is provided with a pinion, one side of the box body is connected with a bull gear, the pinion is meshed with the bull gear, and the vascular intervention instrument sequentially penetrates through the bull gear and the box body. According to the transmission device for the vascular intervention instrument, the problem that a traditional vascular intervention robot cannot reach a monitoring position smoothly due to mutual interference between advancing and rotating mechanisms in the vascular intervention process of the instrument is solved.

Description

Technical Field

[0001] This invention relates to the field of medical equipment manufacturing technology, and in particular to a transmission device for vascular interventional instruments. Background Technology

[0002] Vascular interventional robots are a cutting-edge technology that has developed rapidly in disaster medicine and extreme rescue environments in recent years. Their goal is to deliver interventional vascular devices independently or semi-autonomously, and to quickly identify and treat lesions in the body without imaging equipment or medical personnel.

[0003] The main technical challenges currently faced in researching interventional vascular devices include the following: First, the human vascular system is a complex, tortuous, and variable system. During the process of the interventional device moving from the insertion point to the monitoring point, while driving the device forward, the distal end of the device also needs to have a steering function to adapt to the vascular system. Therefore, the device needs to be rotated to change its direction of travel. If the mechanisms driving forward and rotating are independent of each other, there will inevitably be force interference between the two, preventing the device from successfully reaching the monitoring point. Summary of the Invention

[0004] The purpose of this invention is to provide a transmission device for vascular interventional instruments, which solves the problem that traditional vascular interventional robots cannot smoothly reach the monitoring position due to the mutual interference between the forward and rotation mechanisms during instrument intervention in blood vessels.

[0005] To achieve the above objectives, the present invention provides a transmission device for vascular interventional devices, comprising a first motor, a housing, and a vascular interventional device. A small gear is provided on the output shaft of the first motor, and a large gear is connected to one side of the housing. The small gear and the large gear mesh with each other, and the vascular interventional device passes through the large gear and the housing in sequence.

[0006] Preferably, a first rotating shaft is inserted into the large gear, the first rotating shaft passes through the large gear and is inserted into the inside of the housing, and the vascular interventional device passes through the first rotating shaft.

[0007] Preferably, a rotating ring is connected to the other side of the box, and a second rotating shaft is inserted into the rotating ring. The second rotating shaft passes through the rotating ring and is inserted into the inside of the box, and the vascular interventional device passes through the second rotating shaft.

[0008] Preferably, the first rotating shaft and the second rotating shaft are coaxially arranged.

[0009] Preferably, the box body is provided with a concave rotating wheel, which is rotatably connected to the box body.

[0010] Preferably, a second motor is installed inside the housing, and the motor shaft of the second motor passes through the inner wall of the housing and is connected to the concave rotating wheel.

[0011] Preferably, a rotating wheel fixing block is provided inside the housing, and a connecting shaft is inserted into the rotating wheel fixing block. The connecting shaft is rotatably connected to the rotating wheel fixing block, and a convex rotating wheel is provided on the connecting shaft. The concave rotating wheel and the convex rotating wheel mesh with each other.

[0012] Preferably, a spring is connected to the rotating wheel fixing block, and the top of the spring is connected to the inner wall of the box.

[0013] Preferably, the number of concave and convex rotating wheels is the same.

[0014] Preferably, a gap is provided between the concave and convex rollers, through which the vascular interventional device passes.

[0015] Therefore, the present invention employs the aforementioned transmission device for vascular interventional instruments to solve the problem of traditional vascular interventional robots failing to reach the monitoring position smoothly due to the mutual interference between the forward and rotation mechanisms during instrument intervention in blood vessels.

[0016] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0017] Figure 1 This is a front view of the transmission device for vascular interventional instruments in this invention; Figure 2 This is a left view of the transmission device for vascular interventional instruments in this invention; Figure 3 This is a schematic diagram of the overall structure of the transmission device for vascular interventional instruments in this invention. Figure 4 This is a driving diagram (a) of the vascular interventional device in this invention; Figure 5 This is the driving diagram (II) of the vascular interventional device in this invention; Figure 6 This is the driving diagram (III) of the vascular interventional device in this invention; Figure 7 This is a front view of the vascular interventional device driving algorithm in this invention.

[0018] Figure Labels 1. First motor; 2. Small gear; 3. Large gear; 4. First rotating shaft; 5. Housing; 6. Concave rotating wheel; 7. Convex rotating wheel; 8. Second motor; 81. Motor shaft; 9. Rotating wheel fixing block; 91. Connecting shaft; 10. Spring; 11. Rotating ring; 12. Second rotating shaft; 13. Vascular interventional device. Detailed Implementation

[0019] The technical solution of the present invention will be further described below with reference to the accompanying drawings and embodiments.

[0020] Unless otherwise defined, the technical or scientific terms used in this invention shall have the ordinary meaning understood by one of ordinary skill in the art to which this invention pertains. The terms "first," "second," and similar terms used in this invention do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed following the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are used only to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0021] like Figures 1-3 As shown, a transmission device for a vascular interventional device 13 includes a small gear 2 fixedly connected to the output shaft of a first motor 1, a large gear 3 fixedly fixed to one side of a housing 5, the small gear 2 and the large gear 3 meshing with each other, a first rotating shaft 4 inserted into the axis of the large gear 3, the first rotating shaft 4 passing through the axis of the large gear 3 and inserted into the interior of the housing 5, the first rotating shaft 4 being rotatably connected to the housing 5, a rotating ring 11 fixed to the other side of the housing 5, a second rotating shaft 12 inserted into the axis of the rotating ring 11, the second rotating shaft 12 passing through the axis of the rotating ring 11 and inserted into the interior of the housing 5, the second rotating shaft 12 being rotatably connected to the housing 5.

[0022] The first rotating shaft 4 and the second rotating shaft 12 are coaxially arranged. The vascular interventional device 13 enters from the end of the first rotating shaft 4 away from the large gear 3, and passes through the first rotating shaft 4, the housing 5 and the second rotating shaft 12 in sequence. The vascular interventional device 13 exits from the end of the second rotating shaft 12 away from the rotating ring 11.

[0023] The second motor 8 is installed inside the housing 5. The motor shaft 81 of the second motor 8 passes through the inner wall of the housing 5 and is fixed with a concave rotating wheel 6. A spring 10 is fixed on the top surface inside the housing 5. A rotating wheel fixing block 9 is fixed at the bottom end of the spring 10. A connecting shaft 91 is inserted into the rotating wheel fixing block 9. A convex rotating wheel 7 is fixed on the connecting shaft 91. Under the action of the spring 10, the convex rotating wheel 7 and the concave rotating wheel 6 are radially pressed together.

[0024] In this invention, the first motor 1 and the second motor 8 are used for control, so as to simultaneously achieve the requirements of the advance and retreat speed and rotation speed of the vascular interventional device 13.

[0025] The internal layout of the housing 5 includes a concave roller 6 and a convex roller 7. There is a certain gap at the pressing point of the concave roller 6 and the convex roller 7. The vascular interventional device 13 passes through the gap between the concave roller 6 and the convex roller 7. In this state, the concave roller 6 and the convex roller 7 will exert a certain pressure on the vascular interventional device 13. When the concave roller 6 and the convex roller 7 rotate, they can drive the vascular interventional device 13 to move forward or backward.

[0026] In this invention, the forward and backward movement and rotation of the vascular interventional device 13 are controlled by the concave rotating wheel 6 and the convex rotating wheel 7 in the same group, which avoids the interference between the two driving devices in the traditional mechanism, and also improves the driving accuracy.

[0027] Driving Algorithm: like Figure 7 As shown, the advance and retreat speed of the vascular interventional device 13 is V. a The rotational speed of the vascular interventional device 13 is V3, the rotational speed of the first motor 1 is V1, the rotational speed of the second motor 8 is V2, the diameter of the concave wheel 6 is D1, the pitch circle diameter of the pinion 2 is D2, and the pitch circle diameter of the large gear 3 is D3. Therefore, the following formula can be obtained: V a =лD1×V2 / 360 V3 = D2 × V1 / D3 Working principle: As described above regarding the relative positions of the components, this device, under the power output of the first motor 1 and the second motor 8, will generate three driving modes for the vascular interventional device 13: like Figure 4 As shown, when the first motor 1 is stationary and the second motor 8 rotates the motor shaft 81, the vascular interventional device 13 moves forward or backward under the action of the concave rotating wheel 6 and the convex rotating wheel 7.

[0028] like Figure 5 As shown, when the second motor 8 is stationary and the first motor 1 rotates its output shaft, the vascular interventional device 13 rotates axially clockwise or counterclockwise under the action of the concave wheel 6 and the convex wheel 7.

[0029] like Figure 6 As shown, when the first motor 1 and the second motor 8 rotate simultaneously, the vascular interventional device 13, under the action of the concave rotating wheel 6 and the convex rotating wheel 7, moves forward or backward while also rotating clockwise or counterclockwise axially.

[0030] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the technical solutions of the present invention, and these modifications or equivalent substitutions cannot cause the modified technical solutions to deviate from the spirit and scope of the technical solutions of the present invention.

Claims

1. A transmission device for vascular interventional instruments, characterized in that: The device includes a first motor, a housing, and a vascular interventional device. A small gear is provided on the output shaft of the first motor, and a large gear is connected to one side of the housing. The small gear and the large gear mesh with each other, and the vascular interventional device passes through the large gear and the housing in sequence.

2. The transmission device for vascular interventional instruments according to claim 1, characterized in that: A first rotating shaft is inserted into the large gear, the first rotating shaft passes through the large gear and is inserted into the inside of the housing, and the vascular interventional device passes through the first rotating shaft.

3. The transmission device for vascular interventional instruments according to claim 2, characterized in that: A rotating ring is connected to the other side of the housing, and a second rotating shaft is inserted into the rotating ring. The second rotating shaft passes through the rotating ring and is inserted into the inside of the housing, and the vascular interventional device passes through the second rotating shaft.

4. A transmission device for vascular interventional instruments according to claim 3, characterized in that: The first rotating shaft and the second rotating shaft are coaxially arranged.

5. A transmission device for vascular interventional instruments according to claim 1, characterized in that: The box is equipped with a concave rotating wheel inside, and the concave rotating wheel is rotatably connected to the box.

6. A transmission device for vascular interventional instruments according to claim 5, characterized in that: A second motor is installed inside the housing, and the motor shaft of the second motor passes through the inner wall of the housing and is connected to the concave rotating wheel.

7. A transmission device for vascular interventional instruments according to claim 5, characterized in that: The housing is equipped with a rotating wheel fixing block, and a connecting shaft is inserted into the rotating wheel fixing block. The connecting shaft is rotatably connected to the rotating wheel fixing block, and a convex rotating wheel is provided on the connecting shaft. The concave rotating wheel meshes with the convex rotating wheel.

8. A transmission device for vascular interventional instruments according to claim 7, characterized in that: A spring is connected to the rotating wheel fixing block, and the top of the spring is connected to the inner wall of the box.

9. A transmission device for vascular interventional instruments according to claim 7, characterized in that: The number of concave rotating wheels is the same as the number of convex rotating wheels.

10. A transmission device for vascular interventional instruments according to claim 9, characterized in that: A gap is provided between the concave roller and the convex roller, and the vascular interventional device passes through the gap.

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