Medical catheter machining tool

Abstract

The utility model discloses a medical catheter machining tool which comprises a rotary supporting mechanism used for supporting a medical catheter and capable of driving the medical catheter to rotate in the radial direction of the rotary supporting mechanism. The punching assembly is used for forming a threading hole in the medical catheter; the clamping assembly is used for clamping the wire guide piece to penetrate through the threading hole and then limiting the wire guide piece on the rotary supporting mechanism; and the moving unit is used for mounting the medical catheter, driving the medical catheter to be mutually nested with the rotary supporting mechanism before the punching assembly starts punching, and driving the medical catheter to be separated from the rotary supporting mechanism until threading is completed after the clamping assembly completes limiting of the guide wire piece. According to the utility model, the punching and threading operation of the medical catheter can be realized through the same station, so that the economic cost is reduced; in addition, through automatic operation, the punching accuracy is improved, the production efficiency is improved, and the product reject ratio is reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to the field of pulsed field ablation (PFA), especially to a processing tool for punching and threading medical catheters. BACKGROUND

[0002] PFA tumor ablation technology is to rely on the pulsed electric field to act on cells, leading to irreversible perforation on the cell membrane surface, destroying cell homeostasis, killing cells, and achieving precise ablation of tumor cells without damaging the tissue scaffold structure, which makes this technology have unique advantages in the treatment of malignant biliary obstruction. With the popularization and application of PFA tumor ablation technology, the demand for ablation catheters using guide wire bundles to transmit energy is increasing day by day. The processing of ablation catheters involves two processes of punching and threading. On the one hand, the existing technology needs to carry out punching and threading operations in two independent stations respectively, and accordingly needs to be equipped with special punching equipment and threading equipment, which undoubtedly occupies more space for equipment installation. From the cost point of view, whether it is the manufacture of equipment, energy consumption and material loss in daily use, or subsequent maintenance investment, the cost is significantly increased. Moreover, after the punching process is completed, the medical catheter needs to be transferred from the punching station to the threading station, which not only slows down the overall production rhythm and reduces the production efficiency, but also increases the labor intensity of the operators who move the medical catheter, which is not conducive to efficient and convenient production operation. On the other hand, for small-diameter catheters, most manufacturers still rely on manual punching and threading operations. The punching process is easily disturbed by subjective factors of operators, which makes it difficult to ensure the accuracy of the punching position and reduces the efficiency. At the same time, manual punching is prone to over-punching, which can penetrate the medical catheter and cause the product to become a defective product with a high rejection rate. In addition, for small-diameter catheters, manual threading operation is slow and has poor continuity, which further reduces the overall production efficiency.

[0003] Therefore, it is necessary to invent a related tool for punching and threading medical catheter products to improve the production efficiency and reduce the economic cost and product rejection rate. UTILITY MODEL CONTENT

[0004] (1) Technical problem to be solved

[0005] The utility model provides a medical catheter processing tool, and punching and threading of the catheter are completed through the tool, which effectively solves the problem that two independent stations are needed to carry out punching and threading operations in the prior art, reduces the economic cost, replaces manual punching operation, and effectively solves the problems of poor accuracy, many errors, low efficiency, and high rejection rate caused by subjective factors in manual punching and threading.

[0006] (2) Technical scheme

[0007] In a first aspect, a medical catheter processing tool includes

[0008] A rotating mechanism is configured to support the medical catheter and rotate the medical catheter in a radial direction thereof.

[0009] A punching assembly is configured to punch a threading hole in the medical catheter.

[0010] A clamping assembly is configured to clamp a guide wire member in the threading hole and limit the guide wire member on the rotating mechanism.

[0011] A moving unit is configured to mount the medical catheter, drive the medical catheter to be nested with the rotating mechanism before the punching assembly starts to punch the threading hole, and drive the medical catheter to be disengaged from the rotating mechanism until the threading is completed after the clamping assembly limits the guide wire member.

[0012] Further, the rotating mechanism includes

[0013] A medical catheter support rotating frame is inserted into the medical catheter and configured to support the medical catheter.

[0014] A servo motor is configured to drive the medical catheter support rotating frame to rotate.

[0015] A servo motor adapter is connected with the servo motor and the medical catheter support rotating frame, respectively.

[0016] Further, the medical catheter support rotating frame includes a first support bar, a second support bar, a third support bar, and a fourth support bar connected with the servo motor adapter.

[0017] Further, the rotating mechanism includes

[0018] Further, the first support bar, the second support bar, the third support bar, and the fourth support bar are each provided with a medical catheter support rotating frame positioning hole in communication with the threading hole and configured to limit the guide wire member.

[0019] Further, the tool includes a support platform on which the rotating mechanism, the punching assembly, the clamping assembly, and the moving unit are mounted.

[0020] Further, the punching assembly includes

[0021] A puncher is mounted on the third displacement adjusting unit and is movable in an up-down direction of the third displacement adjusting unit, and is configured to punch the threading hole in the medical catheter.

[0022] The third displacement adjusting unit is slidably arranged on the second displacement adjusting unit and is configured to adjust the puncher left and right.

[0023] A second displacement adjusting unit is slidably arranged on the first displacement adjusting unit, and used for adjusting the punching machine in the front and back directions.

[0024] A first displacement adjusting unit is mounted on the support platform.

[0025] Further, the clamping assembly is a multi-axis mechanical arm.

[0026] Further, the moving unit comprises

[0027] An adjusting seat is slidably arranged on the support platform.

[0028] A limiting mechanism is arranged on the adjusting seat, and used for limiting the axial movement of the medical catheter.

[0029] Further, the limiting mechanism comprises

[0030] A catheter fixing support bracket is arranged on the adjusting seat, and penetrates into the medical catheter.

[0031] A catheter fixing support bracket bottom support is arranged at the tail section of the catheter fixing support bracket.

[0032] A catheter support bracket fixing block is arranged at the head section of the catheter fixing support bracket, and used for cooperating with the catheter fixing support bracket bottom support to axially limit the medical catheter.

[0033] Further, the medical catheter processing tool further comprises a position detecting unit, and the position detecting unit comprises:

[0034] A servo motor position sensor is mounted on the servo motor.

[0035] A positioning support position sensor is mounted at the bottom of the medical catheter support rotating frame positioning hole.

[0036] A positioning sensor is mounted on the catheter fixing support bracket.

[0037] (3) Beneficial effects

[0038] In conclusion, the adjusting seat is slidably arranged, so that the medical catheter assembled on the catheter fixing support bracket is aligned and connected with the medical catheter support rotating frame assembled on the servo motor, or is separated from the medical catheter support rotating frame; meanwhile, the punching machine is positioned and punched according to the positioning support position sensor of the medical catheter support rotating frame, the punching position is adjusted by the servo motor, and the threading operation is realized by the reverse sliding of the multi-axis mechanical arm and the adjusting seat. The beneficial effects of the above structure are that the medical catheter punching and threading operations can be realized at the same station, and the economic cost is reduced; in addition, the automatic operation can improve the punching accuracy, improve the production efficiency, and reduce the product failure rate. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the drawings needed to be used in the embodiments of the present application will be briefly introduced as follows. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0040] Figure 1 is a structural schematic diagram of the embodiment of the present application.

[0041] Figure 2 is Figure 1 is a partial enlarged structural schematic diagram of A in the embodiment of the present application.

[0042] Figure 3 is Figure 1 is a partial enlarged structural schematic diagram of B in the embodiment of the present application.

[0043] Figure 4 is a three-dimensional structural schematic diagram of the servo motor in the embodiment of the present application.

[0044] Figure 5 is a three-dimensional structural schematic diagram of the adapter of the servo motor in the embodiment of the present application.

[0045] Figure 6 is a structural schematic diagram of the cross section of the medical catheter supporting rotating frame in the embodiment of the present application.

[0046] Figure 7 is another structural schematic diagram of the medical catheter supporting rotating frame in the embodiment of the present application.

[0047] Figure 8 is a structural schematic diagram of the cross section of the positioning hole of the medical catheter supporting rotating frame in the embodiment of the present application.

[0048] Figure 9 is a structural schematic diagram of the cross section of the medical catheter in the embodiment of the present application.

[0049] Figure 10 is a structural schematic diagram of the medical catheter after punching in the embodiment of the present application.

[0050] Figure 11 is a structural schematic diagram of the catheter fixing and supporting bracket in the embodiment of the present application.

[0051] Figure 12 is a structural schematic diagram of the cross section of the catheter fixing and supporting bracket in the embodiment of the present application.

[0052] Figure 13 is a three-dimensional structural schematic diagram of the catheter supporting bracket fixing block in the embodiment of the present application.

[0053] Figure 14It is the schematic diagram of explosion before installation of the catheter fixing support bracket, catheter and catheter fixing support bracket fixing block of the utility model.

[0054] Figure 15 It is Figure 14 The structure schematic diagram of alignment before installation.

[0055] Figure 16 It is the structure schematic diagram of the guide wire piece of the utility model.

[0056] Figure 17 It is the structure schematic diagram of the thin wire of the utility model between the medical catheter wall and the medical catheter support rotating frame.

[0057] Figure 18 It is the structure schematic diagram of the medical catheter support rotating frame and the catheter of the utility model.

[0058] Figure 19 It is Figure 18 The structure schematic diagram of partial enlargement at C.

[0059] Figure 20 It is the structure schematic diagram of the medical catheter threading operation process of the utility model.

[0060] Figure 21 It is another structure schematic diagram of the guide wire piece of the utility model.

[0061] Figure 22 It is the structure schematic diagram of the second threading scheme process of the medical catheter of the utility model.

[0062] In the drawing:

[0063] 100 - multi-axis mechanical arm

[0064] 1 - support platform;3 - support sliding block;4 - square sliding pipe;5 - punch;

[0065] 6 - servo motor: 6-1 servo motor position sensor;

[0066] 7 - servo motor base;8 - servo motor adapter;

[0067] 9 - medical catheter support rotating frame: 9-1 first support bar;9-2 second support bar;9-3 third support bar;9-4 fourth support bar;9-5 medical catheter support rotating frame positioning hole;9-6 - positioning support position sensor;

[0068] 10 - adjusting seat;

[0069] 11 - medical catheter: 11-1 catheter pressurizing cavity;11-2 catheter positive electrode wire cavity;11-3 catheter temperature sensing wire cavity;11-4 catheter negative electrode wire cavity;11-5 catheter guide wire cavity;11a threading hole

[0070] 12-catheter support bracket fixing block: 12-1 top screw hole; 12-2 catheter fixing support bracket mounting hole;

[0071] 13-catheter fixing support bracket: 13-1 catheter fixing support bracket, 13-2 positioning sensor;

[0072] 14-soft silicone plug, 15-fine guide wire;

[0073] 16 iron end. DETAILED DESCRIPTION

[0074] The embodiments of the present application will be further described in detail below with reference to the accompanying drawings and examples. The detailed description of the following examples and drawings are used to exemplarily illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described examples, covering any modification, replacement and improvement of parts, components and connection modes without departing from the spirit of the present application.

[0075] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the accompanying drawings and examples.

[0076] As Figures 1 to 20 shown:

[0077] A medical catheter processing tool, comprising:

[0078] Rotary support mechanism

[0079] The rotary support mechanism is used to support the medical catheter 11 and can drive the medical catheter 11 to rotate in the radial direction thereof. In order to realize the above functions, it is necessary to ensure that the rotary support mechanism has the support function and the motion attribute;

[0080] As preferred, the rotary support mechanism in the present application comprises

[0081] The servo motor 6 is used to drive the medical catheter support rotating frame 9 to rotate. In the present application, the servo motor 6 is arranged on the support platform 1 through the servo motor base 7. Of course, the servo motor 6 can also be fixedly arranged on the ground through the servo motor base 7;

[0082] The servo motor adapter 8 is installed at the driving end of the servo motor 6, and the medical catheter support rotating frame 9 is connected away from the driving end of the servo motor 6 and is driven to rotate by the servo motor 6;

[0083] The medical catheter support rotating frame 9 supports the medical catheter 11 by being inserted into the medical catheter 11 and being in contact with the inner wall of the medical catheter 11, and specifically, the medical catheter support rotating frame 9 is installed on the servo motor adapter 8, and an end of the medical catheter support rotating frame 9 away from the servo motor adapter 8 is inserted into the medical catheter 11 to support the medical catheter 11.

[0084] Preferably, the servo motor adapter 8 comprises:

[0085] The first connecting hole 8-1 is arranged on the servo motor adapter 8 and is used for connecting the servo motor 6, and specifically, the first connecting hole 8-1 can be arranged at the center of the servo motor adapter 8.

[0086] The medical catheter support rotating frame 9 comprises a first support strip 9-1, a second support strip 9-2, a third support strip 9-3 and a fourth support strip 9-4, four second connecting holes 8-2 are arranged on the servo motor adapter 8, the first support strip 9-1, the second support strip 9-2, the third support strip 9-3 and the fourth support strip 9-4 are fixed in the four second connecting holes 8-2 respectively and are used for being connected with the medical catheter 11, and further, the four second connecting holes 8-2 are arranged uniformly around the center line of the servo motor adapter 8, so that the first support strip 9-1, the second support strip 9-2, the third support strip 9-3 and the fourth support strip 9-4 are arranged uniformly on the servo motor adapter 8.

[0087] The first support strip 9-1, the second support strip 9-2, the third support strip 9-3 and the fourth support strip 9-4 are all provided with medical catheter support rotating frame positioning holes 9-5 which are in communication with the wire penetrating holes 11a and are used for limiting the guide wire.

[0088] In the utility model, the number and position of the medical catheter support rotating frame positioning holes 9-5 arranged on the first support strip 9-1, the second support strip 9-2, the third support strip 9-3 and the fourth support strip 9-4 respectively correspond to the wire penetrating holes 11a on the catheter pressurizing cavity 11-1, the catheter positive wire cavity 11-2, the catheter temperature sensing wire cavity 11-3 and the catheter negative wire cavity 11-4 of the medical catheter 11.

[0089] In the utility model, the guide wire comprises a soft silica gel plug 14 and a fine guide wire 15 connected with the soft silica gel plug 14.

[0090] The medical catheter support rotating frame positioning hole 9-5 is in communication with the wire penetrating hole 11a and is used for clamping the soft silica gel plug 14 inserted through the clamping assembly and limiting the soft silica gel plug 14. According to different punching schemes, the shape, position and number of the medical catheter support rotating frame positioning hole 9-5 will also change, for example,Figure 19 As shown in the utility model, the positioning hole 9-5 of the medical catheter support rotating frame is a tapered hole, with a large head end and a small bottom end.

[0091] Punching assembly

[0092] The punching assembly is used for opening a threading hole 11a on the medical catheter 11.

[0093] As preferred, the punching assembly comprises:

[0094] The puncher 5 is installed on the third displacement adjusting unit 93 and is movable in the up-down direction of the third displacement adjusting unit 93, and is used for opening a threading hole 11a on the medical catheter 11.

[0095] The third displacement adjusting unit 93 is slidably arranged on the second displacement adjusting unit 92, and is used for adjusting the puncher 5 left and right.

[0096] The second displacement adjusting unit 92 is slidably arranged on the first displacement adjusting unit 91, and is used for adjusting the puncher 5 front and back.

[0097] The first displacement adjusting unit 91 is arranged on the support platform 1.

[0098] In use, the position of the puncher 5 is adjusted through the above structure, but is not limited to the above structure, and any structure capable of adjusting the position of the puncher 5 in the prior art can be adopted.

[0099] In the utility model, the first displacement adjusting unit 91, the second displacement adjusting unit 92 and the third displacement adjusting unit 93 are all used for adjusting the position of the puncher 5, and the structure itself is not the point of the utility model, and is the prior art, and any structure capable of achieving the above adjustment function in the prior art can be adopted, which is not limited here.

[0100] The clamping assembly is used for clamping the guide wire member to be limited on the medical catheter support rotating frame 9 after passing through the threading hole 11a.

[0101] The clamping assembly in the utility model comprises a multi-axis mechanical arm 100, which is used for clamping the guide wire member to pass through the threading hole 11a on the medical catheter 11 and make it clamped in the positioning hole 9-5 of the medical catheter support rotating frame in use, specifically, after the threading hole 11a is opened, the soft silica gel plug 14 clamping the guide wire member passes through the threading hole 11a on the medical catheter 11 and is inserted into the positioning hole 9-5 of the medical catheter support rotating frame, and the soft silica gel plug 14 is taken out from the positioning hole 9-5 of the medical catheter support rotating frame after threading is completed.

[0102] The positioning hole 9-5 of the medical catheter support rotating frame has a limiting function, which can effectively clamp the soft silicone plug 14 to achieve the purpose of limiting its position. However, in actual application scenarios, the limiting means is not limited to this, and any structure in the existing technology that can achieve the above limiting function can be used. For example, in addition to opening the medical catheter support rotating frame positioning hole 9-5 to achieve limiting, it is also possible to adopt methods such as gluing the guide wire part and the medical catheter support rotating frame 9 to achieve a stable connection and limiting effect, or to use the interference fit between the aperture and the periphery of the guide wire part, or to use other process methods that are easy to disassemble and assemble, to achieve an effective limiting combination between the two to meet diverse operating requirements and working conditions; at the same time, the material selection of the soft silicone plug 14 is not limited to soft silicone, and products of suitable materials can be flexibly selected as needed.

[0103] The mobile unit includes an adjustment seat 10, which is slidably mounted on the support platform 1 and is used to install the medical catheter 11. Before the punching assembly starts punching, the medical catheter 11 is driven to nest with the medical catheter support rotating frame 9. After the multi-axis robotic arm 100 completes the guidewire positioning, the medical catheter 11 is driven to disengage from the medical catheter support rotating frame 9 until threading is completed.

[0104] Specifically, the adjustment seat 10 is slidably mounted on the square slide tube 4 via the bracket slider 3 and is driven by a power unit. In this embodiment, the power unit includes but is not limited to a stepping motor.

[0105] Preferably, the moving unit further includes a limiting mechanism located on the adjustment base 10 for limiting the axial movement of the medical tube 11. The limiting mechanism merely limits the medical tube 11 to the adjustment base 10, preventing axial movement of the medical tube 11 on the adjustment base 10, and does not affect radial rotation of the medical tube 11.

[0106] Preferably, the limiting mechanism includes:

[0107] The catheter fixing support bracket 13 is inserted into the medical catheter 11 when in use, and a catheter fixing support bracket bottom bracket 13-1 is provided at the tail section for axially limiting the medical catheter 11;

[0108] The catheter support bracket fixing block 12 is provided at the first section of the catheter support bracket 13 and is used to cooperate with the bottom bracket 13-1 of the catheter support bracket to axially limit the medical catheter 11; wherein the catheter support bracket fixing block 12 is also provided with a top screw hole 12-1 and a catheter support bracket mounting hole 12-2;

[0109] Preferably, the limiting mechanism further includes: a limiting groove 90 , which is provided on the seat surface of the adjustment seat 10 and is used for placing the medical catheter 11 and the catheter support bracket fixing block 12 .

[0110] In the present invention, the principle of limiting the axial movement of the medical catheter 11 on the adjustment seat 10 without interfering with its radial rotation is as follows:

[0111] First, insert the catheter fixing support bracket 13 from the entrance of the catheter guidewire cavity 11-5 at the tail end of the medical catheter 11 and exit from the outlet of the catheter guidewire cavity 11-5; then, insert the catheter fixing support bracket 13 at the exit portion into the catheter fixing support bracket mounting hole 12-2, and adjust the insertion depth until the tail end of the catheter fixing support bracket bottom bracket 13-1 is tightly fitted with the tail end of the medical catheter 11. At the same time, while ensuring that the tube body of the medical catheter 11 does not deform, the catheter support bracket fixing block 12 is tightly attached to the head end of the medical catheter 11; on this basis, screw in the adapter screw from the top screw hole 12-1 to firmly connect the catheter support bracket fixing block 12, the catheter fixing support bracket 13 and the medical catheter 11 into an integrated structure;

[0112] After assembly is completed, the entrances of the catheter pressurization chamber 11-1, the catheter positive conductor chamber 11-2, the catheter temperature sensing chamber 11-3, and the catheter negative conductor chamber 11-4 at the tail end of the medical catheter 11 are exactly located in the gaps between the two adjacent bracket pieces in the bottom bracket 13-1 of the catheter fixed support frame, so as to ensure that the medical catheter support rotating frame 9 can smoothly pass through the gaps and enter these four cavities. Then the medical catheter 11 is placed in the limiting groove 90, and its two ends are respectively constrained by the bottom bracket 13-1 of the catheter fixed support frame and the catheter support bracket fixing block 12; the catheter support bracket fixing block 12 is located outside the limiting groove 90, and with the help of the adjustment seat 10 ( Figure 2 The bottom bracket 13-1 of the catheter fixing support frame is located between the limiting groove 90 and the servo motor adapter 8, and is tightly fitted with the adjustment seat 10. By contacting with the adjustment seat 10 ( Figure 3 G2 in the middle constitutes a reverse limit, which restricts the movement of the medical catheter 11 in the opposite direction of the servo motor 6, so that the medical catheter 11 located on the adjustment seat 10 cannot move axially.

[0113] Through the coordinated cooperation and sophisticated layout of the above-mentioned components, the medical catheter 11 not only has the freedom of flexible radial rotation driven by the medical catheter support rotating frame 9, but also effectively avoids the axial displacement problem that may occur on the adjustment seat 10, ensuring that the medical catheter 11 is accurately positioned and moves in an orderly manner during the entire processing process.

[0114] During the actual drilling and threading operations, the medical catheter 11 will be assembled with the medical catheter support rotating frame 9. The medical catheter support rotating frame 9 provides support for the medical catheter 11 and positions the threading hole 11a. The specific assembly method is as follows:

[0115] The medical catheter 11 comprises: a catheter pressurizing cavity 11-1 for being connected with the first support strip 9-1; a catheter positive electrode wire cavity 11-2 for being connected with the second support strip 9-2; a catheter temperature sensing wire cavity 11-3 for being connected with the third support strip 9-3; a catheter negative electrode wire cavity 11-4 for being connected with the fourth support strip 9-4; and a catheter guide wire cavity 11-5 for being connected with the catheter fixing support bracket 13.

[0116] The catheter guide wire cavity 11-5 is through the whole medical catheter 11, and the catheter pressurizing cavity 11-1, the catheter positive electrode wire cavity 11-2, the catheter temperature sensing wire cavity 11-3 and the catheter negative electrode wire cavity 11-4 are sealed at the head end of the medical catheter 11.

[0117] In the alignment step, the first support strip 9-1 is aligned with the inlet of the catheter pressurizing cavity 11-1, the second support strip 9-2 is aligned with the inlet of the catheter positive electrode wire cavity 11-2, the third support strip 9-3 is aligned with the inlet of the catheter temperature sensing wire cavity 11-3, and the fourth support strip 9-4 is aligned with the inlet of the catheter negative electrode wire cavity 11-4.

[0118] Further, the utility model discloses still including position detection unit, position detection unit includes: servo motor position sensor 6-1 is installed on servo motor 6 for providing data to carry out zero reset and calibration, and is linked with the installation positioning sensor 13-2 on catheter fixing support bracket 13.

[0119] Positioning bracket position sensor 9-6 is installed at the bottom of medical catheter support rotating frame positioning hole 9-5;

[0120] Positioning sensor 13-2 is installed on the catheter fixing support bracket 13-1 of catheter fixing support bracket 13 for being linked with servo motor position sensor 6-1.

[0121] In the utility model, the position of servo motor 6 can be adjusted according to the different positions of positioning sensor 13-2, so that the medical catheter 11 assembled on the catheter fixing support bracket 13 can be aligned with the medical catheter support rotating frame 9 assembled on the servo motor 6, and then the bracket sliding block 3 drives the adjusting seat 10 to slide on the square sliding pipe 4 to the servo motor 6 under the control of the stepping motor, so that the medical catheter 11 and the medical catheter support rotating frame 9 are nested with each other.

[0122] In the utility model, the puncher 5 and the multi-axis mechanical arm 100 are prior art.

[0123] The optimal working principle of the utility model is as follows:

[0124] 1. Initial assembly

[0125] The servo motor 6 is installed on the support platform 1, and the servo motor 6 can also be fixed on the ground through the servo motor base 7; the head of the servo motor 6 is provided with a servo motor position sensor 6-1, which can be used for zero reset and calibration;

[0126] The first connecting hole 8-1 of the servo motor adapter 8 is connected with the head of the servo motor 6, and each second connecting hole 8-2 is connected with the medical catheter support rotating frame 9 respectively, so that the medical catheter support rotating frame 9 is connected and fastened with the servo motor 6;

[0127] For the medical catheter 11, the catheter guide wire cavity 11-5 inlet at the tail end of the medical catheter 11 is inserted into the catheter fixed support bracket 13, and the catheter support bracket fixing block 12 is sleeved at the outlet of the catheter guide wire cavity 11-5 and screwed, so that the catheter support bracket fixing block 12, the catheter fixed support bracket 13 and the medical catheter 11 are firmly connected as an integral structure, and then placed in the limiting groove 90 on the seat surface of the adjusting seat 10 to limit the axial movement of the medical catheter 11 on the adjusting seat 10;

[0128] The adjusting seat 10 is slidably arranged on the support platform 1, and the adjusting seat 10 can be driven by the stepping motor, so that the adjusting seat 10 moves left and right on the support platform 1.

[0129] 2. Positioning operation

[0130] The adjusting seat 10 is driven by the stepping motor to slide on the square sliding pipe 4, and the movement of the adjusting seat 10 makes the medical catheter 11, the catheter support bracket fixing block 12 and the catheter fixed support bracket 13 placed on the adjusting seat 10 move synchronously towards the servo motor 6, the servo motor adapter 8 and the medical catheter support rotating frame 9. In this process, since the positioning sensor 13-2 on the catheter fixed support bracket 13 is linked with the servo motor position sensor 6-1 of the servo motor 6, the servo motor 6 adjusts the corresponding angle, so that the medical catheter support rotating frame 9 assembled on the servo motor adapter 8 is positioned with the medical catheter 11 assembled on the catheter fixed support bracket 13. With the continuous approach of the adjusting seat 10, the first support bar 9-1 is inserted into the catheter pressurizing cavity 11-1, the second support bar 9-2 is inserted into the catheter positive lead wire cavity 11-2, the third support bar 9-3 is inserted into the catheter temperature sensing wire cavity 11-3, and the fourth support bar 9-4 is inserted into the catheter negative lead wire cavity 11-4. After the medical catheter support rotating frame 9 and the medical catheter 11 are completely nested and combined, the servo motor 6 performs zero reset operation;

[0131] 3. Punching operation

[0132] After the positioning is completed, the puncher 5 positions and punches according to the positioning bracket position sensor 9-6 of the medical catheter support rotating frame 9, and the specific punching steps are as follows:

[0133] First, the catheter pressurization cavity 11-1 is punched. After the threading hole 11a in the cavity wall is punched, the servo motor 6 rotates 90 degrees to the right. Then, the puncher 5 continues to punch the catheter positive wire cavity 11-2. Then, the catheter temperature sensing wire cavity 11-3 and the catheter negative wire cavity 11-4 are punched in the same steps until all the punching operations are completed.

[0134] This utility model has built a rigorous and efficient operating system in the drilling process, specifically:

[0135] The first step is to pre-number the positioning bracket position sensors 9-6 associated with each hole position of the medical catheter support rotating frame 9, and use this as a reference index for the orderly punching operation. In view of the fact that the hole position structure of the medical catheter support rotating frame 9 has been formed and is stable during the equipment design stage, it provides a reliable static reference basis for the numbering work. Each number is anchored to the specific spatial orientation of the corresponding hole position in the initial setting stage. Before the punching starts, the hole positions are distributed in a preset posture. For example, in the typical initial state, the first support bar 9-1 faces upward, the second support bar 9-2 faces left, the third support bar 9-3 faces downward, and the fourth support bar 9-4 faces right. The numbering is carried out based on this, and it is flexibly adapted to the different numbers of holes on different brackets. For example, if the first support bar 9-1 has a single hole, it is numbered 1, and the double holes are numbered 1 and 2 respectively. If the second support bar 9-2 contains double holes, it is numbered 3 and 4 accordingly. This logic runs through the entire numbering mechanism.

[0136] During the punching execution stage, the punching machine 5 relies on the feedback data of the corresponding numbered positioning bracket position sensor 9-6 to locate the spatial coordinates directly above the target hole position. The servo motor 6 that operates synchronously and cooperatively drives the bracket to rotate and adjust according to the position information of the bracket where the numbered sensor is located to ensure that the hole to be punched is vertically facing upward and accurately aligned with the axial direction of the punching machine 5. Then the punching machine 5 descends vertically according to the program-controlled instructions to complete a single punching operation; the punching process proceeds in a progressive manner according to the numbering sequence, starting from hole position No. 1 and advancing step by step. When encountering a hole position corresponding to a special number (such as No. 3 located on the second support bar 9-2), the servo motor 6 rotates the bracket in advance to make the second support bar 9-2 accurately turn to the operating direction facing the punching machine 5, and starts the punching process after locking the coordinates of the No. 3 position sensor, and so on until the punching operation of the entire sequence of numbered holes is completed.

[0137] In order to reduce the complicated positioning process and shorten the working hours, a strategy of closely nesting the punching and threading processes is adopted. After each punching operation is completed, the multi-axis robot arm 100 responds immediately, and follows the established procedure to grab the guide wire and accurately position it to the new punching position, and perform the threading operation. After the threading is completed, it immediately prepares for the next round of punching process. This cycle repeats, that is, after completing one punching, it will perform one threading, which greatly improves the overall process efficiency and equipment operation output efficiency.

[0138] 4. threading operation

[0139] After the punching operation is completed, the soft silicone plug 14 and the thin guide wire 15 are grabbed by the multi-axis mechanical arm 100, and the soft silicone plug 14 is inserted into the medical catheter support rotating frame positioning hole 9-5 on the medical catheter support rotating frame 9 according to the positioning support position sensor 9-6 (the shape of the medical catheter support rotating frame positioning hole 9-5 will change accordingly according to different punching schemes, and in the utility model, the hole is a tapered hole), ensuring that each hole that needs to be threaded is inserted into the soft silicone plug 14;

[0140] As shown in Figure 17 When all the holes that need to be threaded are inserted into the soft silicone plug 14, the stepping motor drives the support slider 3 and the adjusting seat 10 to move integrally on the square sliding pipe 4, so that the medical catheter 11, the catheter support bracket fixing block 12, and the catheter fixing support bracket 13 fixed on the adjusting seat 10 move in the opposite direction to the servo motor 6, the servo motor adapter 8, and the medical catheter support rotating frame 9 synchronously;

[0141] In this process, because the soft silicone plug 14 has been fixed in the medical catheter support rotating frame positioning hole 9-5, when the medical catheter 11 is driven by the adjusting seat 10 to move away from the medical catheter support rotating frame 9, the medical catheter support rotating frame 9 is fixed, and the soft silicone plug 14 is also fixed, so the thin guide wire 15 connected to the soft silicone plug 14 will be dragged into the medical catheter 11 during the movement away, and will be dragged between the medical catheter 11 and the medical catheter support rotating frame 9. When the medical catheter 11 completely moves away from the medical catheter support rotating frame 9, the thin guide wire 15 remains in the medical catheter 11, and the multi-axis mechanical arm 100 removes the soft silicone plug 14 according to the positioning support position sensor 9-6, and the threading operation is completed;

[0142] After the threading is completed, the worker manually operates, first cuts the corresponding wire and leaves a margin, and then temporarily fixes it with a paper tape; finally, the catheter support bracket fixing block 12 and the catheter fixing support bracket 13 are removed, and at this time, the medical catheter 11 with holes punched and threads threaded is obtained, and the next manufacturing process can be directly performed.

[0143] In addition, the utility model also provides another threading scheme, which is as follows:

[0144] The threading scheme adopts a magnetic threading scheme, and a magnetic suction valve can be installed on the multi-axis mechanical arm 100, and the iron end 16 is driven by the suction force to move from the threading hole 11a to the tail end outlet of the medical catheter 11, and then the thin guide wire 15 is driven into the medical catheter 11, and the threading action is completed.

[0145] As shown in Figures 21 to 22As shown, including the guide wire piece, that is, the iron end head 16 and the thin guide wire 15 are pre-processed into one, after the medical catheter 11 is completed punching, it is removed from the punching tool, then the medical catheter 11 is straightened and fixed at both ends to keep it straight, and then the iron end head 16 is placed into the medical catheter 11 threading hole 11a by the multi-axis mechanical arm 100 to fall into the cavity, the magnetic attraction device on the multi-axis mechanical arm 100 is started, the iron end head 16 is attracted by magnetic force, and the multi-axis mechanical arm 100 slowly moves to the tail end cavity opening of the medical catheter 11, drives the iron end head 16 to move until it is pulled out from the tail end cavity opening of the medical catheter 11, so that the threading work is completed.

[0146] The medical catheter 11 in the utility model is an electrode ablation catheter, but the utility model is not limited to the electrode ablation catheter punching and threading processing.

[0147] The above detailed the preferred embodiment of the utility model. It should be understood that those skilled in the art can make many modifications and changes without creative labor according to the concept of the utility model. Therefore, any technical scheme obtained by logical analysis, reasoning or limited experiment on the basis of the prior art according to the concept of the utility model should be within the protection scope determined by the present claims.

Claims

1. A medical catheter processing tool, characterized by: include A rotary support mechanism, used for supporting the medical catheter (11) and capable of driving the medical catheter (11) to rotate along its radial direction; A punching assembly, used for forming a threading hole (11a) on a medical catheter (11); A clamping assembly, used for clamping the guide wire and limiting it on the rotary support mechanism after passing through the threading hole (11a); The moving unit is used to install the medical catheter (11) and drive the medical catheter (11) and the rotary support mechanism to be nested with each other before the punching assembly starts punching. After the clamping assembly completes the positioning of the guide wire, the moving unit drives the medical catheter (11) and the rotary support mechanism to be disengaged until threading is completed.

2. The medical catheter processing tool according to claim 1, characterized in that: The rotary support mechanism comprises a medical catheter support rotary frame (9), which is inserted into the interior of the medical catheter (11) and is used to support the medical catheter (11); A servo motor (6) is used to drive the medical catheter supporting rotating frame (9) to rotate; The servo motor adapter (8) is connected to the servo motor (6) and the medical catheter supporting rotating frame (9) respectively.

3. The medical catheter processing tool according to claim 2, characterized in that: The medical catheter support rotating frame (9) comprises a first support bar (9-1), a second support bar (9-2), a third support bar (9-3), and a fourth support bar (9-4) which are simultaneously connected to the servo motor adapter (8).

4. The medical catheter processing tool according to claim 3, characterized in that: The rotary support mechanism further comprises a medical catheter support rotary frame positioning hole (9-5) which is connected to the threading hole (11a) and limits the guide wire member on each of the first support bar (9-1), the second support bar (9-2), the third support bar (9-3) and the fourth support bar (9-4).

5. The medical catheter processing tool according to claim 1, characterized in that: It also includes a support platform (1) on which the rotary support mechanism, the punching assembly, the clamping assembly and the moving unit are installed.

6. The medical catheter processing tool according to claim 1, wherein: The punching assembly includes a puncher (5), which is installed on the third displacement adjustment unit (93) and can move in the up and down directions of the third displacement adjustment unit (93) and is used to open a threading hole (11a) on the medical catheter (11); A third displacement adjustment unit (93) is slidably mounted on the second displacement adjustment unit (92) and is used to adjust the punch (5) leftward and rightward; A second displacement adjustment unit (92) is slidably mounted on the first displacement adjustment unit (91) and is used to adjust the punch (5) forward and backward; The first displacement adjustment unit (91) is installed on the support platform (1).

7. The medical catheter processing tool according to claim 1, characterized in that: The clamping assembly is a multi-axis robotic arm (100).

8. The medical catheter processing tool according to claim 1, characterized in that: The mobile unit comprises an adjustment seat (10) slidably mounted on the support platform (1); The limiting mechanism is located on the adjusting seat (10) and is used to limit the axial movement of the medical catheter (11).

9. The medical catheter processing tool according to claim 8, characterized in that: The limiting mechanism includes A catheter fixing support bracket (13) is located on the adjustment seat (10) and is used to penetrate and be inserted into the interior of the medical catheter (11); A bottom bracket (13-1) of the catheter fixing support frame is arranged at the tail section of the catheter fixing support frame (13); The catheter support bracket fixing block (12) is arranged at the first section of the catheter fixed support bracket (13) and is used to cooperate with the catheter fixed support bracket bottom bracket (13-1) to axially limit the medical catheter (11).

10. The medical catheter processing tool according to claim 9, characterized in that: The medical catheter processing tool further includes a position detection unit, which includes A servo motor position sensor (6-1) is mounted on the servo motor (6); A positioning bracket position sensor (9-6) is installed at the bottom of the positioning hole (9-5) of the medical catheter support rotating bracket; The positioning sensor (13-2) is mounted on the catheter fixing support bracket (13).

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