Interventional consumable delivery mechanism with force sensing function

Abstract

The utility model discloses an interventional consumable delivery mechanism with a force sensing function, a rotating mechanism of the interventional consumable delivery mechanism comprises a rotating shaft driving seat and a rotating shaft rotatably mounted in the rotating shaft driving seat, a rotating frame is rotatably arranged in the rotating shaft through a bearing structure, and the rotating frame and the rotating shaft are coaxially arranged; the rotation axis of the rotating shaft coincides with or is parallel to the axis of the intervention consumable, the locking structure is connected with the rotating frame through an axial force sensing element, and the force measuring direction of the axial force sensing element coincides with or is parallel to the axis direction of the intervention consumable. The whole locking structure is pushed by the axial external force, the axial force sensing element can detect the axial external force, and the fixed end of the torque force sensing element is connected to the rotating shaft. The device can lock the interventional consumables and drive the interventional consumables to rotate, can detect the axial force and torque of the interventional consumables, provides powerful support for the force feedback technology of a main hand end, and is high in sensitivity and convenient to detect.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of interventional robot, concretely relates to an interventional consumable delivery mechanism with force perception function. BACKGROUND

[0002] Minimally invasive interventional therapy is the main treatment for cardiovascular and cerebrovascular diseases. Under the guidance of a perspective imaging device, it uses interventional equipment to diagnose and treat through physiological cavities, and has obvious advantages such as good curative effect, high safety, small incision, and short postoperative recovery time compared with traditional surgical operation.

[0003] In the process of vascular interventional surgery, the main steps include femoral artery / radial artery puncture, coordinated progression of guide wire and angiography catheter, digital subtraction angiography (DSA), coordinated progression of treatment guide wire and balloon catheter, and placement of vascular stents. In this surgery, the coordinated progression of guide wire, catheter and balloon catheter is a time-consuming link and needs to be performed under the navigation of X-ray auxiliary image. The current vascular interventional surgery is usually completed manually by doctors. During the surgery, the doctor needs to wear heavy lead clothing to complete the surgery due to the X-ray emitted by DSA. The doctor's physical strength decreases rapidly, and the attention and stability also decrease, which will lead to a decrease in operation precision and easily cause accidents such as endovascular injury and vascular perforation caused by improper pushing force, which will endanger the patient's life. Moreover, long-term wearing of lead clothing will cause damage to the doctor's spine. Secondly, the accumulation of long-term ionizing radiation will greatly increase the probability of the doctor suffering from leukemia, cancer and acute cataract. Therefore, in order to protect the health of doctors and the quality of surgery, more and more research and development efforts are being made on interventional surgery robots, and more and more robots can be applied in clinical applications.

[0004] The existing interventional surgery robot mainly adopts a master-slave end operation structure to isolate the doctor from the radioactive environment. The existing interventional robot end device needs to hold the catheter, guide wire and other slender medical instruments to move from the proximal end to the distal end, drive the catheter and guide wire to advance through the coordinated movement of the device, and deliver them to the lesion in the patient's body (such as the blood vessel) for the doctor to perform subsequent related treatments such as angiography, embolization of abnormal blood vessels, thrombolysis, and dilation of stenotic blood vessels.

[0005] For example, the following patents applied for by Shenzhen Aibo Medical Robotics Co., Ltd.: Application No. 2022116787026, a slave end of an interventional surgical robot; Application No. 202211686818.4, a slave end of an interventional surgical robot; Application No. 202210923132.6, a slave end guidewire / catheter control device for an interventional surgical robot; Application No. 202210326352.0, a slave end device for an interventional surgical robot, etc.; these patents separate the power control of the catheter / guidewire and control it through the catheter delivery mechanism. The corresponding catheter is delivered by a catheter rotation mechanism, and the guidewire delivery mechanism controls the delivery and rotation of the guidewire. However, the following shortcomings exist: (1) the catheter rotation mechanism and guidewire rotation mechanism have complex structures; (2) the balloon delivery mechanism applies frictional force to the balloon catheter by synchronously rotating the active and driven rollers. Under the force of this frictional force, the balloon is delivered forward, but force feedback cannot be achieved during delivery, thus failing to ensure surgical safety; (3) it cannot achieve coordinated delivery of multiple catheters and guidewires. Therefore, how to provide an interventional consumables delivery mechanism that facilitates clamping and rotational control of interventional consumables and has force sensing capabilities is a problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0006] To address the aforementioned existing technical problems, defects, and unmet technical requirements, the purpose of this utility model is to provide an interventional consumable delivery mechanism with force sensing function, which can lock and rotate interventional consumables during vascular interventional surgery, has high-precision force sensing function, and can simultaneously measure the axial resistance and circumferential torque experienced by the interventional consumables.

[0007] To achieve the above objectives, this utility model provides the following technical solution:

[0008] An interventional consumable delivery mechanism with force sensing function includes a locking structure capable of locking or releasing the interventional consumable, a rotating mechanism capable of driving the locked interventional consumable to rotate, an axial force sensing element capable of detecting the axial force on the interventional consumable, and a torque force sensing element capable of measuring the torsional torque on the interventional consumable in the direction about its axis. The rotating mechanism includes a rotating shaft drive seat and a rotating shaft rotatably mounted in the rotating shaft drive seat. A rotating frame is rotatably arranged inside the rotating shaft via a bearing structure. The rotating frame is coaxially arranged with the rotating shaft, and the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumable. The locking structure and the rotating frame are connected by the axial force sensing element. The force measuring direction of the axial force sensing element coincides with or is parallel to the axial direction of the interventional consumable. When the interventional consumable is subjected to an axial external force during delivery, the axial external force will push the entire locking structure, and the axial force sensing element can detect the axial external force. The fixed end of the torque force sensing element is connected to the rotating shaft.

[0009] The rotating shaft driving seat is provided with an opening cover structure, and a rotating driving component capable of driving the rotating shaft to rotate is arranged on the rotating shaft driving seat; the interventional consumable passes through the middle of the rotating shaft, and the locking structure is arranged outside the shell of the rotating shaft.

[0010] As a preferred, the rotating shaft is a shell structure connected together in an openable and closable manner by the shell A and the shell B; the shell A and the shell B of the rotating shaft are externally provided with a driven gear ring or a driven friction ring, the rotating driving component drives the rotating shaft to rotate through a transmission component, the transmission component realizes power transmission through the meshing with the driven gear ring on the rotating shaft, or realizes power transmission through the friction between the driven friction ring on the rotating shaft, and the transmission component is a driving gear or a driving friction wheel or a driving transmission belt or a driving friction belt.

[0011] As a preferred, the locking structure includes an active locking structure or a passive locking structure, the active locking structure realizes the locking or / and loosening of the interventional consumable through a driving element driving a clamping jaw clamping mechanism, a side clamping mechanism or a rotating clamping mechanism, and the driving element is a driving wire structure, a hydraulic structure or a pneumatic structure; the passive locking structure realizes the locking or loosening of the interventional consumable through an external driving mode driving one or a combination of a clamping structure, a buckle locking structure and a threaded locking structure, and the external driving mode is artificial driving.

[0012] As a preferred, the axial force sensing element is an axial force sensor, the axial force sensor is provided with a middle through hole, the locking structure is arranged on one side of the middle through hole, and the interventional consumable passes through the middle through hole after being locked with the locking structure.

[0013] As a preferred, the axial force sensing element is an axial force sensor, the axial force sensor is arranged on one side of the rotating axis of the rotating shaft, a biasing plate is arranged on the force measuring end of the axial force sensor, the locking structure is arranged on the biasing plate, and the interventional consumable is located on one side of the axial force sensor after being locked with the locking structure.

[0014] As a preferred, when the interventional consumable is a catheter with a luer connector at the tail, the passive locking structure includes a threaded transition head, the threaded transition head is screwed and connected with the luer connector at the tail of the interventional consumable through a threaded structure, and the threaded transition head is connected with the axial force sensing element through a buckle structure.

[0015] When the interventional consumable is a guide wire or a headless catheter, the passive locking structure includes a clamping transition head, the clamping transition head is clamped on the guide wire or the headless catheter through a clamping structure, the clamping transition head is connected with the axial force sensing element through a buckle structure, and the rotating frame extends from the inside to the outside of the rotating shaft.

[0016] As preferred, the axial force sensing element is an axial force sensor, the threaded transition head or the clamping transition head is connected with the force measuring end of the axial force sensor through a buckle structure, the fixed end of the axial force sensor is connected with the rotating frame, a rotating sleeve is fixedly arranged in the rotating shaft, and the rotating frame is arranged in the rotating sleeve through a bearing structure.

[0017] The torque force sensing element is a combination of a force sensor and a torque conversion structure, the fixed end of the force sensor is fixedly connected with the rotating shaft, the rotating frame is drivingly connected with the force measuring end of the force sensor through the torque conversion structure, the torque received by the rotating frame is converted into a push-pull force acting on the force sensor, and the torque received by the intervention consumable can be calculated by combining the force arm after the push-pull force is measured.

[0018] Or the torque force sensing element is a combination of a torque sensor and a torque amplification structure, the fixed end of the torque sensor is fixedly connected with the rotating shaft, and the rotating frame is drivingly connected with the torque measuring end of the torque sensor through the torque amplification structure, the torque received by the rotating frame is amplified and then acts on the torque sensor, and the torque received by the intervention consumable can be calculated by combining the torque amplification ratio after the torque is measured.

[0019] As preferred, the force sensor is a parallel beam structure force sensor, the parallel beam structure comprises two parallel arranged cross beams, two thinning portions are arranged on the left side and the right side of the two cross beams respectively, and each thinning portion is provided with a strain gauge.

[0020] The utility model discloses the beneficial effects are as follows:

[0021] 1, the rotating shaft of the utility model is the shell structure that shell A and shell B are connected together in the openable and closeable mode, the inside structure is convenient for disassembly and cleaning, the rotating frame is rotatably arranged in the rotating shaft through the bearing structure, and the rotating frame can be locked and connected with the intervention consumable, so that the rotating shaft can drive the intervention consumable to rotate, the axial force sensing element measures the axial force received by the intervention consumable, the torque force sensing element measures the torque received by the intervention consumable in the direction of the axis, when the external force received by the intervention consumable is too large, timely stop delivery can be carried out to protect, and the force feedback technology of the master hand end is provided with powerful support.

[0022] 2, the locking structure of the utility model is connected on the rotating frame through the axial force sensing element, the axial external force received by the intervention consumable is directly measured through the locking structure and the axial force sensing element, the intermediate link of force transmission is as little as possible, the detection of the axial force and the torsional moment of the force sensing element is more accurate, and the sensitivity is higher. DRAWINGS

[0023] Figure 1 Structure 1 schematic diagram of interventional consumable delivery mechanism for example 1;

[0024] Figure 2 Structure 2 schematic diagram of interventional consumable delivery mechanism for example 1;

[0025] Figure 3 Internal structure schematic diagram of rotating shaft for example 1;

[0026] Figure 4 Structure schematic diagram of locking structure, axial force sensing element and torque force sensing element for example 1;

[0027] Figure 5 Cooperation structure schematic diagram of connecting rod and shaft sleeve for example 1;

[0028] Figure 6 Structure schematic diagram of another alternative for example 1;

[0029] Figure 7 Structure schematic diagram of interventional consumable delivery mechanism for example 2;

[0030] Figure 8 Internal cross-sectional view schematic diagram for example 2;

[0031] Figure 9 Structure schematic diagram of axial force sensing element and torque force sensing element for example 2;

[0032] Figure 10 Whole structure schematic diagram of clamping transition head in example 2;

[0033] Figure 11 Exploded structure schematic diagram of clamping transition head in example 2;

[0034] Figure 12 Cross-sectional structure schematic diagram of clamping transition head in example 2;

[0035] Figure 13 Quick connection structure schematic diagram of clamping transition head in example 2. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0037] In the utility model, unless another definite provision and limitation, the terms "mount", "link", "connect", "fix" and the like should do the broad sense understanding, for example, can be fixed connection, also can be detachable connection, or be integrated, even be the relative movement of connection, can be mechanical connection, also can be electrical connection, can be direct connection, also can pass through the indirect connection of intermediate medium, can be the communication or interaction of two elements of two elements inside.

[0038] The guide wire herein includes but is not limited to a guide wire, a micro guide wire, an angiography guide wire and a loach guide wire and the like filamentous interventional medical devices; the catheter includes but is not limited to a guide catheter, a micro catheter, an angiography catheter, a multifunctional tube (also called an intermediate catheter), a thrombolytic catheter, a balloon dilatation catheter and a balloon stent catheter and the like tubular interventional medical devices.

[0039] Embodiment 1

[0040] An interventional consumable delivery mechanism with force sensing function, comprising a locking structure capable of locking or releasing an interventional consumable, a rotating mechanism capable of driving the locked interventional consumable to rotate, an axial force sensing element capable of detecting the axial force received by the interventional consumable, and a torque force sensing element capable of measuring the torque received by the interventional consumable in the direction around the axis, the rotating mechanism comprises a rotating shaft driving seat 10226 and a rotating shaft 10225 rotatably mounted in the rotating shaft driving seat 10226, a first rotating frame 513104 is rotatably arranged in the rotating shaft 10225 through a bearing structure, the first rotating frame 513104 is coaxially arranged with the rotating shaft 10225, the rotating axis of the rotating shaft 10225 coincides with or is parallel to the axis of the interventional consumable, the locking structure is connected with the first rotating frame 513104 through the axial force sensing element, the force direction of the axial force sensing element coincides with or is parallel to the axis direction of the interventional consumable, when the interventional consumable receives an axial external force during delivery, the axial external force will push the entire locking structure, the axial force sensing element can detect the axial external force, and the fixed end of the torque force sensing element is connected on the rotating shaft 10225.

[0041] The rotating shaft driving seat 10226 has an uncapping structure, and the rotating shaft driving seat 10226 is provided with a rotating driving assembly capable of driving the rotating shaft 10225 to rotate; preferably, the interventional consumable passes through the middle of the rotating shaft 10225, and the locking structure is arranged outside the shell of the rotating shaft 10225.

[0042] The rotating shaft 10225 is a shell structure connected together by the shell A 10233 and the shell B 10234 in a openable and closable manner, facilitating the loading and unloading of the intervention consumables; the shell A 10233 and the shell B 10234 of the rotating shaft 10225 are externally provided with a driven gear ring or a driven friction ring, and the rotating drive assembly drives the rotating shaft 10225 to rotate through a transmission assembly; the transmission assembly achieves power transmission by meshing with the driven gear ring on the rotating shaft 10225 or by the friction force between the driven friction ring on the rotating shaft 10225; the transmission assembly is a driving gear or a driving friction wheel or a driving belt or a driving friction belt.

[0043] The transmission assembly is provided in multiple groups, and when the joint of a circle of transmission gears formed on the shell A 10233 and the shell B 10234 is engaged with one of the transmission assemblies and jamming occurs, the other groups of transmission assemblies can still be engaged and smoothly drive the rotating shaft 10225 to rotate.

[0044] The locking structure includes an active locking structure or a passive locking structure; the active locking structure drives the clamping jaw clamping mechanism, the side clamping mechanism or the rotating clamping mechanism through the driving element to achieve locking or / and releasing of the intervention consumables; the driving element is a driving wire structure, a hydraulic structure or a pneumatic structure; the passive locking structure drives one or a combination of the clamping structure, the buckle locking structure and the threaded locking structure through an external driving mode to achieve locking or releasing of the intervention consumables; the external driving mode is manual driving.

[0045] The clamping jaw clamping mechanism drives the clamping jaw to actively clamp the intervention consumables through the driving element; the clamping jaw is a two-jaw structure or a multi-jaw structure, and the movement of the clamping jaw is guided by one or a combination of hinge structure, sliding groove structure and elastic jaw mechanism to achieve clamping of the intervention consumables;

[0046] When the clamping jaw clamping mechanism drives the clamping jaw to actively clamp the intervention consumables through the driving wire structure, the clamping jaw is a two-jaw structure or a multi-jaw structure, and the movement of the clamping jaw is guided by one or a combination of hinge structure, sliding groove structure and elastic jaw mechanism to achieve clamping of the intervention consumables;

[0047] The clamping jaw includes a clamping jaw a and a clamping jaw b, the middle parts of the clamping jaw a and the clamping jaw b are connected to each other by a fixed shaft, and the bottoms of the clamping jaw a and the clamping jaw b are connected by a spring; the driving wire structure includes a driving wire, a driving wire sleeve and a wire tube, one end of the driving wire is wound on a driving wire power part, the driving wire passes through the driving wire sleeve, and the other end is connected to the clamping jaw a and the clamping jaw b through the wire tube; the driving wire power part directly pulls or pushes the driving wire to move, and the driving wire power part is a driving motor or a hydraulic pump or an air pump.

[0048] The axial force sensing element is an axial force sensor, the axial force sensor has a middle through hole, the locking structure is arranged on one side of the middle through hole, and the interventional consumable is arranged through the middle through hole after the interventional consumable is locked with the locking structure; the axial force sensing element is fixed on the fixing shaft in the middle of the clamping jaw a and the clamping jaw b, and the axial force sensing element is an S-shaped parallel beam type force sensor.

[0049] The axial force sensing element is an axial force sensor, the axial force sensor is arranged on one side of the rotation axis of the rotating shaft, a bias plate is arranged on the force measuring end of the axial force sensor, and the locking structure is arranged on the bias plate; after the interventional consumable is locked with the locking structure, the interventional consumable is located on one side of the axial force sensor.

[0050] The torque force sensing element is a combination of a force sensor and a torque conversion structure, the fixed end of the force sensor is fixedly connected with the rotating shaft, the first rotating frame is in transmission connection with the force measuring end of the force sensor through the torque conversion structure, the torque received by the first rotating frame is converted into a push-pull force acting on the force sensor, and the torque received by the interventional consumable can be converted by combining the push-pull force and the force arm after the push-pull force is measured.

[0051] The force sensor is a parallel beam structure force sensor, the parallel beam structure includes two parallel arranged cross beams, two thinning portions are arranged on the left side and the right side of the two cross beams respectively, and each thinning portion has a strain gauge.

[0052] The torque force sensing element is a torque force support, the torque force support includes a connecting rod 513108 coaxially connected with the interventional consumable, one end of the connecting rod 513108 is fixed on a support connecting block 513109, the other end of the connecting rod 513108 is connected with a first rotating frame 513104 through a bearing a, the first rotating frame 513104 is connected with a support fixed block 513103 through a bearing b (equivalent to a torque conversion structure), a parallel beam support 513101 (equivalent to a force sensor) is fixed between the support connecting block 513109 and the support fixed block 513103, the first rotating frame 513104 can rotate freely around the axes of the bearing a and the bearing b at two ends respectively, when a torque is applied to the interventional consumable after the interventional consumable is locked by the locking structure, the torque is converted into a pushing force by the first rotating frame 513104 and applied to the parallel beam support 513101 connected at the other end, and the parallel beam support 513101 feeds back the torque received by the interventional consumable.

[0053] The first rotating frame 513104 is internally or externally provided with a locking structure capable of clamping the interventional consumables. When the locking structure clamps the interventional consumables and a torque is applied to the interventional consumables, the torque will be converted into a thrust applied to the parallel beam support 513101 connected to the other end of the first rotating frame 513104. The first rotating frame 513104 is also provided with a counterweight for realizing the balance of the center of gravity. The center of gravity of the entire first rotating frame 513104 and the parallel beam support 513101 is located on the rotation axis of the bearing a, so that when the first rotating frame 513104 rotates around the axis parallel to the rotation axis of the bearing a, no torque will be applied to the parallel beam support 513101 due to the self-weight.

[0054] The parallel beam support 513101 is internally provided with a long slot, and the two ends of the long slot are thinning slots. The width of the thinning slot is greater than the width of the long slot but less than the width of the parallel beam support. The upper and lower ends of the parallel beam support located in the thinning slots are thin-walled weak positions of the parallel beam support. The strain gauges 513102 are bonded to the outer side of the parallel beam support at the thin-walled weak positions. When the parallel beam support receives the torque transmitted by the first rotating frame 513104, a greater strain will be generated at the thin-walled weak positions, and the strain generated will be fed back through the strain gauges on the surface. The torque received by the interventional consumables is fed back through the combination of multiple strain gauges. The parallel beam support 513101 can also be replaced by other forms of force sensors.

[0055] The torque parallel beam is a square frame beam. The interventional consumables are mounted on the cross beam of the square frame beam. A plurality of thin-walled weak areas are symmetrically arranged on the two groups of vertical beams perpendicular to the cross beam. The strain gauges are bonded to the thin-walled weak areas. When a torque is applied to the interventional consumables, a greater strain will be generated at the thin-walled weak positions, and the strain generated will be fed back through the strain gauges on the surface. The torque received by the interventional consumables is fed back through the combination of multiple strain gauges.

[0056] Specifically, as shown in Figures 1-5 An interventional consumable delivery mechanism with force sensing function is provided. The interventional consumable delivery mechanism includes a locking structure, a rotating shaft 10225, a rotating shaft driving seat 10226, an axial force sensing element, and a torque force sensing element.

[0057] The intervention consumable passes from the center axis of the rotating shaft 10225, the rotating shaft 10225 is rotatably arranged in the rotating shaft driving seat 10226, the rotating shaft driving seat 10226 is internally or externally arranged with a rotating driving assembly capable of driving the rotating shaft 10225 to rotate, the rotating driving assembly can adopt a structure matched with a motor and a driving gear or a driving friction wheel or a driving friction belt, the rotating cover 10227 is hingedly arranged on the rotating shaft driving seat 10226, the rotating cover 10227 is locked on the rotating shaft driving seat 10226 in a mode of press buckle, magnetic attraction, screw structure, lock buckle and the like, the rotating cover 10227 can be turned over to facilitate the mounting and dismounting of the rotating shaft 10225.

[0058] The rotating shaft 10225 comprises a shell A 10233 and a shell B 10234, the shell A 10233 and the shell B 10234 are arranged in a shell structure capable of being closed and opened, facilitating the mounting and dismounting of the intervention consumable, the shell structure is provided with a guide groove, when the shell A 10233 and the shell B 10234 are closed, the intervention consumable can freely slide in the guide groove, the guide groove can guide the intervention consumable to keep a straight line state, avoiding the bending of the intervention consumable. The shell A 10233 and the shell B 10234 of the rotating shaft 10225 are provided with a ring of driven gears or driven friction wheels, power transmission is realized by the meshing of the driving gears and the driven gears, or power transmission is realized by the friction force between the driving friction wheel or the driving friction belt and the driven friction wheel or the driven friction belt.

[0059] The locking structure 10237 is located at the front end of the axial force sensing element, the locking structure 10237 can adopt a clamping structure such as a clamping jaw and an elastic jaw, and can clamp or release the intervention consumable, the locking structure 10237 is mounted on the shell A 10233 through the axial force sensing element; or the locking structure 10237 can adopt a screw or a buckle, and is locked by an operator when the intervention consumable is replaced.

[0060] The torque force sensing element is a torque force measuring support, the torque force measuring support comprises a parallel beam support 513101, the parallel beam support 513101 is provided with a long groove in the middle, the both ends of the groove are thinning grooves, the upper and lower ends of the thinning grooves are thin-walled weak positions of the parallel beam support 513101, a strain gauge 513102 is bonded outside the parallel beam support 513101, and the strain gauges 513102 are respectively bonded at the thin-walled weak positions of the both ends of the thinning grooves.

[0061] The parallel beam support 513101 is connected with a support fixing block 513103 at one end, the support fixing block 513103 penetrates into a first rotating frame 513104, a bearing b 513105 is installed between the support fixing block 513103 and the first rotating frame 513104, the inner ring of the bearing b 513105 is connected and fixed with the support fixing block 513103 through a fastening screw 513110, and a baffle 513106 is arranged on the outer side of the first rotating frame 513104, the baffle 513106 is used to press the outer ring of the bearing b 513105, so that the first rotating frame 513104 can rotate freely around the axis of the bearing b 513105.

[0062] A bearing a is arranged at one end of a connecting rod 513108, the inner ring of the bearing a is fixed through a fastening screw, the connecting rod 513108 is arranged at the other end of the first rotating frame 513104, the bearing a is installed in the first rotating frame, then the outer side is also provided with a baffle for pressing the outer ring of the bearing a, so that the first rotating frame 513104 can rotate freely around the axis of the bearing a. One end of a support connecting block 513109 is fixed with the connecting rod 513108, the other end is fixed with the parallel beam support 513101, and the support connecting block 513109 is fixed on the support 102331 of the shell A10233.

[0063] The locking structure 10237 is connected with the first rotating frame 513104 or the baffle 513106 through an axial force sensor 513111, the axial force sensor 513111 is fixed on the first rotating frame 513104 or the baffle 513106 and deviates from the rotation center of the first rotating frame 513104, the locking structure 10237 is fixed with the axial force sensor 513111, the support connecting block 513109, the connecting rod 513108 and the first rotating frame 513104 are provided with through holes 513112 for the intervention of the consumables along the central axis of the connecting rod 513108, and the support connecting block 513109, the connecting rod 513108, the baffle 513106, the bearing a and one side of the first rotating frame 513104 are provided with a communicating opening slot 513113, the opening slot 513113 is communicated with the through hole 513112, the intervention of the consumables is facilitated through the opening slot 513113 into the through hole 513112, so that the intervention of the consumables is coaxial with the connecting rod 513108. In addition to directly arranging the opening slot on the bearing a, as above Figure 5As shown: Alternatively, a bushing 513114 can be provided, which is fixed to the first rotating frame 513104. The connecting rod 513108 is fitted inside the bushing 513114, and balls or rollers 513115 are provided on the outer periphery of the connecting rod 513108 to reduce frictional resistance through rolling engagement, so as to achieve rotational engagement between the connecting rod 513108 and the bushing 513114. Alternatively, the connecting rod 513108 can be directly clearance-fitted with the bushing 513114, and the clearance can be large to reduce frictional resistance.

[0064] When the locking structure 10237 clamps the rotating interventional consumable, when the interventional consumable is subjected to a resistance torque, a torque will be applied to the locking structure 10237. The torque will be transformed into a thrust through the first rotating frame 513104 and applied to the parallel beam support 513101 connected to the other end. At this time, a large strain will be generated at the slotted thin wall of the parallel beam support 513101, and the strain generated will be fed back through the strain gauges on its surface. The torque received by the locking structure 10237 will be fed back through the combination of multiple strain gauges.

[0065] When the locking structure 10237 clamps the interventional consumable along the axial direction, the axial resistance experienced by the locking structure 10237 is transmitted to the axial force sensor 513111. At this time, the actual axial resistance experienced by the interventional consumable is measured by the axial force sensor 513111. Since the mass of the locking structure 10237 is relatively small, it can avoid generating large inertial forces during acceleration and deceleration, which would interfere with the force sensing.

[0066] As an alternative to this solution, such as Figure 6 As shown, during the rotational delivery of interventional consumables, in order to detect torque and axial force, the parts that are the same as those in the first scheme described above will not be specifically described. The difference is that the bracket connecting block 513109, the connecting rod 513108, and the first rotating frame 513104 are located on the lower side of the interventional consumables. At this time, the connecting rod 513108 and the interventional consumables are not in a coaxial position. The locking structure 10237 is connected to the first rotating frame 513104 through the axial force sensor 513111. The axial force sensor 513111 is fixedly installed on the first rotating frame 513104 and located at the rotation center of the first rotating frame 513104. The locking structure 10237 is fixed to the axial force sensor 513111.

[0067] Example 2

[0068] The parts of this embodiment that are structurally identical to those in Embodiment 1 will not be described again. The differences are as follows:

[0069] When the intervention consumable is a catheter with a luer connector at the tail, the passive locking structure includes a threaded transition head, which is screwed to the luer connector at the tail of the intervention consumable through a threaded structure, and the threaded transition head is connected to the axial force sensing element through a buckle structure;

[0070] When the intervention consumable is a guide wire or a headless catheter, the passive locking structure includes a clamping transition head, which is clamped on the guide wire or headless catheter through a clamping structure, and the clamping transition head is connected to the axial force sensing element through a buckle structure, and the rotating frame extends from the inside to the outside of the rotating shaft. This embodiment adopts a clamping transition head 201.

[0071] Specifically as shown in Figures 7-9 It includes a rotating shaft 10225 and a rotating shaft driving seat 10226, the rotating shaft 10225 is rotatably installed in the rotating shaft driving seat 10226, and the rotating shaft driving seat 10226 is internally or externally provided with a rotating driving assembly capable of driving the rotating shaft 10225 to rotate. The rotating driving assembly can adopt a gear transmission or a friction wheel transmission or a friction belt transmission structure. The rotating cover 10227 is hingedly arranged on the rotating shaft driving seat 10226, and is locked on the rotating shaft driving seat 10226 by pressure buckle, magnetic attraction, screw structure, lock buckle or the like. The rotating cover 10227 can be opened to facilitate the disassembly and assembly of the rotating shaft 10225.

[0072] The rotating shaft 10225 includes a shell A 10233 and a shell B 10234, which are shell structures installed together in an openable and closable manner, facilitating disassembly and cleaning of the internal structure. The rotating shaft 10225 is provided with a second rotating frame 1022501 at the front end, which extends from the inside of the rotating shaft 10225 shell to the outside of the rotating shaft 10225 shell, so as to facilitate direct disassembly and assembly outside.

[0073] The axial force sensing element is an axial force sensor 513111, and the threaded transition head or the clamping transition head is connected to the force measuring end of the axial force sensor through a buckle structure. This embodiment adopts a clamping transition head, and the fixed end of the axial force sensor is connected to the second rotating frame 1022501. A rotating sleeve 10225012 is fixedly arranged in the rotating shaft 10225, and the second rotating frame 1022501 is arranged in the rotating sleeve through a bearing structure 1022501201. The second rotating frame 1022501 is rotatably but axially limitedly arranged in the rotating sleeve 10225012. The bearing structure 1022501201 is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure and an air bearing structure. The rolling element bearing structure is a ball bearing structure or a circumferentially arranged roller structure.

[0074] The torque force sensing element is a combination of a force sensor and a torque conversion structure, the fixed end of the force sensor is fixedly connected with the rotating shaft, the second rotating frame 1022501 is drivingly connected with the force measuring end of the force sensor through the torque conversion structure, the torque received by the second rotating frame 1022501 is converted into a push-pull force acting on the force sensor, and the push-pull force is measured, and then the torque received by the interventional consumable can be calculated by combining the force arm; or the torque force sensing element is a combination of a torque sensor and a torque amplification structure, the fixed end of the torque sensor is fixedly connected with the rotating shaft, the second rotating frame 1022501 is drivingly connected with the torque measuring end of the torque sensor through the torque amplification structure, the torque received by the second rotating frame 1022501 is amplified and then acts on the torque sensor, and the torque is measured, and then the torque received by the interventional consumable can be calculated by combining the torque amplification ratio.

[0075] The torque conversion structure is one or a combination of a pin and groove structure, a push piece structure, a connecting rod structure, a gear and rack structure, and a transmission belt structure; for the case that the torque conversion structure is a pin and groove structure: the fixed end of the single-dimensional force sensor is fixedly connected with the inside of the rotating shaft and located on one side of the interventional consumable, the force measuring end of the single-dimensional force sensor is fixedly connected with or integrally formed with a sensor force transmitting piece, the pin and groove structure includes a sleeve and a pin, the sleeve is fixedly connected or integrally formed on the second rotating frame 1022501, the sleeve is provided with a groove hole on one side of the second rotating frame 1022501 along the radial direction of the rotating center, one end of the pin is installed on the sensor force transmitting piece, the other end of the pin is placed in the groove hole, and the axis direction of the pin is parallel to the axis of the interventional consumable and is at a certain distance therefrom, and the pin can slide along the groove hole. Or a groove hole is provided on the sensor force transmitting piece, and a pin is provided on the sleeve.

[0076] Preferably, the force sensor is a single-dimensional force sensor 102293, one end of the single-dimensional force sensor 102293 is fixed on the rotating shaft 10225, the other end of the single-dimensional force sensor 102293 is fixedly connected or integrally formed with a sensor force transmitting piece 102210, the second rotating frame 1022501 cooperates with the sensor force transmitting piece 102210 through the pin and groove structure, so that the second rotating frame 1022501 will convert the torsional torque into a push-pull force when rotating and apply the push-pull force to the sensor force transmitting piece 102210, the force sensor measures the push-pull force, and then the torque received by the interventional consumable can be calculated by combining the force arm.

[0077] At this time, the fixed end of the single-dimensional force sensor 102293 is fixedly connected to the outer shell (outer shell A10233 or outer shell B10234) of the rotating shaft 10225 and located on one side of the interventional consumables. The fixed connection can be direct or indirect. The force measuring end of the single-dimensional force sensor 102293 is fixedly connected to or integrally formed with the sensor force transmission component 102210. The pin groove structure includes a sleeve 1022111 and a pin 1022112. The sleeve 1022111 is fixedly connected to the second rotating frame 1022501 (or integrally formed). The sleeve 1022111 has a slot 10221111 radially along the rotation center on one side of the second rotating frame 1022501. One end of the pin 1022112 is mounted on... On the sensor force transmission component 102210, the other end of the pin 1022112 is placed in the slot 10221111, and the axial direction of the pin 1022112 is parallel to the axis of the interventional consumable and at a certain distance (this distance is the lever arm; in order to maximize the force on the single-dimensional force sensor 102293 when the torque on the interventional consumable is fixed, this distance should be less than 20mm for the interventional consumable being a guidewire, preferably 3-8mm; for the interventional consumable being a catheter, this distance should be less than 50mm, preferably 15-30mm; the range of the single-dimensional force sensor 102293 should be less than 5N, preferably 0.5-2N). The pin 1022112 can slide along the slot 10221111. Alternatively, the pin can be set on the second rotating frame 1022501, and the corresponding slot can be set on the sensor force transmission component 102210.

[0078] After the locking structure locks the interventional consumable, when the interventional consumable is subjected to torque, the second rotating frame 1022501 rotates at a certain angle relative to the rotating shaft 10225. The sleeve 1022111 rotates with the second rotating frame 1022501. While the pin 1022112 slides along the slot 10221111, it will be pushed by the slot 10221111 of the sleeve 1022111, converting the torsional torque into a push-pull force applied to the sensor force transmission component 102210. The sensor force transmission component 102210 pushes and pulls the single-dimensional force sensor 102293, so that the single-dimensional force sensor 102293 can detect the push-pull force. At this time, the actual rotational resistance of the interventional consumable is measured by the single-dimensional force sensor 102293.

[0079] like Figures 10-13 As shown, the clamping transition head 201 includes a clamping structure and a quick-connect structure. The clamping transition head 201 can be clamped to the interventional consumable 101 through the clamping structure. At this time, the interventional consumable 101 is a guidewire or a headless catheter. The interventional consumable 101 is coaxially arranged through the clamping transition head 201. The clamping structure is a claw clamping structure, and the quick-connect structure is a first anti-rotation buckle structure.

[0080] Preferably, the clamping jaw structure comprises an elastic clamping jaw 2011, a threaded tube 2012 and a screw head 2013, the threaded tube 2012 is fixed or integrally arranged at the front end of the clamping transition head 201, and the elastic clamping jaw 2011 is arranged between the threaded tube 2012 and the screw head 2013. The threaded tube 2012 or the screw head 2013 is provided with a folding part, and the screw head 2013 is threadedly arranged on the threaded tube 2012. When the screw head 2013 is rotated in the normal direction, the screw head 2013 is close to the threaded tube 2012, so that the elastic clamping jaw 2011 moves towards the folding part, and the elastic clamping jaw 2011 is folded by the folding part to clamp the interventional consumable 101. When the screw head 2013 is rotated in the reverse direction, the screw head 2013 is away from the elastic clamping jaw 2011, and the elastic clamping jaw 2011 is opened under the elastic force to release the interventional consumable 101.

[0081] Preferably, the body of the elastic clamping jaw 2011 is inserted into the threaded tube 2012, the claw lobe part 20111 of the elastic clamping jaw 2011 extends from the front end of the threaded tube 2012, and the folding part is a bevel or a conical surface 20131 arranged in the screw head 2013. The inside of the screw head 2013 is matched with the claw lobe part 20111 of the elastic clamping jaw 2011 through the bevel or the conical surface 20131. When the screw head 2013 is screwed, the screw head 2013 extrudes the claw lobe part 20111 of the elastic clamping jaw 2011, so that the claw lobe part 20111 of the elastic clamping jaw 2011 is deformed inwardly and folded to clamp the interventional consumable 101. When the screw head 2013 is unscrewed, the screw head 2013 removes the extrusion on the claw lobe part 20111 of the elastic clamping jaw 2011, so that the claw lobe part 20111 of the elastic clamping jaw 2011 is opened under the elastic force to release the interventional consumable 101.

[0082] Preferably, the first anti-rotation buckle structure is arranged at the rear end of the clamping transition head 201, and the first anti-rotation buckle structure comprises a first anti-rotation structure, which is a first anti-rotation protrusion 2014 arranged on the clamping transition head 201. The first anti-rotation buckle structure further comprises a first guide part 2015 in the shape of a circular tube, which extends towards the rear end of the clamping transition head 201. The first anti-rotation protrusion 2014 is arranged at the position where the first guide part 2015 is connected to the main body of the clamping transition head 201. Of course, the first anti-rotation structure can also be a first anti-rotation groove arranged on the clamping transition head 201, and the first anti-rotation groove is arranged at the position where the first guide part 2015 is connected to the main body of the clamping transition head 201.

[0083] Preferably, the first anti-rotation buckle structure comprises first hooks 2016 which are arranged on the clamping transition head 201 and can be opened, the first hooks 2016 are provided with two first hook heads 20161 and two first hook tails 20162, the first hook heads 20161 are symmetrically arranged on both sides of the clamping transition head 201, the first hook tails 20162 are pressed to make the first hook heads 20161 open outward, the first hook tails 20162 are released to make the first hook heads 20161 close inward under the elastic force, the clamping transition head 201 is in a thin rod shape except the main body of the first hook 2016, and the maximum radial diameter of the main body is not more than 15 mm. In this way, the rotational inertia of the entire clamping transition head 201 around the axis can be reduced as much as possible, and the interference with the force sensing of the external intervention consumable delivery mechanism can be reduced. In addition, the entire external intervention consumable delivery mechanism is made of lightweight plastic in addition to the elastic clamping jaw 2011, so as to further reduce the rotational inertia.

[0084] The rotation shaft 10225 is arranged on the external intervention consumable delivery mechanism, the second rotating frame 1022501 is coaxially arranged in the rotation shaft 10225, the front end of the second rotating frame 1022501 extends out of the rotation shaft 10225, the threaded tube 2012 is fixed to the front end of the clamping transition head 201, the body of the elastic clamping jaw 2011 is inserted into the threaded tube 2012, the claw lobe 20111 of the elastic clamping jaw 2011 extends out of the front end of the threaded tube 2012, in use, the operator passes the intervention consumable 101 through the threaded head 2013, the elastic clamping jaw 2011 and the clamping transition head 201 in sequence, rotates the threaded head 2013 in the positive direction, so that the claw lobes 20111 of the elastic clamping jaw 2011 close to clamp the intervention consumable 101, and then the first pressing part 20162 of the first hook 2016 is pinched to open the first hooking part 20161 of the first hook 2016, then the clamping transition head 201 is inserted into the force measuring end of the axial force sensor through the first guide part 2015, the first pressing part 20162 of the first hook 2016 is released, so that the first hooking part 20161 of the first hook 2016 is clamped on the ring groove of the force measuring end of the axial force sensor under the elastic force, and the first anti-rotation protrusion 2014 of the clamping transition head 201 (in a flat shaft shape, which can be replaced by other forms such as spline shape, gear shape, etc.) is inserted into the first anti-rotation groove of the force measuring end of the axial force sensor to prevent the relative rotation between the clamping transition head 201 and the force measuring end of the axial force sensor. Therefore, the locking head assembly can coaxially lock the intervention consumable 101 on the second rotating frame 1022501, and the axial delivery and circumferential rotation of the second rotating frame 1022501 are driven by the external intervention consumable delivery mechanism, so as to realize the axial delivery and circumferential rotation of the intervention consumable 101.

[0085] The basic principle and main features of the present application and the advantages of the present application are shown and described above. For those skilled in the art, it is obvious that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or basic characteristics of the present application. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any reference signs in the claims should not be considered as limiting the claims involved.

[0086] In addition, it should be understood that, although the present application is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be properly combined to form other embodiments that those skilled in the art can understand.

Claims

1. A force-sensing delivery mechanism for interventional consumables, characterized in that: The device includes a locking structure capable of locking or unlocking interventional consumables, a rotating mechanism capable of driving the locked interventional consumables to rotate, an axial force sensing element capable of detecting the axial force acting on the interventional consumables, and a torque force sensing element capable of measuring the torsional torque acting on the interventional consumables in the direction about the axis. The rotating mechanism includes a rotating shaft drive seat and a rotating shaft rotatably mounted in the rotating shaft drive seat. A rotating frame is rotatably arranged inside the rotating shaft via a bearing structure. The rotating frame is coaxially arranged with the rotating shaft, and the rotation axis of the rotating shaft coincides with or is parallel to the axis of the interventional consumables. The locking structure and the rotating frame are connected by the axial force sensing element. The force measuring direction of the axial force sensing element coincides with or is parallel to the axial direction of the interventional consumables. When the interventional consumables are subjected to an axial external force during delivery, the axial external force will push the entire locking structure, and the axial force sensing element can detect the axial external force. The fixed end of the torque force sensing element is connected to the rotating shaft.

2. The interventional consumable delivery mechanism with force sensing function according to claim 1, characterized in that: The rotating shaft drive seat has an openable structure and a rotating drive assembly that can drive the rotating shaft to rotate is provided on the rotating shaft drive seat; the intervention consumable passes through the middle of the rotating shaft and the locking structure is installed on the outside of the rotating shaft housing.

3. The interventional consumable delivery mechanism with force sensing function according to claim 1, characterized in that: The rotating shaft is a shell structure consisting of outer shell A and outer shell B connected together in an openable manner; the outer shells A and B of the rotating shaft are provided with a driven gear ring or a driven friction ring. The rotation drive assembly drives the rotating shaft to rotate through the transmission assembly. The transmission assembly realizes power transmission by meshing with the driven gear ring on the rotating shaft, or by the friction between it and the driven friction ring on the rotating shaft. The transmission assembly is a drive gear, a drive friction wheel, a drive transmission belt, or a drive friction belt.

4. The interventional consumable delivery mechanism with force sensing function according to claim 1, characterized in that: The locking structure includes an active locking structure or a passive locking structure. The active locking structure uses a driving element to drive a gripper clamping mechanism, a side clamping mechanism, or a rotary clamping mechanism to lock and / or release the interventional consumables. The driving element is a drive wire structure, a hydraulic structure, or a pneumatic structure. The passive locking structure uses an external driving method to drive one or a combination of a clamping structure, a snap-locking structure, and a threaded locking structure to lock or release the interventional consumables. The external driving method is manual.

5. The interventional consumable delivery mechanism with force sensing function according to claim 4, characterized in that: The axial force sensing element is an axial force sensor with a central through hole. The locking structure is located on one side of the central through hole. After the interventional consumable is locked with the locking structure, the interventional consumable passes through the central through hole.

6. The interventional consumable delivery mechanism with force sensing function according to claim 4, characterized in that: The axial force sensing element is an axial force sensor, which is set on one side of the rotation axis of the rotating shaft. The force measuring end of the axial force sensor is provided with an offset plate, and the locking structure is set on the offset plate. After the interventional consumable is locked with the locking structure, the interventional consumable is located on one side of the axial force sensor.

7. The interventional consumable delivery mechanism with force sensing function according to claim 4, characterized in that: When the interventional consumable is a catheter with a Luer connector at the tail, the passive locking structure includes a threaded transition head, which is screwed to the Luer connector at the tail of the interventional consumable through a threaded structure, and the threaded transition head is connected to the axial force sensing element through a snap-fit ​​structure. When the interventional consumable is a guidewire or a headless catheter, the passive locking structure includes a clamping transition head, which is clamped onto the guidewire or headless catheter by a clamping structure, and the clamping transition head is connected to the axial force sensing element by a snap-fit ​​structure. The rotating frame extends from the inside of the rotating shaft to the outside.

8. The interventional consumable delivery mechanism with force sensing function according to claim 7, characterized in that: The axial force sensing element is an axial force sensor. A threaded transition head or a clamping transition head is connected to the force measuring end of the axial force sensor through a snap-fit ​​structure. The fixed end of the axial force sensor is connected to the rotating frame. A rotating sleeve is fixedly installed inside the rotating shaft. The rotating frame is installed inside the rotating sleeve through a bearing structure. The bearing structure is one or a combination of a rolling element bearing structure, a magnetic levitation bearing structure, and an air bearing structure. The rolling element bearing structure is a ball bearing structure or a circumferentially arranged roller structure.

9. The interventional consumable delivery mechanism with force sensing function according to claim 1, characterized in that: The torque sensing element is a combination of a force sensor and a torque conversion structure. The fixed end of the force sensor is fixedly connected to the rotating shaft. The rotating frame is connected to the force measuring end of the force sensor through the torque conversion structure. The torque received by the rotating frame is converted into a push-pull force that acts on the force sensor. After the push-pull force is measured, the torque received by the intervention consumable can be calculated by combining the force arm. Alternatively, the torque sensing element can be a combination of a torque sensor and a torque amplification structure. The fixed end of the torque sensor is fixedly connected to the rotating shaft, and the rotating frame is connected to the torque measuring end of the torque sensor through the torque amplification structure. The torque received by the rotating frame is amplified and then applied to the torque sensor. After the torque is measured, the torque received by the interventional consumable can be calculated by combining the torque amplification ratio.

10. The interventional consumable delivery mechanism with force sensing function according to claim 9, characterized in that: The force sensor is a force sensor with a parallel beam structure. The parallel beam structure includes two parallel beams, and two thinning sections are provided on the left and right sides of the two beams respectively. Each thinning section has a strain gauge.

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