Interventional instrument pushing device

Abstract

The utility model belongs to the technical field of medical instruments, and particularly provides an interventional instrument pushing device which comprises a mounting plate, a driving roller mechanism is arranged on the mounting plate, and the driving roller mechanism comprises a first roller shaft; the driven roller mechanism is arranged on the mounting plate, the driven roller mechanism comprises a second roller shaft and a first encoder, the second roller shaft and the first roller shaft are arranged in a spaced mode in the first direction to form a pushing channel, the pushing channel is used for containing an interventional instrument to be pushed, and the first encoder can detect the rotating angle of the second roller shaft; the power mechanism is arranged on the mounting plate, the power mechanism is in transmission connection with the first roller shaft, the power mechanism comprises a second encoder, and the second encoder can detect the rotation angle of the first roller shaft. According to the scheme, the rotating angle of the first roller shaft is obtained through the power mechanism, the rotating angle of the second roller shaft is obtained through the first encoder, and whether slipping exists or not can be judged by comparing the two rotating angles.

Description

Technical Field

[0001] The present application belongs to the field of medical device technology, and more specifically, relates to an interventional device pushing device. Background Art

[0002] In coronary, neurological, and peripheral vascular interventional surgeries, it is often necessary to use auxiliary devices to push interventional instruments into the patient's body to assist doctors in performing the surgery. Currently, the main implementation method of interventional instrument pushing devices is to use friction wheels to drive slender interventional instruments forward or backward. This pushing device has a compact structure and can achieve continuous delivery of slender interventional instruments in a smaller volume. However, there may be slippage between the friction wheel of the pushing device and the interventional instrument during the pushing process, which in turn affects the actual pushing accuracy. In addition, the current pushing device cannot know whether there is slippage during the pushing process, and thus cannot make effective compensation. Therefore, the final pushing accuracy of the interventional instrument is difficult to guarantee. Utility Model Content

[0003] The purpose of the present application is to provide an interventional instrument pushing device to solve the technical problem in the prior art that it is impossible to detect whether there is an abnormal slip during the pushing process, resulting in insufficient pushing accuracy.

[0004] To achieve the above purpose, the technical solution adopted in this application is:

[0005] Provided is an interventional instrument pushing device, the pushing device comprising:

[0006] Mounting plate;

[0007] An active roller mechanism, the active roller mechanism is arranged on the mounting plate, the active roller mechanism comprises a first roller shaft, and the first roller shaft is used for frictionally contacting with the interventional instrument to be pushed;

[0008] A driven roller mechanism, the driven roller mechanism is arranged on the mounting plate, the driven roller mechanism comprises a second roller shaft and a first encoder, the second roller shaft is used for frictionally contacting with the interventional instrument to be pushed, the first roller shaft can drive the second roller shaft to rotate through the interventional instrument, the second roller shaft and the first roller shaft are arranged at intervals along a first direction to form a pushing channel, the pushing channel is used to accommodate the interventional instrument to be pushed, and the first encoder can detect the rotation angle of the second roller shaft;

[0009] A power mechanism, wherein the power mechanism is arranged on the mounting plate, the power mechanism is drivingly connected to the first roller shaft, and the power mechanism comprises a second encoder, and the second encoder can detect the rotation angle of the first roller shaft.

[0010] During use, the interventional instrument is located in the pushing channel, and the first roller and the second roller squeeze the interventional instrument from opposite sides, the power mechanism drives the first roller to rotate, and the first roller pushes the interventional instrument along its own axial direction through friction, that is, the interventional instrument is pushed, and in this process, the interventional instrument synchronously drives the second roller to rotate through friction, and under the premise of no slip, the rotation angle of the second roller and the rotation angle of the first roller have a fixed preset proportional relationship. This scheme firstly connects the power mechanism with the first roller through transmission, so that a fixed transmission relationship is formed between the first roller and the power mechanism, and then the actual rotation angle of the first roller can be obtained by using the power mechanism, and then the first encoder connected to the second roller is set, and then the actual rotation angle of the second roller can be obtained by using the first encoder, and finally, by comparing the rotation angle of the first roller with the rotation angle of the second roller, it can be judged whether the pushing device slips during the process of pushing the interventional instrument, and the slip detection and monitoring of the interventional instrument pushing process are realized, which effectively improves the precision of the interventional instrument pushing.

[0011] As an embodiment, the number of the first rollers is two, the two first rollers are spaced apart along the second direction, the rotation speed and rotation direction of the two first rollers are equal, and the number of the second rollers is two, the two second rollers are spaced apart along the second direction.

[0012] By providing two groups of the first rollers and the second rollers, the pushing force of the pushing device on the interventional instrument can be increased, the risk of slipping can be reduced, and thus it helps to improve the pushing accuracy of the interventional instrument.

[0013] As an embodiment, the active roller mechanism also includes a long drive shaft, a short drive shaft and a pulley assembly, wherein one of the first rollers is fixedly connected to the long drive shaft, the other first roller is fixedly connected to the short drive shaft, one end of the pulley assembly is connected to the long drive shaft, and the other end of the pulley assembly is connected to the short drive shaft, and the pulley assembly can realize synchronous rotation of the long drive shaft and the short drive shaft; the power mechanism includes a power motor, and the power motor is transmission-connected to the long drive shaft.

[0014] By providing the power motor and the pulley assembly, it is possible to achieve a power motor driving the two first rollers to rotate synchronously. On the one hand, the pushing device can omit a power motor, thereby helping to reduce the overall cost of the pushing device. On the other hand, the rotation synchronization of the two first rollers can be controlled more simply and reliably.

[0015] As an implementation manner, the driving roller mechanism further includes a tensioning assembly. The tensioning assembly includes a tensioning slider, a tensioning wheel, and a tensioning bolt. The tensioning slider is slidably disposed on the mounting plate along the first direction. The tensioning wheel is rotatably disposed at one end of the tensioning slider and can slide along the first direction following the tensioning slider. The tensioning wheel squeezes the portion of the pulley assembly between the long driving shaft and the short driving shaft along the first direction. The tensioning bolt is threadedly connected to the other end of the tensioning slider, and the tensioning bolt can adjust the position of the tensioning slider in the first direction.

[0016] By providing the tensioning wheel that can squeeze the pulley assembly along the first direction, the tension of the pulley assembly can be adjusted, thereby improving the transmission reliability of the two first roller shafts, and thus contributing to ensuring the rotational synchronism of the two first roller shafts.

[0017] As an implementation manner, the number of the first encoders is one, and the first encoder detects the rotation angle of one of the second roller shafts; or, the number of the first encoders is two, and each first encoder detects the rotation angle of one second roller shaft.

[0018] As an implementation manner, the interventional device pushing device further includes a controller. The controller is electrically connected to the first encoder and the second encoder, and the controller can acquire and compare the rotation angle of the first roller shaft with the rotation angle of the second roller shaft.

[0019] By the controller acquiring and comparing the rotation angle of the first roller shaft with the rotation angle of the second roller shaft, it can quickly determine whether there is slipping between the first roller shaft and the second roller shaft.

[0020] As an implementation manner, the driven roller mechanism further includes a driven sliding seat, a driven support, and an elastic pressing member. The driven sliding seat is slidably disposed on the mounting plate along the first direction. The second roller shaft and the first encoder are disposed on the driven sliding seat. The driven support is disposed on the mounting plate and is located on the side of the driven sliding seat away from the first roller shaft. One end of the elastic pressing member is connected to the driven sliding seat, and the other end of the elastic pressing member is connected to the driven support. The elastic pressing member can drive the driven sliding seat to move towards the direction close to the first roller shaft.

[0021] By providing the driven sliding seat and the elastic pressing member, the distance between the second roller shafts can be adjusted, that is, the width of the pushing channel can be adjusted, so that the pushing device can meet the pushing requirements of interventional devices with different size specifications, effectively improving the versatility of the pushing device.

[0022] As an implementation manner, the elastic pressing member is a compression spring, and the driven roller mechanism further includes a pressing adjustment member. One end of the pressing adjustment member is threadedly connected to the driven support, and the other end of the pressing adjustment member abuts against the elastic pressing member. Rotating the pressing adjustment member can adjust the compression amount of the elastic pressing member.

[0023] By providing the pressing adjustment member, the compression amount of the elastic pressing member can be adjusted after the intervention instrument is clamped, so that the clamping force of the first roller shaft and the second roller shaft on the intervention instrument can be adjusted, thereby ensuring that the first roller shaft and the second roller shaft can provide an effective clamping force on the intervention instrument, reducing the risk of slipping of the intervention instrument during the pushing process, and reducing the risk of the intervention instrument being damaged by clamping.

[0024] As an implementation manner, the driven roller mechanism further includes a release handle. The release handle is movably connected to the driven support. The release handle includes a handle rod, a handle cap and a gear column. One end of the handle rod is connected to the driven sliding seat, and the other end of the handle rod is fixedly connected to the handle cap. The handle cap is located on the side of the driven support away from the driven sliding seat. The gear column is provided on the side of the handle cap close to the driven support. A gear hole is provided on the driven support. The gear column can be inserted into the gear hole, and the gear column can abut against the end face of the driven support away from the driven sliding seat.

[0025] By providing the mutually cooperating gear column and the gear hole, the release handle has two working states. In one working state, the gear column is inserted into the gear hole. At this time, under the action of the elastic pressing member, the second roller shaft abuts against the intervention instrument, and cooperates with the first roller shaft to jointly clamp the intervention instrument, and the intervention instrument is pushed in this working state. In another working state, the gear column abuts against the end face of the driven support away from the driven sliding seat. At this time, the second roller shaft is separated from the intervention instrument, and the intervention instrument can be placed or taken out in this working state.

[0026] As an implementation manner, both the first roller shaft and the second roller shaft are vertically arranged. The intervention instrument pushing device further includes a limiting roller mechanism. The limiting roller mechanism includes an upper limiting roller and a lower limiting roller. The upper limiting roller and the lower limiting roller are arranged at intervals in the vertical direction, and the upper limiting roller and the lower limiting roller can limit the intervention instrument in the vertical direction.

[0027] The first roller shaft and the second roller shaft are arranged vertically, such that the first direction is a horizontal direction, that is, the first roller shaft and the second roller shaft limit the interventional instrument in the horizontal direction. By providing the limiting roller mechanism capable of limiting the interventional instrument in the vertical direction, the interventional instrument is effectively limited in both the horizontal and vertical directions, thereby effectively improving the stability of the pushing process of the interventional instrument.

[0028] As an implementation manner, the limiting roller mechanism further includes a support frame and a mounting frame. One end of the support frame is arranged on the mounting plate, the mounting frame is rotatably arranged at the other end of the support frame, the upper limiting roller is arranged on the mounting frame, and the lower limiting roller is arranged on the mounting plate.

[0029] By providing the rotatably connected mounting frame and the support frame, the upper limiting roller can approach or move away from the lower limiting roller following the rotation of the mounting frame. In the state where the upper limiting roller moves away from the lower limiting roller, it is equivalent to releasing the limit above the pushing channel. Therefore, this design can improve the operational convenience of inserting or removing the interventional instrument into or from the pushing channel.

[0030] The beneficial effects of the interventional instrument pushing device provided by this application are as follows:

[0031] Firstly, by drivingly connecting the power mechanism with the first roller shaft, a fixed transmission relationship is formed between the first roller shaft and the power mechanism. Thus, the actual rotation angle of the first roller shaft can be obtained by using the power mechanism. Secondly, by providing the first encoder connected to the second roller shaft, the actual rotation angle of the second roller shaft can be obtained by using the first encoder. Finally, by comparing the rotation angle of the first roller shaft with the rotation angle of the second roller shaft, it can be determined whether there is slippage during the process of pushing the interventional instrument by this pushing device, realizing the slippage detection and monitoring of the pushing process of the interventional instrument, and effectively improving the pushing accuracy of the interventional instrument. Description of the Drawings

[0032] In order to more clearly illustrate the technical solutions in the embodiments of this application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of this application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0033] Figure 1 Schematic diagram of the interventional instrument pushing device provided by the embodiment of this application;

[0034] Figure 2 Schematic diagram of the power mechanism provided by the embodiment of this application;

[0035] Figure 3 Schematic diagram of the driving roller mechanism provided by the embodiment of the present application;

[0036] Figure 4 Schematic diagram of the cooperation between the tensioning assembly and the pulley assembly provided by the embodiment of the present application;

[0037] Figure 5 Schematic diagram of the driven roller mechanism provided by the embodiment of the present application;

[0038] Figure 6 Schematic diagram of the limiting roller mechanism provided by the embodiment of the present application;

[0039] Figure 7 Schematic diagram of the intervention device pushing device in the working condition of picking up and placing the intervention device provided by the embodiment of the present application;

[0040] Figure 8 Schematic diagram of the intervention device pushing device in the working condition of pushing the intervention device provided by the embodiment of the present application.

[0041] Among them, each reference numeral in the figure:

[0042] 1. mounting plate; 11. linear slide rail;

[0043] 2. driving roller mechanism; 21. first roller shaft; 22. driving roller bracket; 23. long driving shaft; 24. short driving shaft; 25. pulley assembly; 251. transmission belt; 252. transmission wheel; 26. tensioning assembly; 261. tensioning slider; 262. tensioning wheel; 263. tensioning bolt; 264. tensioning support;

[0044] 3. driven roller mechanism; 31. second roller shaft; 32. first encoder; 33. driven slider; 331. upper slider; 332. lower slider; 34. driven support; 341. gear hole; 35. elastic pressing member; 36. pressing adjustment member; 37. release handle; 371. handle rod; 372. handle cap; 373. gear column;

[0045] 4. power mechanism; 41. power support; 42. power motor; 43. coupling;

[0046] 5. limiting roller mechanism; 51. upper limiting roller; 52. lower limiting roller; 53. support frame; 54. mounting frame; 541. support block; 55. upper roller support; 56. lower roller support;

[0047] 100. intervention device. Detailed implementation manners

[0048] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it can be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element.

[0050] It should be understood that the orientation or position relationship indicated by terms such as "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside" and "outside" are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to 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 application.

[0051] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0052] The present application embodiment provides an interventional instrument pushing device, such as Figure 1 As shown, the pushing device includes a mounting plate 1, an active roller mechanism 2, a driven roller mechanism 3 and a power mechanism 4; the active roller mechanism 2 is arranged on the mounting plate 1, and the active roller mechanism 2 includes a first roller shaft 21, and the first roller shaft 21 is used for friction contact with the interventional instrument 100 to be pushed; the driven roller mechanism 3 is arranged on the mounting plate 1, and the driven roller mechanism 3 includes a second roller shaft 31 and a first encoder 32, the second roller shaft 31 is used for friction contact with the interventional instrument 100 to be pushed, the first roller shaft 21 can drive the second roller shaft 31 to rotate through the interventional instrument 100, the second roller shaft 31 and the first roller shaft 21 are arranged at intervals along the first direction to form a pushing channel, the pushing channel is used to accommodate the interventional instrument 100 to be pushed, and the first encoder 32 can detect the rotation angle of the second roller shaft 31; the power mechanism 4 is arranged on the mounting plate 1, the power mechanism 4 is transmission-connected to the first roller shaft 21, the power mechanism 4 includes a second encoder, and the second encoder can detect the rotation angle of the first roller shaft 21.

[0053] During use, the interventional instrument 100 is located in the pushing channel, and the first roller 21 and the second roller 31 squeeze the interventional instrument 100 from opposite sides, the power mechanism 4 drives the first roller 21 to rotate, and the first roller 21 pushes the interventional instrument 100 along its own axial direction through friction, that is, the interventional instrument 100 is pushed. During this process, the interventional instrument 100 synchronously drives the second roller 31 to rotate through friction. Under the premise of no slippage, the rotation angle of the second roller 31 and the rotation angle of the first roller 21 have a fixed preset proportional relationship. This solution firstly forms a fixed transmission relationship between the first roller 21 and the power mechanism 4 by transmission connection between the power mechanism 4 and the first roller 21, and then the actual rotation angle of the first roller 21 can be obtained by using the power mechanism 4, and then the actual rotation angle of the second roller 31 can be obtained by using the first encoder 32 by setting the first encoder 32 connected to the second roller 31, and finally by comparing the rotation angle of the first roller 21 with the rotation angle of the second roller 31, it can be determined whether the pushing device has slipped during the process of pushing the interventional instrument 100, and the slip detection and monitoring of the pushing process of the interventional instrument 100 can be realized, effectively improving the pushing accuracy of the interventional instrument 100. Further, if the ratio of the rotation angle of the second roller 31 to the rotation angle of the first roller 21 is lower than the preset ratio, it means that the interventional instrument 100 has slipped during the pushing process; if the ratio of the rotation angle of the second roller 31 to the rotation angle of the first roller 21 is equal to the preset ratio, it means that the interventional instrument 100 has not slipped during the pushing process.

[0054] In one embodiment, if Figure 1 As shown, the axis of the first roller 21 is parallel to the axis of the second roller 31. Further, the first roller 21 and the second roller 31 are both arranged vertically.

[0055] In one embodiment, if Figure 1 As shown, the outer diameter of the first roller 21 is equal to the outer diameter of the second roller 31, and the preset ratio is 1:1, that is, the rotation angles of the first roller 21 and the second roller 31 are equal. Under this design premise, when the rotation angle of the second roller 31 is smaller than the rotation angle of the first roller 21, it is possible that slippage occurs during the pushing process of the interventional instrument 100.

[0056] In one embodiment, if Figure 1 As shown, the active roller mechanism 2 and the driven roller mechanism 3 are both arranged above the mounting plate 1 , and the power mechanism 4 is arranged below the mounting plate 1 .

[0057] In one embodiment, if Figure 2As shown in the figure, the power mechanism 4 includes a power support 41, a power motor 42 and a second encoder. The power support 41 is arranged on the mounting plate 1, the power motor 42 is arranged on the power support 41, the output end of the power motor 42 is in transmission connection with the first roller shaft 21, and the second encoder can detect the rotation angle of the power motor 42. Since there is a fixed transmission relationship between the first roller shaft 21 and the power motor 42, after obtaining the rotation angle of the power motor 42 through the second encoder, the rotation angle of the first roller shaft 21 can be calculated, and thus the comparison between the rotation angles of the first roller shaft 21 and the second roller shaft 31 can be realized. Further, the power mechanism 4 further includes a speed reducer and a coupling 43. The power motor 42 is connected to the coupling 43 through the speed reducer. One end of the coupling 43 is connected to the speed reducer, and the other end is connected to the first roller shaft 21. By setting the speed reducer, the rotation speed of the first roller shaft 21 can be reduced, and the risk of slipping during the pushing process can be avoided due to the too high rotation speed of the first roller shaft 21.

[0058] In one embodiment, as Figure 3 shown, the number of the first roller shafts 21 is two. The two first roller shafts 21 are arranged at intervals along the second direction. The rotation speeds and rotation directions of the two first roller shafts 21 are equal. The number of the second roller shafts 31 is two. The two second roller shafts 31 are arranged at intervals along the second direction.

[0059] By setting two groups of the first roller shafts 21 and the second roller shafts 31, the pushing force of the pushing device on the interventional instrument 100 can be increased, the risk of slipping can be reduced, and thus the pushing accuracy of the interventional instrument 100 can be improved.

[0060] In one embodiment, the two second roller shafts 31 and the two first roller shafts 21 correspond to each other one by one along the first direction, that is, one second roller shaft 31 and one first roller shaft 21 are arranged at intervals along the first direction, and the other second roller shaft 31 and the other first roller shaft 21 are arranged at intervals along the first direction. This design structure is compact, no torque will be generated when squeezing the interventional instrument 100, the risk of slipping is lower, and the clamping effect is better. Of course, in other embodiments, the two second roller shafts 31 and the two first roller shafts 21 can also be arranged in a staggered manner along the second direction. This design will generate torque when squeezing the interventional instrument 100, and the clamping effect is slightly weaker than the previous design. In order to reduce the risk of slipping of this design, the clamping force can be increased, and the same technical effect as the previous design can be achieved after such adjustment.

[0061] In the specific implementation process, as Figure 1 shown, the interventional instrument 100 is pushed along the second direction, and the second direction is perpendicular to the first direction.

[0062] In the specific implementation process, as Figure 3As shown, the active roller mechanism 2 also includes an active roller bracket 22, which is fixedly arranged on the mounting plate 1, one end of the first roller shaft 21 is connected to the mounting plate 1, and the other end of the first roller shaft 21 is connected to the end of the active roller bracket 22 away from the mounting plate 1.

[0063] Of course, in other embodiments, the number of first rollers 21 may be one or more than three. When the number of first rollers 21 is three or more, all first rollers 21 are arranged in sequence along the second direction, the number of second rollers 31 is equal to the number of first rollers 21, and the second rollers 31 and the first rollers 21 are arranged in one-to-one correspondence along the first direction.

[0064] In one embodiment, if Figure 3 As shown, the active roller mechanism 2 also includes a long drive shaft 23, a short drive shaft 24 and a pulley assembly 25, wherein one first roller shaft 21 is fixedly connected to the long drive shaft 23, the other first roller shaft 21 is fixedly connected to the short drive shaft 24, one end of the pulley assembly 25 is connected to the long drive shaft 23, and the other end of the pulley assembly 25 is connected to the short drive shaft 24, and the pulley assembly 25 can realize the synchronous rotation of the long drive shaft 23 and the short drive shaft 24; the power mechanism 4 includes a power motor 42, and the power motor 42 is transmission-connected to the long drive shaft 23.

[0065] By providing a power motor 42 and a pulley assembly 25, it is possible to achieve a power motor 42 driving the two first rollers 21 to rotate synchronously. On the one hand, the pushing device can omit a power motor 42, thereby helping to reduce the overall cost of the pushing device. On the other hand, the rotation synchronization of the two first rollers 21 can be controlled more simply and reliably.

[0066] In the specific implementation process, Figure 3 As shown, the pulley assembly 25 includes a transmission belt 251 and two transmission wheels 252 of the same specification, wherein one transmission wheel 252 is fixedly disposed on the long drive shaft 23 , and the other transmission wheel 252 is fixedly disposed on the short drive shaft 24 , and the transmission belt 251 is wound around the two transmission wheels 252 .

[0067] Of course, in other embodiments, it can also be designed as follows: the active roller mechanism 2 includes two long drive shafts 23, the power mechanism 4 includes two power motors 42, each power motor 42 is individually connected to a long drive shaft 23, and the rotation synchronization of the two first rollers 21 is achieved by controlling the rotation speed of the two power motors 42.

[0068] In one embodiment, if Figure 3 and Figure 4As shown, the driving roller mechanism 2 further includes a tensioning assembly 26. The tensioning assembly 26 includes a tensioning slider 261, a tensioning wheel 262, and a tensioning bolt 263. The tensioning slider 261 is slidably arranged on the mounting plate 1 in the first direction. The tensioning wheel 262 is rotatably arranged at one end of the tensioning slider 261 and can slide in the first direction following the tensioning slider 261. The tensioning wheel 262 presses the part of the pulley assembly 25 between the long driving shaft 23 and the short driving shaft 24 in the first direction. The tensioning bolt 263 is threadedly connected to the other end of the tensioning slider 261, and the tensioning bolt 263 can adjust the position of the tensioning slider 261 in the first direction. In the specific implementation process, the tensioning wheel 262 is rotatably arranged on the tensioning slider 261 in the vertical direction.

[0069] By providing the tensioning wheel 262 that can press the pulley assembly 25 in the first direction, the tension of the pulley assembly 25 can be adjusted, thereby improving the transmission reliability of the two first roller shafts 21, which helps to ensure the rotational synchronism of the two first roller shafts 21. In the specific implementation process, as Figure 4 shown, the tensioning wheel 262 presses the middle section of the transmission belt 251 in the first direction. The middle section specifically refers to the part of the transmission belt 251 that is not in contact with the transmission pulley 252. Further, the tensioning wheel 262 presses the part of the transmission belt 251 between the two transmission pulleys 252. Since the distance between the long driving shaft 23 and the short driving shaft 24 in the second direction is fixed, that is, the distance between the two transmission pulleys 252 is fixed, and the size of the transmission belt 251 matches the distance between the long driving shaft 23 and the short driving shaft 24 in the second direction, that is, the length of the transmission belt 251 is fixed. On this premise, rotating the tensioning bolt 263 can drive the tensioning slider 261 to move in the first direction. When the tensioning slider 261 moves towards the transmission belt 251, the tensioning wheel 262 presses the transmission belt 251 in the first direction. At this time, the tensioning wheel 262 applies a force F1 to the transmission belt 251, and this force F1 will cause the transmission belt 251 to tighten in the second direction. At this time, the transmission belt 251 applies a force F2 to the transmission pulley 252, and this force F2 can increase the tension between the transmission belt 251 and the two transmission pulleys 252, thereby improving the transmission reliability between the two transmission pulleys 252, and effectively improving the transmission reliability of the two first roller shafts 21. In addition, since the tensioning assembly 26 contacts the transmission belt 251 through the tensioning wheel 262, during the movement of the transmission belt 251, the tensioning wheel 262 can be driven by the transmission belt 251 to rotate, so this design will not have a negative impact on the normal transmission of the pulley assembly 25.

[0070] In the specific implementation process, as Figure 3As shown, the tensioning assembly 26 further includes a tensioning support 264 fixedly arranged on the mounting plate 1. The tensioning bolt 263 is rotatably arranged on the tensioning support 264, and the axis of the tensioning bolt 263 is parallel to the straight line in the first direction. By rotating the tensioning bolt 263, the tensioning slider 261 can be driven to move in the first direction, thereby changing the pressing force of the tensioning wheel 262 on the transmission belt 251, so as to realize the adjustment of the tensioning force of the pulley assembly 25, ensure sufficient tensioning force between the two first roller shafts 21, and effectively improve the transmission reliability of the two first roller shafts 21.

[0071] In one embodiment, as Figure 1 shown, the number of the first encoders 32 is one, and the first encoder 32 detects the rotation angle of one of the second roller shafts 31. Of course, in other embodiments, it can also be designed that the number of the first encoders 32 is two, and each first encoder 32 detects the rotation angle of one second roller shaft 31.

[0072] In one embodiment, the interventional device pushing device further includes a controller, and the controller is electrically connected to the first encoder 32 and the second encoder. The controller can acquire and compare the rotation angles of the first roller shaft 21 and the second roller shaft 31. By acquiring and comparing the rotation angles of the first roller shaft 21 and the second roller shaft 31 through the controller, it can be quickly determined whether there is slippage between the first roller shaft 21 and the second roller shaft 31.

[0073] In one embodiment, as Figure 5 shown, the driven roller mechanism 3 further includes a driven slider 33, a driven support 34 and an elastic pressing member 35. The driven slider 33 is slidably arranged on the mounting plate 1 in the first direction. The second roller shaft 31 and the first encoder 32 are arranged on the driven slider 33. The driven support 34 is arranged on the mounting plate 1 and is located on the side of the driven slider 33 away from the first roller shaft 21. One end of the elastic pressing member 35 is connected to the driven slider 33, and the other end of the elastic pressing member 35 is connected to the driven support 34. The elastic pressing member 35 can drive the driven slider 33 to move towards the direction close to the first roller shaft 21. In the specific implementation process, after the elastic pressing member 35 is assembled, it remains in a compressed state. That is to say, the elastic pressing member 35 can continuously provide a force to the driven slider 33 in the direction close to the first roller shaft 21, that is, a clamping force can be continuously provided between the first roller shaft 21 and the second roller shaft 31.

[0074] By arranging the driven slider 33 and the elastic pressing member 35, the distance between the second roller shafts 31 can be adjusted, that is, the width of the pushing channel can be adjusted, so that the pushing device can meet the pushing requirements of interventional devices 100 with different size specifications, and effectively improves the versatility of the pushing device.

[0075] In the specific implementation process, asFigure 5 As shown, the driven slide base 33 includes a detachable upper slide base 331 and a lower slide base 332. The lower slide base 332 is slidably connected to the mounting plate 1. The first encoder 32 is arranged on the upper slide base 331. After the upper slide base 331 and the lower slide base 332 are snap-connected, a C-shaped structure is formed, and the second roller 31 is arranged inside the C-shaped structure.

[0076] In a specific implementation process, a linear slide rail 11 is arranged on the upper surface of the mounting plate 1 and extends in the first direction, and the driven slide base 33 is slidably connected to the linear slide rail 11.

[0077] In one embodiment, as Figure 5 shown, the elastic pressing member 35 is a compression spring. The driven roller mechanism 3 further includes a pressing adjustment member 36. One end of the pressing adjustment member 36 is threadedly connected to the driven support 34, and the other end of the pressing adjustment member 36 abuts against the elastic pressing member 35. Rotating the pressing adjustment member 36 can adjust the compression amount of the elastic pressing member 35. In a specific implementation process, no matter how the pressing adjustment member 36 is adjusted, the elastic pressing member 35 always remains in a compressed state, only the compression amount is different. That is to say, no matter how the pressing adjustment member 36 is adjusted, the elastic pressing member 35 can continuously provide a force to the driven slide base 33 in the direction close to the first roller 21, only the magnitude of the force is different, that is, the clamping force between the first roller 21 and the second roller 31 is different.

[0078] By providing a pressing adjustment member 36 which is threadedly connected to the driven support 34, when the pressing adjustment member 36 is rotated, the pressing adjustment member 36 can move relative to the driven support 34 in the first direction, that is, the distance between the pressing adjustment member 36 and the driven slide 33 is adjustable, so that the compression amount of the elastic pressing member 35 can be adjusted after the intervention instrument 100 is clamped, and further the clamping force of the first roller 21 and the second roller 31 on the intervention instrument 100 can be adjusted, thereby ensuring that the first roller 21 and the second roller 31 can provide an effective clamping force on the intervention instrument 100, reducing the risk of slipping of the intervention instrument 100 during the pushing process, and reducing the risk of the intervention instrument 100 being damaged by clamping. Specifically, when the pressing adjustment member 36 moves towards the driven slide 33, the distance between the pressing adjustment member 36 and the driven slide 33 becomes smaller, and the compression amount of the elastic pressing member 35 increases. At this time, the clamping force of the first roller 21 and the second roller 31 on the intervention instrument 100 increases; when the pressing adjustment member 36 moves away from the driven slide 33, the distance between the pressing adjustment member 36 and the driven slide 33 becomes larger, and the compression amount of the elastic pressing member 35 decreases. At this time, the clamping force of the first roller 21 and the second roller 31 on the intervention instrument 100 decreases. Further, when the ratio of the rotation angle of the second roller 31 to the rotation angle of the first roller 21 is lower than the preset proportional relationship, there is a slipping phenomenon of the intervention instrument 100 during the pushing process. In this case, the pressing adjustment member 36 can be adjusted so that the compression amount of the elastic pressing member 35 increases, and further the clamping force of the first roller 21 and the second roller 31 on the intervention instrument 100 increases, thereby helping to eliminate the slipping phenomenon.

[0079] In the specific implementation process, the pressing adjustment member 36 is similar to a nut, and a wrench is required to rotate the pressing adjustment member 36. This design can better avoid abnormal changes in the clamping force caused by misoperation during the pushing process of the intervention instrument 100.

[0080] In one embodiment, as Figure 5 shown, the driven roller mechanism 3 further includes a release handle 37. The release handle 37 is movably connected to the driven support 34. The release handle 37 includes a handle rod 371, a handle cap 372 and a gear post 373. One end of the handle rod 371 is connected to the driven slide 33, and the other end of the handle rod 371 is fixedly connected to the handle cap 372. The handle cap 372 is located on the side of the driven support 34 away from the driven slide 33. A gear post 373 is provided on the side of the handle cap 372 close to the driven support 34. A gear hole 341 is provided on the driven support 34. The gear post 373 can be inserted into the gear hole 341, and the gear post 373 can abut against the end face of the driven support 34 away from the driven slide 33. Specifically, one end of the handle rod 371 is rotatably connected to the driven slide 33 around the axis of the handle rod 371, that is, during the rotation of the handle rod 371, the driven slide 33 does not rotate.

[0081] By providing a gear post 373 and a gear hole 341 that cooperate with each other, the release handle 37 has two working states. In one working state, as shown in Figure 8 shown, the gear post 373 is inserted into the gear hole 341. At this time, under the action of the elastic pressing member 35, the second roller shaft 31 abuts against the interventional instrument 100, and cooperates with the first roller shaft 21 to jointly clamp the interventional instrument 100. The interventional instrument 100 is pushed in this working state; in another working state, as shown in Figure 7 shown, the gear post 373 abuts against the end face of the driven support 34 away from the driven slide 33. At this time, the second roller shaft 31 is disengaged from the interventional instrument 100, and the interventional instrument 100 can be inserted or removed in this working state. Further, in the state where the gear post 373 is inserted into the gear hole 341, the release handle 37 is pulled in a direction away from the first roller shaft 21, so that the gear post 373 disengages from the gear hole 341, and then the release handle 37 is rotated to misalign the gear post 373 with the gear hole 341. Finally, when the release handle 37 is released, it can be switched to the state where the gear post 373 abuts against the end face of the driven support 34 away from the driven slide 33; conversely, in the state where the gear post 373 abuts against the end face of the driven support 34 away from the driven slide 33, the release handle 37 is rotated to align the gear post 373 with the gear hole 341, and then the release handle 37 is released. At this time, the gear post 373 is automatically inserted into the gear hole 341 under the action of the elastic pressing member 35, and it can be switched to the state where the gear post 373 is inserted into the gear hole 341.

[0082] In the specific implementation process, in the state where the gear post 373 is inserted into the gear hole 341, a pushing channel is formed between the second roller shaft 31 and the first roller shaft 21.

[0083] In one embodiment, the gear hole 341 is a through hole, and the pressing adjustment member 36 does not block the gear hole 341 in the first direction. The gear post 373 can penetrate through the gear hole 341 and slide to the side of the pressing adjustment member 36 away from the driven support 34. In this design, the release handle 37 has a relatively large movement stroke in the first direction, which is beneficial to improving the applicability of the pushing device to interventional instruments 100 of different specifications, so that the pushing device can meet the pushing requirements of more interventional instruments 100 with different thicknesses. Of course, in other embodiments, it can also be designed that the gear hole 341 is a through hole, but the pressing adjustment member 36 blocks the gear hole 341 in the first direction. In this case, the gear post 373 will abut against the pressing adjustment member 36 after penetrating through the gear hole 341; or, the gear hole 341 is a blind hole. In these two cases, the movement stroke of the gear post 373 in the first direction is limited, and the upper limit of the movement stroke of the gear post 373 in the first direction is related to the thickness of the driven support 34. Therefore, in order to increase the movement stroke of the release handle 37 in the first direction, the thickness of the driven support 34 can be increased.

[0084] In one embodiment, the pressing adjustment member 36 is provided with a through hole, the handle rod 371 passes through the through hole and is movably connected to the through hole, and the elastic pressing member 35 is sleeved on the circumference of the handle rod 371. This design can make the overall structure more compact and avoid the formation of torque between the elastic pressing member 35 and the release handle 37, which is beneficial to improving the sliding reliability of the driven sliding seat 33.

[0085] In one embodiment, as Figure 1 and Figure 6 shown, the first roller shaft 21 and the second roller shaft 31 are both vertically arranged. The intervention instrument pushing device further includes a limiting roller mechanism 5. The limiting roller mechanism 5 includes an upper limiting roller 51 and a lower limiting roller 52. The upper limiting roller 51 and the lower limiting roller 52 are arranged at intervals in the vertical direction, and the upper limiting roller 51 and the lower limiting roller 52 can limit the intervention instrument 100 in the vertical direction.

[0086] The first roller shaft 21 and the second roller shaft 31 are vertically arranged, so that the first direction is a horizontal direction, that is, the first roller shaft 21 and the second roller shaft 31 limit the intervention instrument 100 in the horizontal direction. By providing the limiting roller mechanism 5 that can limit the intervention instrument 100 in the vertical direction, the intervention instrument 100 is effectively limited in both the horizontal direction and the vertical direction, thereby effectively improving the stability of the pushing process of the intervention instrument 100.

[0087] In the specific implementation process, as Figure 6 shown, the number of the upper limiting roller 51 and the lower limiting roller 52 is two. The two upper limiting rollers 51 are arranged at intervals in the second direction, the two lower limiting rollers 52 are arranged at intervals in the second direction, and the upper limiting roller 51 and the lower limiting roller 52 are vertically corresponding to each other.

[0088] In one embodiment, as Figure 6 shown, the limiting roller mechanism 5 further includes a support frame 53 and a mounting frame 54. One end of the support frame 53 is arranged on the mounting plate 1, the mounting frame 54 is rotatably arranged at the other end of the support frame 53, the upper limiting roller 51 is arranged on the mounting frame 54, and the lower limiting roller 52 is arranged on the mounting plate 1.

[0089] By providing the rotatably connected mounting frame 54 and the support frame 53, the upper limiting roller 51 can approach or move away from the lower limiting roller 52 following the rotation of the mounting frame 54. In the state where the upper limiting roller 51 moves away from the lower limiting roller 52, as Figure 7 shown, it is equivalent to the release of the limit above the pushing channel. Therefore, this design can improve the operation convenience of putting the intervention instrument 100 into or taking it out of the pushing channel.

[0090] In the specific implementation process, the mounting bracket 54 can be made into a hollow structure according to requirements to avoid structures such as the first encoder 32, the driving roller mechanism 2, and the driven roller mechanism 3.

[0091] In the specific implementation process, as Figure 6 shown, the limiting roller mechanism 5 further includes an upper roller support 55 and a lower roller support 56. The upper roller support 55 is arranged below the mounting bracket 54, the upper limiting roller 51 is rotatably arranged on the upper roller support 55, the lower roller support 56 is arranged above the mounting plate 1, and the lower limiting roller 52 is rotatably arranged on the lower roller support 56.

[0092] In one embodiment, as Figure 6 shown, a support block 541 is arranged at one end of the mounting bracket 54 away from the support frame 53. In the state where the upper limiting roller 51 is close to the lower limiting roller 52, as Figure 8 shown, the support block 541 abuts against the driving roller bracket 22 to support the mounting bracket 54 and the upper limiting roller 51.

[0093] The above are only the preferred embodiments of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. An interventional instrument pushing device, characterized in that: include: Mounting plate (1); An active roller mechanism (2), the active roller mechanism (2) being arranged on the mounting plate (1), the active roller mechanism (2) comprising a first roller shaft (21), the first roller shaft (21) being used for frictionally contacting the interventional instrument (100) to be pushed; a driven roller mechanism (3), the driven roller mechanism (3) being arranged on the mounting plate (1), the driven roller mechanism (3) comprising a second roller shaft (31) and a first encoder (32), the second roller shaft (31) being used for frictionally contacting with the interventional instrument (100) to be pushed, the first roller shaft (21) being able to drive the second roller shaft (31) to rotate through the interventional instrument (100), the second roller shaft (31) and the first roller shaft (21) being arranged at intervals along a first direction to form a pushing channel, the pushing channel being used to accommodate the interventional instrument (100) to be pushed, and the first encoder (32) being able to detect the rotation angle of the second roller shaft (31); A power mechanism (4), wherein the power mechanism (4) is arranged on the mounting plate (1), the power mechanism (4) is drivingly connected to the first roller (21), and the power mechanism (4) comprises a second encoder, and the second encoder can detect the rotation angle of the first roller (21).

2. The interventional instrument pushing device according to claim 1, characterized in that: The number of the first rollers (21) is two, and the two first rollers (21) are arranged at intervals along the second direction. The rotation speed and rotation direction of the two first rollers (21) are equal. The number of the second rollers (31) is two, and the two second rollers (31) are arranged at intervals along the second direction.

3. The interventional instrument pushing device according to claim 2, characterized in that: The active roller mechanism (2) further comprises a long drive shaft (23), a short drive shaft (24) and a pulley assembly (25), wherein one of the first rollers (21) is fixedly connected to the long drive shaft (23), and the other first roller (21) is fixedly connected to the short drive shaft (24); one end of the pulley assembly (25) is connected to the long drive shaft (23), and the other end of the pulley assembly (25) is connected to the short drive shaft (24); the pulley assembly (25) can realize synchronous rotation of the long drive shaft (23) and the short drive shaft (24); the power mechanism (4) comprises a power motor (42), and the power motor (42) is transmission-connected to the long drive shaft (23).

4. The interventional instrument pushing device according to claim 3, characterized in that: The active roller mechanism (2) also includes a tensioning assembly (26), which includes a tensioning slider (261), a tensioning wheel (262) and a tensioning bolt (263). The tensioning slider (261) is slidably arranged on the mounting plate (1) along the first direction. The tensioning wheel (262) is rotatably arranged at one end of the tensioning slider (261) and can follow the tensioning slider (261) to slide in the first direction. The tensioning wheel (262) squeezes the pulley assembly (25) between the long drive shaft (23) and the short drive shaft (24) along the first direction. The tensioning bolt (263) is threadedly connected to the other end of the tensioning slider (261). The tensioning bolt (263) can adjust the position of the tensioning slider (261) in the first direction.

5. The interventional instrument pushing device according to claim 2, characterized in that: The number of the first encoder (32) is one, and the first encoder (32) detects the rotation angle of one of the second rollers (31); Alternatively, the number of the first encoders (32) is two, and each of the first encoders (32) detects a rotation angle of the second roller (31).

6. The interventional instrument pushing device according to any one of claims 1 to 5, characterized in that: The interventional instrument pushing device further comprises a controller, which is electrically connected to the first encoder (32) and the second encoder, and is capable of acquiring and comparing a rotation angle of the first roller (21) and a rotation angle of the second roller (31).

7. The interventional instrument pushing device according to any one of claims 1 to 5, characterized in that: The driven roller mechanism (3) further comprises a driven slide (33), a driven support (34) and an elastic pressing member (35); the driven slide (33) is slidably arranged on the mounting plate (1) along the first direction; the second roller shaft (31) and the first encoder (32) are arranged on the driven slide (33); the driven support (34) is arranged on the mounting plate (1) and is located on a side of the driven slide (33) away from the first roller shaft (21); one end of the elastic pressing member (35) is connected to the driven slide (33) and the other end of the elastic pressing member (35) is connected to the driven support (34); the elastic pressing member (35) can drive the driven slide (33) to move in a direction close to the first roller shaft (21).

8. The interventional instrument pushing device according to claim 7, characterized in that: The elastic pressing member (35) is a compression spring, and the driven roller mechanism (3) also includes a pressing adjustment member (36), one end of which is threadedly connected to the driven support (34), and the other end of which is in contact with the elastic pressing member (35). The compression amount of the elastic pressing member (35) can be adjusted by rotating the pressing adjustment member (36).

9. The interventional instrument pushing device according to claim 7, characterized in that: The driven roller mechanism (3) further comprises a release handle (37), wherein the release handle (37) is movably connected to the driven support (34), and the release handle (37) comprises a handle rod (371), a handle cap (372) and a gear column (373), wherein one end of the handle rod (371) is connected to the driven slide (33), and the other end of the handle rod (371) is fixedly connected to the handle cap (372), and the handle cap (372) is located at the position of the driven roller mechanism (34). The shift column (373) is arranged on the side of the driven support (34) away from the driven slide (33) and the side of the handle cap (372) close to the driven support (34). The driven support (34) is provided with a shift hole (341). The shift column (373) can be inserted into the shift hole (341). The shift column (373) can abut against the end face of the driven support (34) away from the driven slide (33).

10. The interventional instrument pushing device according to any one of claims 1 to 5, characterized in that: The first roller (21) and the second roller (31) are both arranged vertically, and the interventional instrument pushing device also includes a limiting roller mechanism (5), and the limiting roller mechanism (5) includes an upper limiting roller (51) and a lower limiting roller (52), and the upper limiting roller (51) and the lower limiting roller (52) are arranged at intervals in the vertical direction, and the upper limiting roller (51) and the lower limiting roller (52) can limit the interventional instrument (100) in the vertical direction.

11. The interventional instrument pushing device according to claim 10, characterized in that: The limiting roller mechanism (5) further comprises a support frame (53) and a mounting frame (54), one end of the supporting frame (53) being arranged on the mounting plate (1), the mounting frame (54) being rotatably arranged on the other end of the supporting frame (53), the upper limiting roller (51) being arranged on the mounting frame (54), and the lower limiting roller (52) being arranged on the mounting plate (1).

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