Catheter pushing mechanism and wire feeding module

Abstract

The utility model provides a catheter pushing mechanism and a wire feeding module, the catheter pushing mechanism comprises an electric clamping jaw mechanism, a driving assembly, a driving wheel assembly and a driven wheel assembly, the electric clamping jaw mechanism comprises a first clamping finger and a second clamping finger, the first clamping finger and the second clamping finger are correspondingly arranged, and the driving wheel assembly is connected with the driven wheel assembly. The driving wheel assembly is detachably installed on the first clamping finger, the driven wheel assembly is installed on the second clamping finger and corresponds to the driving wheel assembly, and the driving assembly is in transmission connection with the driving wheel assembly. According to the catheter pushing mechanism and the wire feeding module, the catheter pushing speed and pushing force can be adjusted, in the auxiliary interventional operation process, a doctor can replace the detachable driving wheel assembly and select the driving wheel assemblies with different size parameters according to the actual situation, the catheter pushing speed can be adjusted, and the operation efficiency is improved. And the catheter pushing accuracy is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of medical devices, in particular to a catheter pushing mechanism and a wire feeding module. Background Art

[0002] In traditional interventional surgery, doctors and patients need to wear lead suits in the operating room to reduce the harm caused by radiation, but the lead suit cannot completely cover the human body and there will still be exposure to radiation. Long surgery time can easily lead to cancer risks and create a psychological burden on doctors. In addition, the lead suit is heavy, which affects the doctor's operation during the operation and leads to low treatment efficiency.

[0003] Compared with traditional manual interventional surgery, interventional surgery robots can reduce the radiation dose to doctors and patients during surgery, directly separate doctors from the radiation source in the operating room, and essentially reduce the radiation dose and the risk of cancer. Doctors operate catheters, guide wires and other equipment in the operating cabin, getting rid of the burden of lead clothing and reducing radiation absorption. Experiments have shown that robot-assisted interventional surgery can greatly reduce the radiation exposure of doctors during surgery, while improving treatment efficiency, shortening surgery time, and reducing radiation exposure for patients.

[0004] However, since interventional surgery involves many different types of surgeries, different surgical methods are required for different patients, and the surgeons who perform the surgery have different routines. Existing interventional surgery robots can only use the same configuration for each surgery and cannot be adjusted according to actual conditions, making it difficult for doctors to accurately control the surgery. Utility Model Content

[0005] The purpose of the utility model is to solve the above-mentioned problem and to provide a catheter pushing mechanism and a wire feeding module which are convenient for adjusting the catheter pushing speed.

[0006] To achieve the above-mentioned purpose, the present application provides a catheter pushing mechanism, including an electric clamping jaw mechanism, a driving assembly, a driving wheel assembly and a driven wheel assembly, the electric clamping jaw mechanism includes a first clamping finger and a second clamping finger, the first clamping finger and the second clamping finger are arranged correspondingly, the driving wheel assembly is detachably mounted on the first clamping finger, the driven wheel assembly is mounted on the second clamping finger and is arranged correspondingly to the driving wheel assembly, and the driving assembly is transmission-connected to the driving wheel assembly.

[0007] The utility model discloses a catheter pushing mechanism, wherein the electric clamp mechanism can make the first clamp finger and the second clamp finger move relative to each other, so that the driving wheel assembly and the driven wheel assembly can clamp the catheter. The driving assembly is in transmission connection with the driving wheel assembly, so that the driving wheel assembly rotates, and then the catheter moves along the tangent direction between the catheter and the driving wheel assembly, so as to push the catheter. In addition, the driving wheel assembly is detachable, and the upper limit range of the pushing speed and pushing force of the catheter can be adjusted by replacing the driving wheel assembly with different size parameters. The doctor can make adjustments according to the actual situation of the operation to improve the accuracy of catheter pushing.

[0008] The utility model also provides a wire feeding module for an interventional surgery robot, and the wire feeding module adopts the above-mentioned catheter pushing mechanism.

[0009] In order to better understand and implement the present invention, the present invention is described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 This is a structural diagram of the catheter pushing mechanism of this application;

[0011] Figure 2 This is a structural schematic diagram of the electric clamping mechanism of the catheter pushing mechanism of this application;

[0012] Figure 3 This is an exploded schematic diagram of the driving wheel assembly and the driven wheel assembly of the catheter pushing mechanism of the present application;

[0013] Figure 4 This is a partial enlarged view of the catheter pushing mechanism of this application;

[0014] Figure 5 This is another visual structural diagram of the catheter pushing mechanism of the present application;

[0015] Figure 6 This is a schematic diagram of the structure of the wire feeding module of the interventional surgery robot in this application.

[0016] Numbers in the figure:

[0017] 1-electric clamping mechanism, 2-driving assembly, 3-driving wheel assembly, 4-driven wheel assembly, 5-first fastening mechanism, 6-second fastening mechanism, 11-first clamping finger, 12-second clamping finger, 21-transmission gear, 22-driving device, 31-driving shaft, 32-speed gear, 33-driving wheel, 41-driven shaft, 42-driven wheel, 111-first mounting platform, 121-second mounting platform, 331-first annular groove, 421-boss, 422-second annular groove, 500-fixed shell, 600-catheter rotating mechanism, 700-catheter sheath clamping mechanism, 800-catheter limiting mechanism, 900-catheter pushing mechanism, 1111-mounting through hole. DETAILED DESCRIPTION

[0018] See also Figures 1 to 5 The present embodiment provides a catheter pushing mechanism, including an electric clamp mechanism 1, a driving assembly 2, a driving wheel assembly 3 and a driven wheel assembly 4. The electric clamp mechanism 1 includes a first clamp finger 11 and a second clamp finger 12. The first clamp finger 11 and the second clamp finger 12 are arranged correspondingly and move relative to each other. The driving wheel assembly 3 is detachably mounted on the first clamp finger 11. The driven wheel assembly 4 is mounted on the second clamp finger 12 and is arranged correspondingly to the driving wheel assembly 3. The driving wheel assembly 3 and the driven wheel assembly 4 can move relative to each other under the action of the first clamp finger 11 and the second clamp finger 12, and can clamp the catheter. The driving assembly 2 is in transmission connection with the driving wheel assembly 3. When the driving assembly 2 works, it transmits torque to the driving wheel assembly 3. The driving wheel assembly 3 generates friction with the catheter, so that the catheter moves along the tangent direction of the catheter and the driving wheel assembly 3, so as to push the catheter. The driving wheel assembly 3 is detachable. By replacing the driving wheel assembly 3 with different size parameters, the pushing speed of the catheter is adjusted to improve the accuracy of the catheter pushing.

[0019] Wherein, the electric clamp mechanism 1 is used to drive the driving wheel assembly 3 and the driven wheel assembly 4 to move relative to each other, so as to cooperate in clamping or releasing the catheter. In this embodiment, the first clamp finger 11 and the second clamp finger 12 move relative to each other at the same time so that the driving wheel assembly 3 and the driven wheel assembly 4 cooperate in clamping or releasing the catheter. In other embodiments, the first clamp finger 11 can be fixed and the second clamp finger 12 moves toward the first clamp finger 11. In other embodiments, the second clamp finger 12 can be fixed and the first clamp finger 11 moves toward the second clamp finger 12. In different embodiments, the electric clamp mechanism 1 can be a hydraulic clamp, a pneumatic clamp or an electric clamp mechanism with other driving modes that controls the first clamp finger 11 and the second clamp finger 12 by a motor, or an electric clamp with an electrically controlled switch.

[0020] The driving assembly 2 is used to drive the driving wheel assembly 3 to rotate. In this embodiment, the driving assembly 2 is in transmission connection with the driving wheel assembly 3 .

[0021] In one embodiment, a first mounting platform 111 is provided on the first clamping finger 11, the driving wheel assembly 3 is detachably mounted on the first mounting platform 111, and the driving assembly 2 is mounted on the first mounting platform 111; a second mounting platform 121 is provided on the second clamping finger 12, and the driven wheel assembly 4 is mounted on the second mounting platform 121. The first mounting platform 111 and the second mounting platform 121 extend from the first clamping finger 11 and the second clamping finger 12, providing installation space for the driving assembly 2, the driving wheel assembly 3 and the driven wheel assembly 4, so as to facilitate installation by users. In another embodiment, the installation space of the first clamping finger 11 and the second clamping finger 12 is sufficient, and the driving assembly 2, the driving wheel assembly 3 and the driven wheel assembly 4 can also be directly mounted on the first clamping finger 11 and the second clamping finger 12, without the need for the first mounting platform 111 and the second mounting platform 121. In this embodiment, the drive assembly 2 is fixed to the first mounting platform 111 by bolt connection. In other embodiments, the drive assembly 2 can also be fixed to the first mounting platform 111 by means of snap fasteners or the like, or is not fixed to the first clamping finger 11 or the first mounting platform 111, but is installed at other positions of the wire feeding module where the catheter pushing mechanism is located, and extends out to be transmission-connected to the driving wheel assembly 3.

[0022] In one embodiment, the driving wheel assembly 3 includes a driving shaft 31, a speed gear 32 and a driving wheel 33. The driving shaft 31 is mounted on the first mounting platform 111. The speed gear 32 is located below the driving wheel 33 and is coaxially mounted on the driving shaft 31 with the driving wheel 33. The driving assembly 2 is connected to the speed gear 32 in a transmission manner, drives the speed gear 32 to rotate, and the speed gear 32 drives the driving shaft 31 to rotate, thereby driving the driving wheel 33 to rotate. In another embodiment, the speed gear 32 is integrally designed with the driving wheel 33, and the speed gear 32 is connected to the driving assembly 2 in a transmission manner. In another embodiment, the speed gear 32 may not be required, and the outer edge of the driving wheel 33 is toothed, and the driving wheel 33 is meshed with the driving assembly 2 through the outer toothed shape to achieve a transmission connection, and the driving assembly 2 drives the driving wheel 33 to rotate. In another embodiment, the driving assembly 2 is coaxially mounted with the driving wheel 33, and the driving assembly 2 drives the driving wheel 33 to rotate.

[0023] The driven wheel assembly 4 includes a driven shaft 41 and a driven wheel 42. The driven shaft 41 is mounted on the second mounting platform 121 and is coaxially assembled with the driven wheel 42. The driven wheel 42 is used to cooperate with the driving wheel 33 to clamp the catheter, and is rotated under force to assist the driving wheel 33 in pushing the catheter. A circular boss 421 designed integrally with the driven wheel is provided on one side of the driven wheel 42 close to the second mounting platform 121. The height of the boss 421 enables the driven wheel 42 to be arranged correspondingly to the driving wheel 33. The shape of the boss 421 may be square or other shapes. In another embodiment, the boss 421 may also be arranged separately from the driven wheel.

[0024] In one embodiment, the cross section of the driving shaft 31 is a square, which can prevent the speed difference caused by the sliding of the speed change gear 32 and the driving wheel 33. In other embodiments, the cross section of the driving shaft can be a triangle, a trapezoid or other shapes.

[0025] The end of the driving shaft 31 is provided with a first fastening mechanism 5 for fastening the speed gear 32 and the driving wheel 33 to prevent the speed gear 32 and the driving wheel 33 from falling off during the rotation process. The first fastening mechanism 5 is detachably assembled with the driving shaft 31; the end of the driven shaft 41 is provided with a second fastening mechanism 6 for fastening the driven wheel 42 to prevent the driven wheel 42 from falling off during the rotation process. In this embodiment, the first fastening mechanism 5 is a detachable screw fastening mechanism, which is convenient for replacing the speed gear 32 or the driving wheel 33; the second fastening mechanism 6 can also be a detachable screw fastening mechanism, which is convenient for replacing the driven wheel 42. In other embodiments, the first fastening mechanism 5 and the second fastening mechanism 6 can also adopt a detachable bayonet fastening mechanism or other detachable fastening mechanisms.

[0026] The first mounting platform 111 is provided with a mounting through hole 1111, and the driving assembly 2 includes a transmission gear 21 and a motor 22. The transmission gear 21 is mounted on the output shaft of the motor 22, and the transmission gear 21 is connected to the driving wheel assembly 3 through the mounting through hole 1111. The motor 22 serves as a power source for the rotation of the driving wheel assembly 3. The output shaft of the motor 22 drives the transmission gear 21 to rotate, and the transmission gear 21 in turn drives the driving wheel assembly 3 to rotate. The mounting through hole 1111 is larger than the outer diameter of the transmission gear 21 to avoid interference from the mounting through hole 1111 during the rotation of the transmission gear 21. In another embodiment, the motor can be directly coaxially assembled with the driving wheel assembly 3 without the need for the transmission gear.

[0027] In one embodiment, the speed change gear 32 is in transmission connection with the transmission gear 21, so that the torque output by the motor 22 is transmitted to the driving wheel coaxial with the speed change gear. Part of the transmission gear 21 is located inside the mounting through hole 1111, and the other part extends out of the mounting through hole 1111 and is located on the same plane as the speed change gear 32. In another embodiment, the length of the transmission gear 21 is consistent with the length of the speed change gear 32, and the transmission gear 21 extends from the first mounting platform 111 and meshes with the speed change gear 32.

[0028] In one embodiment, the driving wheel 33 is provided with a first annular groove 331, and the driven wheel 42 is provided with a second annular groove 422, and the first annular groove 331 and the second annular groove 422 are used to cooperate with each other to clamp the catheter. The cross-sections of the first annular groove 331 and the second annular groove 422 are both arc-shaped, which can fit the catheter and facilitate the pushing of the catheter.

[0029] The first annular groove 331 and the second annular groove 422 are also provided with anti-skid patterns, and the anti-skid patterns can prevent the catheter from sliding relative to the driving wheel 33 or the driven wheel 42 when the catheter is pushed, thereby affecting the pushing accuracy. In another embodiment, the first annular groove 331 and the second annular groove 422 may not need to be provided with anti-skid patterns, but the first annular groove 331 and the second annular groove 422 may be made of anti-skid material.

[0030] See also Figure 6 The utility model also provides a wire feeding module, including a fixed shell, a catheter rotating mechanism, a catheter sheath clamping mechanism, a catheter limiting mechanism, and the above-mentioned catheter pushing mechanism, wherein the fixed shell has a receiving space, the catheter rotating mechanism is located in the receiving space of the fixed shell, and is used to drive the catheter pushing mechanism to rotate, and the catheter sheath clamping mechanism, the catheter pushing mechanism and the catheter limiting mechanism are arranged in a straight line. The wire feeding module can also adjust the pushing speed and pushing force of the catheter by replacing the driving wheel assembly with different size parameters, and the doctor can make adjustments according to the actual situation of the operation to improve the accuracy of catheter pushing.

[0031] The present invention is not limited to the above-mentioned embodiments. If various changes or modifications to the present invention do not depart from the spirit and scope of the present invention, and if these changes and modifications fall within the claims of the present invention and the scope of equivalent technologies, the present invention is also intended to include these changes and modifications.

Claims

1. A catheter pushing mechanism, characterized in that: It includes an electric clamping jaw mechanism, a driving assembly, a driving wheel assembly and a driven wheel assembly. The electric clamping jaw mechanism includes a first clamping finger and a second clamping finger. The first clamping finger is correspondingly arranged with the second clamping finger. The driving wheel assembly is detachably mounted on the first clamping finger. The driven wheel assembly is mounted on the second clamping finger and is correspondingly arranged with the driving wheel assembly. The driving assembly is transmission-connected with the driving wheel assembly.

2. A catheter pushing mechanism according to claim 1, characterized in that: The first clamping finger is provided with a first mounting platform, the active wheel assembly is detachably mounted on the first mounting platform, and the driving assembly is mounted on the first mounting platform; the second clamping finger is provided with a second mounting platform, and the driven wheel assembly is mounted on the second mounting platform.

3. A catheter pushing mechanism according to claim 2, characterized in that: The driving wheel assembly includes a driving shaft, a speed gear and a driving wheel. The driving shaft is mounted on the first mounting platform. The speed gear is located below the driving wheel and is coaxially assembled on the driving shaft with the driving wheel. The speed gear is transmission-connected to the driving assembly. The driven wheel assembly includes a driven shaft and a driven wheel. The driven shaft is mounted on the second mounting platform and is coaxially assembled with the driven wheel.

4. A catheter pushing mechanism according to claim 3, characterized in that: The cross section of the driving shaft is square.

5. A catheter pushing mechanism according to claim 3, characterized in that: A first fastening mechanism for fixing the speed change gear and the driving wheel is provided at the end of the driving shaft, and the first fastening mechanism is detachably assembled with the driving shaft; a second fastening mechanism for fixing the driven wheel is provided at the end of the driven shaft.

6. A catheter pushing mechanism according to any one of claims 3 to 5, characterized in that: The first mounting platform is provided with a mounting through hole, the driving assembly comprises a motor and a transmission gear, the transmission gear is mounted on the output shaft of the motor, and the transmission gear passes through the mounting through hole and is transmission-connected to the driving wheel assembly.

7. A catheter pushing mechanism according to claim 6, characterized in that: The speed change gear is in transmission connection with the transmission gear.

8. A catheter pushing mechanism according to any one of claims 3 to 5, characterized in that: The driving wheel is provided with a first annular groove, and the driven wheel is provided with a second annular groove. The first annular groove cooperates with the second annular groove to clamp the catheter.

9. A catheter pushing mechanism according to claim 8, characterized in that: Anti-slip patterns are arranged on the first annular groove and the second annular groove.

10. A wire feeding module, characterized in that: It includes a fixed shell, a catheter rotating mechanism, a catheter sheath clamping mechanism, a catheter limiting mechanism, and the catheter pushing mechanism as described in any one of claims 1 to 9, the fixed shell has a receiving space, the catheter rotating mechanism is located in the receiving space of the fixed shell, and is used to drive the catheter pushing mechanism to rotate, and the catheter sheath clamping mechanism, the catheter pushing mechanism and the catheter limiting mechanism are arranged in a straight line.

Images