Guide wire pushing device

Abstract

The invention discloses a guide wire pushing device, and relates to the technical field of medical instruments.The guide wire pushing device is used for a surgical robot, the surgical robot is provided with a power end, and the guide wire pushing device comprises a base; the wire feeding module is arranged on the base and used for being in transmission connection with the power end, the wire feeding module is provided with a driving end, and the driving end is used for clamping the guide wire and driving the guide wire to move in the axial direction of the guide wire; the wire rotating module is arranged on the side, in the axial direction of the guide wire, of the wire feeding module, the wire rotating module is provided with a clamping end, the clamping end is used for clamping or releasing the guide wire, and the clamping end is used for being in transmission connection with the power end so as to rotate along the axis of the guide wire. According to the technical scheme, continuous conveying and angle adjustment of the guide wire are achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to a guide wire pushing device. BACKGROUND

[0002] Traditional cardiovascular intervention surgery is manually operated by doctors to complete treatment under X-ray by guide wire, catheter and stent. This method has problems such as doctors being exposed to X-ray radiation, wearing heavy lead clothes and requiring high proficiency, which affects the safety and stability of the operation. Therefore, vascular intervention robot technology has emerged as the times require, and there are two main schemes: one is to push with soft rubber wheel groups and rotate the guide wire with clamping jaws, but the guide wire cannot be advanced and retracted when rotating; the other is to intermittently push and rotate the guide wire with clamping jaws, but the guide wire cannot be continuously advanced and retracted. SUMMARY

[0003] The main purpose of the present application is to provide a guide wire pushing device to solve the above technical problems.

[0004] To achieve the above purpose, the present application provides a guide wire pushing device for a surgical robot, the surgical robot having a power end, the guide wire pushing device comprising: a base; a wire feeding module arranged on the base and used for transmission connection with the power end, the wire feeding module having a driving end for clamping the guide wire and driving the guide wire to move along the axial direction of the guide wire; a wire rotating module arranged on one side of the wire feeding module along the axial direction of the guide wire, the wire rotating module having a clamping end for clamping or releasing the guide wire, the clamping end being used for transmission connection with the power end to rotate along the axial line of the guide wire.

[0005] In an embodiment, the wire feeding module comprises: a first support arranged on the base; a first wheel group comprising: a first guide wheel rotatably arranged on the first support, the first guide wheel being used for transmission connection with the power end; a second guide wheel movably arranged on the first support to have a first position close to the first guide wheel and a second position away from the first guide wheel; wherein the first guide wheel and the second guide wheel form the driving end, at the first position, the second guide wheel is in transmission connection with the first guide wheel, the first guide wheel and the second guide wheel are used for clamping the guide wire and conveying along the axial direction of the guide wire, at the second position, the first guide wheel and the second guide wheel are disengaged.

[0006] In an embodiment, a plurality of first wheel groups are provided, and the plurality of first wheel groups are arranged at intervals along the axial direction of the guide wire.

[0007] In an embodiment, the first guide wheels are drivingly connected to each other, and the second guide wheels are drivingly connected to each other; and / or, In the first position, the first guide wheels are in engagement with the second guide wheels.

[0008] In an embodiment, the wire feeding module further comprises a first adjusting assembly configured to drive the second guide wheels to move towards or away from the first guide wheels.

[0009] In an embodiment, the first adjusting assembly comprises: a sliding frame slidingly arranged on the first support in a radial direction of the wire, the second guide wheels being rotatably arranged on the sliding frame, the sliding frame being provided with a first matching part and a second matching part; a handle rotatably connected to the first support, the handle being provided with a third matching part; wherein, when the handle moves from the first position to the second position, the third matching part abuts against the second matching part to drive the sliding frame to move away from the first guide wheels; and when the handle moves from the second position to the first position, the third matching part abuts against the first matching part to drive the sliding frame to move towards the first guide wheels.

[0010] In an embodiment, the wire feeding module comprises: a second support rotatably arranged on the base in an axial direction of the wire; two second wheel sets movably arranged on the second support to have a third position for clamping the wire and a fourth position for releasing the wire, the second wheel sets forming the clamping end; a second adjusting assembly arranged on the second support and drivingly connected to the two second wheel sets.

[0011] In an embodiment, the second adjusting assembly comprises: a sliding member protruding from both sides of the second wheel sets; an adjusting member slidingly arranged on the second support in an axial direction of the wire, the adjusting member having a guide groove extending obliquely away from the wire, the sliding member being slidingly matched with the guide groove; a driving member arranged on the second support and drivingly connected to the adjusting member.

[0012] In an embodiment, the driving member comprises: a first matching part arranged on the adjusting member; A second cooperating body is rotatably arranged on the second support and coaxially arranged with the guide wire, and the second cooperating body is threadedly cooperated with the first cooperating body to drive the first cooperating body to move along the axial direction of the guide wire.

[0013] In an embodiment, the driving member further comprises a limiting body movably arranged between the second cooperating body and the second support and having a locking position and a releasing position, at the locking position, the second cooperating body is fixed with the second support, at the releasing position, the second cooperating body is relatively rotatable with the second support.

[0014] The technical scheme of the present application realizes the axial movement of the guide wire and the rotation control at the same time through the cooperation of the wire feeding module and the wire rotating module, solves the technical problem that the guide wire cannot be simultaneously pushed and rotated in the prior art, and has the advantages of improving the smoothness and accuracy of the operation. BRIEF DESCRIPTION OF DRAWINGS

[0015] In order to more clearly illustrate the technical scheme in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor based on the drawings shown.

[0016] Figure 1 The structural schematic diagram of an embodiment of the guide wire pushing device provided by the present application is shown in the figure. Figure 2 The structural schematic diagram of the wire feeding module in the embodiment is shown in the figure. Figure 1 The structural schematic diagram of the wire feeding module in the embodiment is shown in the figure. Figure 3 The structural schematic diagram of the wire feeding module in the embodiment is shown in the figure. Figure 2 The structural schematic diagram of the wire feeding module in the embodiment is shown in the figure. Figure 4 The structural schematic diagram of the wire feeding module in the embodiment is shown in the figure. Figure 2 The structural schematic diagram of the wire feeding module in the embodiment is shown in the figure. Figure 5 The structural schematic diagram of the wire feeding module in the embodiment is shown in the figure. Figure 2 The structural schematic diagram of the sliding frame in the wire feeding module is shown in the figure. Figure 6 The structural schematic diagram of the handle in the wire feeding module is shown in the figure. Figure 2 The structural schematic diagram of the handle in the wire feeding module is shown in the figure. Figure 7 The structural schematic diagram of the wire rotating module in the embodiment is shown in the figure. Figure 1 The structural schematic diagram of the wire rotating module in the embodiment is shown in the figure. Figure 8 The structural schematic diagram of the wire rotating module in the embodiment is shown in the figure. Figure 7 The structural schematic diagram of the wire rotating module in the embodiment is shown in the figure. Figure 9 The structural schematic diagram of the wire rotating module in the embodiment is shown in the figure. Figure 7Structure schematic view of the transfer wire module in the third position; Figure 10 For Figure 7 Structure schematic view of another embodiment of the second wheel set in the transfer wire module; Figure 11 For Figure 1 Another structure schematic view of the embodiment.

[0017] Brief Description of the Drawings 10, guide wire; 100, base; 200, wire feeding module; 210, first support; 220, first wheel set; 221, first guide wheel; 222, second guide wheel; 230, first adjusting assembly; 231, sliding frame; 2311, first matching part; 2312, second matching part; 232, handle; 2321, third matching part; 300, wire transfer module; 310, second support; 3101, sliding groove; 3102, first mounting groove; 320, second wheel set; 330, second adjusting assembly; 331, sliding piece; 332, adjusting piece; 3321, guide groove; 333, driving piece; 3331, first matching body; 33311, third mounting groove; 3332, second matching body; 33321, fourth mounting groove; 33322, locking groove; 3333, limiting body; 340, first gear; 3401, second mounting groove; 400, first input shaft; 410, first transmission assembly; 420, second input shaft; 430, second transmission assembly.

[0018] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0019] The technical solutions in the embodiments of the present application will be clearly and completely described with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the protection scope of the present application.

[0020] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement condition, etc. between components in a certain posture, and if the certain posture changes, the directional indications also change accordingly.

[0021] In addition, if the description of "first", "second" and the like is involved in the embodiments of the present application, the description of "first", "second" and the like is only for the purpose of description, and cannot be understood as indicating or implying the relative importance of the indicated technical features or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first", "second" can be explicitly or implicitly included at least one of the features. In addition, if "and / or" or "and / or" appears throughout the text, it means that the three parallel schemes are included, for example, "A and / or B" includes A scheme, or B scheme, or A and B scheme. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the realization of ordinary skilled in the art, when the combination of technical solutions appears contradictory or unachievable, it should be considered that the combination of technical solutions does not exist, nor within the scope of protection required by the present application.

[0022] Traditional cardiovascular intervention surgery is limited by the radiation received by the doctor, the weight of the lead clothes and the high difficulty of operation. Therefore, vascular interventional robot technology has been developed, but the existing vascular interventional robot still has the following defects: one cannot rotate in and out when pushing, and the other cannot continuously advance and retreat when rotating.

[0023] Therefore, the present application provides a guide wire 10 pushing device for a surgical robot, the surgical robot having a power end, the guide wire 10 pushing device comprising: a base 100; a wire feeding module 200 arranged on the base 100 and used for transmission connection with the power end, the wire feeding module 200 having a driving end, the driving end being used to clamp the guide wire 10 and drive the guide wire 10 to move along the axial direction of the guide wire 10; a wire rotating module 300 arranged on one side of the wire feeding module 200 along the axial direction of the guide wire 10, the wire rotating module 300 having a clamping end, the clamping end being used to clamp or release the guide wire 10, and the clamping end being used for transmission connection with the power end to rotate along the axial line of the guide wire 10.

[0024] As Figures 1 to 11The base 100 serves as the structural foundation for the wire feeding module 200 and the wire rotating module 300. Specifically, it can be a frame or plate structure made of metal or high-strength engineering plastic. The base 100 can be fixed to the surgical robot, providing stable support for other functional modules. The wire feeding module 200 drives the guide wire 10 to move axially. Specifically, the guide wheel assembly is connected to a drive shaft, with a cross-shaped protrusion at the end of the drive shaft. The power end of the surgical robot has a cross-shaped groove corresponding to the cross-shaped protrusion and inserts into it, thus achieving a transmission connection between the drive shaft and the power end of the surgical robot. The guide wheel assembly can clamp the guide wire 10 and convert the rotational motion input from the power end into linear axial displacement of the guide wire 10, solving the problem of discontinuous motion caused by traditional intermittent pushing. The drive end is the component in the wire feeding module 200 that directly contacts the guide wire 10, and it can be the aforementioned guide wheel assembly. The wire rotating module 300 is used to drive the guide wire 10 to rotate around its axis. Specifically, it can be a guide wheel assembly that rotates around the axis of the guide wire 10. The guide wheel assembly clamps the guide wire 10 and has multiple pulleys on it. Each pulley rotates around a pulley axis. When the guide wire 10 moves axially, it can drive the pulleys to rotate around the pulley axes. The guide wheel assembly can form the clamping end mentioned above. During operation, the wire feeding module 200 drives the guide wire 10 to move axially. When the guide wire 10 moves axially, it can drive the pulleys to rotate around the pulley axes. During the rotation of the guide wheel assembly around the axis of the guide wire, it can drive the guide wire 10 to rotate through friction, thereby realizing the rotation operation during the continuous feeding process of the guide wire 10. The above structure eliminates the mutual interference between the rotation and pushing actions of the guidewire 10. The functional separation design of the wire feeding module 200 and the wire rotating module 300 allows the guidewire 10 to perform axial movement and rotation simultaneously. When the guidewire 10 needs to be pushed, the driving end of the wire feeding module 200 clamps the guidewire 10 and drives it to move axially. At the same time, the clamping end of the wire rotating module 300 can maintain the clamping state and drive the guidewire 10 to rotate. The rotation process does not affect the axial movement of the guidewire 10. When the guidewire 10 needs to be rotated, the clamping end of the wire rotating module 300 clamps the guidewire 10 and rotates it along the axis of the guidewire 10 under the drive of the power end. At the same time, the wire feeding module 200 can continue to push the guidewire 10 or remain stationary, meeting the operational needs of complex vascular interventional surgery.

[0025] like Figures 2 to 6 In another embodiment of this application, the wire feeding module 200 includes: The first support 210 is provided on the base 100; The first round, group 220, includes: The first guide wheel 221 is rotatably mounted on the first support 210, and the first guide wheel 221 is used to connect with the power end transmission. The second guide wheel 222 is movably mounted on the first support 210 to have a first position close to the first guide wheel 221 and a second position away from the first guide wheel 221; The first guide wheel 221 and the second guide wheel 222 form the driving end. In the first position, the second guide wheel 222 and the first guide wheel 221 are connected in a transmission. The first guide wheel 221 and the second guide wheel 222 are used to clamp the guide wire 10 and transport it along the axial direction of the guide wire 10. In the second position, the first guide wheel 221 and the second guide wheel 222 are disengaged.

[0026] The first support 210 can be made of metal casting or engineering plastic. It is fixed to the base 100 and has a drive shaft rotatably mounted on it, which is used to connect to the robot's power end. The first wheel assembly 220 consists of a first guide wheel 221 and a second guide wheel 222. Both guide wheels 221 and 222 are rotatably mounted on the first support 210 and are respectively located on opposite sides of the guide wire 10 in the radial direction. The first guide wheel 221 is connected to the drive shaft via meshing transmission. Furthermore, the second guide wheel 222 has a degree of freedom to move closer to or further away from the first guide wheel 221 in the radial direction of the guide wire 10. Specifically, a slider that slides radially along the guide wire 10 can be mounted on the first support 210, and the second guide wheel 222 is rotatably mounted on the slider. The second guide wheel 222 can move between a first position close to the first guide wheel 221 and a second position away from the first guide wheel 221. Additionally, as... Figure 11 In this scheme, a first input shaft 400 and a first transmission assembly 410 are provided on the first support 210. The first input shaft 400 is rotatably connected to the first support 210. The first transmission assembly 410 includes the following structure: a gear is provided on the first input shaft 400; a gear is coaxially connected to each first guide wheel 221; a rotating shaft is coaxially connected to another first guide wheel 221; a gear is coaxially connected to the rotating shaft; the gear on the first input shaft 400 meshes with the gear on the rotating shaft for transmission; and the gears on two adjacent first guide wheels 221 mesh through an intermediate gear. The transmission system ensures that the first guide wheel 221 rotates synchronously and in the same direction. Furthermore, each second guide wheel 222 is coaxially connected to a gear. In the first position, the gear on the second guide wheel 222 meshes with the gear on the first guide wheel 221, thereby achieving synchronous rotation of the first guide wheel 221 and the second guide wheel 222. In use, the first input shaft 400 connects to the power end of the surgical robot, transmitting power to the first guide wheel 221 and the second guide wheel 222 through the rotating shaft and the gears on the first guide wheel 221 and the second guide wheel 222, thus enabling the delivery of the guide wire 10. Additionally, anti-slip textures can be provided on the surfaces of the first guide wheel 221 and the second guide wheel 222, and the surface material can be a flexible material such as silicone to prevent pinching or damaging the guide wire 10.

[0027] In practical use, such as Figure 3When the second guide wheel 222 is in the second position, its wheel surface forms a gap with the wheel surface of the first guide wheel 221, and the gap width is greater than the diameter of the guide wire 10. In this position, the guide wire 10 can be inserted or removed. When it is necessary to clamp the guide wire 10, such as... Figure 4 The first guide wheel 221 can be driven to move to the first position. At this time, the distance between the wheel surface of the first guide wheel 221 and the wheel surface of the second guide wheel 222 is less than the diameter of the guide wire 10. The guide wire 10 can be clamped by the first guide wheel 221 and the second guide wheel 222. At this time, the first guide wheel 221 and the second guide wheel 222 can form a transmission connection relationship through gear transmission or other means. The first guide wheel 221 and the second guide wheel 222 rotate synchronously. When the power end drives the first guide wheel 221 to rotate, the second guide wheel 222 rotates synchronously, driving the guide wire 10 to be conveyed axially.

[0028] Furthermore, the position adjustment of the second guide wheel 222 can be achieved by a cylinder, a motor, or a manual mechanism. For example, when driven by a cylinder, the piston rod of the cylinder is connected to the slider to which the second guide wheel 222 is fixed; when it is necessary to clamp the guide wire 10, the cylinder extends the piston rod, pushing the second guide wheel 222 to the first position. When it is necessary to release the guide wire 10, the cylinder retracts the piston rod, driving the second guide wheel 222 back to the second position; this improves the ease of use.

[0029] Through the above technical solution, this application realizes the rapid switching of guidewire 10 clamping and release; and in the first position, the transmission connection between the first guide wheel 221 and the second guide wheel 222 makes the rotation speed of the first guide wheel 221 and the second guide wheel 222 synchronized, ensuring the stability of guidewire 10 delivery and helping to reduce surgical risks.

[0030] like Figure 2 In another embodiment of this application, multiple first wheel groups 220 are provided, and the multiple first wheel groups 220 are spaced apart along the axial direction of the guide wire 10. The number of first wheel groups 220 can be two or more. The first guide wheel 221 and the second guide wheel 222 in each first wheel group 220 form an independent clamping unit. The second guide wheels 222 of the multiple first wheel groups 220 can be synchronously opened and closed through a linkage mechanism. When the guide wire 10 is clamped, the multiple first wheel groups 220 apply pressure to different sections of the guide wire 10, thereby enhancing the uniformity and continuity of the clamping force, increasing the friction force on the guide wire 10, and improving the stability of the guide wire 10's transport.

[0031] In another embodiment of this application, multiple first guide wheels 221 are connected to each other through a transmission mechanism, and multiple second guide wheels 222 are connected to each other through a transmission mechanism. The multiple first guide wheels 221 can be connected through a synchronous belt or gears, with a transmission ratio configured to 1:1 to ensure synchronous rotation. The multiple second guide wheels 222 employ the same transmission structure to form a linkage. When any first guide wheel 221 is driven to rotate by the power end, the aforementioned transmission connection structure causes all first guide wheels 221 and second guide wheels 222 to rotate at the same speed, avoiding asynchronous movement and ensuring the continuity and stability of the axial delivery of the guidewire 10. Furthermore, in another embodiment of this application, at a first position, the first guide wheel 221 and the second guide wheel 222 are engaged in a transmission mechanism. The first guide wheel 221 and the second guide wheel 222 employ gear meshing transmission, replacing the traditional method that relies solely on friction, thus preventing the guidewire 10 from slipping and deviating from the expected path during delivery, thereby ensuring the accuracy of the surgical operation.

[0032] like Figure 2 In another embodiment of this application, the wire feeding module 200 further includes a first adjustment component 230, which drives the second guide wheel 222 to move closer to or away from the first guide wheel 221. The first adjustment component 230 can be driven by a structure such as an electric cylinder or a pneumatic cylinder. For example, the first adjustment component 230 can be configured as a pneumatic cylinder. When the guide wire 10 needs to be clamped, the piston rod of the cylinder extends, pushing the second guide wheel 222 closer to the first guide wheel 221 to complete the clamping action of the guide wire 10. When the guide wire 10 needs to be released, the piston rod of the cylinder retracts, driving the second guide wheel 222 away from the first guide wheel 221, thereby releasing the guide wire 10. The stroke of the first adjustment component 230 can match the distance between the first position and the second position. By setting the first adjustment component 230, the position adjustment of the second guide wheel 222 can be conveniently achieved, ensuring the consistency of each position adjustment of the second guide wheel 222 and facilitating the operation of the wire feeding module 200.

[0033] like Figure 5 and Figure 6 One structural form of the first adjustment component 230 is shown. In this embodiment, the first adjustment component 230 includes: The sliding frame 231 is slidably mounted on the first support 210 along the radial direction of the guide wire 10, and the second guide wheel 222 is rotatably mounted on the sliding frame 231. The sliding frame 231 is provided with a first mating part 2311 and a second mating part 2312. The handle 232 is rotatably connected to the first support 210, and the handle 232 is provided with a third mating part 2321; When the handle 232 moves from the first position to the second position, the third mating part 2321 abuts against the second mating part 2312 to drive the sliding frame 231 away from the first guide wheel 221; when the handle 232 moves from the second position to the first position, the third mating part 2321 abuts against the first mating part 2311 to drive the sliding frame 231 to move closer to the first guide wheel 221.

[0034] The sliding frame 231 is generally rectangular, hollow inside, and has an opening on the side. It is slidably connected to the first support 210 via a mechanism that allows the slider and rail to slide together. The sliding frame 231 is located on one side of the guide wire 10 and slides radially along it. The second guide wheel 222 is rotatably mounted on the sliding frame 231. The first mating part 2311 and the second mating part 2312 can be located on the same side of the sliding frame 231. These mating parts can be grooves or protrusions on the side of the sliding frame 231. The handle 232 is rotatably mounted on the first support 210. The rotation axis of the handle 232 is parallel to the rotation axis of the second guide wheel 222. A third mating part 2321 is located on the side wall of the handle 232. This third mating part 2321 can be a protrusion offset from the axis of the handle 232.

[0035] Specifically, when adjusted from the second position to the first position, the handle 232 in Figure 3 When rotated clockwise in the current state, the third mating part 2321 contacts the first mating part 2311, and the sliding frame 231 is pushed radially towards the first guide wheel 221 by the inclined surface pressing action, so that the second guide wheel 222 meshes with the first guide wheel 221; when adjusted from the first position to the second position, the handle 232... Figure 4 When rotated counterclockwise in the state, the third mating part 2321 switches to contact with the second mating part 2312, causing the sliding frame 231 to move away from the first guide wheel 221, so that the second guide wheel 222 separates from the first guide wheel 221.

[0036] Through the above technical solution, this application achieves precise control over the position of the second guide wheel 222. The sliding design of the sliding frame 231 along the radial direction of the guide wire 10 ensures the stable movement of the second guide wheel 222. The cooperation relationship between the first mating part 2311 and the second mating part 2312 on the sliding frame 231 and the third mating part 2321 on the handle 232 allows the clamping and releasing actions to be completed with a single rotation of the handle 232, simplifying the operation steps and improving the operation efficiency.

[0037] like Figures 7 to 10 In another embodiment of this application, the wire-rotating module 300 includes: The second support 310 is rotatably mounted on the base 100 about the axis of the guide wire 10; The second support 310 has a sliding groove 3101, which extends radially along the guide wire 10; The second support 310 has a first mounting groove 3102 on one side; The second support 310 has a first gear 340 on its rotating shaft. The first gear 340 is coaxial with the guide wire 10. The first gear 340 has a second mounting groove 3401. The second mounting groove 3401 is on the same side and aligned with the first mounting groove 3102 of the second support 310. The second wheel group 320 is provided in two, and the two second wheel groups 320 are movably disposed on the second support 310 to have a third position for clamping the guide wire 10 and a fourth position for releasing the guide wire 10. The second wheel group 320 forms a clamping end. The second adjustment component 330 is mounted on the second support 310 and is connected to the two second wheel sets 320 via a transmission.

[0038] An input shaft is also provided on the base 100, rotatably mounted on the base 100. The input shaft is used to interface with the power end of the surgical robot. A second support 310 is rotatably mounted on the base 100 about the axis of the guide wire 10. Specifically, the second support 310 has rotating shafts at both ends, and bearing seats are provided on the base 100. The rotating shafts are rotatably mounted on the bearing seats. Additionally, as... Figure 11A first gear 340 can be mounted on the rotating shaft of the second support 310. The first gear 340 is coaxial with the guide wire 10. A second input shaft 420 is rotatably mounted on the base 100. The base 100 also has a second transmission assembly 430. The second input shaft 420 and the rotating shaft of the second support 310 are connected by the second transmission assembly 430. Specifically, the first gear 340 is coaxially connected to the rotating shaft of the second support 310. An intermediate shaft is also rotatably connected to the base 100. One end of the intermediate shaft meshes with the first gear 340 on the rotating shaft of the second support 310, and the other end meshes with the second input shaft 420. In use, the second input shaft 420 is connected to the power end of the surgical robot, and the power is transmitted to the second support 310 through the intermediate shaft, so that the second support 310 can rotate around the guide wire 10 under the drive of the power end. The axis of rotation is 0; in addition, a first mounting groove 3102 is opened on one side of the second support 310, the first mounting groove 3102 extends along the rotation axis of the support, and the guide wire 10 can be inserted into the second support 310 from the first mounting groove 3102. A second mounting groove 3401 is opened on the first gear 340, the second mounting groove 3401 is aligned with the first mounting groove 3102, and the guide wire 10 can be inserted into the first gear 340 from the second mounting groove 3401; in addition, two second wheel sets 320 are movably mounted on the second support 310, each second wheel set 320 includes a plurality of guide wheels, the guide wheels on the two second wheel sets 320 correspond to each other, and the two second wheel sets 320 are slidably connected to the second support 310. The two second wheel sets 320 can approach each other to clamp the guide wire 10 or move away from each other to release the guide wire 10, wherein, as Figure 9 The position where the two second-round sets 320 clamp the guide wire 10 is the third position, such as... Figure 8 The second wheel group 320 releases the guide wire 10 in the fourth position. When in the third position, the guide wheels of the two second wheel groups 320 roll along with the axial movement of the guide wire 10, reducing the resistance to the axial movement of the guide wire 10. Additionally, the two wheel groups can rotate with the second support 310. During rotation, the guide wire 10, clamped by the two second wheel groups 320, will rotate around its own axis, thus achieving the rotational action of the guide wire 10. Therefore, when the wire feeding module 200 drives the guide wire 10 to be conveyed along its own axis, the guide wire 10 can still be conveyed normally even under the clamping of the two second wheel groups 320. Furthermore, during the conveying process, the surgical robot can drive the second support 310 to rotate via the power end, causing the two second wheel groups 320 to rotate, thereby achieving continuous rotation of the guide wire 10 during continuous conveying.

[0039] In another embodiment of this application, the second support 310 is also provided with a second adjustment component 330. The second adjustment component 330 is connected to the two second wheel sets 320 in a transmission manner. The second adjustment component 330 can drive the two second wheel sets 320 to adjust between the third position and the fourth position. The structure of the second adjustment component 330 is diverse. For example, the second adjustment component 330 can be two independent cylinders. The two cylinders drive the two second wheel sets 320 to move closer or further away from each other, thereby realizing the above-mentioned position adjustment. By setting the second adjustment component 330, the automation level of the wire rotating module 300 can be improved, while ensuring the consistency of the position adjustment of the two second wheel sets 320 each time, thereby ensuring the effect of the guide wire 10 rotation.

[0040] In another embodiment of this application, the structure of the guide wheel on the second wheel group 320 can be the same as that of the first guide wheel 221 or the second guide wheel 222, and the number of guide wheels on the second wheel group 320 can be greater than the number of guide wheels on the first wheel group 220. This ensures that when the guide wire 10 rotates, the friction force applied to the guide wire 10 by the second wheel group 320 is greater than the friction force applied to the guide wire 10 by the first wheel group 220, making it less likely for the guide wire 10 to slip when rotating and ensuring the rotation effect.

[0041] like Figure 8 and Figure 9 In another embodiment of this application, the second adjustment component 330 includes: Sliding member 331 protrudes from both sides of the second wheel assembly 320; The adjusting member 332 is slidably disposed on the second support 310 along the axial direction of the guide wire 10. The adjusting member 332 has inclined extending guide grooves 3321 on both sides, and the sliding member 331 is slidably engaged with the guide grooves 3321. The driving component 333 is mounted on the second support 310 and is connected to the adjusting component 332 in a transmission manner. The driving component 333 includes a first mating body 3331, a second mating body 3332, and a limiting body 3333. The first mating body 3331 has a third mounting groove 33311 on one side, which is on the same side and aligned with the first mounting groove 3102 to facilitate the installation and removal of the guide wire. The second mating body 3332 has a fourth mounting groove 33321 on one side. When the second wheel assembly 320 is in position... In the fourth position, the fourth mounting groove 33321 is on the same side and aligned with the first mounting groove 3102, which facilitates the installation and removal of the guide wire; when the second wheel assembly 320 is in the third position, the fourth mounting groove 33321 rotates to the opposite direction of the first mounting groove 3102, and the limiting body 3333 is inserted between the first mounting groove 3102 on the second support 310 and the locking groove 33322 of the second mating body 3332, thereby restricting the degree of freedom of rotation of the second support 310 and the second mating body 3332.

[0042] The sliding member 331 protrudes from two opposite sides of the second wheel assembly 320. The sliding member 331 can be a cylindrical protrusion, and its axis is parallel to the axis of the guide wheel of the second wheel assembly 320. The adjusting member 332 is configured as a plate-like structure extending axially along the guide wire 10. The adjusting member 332 is slidably mounted on the second support 310 and can only slide along the axial direction of the guide wire 10. A guide groove 3321 is provided on the sidewall of the adjusting member 332 facing the sliding member 331. Figure 8 and Figure 9 The guide groove 3321 is an inclined plane or arc surface, and each second wheel set 320 is provided with a pair of adjusting members 332. In addition, the second support 310 is also provided with a driving member 333, which is connected to the adjusting member 332 and can drive the adjusting member 332 to slide. The driving member 333 can be a linearly telescopic device such as an electric cylinder or a lead screw. Specifically, when the driving member 333 drives the adjusting member 332 to slide axially along the proximal end of the guide wire 10, the sliding member 331 near the guide wire 10 moves along the sliding groove 3101 and the guide groove 3321 inside the inclined adjusting member 332. Since the guide groove 3321 extends obliquely along the direction of the guide wire 10, the guide groove 3321 and the sliding groove 3101 will force a pair of second wheel sets 320 to move radially along the guide wire 10 to a third position; when the driving member 333 drives the adjusting member 332 to slide axially along the distal end of the guide wire 10, the sliding member 331 away from the guide wire 10 moves along the sliding groove 3101 and the guide groove 332 inside the inclined adjusting member 332. The guide groove 3321 on the outer side of 32 moves. Since the guide groove 3321 extends obliquely along the direction of the guide wire 10, the guide groove 3321 and the sliding groove 3101 will force a pair of second wheel sets 320 to move radially along the guide wire 10 to the fourth position; thereby realizing the adjustment between the third position and the fourth position; in this process, the inclination angle of the guide groove 3321 determines the ratio of axial displacement to radial clamping distance. The cooperation between the sliding member 331 and the guide groove 3321 and the sliding groove 3101 decomposes the axial driving force of the drive member 333 into radial clamping force, which is more conducive to locking the second wheel set 320 in position.

[0043] In addition, such as Figure 10 In another embodiment of this application, the second wheel set 320 can be rotatably connected to the second support 310 via two connecting rods. The two connecting rods, the second wheel set 320 and the second support 310 can form a four-bar linkage. The swing of the two connecting rods can make the two second wheel sets 320 move closer or further away while being parallel to each other, thereby realizing the clamping or release of the guide wire 10. In addition, the two connecting rods on the second wheel set 320 can still be driven by the above-mentioned sliding member 331 and adjusting member 332.

[0044] like Figure 7 In another embodiment of this application, the drive element 333 includes: The first mating body 3331 is disposed on the adjusting member 332; a third mounting groove 33311 is provided on one side of the first mating body 3331.

[0045] The second mating body 3332 is rotatably mounted on the second support 310 and coaxially arranged with the guide wire 10. The second mating body 3332 is threadedly engaged with the first mating body 3331 to drive the first mating body 3331 to move along the axial direction of the guide wire 10. A fourth mounting groove 33321 is provided on one side of the second mating body 3332, and a locking groove 33322 is provided on the other side that is radially corresponding to the fourth mounting groove 33321.

[0046] The second mating body 3332 can be configured as a handle 232, which is rotatably mounted on a shaft at one end of the second support 310 along the axial direction of the guide wire 10. The rotation axis of the handle 232 is coaxial with the guide wire 10. The first mating body 3331 can be disposed outside the second support 310. One end of the aforementioned adjusting member 332 can extend out of the second support 310 and be fixedly connected to the first mating body 3331. In addition, the driving member engages with the first mating body 3331 through a threaded pair that extends helically around the axis of the guide wire 10. Specifically, when it is necessary to adjust the position of the adjusting member 332, the second mating body 3332 can be screwed on, and the first mating body 3331 is driven to move axially through the threaded pair, causing the adjusting member 332 to slide along the axial direction of the guide wire 10. Using the above-mentioned engagement method, the position of the second wheel set 320 can be easily adjusted. At the same time, the self-locking characteristic of the threaded pair is used to prevent the guide wire 10 from loosening due to vibration, thus satisfying the dual requirements of locking reliability and operation convenience within a limited space.

[0047] like Figure 7 and Figure 9In another embodiment of this application, the driving member 333 further includes a limiting body 3333, which is movably disposed between the second mating body 3332 and the second support 310 and has a locked position and a released position. In the locked position, the second mating body 3332 and the second support 310 are fixed; in the released position, the second mating body 3332 and the second support 310 rotate relative to each other. In this solution, a locking groove 33322 may be provided at the end of the second mating body 3332. In the radial direction of the second mating body 3332, the locking groove 33322 is disposed opposite to the fourth mounting groove 33321. Correspondingly, a first mounting groove 3102 is also provided at the end of the rotating shaft of the second support 310. When adjusted to the third position, the positions of the locking groove 33322 and the first mounting groove 3102 can correspond, at which time the limiting body 3333 can be embedded into the locking groove 33322 and the first mounting groove 3102. 2. At this time, the second mating body 3332 will not be able to rotate relative to the second support 310 due to the restriction of the limiting body 3333, thus ensuring the stability of the position of the adjusting part 332 and the reliability of the two second wheel sets 320 clamping the guide wire 10. In addition, in this position, the fourth mounting groove 33321 is offset from the first mounting groove 3102, which also prevents the guide wire 10 from coming out of the first mounting groove 3102. When it is necessary to adjust the position of the second wheel set 320, the limiting body 3333 can be removed.

[0048] The above are merely exemplary embodiments of the present invention and do not limit the scope of the patent of the present invention. All equivalent structural transformations made using the contents of the present invention specification and drawings under the technical concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of patent protection of the present invention.

Claims

1. A guidewire delivery device for a surgical robot, the surgical robot having a power end, characterized in that, The guidewire pushing device includes: Base; A wire feeding module is disposed on the base and is used for transmission connection with the power end. The wire feeding module has a drive end, which is used to clamp the guide wire and drive the guide wire to move along its own axial direction. A wire-rotating module is located on one side of the wire feeding module along the axial direction of the guide wire. The wire-rotating module has a clamping end for clamping or releasing the guide wire and for being connected to the power end for rotation along the axis of the guide wire.

2. The guide wire pushing device as described in claim 1, characterized in that, The wire feeding module includes: The first support is provided on the base; The first round includes: The first guide wheel is rotatably mounted on the first support, and the first guide wheel is used for transmission connection with the power end; The second guide wheel is movably mounted on the first support to have a first position close to the first guide wheel and a second position far away from the first guide wheel; The first guide wheel and the second guide wheel form the driving end. At the first position, the second guide wheel is connected to the first guide wheel in a driving connection. The first guide wheel and the second guide wheel are used to clamp the guide wire and transport it along the axial direction of the guide wire. At the second position, the first guide wheel and the second guide wheel are disengaged.

3. The guide wire pushing device as described in claim 2, characterized in that, Multiple first wheel sets are provided, and the multiple first wheel sets are spaced apart along the axial direction of the guide wire.

4. The guide wire pushing device as described in claim 3, characterized in that, The plurality of first guide wheels are connected to each other in a driving manner, and the plurality of second guide wheels are connected to each other in a driving manner; and / or, At the first position, the first guide wheel and the second guide wheel engage in transmission.

5. The guide wire pushing device as described in claim 2, characterized in that, The wire feeding module further includes a first adjustment component, which is used to drive the second guide wheel closer to or further away from the first guide wheel.

6. The guide wire pushing device as described in claim 5, characterized in that, The first adjustment component includes: A sliding frame is slidably disposed on the first support along the radial direction of the guide wire, and a second guide wheel is rotatably disposed on the sliding frame. The sliding frame is provided with a first mating part and a second mating part. A handle is rotatably connected to the first support, and a third mating part is provided on the handle; When the handle moves from the first position to the second position, the third mating part abuts against the second mating part to drive the sliding frame away from the first guide wheel; when the handle moves from the second position to the first position, the third mating part abuts against the first mating part to drive the sliding frame to move against the first guide wheel.

7. The guide wire pushing device as described in claim 1, characterized in that, The wire-rotating module includes: The second support is rotatably mounted on the base about the axis of the guide wire; The second wheel assembly has two parts, and the two second wheel assemblies are movably mounted on the second support to have a third position for clamping the guide wire and a fourth position for releasing the guide wire, and the second wheel assembly forms the clamping end; The second adjustment component is mounted on the second support and is connected to the two second wheel sets via a transmission.

8. The guide wire pushing device as described in claim 7, characterized in that, The second adjustment component includes: Sliding members protrude from both sides of the second wheel assembly; An adjusting member is slidably disposed on the second support along the axial direction of the guide wire. The adjusting member has a guide groove that extends obliquely away from the guide wire, and the sliding member is slidably engaged with the guide groove. The driving component is mounted on the second support and is connected to the adjusting component in a transmission manner.

9. The guide wire pushing device as described in claim 8, characterized in that, The driving component includes: The first mating body is disposed on the adjusting member; The second mating body is rotatably mounted on the second support and coaxially arranged with the guide wire. The second mating body is threadedly engaged with the first mating body to drive the first mating body to move along the axial direction of the guide wire.

10. The guide wire pushing device as described in claim 9, characterized in that, The driving component also includes a limiting body, which is movably disposed between the second mating body and the second support and has a locked position and a released position. In the locked position, the second mating body and the second support are fixed, and in the released position, the second mating body and the second support rotate relative to each other.

Images