Interventional instrument driving device and interventional surgical robot

Abstract

The utility model provides an interventional instrument driving device and an interventional surgical robot, and relates to the technical field of medical equipment. The device comprises a support, a first rotating wheel assembly, a second rotating wheel assembly and an adjusting assembly, the support comprises a first mounting plate, an acute included angle is formed between the first mounting plate and the pushing direction of the interventional instrument, and the first rotating wheel assembly comprises a first rotating wheel, a first transmission shaft and a first driving part; the first driving part is in transmission connection with the first transmission shaft; the first rotating wheel is mounted on the first transmission shaft; the second rotating wheel assembly comprises a second rotating wheel, a second transmission shaft and a second driving part, the second driving part is in transmission connection with the second transmission shaft, and the second rotating wheel is installed on the second transmission shaft; the first rotating wheel and the second rotating wheel are used for clamping an interventional instrument, and the first rotating wheel and the second rotating wheel rotate in a differential manner to drive the interventional instrument to advance, retreat and twist; the adjusting assembly is used for adjusting the distance between the first rotating wheel and the second rotating wheel to adapt to interventional instruments of different models.

Description

Technical Field

[0001] The utility model relates to the technical field of medical equipment, and in particular to an interventional instrument driving device and an interventional surgical robot. Background Art

[0002] With the continuous advancement of medical technology, vascular interventional surgery has become a widely used modern medical method. This surgical method uses the precise guidance of the digital subtraction angiography (DSA) system to enable doctors to manipulate the catheter to accurately navigate in the complex human vascular network, thereby effectively treating vascular diseases. Whether it is embolizing malformed blood vessels, dissolving blood clots, or dilating narrowed blood vessels, vascular interventional surgery has demonstrated its unique advantages and value.

[0003] In recent years, with the development and application of interventional surgical robots, the accuracy and safety of interventional surgery have been further improved. Currently, common surgical robots use lead screws and motor systems to deliver and twist interventional instruments. However, the delivery and twist operations use different drive mechanisms, which increases the difficulty of operation, may have an adverse effect on the surgical effect, and cause the entire drive device to be too large. Utility Model Content

[0004] The utility model provides an interventional instrument driving device and an interventional surgical robot, which are used to solve the defects of the interventional instrument driving device in the prior art that the structure is complex and the volume is large.

[0005] The utility model provides an interventional instrument driving device, comprising: a support, a first rotating wheel assembly, a second rotating wheel assembly and an adjusting assembly, wherein the support comprises a first mounting plate, the first mounting plate is arranged at an acute angle with the pushing direction of the interventional instrument, and the first rotating wheel assembly comprises a first rotating wheel, a first transmission shaft and a first driving member;

[0006] The first driving member is in driving connection with the first transmission shaft, and the first rotating wheel is mounted on the first transmission shaft; the second rotating wheel assembly includes a second rotating wheel, a second transmission shaft and a second driving member, the second driving member is in driving connection with the second transmission shaft, and the second rotating wheel is mounted on the second transmission shaft;

[0007] The first rotating wheel and the second rotating wheel are used to clamp the interventional instrument, and the axial directions of the first transmission shaft and the second transmission shaft are perpendicular to the first mounting plate;

[0008] The adjusting assembly is used to adjust the distance between the first rotating wheel and the second rotating wheel;

[0009] Wherein, the first rotating wheel and the second rotating wheel rotate at a differential speed.

[0010] According to an interventional instrument driving device provided by the utility model, the first rotating wheel includes a wheel body and an end cover fixed at one end of the wheel body, the first transmission shaft is fixedly connected to the inner ring of the first bearing, the outer ring of the first bearing is fixedly connected to the inner wall of the wheel body, and the first transmission shaft is fixedly connected to the end cover.

[0011] According to an interventional instrument driving device provided by the utility model, a limiting groove is provided at the end of the first transmission shaft, and a limiting block is provided at the end cover, and the limiting block is clamped in the limiting groove.

[0012] According to an interventional instrument driving device provided by the utility model, the cross section of the limiting groove is triangular.

[0013] According to an interventional instrument driving device provided by the utility model, the adjusting component includes an adjusting driving member, a first gear, a second gear and a camshaft, the first gear is transmission-connected to the adjusting driving member, the second gear is sleeved and fixed on the camshaft, the first gear is meshed with the second gear, the second transmission shaft is inserted into the camshaft, and part of the outer edge of the camshaft is against the inner wall of the second rotating wheel.

[0014] According to an interventional instrument driving device provided by the utility model, the second rotating wheel includes a main body and a cover body fixed at one end of the main body, and the second transmission shaft is connected to the cover body through a cross slider.

[0015] According to an interventional instrument driving device provided by the utility model, the second transmission shaft is penetrated through the first mounting plate, and the second transmission shaft is connected to the support via a second bearing.

[0016] According to an interventional instrument driving device provided by the utility model, there are multiple second rotating wheel assemblies, and the multiple second rotating wheel assemblies are arranged around the same first rotating wheel assembly.

[0017] According to an interventional instrument driving device provided by the utility model, the support also includes a second mounting plate, the second mounting plate is at an acute angle to the pushing direction of the interventional instrument and is arranged opposite to the first mounting plate, the second rotating wheel assembly and the first rotating wheel assembly are arranged in a set, and the first mounting plate and the second mounting plate are both installed with a set of the second rotating wheel assembly and the first rotating wheel assembly.

[0018] The utility model also provides an interventional surgical robot, which comprises the interventional instrument driving device as described above.

[0019] The interventional instrument driving device and interventional surgical robot provided by the utility model are provided with a first rotating wheel assembly, a second rotating wheel assembly and an adjusting assembly on a support, the first driving member drives the first rotating wheel to rotate through a first transmission shaft, the second driving member drives the second rotating wheel to rotate through a second transmission shaft, the first rotating wheel and the second rotating wheel clamp the interventional instrument to drive the interventional instrument to advance, retreat and twist, thereby simplifying the structure, and the adjusting assembly can adjust the distance between the first rotating wheel and the second rotating wheel, so as to adapt to interventional instruments of different models. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction will be given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a three-dimensional diagram of the interventional instrument driving device provided by the utility model;

[0022] Figure 2 is a cross-sectional view of the interventional instrument driving device provided by the utility model;

[0023] Figure 3 It is a partial stereogram of the first transmission shaft provided by the utility model;

[0024] Figure 4 It is a partial cross-sectional view of the interventional instrument driving device provided by the utility model;

[0025] Figure 5 It is a three-dimensional diagram of another interventional instrument driving device provided by the utility model;

[0026] Figure 6 It is a three-dimensional diagram of another interventional instrument driving device provided by the utility model.

[0027] Reference numerals:

[0028] 10. Support; 11. First mounting plate; 12. Second mounting plate; 20. First rotating wheel assembly; 21. First driving member; 22. First transmission shaft; 221. Limiting groove; 23. First rotating wheel; 231. Wheel body; 232; End cover; 30. Second rotating wheel assembly; 31. Second driving member; 32. Second transmission shaft; 33. Second rotating wheel; 331. Main body; 332. Cover body; 34. Cross slider; 41. Adjusting driving member; 42. First gear; 43. Second gear; 44. Camshaft; 51. First bearing; 52. Second bearing; 53. Third bearing; 100. Interventional instrument. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical solution and advantages of the utility model clearer, the technical solution of the utility model will be clearly and completely described below in conjunction with the drawings in the utility model. Obviously, the described embodiments are 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 creative work are within the scope of protection of the utility model.

[0030] The term "first" or "second" in the specification and claims of the utility model may explicitly or implicitly include one or more of the features. In the description of the utility model, unless otherwise specified, "multiple" means two or more. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / " generally means that the related objects are in an "or" relationship.

[0031] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0033] Combine the following Figure 1-Figure 6 The present invention describes an interventional instrument driving device.

[0034] The present invention provides an interventional instrument driving device. Figure 1As shown, it includes: a support 10, a first rotating wheel assembly 20, a second rotating wheel assembly 30 and an adjustment assembly. The support 10 includes a first mounting plate 11, and the first mounting plate 11 is set at an acute angle with the pushing direction of the interventional instrument 100. The first rotating wheel assembly 20 includes a first rotating wheel 23, a first transmission shaft 22 and a first driving member 21. The first driving member 21 is connected to the first transmission shaft 22 in a transmission manner, and the first rotating wheel 23 is installed on the first transmission shaft 22; the second rotating wheel assembly 30 includes a second rotating wheel 33, a second transmission shaft 32 and a second driving member 31, and the second driving member 31 is connected to the second transmission shaft 32 in a transmission manner, and the second rotating wheel 33 is installed on the second transmission shaft 32. The first rotating wheel 23 and the second rotating wheel 33 are used to clamp the interventional instrument 100, and the axial directions of the first transmission shaft 22 and the second transmission shaft 32 are both perpendicular to the first mounting plate 11. The adjustment assembly is used to adjust the distance between the first rotating wheel 23 and the second rotating wheel 33. Among them, the first rotating wheel 23 and the second rotating wheel 33 rotate at a differential speed. The rotation speeds of the first rotating wheel 23 and the second rotating wheel 33 are controlled by controlling the first driving member 21 and the second driving member 31 .

[0035] The support 10 is used to fix the entire interventional instrument driving device on other structures, and can provide a mounting position for the first rotating wheel assembly 20, the second rotating wheel assembly 30 and the adjustment assembly.

[0036] The interventional instrument 100 is pushed forward in the horizontal direction. Figure 1 As shown, the first mounting plate 11 is inclined relative to the horizontal plane. Optionally, the first driving member 21 and the second driving member 31 are both rotating motors. The first driving member 21 is directly connected to one end of the first transmission shaft 22 or is connected to the first transmission shaft 22 through other transmission structures. Driven by the first driving member 21, the first transmission shaft 22 rotates, driving the first rotating wheel 23 to rotate. Similarly, the second driving member 31 is directly connected to the second transmission shaft 32 or is connected to the second transmission shaft 32 through other transmission structures. Driven by the second driving member 31, the second transmission shaft 32 drives the second rotating wheel 33 to rotate.

[0037] The first rotating wheel 23 and the second rotating wheel 33 clamp the interventional instrument 100. Since the axial direction of the first rotating wheel 23 and the second rotating wheel 33 is set at an angle with the axial direction of the interventional instrument 100, when the first rotating wheel 23 and the second rotating wheel 33 rotate, the force acting on the interventional instrument 100 can be decomposed into forces in the horizontal and vertical directions, so that the first rotating wheel 23 and the second rotating wheel 33 can not only drive the interventional instrument 100 to move forward but also perform a twisting operation on the interventional instrument 100. In order to adapt to interventional instruments 100 of different sizes, an adjustment component is installed on the support 10, and the spacing between the first rotating wheel 23 and the second rotating wheel 33 is adjusted by the adjustment component.

[0038] The rotation directions of the first rotating wheel 23 and the second rotating wheel 33 may be the same or different, and accordingly, the first driving member 21 and the second driving member 31 may rotate in either a forward direction or a reverse direction.

[0039] The interventional instrument driving device provided by the embodiment of the utility model is provided with a first rotating wheel assembly 20, a second rotating wheel assembly 30 and an adjusting assembly on the support 10, wherein the first driving member 21 drives the first rotating wheel 23 to rotate through the first transmission shaft 22, and the second driving member 31 drives the second rotating wheel 33 to rotate through the second transmission shaft 32, and the first rotating wheel 23 and the second rotating wheel 33 clamp the interventional instrument 100. Due to the differential rotation of the first rotating wheel 23 and the second rotating wheel 33, the interventional instrument 100 can be driven to advance, retreat and twist, and the adjusting assembly can adjust the distance between the first rotating wheel 23 and the second rotating wheel 33, so as to adapt to different models of interventional instruments 100.

[0040] like Figure 2 As shown, the first rotating wheel 23 includes a wheel body 231 and an end cover fixed to one end of the wheel body 231. The first transmission shaft 22 is fixedly connected to the inner ring of the first bearing 51, and the outer ring of the first bearing 51 is fixedly connected to the inner wall of the wheel body 231. The first transmission shaft 22 is fixedly connected to the end cover.

[0041] Specifically, the wheel body 231 is a hollow cylindrical shell, and the end cover is fastened to the end of the wheel body 231 by screws. At least one first bearing 51 is inserted inside the wheel body 231, and the wheel body 231 is connected to the first transmission shaft 22 through the first bearing 51. Figure 2 As shown, the first driving member 21 and the wheel body 231 are arranged on opposite sides of the first mounting plate 11. Four first bearings 51 are arranged along the axial direction of the first transmission shaft 22, two of which are located on the first side of the first mounting plate 11, and the other two first bearings 51 are located on the second side of the first mounting plate 11. The first bearings 51 are arranged to connect the first transmission shaft 22 and the wheel body 231, and can play a role in supporting the wheel body 231 and the first transmission shaft 22.

[0042] The first transmission shaft 22 is a rod body that is thick in the middle and thin at both ends. Specifically, the first transmission shaft 22 includes a middle section and two connecting sections located at both ends of the middle section, and a step surface is formed at the connection between the connecting section and the middle section. The first bearing 51 is sleeved on the middle section. The output end of the first driving member 21 is fixedly connected to the end of one connecting section, and the end of the other connecting section is provided with a limiting groove 221, and the end cover is correspondingly provided with a limiting block, and the limiting block is clamped and fixed to the limiting groove 221. When the first driving member 21 drives the first transmission shaft 22 to rotate, the first transmission shaft 22 drives the end cover and the wheel body 231 to rotate.

[0043] In addition, the first rotating wheel 23 can also be directly sleeved and fixed on the first transmission shaft 22. As long as the first driving member 21 drives the first rotating wheel 23 to rotate, it will be sufficient.

[0044] like Figure 3 As shown, the cross section of the limit groove 221 is triangular. The limit groove 221 is a notch set at the end of the first transmission shaft 22. Correspondingly, the limit block is triangular and inserted into the limit groove 221. The cooperation between the limit groove 221 and the limit block provides positioning for the installation of the end cover and facilitates the transmission of power from the first transmission shaft 22 to the end cover.

[0045] like Figure 2 and Figure 4 As shown, the adjustment assembly includes an adjustment drive member 41, a first gear 42, a second gear 43 and a camshaft 44. The first gear 42 is in transmission connection with the adjustment drive member 41, the second gear 43 is sleeved on the camshaft 44, and the first gear 42 is meshed with the second gear 43. The second transmission shaft 32 is inserted into the camshaft 44, and a portion of the outer edge of the camshaft 44 is against the inner wall of the second rotating wheel 33.

[0046] The adjusting drive member 41 is a servo motor or other mechanism that can provide a rotational driving force. The adjusting drive member 41 is mounted on the support 10. Optionally, the adjusting drive member 41 is a rotary motor, the motor seat of the rotary motor is fixed to the support 10, and the motor shaft of the rotary motor is connected to the first gear 42 in a transmission manner. It can be understood that the adjusting drive member 41 can be directly connected to the first gear 42, or it can be indirectly connected to the first gear 42. For example, the first gear 42 is sleeved and fixed to the drive shaft of the adjusting drive member 41. Alternatively, the adjusting drive member 41 is connected to the first gear 42 through a gear set or other transmission mechanism to facilitate the arrangement of the layout position of the adjusting drive member 41 as needed.

[0047] The camshaft 44 is a hollow structure, and the second transmission shaft 32 is inserted into the camshaft 44 and has a gap with the inner wall of the camshaft 44. The cam body on the camshaft 44 is located inside the second rotating wheel 33, and the second gear 43 and the cam body are spaced apart along the axial direction of the camshaft 44. Driven by the adjustment drive 41, the camshaft 44 rotates through the transmission of the first gear 42 and the second gear 43, so that the outer edge of the camshaft 44 that fits the inner wall of the second rotating wheel 33 changes position, thereby pushing the second rotating wheel 33 to deviate in the radial direction, thereby adjusting the distance between the second rotating wheel 33 and the first rotating wheel 23. When the adjustment drive 41 stops driving, the second drive 31 drives the second rotating wheel 33 to rotate through the second transmission shaft 32.

[0048] Among them, Figure 2 and Figure 4As shown, the second rotating wheel 33 includes a main body 331 and a cover body 332 fixed to one end of the main body 331, and the second transmission shaft 32 is connected to the cover body 332 through a cross slider 34. The cam body on the camshaft 44 is located inside the main body 331, and part of the outer edge of the cam body is in contact with the inner wall of the main body 331. When the adjustment drive 41 drives the camshaft 44 to rotate, the main body 331 drives the cover body 332 to move radially along the second rotating wheel 33. At this time, the radial displacement is compensated by the cross slider 34 to ensure the effective connection between the second transmission shaft 32 and the end cover.

[0049] like Figure 4 As shown, the second transmission shaft 32 passes through the first mounting plate 11 , and the second transmission shaft 32 is connected to the support 10 via a second bearing 52 .

[0050] The first mounting plate 11 is provided with a through hole, and the second transmission shaft 32 is passed through the through hole, so that the opposite ends of the second transmission shaft 32 are located on different sides of the first mounting plate 11. It can be understood that the aperture of the through hole is larger than the shaft diameter of the second transmission shaft 32. The bottom end of the second transmission shaft 32 is connected to the second driving member 31 in a transmission manner, and the top end of the second transmission shaft 32 is connected to the end cover. In order to facilitate the installation of the second bearing 52, a sleeve is fixedly installed on the support 10, the second driving member 31 is fixed to the sleeve, and the driving shaft of the second driving member 31 extends into the sleeve and is connected to the second transmission shaft 32. The inner ring of the second bearing 52 is fixed to the second transmission shaft 32, and the outer ring of the second bearing 52 is fixed to the inner wall of the sleeve. Similarly, the second gear 43 is sleeved on the bottom end of the camshaft 44, the second sleeve is fixedly installed on the support 10, the camshaft 44 is fixed to the inner ring of the third bearing 53, and the outer ring of the third bearing 53 is connected to the second sleeve.

[0051] The camshaft 44 and the second transmission shaft 32 are eccentrically arranged. Of course, the two can also be coaxially arranged as long as they can play the corresponding role.

[0052] Optionally, there are multiple second rotating wheel assemblies 30, and the multiple second rotating wheel assemblies 30 are arranged around the same first rotating wheel assembly 20. It can be understood that multiple adjustment assemblies are correspondingly arranged, and each adjustment assembly is used to adjust the distance between a second rotating wheel 33 and the first rotating wheel 23.

[0053] like Figure 1 As shown, there are two second rotating wheel assemblies 30, and the two second rotating wheel assemblies 30 are arranged around the same first rotating wheel assembly 20. Thus, the two second rotating wheels 33 and the one first rotating wheel 23 form two transmission spaces for clamping the interventional instrument 100. Correspondingly, an adjustment assembly is installed next to each second rotating wheel assembly 30. Figure 5 As shown, only one second rotating wheel assembly 30 is provided.

[0054] like Figure 6As shown, the support 10 further includes a second mounting plate 12, which is at an acute angle to the pushing direction of the interventional instrument 100 and is arranged opposite to the first mounting plate 11. The second rotating wheel assembly 30 and the first rotating wheel assembly 20 are arranged in a set, and the first mounting plate 11 and the second mounting plate 12 are each installed with a set of the second rotating wheel assembly 30 and the first rotating wheel assembly 20. The number of the second rotating wheel assembly 30 in each set can be one or more.

[0055] The utility model also provides an interventional surgical robot, which comprises the interventional instrument driving device as described above.

[0056] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the utility model.

Claims

1. An interventional instrument driving device, characterized in that: include: A support, a first rotating wheel assembly, a second rotating wheel assembly and an adjusting assembly, wherein the support comprises a first mounting plate, the first mounting plate is arranged at an acute angle with the pushing direction of the interventional instrument, and the first rotating wheel assembly comprises a first rotating wheel, a first transmission shaft and a first driving member; The first driving member is in transmission connection with the first transmission shaft, and the first rotating wheel is mounted on the first transmission shaft; The second rotating wheel assembly includes a second rotating wheel, a second transmission shaft and a second driving member, the second driving member is in transmission connection with the second transmission shaft, and the second rotating wheel is mounted on the second transmission shaft; The first rotating wheel and the second rotating wheel are used to clamp the interventional instrument, and the axial directions of the first transmission shaft and the second transmission shaft are perpendicular to the first mounting plate; The adjusting assembly is used to adjust the distance between the first rotating wheel and the second rotating wheel; Wherein, the first rotating wheel and the second rotating wheel rotate at a differential speed.

2. The interventional instrument driving device according to claim 1, characterized in that: The first rotating wheel includes a wheel body and an end cover fixed at one end of the wheel body, the first transmission shaft is fixedly connected to the inner ring of the first bearing, the outer ring of the first bearing is fixedly connected to the inner wall of the wheel body, and the first transmission shaft is fixedly connected to the end cover.

3. The interventional instrument driving device according to claim 2, characterized in that: A limiting groove is provided at the end of the first transmission shaft, and a limiting block is provided at the end cover, and the limiting block is clamped in the limiting groove.

4. The interventional instrument driving device according to claim 3, characterized in that: The cross section of the limiting groove is triangular.

5. The interventional instrument driving device according to claim 1, characterized in that: The adjusting assembly includes an adjusting driving member, a first gear, a second gear and a camshaft, the first gear is drivingly connected to the adjusting driving member, the second gear is sleeved and fixed on the camshaft, the first gear is meshed with the second gear, the second transmission shaft is inserted into the camshaft, and a portion of the outer edge of the camshaft is against the inner wall of the second rotating wheel.

6. The interventional instrument driving device according to claim 5, characterized in that: The second rotating wheel comprises a main body and a cover body fixed at one end of the main body, and the second transmission shaft is connected to the cover body through a cross slider.

7. The interventional instrument driving device according to claim 6, characterized in that: The second transmission shaft passes through the first mounting plate, and the second transmission shaft is connected to the support via a second bearing.

8. The interventional instrument driving device according to claim 1, characterized in that: There are a plurality of the second rotating wheel components, and the plurality of the second rotating wheel components are arranged around the same first rotating wheel component.

9. The interventional instrument driving device according to claim 1, characterized in that: The support also includes a second mounting plate, which forms an acute angle with the pushing direction of the interventional instrument and is arranged opposite to the first mounting plate, the second rotating wheel assembly and the first rotating wheel assembly are arranged in a set, and the first mounting plate and the second mounting plate are both installed with a set of the second rotating wheel assembly and the first rotating wheel assembly.

10. An interventional surgery robot, characterized in that: Comprising the interventional instrument driving device as described in any one of claims 1 to 9.

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