Delivery device for vascular intervention consumables and vascular intervention surgical robot

Abstract

The utility model discloses a delivery device for vascular intervention consumables and a vascular intervention surgical robot, and the delivery device comprises a driving roller, a driven roller and a driving assembly, wherein the driving assembly is in transmission connection with the driving roller and used for driving the driving roller to rotate; the driving roller and the driven roller are oppositely arranged, the rim of the driving roller and the rim of the driven roller are both provided with grooves used for clamping the vascular intervention consumables, each groove at least comprises two oppositely distributed contact surfaces, and the contact surfaces are used for abutting against the surfaces of the vascular intervention consumables. The purpose that at least two contact lines are formed between the driving roller and the vascular intervention consumable and between the driven roller and the vascular intervention consumable after the driving roller and the driven roller clamp the vascular intervention consumable is achieved, and therefore when the vascular intervention consumable is clamped and driven, the contact friction force of the rollers to the vascular intervention consumable is increased; and the risk of slipping in the delivery process is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to a delivery device for vascular intervention consumables and a vascular intervention surgery robot. Background Art

[0002] In vascular interventional surgical machines, the advancement and retreat of vascular interventional consumables are achieved through corresponding delivery devices. Taking the interventional consumables as guidewires or catheters as an example, in existing designs, the guidewires or catheters are mostly driven by flat rollers, which have limited friction on the guidewires or catheters and are prone to slipping. Alternatively, designs such as clips tighten the progressive advancement of the guidewires or catheters in sections, and the delivery of the guidewires or catheters cannot be continuous. For catheter delivery, the existing design also places the catheter into a long, straight, open tubular structure and pushes the catheter from the rear end, which takes up a lot of space on the overall equipment and is not conducive to the expansion of the equipment in the future. Utility Model Content

[0003] The main purpose of the utility model is to provide a delivery device for vascular intervention consumables, so as to solve the problem that the delivery device driven by a flat roller in the related art generates little friction on the vascular intervention consumables and is easy to slip.

[0004] In order to achieve the above-mentioned purpose, the utility model provides a delivery device for vascular intervention consumables, comprising: an active roller, a driven roller and a driving assembly; wherein:

[0005] The driving assembly is in transmission connection with the active roller, and is used to drive the active roller to rotate;

[0006] The active roller and the driven roller are arranged opposite to each other, and the rims of the active roller and the driven roller are both provided with grooves for clamping vascular intervention consumables, and each of the grooves includes at least two relatively distributed contact surfaces, and the contact surfaces are used to abut against the surface of the vascular intervention consumables.

[0007] Furthermore, the opening width of the opening end of the groove is smaller than the diameter of the vascular intervention consumable.

[0008] Furthermore, the groove is configured as a V-shaped groove, and the two contact surfaces are respectively formed on both sides of the V-shaped groove.

[0009] Furthermore, it also includes a clamping assembly, which is configured to apply an elastic pre-tightening force to the driven roller.

[0010] Furthermore, the clamping assembly includes a clamping rod and a clamping spring, the clamping rod includes a clamping part and a connecting part connected in sequence, the clamping spring is sleeved on the connecting part, the end of the clamping spring is abutted against the clamping part, and the driven roller is rotatably connected to the clamping part.

[0011] Furthermore, a driven rotating shaft is provided on the driven roller, and the driven roller is rotatably connected to the pressing portion via the driven rotating shaft.

[0012] Furthermore, the end surfaces of the driven roller are extended from both ends of the driven rotating shaft, and the clamping assembly is provided in two and respectively connected to the two ends of the driven roller.

[0013] Furthermore, a connecting hole is provided on the pressing portion, and the connecting hole is sleeved on the driven rotating shaft.

[0014] Furthermore, it also includes a mounting frame, the driving roller is provided with a driving shaft, the mounting frame is provided with a first rotating hole corresponding to the driving shaft, and both ends of the driving shaft extend out of the end surface of the driving roller and are rotatably connected with the corresponding first rotating holes;

[0015] The mounting frame is also provided with a second rotating hole corresponding to the driven rotating shaft, both ends of the driven rotating shaft are rotatably connected to the second rotating hole, and the second rotating hole is configured as a waist-shaped hole to allow the driven roller to move.

[0016] Furthermore, the driving assembly includes a first gear set, a power input end of the first gear set is used for transmission connection with the power source of the vascular intervention robot, and a power output end of the first gear set is transmission connected with the active rotating shaft.

[0017] Furthermore, it also includes a second gear set, a fixing frame and a mounting frame; wherein,

[0018] The mounting frame is arranged on the fixing frame, and two ends of the mounting frame are rotatable relative to the fixing frame;

[0019] The power input end of the second gear set is used for transmission connection with the power source of the vascular intervention robot, and the power output end of the second gear set is transmission connected with one end of the mounting frame.

[0020] Further, the first gear set includes a first helical gear, a second helical gear, a third helical gear, a fourth helical gear, a first spur gear and a second spur gear;

[0021] The first bevel gear is rotatably disposed on the fixing frame through a first transmission member, the first transmission member is used for transmission connection with a power source of the vascular intervention robot, the second bevel gear is fixedly connected to the third bevel gear and is rotatably connected to the fixing frame and the mounting frame, and the second bevel gear is meshed with the first bevel gear;

[0022] The fourth bevel gear is fixedly connected to the first spur gear, the first spur gear is meshed with the second spur gear, the second spur gear is fixedly connected to the driving shaft, and the fourth bevel gear is meshed with the third bevel gear.

[0023] Furthermore, the second gear group includes a fifth bevel gear and a sixth bevel gear, the fifth bevel gear is rotatably disposed on the fixed frame via a second transmission member, the second transmission member is used for transmission connection with a power source of the vascular intervention robot, the sixth bevel gear is fixed to one end of the mounting frame, and the sixth bevel gear is meshed with the fifth bevel gear.

[0024] According to another aspect of the present invention, a vascular interventional surgery robot is provided, comprising a robot body and the above-mentioned delivery device.

[0025] Furthermore, the number of the delivery devices is two, one of which is configured as a catheter actuator, and the other is configured as a guidewire actuator;

[0026] The catheter actuator is fixedly mounted on the robot body, and the vascular intervention consumables clamped are catheters;

[0027] The guidewire actuator is configured to be able to move linearly along the delivery direction on the robot body, and the vascular intervention consumable used to clamp is a guidewire. The guidewire actuator is also used to be fixedly connected to an end of the catheter away from the catheter actuator to tighten the portion of the catheter between the catheter actuator and the guidewire actuator.

[0028] In an embodiment of the utility model, an active roller, a driven roller and a driving component are provided; wherein the driving component is transmission-connected to the active roller for driving the active roller to rotate; the active roller and the driven roller are arranged relative to each other, and the rims of the active roller and the driven roller are provided with grooves for clamping the vascular intervention consumables, and each groove includes at least two relatively distributed contact surfaces, and the contact surfaces are used to abut against the surface of the vascular intervention consumables. On the one hand, the purpose of forming at least two contact lines between the active roller and the driven roller and the vascular intervention consumables after clamping the vascular intervention consumables is achieved, thereby increasing the contact friction of the roller on the vascular intervention consumables when clamping and driving the vascular intervention consumables, and reducing the friction during delivery. The technical effect of reducing the risk of slipping during the delivery process solves the problem that the delivery device driven by a flat roller in the related technology generates little friction on the vascular intervention consumables and is easy to slip; on the other hand, after the grooves of the active roller and the driven roller are used to clamp the vascular intervention consumables, the two relatively distributed contact surfaces in the grooves can limit the vascular intervention consumables, which can effectively prevent the vascular intervention consumables from deviating during the delivery process and increase the guidance of the delivery process of the vascular intervention consumables; in addition, for the vascular intervention consumables that are hollow flexible structures of the catheter type, after being clamped between the two grooves, the clamping force will be decomposed, which can avoid the problem of catheter deformation caused by excessive radial clamping force on the catheter. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] The drawings constituting a part of the present invention are used to provide a further understanding of the present invention, so that other features, purposes and advantages of the present invention become more obvious. The drawings and descriptions of the schematic embodiments of the present invention are used to explain the present invention and do not constitute an improper limitation on the present invention. In the drawings:

[0030] Figure 1 is a schematic diagram of the exploded structure of the delivery device according to an embodiment of the utility model;

[0031] Figure 2 is a schematic diagram of a top view of the delivery device according to an embodiment of the utility model;

[0032] Figure 3 yes Figure 2 Schematic diagram of the cross-sectional structure of AA;

[0033] Figure 4 is a schematic side view of the structure of the delivery device according to an embodiment of the utility model;

[0034] Figure 5 It is a schematic diagram of the cross-sectional structure of BB in 4;

[0035] Figure 6 is a schematic diagram of the assembly structure of the delivery device according to an embodiment of the utility model;

[0036] Figure 7 It is a schematic diagram of the assembly structure of the delivery device according to the embodiment of the utility model in which a part of the mounting frame is omitted;

[0037] Figure 8 It is a schematic diagram of the assembly structure of another part of the delivery device in an embodiment of the utility model in which the mounting frame is omitted;

[0038] Fig. 9 is a schematic diagram of the structure of a delivery device applied to a vascular interventional surgery robot according to an embodiment of the utility model;

[0039] Among them, 1 vascular intervention consumables, 101 catheter, 2 active roller, 21 active rotating shaft, 3 groove, 4 driven roller, 41 driven rotating shaft, 5 clamping assembly, 51 clamping rod, 510 clamping part, 511 connecting part, 512 connecting hole, 52 clamping spring, 6 mounting frame, 61 second rotating hole, 7 fixing frame, 8 first bevel gear, 9 second bevel gear, 10 third bevel gear, 11 fourth bevel gear, 12 first spur gear, 13 second spur gear, 14 sixth bevel gear, 15 long rail delivery mechanism, 16 moving platform, 17 connecting frame, 18 catheter actuator, 19 guide wire actuator. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solution of the utility model, the technical solution in the embodiment of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiment of the utility model. Obviously, the described embodiment is only a part of the embodiment of the utility model, not all of the embodiments. Based on the embodiment of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the utility model.

[0041] It should be noted that the terms "first", "second", etc. in the specification and claims of the utility model and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so as to describe the embodiments of the utility model described here.

[0042] In the present invention, the directions or positional relationships indicated by the terms "upper", "lower", "inner", etc. are based on the directions or positional relationships shown in the accompanying drawings. These terms are mainly used to better describe the present invention and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific direction, or to be constructed and operated in a specific direction.

[0043] In addition, some of the above terms may be used to express other meanings in addition to indicating orientation or positional relationship. For example, the term "on" may also be used to express a certain dependency or connection relationship in some cases. For those skilled in the art, the specific meanings of these terms in this utility model can be understood according to specific circumstances.

[0044] In addition, the terms "disposed", "provided with", "connected", "fixed" and the like should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this utility model can be understood according to specific circumstances.

[0045] In addition, the term "plurality" shall mean two or more.

[0046] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0047] In order to solve the problem that the delivery device driven by a flat roller in the related art generates little friction on the vascular intervention consumable 1 and is easy to slip. Figures 1 to 5 As shown, the embodiment of the utility model provides a delivery device for vascular intervention consumables, including: an active roller 2, a driven roller 4 and a driving assembly; wherein,

[0048] The driving assembly is in transmission connection with the active roller 2, and is used to drive the active roller 2 to rotate;

[0049] The active roller 2 and the driven roller 4 are arranged opposite to each other. The rims of the active roller 2 and the driven roller 4 are both provided with grooves 3 for clamping the vascular intervention consumable 1. Each groove 3 includes at least two relatively distributed contact surfaces, which are used to abut against the surface of the vascular intervention consumable 1.

[0050] For the vascular intervention robot, the vascular intervention consumables 1 that need to be delivered during the operation include a guidewire and a catheter, and the guidewire and the catheter can be delivered independently, so it needs to be equipped with at least two delivery devices, which are used to deliver the guidewire and the catheter respectively. Of course, more delivery devices can be added to deliver other types of interventional consumables, such as self-expanding stents. Since the guidewire and the catheter are both slender structures with roughly circular cross-sections, the delivery devices used for guidewire delivery and catheter delivery are similar in structure, and the difference between the two is roughly that the parts that contact the guidewire and the catheter have size differences.

[0051] Taking the vascular intervention consumable 1 as a catheter 101 as an example, in this embodiment, the delivery device mainly includes a relatively distributed active roller 2 and a driven roller 4. When clamping the catheter 101, the active roller 2 and the driven roller 4 are respectively located on both sides of the catheter 101, for example, distributed on the upper and lower sides or the front and rear sides of the catheter 101. Both the active roller 2 and the driven roller 4 can be configured with corresponding rotating shafts so that they can rotate around the fixed axis. In order to drive the catheter 101 for delivery, at least one of the two rollers needs to be driven to rotate actively, and the other can be passively rotated by friction. Or both rollers can be driven to rotate actively synchronously by means of transmission components such as gear sets. In this embodiment, in order to simplify the structure, it is preferred that the active roller 2 is driven to rotate actively only by the driving component, while the driven roller 4 is passively rotated by friction. It should be noted that the above-mentioned specific driving method description for the active roller 2 and the driven roller 4 is not restrictive, and a suitable driving method can be selected according to actual conditions.

[0052] In order to increase the friction force on the catheter 101 during the delivery process, the structures of the active roller 2 and the driven roller 4 are adjusted in this embodiment. Figure 1 and Figure 3 As shown, an annular groove 3 is provided on the rims of the active roller 2 and the driven roller 4. There are at least two contact surfaces distributed relatively in the groove 3. When clamping the catheter 101, the catheter 101 is partially located in the groove 3 of the active roller 2 and partially located in the groove 3 of the driven roller 4, and at the same time, the contact surfaces distributed relatively in the groove 3 are in contact with the outer surface of the catheter 101. When the active roller 2 and the driven roller 4 deliver the catheter 101 by rotating, the groove 3 of the active roller 2 maintains a double-line contact with the catheter 101 (that is, the two contact surfaces distributed relatively are in contact with the catheter 101), and similarly, the groove 3 of the driven roller 4 also maintains a double-line contact with the catheter 101. Compared with the single-line contact between the flat roller and the catheter 101, the friction between the roller structure in this embodiment and the catheter 101 is greater, thereby reducing the risk of the catheter 101 slipping during the movement.

[0053] At the same time, since part of the catheter 101 is located in the groove 3 of the active roller 2 and part of it is located in the groove 3 of the driven roller 4, the catheter 101 can be limited during the movement of the catheter 101, which can effectively prevent the vascular intervention consumables 1 from being offset during the delivery process, and increase the guidance of the delivery process of the vascular intervention consumables 1. In addition, compared with the method in which the flat roller directly applies the clamping force to the catheter 101 along the radial direction of the catheter 101, after the catheter 101 in this embodiment is clamped between the two grooves 3, since the contact surfaces in the grooves 3 are distributed on both sides of the catheter 101, the radial clamping force applied by the roller will be decomposed, which can avoid the problem of deformation of the catheter 101 due to excessive radial clamping force on the catheter 101.

[0054] Since both sides of the vascular intervention consumable 1 are located in the grooves 3 of the active roller 2 and the driven roller 4, in order to avoid the interference between the rotation of the active roller 2 and the driven roller 4, Figure 3 As shown, in this embodiment, the opening width of the opening end of the groove 3 is smaller than the diameter of the vascular intervention consumable 1, so that the rims of the active roller 2 and the driven roller 4 can maintain a certain distance to prevent interference.

[0055] In this embodiment, the groove 3 has the characteristic that it includes at least two relatively distributed contact surfaces, which can abut against two parts of the vascular intervention consumable 1. Figure 3 As shown, the groove 3 is set as a V-shaped groove, and two contact surfaces are formed on both sides of the V-shaped groove. When the groove 3 is set as a V-shaped groove, it can provide two contact surfaces that contact the two sides of the vascular intervention consumable 1, and can accommodate a part of the vascular intervention consumable 1, so that it can increase the friction force while also playing a good role in limiting and guiding. In addition, since the opening of the V-shaped groove is in a gradually opening form, it can be applied to vascular intervention consumables 1 within a certain diameter range, thereby improving the scope of application of the delivery device. It should be noted that the groove 3 can also be set as a U-shaped groove. When set as a U-shaped groove, the edges on both sides of the opening form contact surfaces that contact the vascular intervention consumable 1. Compared with being set as a V-shaped groove, the portion of the vascular intervention consumable 1 located in the groove 3 is smaller, so the limiting and guiding properties of the vascular intervention consumable 1 are relatively low.

[0056] Taking the vascular intervention consumable 1 as a catheter 101 as an example, in another embodiment, the groove 3 can be set as an arc groove that partially fits the outer surface of the catheter 101. Compared with the V-shaped groove, it has a larger contact area with the catheter 101, thereby having a greater friction force. However, since it fits the surface of the catheter 101 more closely, the catheter 101 needs to be kept in a straight state during the delivery process.

[0057] In order to stably deliver the catheter 101, the driven roller 4 and the driving roller 2 need to apply a certain clamping force to the catheter 101. Since the driving roller 2 is in transmission connection with the driving assembly, the clamping force can be applied to the catheter 101 through the driven roller 4. At the same time, in order to avoid excessive clamping force causing damage to the coating on the surface of the catheter 101, such as Figures 1 to 5 As shown, the delivery device in this embodiment further includes a clamping assembly 5 , which is configured to apply an elastic pre-tightening force to the driven roller 4 .

[0058] Specifically, it should be noted that the clamping assembly 5 includes at least one elastic member, and the elastic force of the elastic member acts on the driven roller 4, so that the driven roller 4 can be in an elastic floating state while clamping the catheter 101, so that the catheter 101 will not be subjected to excessive pressure and cause damage to the surface coating.

[0059] In one embodiment of the clamping assembly 5, Figures 1 to 3 As shown, the clamping assembly 5 includes a clamping rod 51 and a clamping spring 52. The clamping rod 51 includes a clamping portion 510 and a connecting portion 511 which are connected in sequence. The clamping spring 52 is sleeved on the connecting portion 511. The end of the clamping spring 52 is abutted against the clamping portion 510. The driven roller 4 is rotatably connected to the clamping portion 510.

[0060] Specifically, it should be noted that the clamping spring 52 is an elastic member in the clamping assembly 5, and the clamping rod 51 is a part of the clamping assembly 5 that transmits the elastic preload force to the driven roller 4. The clamping rod 51 includes a clamping portion 510 and a connecting portion 511, and the connecting portion 511 can be roughly a rod-shaped structure. The spring is sleeved on the connecting portion 511, and the first end of the spring abuts against the clamping portion 510, and the second end can abut against the mounting base. In this embodiment, the mounting base can be a frame structure for mounting the driven roller 4.

[0061] In order to enable the driven roller 4 to apply a variable pressure to the conduit 101 under the action of the clamping assembly 5, the driven roller 4 needs to be in a floating state, that is, the driven roller 4 can move toward the conduit 101 or away from the conduit 101 relative to the installation base. In an embodiment of the driven roller 4, a driven shaft 41 is sleeved in the middle, and the driven roller 4 and the driven shaft 41 can be rotatably connected or fixedly connected. The driven shaft 41 can be selectively connected to the installation base to support the driven roller 4, or selectively connected to the clamping portion 510, and the driven roller 4 is supported by the clamping portion 510.

[0062] Accordingly, when the driven shaft 41 is connected to the mounting base, a groove or hole is required to be provided on the mounting base to allow the driven shaft 41 to float along with the driven roller 4. In this embodiment, the pressing portion 510 may be pressed against the driven shaft 41, or directly pressed against the rim of the driven roller 4, or sleeved on the driven shaft 41 and maintained in rotatable connection with the driven shaft 41.

[0063] like Figure 1As shown, when the driven shaft 41 is selected to be connected only to the clamping portion 510, a connecting hole 512 can be opened on the clamping portion 510, and the driven shaft 41 can be rotatably sleeved in the connecting hole 512. A hole position that cooperates with the connecting portion 511 needs to be opened on the installation base, and the connecting portion 511 can be slidably sleeved in the hole position. The support for the driven roller 4 is achieved through the cooperation between the connecting portion 511 and the hole position, and the floating amount requirement of the driven roller 4 is met.

[0064] It can be understood that in one embodiment, the above two situations can be satisfied at the same time, that is, a groove or hole for the movement of the driven shaft 41 is opened on the installation base, and the clamping part 510 is sleeved on the shaft through the connecting hole 512, and the connecting part 511 can be slidably sleeved in the corresponding hole position of the installation base.

[0065] When the clamping portion 510 is sleeved on the driven shaft 41 through the connecting hole 512, in order to make the driven roller 4 bear the force evenly, in this embodiment, the end faces of the driven roller 4 are extended from both ends of the driven shaft 41, and the clamping components 5 are provided in two and are respectively connected to the two ends of the driven shaft 41, and the clamping portions 510 of the two clamping components 5 are respectively sleeved on the two ends of the driven shaft 41, so that the elastic preload can be evenly applied to the driven roller 4 under the action of the spring.

[0066] In one embodiment, if Figures 6 to 8 As shown, the mounting base is set as a mounting frame 6, and the driving roller 2, the driven roller 4, and the clamping assembly 5 are all mounted on the mounting frame 6. Specifically, the driving roller 2 is provided with a driving shaft 21, and the mounting frame 6 is provided with a first rotating hole corresponding to the driving shaft 21. Both ends of the driving shaft 21 extend out of the end surface of the driving roller 2 and are rotatably connected with the corresponding first rotating holes. One end of the driving shaft 21 can pass through the mounting frame 6 and be transmission-connected with the driving assembly. In this embodiment, the driving assembly can be a motor or a combination of a motor and a gear set, etc.

[0067] Corresponding to the driven roller 4, the mounting frame 6 is further provided with a second rotating hole 61 corresponding to the driven rotating shaft 41, and both ends of the driven rotating shaft 41 are rotatably connected to the second rotating hole 61, and the second rotating hole 61 is set as a waist-shaped hole to allow the driven roller 4 to move, and the allowed movement direction is toward the guide tube 101 or away from the guide tube 101. It can be understood that the second rotating hole 61 can also be a waist-shaped groove opened on the inner side of the mounting frame 6.

[0068] In one embodiment of the drive assembly, the drive assembly may be a gear set driven by a motor. Specifically, in this embodiment, the drive assembly includes a first gear set, the power input end of the first gear set is used for transmission connection with the power source of the vascular intervention robot, and the power output end of the first gear set is transmission connected with the driving shaft 21.

[0069] It should be noted that for the vascular intervention robot, the delivery device of the vascular intervention consumable 1 needs to be installed on the robot body as an actuator when in use, and the power source that drives the delivery device is installed in the robot body. Therefore, when installing the delivery device, it is necessary to synchronously complete the power connection between the power source and the first gear set. In this embodiment, the specific form of the first gear set is not limited and can be designed according to actual conditions. Different gear transmission forms can realize force transmission in different directions and with different output capacities. The first gear set in the embodiment only needs to be able to drive the active shaft 21 to rotate on a fixed axis.

[0070] In one embodiment of the delivery device, in addition to the delivery of the consumables through the cooperation of the active roller 2 and the driven roller 4, the consumables may also need to rotate. Specifically, the delivery device in this embodiment also includes a second gear set and a fixed frame 7; wherein,

[0071] The mounting frame 6 is disposed on the fixing frame 7, and both ends of the mounting frame 6 are rotatable relative to the fixing frame 7. Specifically, both ends of the mounting frame 6 can be rotatably connected to both ends of the fixing frame 7 via a rotating shaft.

[0072] The power input end of the second gear set is used for transmission connection with the power source of the vascular intervention robot, and the power output end of the second gear set is transmission connected with one end of the mounting frame 6.

[0073] In this embodiment, the function of the second gear set is to transmit the power output by the power source in the vascular intervention robot to the mounting frame 6, so that the mounting frame 6 can rotate. Since the active roller 2 and the driven roller 4 are both installed in the mounting frame 6, after the active roller 2 and the driven roller 4 clamp the vascular intervention consumable 1, the rotation of the mounting frame 6 can drive the vascular intervention consumable 1 to rotate. This embodiment does not limit the specific structure of the second gear set, as long as it can meet the corresponding power input and power output.

[0074] In one embodiment of the first gear set, Figure 7 and Figure 8 As shown, the first gear set includes a first helical gear 8, a second helical gear 9, a third helical gear 10, a fourth helical gear 11, a first spur gear 12 and a second spur gear 13;

[0075] The first bevel gear 8 is rotatably disposed on the fixed frame 7 through a first transmission member, and the first transmission member is used for transmission connection with the power source of the vascular intervention robot. The second bevel gear 9 is fixedly connected to the third bevel gear 10 and is rotatably connected to the fixed frame 7 and the mounting frame 6. The second bevel gear 9 is meshed with the first bevel gear 8.

[0076] The fourth bevel gear 11 is fixedly connected to the first spur gear 12 , the first spur gear 12 is meshed with the second spur gear 13 , the second spur gear 13 is fixedly connected to the driving shaft 21 , and the fourth bevel gear 11 is meshed with the third bevel gear 10 .

[0077] In this embodiment, the first bevel gear 8 can be rotatably mounted on the fixed frame 7 through a first transmission member, and the first transmission member can be a transmission shaft, and its end away from the first bevel gear 8 can be connected to the power source by transmission, for example, by plugging and fitting with a special-shaped shaft groove to achieve transmission connection. The axis of the first bevel gear 8 is perpendicular to the delivery direction of the vascular intervention consumable 1, and the second bevel gear 9 and the third bevel gear 10 can be fixedly connected through a connecting sleeve, and the connecting sleeve can be rotatably sleeved on the side wall of one side of the fixed frame 7 and the mounting frame body 6, so that the second bevel gear 9 and the third bevel gear 10 are respectively located on the outside of the fixed frame 7 and the inside of the mounting frame body 6, and the axes of the second bevel gear 9 and the third bevel gear 10 are parallel to the delivery direction of the vascular intervention consumable 1. After the second bevel gear 9 is meshed with the first bevel gear 8, the rotation of the first bevel gear 8 can drive the rotation of the second bevel gear 9 and the third bevel gear 10.

[0078] The fourth bevel gear 11 and the first spur gear 12 are fixedly connected by a connecting sleeve, and the connecting sleeve is rotatably sleeved on the mounting frame 6. The fourth bevel gear 11 and the first spur gear 12 are respectively located on the inner side and the outer side of the mounting frame 6, and their axes are parallel to the axis of the first bevel gear 8. The fourth bevel gear 11 is meshed with the third bevel gear 10, and the third bevel gear 10 drives the fourth bevel gear 11 and the first spur gear 12 to rotate. In order to transmit the rotation of the first spur gear 12 to the active roller 2, one end of the active shaft 21 passes through the mounting frame 6 and is fixedly connected to the second spur gear 13, and the second spur gear 13 is meshed with the first spur gear 12. Finally, the first bevel gear 8 is driven to rotate through the transmission member, and the active shaft 21 and the active roller 2 can be driven to rotate under the action of multiple gears, thereby realizing the delivery of the vascular intervention consumables 1.

[0079] In order to drive the rotation of the mounting frame 6 through the second gear group, the second gear group in this embodiment includes a fifth bevel gear and a sixth bevel gear 14. The fifth bevel gear is rotatably disposed on the fixed frame 7 through a second transmission member. The second transmission member is used for transmission connection with the power source of the vascular intervention robot. The sixth bevel gear 14 is fixed to one end of the mounting frame 6, and the sixth bevel gear 14 is meshed with the fifth bevel gear.

[0080] In this embodiment, the fifth bevel gear and the first bevel gear 8 are respectively arranged on both sides of the fixing frame 7, and the axes of the two are parallel. The second transmission member connected to the fifth bevel gear can also be a transmission shaft. The end of the transmission shaft away from the fifth bevel gear can be connected to the power source by transmission, for example, by plugging and matching with a special-shaped shaft groove to achieve transmission connection. The sixth bevel gear 14 is rotatably connected to the fixing frame 7 and is fixedly connected to the mounting frame body 6. Specifically, the sixth bevel gear 14 can be rotatably passed through the side wall of the fixing frame 7 through a connecting sleeve and then fixedly connected to the mounting frame body 6. The rotation of the fifth bevel gear can drive the sixth bevel gear 14 to rotate, thereby driving the mounting frame body 6 to rotate.

[0081] According to another aspect of the present invention, a vascular interventional surgery robot is provided, comprising a robot body and the above-mentioned delivery device.

[0082] like Fig. 9 As shown, taking the vascular intervention consumable 1 to be delivered including a catheter 101 and a guidewire as an example, the number of delivery devices is two, one of which is configured as a catheter actuator 18, and the other is configured as a guidewire actuator 19;

[0083] The catheter actuator 18 is fixed on the robot body, and the vascular intervention consumable 1 clamped is a catheter 101;

[0084] The guidewire actuator 19 is configured to be able to move linearly along the delivery direction on the robot body, and the vascular intervention consumable 1 used for clamping is a guidewire. The guidewire actuator 19 is also used to be fixedly connected to one end of the catheter 101 away from the catheter actuator 18 to tighten the portion of the catheter 101 between the catheter actuator 18 and the guidewire actuator 19.

[0085] Specifically, in this embodiment, if Fig. 9As shown, the robot body includes a long rail delivery mechanism 15, a connecting frame 17 is fixed at one end of the long rail delivery mechanism 15, and a catheter actuator 18 is fixed on the connecting frame 17. A movable moving platform 16 is arranged on the long rail delivery mechanism 15, and a guide wire actuator 19 is installed on the moving platform 16. The guide wire actuator 19 can be driven to move linearly along the long rail delivery mechanism 15 through the moving platform 16. When the vascular intervention robot in this embodiment is in use, one end of the catheter 101 can be fixedly connected to the fixed part on the guide wire actuator 19 through a Y valve, and the other end passes through the catheter actuator 18 and is clamped by the active roller 2 and the driven roller 4 in the catheter actuator 18. One end of the guide wire passes through the guide wire actuator 19 and is clamped by the active roller 2 and the driven roller 4 in the guide wire actuator 19 before passing into the catheter 101. When the catheter 101 is delivered, the active roller 2 and the driven roller 4 in the catheter actuator 18 rotate to drive the catheter 101 to move, and at the same time, the catheter 101 will pull the guidewire actuator 19 to move toward the catheter 101 actuator through the moving platform 16. In some cases, the traction force of the catheter actuator 18 is not enough to pull the guidewire actuator 19 to move, so the moving platform 16 needs to actively move on the long rail delivery mechanism 15, thereby driving the guidewire actuator 19 to move. The active movement of the moving platform 16 can be achieved by the cooperation of gears and racks or rollers and tracks.

[0086] The above description is only the preferred embodiment of the utility model and is not intended to limit the utility model. For those skilled in the art, the utility model may have various modifications and changes. Within the spirit and principle of the utility model, any modification, equivalent replacement, improvement, etc. made shall be included in the protection scope of the utility model.

Claims

1. A delivery device for vascular intervention consumables, characterized in that: include: Active roller, driven roller and driving assembly; wherein, The driving assembly is in transmission connection with the active roller, and is used to drive the active roller to rotate; The active roller and the driven roller are arranged opposite to each other, and the rims of the active roller and the driven roller are both provided with grooves for clamping vascular intervention consumables, and each of the grooves includes at least two relatively distributed contact surfaces, and the contact surfaces are used to abut against the surface of the vascular intervention consumables.

2. The delivery device for vascular intervention consumables according to claim 1, characterized in that: The opening width of the opening end of the groove is smaller than the diameter of the vascular intervention consumable.

3. The delivery device for vascular intervention consumables according to claim 2, characterized in that: The groove is configured as a V-shaped groove, and the two contact surfaces are respectively formed on both sides of the V-shaped groove.

4. The delivery device for vascular intervention consumables according to any one of claims 1 to 3, characterized in that: It also includes a clamping assembly, which is configured to apply an elastic preload force to the driven roller.

5. The delivery device for vascular intervention consumables according to claim 4, characterized in that: The clamping assembly includes a clamping rod and a clamping spring. The clamping rod includes a clamping portion and a connecting portion connected in sequence. The clamping spring is sleeved on the connecting portion. The end of the clamping spring abuts against the clamping portion. The driven roller is rotatably connected to the clamping portion.

6. The delivery device for vascular intervention consumables according to claim 5, characterized in that: The driven roller is provided with a driven rotating shaft, and the driven roller is rotatably connected to the pressing portion through the driven rotating shaft.

7. The delivery device for vascular intervention consumables according to claim 6, characterized in that: The end surfaces of the driven roller are extended from both ends of the driven shaft, and the clamping assembly is provided in two and is respectively connected to the two ends of the driven shaft.

8. The delivery device for vascular intervention consumables according to claim 7, characterized in that: The pressing portion is provided with a connecting hole, and the connecting hole is sleeved on the driven rotating shaft.

9. The delivery device for vascular intervention consumables according to claim 8, characterized in that: The delivery device further comprises a mounting frame, the driving roller is provided with a driving shaft, the mounting frame is provided with a first rotating hole corresponding to the driving shaft, and both ends of the driving shaft extend out of the end surface of the driving roller and are rotatably connected with the corresponding first rotating holes; The mounting frame is also provided with a second rotating hole corresponding to the driven rotating shaft, both ends of the driven rotating shaft are rotatably connected to the second rotating hole, and the second rotating hole is configured as a waist-shaped hole to allow the driven roller to move.

10. The delivery device for vascular intervention consumables according to claim 9, characterized in that: The driving assembly includes a first gear set, a power input end of the first gear set is used for transmission connection with the power source of the vascular intervention robot, and a power output end of the first gear set is transmission connected with the active rotating shaft.

11. The delivery device for vascular intervention consumables according to claim 10, characterized in that: The delivery device also includes a second gear set and a fixing frame; wherein, The mounting frame is arranged on the fixing frame, and two ends of the mounting frame are rotatable relative to the fixing frame; The power input end of the second gear set is used for transmission connection with the power source of the vascular intervention robot, and the power output end of the second gear set is transmission connected with one end of the mounting frame.

12. The delivery device for vascular intervention consumables according to claim 11, characterized in that: The first gear set includes a first helical gear, a second helical gear, a third helical gear, a fourth helical gear, a first spur gear and a second spur gear; The first bevel gear is rotatably disposed on the fixing frame through a first transmission member, the first transmission member is used for transmission connection with a power source of the vascular intervention robot, the second bevel gear is fixedly connected to the third bevel gear and is rotatably connected to the fixing frame and the mounting frame, and the second bevel gear is meshed with the first bevel gear; The fourth bevel gear is fixedly connected to the first spur gear, the first spur gear is meshed with the second spur gear, the second spur gear is fixedly connected to the driving shaft, and the fourth bevel gear is meshed with the third bevel gear.

13. The delivery device for vascular intervention consumables according to claim 11, characterized in that: The second gear group includes a fifth bevel gear and a sixth bevel gear. The fifth bevel gear is rotatably disposed on the fixed frame through a second transmission member. The second transmission member is used for transmission connection with a power source of the vascular intervention robot. The sixth bevel gear is fixed to one end of the mounting frame, and the sixth bevel gear is meshed with the fifth bevel gear.

14. A vascular interventional surgery robot, characterized in that: The robot comprises a robot body and a delivery device according to any one of claims 1 to 13.

15. The vascular interventional surgery robot according to claim 14, characterized in that: The number of the delivery devices is two, one of which is configured as a catheter actuator, and the other is configured as a guidewire actuator; The catheter actuator is fixedly mounted on the robot body, and the vascular intervention consumables clamped are catheters; The guidewire actuator is configured to be able to move linearly along the delivery direction on the robot body, and the vascular intervention consumable used to clamp is a guidewire. The guidewire actuator is also used to be fixedly connected to an end of the catheter away from the catheter actuator to tighten the portion of the catheter between the catheter actuator and the guidewire actuator.

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