Wire feeding module and interventional operation robot

Abstract

The utility model provides a wire feeding module and an interventional operation robot. The wire feeding module comprises a support, a first guide seat, a pushing mechanism and a clamping mechanism, wherein the first guide seat is used for guiding a catheter or a guide wire to move; the pushing mechanism is used for conveying the catheter or the guide wire; the first guide seat, the pushing mechanism and the clamping mechanism are sequentially arranged on the support and detachably connected with the support. According to the wire feeding module, the first guide seat, the pushing mechanism, the clamping mechanism and other structures which are in direct contact with a catheter or a guide wire are designed to be detachable, so that the first guide seat, the pushing mechanism and the clamping mechanism can be detached and replaced after an operation is completed, the whole wire feeding module is prevented from being replaced, and cost is saved; and the detached first guide seat, the pushing mechanism and the clamping mechanism can be selectively abandoned or disinfected.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, in particular to a wire feeding module and an interventional surgery robot. Background Art

[0002] An interventional surgical robot is a surgical device that can be remotely controlled. Multiple wire feeding modules are arranged in sequence along a certain direction on the interventional surgical robot. Each wire feeding module delivers the catheter and guide wire to the patient's designated position, thereby improving the success rate of the operation.

[0003] Since part of the structure of the wire feeding module needs to contact the catheter and guide wire, it will be contaminated with the patient's blood during each operation. The structure of the wire feeding module is relatively complex, and the structure in contact with the catheter and guide wire is difficult to disinfect. However, if the wire feeding module is replaced directly, the cost will be high. Utility Model Content

[0004] The purpose of the utility model is to overcome the shortcomings and deficiencies in the prior art and to provide a wire feeding module and an interventional surgery robot.

[0005] One embodiment of the utility model provides a wire feeding module, comprising: a bracket, a first guide seat for guiding the movement of a catheter or a guide wire, a pushing mechanism for conveying the catheter or the guide wire, and a clamping mechanism for clamping the catheter or the guide wire;

[0006] The first guide seat, the pushing mechanism and the clamping mechanism are arranged on the bracket in sequence and are detachably connected to the bracket.

[0007] Compared with the prior art, in the wire feeding module of the utility model, the first guide seat, pushing mechanism and clamping mechanism that are in direct contact with the catheter or guide wire are designed to be detachable, so that the first guide seat, pushing mechanism and clamping mechanism can be disassembled and replaced after the operation is completed, avoiding the replacement of the wire feeding module as a whole, saving costs; the disassembled first guide seat, pushing mechanism and clamping mechanism can be discarded, or the disassembled first guide seat, pushing mechanism and clamping mechanism can be disinfected and then recycled, because it is more convenient to disinfect after disassembly, which is conducive to improving the disinfection efficiency. In addition, the open structure of the first guide seat, pushing mechanism and clamping mechanism is convenient for operation. When installing the catheter or guide wire, there is no need to perform the catheter or guide wire perforation action first, but directly put the pre-assembled catheter or guide wire and its catheter sheath into the first guide seat, pushing mechanism and clamping mechanism respectively.

[0008] In some optional embodiments, a rotation adjustment seat is detachably provided on the bracket, the rotation adjustment seat is rotationally matched with the bracket, and the first guide seat and the pushing mechanism are detachably provided on the rotation adjustment seat.

[0009] In some optional embodiments, a plurality of first limit members and a plurality of second limit members are detachably provided on the bracket, and bearings are provided on the first limit members and the second limit members. A guide portion extending along the rotation axis of the rotation adjustment seat is provided on the rotation adjustment seat, and the guide portion extends between the bearing of the first limit member and the bearing of the second limit member. When the rotation adjustment seat rotates relative to the bracket, the guide portion moves between the bearing of the first limit member and the bearing of the second limit member.

[0010] In some optional embodiments, the first guide seat and / or the pushing mechanism and / or the clamping mechanism are detachably connected to the bracket via a plurality of threaded locking members.

[0011] In some optional embodiments, the pushing mechanism includes a first pinching wheel, a second pinching wheel and a rotation driving assembly, the first pinching wheel and the second pinching wheel are detachably arranged on the bracket, a pinching gap is formed between the first pinching wheel and the second pinching wheel, and the rotation driving assembly is transmission-connected to the first pinching wheel and / or the second pinching wheel.

[0012] In some optional embodiments, a second guide seat is arranged on a side of the first guide seat away from the pushing mechanism and / or between the pushing mechanism and the clamping mechanism, the second guide seat is detachably connected to the bracket and is used to guide the movement of the catheter or guide wire, and a clamping part is rotatably arranged on the second guide seat, and the clamping part rotates in a direction approaching or away from the second guide seat.

[0013] In some optional embodiments, the second guide seat is detachably connected to the bracket via a plurality of threaded locking members.

[0014] In some optional embodiments, the clamping mechanism includes an upper clamping plate and a lower clamping plate, the upper clamping plate is liftably disposed on the lower clamping plate, and the lower clamping plate is detachably connected to the bracket.

[0015] In some optional embodiments, a driving member including a guide column is provided on the bracket, and the guide column is slidably matched with the driving member fixed on the bracket, and the clamping mechanism includes a first side clamp and a second side clamp, and the second side clamp is detachably connected to the bracket, and the second side clamp is detachably connected to the guide column, and the guide column is moved relative to the first side clamp by starting the driving member so that the first side clamp and the second side clamp are clamped and matched.

[0016] Another embodiment of the utility model provides an interventional surgical robot, comprising: a plurality of wire feeding modules as described above.

[0017] In order to more clearly understand the present invention, the specific implementation of the present invention will be described below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of a wire feeding module according to an embodiment of the utility model;

[0019] Figure 2 It is a structural schematic diagram of a wire feeding module according to an embodiment of the utility model;

[0020] Figure 3 This is an exploded view of a wire feeding module of an embodiment of the utility model when a part of the structure is hidden;

[0021] Figure 4 It is an exploded view of a bracket and a clamping mechanism according to an embodiment of the utility model.

[0022] Description of reference numerals:

[0023] 10. Bracket; 11. Rotary adjustment seat; 111. Guide part; 12. First limit piece; 13. Second limit piece; 14. Bearing; 15. Guide column; 20. First guide seat; 30. Pushing mechanism; 31. First pinching wheel; 32. Second pinching wheel; 33. Rotary drive assembly; 40. Clamping mechanism; 41. Upper clamping plate; 42. Lower clamping plate; 43. First side clamping plate; 44. Second side clamping plate; 50. Second guide seat; 51. Pressing part. DETAILED DESCRIPTION

[0024] The following will clearly and completely describe the technical solutions in the embodiments of the utility model in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model. In the description of the utility model, unless otherwise specified, "multiple" means 2 or more, and "several" means 1 or more. In addition, unless otherwise specified, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated.

[0025] See also Figure 1 and Figure 2 , Figure 1 This is a schematic diagram of the structure of a wire feeding module according to an embodiment of the utility model. Figure 2It is a structural schematic diagram of a wire feeding module of an embodiment of the utility model, which includes: a bracket 10, a first guide seat 20 for guiding the movement of a catheter or a guide wire, a pushing mechanism 30 for conveying the catheter or the guide wire, and a clamping mechanism 40 for clamping the catheter or the guide wire.

[0026] The first guide seat 20, the pushing mechanism 30 and the clamping mechanism 40 are sequentially arranged on the bracket 10 and are detachably connected to the bracket 10. The first guide seat 20, the pushing mechanism 30 and the clamping mechanism 40 are directly in contact with the catheter or the guide wire, so the first guide seat 20, the pushing mechanism 30 and the clamping mechanism 40 are designed to be detachable, so that the first guide seat 20, the pushing mechanism 30 and the clamping mechanism 40 can be disassembled and replaced after the operation is completed, avoiding the replacement of the wire feeding module as a whole, saving costs; the disassembled first guide seat 20, the pushing mechanism 30 and the clamping mechanism 40 can be discarded, or the disassembled first guide seat 20, the pushing mechanism 30 and the clamping mechanism 40 can be disinfected and then recycled, because it is more convenient to disinfect after disassembly, which is conducive to improving the disinfection efficiency. In addition, the open structure of the first guide seat 20, the pushing mechanism 30 and the clamping mechanism 40 is convenient for operation. When installing the catheter or the guide wire, there is no need to first perform a catheter or guide wire perforation operation. Instead, the pre-assembled catheter or guide wire and its catheter sheath can be directly placed into the first guide seat 20, the pushing mechanism 30 and the clamping mechanism 40 respectively.

[0027] See also Figure 3 , which is an exploded view of a wire feeding module of an embodiment of the utility model when part of the structure is hidden. In some optional embodiments, a rotating adjustment seat 11 is detachably provided on the bracket 10, and the rotating adjustment seat 11 is rotatably matched with the bracket 10. The rotating adjustment seat 11 can be rotated relative to the bracket 10 to adjust the angle. The first guide seat 20 and the pushing mechanism 30 are detachably provided on the rotating adjustment seat 11, and by removing the rotating adjustment seat 11 as a whole from the bracket 10, it is convenient to disassemble and assemble the first guide seat 20 and the pushing mechanism 30; after completing the disassembly and assembly of the pushing mechanism 30, the rotating adjustment seat 11 can be installed back on the bracket 10.

[0028] The installation method of the rotation adjustment seat 11 can be designed according to actual needs, and the rotation adjustment seat 11 can be detachably connected to the bracket 10 through a threaded structure and a snap-on structure. In this embodiment, a plurality of first limit members 12 and a plurality of second limit members 13 are detachably provided on the bracket 10, and a bearing 14 is provided on each of the first limit member 12 and the second limit member 13. A guide portion 111 extending along the rotation axis of the rotation adjustment seat 11 is provided on the rotation adjustment seat 11, and the guide portion 111 extends between the bearing 14 of the first limit member 12 and the bearing 14 of the second limit member 13. When the rotation adjustment seat 11 rotates relative to the bracket 10, the guide portion 111 moves between the bearing 14 of the first limit member 12 and the bearing 14 of the second limit member 13. In this embodiment, the first limit member 12 and the second limit member 13 are both bolts, but this example is not limited.

[0029] In some optional embodiments, a second guide seat 50 is provided on a side of the first guide seat 20 away from the pushing mechanism 30 and / or between the pushing mechanism 30 and the clamping mechanism 40. In this embodiment, the second guide seat 50 is provided on a side of the first guide seat 20 away from the pushing mechanism 30 and between the pushing mechanism 30 and the clamping mechanism 40 as an example for description. The second guide seat 50 is detachably connected to the bracket 10 and is used to guide the movement of the catheter or the guide wire. A pressing portion 51 is rotatably provided on the second guide seat 50. The pressing portion 51 rotates in a direction close to or away from the second guide seat 50, and the catheter or the guide wire is pressed on the second guide seat 50 by the pressing portion 51 to prevent the catheter or the guide wire from being offset.

[0030] In some optional embodiments, the first guide seat and / or the pushing mechanism 30 and / or the clamping mechanism 40 are detachably connected to the bracket 10 through a plurality of threaded locking members. In this embodiment, the first guide seat and the pushing mechanism 30 are connected to the rotation adjustment seat 11 through a plurality of bolts, and the second guide seat 50 and the clamping mechanism 40 are connected to the bracket 10 through a plurality of bolts. Of course, the detachable manner of the first guide seat, the pushing mechanism 30, the second guide seat 50 and the clamping mechanism 40 is not limited thereto, and those skilled in the art may also select other suitable structures according to the teachings of the present utility model, and the first guide seat, the pushing mechanism 30 and the clamping mechanism 40 may also be installed and fixed to the bracket 10 using a snap-fit ​​structure or a magnetic structure.

[0031] The specific structure of the first guide seat 20 and the second guide seat 50 can be designed according to actual needs. For example, a first guide groove for guiding the movement of the catheter or the guide wire can be provided on the first guide seat 20, and a second guide groove for guiding the movement of the catheter or the guide wire can be provided on the second guide seat 50. Of course, other structures for guiding the movement of the catheter or the guide wire can also be provided on the guide seat.

[0032] In some optional embodiments, the push mechanism 30 includes a first pinch wheel 31, a second pinch wheel 32 and a rotation drive assembly 33, the first pinch wheel 31 and the second pinch wheel 32 are detachably arranged on the bracket 10, a pinch gap is formed between the first pinch wheel 31 and the second pinch wheel 32, and the rotation drive assembly 33 is transmission-connected with the first pinch wheel 31 and / or the second pinch wheel 32. In this embodiment, the rotation drive assembly 33 is transmission-connected with the first pinch wheel 31. The first pinch wheel 31 and the second pinch wheel 32 clamp the catheter or the guide wire, push the catheter or the guide wire by friction, and then complete the delivery of the catheter or the guide wire. Since only the first pinch wheel 31 and the second pinch wheel 32 of the push mechanism 30 are in contact with the catheter or the guide wire, the first pinch wheel 31 and the second pinch wheel 32 can be disassembled. Among them, the first pinch wheel 31 and the second pinch wheel 32 can be detachably connected to the base through a rotating shaft screw or other threaded structure. In addition, the structure of the wire feeding module is not limited to this, and those skilled in the art can also select other suitable structures according to the teachings of the present invention.

[0033] In some optional embodiments, a receiving groove is provided on the bracket 10, and the first guide seat 20 is provided in the receiving groove, and positioning parts are respectively provided on both sides thereof, and the two positioning parts abut against the two sides of the receiving groove, and the positioning parts can pre-position the first guide seat 20, so as to facilitate the installation of the first guide seat 20 and improve the stability of the first guide seat 20. In this embodiment, the pushing mechanism 30 is also provided in the receiving groove.

[0034] See also Figure 4, which is an exploded view of a bracket and a clamping mechanism of an embodiment of the utility model. The specific structure of the clamping mechanism 40 can be designed according to actual needs. For example, in some optional embodiments, the clamping mechanism 40 includes an upper clamping plate 41 and a lower clamping plate 42. The upper clamping plate 41 can be lifted and lowered on the lower clamping plate 42. The upper clamping plate 41 and the lower clamping plate 42 cooperate to clamp the catheter or the guide wire, so as to avoid the catheter or the guide wire from shifting up and down. The lower clamping plate 42 is detachably connected to the bracket 10. The lower clamping plate 42 and the bracket 10 can be detachably connected through a threaded structure or a buckle structure; in this embodiment, the lower clamping plate 42 is threadedly connected to the bracket 10 through a plurality of threaded locking members, and the upper clamping plate 41 is slidably connected to the lower clamping plate 42 through a guide rod. Alternatively, in some optional embodiments, a driving member including a guide post 15 is provided on the bracket 10, and the guide post 15 is slidably matched with the driving member fixed on the bracket 10, and the clamping mechanism 40 includes a first side clamping plate 43 and a second side clamping plate 44, the second side clamping plate 44 is detachably connected to the bracket 10, and the second side clamping plate 44 is detachably connected to the guide post 15, and the guide post 15 is moved relative to the first side clamping plate 43 by starting the driving member, so that the second side clamping plate 44 can be close to or away from the first side clamping plate 43, thereby achieving the clamping match between the first side clamping plate 43 and the second side clamping plate 44. The first side clamping plate 43 can be detachably connected to the bracket 10 through a threaded structure or a snap-fit ​​structure, and the second side clamping plate 44 can be detachably connected to the guide post 15 through a threaded structure or a snap-fit ​​structure; in this embodiment, the first side clamping plate 43 is threadedly connected to the bracket 10 through a plurality of threaded locking members, and the second side clamping plate 44 is threadedly connected to the guide post 15 through a plurality of threaded locking members. In this embodiment, the clamping mechanism 40 includes an upper clamping plate 41 , a lower clamping plate 42 , a first side clamping plate 43 and a second side clamping plate 44 . The first side clamping plate 43 and the second side clamping plate 44 are arranged between the lower clamping plate 42 and the second guide seat 50 .

[0035] In this embodiment, the guide wire or catheter sequentially passes through one of the second guide seats 50 , the first guide seat 20 , the clamping gap, the second guide seat 50 , between the first side clamping plate 43 and the second side clamping plate 44 , and between the upper clamping plate 41 and the lower clamping plate 42 . Since the guide wire needs to be inserted into the catheter or the smaller catheter needs to be inserted into the larger catheter, it should be noted that the upper clamp 41 and the lower clamp 42 can be used to clamp the end of the catheter to be inserted on the other wire feeding module, so that the catheter or guide wire transported by the current wire feeding module can stably extend into the catheter to be inserted and move along the catheter to be inserted, and when the current rotation angle of the wire feeding module reaches the mechanical limit range but still cannot meet the requirements of the interventional surgery, the first side clamp and the second side clamp can be used to tighten the catheter or guide wire, and then the first clamping wheel and the second clamping wheel in the pushing mechanism that clamp the guide wire or catheter can be released. After the rotating adjustment seat rotates the pushing mechanism to the initial position, the first clamping wheel and the second clamping wheel in the pushing mechanism are driven in turn to clamp the guide wire or catheter, and the first side clamp and the second side clamp that tighten the catheter or guide wire are released. This allows the wire feeding module to break through the rotation angle range limited by the mechanical structure and meet the requirements of the interventional surgery for rotating the catheter or guide wire.

[0036] The above-mentioned wire feeding module can be applied to an interventional surgery robot, which includes: a plurality of wire feeding modules as described above.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A wire feeding module, characterized in that: include: A stent, a first guide seat for guiding the movement of a catheter or a guide wire, a pushing mechanism for conveying the catheter or the guide wire, and a clamping mechanism for clamping the catheter or the guide wire; The first guide seat, the pushing mechanism and the clamping mechanism are arranged on the bracket in sequence and are detachably connected to the bracket.

2. A wire feeding module according to claim 1, characterized in that: The bracket is detachably provided with a rotation adjustment seat, the rotation adjustment seat is rotationally matched with the bracket, and the first guide seat and the pushing mechanism are detachably provided on the rotation adjustment seat.

3. A wire feeding module according to claim 2, characterized in that: The bracket is detachably provided with a plurality of first limit members and a plurality of second limit members, and the first limit members and the second limit members are both provided with bearings. The rotation adjustment seat is provided with a guide portion extending along the rotation axis of the rotation adjustment seat, and the guide portion extends between the bearing of the first limit member and the bearing of the second limit member. When the rotation adjustment seat rotates relative to the bracket, the guide portion moves between the bearing of the first limit member and the bearing of the second limit member.

4. A wire feeding module according to claim 1, characterized in that: The first guide seat and / or the pushing mechanism and / or the clamping mechanism are detachably connected to the bracket via a plurality of threaded locking members.

5. A wire feeding module according to claim 1, characterized in that: The pushing mechanism includes a first pinching wheel, a second pinching wheel and a rotation driving assembly. The first pinching wheel and the second pinching wheel are detachably arranged on the bracket. A pinching gap is formed between the first pinching wheel and the second pinching wheel. The rotation driving assembly is transmission-connected to the first pinching wheel and / or the second pinching wheel.

6. A wire feeding module according to claim 1, characterized in that: A second guide seat is arranged on the side of the first guide seat away from the pushing mechanism and / or between the pushing mechanism and the clamping mechanism. The second guide seat is detachably connected to the bracket and is used to guide the movement of the catheter or guide wire. A clamping part is rotatably arranged on the second guide seat, and the clamping part rotates in a direction approaching or away from the second guide seat.

7. A wire feeding module according to claim 6, characterized in that: The second guide seat is detachably connected to the bracket via a plurality of threaded locking members.

8. A wire feeding module according to any one of claims 1 to 7, characterized in that: The clamping mechanism comprises an upper clamping plate and a lower clamping plate, wherein the upper clamping plate is liftably arranged on the lower clamping plate, and the lower clamping plate is detachably connected to the bracket.

9. A wire feeding module according to any one of claims 1 to 7, characterized in that: The bracket is provided with a guide column, and the guide column is slidably matched with the bracket. The clamping mechanism includes a first side clamping plate and a second side clamping plate. The second side clamping plate is detachably connected to the bracket, and the second side clamping plate is detachably connected to the guide column, and can be moved relative to the first side clamping plate through the guide column so that the first side clamping plate and the second side clamping plate are clamped and matched.

10. An interventional surgery robot, characterized in that: include: A wire feeding module as claimed in any one of claims 1 to 9.

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