Drive device for an interventional instrument and sterile kit therefor

Abstract

The application relates to the technical field of medical devices, and discloses a driving device of an interventional instrument and a sterile kit thereof, which comprises a rotating driving component and a translating driving component. The rotating driving component comprises a first bottom plate, a first driving assembly arranged on the first bottom plate and a driving shaft. The first driving assembly is connected with the driving shaft, the driving shaft is connected with an external driving wheel, the inside of the first driving assembly is provided with a first rotary encoder. The translating driving component comprises a second driving assembly arranged on the first bottom plate, a driven shaft rotatably arranged on the second driving assembly and a second rotary encoder arranged on the second driving assembly. The device is matched with the rotating and translating driving components, double encoders monitor the motion state of the driving shaft and the driven shaft to judge the slip, the distance between the driven shafts can be adjusted to adapt to the instrument and optimize the clamping force, the blank of the slip detection is filled, the risk is reduced, and the safety and accuracy of the interventional operation are improved.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to a drive device for an interventional device and its sterile kit. Background Technology

[0002] In the treatment of cardiovascular and cerebrovascular diseases, minimally invasive interventional methods are widely used in clinical practice due to their advantages of minimal trauma and rapid recovery. With the advancement of technology, automated equipment such as robots for vascular interventional procedures have also been gradually developed and are being used in some clinical settings.

[0003] Currently, most mainstream interventional surgical robots use two opposing rollers to clamp the instruments and push them by rotating them in opposite directions when delivering interventional instruments. However, this technology has significant limitations: slippage can easily occur between the rollers and the instruments, and most existing devices lack slippage detection and dynamic adjustment mechanisms. They cannot determine in real time whether the rollers are slipping, nor can they adjust them in time after slippage occurs. This technological gap poses a potential threat to surgical safety.

[0004] Therefore, existing technologies still need to be improved and developed. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the purpose of the present invention is to provide a drive device for interventional devices and its sterile kit, which aims to solve the problem that existing delivery drive devices lack slip detection and roller dynamic adjustment mechanism.

[0006] The technical solution adopted by this invention to solve the technical problem is as follows:

[0007] A driving mechanism for an interventional device, comprising:

[0008] A rotary drive component and a translation drive component that cooperates with the rotary drive component;

[0009] The rotary drive component includes a first base plate, a first drive assembly disposed on the first base plate, and a drive shaft; the first drive assembly is used to drive the drive shaft to rotate, and a first rotary encoder is disposed inside the first drive assembly to detect the rotation angle of the drive shaft;

[0010] The translation drive component includes a second drive assembly disposed on the first base plate, a driven shaft rotatably disposed on the second drive assembly, and a second rotary encoder disposed on the second drive assembly. The second drive assembly is used to drive the driven shaft to translate radially closer to or away from the drive shaft. The second rotary encoder is used to detect the rotation angle of the driven shaft. The driven shaft is parallel to the drive shaft.

[0011] Furthermore, the first drive assembly includes a second base plate located on top of the first base plate, a second fixing seat disposed on the second base plate, and a first motor disposed on the second base plate;

[0012] The drive shaft is rotatably mounted on the second fixed base, and the drive shaft is connected to the first motor via a belt.

[0013] Furthermore, the first drive assembly also includes a first linear motor disposed on the first base plate and a connecting plate disposed on the output shaft of the first linear motor;

[0014] The second base plate is connected to the connecting plate to reciprocate vertically under the drive of the first linear motor; the connecting plate is connected to the side wall of the first linear motor via a slide rail.

[0015] Furthermore, the second drive assembly includes a second linear motor disposed on the first base plate, a pull rod disposed at the output end of the second linear motor, and a first fixing seat disposed at the end of the pull rod away from the second linear motor;

[0016] The first fixed seat is mounted on the first base plate via a slide rail, the driven shaft is rotatably mounted on the first fixed seat, the second rotary encoder is mounted on the bottom of the first fixed seat and is coaxially arranged with the driven shaft, and the second linear motor drives the driven shaft to translate via the pull rod.

[0017] Furthermore, it also includes a torque-controlled drive component for rotating the instrument and / or catheter;

[0018] The torque control drive component includes a second motor mounted on the first base plate, a first electromagnetic clutch and a second electromagnetic clutch mounted on the two output ends of the second motor, and a first female seat shaft and a second female seat shaft respectively located on the first electromagnetic clutch and the second electromagnetic clutch.

[0019] The rotary drive component also includes a housing disposed on the first base plate; the ends of the first female seat shaft and the second female seat shaft away from the second motor are both rotatably disposed on the housing.

[0020] Furthermore, the top of the housing is provided with a round hole and an elongated hole; the drive shaft is located in the round hole and protrudes from the surface of the housing, and the driven shaft is located in the elongated hole and protrudes from the surface of the housing;

[0021] The side wall of the housing is provided with a first through hole and a second through hole, which are respectively rotatably engaged with the first female seat shaft and the second female seat shaft.

[0022] A sterile kit for use in the drive device of an interventional device, comprising a cap, a sterile bag fitted onto the drive device, and a drive wheel, a driven wheel, a torque controller assembly, and a Y-valve assembly sealed on the sterile bag;

[0023] The pressure cap is located on top of the sterile bag and is fitted onto the drive wheel and driven wheel; the pressure cap cooperates with the drive device to fix the sterile bag; the drive wheel and the driven wheel are both connected to the drive shaft and the driven shaft via a first quick-release assembly, and the drive wheel and the driven wheel are used to clamp and transport instruments; the torque control assembly cooperates with the first female seat shaft via a second quick-release assembly to twist the instruments within the torque control assembly; the Y valve assembly cooperates with the second female seat shaft via a transmission assembly to rotate the catheter within the Y valve assembly.

[0024] Furthermore, the drive wheel shaft, the driven wheel shaft, the torque controller assembly, and the Y valve assembly are all provided with rotating bodies. The circumferential side of the rotating body is sealed to the sterile bag so that the drive wheel, the driven wheel, the torque controller assembly, and the Y valve assembly can rotate relative to the sterile bag.

[0025] Furthermore, the first quick-release assembly includes a pin, a spring, and a plurality of balls respectively disposed inside the drive wheel and the driven wheel;

[0026] Both the drive shaft and the driven shaft have mating grooves at their tops, and the inner walls of the mating grooves have abutment grooves. Both the drive wheel and the driven wheel have internal slots on their shafts. The pin slides vertically within the slot, and the spring is located at the bottom of the slot and abuts against the pin. Multiple exposed holes are provided on the outer sides of both the drive wheel and the driven wheel's shafts, communicating with the slots, and multiple ball bearings are located within these holes. The outer surface of the pin has a receiving groove for accommodating the multiple ball bearings.

[0027] When multiple balls are located in the receiving groove of the driving wheel or the driven wheel, the shaft of the driving wheel or the driven wheel is in an unlocked state with the corresponding driving shaft or the driven shaft; when multiple balls are located in the exposed hole of the driving wheel or the driven wheel and are partially exposed, the shaft of the driving wheel or the driven wheel is in a locked state with the corresponding driving shaft or the driven shaft.

[0028] Furthermore, the torsion controller assembly includes a torsion controller mounting base disposed on the sterile bag and a torsion controller rotatably disposed on the torsion controller mounting base;

[0029] The torque controller is connected to the first female seat shaft via a second quick-release assembly; a straight protrusion is provided at one end of the torque controller near the first female seat shaft, and a straight groove is provided at one end of the first female seat shaft, with the straight protrusion of the torque controller engaging with the straight groove of the first female seat shaft; the torque controller engages with the corresponding rotating body; the torque controller mounting base is fixed to the side wall of the housing by a snap or magnetic attraction.

[0030] Furthermore, the Y valve assembly includes a Y valve mounting base disposed on the sterile bag, a Y valve disposed on the Y valve mounting base, and a gear assembly;

[0031] The gear assembly includes a first gear disposed at the rotating end of the Y valve, a gear mounting seat disposed on the housing, and a second gear disposed on the gear mounting seat. One end of the second gear engages with the second female seat shaft, and the first gear and the second gear mesh with each other. The second gear is connected to the second female seat shaft via a third quick-release assembly. One end of the second gear has a slotted protrusion that penetrates the gear mounting seat, and one end of the second female seat shaft has a slotted groove. The slotted protrusion of the second gear engages with the slotted groove of the second female seat shaft.

[0032] The second gear engages with the corresponding rotating body, and the Y valve mounting seat is fixed to the side wall of the housing by a snap or magnetic attraction.

[0033] Compared with the prior art, the beneficial effects of the present invention are:

[0034] In this invention, the interventional device driving device employs a combination of a rotary driving component and a translational driving component. The rotary driving component uses a first driving assembly to drive the active shaft to rotate and a first rotary encoder to accurately detect the rotation angle of the active shaft. Simultaneously, the translational driving component uses a second driving assembly to drive the driven shaft to translate, adjusting the distance between the driven shaft and the active shaft, while the second rotary encoder detects the rotation angle of the driven shaft. This design uses dual encoders to monitor the motion state of the active and driven shafts, thereby determining whether the rollers (which cooperate with both the active and driven shafts) are slipping. This fills the technical gap in existing devices that lack slippage detection. Furthermore, based on the detection results, the device can adjust the translation of the driven shaft to adapt to interventional devices of different sizes and optimize the clamping force, effectively reducing the risk of slippage and improving the safety and precision of interventional procedures. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of the drive device and sterile kit of the present invention.

[0036] Figure 2 This is a schematic diagram of the drive device structure of the present invention.

[0037] Figure 3 This is a schematic diagram of the torque control drive component of the present invention.

[0038] Figure 4 This is a schematic diagram of the aseptic kit structure of the present invention.

[0039] Figure 5 This is a schematic diagram of the rotating body structure of the present invention.

[0040] Figure 6 This is a schematic diagram of the structure of the first quick-release component of the present invention.

[0041] Figure 7 This is a schematic diagram of the structure of the first female seat shaft and the torque controller of the present invention.

[0042] Figure 8 This is a schematic diagram of the second female seat shaft and the second gear structure of the present invention.

[0043] Figure 9 This is a schematic diagram of the assembly structure of the drive device and the sterile kit of the present invention.

[0044] The numbers in the diagram represent: 100, drive device; 110, rotary drive component; 111, first base plate; 112, outer shell; 1121, round hole; 1122, elongated hole; 1123, first through hole; 113, first drive assembly; 1131, second base plate; 1132, second fixed seat; 1133, first motor; 1134, first linear motor; 1135, connecting plate; 114, drive shaft; 120, translation drive component; 121, second drive assembly; 1211, second linear motor; 1212, pull rod; 1213, first fixed seat; 122, driven shaft; 123, second rotary encoder; 130, torque control drive component; 131, second motor; 132, first electromagnetic clutch; 1 33. Second electromagnetic clutch; 134. First female seat shaft; 135. Second female seat shaft; 200. Sterile kit; 210. Cap; 220. Sterile bag; 230. Driving wheel; 231. Mating groove; 232. Abutment groove; 240. Driven wheel; 250. Torque controller assembly; 251. Torque controller mounting base; 252. Torque controller; 260. Y valve assembly; 261. Y valve mounting base; 262. Y valve; 263. Gear assembly; 2631. First gear; 2632. Second gear; 2633. Gear mounting base; 270. First quick-release assembly; 271. Pin; 272. Spring; 273. Ball bearing; 274. Slot; 275. Exposed hole; 276. Receiving groove; 280. Rotating body; 300. Instrument. Detailed Implementation

[0045] To make the objectives, technical solutions, and effects of this invention clearer and more explicit, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0046] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," and "outer," etc., indicating orientation or positional relationships based on the orientation or positional relationships shown in the accompanying drawings, are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "a plurality of" means two or more.

[0047] In the description of this invention, it should be noted that, unless otherwise explicitly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention based on the specific circumstances.

[0048] In view of the shortcomings of the prior art, this embodiment provides a driving device for an interventional device and its sterile kit, as detailed below:

[0049] As attached Figure 1 and attached Figure 2As shown, a driving device 100 for an interventional device includes a rotary driving component 110 and a translational driving component 120. The rotary driving component 110 includes a first base plate 111, a housing 112 disposed on the first base plate 111, a first driving assembly 113 disposed on the first base plate 111, and a drive shaft 114. The first base plate 111 and the housing 112 cooperate to form an accommodating space. The first driving assembly 113 and the drive shaft 114 are both located within the accommodating space. The first driving assembly 113 is connected to the drive shaft 114 and is used to drive the drive shaft 114 to rotate. The drive shaft 114 is connected to an external drive wheel 230 to achieve rotational operation. The first driving assembly 113... The internal part of 13 is equipped with a first rotary encoder, which is used to detect the rotation angle of the drive shaft 114 and record the rotation angle of the drive shaft 114 and the drive wheel 230 on the drive shaft 114; the translation drive component 120 includes a second drive assembly 121 disposed on the first base plate 111, a driven shaft 122 rotatably disposed on the second drive assembly 121, and a second rotary encoder 123 disposed on the second drive assembly 121; the second drive assembly 121 is connected to the driven shaft 122 and is used to drive the driven shaft 122 to translate radially closer to or away from the drive shaft 114, and the second rotary encoder 123 is used to detect the rotation angle of the driven shaft 122.

[0050] The drive shaft 114 is fixed, while the driven shaft 122 can move closer to or further away from the drive shaft 114. A drive wheel 230 and a driven wheel 240 are respectively mounted on the top of the drive shaft 114 and the driven shaft 122. The drive wheel 230 and the driven wheel 240 cooperate with each other, forming a gap between them, and are used to transport the device 300. The translational direction of the driven shaft 122 is perpendicular to the transport direction of the device 300. The first drive assembly 113 can be a servo motor, which drives the drive shaft 114 to rotate via a belt or chain. The driven shaft 122 assists in squeezing and cooperating with the rotation to facilitate the transport of the device 300. The second drive assembly 121 can be a linear motor or cylinder, or other linear drive source, used to drive the driven shaft 122 to move.

[0051] Specifically, when delivering the interventional device 300, the external controller first sends a signal to the translation drive component 120 (or manually presses the external button on the motor) based on the diameter of the interventional device 300 (such as a catheter or guidewire). The translation drive component 120 starts and drives the driven shaft 122 to translate closer to the drive shaft 114 until the driven wheel 240 and the drive wheel 230 clamp the interventional device 300 together. This ensures that the clamping force matches the diameter of the device 300, preventing over-clamping that could damage the device 300 or insufficient clamping force that could cause slippage. At this time, the first rotary encoder and the second rotary encoder 123 provide real-time feedback on the initial position data of the drive shaft 114 and the driven shaft 122. Subsequently, the controller sends a signal to the first drive assembly 113 (servo motor) of the rotary drive component 110. The servo motor drives the drive shaft 114 to rotate, and the drive shaft 114 drives the drive wheel 230. Synchronous rotation: Under the frictional force of the driving wheel 230 and the driven wheel 240, the driven wheel 240 passively rotates as the interventional instrument 300 moves, thereby driving the driven shaft 122 to rotate. During this process, the first rotary encoder detects the rotation angle of the driving shaft 114 (corresponding to the rotation amount of the driving wheel 230) in real time, and the second rotary encoder 123 detects the rotation angle of the driven shaft 122 (corresponding to the rotation amount of the driven wheel 240) in real time. The rotation data of both are sent to the controller. If the difference between the two is within a preset threshold, it indicates that there is no slippage, and the instrument 300 delivers at a preset speed and distance. If the difference exceeds the threshold, it is determined to be slippage, and the controller immediately sends a signal to the translation drive component 120 (or manually clicks the button and sends a signal after confirming slippage), driving the driven shaft 122 to move closer to the driving shaft 114 to increase the clamping force until the two sets of angle data match and stable delivery is restored.

[0052] Compared to existing roller delivery devices, this application integrates first and second rotary encoders 123 to achieve real-time comparison of rotation data between the drive shaft 114 and the driven shaft 122, enabling precise determination of slippage. Simultaneously, with the help of the translation drive component 120, the distance between the driven wheel 240 and the drive wheel 230 can be dynamically adjusted according to the diameter of the instrument 300 and the slippage state, achieving adaptive adjustment of the clamping force. This avoids over-clamping and damage to the instrument 300 while effectively preventing slippage and improving delivery accuracy. The sealed housing space design and modular layout of the rotary drive component 110 not only improve the environmental adaptability and structural stability of the device but also facilitate integration with other modules of the interventional surgical robot, reducing equipment maintenance difficulty and better meeting the actual application needs of clinical surgery.

[0053] In this embodiment, as shown in the appendix Figure 2As shown, the first drive assembly 113 includes a second base plate 1131, a second fixed seat 1132, and a first motor 1133. The second base plate 1131 is located on top of the first base plate 111 and cooperates with the first base plate 111. The second fixed seat 1132 and the first motor 1133 are both disposed on the second base plate 1131 and are respectively located at both ends of the first base plate 111. The drive shaft 114 is rotatably disposed on the second fixed seat 1132. The first motor 1133 can be connected to the drive shaft 114 via a belt or chain.

[0054] The drive shaft 114 and the first motor 1133 are arranged in parallel and at intervals, which can reduce the structural height of the rotary drive component 110 in the vertical direction, making the overall device more in line with the needs of interventional surgical robots for compact space, facilitating integration and installation on the surgical operating platform, and avoiding interference with the surgical field of vision or the operation of other instruments 300 due to excessive vertical size.

[0055] In this embodiment, as shown in the appendix Figure 2 As shown, the first drive assembly 113 also includes a first linear motor 1134 and a connecting plate 1135; the first linear motor 1134 is vertically disposed on the surface of the first base plate 111, the output shaft of the first motor 1133 faces the first base plate 111, while the output shaft of the first linear motor 1134 faces away from the first base plate 111, and the connecting plate 1135 is disposed on the output shaft of the first linear motor 1134 and moves up and down with the action of the first linear motor 1134.

[0056] The connecting plate 1135 is arranged in an L-shape. The parallel end of the connecting plate 1135 is connected to the output shaft of the first linear motor 1134, and the bottom of the vertical end of the connecting plate 1135 is connected to the second base plate 1131. Thus, under the action of the first linear motor 1134, the connecting plate 1135 drives the second base plate 1131 to move up and down together, thereby realizing the lifting and lowering of the drive shaft 114 and the drive wheel 230.

[0057] Through the above structural design, the drive wheel 230, driven by the first linear motor 1134, can achieve precise lifting and lowering relative to the driven wheel 240 through the linkage of the L-shaped connecting plate 1135 and the second base plate 1131. The core advantage of this design is that, based on the horizontal delivery of the interventional device 300, the lifting and lowering of the drive wheel 230, combined with the rotation of the drive shaft 114 and the driven shaft 122, can apply a controllable kneading motion to the device 300. This motion better meets the flexible adjustment needs of doctors when manually operating the interventional device 300 in clinical practice, and can help the device 300 pass more smoothly through complex anatomical structures such as blood vessel bends and bifurcations, reducing the risk of rigid friction and irritation to the blood vessel wall by the device 300. Meanwhile, the rigid connection structure of the L-shaped connecting plate 1135 ensures the stability and accuracy of the lifting motion, avoiding uneven kneading force caused by transmission gaps; and the driving mode of the first linear motor 1134 can be flexibly adjusted by an external controller to adjust the lifting stroke and frequency, so that the kneading action can be adapted to different blood vessel paths and instrument 300 types, further improving the flexibility and safety of interventional operations, and solving the technical limitations of existing devices that can only achieve single-level delivery and cannot simulate manual kneading of auxiliary instruments 300 through complex blood vessels.

[0058] Furthermore, to improve the stability and accuracy of the lifting movement of the connecting plate 1135, a slide rail assembly is arranged parallel to one side of the first linear motor 1134. This slide rail assembly adopts an existing mature track-slider structure, wherein the track is fixed to the first base plate 111 by bolts and is parallel to the output shaft of the first linear motor 1134; the slider is slidably assembled on the track, and its side away from the track is fixedly connected to the vertical end of the connecting plate 1135 by screws.

[0059] The rigid connection between the slide rail and the slider and the connecting plate 1135 can strictly limit the movement trajectory of the connecting plate 1135, ensuring that it rises and falls stably only in the vertical direction, avoiding radial offset or shaking that may occur due to the first linear motor 1134 driving it alone. On the other hand, the slide rail can share the weight load of components such as the connecting plate 1135, the second base plate 1131 and the drive shaft 114, reducing the stress on the output shaft of the first linear motor 1134 and reducing the risk of shaft deformation due to long-term use. At the same time, the smooth cooperation between the track and the slider improves the stability and response speed of the lifting movement of the connecting plate 1135, providing reliable structural support for the drive wheel 230 to achieve precise kneading action and stable horizontal delivery.

[0060] In this embodiment, as shown in the appendix Figure 2 and attached Figure 3As shown, the second drive assembly 121 includes a second linear motor 1211, a pull rod 1212, and a first fixed seat 1213. The second linear motor 1211 is mounted on the first base plate 111 and located on one side of the first motor 1133. The pull rod 1212 is mounted on the output end of the second linear motor 1211 to translate under the action of the second linear motor 1211. The first fixed seat 1213 is mounted on the end of the pull rod 1212 away from the second linear motor 1211. The first fixed seat 1213 and the pull rod 1212 are rigidly connected to each other to translate under the action of the second linear motor 1211.

[0061] The first fixed seat 1213 is mounted on the first base plate 111 via a slide rail. The driven shaft 122 is rotatably mounted on the first fixed seat 1213 and is parallel to the drive shaft 114. The second rotary encoder 123 is mounted at the bottom of the first fixed seat 1213 and is coaxially arranged with the driven shaft 122 to facilitate recording the rotation data of the driven shaft 122. The connection direction of the first fixed seat 1213, the pull rod 1212, and the second linear motor 1211 is parallel to the connection direction of the first motor 1133 and the drive shaft 114.

[0062] Specifically, when using this device, the distance between the rotating shaft and the driven shaft 122 can be adjusted by retracting or extending the second linear motor 1211 to clamp the instrument 300. At the same time, when the driving wheel 230 slips, the output shaft can also be retracted by retracting the second linear motor 1211 to reduce the distance between the driving wheel 230 and the driven wheel 240, thereby increasing the clamping force and preventing slippage from occurring again.

[0063] The second linear motor 1211 drives the traction rod 1212 to move the first fixed seat 1213 horizontally. Combined with the guide rail, the driven shaft 122 is stably moved closer to or away from the active shaft 114. This allows for precise adjustment of the distance between the active wheel 230 and the driven wheel 240 to accommodate instruments 300 of different sizes. It also allows for rapid retraction of the output shaft to reduce the distance and increase the clamping force when slippage is detected, effectively preventing slippage. The rigid connection between the first fixed seat 1213 and the traction rod 1212, and their parallel arrangement to the active shaft 114, ensure the stability and accuracy of the adjustment process. The coaxial arrangement of the second rotary encoder 123 and the driven shaft 122 ensures accurate acquisition of rotational data. The overall structure achieves dynamic adaptive adjustment of the clamping force, improving the reliability of the delivery of the interventional instrument 300 and the safety of the surgery.

[0064] In this embodiment, as shown in the appendix Figure 3As shown, the drive device 100 of the interventional device 300 further includes a torque control drive component 130, which is used to drive the device 300 and / or catheter to rotate. The torque control drive component 130 includes a second motor 131, a first electromagnetic clutch 132, a second electromagnetic clutch 133, a first female seat shaft 134, and a second female seat shaft 135. The second motor 131 is mounted on the first base plate 111 and is a through-type motor, with its output shaft passing through the second motor 131. The length direction of the second motor 131 forms a certain angle with the connection direction of the first motor 133 and the drive shaft 114. The first electromagnetic clutch 132 and the second electromagnetic clutch 133 are respectively mounted on the output shafts at both ends of the second motor 131 to achieve synchronous rotation. The first female seat shaft 134 and the second female seat shaft 135 are respectively mounted at the ends of the first electromagnetic clutch 132 and the second electromagnetic clutch 133 away from the second motor 131.

[0065] The first electromagnetic clutch 132 and the second electromagnetic clutch 133 are both existing technologies. The electromagnetic clutch includes two connecting parts. When energized, the two connecting parts are connected and rotate synchronously. When not energized, the two connecting parts are in a state of relative rotation. The ends of the first female seat shaft 134 and the second female seat shaft 135 away from the second motor 131 are rotatably mounted on the outer casing 112. The outer casing 112 is provided with a first through hole 1123 and a second through hole, and the first female seat shaft 134 and the second female seat shaft 135 are located in the first through hole 1123 and the second through hole, respectively, and do not protrude from the surface of the outer casing 112.

[0066] By employing a through-type second motor 131, in conjunction with the first and second electromagnetic clutches 133 on its two output shafts and the corresponding first and second female seat shafts 135, the on / off control of the electromagnetic clutches can achieve synchronous or independent drive of the rotation ends of the torque controller 252 and the Y valve 262, thereby driving the instrument 300 inside to rotate and knead. The layout of the second motor 131, the first motor 1133, and the drive shaft 114 at an angle optimizes space utilization. The design of the female seat shaft rotating within the through hole of the outer shell 112 without protruding from the surface enhances structural safety. At the same time, its kneading action can coordinate with the lifting and kneading of the drive wheel 230 driven by the second linear motor 1211, which can improve the torque control response of the guidewire, solve the problem that it is easy to slip when relying solely on the up and down kneading of the wheel, and that the torque transmission of the end torque controller 252 is slow. This further enhances the flexibility of the interventional instrument 300 through complex blood vessels, effectively reduces the difficulty of operation, and improves the accuracy and reliability of surgical operations.

[0067] In this embodiment, as shown in the appendix Figure 2As shown, the top of the outer casing 112 is provided with a round hole 1121 and an elongated hole 1122. The drive shaft 114 is located in the round hole 1121 and protrudes from the surface of the outer casing 112 to facilitate its engagement with the external drive wheel 230. The driven shaft 122 is located in the elongated hole 1122 and protrudes from the surface of the outer casing 112 to facilitate its engagement with the external driven wheel 240. At the same time, the arrangement of the elongated hole 1122 also facilitates the translation of the driven shaft 122 and avoids interference with the outer casing 112.

[0068] As attached Figure 1 and attached Figure 4 As shown, this application also proposes a sterile kit 200, applied to the drive device 100 of the aforementioned interventional device 300, including a pressure cap 210, a sterile bag 220, a drive wheel 230, a driven wheel 240, a torque controller assembly 250, and a Y valve assembly 260; the shape of the sterile bag 220 is similar to the structure of the drive device 100, and it can be used to cover the drive device 100 to form a sterile isolation layer; the drive wheel 230, the driven wheel 240, the torque controller assembly 250, and the Y valve assembly 260 are all disposed on the sterile bag 220 and are arranged in a sealed manner.

[0069] Both the driving wheel 230 and the driven wheel 240 are connected to the driving shaft 114 and the driven shaft 122 via the first quick-release assembly 270. The driving wheel 230 and the driven wheel 240 cooperate with each other to clamp and transport the instrument 300. The torque control assembly 250 cooperates with the first female seat shaft 134 via the second quick-release assembly to twist the instrument 300 inside the torque control assembly 250. The Y valve assembly 260 cooperates with the second female seat shaft 135 via the transmission assembly to rotate the instrument 300 or the catheter inside the Y valve assembly 260.

[0070] The pressure cap 210 is located on top of the sterile bag 220 and is fitted onto the drive wheel 230 and the driven wheel 240. The pressure cap 210 includes a housing and a top cover. The housing can be fitted onto the drive device 100. The two can be fixed by snaps, interference fits, or magnetic attraction to press the sterile bag 220 onto the drive device 100. The top cover and housing of the pressure cap 210 are provided with grooves to accommodate the instrument 300 and guide the instrument 300 between the drive wheel 230 and the driven wheel 240. The drive wheel 230, the driven wheel 240, and the Y valve assembly 260 are located on top of the sterile bag 220, and the torque controller assembly 250 is located on one side of the sterile bag 220. An opening is provided on one side of the sterile bag 220 to facilitate fitting onto the drive device 100.

[0071] In this embodiment, as shown in the appendix Figure 5 Appendix Figure 7 and attached Figure 8As shown, a rotating body 280 is provided on the shaft of the driving wheel 230, the shaft of the driven wheel 240, the torque controller assembly 250, and the Y valve assembly 260. The rotating body 280 has a two-layer ring structure, with the outer ring of the rotating body 280 sleeved on the inner ring, and the outer ring and the inner ring arranged to rotate relative to each other, with the connection between the two arranged in a sealed manner. The sterile bag 220 is provided with holes, and the outer surface of the outer ring is arranged in a sealed manner with the holes of the sterile bag 220, while the inner ring is matched with the corresponding shaft of the driving wheel 230, the shaft of the driven wheel 240, the torque controller assembly 250, or the Y valve assembly 260, and is in an interference fit.

[0072] The structure, which features a sealed connection between the outer ring and the holes of the sterile bag 220, an interference fit between the inner ring and the corresponding component, and the ability of the two rings to rotate relative to each other, ensures a tight seal between the sterile bag 220 and each moving component, effectively preventing contact between the non-sterile area of ​​the drive device 100 and the sterile surgical area, thus avoiding the risk of cross-infection. Furthermore, it allows for flexible transmission of movement among the components without affecting the rotation of the drive wheel 230, driven wheel 240 to deliver the instrument 300, or the torque controller assembly 250 and Y-valve assembly 260 to rotate the kneading instrument 300. The interference fit design also ensures the stability of the connection between the inner ring and the corresponding shaft / component, preventing slippage or loosening during movement transmission, further enhancing the reliability and safety of the interventional instrument 300 operation under sterile conditions.

[0073] In this embodiment, as shown in the appendix Figure 6 As shown, the first quick-release assembly 270 includes a pin 271, a spring 272, and a ball bearing 273 respectively disposed inside the drive wheel 230 and the driven wheel 240; both the drive wheel 230 and the driven wheel 240 have slots 274 inside their shafts, and the pin 271 is vertically slidably disposed in the slot 274, which extends upwards so that the top of the pin 271 is exposed for easy manual pressing; the spring 272... The ball bearing 273 is located at the bottom of the slot 274 and abuts against the bottom of the pin 271. Multiple exposed holes 275 are provided on the outer side of the shafts of the drive wheel 230 and the driven wheel 240. The multiple exposed holes 275 are smaller than the diameter of the ball bearing 273. The exposed holes 275 are connected to the slot 274, and the multiple balls 273 are located in the exposed holes 275. A receiving groove 276 is provided on the outer surface of the pin 271. The receiving groove 276 is used to receive the multiple balls 273.

[0074] The top of both the drive shaft 114 and the driven shaft 122 is provided with a mating groove 231. The mating groove 231 is used for the insertion of the drive wheel 230 or the driven wheel 240 shaft. The inner wall of the mating groove 231 is provided with an abutment groove 232 to accommodate the ball 273 located in the exposed hole 275. The ball 273 abuts against the abutment groove 232 to limit the movement of the shaft and the mating groove 231.

[0075] Specifically, by pressing the exposed pin 271 inside the shaft slot 274 of the drive wheel 230 or driven wheel 240, the pin 271 compresses the bottom spring 272 downwards, and the receiving groove 276 on its outer surface moves down and aligns with the exposed hole 275 on the outside of the shaft. At this time, the ball 273 can move from the exposed hole 275 into the receiving groove 276. After the drive wheel 230 or driven wheel 240 is fitted into the corresponding drive shaft 114 or driven shaft 122, the pin 271 is released, the spring 272 returns to its original position and pushes the pin 271 upwards. The receiving groove 276 disengages from the exposed hole 275, and the outer wall of the pin 271 squeezes the ball 273, causing part of the ball 273 to extend out of the exposed hole 275 and be inserted into the abutment groove 232 of the drive shaft 114 or driven shaft 122, thus completing the connection between the drive wheel 230 or driven wheel 240 and the shaft. During disassembly, press the pin 271 again to align the receiving groove 276 with the exposed hole 275. After the ball 273 is released from pressure, it retracts into the receiving groove 276, and the driving wheel 230 or driven wheel 240 can be removed directly.

[0076] The first quick-release component 270 has a simple structure and is easy to operate. Without the need for tools, the drive wheel 230 or driven wheel 240 can be quickly disassembled and assembled from the shaft by simply pressing the pin 271 manually. This greatly improves the efficiency of sterile kit 200 replacement, equipment maintenance, and preoperative preparation. At the same time, the spring 272-driven pin 271 and ball bearing 273 can form a reliable locking structure, ensuring that the drive wheel 230 and driven wheel 240 move synchronously with the shaft during the rotation of the delivery or kneading instrument 300. This avoids operational deviations caused by loose connections. Furthermore, the matching design of the ball bearing 273 and the slot combines fixed stability with disassembly flexibility, taking into account both the reliability of surgical operations and the convenience of equipment use.

[0077] Furthermore, a limiting hole is provided inside the slot 274, the diameter of which is larger than the diameter of the slot 274, and a limiting ring is provided on the outside of the pin 271. The limiting ring is slidably disposed in the limiting hole, thereby preventing the pin 271 from sliding out of the slot 274.

[0078] Furthermore, the bottom or outer side of the shaft of the driving wheel 230 and the shaft of the driven wheel 240 are provided with protrusions, while the top of the driving shaft 114 and the driven shaft 122 or the bottom of the mating groove 231 are provided with grooves that cooperate with the protrusions, so as to avoid relative rotation between the driving wheel 230 or the driven wheel 240 and the corresponding driving shaft 114 or driven shaft 122.

[0079] In this embodiment, as shown in the appendix Figure 4 and attached Figure 7As shown, the torque controller assembly 250 includes a torque controller mounting base 251 and a torque controller 252. The torque controller mounting base 251 is disposed on the sterile bag 220 and corresponds to the hole on the sterile bag 220. A rotating hole is provided in the middle of the torque controller mounting base 251, and the torque controller 252 is rotatably disposed on the rotating hole of the torque controller mounting base 251. The torque controller 252 is connected to the first female seat shaft 134 through a second quick-release assembly (the second quick-release assembly has the same structure and principle as the first quick-release assembly 270). A straight protrusion is provided at one end of the torque controller 252 near the first female seat shaft 134, and a straight groove is provided at one end of the first female seat shaft 134. The straight protrusion of the torque controller 252 and the straight groove of the first female seat shaft 134 cooperate to realize the connection between the torque controller 252 and the first female seat shaft 134.

[0080] The first female shaft 134 has a slot at one end that mates with the second quick-release assembly, and a straight groove is located in the slot; the torque controller 252 is located inside the corresponding rotating body 280 and is interference-fitted with the inner wall of the inner ring of the rotating body 280; the torque controller fixing seat 251 is fixed to the side wall of the housing 112 by a snap or magnetic attraction, the snap is an insert snap, which can be inserted through the torque controller fixing seat 251 and the side wall of the housing 112 to fix the two.

[0081] The torsion controller mounting base 251 is fixed to the side wall of the outer shell 112 by an insert-type snap or magnetic attraction. Its position corresponds to the hole on the sterile bag 220. The rotation hole in the middle provides rotational support for the torsion controller 252. The torsion controller 252 is rotatably assembled in the rotation hole and is interference-fitted with the inner wall of the inner ring of the rotating body 280 on the sterile bag 220, which ensures sterile sealing and allows it to rotate synchronously with the inner ring. At the same time, the interference fit between the torsion controller 252 and the inner ring of the rotating body 280, combined with the snap / magnetic fixation of the torsion controller mounting base 251 and the outer shell 112, further enhances the sealing performance of the sterile bag 220 and prevents the risk of contamination in non-sterile areas.

[0082] In this embodiment, as shown in the appendix Figure 4 Appendix Figure 8 and attached Figure 9 As shown, the Y valve assembly 260 includes a Y valve mounting base 261, a Y valve 262, and a gear assembly 263. The Y valve mounting base 261 is mounted on the sterile bag 220 and is engaged with the drive device 100 by magnetic attraction or snap-fit. The Y valve 262 is mounted on the Y valve mounting base 261, and the front end of the Y valve 262 is provided with a rotating end, which is coaxially arranged with the outlet of the Y valve 262.

[0083] The gear assembly 263 includes a first gear 2631, a second gear 2632, and a gear fixing seat 2633. The first gear 2631 is sleeved on the rotating end of the Y valve 262. The gear fixing seat 2633 is set on the side wall of the housing 112. The second gear 2632 is rotatably mounted on the gear fixing seat 2633 and engages with the second female seat shaft 135. The meshing of the first gear 2631 and the second gear 2632 enables the rotation of the rotating end of the Y valve 262. The second gear 2632 is connected to the second female seat shaft 135 through a third quick-release assembly (the third quick-release assembly has the same structure and principle as the first quick-release assembly 270). One end of the second gear 2632 is provided with a straight protrusion that penetrates the gear fixing seat 2633. One end of the second female seat shaft 135 is provided with a straight groove. The straight protrusion of the second gear 2632 engages with the straight groove of the second female seat shaft 135 to achieve the connection between the two.

[0084] Specifically, when it is necessary to rotate the rotating end of the Y valve 262, the second electromagnetic clutch 133 can be energized, the second motor 131 can drive the second gear 2632 to rotate, the second gear 2632 drives the first gear 2631 that meshes with it, thereby driving the rotating end of the Y valve 262 to rotate, realizing the rotation of the instrument 300 or catheter inside the Y valve 262.

[0085] Furthermore, the second gear 2632 engages with the corresponding rotating body 280 to achieve a sterile seal.

[0086] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the solutions disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

Claims

1. A driving device for an interventional instrument, characterized in that, include: A rotary drive component and a translational drive component and a torque control drive component that cooperate with the rotary drive component; The rotary drive component includes a first base plate, a first drive assembly disposed on the first base plate, and a drive shaft; the first drive assembly is used to drive the drive shaft to rotate, and a first rotary encoder is disposed inside the first drive assembly to detect the rotation angle of the drive shaft; The translation drive component includes a second drive assembly disposed on the first base plate, a driven shaft rotatably disposed on the second drive assembly, and a second rotary encoder disposed on the second drive assembly. The second drive assembly is used to drive the driven shaft to translate radially closer to or away from the drive shaft. The second rotary encoder is used to detect the rotation angle of the driven shaft. The driven shaft is parallel to the drive shaft. The torque control drive component includes a second motor mounted on the first base plate, a first electromagnetic clutch and a second electromagnetic clutch mounted on the two output ends of the second motor, and a first female seat shaft and a second female seat shaft respectively located on the first electromagnetic clutch and the second electromagnetic clutch. The rotary drive component also includes a housing disposed on the first base plate; the ends of the first female seat shaft and the second female seat shaft away from the second motor are both rotatably disposed on the housing; It also includes a compatible sterile kit; The aseptic kit also includes a cap, an aseptic bag fitted onto the drive device, and a drive wheel, a driven wheel, a torque controller assembly, and a Y-valve assembly sealed onto the aseptic bag. The pressure cap is located on top of the sterile bag and is fitted onto the drive wheel and driven wheel; the pressure cap cooperates with the drive device to fix the sterile bag; the drive wheel and the driven wheel are both connected to the drive shaft and the driven shaft via a first quick-release assembly, and the drive wheel and the driven wheel are used to clamp and transport instruments; the torque control assembly cooperates with the first female seat shaft via a second quick-release assembly to twist the instruments within the torque control assembly; the Y valve assembly cooperates with the second female seat shaft via a transmission assembly to rotate the catheter within the Y valve assembly.

2. The driving device for an interventional instrument according to claim 1, characterized in that, The first drive assembly includes a second base plate located on top of the first base plate, a second fixing seat disposed on the second base plate, and a first motor disposed on the second base plate; The drive shaft is rotatably mounted on the second fixed base, and the drive shaft is connected to the first motor via a belt.

3. The driving device for an interventional instrument according to claim 2, characterized in that, The first drive assembly further includes a first linear motor disposed on the first base plate and a connecting plate disposed on the output shaft of the first linear motor; The second base plate is connected to the connecting plate to reciprocate vertically under the drive of the first linear motor; the connecting plate is connected to the side wall of the first linear motor via a slide rail.

4. The driving device for an interventional instrument according to claim 1, characterized in that, The second drive assembly includes a second linear motor mounted on the first base plate, a pull rod mounted on the output end of the second linear motor, and a first fixed base mounted on the end of the pull rod away from the second linear motor. The first fixed seat is mounted on the first base plate via a slide rail, the driven shaft is rotatably mounted on the first fixed seat, the second rotary encoder is mounted on the bottom of the first fixed seat and is coaxially arranged with the driven shaft, and the second linear motor drives the driven shaft to translate via the pull rod.

5. The driving device for an interventional instrument according to claim 1, characterized in that, The top of the housing is provided with a round hole and an elongated hole; the drive shaft is located in the round hole and protrudes from the surface of the housing, and the driven shaft is located in the elongated hole and protrudes from the surface of the housing; The side wall of the housing is provided with a first through hole and a second through hole, which are respectively rotatably engaged with the first female seat shaft and the second female seat shaft.

6. The driving device for an interventional instrument according to claim 1, characterized in that, The drive wheel shaft, the driven wheel shaft, the torque controller assembly, and the Y valve assembly are all provided with rotating bodies. The circumferential side of the rotating body is sealed to the sterile bag so that the drive wheel, the driven wheel, the torque controller assembly, and the Y valve assembly can rotate relative to the sterile bag.

7. The driving device for an interventional instrument according to claim 1, characterized in that, The first quick-release assembly includes a pin, a spring, and a plurality of balls respectively disposed inside the drive wheel and the driven wheel; Both the drive shaft and the driven shaft have mating grooves at their tops, and the inner walls of the mating grooves have abutment grooves. Both the drive wheel and the driven wheel have internal slots on their shafts. The pin slides vertically within the slot, and the spring is located at the bottom of the slot and abuts against the pin. Multiple exposed holes are provided on the outer sides of both the drive wheel and the driven wheel's shafts, communicating with the slots, and multiple ball bearings are located within these holes. The outer surface of the pin has a receiving groove for accommodating the multiple ball bearings. When multiple balls are located in the receiving groove of the driving wheel or the driven wheel, the shaft of the driving wheel or the driven wheel is in an unlocked state with the corresponding driving shaft or the driven shaft; when multiple balls are located in the exposed hole of the driving wheel or the driven wheel and are partially exposed, the shaft of the driving wheel or the driven wheel is in a locked state with the corresponding driving shaft or the driven shaft.

8. The driving device for an interventional instrument according to claim 6, characterized in that, The torsion controller assembly includes a torsion controller mounting base disposed on the sterile bag and a torsion controller rotatably disposed on the torsion controller mounting base; The torque controller is connected to the first female seat shaft via a second quick-release assembly; a straight protrusion is provided at one end of the torque controller near the first female seat shaft, and a straight groove is provided at one end of the first female seat shaft, with the straight protrusion of the torque controller engaging with the straight groove of the first female seat shaft; the torque controller engages with the corresponding rotating body; the torque controller mounting base is fixed to the side wall of the housing by a snap or magnetic attraction.

9. The driving device for an interventional instrument according to claim 6, characterized in that, The Y valve assembly includes a Y valve mounting base disposed on the sterile bag, a Y valve disposed on the Y valve mounting base, and a gear assembly; The gear assembly includes a first gear disposed at the rotating end of the Y valve, a gear mounting seat disposed on the housing, and a second gear disposed on the gear mounting seat. One end of the second gear engages with the second female seat shaft, and the first gear and the second gear mesh with each other. The second gear is connected to the second female seat shaft via a third quick-release assembly. One end of the second gear has a slotted protrusion that penetrates the gear mounting seat, and one end of the second female seat shaft has a slotted groove. The slotted protrusion of the second gear engages with the slotted groove of the second female seat shaft. The second gear engages with the corresponding rotating body, and the Y valve mounting seat is fixed to the side wall of the housing by a snap or magnetic attraction.

Images