A dual-instrument collaborative vascular interventional surgery robot slave mechanism

Abstract

The application discloses a kind of double-instrument collaborative vascular intervention surgery robot from end mechanism.From end mechanism includes two clamping mechanisms and two drive mechanisms, wherein one clamping mechanism is used to clamp catheter and drive catheter to rotate around axis;Another clamping mechanism is used to clamp guide wire and drive guide wire to rotate around axis;Drive mechanism is connected with clamping mechanism one by one, and drive mechanism is used to drive clamping mechanism to translate along axis.This application will set drive mechanism to the clamping mechanism of control catheter and the clamping mechanism of control guide wire respectively, so that catheter and guide wire are individually controlled by separate clamping mechanism and drive mechanism, so that the flexibility of catheter and guide wire control is improved, and the limitation is reduced, which can meet the clinical needs of guide wire and catheter collaborative operation, accurate cooperation in complex vascular intervention surgery.

Description

Technical Field

[0001] This application relates to the field of vascular interventional robot technology, and more specifically to a dual-instrument collaborative vascular interventional surgical robot end mechanism. Background Technology

[0002] Interventional vascular surgery is a procedure that uses instruments such as needles, guidewires, and catheters to perform diagnosis and treatment via blood vessels, guided by medical imaging equipment. However, traditional interventional vascular surgeons are exposed to ionizing radiation from X-rays for extended periods, and wearing heavy lead aprons for long periods can damage their skeletal system. Therefore, interventional vascular robots are needed to assist surgeons in performing these procedures.

[0003] Vascular interventional surgical robots typically consist of a master mechanism and a slave mechanism. The surgeon operates in the master mechanism, while the slave mechanism directly controls the movement of the guidewire and catheter. Some interventional surgical robots employ a spring-loaded dual-roller clamping scheme in their slave mechanism. The working principle is as follows: by applying a preset pressure to the springs, the two rollers are driven to move towards the center, using the contact pressure between the rollers and the surfaces of the guidewire and catheter to achieve clamping and fixation. Simultaneously, a motor drives the rollers to rotate synchronously, and the friction between the rollers and the guidewire and catheter propels them forward and backward, thus enabling intravascular interventional procedures. Existing slave mechanisms combine the guidewire and catheter into a single control unit, preventing independent movement and significantly reducing the independence and flexibility of the surgical operation. This presents significant limitations at the mechanical control level, making it difficult to meet the clinical needs for coordinated and precise operation of the guidewire and catheter in complex vascular interventional surgeries. Summary of the Invention

[0004] Based on this, the purpose of this application is to provide a dual-instrument collaborative vascular interventional surgical robot end mechanism to improve the flexibility of catheter and guidewire control.

[0005] Therefore, this application provides a dual-instrument collaborative vascular interventional surgery robot slave mechanism, which includes two clamping mechanisms and two driving mechanisms. One clamping mechanism is used to clamp the catheter and drive the catheter to rotate around the axis; the other clamping mechanism is used to clamp the guidewire and drive the guidewire to rotate around the axis; the driving mechanism is connected to the clamping mechanism in a one-to-one correspondence, and the driving mechanism is used to drive the clamping mechanism to translate along the axis.

[0006] In a feasible embodiment, the driving mechanism includes a sliding seat, a coarse adjustment driving component, and a fine adjustment driving component. The fine adjustment driving component is disposed on the sliding seat. The coarse adjustment driving component is connected to the sliding seat to drive the sliding seat to translate axially. The fine adjustment driving component is connected to the clamping mechanism to fine adjust the axial position of the clamping mechanism.

[0007] In a feasible embodiment, the coarse adjustment drive assembly includes a first motor and a timing belt. The output shaft of the first motor is connected to the slide block via the timing belt, and the first motor drives the slide block to translate axially via the timing belt.

[0008] In a feasible embodiment, the fine-tuning drive assembly includes a second motor and a lead screw. The output shaft of the second motor is connected to the lead screw to drive the lead screw to rotate. The lead screw extends axially, and the nut of the lead screw is fixedly connected to the clamping mechanism to fine-tune the axial position of the clamping mechanism.

[0009] Existing vascular interventional surgical robots rely on separate structures to drive the axial movement and rotation of catheters / guidewires in their end-effector mechanisms, resulting in relatively large axial space requirements and low integration. To improve integration, in feasible embodiments, the clamping mechanism includes clamping members, a central shaft, and a cylindrical rack. The clamping members hold the guidewire / catheter and drive it to rotate axially. The clamping members include two clamping arms and an adjusting screw, which is threaded to the two clamping arms and has a first gear in its center. The central shaft is hollow to allow the guidewire / catheter to pass through, and one end is connected to the clamping members to drive their rotation. The central shaft passes through the cylindrical rack and forms a sliding connection. The cylindrical rack meshes with the first gear, and as the rack moves axially, it drives the adjusting screw to rotate via the first gear, controlling the two clamping arms to move closer or further apart.

[0010] In a feasible embodiment, the clamping member further includes a clamping frame, an adjusting screw and a clamping arm disposed on the clamping frame and the adjusting screw being perpendicular to the axial direction, and one end of the central shaft being fixedly connected to the clamping frame to drive the clamping frame, the adjusting screw and the clamping arm to rotate.

[0011] In a feasible embodiment, the clamping frame is provided with an upward-facing receiving groove, the inner end of the clamping arm is attached to the side wall of the receiving groove, and the lower surface of the clamping arm is attached to the bottom surface of the receiving groove to limit the clamping arm to having only the degree of freedom to translate along the adjusting screw.

[0012] In a feasible embodiment, the clamping mechanism further includes a third motor, which is connected to the central shaft via gear transmission to drive the central shaft to rotate.

[0013] In a feasible embodiment, the clamping mechanism further includes a fourth motor and a second gear. The second gear meshes with a cylindrical rack. The fourth motor is connected to a transmission rod via a worm gear set. The second gear is fixedly connected to the transmission rod and the two rotate synchronously. The fourth motor drives the cylindrical rack to move axially via the second gear.

[0014] In a feasible embodiment, the side of the clamping arm facing the other clamping arm is the clamping surface, and triangular teeth are provided on the clamping surface. The triangular teeth on the two clamping surfaces are symmetrical to each other, and the triangular teeth on both sides are used to clamp the guidewire / catheter together.

[0015] This application provides separate drive mechanisms for the clamping mechanism of the control catheter and the clamping mechanism of the control guidewire. Therefore, the catheter and guidewire are operated separately by separate clamping and drive mechanisms, which improves the flexibility of catheter and guidewire control and reduces limitations. This can meet the clinical needs of coordinated operation and precise cooperation between guidewire and catheter in complex vascular interventional surgery.

[0016] The above description is only an overview of the technical solution of this application. In order to better understand the technical means of this application, it can be implemented according to the contents of the specification. In order to make the above and other objects, features and advantages of this application more obvious and understandable, some embodiments are listed below for detailed description. Attached Figure Description

[0017] Figure 1 This is a perspective view of the slave mechanism of at least one embodiment.

[0018] Figure 2 This is an exploded view of the slave mechanism in at least one embodiment.

[0019] Figure 3 An assembly perspective view of the clamping mechanism for at least one embodiment.

[0020] Figure 4 An exploded view of the clamping mechanism of at least one embodiment.

[0021] Figure 5 This is an orthographic projection of the clamping mechanism according to at least one embodiment.

[0022] The structures shown in the above views have been appropriately scaled down / enlarged to fit the drawing size and ensure clarity, and there is no limitation on the size of the structures shown in the views. Detailed Implementation

[0023] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are all within the scope of protection of this application.

[0024] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. The illustrative expressions of the above terms in this specification should not be construed as necessarily referring to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples. Moreover, those skilled in the art can combine and integrate the different embodiments or examples described in this specification without causing conflict.

[0025] In the description of this application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are used only for the convenience of describing this application 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. Therefore, they should not be construed as limitations on this application.

[0026] Furthermore, the terms "first," "second," "third," and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first," "second," "third," or "fourth" may explicitly or implicitly include one or more of that feature. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0027] In this application, unless otherwise expressly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly below or diagonally below the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] One or more embodiments are a slave mechanism of a dual-instrument collaborative vascular interventional surgery robot. The surgeon operates in the master mechanism, while the slave mechanism receives operation signals from the master mechanism and then controls the catheter and guidewire accordingly to perform vascular interventional surgery. This allows the surgeon to complete vascular interventional surgery in an environment without ionizing radiation.

[0029] like Figure 1 As shown, the end mechanism includes clamping mechanisms 10 and 10' and two drive mechanisms 20 and 20'. In vascular interventional surgery, typically only the catheter 91 and guidewire 92 are manipulated. Therefore, one clamping mechanism 10 is used to clamp the catheter 91 and rotate it around the X-axis, while the other clamping mechanism 10' is used to clamp the guidewire 92 and rotate it around the X-axis. The drive mechanisms 20 are connected one-to-one with the clamping mechanisms 10; that is, one drive mechanism 20 is connected to the clamping mechanism 10 for controlling the catheter 91, and the other drive mechanism 20' is connected to the clamping mechanism 10' for controlling the guidewire 92. The drive mechanism 20 drives the clamping mechanism 10 to translate along the X-axis. Therefore, one drive mechanism 20 can drive the catheter 91 to translate along the X-axis through the clamping mechanism 10, and the other drive mechanism 20' can drive the guidewire 92 to translate along the X-axis through the clamping mechanism 10'. The drive mechanisms 20 and 20' are independent of each other, and the clamping mechanisms 10 and 10' are also independent of each other.

[0030] exist Figure 1 In the diagram, the axial direction X is the length direction of the guidewire 92 and the catheter 91.

[0031] Therefore, the end mechanism will set drive mechanisms 20 and 20' for the clamping mechanism 10 of the control catheter 91 and the clamping mechanism 10' of the control guidewire 92, respectively. Thus, the catheter 91 and the guidewire 92 are individually controlled by separate clamping mechanisms 10 and 10' and drive mechanisms 20 and 20', thereby improving the flexibility of control over the catheter 91 and guidewire 92 and reducing limitations. This can meet the clinical needs of coordinated operation and precise cooperation between guidewire 92 and catheter 91 in complex vascular interventional surgery.

[0032] Drive mechanisms 20 and 20' are the power sources that drive the axial translation and delivery of the catheter 91 and guidewire 92. Drive mechanisms 20 and 20' must have both a large-stroke, rapid translation and delivery capability and a small-stroke, fine-tuning function. Since drive mechanisms 20 and 20' have the same structure, drive mechanism 20 will be used as an example in the following description. In the following description, drive mechanism 20 drives clamping mechanism 10 to ultimately control the linear movement of catheter 91. When implementing drive mechanism 20', those skilled in the art can replace the catheter 91 controlled by drive mechanism 20 in the following description with the guidewire 92 controlled by drive mechanism 20'.

[0033] In at least one embodiment, such as Figure 2 As shown, the drive mechanism 20 includes a sliding seat 22, a coarse adjustment drive assembly 21, and a fine adjustment drive assembly 23. The fine adjustment drive assembly 23 is mounted on the sliding seat 22, and the coarse adjustment drive assembly 21 is connected to the sliding seat 22 to drive the sliding seat 22 to translate axially. The fine adjustment drive assembly 23 is connected to the clamping mechanism 10 to fine-tune the axial position of the clamping mechanism 10. The coarse adjustment drive assembly 21 is used to drive the sliding seat 22, the fine adjustment drive assembly 23, and the clamping mechanism 10 to move axially rapidly with a large stroke, facilitating the high-speed linear delivery of the catheter 91 in a straight, unobstructed manner, thus improving surgical efficiency. The fine adjustment drive assembly 23 is used to drive the clamping mechanism 10 to move axially with a small distance, low speed, and greater stability, facilitating the gradual delivery of the catheter 91 in narrow, easily obstructed locations or locations requiring high-precision control through fine adjustments, improving operational accuracy, reducing damage to blood vessels by the catheter 91, and meeting various operational needs of vascular interventional surgery.

[0034] The coarse adjustment drive assembly 21 employs a linear transmission structure with relatively high speed and general motion accuracy. In at least one embodiment, such as Figure 2 As shown, the coarse adjustment drive assembly 21 employs a synchronous belt drive mechanism. Specifically, the coarse adjustment drive assembly 21 includes a first motor 211 and a synchronous belt 213. The first motor 211 is a stepper motor. A synchronous pulley 212 is fixed to the output shaft of the first motor 211. The synchronous pulley 212 is connected to the synchronous belt 213 for transmission. The middle section of the synchronous belt 213 is fixedly connected to the sliding seat 22 by means of screws or other methods. The other end of the synchronous belt 213 passes over another synchronous pulley 214. When the first motor 211 rotates, it drives the sliding seat 22 to move axially at a relatively fast speed through the synchronous belt 213. This is suitable for coarse adjustment of the axial position of the conduit 91. Moreover, the synchronous belt 213 has a certain degree of flexibility, which can reduce the impact that may be generated by rapid large-stroke movement.

[0035] The fine-tuning drive assembly 23 employs a linear transmission mechanism with low speed and high motion accuracy. In at least one embodiment, such as Figure 2 As shown, the fine-tuning drive assembly 23 includes a second motor 231 and a lead screw 232. The second motor 231 is a stepper motor, and the lead screw 232 extends axially, passing through a nut 233 and forming a transmission connection with it. Therefore, when the lead screw 232 rotates, the nut 233 moves linearly along the axial direction. The output shaft of the second motor 231 is coaxially connected to the lead screw 232 to drive the lead screw 232 to rotate. The nut 233 of the lead screw 232 is fixedly connected to the clamping mechanism 10. Therefore, when the second motor 231 rotates, the lead screw 232 rotates, and the nut 233 moves linearly to fine-tune the axial position of the clamping mechanism 10.

[0036] like Figure 2As shown, the drive mechanisms 20 and 20' have the same structure and are symmetrically arranged. They can simultaneously control the opposite, opposite, or same-direction movement of the catheter 91 and guidewire 92, respectively. The control flexibility is relatively high, which is beneficial to meeting the operational needs of vascular interventional surgery.

[0037] like Figure 2 As shown, the sliding seats 22 of the drive mechanisms 20 and 20' are respectively slidably connected to the same slide rail 25. The slide rail 25 is mounted on a base 24, while the first motor 211 is fixed on the side wall of the base 24. The synchronous belt 213, synchronous pulley 212, and synchronous pulley 214 are located inside the base 24.

[0038] Clamping mechanisms 10 and 10' can be used to clamp the catheter 91 or guidewire 92, and can drive the catheter 91 or guidewire 92 to rotate around the axial direction to realize the rotational delivery operation of the catheter 91 and guidewire 92. Therefore, clamping mechanisms 10 and 10' need to have clamping and rotation functions. Since clamping mechanisms 10 and 10' have the same structure, clamping mechanism 10 will be used as an example in the following description. In the following description, clamping mechanism 10 is used to clamp and rotate catheter 91. When implementing clamping mechanism 10', those skilled in the art can replace the catheter 91 controlled by clamping mechanism 10 in the following description with the guidewire 92 controlled by clamping mechanism 10'.

[0039] In at least one embodiment, combined Figure 3 and Figure 4 As shown, the clamping mechanism 10 includes a clamping member 11, a central shaft 12, and a cylindrical rack 13. The clamping member 11 is used to clamp the conduit 91 and drive the conduit 91 to rotate about its axial direction. The clamping member 11 is rotatably connected to a fixed frame 14, and the clamping member 11 can rotate relative to the fixed frame 14. Figure 2 As shown, the lower part of the fixed frame 14 is fixedly connected to the nut 233 of the lead screw 232, so the fixed frame 14 plays a connecting and supporting role.

[0040] Combination Figure 3 and Figure 4 As shown, the clamping member 11 includes two clamping arms 33 and an adjusting screw 31. The adjusting screw 31 is threadedly connected to the two clamping arms 33. Specifically, the external thread of the adjusting screw 31 is divided into two sections with opposite directions of rotation. The two clamping arms 33 are respectively connected to the two external threads and are symmetrical to each other. When the adjusting screw 31 rotates, the two clamping arms 33 move closer or further apart. When the two clamping arms 33 gradually move closer, they jointly clamp the conduit 91. When the two clamping arms 33 gradually move further apart, they release the clamp on the conduit 91. If the conduit 91 is not yet inserted, it can be inserted into the clamping mechanism 10.

[0041] Combination Figure 3 and Figure 4 As shown, a first gear 32 is provided in the middle of the adjusting screw 31, and the first gear 32 rotates synchronously and coaxially with the adjusting screw 31. When the first gear 32 rotates, it can drive the adjusting screw 31 to rotate, thereby adjusting the distance between the two clamping arms 33. In implementation, the middle part of the adjusting screw 31 is connected to the first gear 32 by means of key connection, spline connection, keyless connection or pin connection, etc. Alternatively, the adjusting screw 31 and the first gear 32 are integrally formed.

[0042] Combination Figure 3 and Figure 4 As shown, the cylindrical rack 13 differs from a conventional rack. Conventional racks have straight teeth and a generally quadrilateral cross-section, while the cylindrical rack 13 has a circular cross-section with several annular teeth evenly distributed along the axial direction. The cylindrical rack 13 only provides a driving function when it translates axially. Furthermore, even if an external force causes the cylindrical rack 13 to rotate around its axial direction, it will not drive the first gear 32 to rotate. (Combined with...) Figure 3 and Figure 4 As shown, the cylindrical rack 13 meshes with the first gear 32. When the cylindrical rack 13 is driven to move axially, it drives the adjusting screw 31 to rotate via the first gear 32, thereby controlling the two clamping arms 33 to move closer or further apart. Furthermore, the cylindrical rack 13 passes through the fixed frame 14 and partially inserts into the clamping member 11. The cylindrical rack 13 does not contact the wall of the fixed frame 14, avoiding unavoidable frictional resistance that could cause errors in the operation of the guide tube 91.

[0043] The central shaft 12 serves both as a transmission component and as a through-pass for the conduit 91. (Combined) Figure 3 and Figure 4 As shown, the central shaft 12 is hollow to allow the conduit 91 to pass through. That is, the central shaft 12 has an axial inner hole, the same length as the central shaft 12. The inner diameter of the axial inner hole should not be less than the outer diameter of the conduit 91 to avoid obstructing the delivery of the conduit 91 and causing a decrease in operational accuracy. Furthermore, one end of the central shaft 12 is connected to the clamping member 11 to drive the clamping member 11 to rotate. In implementation, the central shaft 12 passes through the side wall of the fixed frame 14 and inserts into the clamping member 11, with the outer end of the central shaft 12 fixedly connected to the side of the clamping member 11 away from the fixed frame 14. The outer end of the central shaft 12 can achieve synchronous rotation with the clamping member 11 through conventional methods such as screw connection, tight fit connection, welding, key connection, or pin connection.

[0044] Combination Figure 3 and Figure 4As shown, the central shaft 12 passes through the cylindrical rack 13 and forms a sliding connection. Therefore, the central shaft 12 plays the role of supporting the cylindrical rack 13. Moreover, the rotation of the central shaft 12 is not hindered by the cylindrical rack 13, and the axial translation of the cylindrical rack 13 is not hindered by the central shaft 12. Through this integrated structure, the rotational motion and translational motion are independently transmitted without affecting each other, and the space occupied is also reduced.

[0045] The clamping member 11 requires a component that supports the adjusting screw 31, the clamping arm 33, and connects to the central shaft 12. In at least one embodiment, combined with Figure 3 and Figure 4 As shown, the clamping member 11 also includes a clamping frame 34. One end of the clamping frame 34 has a cylinder 344 coaxial with the central axis 12. The cylinder 344 is inserted into an annular groove 141 in the side wall of the fixed frame 14, allowing the clamping frame 34 and the fixed frame 14 to form a rotatable connection, with the rotation axis being the central axis of the cylinder 344. The central axis 12 passes through the cylinder 344 of the clamping frame 34, and one end of the central axis 12 is fixedly connected to the other side 345 of the clamping frame 34 relative to the cylinder 344, thereby driving the clamping frame 34, the adjusting screw 31, and the clamping arm 33 to rotate. One side of the clamping frame 34 is supported by the fixed frame 14, and the other side 345 is supported by the central axis 12, achieving stable support for the clamping frame 34.

[0046] Combination Figure 3 and Figure 4 As shown, the adjusting screw 31 and clamping arms 33 are mounted on the clamping frame 34. The two ends of the adjusting screw 31 are rotatably connected to the two side walls of the clamping frame 34, allowing the adjusting screw 31 to rotate around its own axis. The adjusting screw 31 is perpendicular to the axial direction of the central shaft 12. When the clamping frame 34 rotates, the angle between the adjusting screw 31 and the axial direction of the central shaft 12 remains at ninety degrees, and the distances between the two clamping arms 33 and the axial direction of the central shaft 12 remain equal.

[0047] like Figure 4 As shown, the cylindrical rack 13 extends out from the side wall of the fixed frame 14. The cylindrical rack 13 is supported by the central shaft 12 and does not contact the fixed frame 14 or the clamping frame 34, which helps to reduce the resistance to translation of the cylindrical rack 13.

[0048] Combination Figure 3 and Figure 4As shown, in at least one embodiment, the clamping frame 34 is provided with an upward-facing receiving groove 341, which is used to accommodate the clamping arm 33, the first gear 32, the adjusting screw 31, and part of the cylindrical rack 13. The inner end 331 of the clamping arm 33 is attached to the side wall 342 of the receiving groove 341, and the lower surface 332 of the clamping arm 33 is attached to the bottom surface 343 of the receiving groove 341, so as to restrict the clamping arm 33 to only have the degree of freedom of translation along the adjusting screw 31, so that the clamping arm 33 cannot rotate with the adjusting screw 31, thus ensuring the effective realization of controlling the clamping arm 33 to move closer or further away.

[0049] Combination Figure 3 and Figure 4 As shown, in at least one embodiment, the clamping mechanism 10 further includes a third motor 35, which is fixed inside the fixing frame 14. The third motor 35 is connected to the central shaft 12 via a reduction gear set 36 to drive the central shaft 12 to rotate. The third motor 34 may be a stepper motor.

[0050] Combination Figure 3 and Figure 4 As shown, in at least one embodiment, the clamping mechanism 10 further includes a fourth motor 37 and a second gear 39. The fourth motor 37 is a stepper motor. Both the fourth motor 37 and the second gear 39 are located inside the fixed frame 14. The fourth motor 37 is arranged side by side with the third motor 35. The fourth motor 37 is connected to a transmission rod 40 via a worm gear set 38. The second gear 39 is fixedly connected to the transmission rod 40, and the two rotate synchronously, resulting in the second gear 39 having a lower speed and a higher torque. Moreover, the second gear 39 meshes with the cylindrical rack 13, and the axis of the second gear 39 is perpendicular to the axis of the cylindrical rack 13. Therefore, the fourth motor 37 drives the cylindrical rack 13 to move axially through the second gear 39, thereby driving the first gear 32 and the adjusting screw 31 to rotate, ultimately realizing the mutual approach or distance of the two clamping arms 33. In this structure, the worm gear set 38 has self-locking properties, which prevents the cylindrical rack 13 from moving in the opposite direction. This achieves self-locking of the first gear 32 and the adjusting screw 31, thereby improving the clamping stability of the clamping arm 33.

[0051] like Figure 5 As shown, in at least one embodiment, the side of the clamping arm 33 facing the other clamping arm 33 is the clamping surface 333. The clamping surface 333 is located on both sides of the conduit 91 and is in front of the clamping frame 34. Triangular teeth 334 are laid on the clamping surface 333. The triangular teeth 334 on the two clamping surfaces 333 are symmetrical to each other. The triangular teeth 334 on both sides are used to jointly clamp the conduit 91, which increases the force-bearing area of ​​the conduit 91, disperses the force points, provides better protection for the conduit 91, and reduces the wear of the conduit 91.

[0052] Therefore, clamping mechanisms 10 and 10' use the central shaft 12 to transmit rotational motion to achieve the rotation of clamping arms 33, and use a cylindrical rack 13 coaxial with the central shaft 12 to perform axial translation to control the rotation of the adjusting screw 31, so as to achieve the clamping or opening of the catheter 91 / guidewire 92 by the clamping arms 33. The integration of clamping mechanism 10 is improved, the volume occupied by the structure is reduced, and it is beneficial to the flexible arrangement of other components of the product. In addition, no matter how the clamping arms 33, adjusting screw 31, and first gear 32 rotate around the central shaft 12, the meshing between the cylindrical rack 13 and the first gear 32 can remain unchanged. This means that when rotated to any angle, the cylindrical rack 13 can drive the first gear 32 to rotate to adjust the distance between the two clamping arms 33. The clamping mechanisms 10 and 10' can achieve the clamping or opening of the catheter 91 and guidewire 92 when rotated to any angle, so as to meet the diverse operational needs of vascular interventional surgery.

[0053] The contents not described in detail in this specification are existing technologies known to those skilled in the art. For example, the data instruction transmission between the slave mechanism and the master mechanism, and the methods and instructions for controlling the first motor 211, the second motor 231, the third motor 35, and the fourth motor 37 are all conventional technical means in this field and will not be described in detail here.

[0054] The slave mechanism of this application has the following technical advantages:

[0055] (1) The end mechanism of this application separates the control components of the guidewire from the control components of the catheter, realizing independent control of the movement of the catheter and the guidewire, which helps to improve the stability and accuracy of operation under complex vascular pathways; (2) The slave mechanism of this application is equipped with coarse adjustment and fine adjustment dual-stage drive. In the early stage of vascular interventional surgery, the coarse adjustment drive component completes a large-range rapid displacement, shortening the adjustment time. After approaching the target of the vascular lesion, the fine adjustment drive component is switched to achieve a stable micro-feed. This effectively reduces the surgical time cost, ensures high operation precision, and significantly improves the overall efficiency of vascular interventional surgery. (3) The end mechanism of this application adopts an integrated design of rotation and clamping. The clamping mechanism is driven to reciprocate through a screw. The clamping mechanism can clamp and rotate the catheter / guidewire, which highly replicates the actual operation of the clinician pushing, withdrawing and rotating the guidewire / catheter by hand. The device has a high degree of integration and fits the operation logic of the doctor's hands, effectively improving the operation flexibility and work efficiency of vascular interventional surgery. (4) The clamping mechanism of this application relies on a multi-stage linkage transmission structure such as worm gear set, reduction gear set, meshing transmission of cylindrical rack-first gear, and threaded transmission of adjusting screw-clamping arm to realize the integrated function of rotation and clamping. The overall transmission layout is compact and reasonable, the mechanical structure is simple and reliable, the control logic is clear and simple, and the number of motors used is effectively reduced. Under the premise of ensuring motion performance, the hardware cost is reduced and the cost performance of the device is improved. (5) The operation logic of the slave mechanism of this application is intuitive and easy to learn, which makes it easy for medical staff to quickly become familiar with the operation process and complete the adaptation and use, effectively reducing the clinical training cycle and learning cost, lowering the threshold for medical application, and laying a good foundation for the subsequent clinical promotion and practical application of the device.

[0056] The above examples are merely illustrative of the technical content of this application to facilitate reader understanding, but do not imply that the implementation methods of this application are limited to these. Any technical extensions or re-creations made based on this application are protected by this application. The scope of protection of this application is determined by the claims.

Claims

1. A slave mechanism for a dual-instrument collaborative vascular interventional surgical robot, characterized in that, It includes: Two clamping mechanisms, one of which is used to clamp the catheter and drive the catheter to rotate about the axis; the other clamping mechanism is used to clamp the guidewire and drive the guidewire to rotate about the axis. Two drive mechanisms are connected to the clamping mechanism in a one-to-one correspondence. The drive mechanism is used to drive the clamping mechanism to translate along the axial direction.

2. The slave mechanism of the dual-instrument collaborative vascular interventional surgical robot as described in claim 1, characterized in that, The driving mechanism includes a sliding seat, a coarse adjustment driving component, and a fine adjustment driving component. The fine adjustment driving component is disposed on the sliding seat. The coarse adjustment driving component is connected to the sliding seat to drive the sliding seat to translate axially. The fine adjustment driving component is connected to the clamping mechanism to fine adjust the axial position of the clamping mechanism.

3. The slave mechanism of the dual-instrument collaborative vascular interventional surgery robot as described in claim 2, characterized in that, The coarse adjustment drive assembly includes a first motor and a synchronous belt. The output shaft of the first motor is connected to the sliding seat via the synchronous belt, and the first motor drives the sliding seat to translate axially via the synchronous belt.

4. The slave mechanism of the dual-instrument collaborative vascular interventional surgical robot as described in claim 2, characterized in that, The fine-tuning drive assembly includes a second motor and a lead screw. The output shaft of the second motor is connected to the lead screw to drive the lead screw to rotate. The lead screw extends axially, and the nut of the lead screw is fixedly connected to the clamping mechanism to fine-tune the axial position of the clamping mechanism.

5. The slave mechanism of the dual-instrument collaborative vascular interventional surgical robot as described in claim 1, characterized in that, The clamping mechanism includes: A clamping member is used to clamp a guidewire / conduit and drive the guidewire / conduit to rotate around the axial direction; the clamping member includes two clamping arms and an adjusting screw, the adjusting screw is threadedly connected to the two clamping arms, and a first gear is provided in the middle of the adjusting screw; A central shaft, which is hollow to allow a guidewire / catheter to pass through, and one end of the central shaft is connected to a clamping member to drive the clamping member to rotate; A cylindrical rack, the central shaft passes through the cylindrical rack and forms a sliding connection, the cylindrical rack meshes with the first gear, and when the cylindrical rack moves axially, the first gear drives the adjusting screw to rotate to control the two clamping arms to move closer or further apart.

6. The slave mechanism of the dual-instrument collaborative vascular interventional surgical robot as described in claim 5, characterized in that, The clamping component also includes a clamping frame, the adjusting screw and the clamping arm are disposed on the clamping frame and the adjusting screw is perpendicular to the axial direction, and one end of the central shaft is fixedly connected to the clamping frame to drive the clamping frame, the adjusting screw and the clamping arm to rotate.

7. The slave mechanism of the dual-instrument collaborative vascular interventional surgical robot as described in claim 6, characterized in that, The clamping frame has an upward-facing receiving groove, the inner end of the clamping arm is attached to the side wall of the receiving groove, and the lower surface of the clamping arm is attached to the bottom surface of the receiving groove to limit the clamping arm to having only the degree of freedom to translate along the adjusting screw.

8. The slave mechanism of the dual-instrument collaborative vascular interventional surgical robot as described in claim 5, characterized in that, The clamping mechanism also includes a third motor, which is connected to the central shaft via gear transmission to drive the central shaft to rotate.

9. The slave mechanism of the dual-instrument collaborative vascular interventional surgical robot as described in claim 5, characterized in that, The clamping mechanism further includes a fourth motor and a second gear. The second gear meshes with a cylindrical rack. The fourth motor is connected to a transmission rod via a worm gear set. The second gear is fixedly connected to the transmission rod and the two rotate synchronously. The fourth motor drives the cylindrical rack to move axially via the second gear.

10. The slave mechanism of the dual-instrument collaborative vascular interventional surgical robot as described in claim 5, characterized in that, The side of the clamping arm facing the other clamping arm is the clamping surface. The clamping surface is provided with triangular teeth. The triangular teeth on the two clamping surfaces are symmetrical to each other. The triangular teeth on both sides are used to clamp the guidewire / catheter together.

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